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diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_01/fem_node.csv
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index 0000000000000000000000000000000000000000..b9bb152024729b02444a83d12b212d5e842323c6
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diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_01/franka_data.csv
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index 0000000000000000000000000000000000000000..a7c0e2ec158a7054a505acb9b6ba91e7f2db571b
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+25,0.416666667,BASELINE,771,749,726,702,672,641.482805099,895.517194901,792.517194901,823,654,634.482805099,654.482805099,0.401022720245,0.00448488730117,0.069847803872,0.99999998688,1.89858218101e-05,-0.000159831387441,1.82564814807e-05,1793252945987506944
+26,0.433333333,BASELINE,770.913822635,749,726,702,671.913822635,641.913822635,895.086177365,792,823,654,635,654.913822635,0.401021594781,0.00448434649195,0.0698466059758,0.999999986586,1.93920276204e-05,-0.000161597879056,1.83878606592e-05,1793252946004173312
+27,0.450000000,BASELINE,770.333882096,749,726,702,671.333882096,641.333882096,895.666117904,792,823,654,635,654.333882096,0.401021115884,0.0044837531004,0.0698463971966,0.999999986375,2.00315624561e-05,-0.000162804312115,1.85330255022e-05,1793252946020839936
+28,0.466666667,BASELINE,770.243176699,749,726,702,671.243176699,641.486353398,895.756823301,792.243176699,823,654,635,654,0.401020846318,0.00448333041581,0.0698463011302,0.999999986284,1.90739569235e-05,-0.000163476674634,1.85615487785e-05,1793252946037506816
+29,0.483333333,BASELINE,770.816325158,749,726,702,671.816325158,642.632650316,895.183674842,792.816325158,823,654,635,654,0.401020860796,0.00448313936727,0.0698463580064,0.999999986349,1.59491567937e-05,-0.00016342434513,1.84317985629e-05,1793252946054173440
+30,0.500000000,BASELINE,770.600223581,749,726,702,671.600223581,642.600223581,895.399776419,792.600223581,823,654,634.600223581,654.399776419,0.401021120596,0.00448387350154,0.0698466391397,0.999999986444,1.60468396944e-05,-0.000162846788764,1.82992815082e-05,1793252946070840576
+31,0.516666667,BASELINE,770.01191356,749,726,702,671.01191356,642.01191356,895.98808644,792.01191356,823,654,634.01191356,654.98808644,0.401021496089,0.00448504394983,0.0698470260321,0.999999986554,1.76642379709e-05,-0.000162021536667,1.81654596224e-05,1793252946087507456
+32,0.533333333,BASELINE,770.567937249,749,726,702,671.567937249,642,895.432062751,792.567937249,823.567937249,654,634.567937249,654.432062751,0.401021273211,0.00448386543037,0.0698463961282,0.999999986358,1.82821158781e-05,-0.000163126761846,1.84022869723e-05,1793252946104174336
+33,0.550000000,BASELINE,771,749,726,702,671.853246029,642,895.146753971,792.853246029,823.853246029,654,635,654,0.401020909609,0.00448286758216,0.0698458143416,0.999999986217,1.82625157043e-05,-0.000163969586826,1.86108094058e-05,1793252946120840960
+34,0.566666667,BASELINE,771,749,726,702,671.276944411,642,895.723055589,792.276944411,823.276944411,654,635,654,0.401020170315,0.00448254066548,0.0698454349078,0.999999986254,1.64374914869e-05,-0.000163927578203,1.87140599678e-05,1793252946137507072
+35,0.583333333,BASELINE,771,749,726.298662185,702,671,641.701337815,896,792,823,654,635,654,0.401019874789,0.00448253117596,0.0698453074389,0.999999986195,1.65206489355e-05,-0.00016428434554,1.86292107278e-05,1793252946154173440
+36,0.600000000,BASELINE,771,749,726.873625861,702,671,641.126374139,896,792,823,654,635,654,0.401019989806,0.00448281534795,0.0698454130703,0.999999986048,1.83691232005e-05,-0.00016501003267,1.83703446391e-05,1793252946170840064
+37,0.616666667,BASELINE,771,749,726.539501406,702,671,641.460498594,896,792,823,654,635,654.460498594,0.401020391662,0.0044822340663,0.0698463984493,0.999999986258,1.69735062214e-05,-0.000163850308825,1.86693784507e-05,1793252946187506688
+38,0.633333333,BASELINE,771,749,726,702,671.049722281,641.950277719,895.950277719,792.049722281,823,653.950277719,634.950277719,654.950277719,0.401020904317,0.00448156497879,0.0698475361679,0.999999986549,1.5140385789e-05,-0.000162197801014,1.9072034732e-05,1793252946204173312
+39,0.650000000,BASELINE,771,749,726,702,671.628268302,641.371731698,895.371731698,792.628268302,823,653.371731698,634.371731698,654.371731698,0.401021735943,0.00448255508846,0.0698476582146,0.9999999867,1.83740797144e-05,-0.000160953308711,1.89052005163e-05,1793252946220840704
+40,0.666666667,BASELINE,770.793703112,749,726.206296888,702,671.793703112,641,895,792.793703112,823,653.206296888,634.206296888,654.206296888,0.401022319981,0.00448302706365,0.0698476140379,0.999999986729,1.97154267776e-05,-0.000160628221571,1.87815636858e-05,1793252946237507840
+41,0.683333333,BASELINE,770.216604607,749,726.783395393,702,671.216604607,641,895,792.216604607,823,653.783395393,634.783395393,654.783395393,0.401022458997,0.00448256773482,0.0698472710881,0.999999986554,1.7655436467e-05,-0.000161955689345,1.87355705976e-05,1793252946254174208
+42,0.700000000,BASELINE,770.365108339,749,726.634891661,702,671,641.365108339,895.365108339,792,823,654,635,654.634891661,0.401021129475,0.00448229745072,0.0698465935575,0.999999986334,1.6835237809e-05,-0.000163398551007,1.87184523916e-05,1793252946270840576
+43,0.716666667,BASELINE,770.949593875,749,726.050406125,702,671,641.949593875,895.949593875,792,823,654,635,654.050406125,0.401018917575,0.00448214075511,0.0698457149922,0.999999986087,1.67599743231e-05,-0.000164910747624,1.87186838067e-05,1793252946287506944
+44,0.733333333,BASELINE,771,749,726,702,671.529447364,642,895.470552636,792.529447364,823,654,635,654,0.401020231085,0.00448215357415,0.0698471774952,0.999999986293,1.58025057209e-05,-0.00016374238293,1.87715363223e-05,1793252946304173312
+45,0.750000000,BASELINE,771,749,726,702,671.890981885,642,895.109018115,792.890981885,823,654,634.890981885,654.109018115,0.401021462363,0.00448231348048,0.0698482656824,0.999999986462,1.55107286012e-05,-0.000162729012681,1.8835008016e-05,1793252946320839936
+46,0.766666667,BASELINE,771,749,726,702,671.310743782,642,895.689256218,792.310743782,823,654,634.310743782,654.689256218,0.401020900022,0.00448304000418,0.0698467808972,0.999999986288,1.84562290853e-05,-0.000163479114793,1.89229134774e-05,1793252946337506560
+47,0.783333333,BASELINE,770.733518116,749,726,702,671.266481884,642,896,792,823,654,634.266481884,654.733518116,0.401020817078,0.00448374183707,0.0698463686629,0.999999986268,1.95880226543e-05,-0.000163484056996,1.88208784454e-05,1793252946354173440
+48,0.800000000,BASELINE,770.159765902,749,726,702,671.840234098,642,896,792,823,654,634.840234098,654.159765902,0.40102128691,0.00448441520002,0.0698471931469,0.999999986431,1.86284987499e-05,-0.000162629783174,1.84998301204e-05,1793252946370840576
+49,0.816666667,BASELINE,770.424169803,749,726,702,671.575830197,642,895.575830197,792.424169803,822.575830197,654,635,654.424169803,0.401020814703,0.00448474105659,0.0698471439607,0.999999986346,1.93863874811e-05,-0.000163080388075,1.83442348141e-05,1793252946387507712
+50,0.833333333,BASELINE,771,749,726,702,671,641.98804634,895,792.98804634,822.01195366,654,635,654.98804634,0.40101999885,0.00448491879342,0.0698467541237,0.999999986168,2.07514991838e-05,-0.000164014308494,1.82529932918e-05,1793252946404174848
+51,0.850000000,BASELINE,771,749,726,702,671,641.404177657,895,792.404177657,822.595822343,654,635,654.404177657,0.401020135383,0.00448442623925,0.0698461976256,0.999999986201,1.9458279132e-05,-0.000163978702531,1.81857709414e-05,1793252946420840704
+52,0.866666667,BASELINE,771,749,726,702,671,641.176870336,895,792,823,654,635,654,0.401019967621,0.00448393712486,0.0698458157109,0.999999986197,1.79087206194e-05,-0.000164178851543,1.81666680838e-05,1793252946437506560
+53,0.883333333,BASELINE,771,749,726,702,671,641.751573742,895,792,823,654,635,654,0.401019115409,0.00448345574757,0.0698458264855,0.999999986111,1.57825820826e-05,-0.000164909282383,1.82558000303e-05,1793252946454173184
+54,0.900000000,BASELINE,771,749,726,702,671,641.676617601,895,792,823,654,635,654.323382399,0.401019651285,0.00448403914421,0.0698465869521,0.999999986196,1.78058260511e-05,-0.000164177876518,1.83692766223e-05,1793252946470840064
+55,0.916666667,BASELINE,771,749,726,702,671,641.107013023,895,792,823,654,635,654.892986977,0.401021244046,0.00448543325588,0.0698479182316,0.999999986389,2.29883948419e-05,-0.000162333433475,1.85012891341e-05,1793252946487506688
+56,0.933333333,BASELINE,770.517938818,749,726,702.482061182,671,641.482061182,895.482061182,792.482061182,823,654,635,655,0.401020782393,0.00448442455276,0.0698472394749,0.999999986344,2.07235961554e-05,-0.000162927842575,1.83651728145e-05,1793252946504173824
+57,0.950000000,BASELINE,770.073542292,749,726,703,671,642,896,793,823,654,635,654.926457708,0.401020028875,0.00448327213607,0.0698463430057,0.999999986259,1.77632286219e-05,-0.000163810873963,1.82255731041e-05,1793252946520840704
+58,0.966666667,BASELINE,770.650663432,749,726,703,671,642,896,793,823,654,635,654.349336568,0.401020531126,0.00448494182749,0.0698471397562,0.999999986338,2.1836986696e-05,-0.000162806971067,1.84868509067e-05,1793252946537507328
+59,0.983333333,BASELINE,771,749,726,703,671.227957265,642,895.772042735,792.772042735,823,654,634.772042735,654.227957265,0.401021004406,0.00448520389602,0.0698475864231,0.999999986406,2.32411540694e-05,-0.000162166331261,1.87290626612e-05,1793252946554173952
+60,1.000000000,BASELINE,771,749,726,703,671.80551603,642,895.19448397,792.19448397,823,654,634.19448397,654.80551603,0.401021433256,0.00448330719581,0.0698474961923,0.999999986474,2.05511647085e-05,-0.000162082801523,1.89420342427e-05,1793252946570840320
+61,1.016666667,BASELINE,770.618378817,749,726,702.618378817,671.618378817,642,895,792,823,654,634.381621183,654.618378817,0.401020827145,0.0044827870398,0.0698470830923,0.999999986334,1.88295837432e-05,-0.000163160396447,1.88607941596e-05,1793252946587506688
+62,1.033333333,BASELINE,770.043011687,749,726,702.043011687,671.043011687,642,895,792,823,654,634.956988313,654.043011687,0.401019695594,0.00448296574411,0.0698465060742,0.999999986088,1.75996559473e-05,-0.000164827484856,1.86301852124e-05,1793252946604173312
+63,1.050000000,BASELINE,770,749,726.54664352,702,671,642,895,792.54664352,823,654,634.45335648,654,0.401020555841,0.00448309193448,0.06984638762,0.999999986179,1.82985943399e-05,-0.000164224063303,1.83678469617e-05,1793252946620839936
+64,1.066666667,BASELINE,770.134160546,749,726.865839454,702,671,642,895.134160546,792.865839454,823,654,634.134160546,654,0.401021369917,0.00448346221942,0.0698464810066,0.999999986297,1.92669596934e-05,-0.000163405449695,1.82428271222e-05,1793252946637506560
+65,1.083333333,BASELINE,770.710817734,749,726.289182266,702,671,642,895.710817734,792.289182266,823,654,634.710817734,654,0.401021500928,0.0044846515863,0.0698471509002,0.999999986415,2.06099551862e-05,-0.000162482129234,1.85791747329e-05,1793252946654173440
+66,1.100000000,BASELINE,771,749,726,702,671.287565468,641.712434532,896,792.287565468,823,654,635,654.287565468,0.401021652783,0.00448453563024,0.0698476579526,0.999999986499,2.13798943731e-05,-0.000161827170035,1.88912065689e-05,1793252946670841088
+67,1.116666667,BASELINE,771,749,726,702,671.864404252,641.135595748,896,792.864404252,823,654,635,654.864404252,0.401021825606,0.00448310659887,0.0698480011968,0.999999986552,2.15733738012e-05,-0.000161442165948,1.91787781991e-05,1793252946687508736
+68,1.133333333,BASELINE,771,749,726,702,672,641.448649849,896,793,823,654,634.551350151,654.551350151,0.401021763393,0.00448399667232,0.0698480691542,0.999999986484,2.27468330848e-05,-0.000161714173446,1.90352058476e-05,1793252946704174848
+69,1.150000000,BASELINE,771,749,726,702,672,641.965078814,896,793,823,654,634,654.034921186,0.401021575094,0.00448552586623,0.0698480067137,0.999999986373,2.41460595459e-05,-0.000162229473504,1.87708147119e-05,1793252946720840448
+70,1.166666667,BASELINE,771,749,726,702,672,641.382733499,896,793,823,654,634,654.617266501,0.401020542517,0.00448590209373,0.0698472262936,0.99999998618,2.43635568543e-05,-0.000163393606461,1.86894173283e-05,1793252946737506816
+71,1.183333333,BASELINE,771,749.196705113,726,702,671.803294887,641.196705113,896,792.803294887,823,654,634,655,0.401019605203,0.00448572264525,0.0698466433882,0.999999986024,2.34980568164e-05,-0.000164475305453,1.86223723551e-05,1793252946754173696
+72,1.200000000,BASELINE,771,749.770570545,726,702,671.229429455,641.770570545,896,792.229429455,823,654,634,655,0.401018850543,0.00448447774955,0.0698464391951,0.999999985938,2.05560290669e-05,-0.000165398946628,1.85828465287e-05,1793252946770840064
+73,1.216666667,BASELINE,771,749.649298855,726.350701145,702,671.350701145,642,896,792.350701145,823,654,634.350701145,654.649298855,0.401019139858,0.00448360608444,0.0698465584187,0.999999985962,1.87952702267e-05,-0.000165460081333,1.86125782854e-05,1793252946787506944
+74,1.233333333,BASELINE,771,749.064995048,726.935004952,702,671.935004952,642,896,792.935004952,823,654,634.935004952,654.064995048,0.401020124565,0.00448298302899,0.0698468930706,0.999999986063,1.78213569e-05,-0.000164946698878,1.86884426448e-05,1793252946804173824
+75,1.250000000,BASELINE,771,749,727,702,671.484010068,641.484010068,896,792.484010068,823,654,634.484010068,654,0.401021950749,0.00448156257945,0.0698478260984,0.999999986459,1.71236380753e-05,-0.000162567096636,1.89981872281e-05,1793252946820840704
+76,1.266666667,BASELINE,770.903007448,749.096992552,726.903007448,702.096992552,671,641.096992552,895.903007448,792,823,654,634.096992552,654.096992552,0.401023303455,0.00448055732662,0.0698485822233,0.999999986768,1.69220088332e-05,-0.000160645003609,1.92462468936e-05,1793252946837507840
+77,1.283333333,BASELINE,770.319834333,749.680165667,726.319834333,702.680165667,671,641.680165667,895.319834333,792,823,654,634.680165667,654.680165667,0.401021754929,0.00448213352018,0.0698480762183,0.999999986485,1.90337840624e-05,-0.000162186984624,1.9038381381e-05,1793252946854173952
+78,1.300000000,BASELINE,770.257313707,749.742686293,726,702.742686293,671,642,895,792.257313707,823,654,635,654.742686293,0.401020343531,0.00448311566273,0.0698473648707,0.99999998628,1.97373235648e-05,-0.000163391370078,1.88149436717e-05,1793252946870840320
+79,1.316666667,BASELINE,770.827144036,749.172855964,726,702.172855964,671,642,895,792.827144036,823,654,635,654.172855964,0.401019098679,0.00448337630914,0.0698464041274,0.999999986174,1.87305106781e-05,-0.000164185733637,1.85725929923e-05,1793252946887507200
+80,1.333333333,BASELINE,771,749,726,702.409691497,671.409691497,642,895,793,823,654,635,654.409691497,0.401018776117,0.00448359030458,0.0698459466521,0.999999986125,1.84036078277e-05,-0.000164535156976,1.84220854441e-05,1793252946904174080
+81,1.350000000,BASELINE,771,749,726,702.997776474,671.997776474,642,895,793,823,654,635,654.997776474,0.40101885515,0.00448378398665,0.0698457083165,0.999999986102,1.83727606271e-05,-0.00016469083842,1.8311569469e-05,1793252946920840960
+82,1.366666667,BASELINE,770.418984151,749,726,702.418984151,672,641.418984151,895.581015849,793,823,654,635,655,0.401021904479,0.00448414740759,0.0698485357429,0.99999998672,1.98980426996e-05,-0.000160680948221,1.85776796161e-05,1793252946937507840
+83,1.383333333,BASELINE,770,749,726.162363886,702,671.837636114,641.162363886,896,792.837636114,823,654,634.837636114,655,0.401023926503,0.00448457431761,0.0698504628945,0.999999987117,2.09887615047e-05,-0.000158042321364,1.86679109463e-05,1793252946954174720
+84,1.400000000,BASELINE,770,749,726.738933971,702,671.261066029,641.738933971,896,792.261066029,823,654,634.261066029,655,0.401023299017,0.00448516155119,0.0698500636739,0.999999986982,2.09558003448e-05,-0.000158942252893,1.83058116465e-05,1793252946970841344
+85,1.416666667,BASELINE,770.313605688,749,726.686394312,702,671,642,896,792.313605688,823,654,634.313605688,655,0.401023071861,0.00448467102815,0.0698498336763,0.999999986949,2.05142584633e-05,-0.000159208062222,1.82959499192e-05,1793252946987507456
+86,1.433333333,BASELINE,770.886706551,749,726.113293449,702,671,642,896,792.886706551,823,654,634.886706551,655,0.401023175959,0.00448328870799,0.0698497437034,0.999999987,1.97346336657e-05,-0.000158949162738,1.85775496069e-05,1793252947004173568
+87,1.450000000,BASELINE,770.540964456,749,726,702,671,642,896,792.540964456,823,654,635,654.540964456,0.401021328759,0.00448340016079,0.0698480026243,0.9999999865,1.98697291319e-05,-0.000162045070929,1.86012947821e-05,1793252947020840192
+88,1.466666667,BASELINE,770.032590488,749,726,702,671.032590488,642,895.967409512,792,823,654,634.967409512,654,0.401019155204,0.00448379345859,0.0698460186959,0.999999985897,2.00757902629e-05,-0.000165705303092,1.85638611632e-05,1793252947037506560
+89,1.483333333,BASELINE,770.630719574,749,726,702,671.630719574,642,895.369280426,792,823,654,634.369280426,654,0.401019661497,0.00448269075518,0.0698468801538,0.999999986091,1.76023033534e-05,-0.000164814258689,1.85672904393e-05,1793252947054173184
+90,1.500000000,BASELINE,771,749,726,702.21997158,672,641.78002842,895.21997158,792,823,654,634,654,0.401020438098,0.0044824123487,0.0698475453083,0.999999986292,1.7061335826e-05,-0.000163650666856,1.85396950714e-05,1793252947070839808
+91,1.516666667,BASELINE,771,749,726,702.79489908,672,641.20510092,895.79489908,792,823,654,634,654,0.401021650882,0.00448346406452,0.0698478936989,0.999999986507,1.96387677079e-05,-0.000162047280466,1.84620369586e-05,1793252947087506432
+92,1.533333333,BASELINE,771,749,726,702.622315049,671.622315049,641,895.622315049,792,823,654,634.377684951,654.377684951,0.401020719468,0.00448410805238,0.0698471150094,0.999999986262,2.04582754435e-05,-0.000163469256958,1.83152327789e-05,1793252947104173312
+93,1.550000000,BASELINE,771,749,726,702.035170974,671.035170974,641,895.035170974,792,823,654,634.964829026,654.964829026,0.401018598909,0.00448452591975,0.0698457112561,0.999999985757,2.03028617301e-05,-0.0001665690599,1.81300810895e-05,1793252947120839936
+94,1.566666667,BASELINE,771,749,726,702.545831504,671.545831504,641.545831504,895.545831504,792.545831504,823,654,634.454168496,654.454168496,0.401019056959,0.00448360569124,0.0698464602378,0.999999985906,1.9697433876e-05,-0.000165696370217,1.85651226742e-05,1793252947137506304
+95,1.583333333,BASELINE,771,749,726.125511279,702.874488721,672,642,896,792.874488721,823,654,634.125511279,654,0.401019479772,0.00448294891808,0.0698469462569,0.999999986005,1.93661486109e-05,-0.000165102019552,1.88897275801e-05,1793252947154173184
+96,1.600000000,BASELINE,771,749,726.701845839,702.298154161,672,642,896,792.298154161,823,654,634.701845839,654,0.401019185847,0.00448354469934,0.069845995045,0.999999985776,2.01225494637e-05,-0.000166416619874,1.86757116856e-05,1793252947170839808
+97,1.616666667,BASELINE,771,749,726.722549857,702.277450143,672,642,896,792,823,654,634.722549857,654,0.40102000036,0.00448341189522,0.0698465266129,0.999999985923,1.98562104394e-05,-0.000165574193835,1.85932245801e-05,1793252947187506432
+98,1.633333333,BASELINE,771,749,726.147728278,702.852271722,672,642,896,792,823,654,634.147728278,654,0.401022002897,0.00448249819229,0.0698486474261,0.999999986465,1.8493697394e-05,-0.00016241986396,1.86517102204e-05,1793252947204173056
+99,1.650000000,BASELINE,771,749,726,702.561815952,672,642,896,792.438184048,823,654,634.438184048,654.438184048,0.401022072406,0.0044835425462,0.0698489912691,0.999999986609,1.99956831717e-05,-0.000161359749969,1.8589801396e-05,1793252947220839936
+100,1.666666667,BASELINE,771,749,726,702.02744314,672,642,896,792.97255686,823,654,635,654.97255686,0.401021482566,0.00448513830082,0.0698487269617,0.999999986605,2.2316882975e-05,-0.000161086043632,1.85077847308e-05,1793252947237506560
+101,1.683333333,BASELINE,771,749,726,702.606858254,672,642,896,792.393141746,823,654,635,654.393141746,0.4010210792,0.00448420227393,0.0698485931858,0.999999986466,2.11867625819e-05,-0.000162060056114,1.88589214273e-05,1793252947254173184
+102,1.700000000,BASELINE,771,749.185279502,726,702.814720498,672,642,896,792.185279502,823,654,635,654,0.401020582273,0.00448385759895,0.06984820011,0.999999986302,2.03640929954e-05,-0.000163161624448,1.89837207362e-05,1793252947270840064
+103,1.716666667,BASELINE,771,749.761603061,726,702.238396939,672,642,896,792.761603061,823,654,635,654,0.401019887879,0.00448476100953,0.0698472597654,0.999999986087,2.01903178393e-05,-0.00016453240732,1.86308206925e-05,1793252947287506688
+104,1.733333333,BASELINE,771,750,726.343445562,702,672,642,896,793,823,654,635,654,0.401020293269,0.0044846834094,0.0698474022786,0.999999986151,2.01379458104e-05,-0.000164154093841,1.85798777966e-05,1793252947304173056
+105,1.750000000,BASELINE,771,750,726.929181566,702,672,642,896,793,823,654,635,654,0.401021474525,0.00448391373602,0.0698483087151,0.999999986411,2.01712199936e-05,-0.000162541845998,1.87419564884e-05,1793252947320839680
+106,1.766666667,BASELINE,771,749.490960169,726.490960169,702,672,642,896,792.490960169,823,654,635,654,0.401021225813,0.00448380912096,0.0698482196747,0.99999998643,2.05144969634e-05,-0.000162397474372,1.861977703e-05,1793252947337506304
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,642,896,792,823,654,635,655,0.401018867339,0.0044842858344,0.069847225019,0.999999985981,1.90053429864e-05,-0.000165329015071,1.85398554851e-05,1793252947380427776
+108,1.800000000,POSE1_TO_POSE2_PRESS,770.583184394,749,726,702.416815606,671,642,896,792.583184394,823.583184394,654,634.416815606,655,0.401019283582,0.0044842149768,0.0698470990557,0.999999985969,1.99677587257e-05,-0.000165260282747,1.87878223181e-05,1793252947397094400
+109,1.816666667,POSE1_TO_POSE2_PRESS,771,749,726,702,671,642,895.835090336,793,823.835090336,654,634,654.835090336,0.401019580482,0.00448423260373,0.0698471526542,0.999999986015,2.05313712218e-05,-0.000164897380624,1.88936031211e-05,1793252947413761280
+110,1.833333333,POSE1_TO_POSE2_PRESS,771,749,726,702,671,642,895.25702059,793,823.25702059,654,634,654.25702059,0.401019578384,0.00448447191732,0.0698476561216,0.999999986209,2.00958333782e-05,-0.000163797473661,1.8643155056e-05,1793252947430427648
+111,1.850000000,POSE1_TO_POSE2_PRESS,771,749.32231627,726,702.32231627,671,641.67768373,895,793,823,654,634,654,0.401020333802,0.0044837171359,0.0698479735729,0.999999986368,1.85414425746e-05,-0.0001630409685,1.83720655071e-05,1793252947447094272
+112,1.866666667,POSE1_TO_POSE2_PRESS,771,749.902667503,726,702.902667503,671,641.097332497,895,793,823,654,634,654,0.40102169566,0.0044821665173,0.0698481421061,0.999999986494,1.60913378381e-05,-0.000162559378694,1.80844511342e-05,1793252947463760896
+113,1.883333333,POSE1_TO_POSE2_PRESS,771,749.51974858,726,702.51974858,671.48025142,641.48025142,895.48025142,793,823.48025142,654,634.48025142,654.48025142,0.401021669616,0.00448322862407,0.0698483143153,0.999999986446,1.9116023031e-05,-0.000162494301641,1.83720691029e-05,1793252947480427520
+114,1.900000000,POSE1_TO_POSE2_PRESS,771,749,726.05720691,702.05720691,672,642,895.94279309,793,823.94279309,654.05720691,635,654.94279309,0.401021260905,0.00448458947204,0.0698484391151,0.999999986318,2.27058692247e-05,-0.000162775326554,1.8752320895e-05,1793252947497094144
+115,1.916666667,POSE1_TO_POSE2_PRESS,771,749,726.633520071,702.633520071,672,642,895.366479929,793,823.366479929,654.633520071,635,654.366479929,0.401019917612,0.00448388371192,0.0698481269923,0.999999985907,2.14132851379e-05,-0.00016543534045,1.892132089e-05,1793252947513761024
+116,1.933333333,POSE1_TO_POSE2_PRESS,771,749,726.786079495,702.786079495,671.786079495,642,895.213920505,792.786079495,823,654.786079495,634.786079495,654.213920505,0.401021289222,0.00448344726695,0.069848847208,0.999999985564,2.04497227646e-05,-0.000167598228337,1.91185687295e-05,1793252947530427648
+117,1.950000000,POSE1_TO_POSE2_PRESS,771,749,726.198540582,702.198540582,671.198540582,642,895.801459418,792.198540582,823,654.198540582,634.198540582,654.801459418,0.40102740249,0.00448348118879,0.069851370433,0.999999985349,2.00608065559e-05,-0.000168892870856,1.93651522369e-05,1793252947547094272
+118,1.966666667,POSE1_TO_POSE2_PRESS,771,749,726,702,671.383884179,642,896,792,823,654,634.383884179,655,0.401044531888,0.00448383741569,0.0698591802195,0.999999985949,1.98249855099e-05,-0.000165309321261,1.95603833725e-05,1793252947563761152
+119,1.983333333,POSE1_TO_POSE2_PRESS,771,749,726,702,671.963698782,642,896,792,823,654,634.963698782,655,0.401067283804,0.00448435814368,0.0698696882112,0.999999986934,1.96673025798e-05,-0.000159235994112,1.97294048226e-05,1793252947580428032
+120,2.000000000,POSE1_TO_POSE2_PRESS,771,749,726,702.539078326,671.460921674,642,895.460921674,792,823,654,634.460921674,654.460921674,0.40111263961,0.00448309292762,0.0698827628969,0.999999989037,1.74995430875e-05,-0.000145655437128,2.01178422781e-05,1793252947597094144
+121,2.016666667,POSE1_TO_POSE2_PRESS,771,749.114746251,726,702.885253749,671,642,895,792.114746251,823,654,634,654,0.401163216435,0.00448180749739,0.0698956031767,0.999999991022,1.51953485821e-05,-0.000131577458274,2.03125488362e-05,1793252947613760768
+122,2.033333333,POSE1_TO_POSE2_PRESS,771,749.692774636,726,702.307225364,671,642,895,792.692774636,823,654,634,654,0.40122877749,0.00448092205236,0.0699068049214,0.999999992819,1.28823430588e-05,-0.000117515566244,1.96659089895e-05,1793252947630427392
+123,2.050000000,POSE1_TO_POSE2_PRESS,771,750,726,702,671,642,895,792.724267081,823,654,634,654,0.401302109258,0.00448110947235,0.0699147560053,0.999999994044,1.2342933747e-05,-0.000106823630371,1.86619595384e-05,1793252947647094272
+124,2.066666667,POSE1_TO_POSE2_PRESS,771,750,726,702,671,642,895,792.135715876,823,654,634,654,0.401384256878,0.00448251405499,0.0699190192223,0.99999999476,1.38156649018e-05,-9.9954901919e-05,1.72526433045e-05,1793252947663760896
+125,2.083333333,POSE1_TO_POSE2_PRESS,770.554783746,749.554783746,726,702,671.445216254,642,895.445216254,792.445216254,823,653.554783746,634.445216254,654,0.401480023168,0.00448223757301,0.0699199533549,0.999999994765,1.16504677236e-05,-0.000100460376775,1.55565509791e-05,1793252947680427520
+126,2.100000000,POSE1_TO_POSE2_PRESS,770.023634851,749,726,702,671.976365149,642,896,792.976365149,823,653.023634851,635,654,0.401580933778,0.00448148947027,0.0699198566602,0.999999994539,8.39280863226e-06,-0.000103263171292,1.3745641984e-05,1793252947697094400
+127,2.116666667,POSE1_TO_POSE2_PRESS,770.596705112,749,726,702,671.403294888,642,896,792.403294888,823,653.596705112,635,654,0.401706550509,0.00448148987972,0.0699189906704,0.999999994081,5.08480196035e-06,-0.000108094312552,1.12636158289e-05,1793252947713761024
+128,2.133333333,POSE1_TO_POSE2_PRESS,771,749,726,702,671.174731359,642,896,792.174731359,823,654,634.825268641,654,0.401840453158,0.0044813050787,0.0699183490189,0.999999993644,9.0655494702e-07,-0.000112423879268,8.53187249487e-06,1793252947730427904
+129,2.150000000,POSE1_TO_POSE2_PRESS,771,749,726,702,671.764530277,642,896,792.764530277,823,654,634.235469723,654,0.401994038668,0.00448068031739,0.0699182402744,0.999999993295,-5.33891374355e-06,-0.000115561974442,5.20693605064e-06,1793252947747094528
+130,2.166666667,POSE1_TO_POSE2_PRESS,771,749,726,702,672,642,896,793,823.348076555,654,634.348076555,654,0.402171728075,0.00448061375028,0.0699200128922,0.999999993561,-1.08974869602e-05,-0.000112950989547,1.29302585127e-06,1793252947763761152
+131,2.183333333,POSE1_TO_POSE2_PRESS,771,749,726,702,672,642,896,793,823.927467693,654,634.927467693,654,0.402365435765,0.00448091813155,0.0699230357712,0.999999994194,-1.5999583802e-05,-0.000106519448688,-3.01228771298e-06,1793252947780427776
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.495622375,749,726,702,672,642,896,793,823.495622375,654,634.495622375,654.504377625,0.402583232397,0.00448116793604,0.0699239074182,0.999999993891,-2.18176890438e-05,-0.000108104900763,-7.39736622692e-06,1793252947797094400
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.082227433,749.082227433,726.082227433,702.082227433,671.917772567,642,896,793,823,654,634.082227433,654.917772567,0.402810753291,0.00448153616532,0.0699250680315,0.999999993545,-2.7661725983e-05,-0.000109558925503,-1.18957976451e-05,1793252947813760768
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.668007576,749.668007576,726.668007576,702.668007576,671.331992424,642,896,793,823,654,634.668007576,654.331992424,0.403076714595,0.00448267744423,0.0699298834567,0.999999993986,-3.30371017653e-05,-0.000103182491164,-1.70184917544e-05,1793252947830427392
+135,2.250000000,POSE1_TO_POSE2_PRESS,771,749.749120114,726.749120114,702.749120114,671,642,896.250879886,792.749120114,823.250879886,654,634.749120114,654.250879886,0.403362311577,0.00448346106034,0.0699369229365,0.999999994786,-3.69991334033e-05,-9.27191944449e-05,-2.14847782285e-05,1793252947847094272
+136,2.266666667,POSE1_TO_POSE2_PRESS,771,749.170051721,726.170051721,702.170051721,671,642,896.829948279,792.170051721,823.829948279,654,634.170051721,654.829948279,0.403673594953,0.00448377679979,0.069946871813,0.999999995963,-3.91122986587e-05,-7.69096693278e-05,-2.5092384785e-05,1793252947863760896
+137,2.283333333,POSE1_TO_POSE2_PRESS,771,749,726,702.408652266,671,642,896.591347734,792,824,654,634.408652266,654.591347734,0.404009292412,0.00448459558005,0.0699526904104,0.999999996958,-2.9248408069e-05,-6.75877472416e-05,-2.57143376811e-05,1793252947880427776
+138,2.300000000,POSE1_TO_POSE2_PRESS,771,749,726,702.987204734,671,642,896.012795266,792,824,654,634.987204734,654.012795266,0.404355140198,0.00448562350324,0.0699567918134,0.999999997723,-1.44049678668e-05,-6.09630944852e-05,-2.50949828908e-05,1793252947897094656
+139,2.316666667,POSE1_TO_POSE2_PRESS,771,749,726,702.437513928,671.562486072,642,896.562486072,792.562486072,824,654,635,654.562486072,0.404741279366,0.00448727417545,0.0699627984545,0.999999998212,-4.13483745059e-06,-5.38528684501e-05,-2.56605916729e-05,1793252947913761024
+140,2.333333333,POSE1_TO_POSE2_PRESS,771,749,726,702,671.860324672,641.860324672,897,793,824.139675328,654,635,654.860324672,0.40513564376,0.00448934910994,0.0699675406312,0.999999998478,3.76635831139e-06,-4.83041557183e-05,-2.63894412737e-05,1793252947930427904
+141,2.350000000,POSE1_TO_POSE2_PRESS,771,749,726,702,671.276838151,641.276838151,897,793,824.723161849,654,635,654.276838151,0.405553247905,0.0044927273639,0.0699681281222,0.99999999847,4.46902968685e-06,-4.77519670287e-05,-2.75518265495e-05,1793252947947094272
+142,2.366666667,POSE1_TO_POSE2_PRESS,771,749,726,702.306687816,671,641,896.693312184,793,825,654,635,654.306687816,0.405992343515,0.00449708427735,0.069964704029,0.999999998234,-1.25162091209e-06,-5.201868439e-05,-2.87190465069e-05,1793252947963760896
+143,2.383333333,POSE1_TO_POSE2_PRESS,771,749,726,702.890249459,671,641,896.109750541,793,825,654,635,654.890249459,0.406450841392,0.00450232471241,0.0699576583289,0.999999997633,-1.27711641365e-05,-6.06358482649e-05,-2.98906312809e-05,1793252947980427520
+144,2.400000000,POSE1_TO_POSE2_PRESS,771,749,726.46839207,702.53160793,671,641.46839207,896.46839207,792.53160793,824.53160793,654,635,654.53160793,0.406934500981,0.00450848899823,0.0699411845575,0.999999995946,-2.2729892082e-07,-8.43173824314e-05,-3.16005753172e-05,1793252947997094144
+145,2.416666667,POSE1_TO_POSE2_PRESS,771,749,727,702.045111337,671,642,897,792,824.045111337,654,635,654,0.407430388572,0.00451473493808,0.06992454102,0.999999993458,1.71565402761e-05,-0.000108021892231,-3.3476720416e-05,1793252948013761024
+146,2.433333333,POSE1_TO_POSE2_PRESS,771,749,727,702.619857288,671,642,897,792,824.619857288,654,635,654,0.408001412989,0.00451942712131,0.0699315441299,0.999999994879,2.5923743619e-05,-9.10283307276e-05,-3.58400908473e-05,1793252948030427648
+147,2.450000000,POSE1_TO_POSE2_PRESS,771,749.199566357,726.800433643,702.800433643,671,642,897,792,825,654,635,654.199566357,0.40859240391,0.00452405351862,0.0699423309603,0.999999996503,3.09319961858e-05,-6.78233064128e-05,-3.79183057341e-05,1793252948047094528
+148,2.466666667,POSE1_TO_POSE2_PRESS,771,749.788970464,726.211029536,702.211029536,671,642,897,792,825,654,635,654.788970464,0.409222397849,0.00452855140786,0.0699605090018,0.999999998286,2.85974227915e-05,-3.24846613113e-05,-3.9439490727e-05,1793252948063761152
+149,2.483333333,POSE1_TO_POSE2_PRESS,771,749.627673531,726,702,671,642,897,792.372326469,825.372326469,654,635,655,0.409842569295,0.00453458536627,0.0699604769739,0.999999998317,2.91520852819e-05,-3.03821063494e-05,-3.99124794827e-05,1793252948080427776
+150,2.500000000,POSE1_TO_POSE2_PRESS,771,749.047690732,726,702,671,642,897,792.952309268,825.952309268,654,635,655,0.410457262456,0.00454147603099,0.0699502887075,0.999999997622,3.13181512051e-05,-4.68161999968e-05,-3.9800861404e-05,1793252948097094400
+151,2.516666667,POSE1_TO_POSE2_PRESS,771,749,726,702.528046617,671.528046617,642,897.528046617,792.471953383,826,654,635,654.471953383,0.411123406627,0.00454968610834,0.0699504111985,0.999999996646,5.09820156158e-05,-4.93530198678e-05,-4.08922130315e-05,1793252948113761024
+152,2.533333333,POSE1_TO_POSE2_PRESS,771,749,726,702.896832263,671.896832263,642,898.103167737,792,826,654,635,654,0.411809382009,0.00455741438657,0.0699564123396,0.999999995891,6.89442511828e-05,-4.10275934508e-05,-4.22051311634e-05,1793252948130427648
+153,2.550000000,POSE1_TO_POSE2_PRESS,771,749,726,702.322787816,671.322787816,642,898.677212184,792,826,654,635,654,0.412564830739,0.00456240409627,0.0699850283695,0.999999996377,7.19845831338e-05,1.119215247e-05,-4.4037391108e-05,1793252948147094272
+154,2.566666667,POSE1_TO_POSE2_PRESS,771,749,726,702.259221958,671,642,899,792,826.259221958,654,635,654.259221958,0.41333148496,0.00456754921275,0.0700112087619,0.999999994755,7.49959948907e-05,5.34851440446e-05,-4.47719209167e-05,1793252948163761152
+155,2.583333333,POSE1_TO_POSE2_PRESS,771,749,726,702.851464819,671,642,899,792,826.851464819,654,635,654.851464819,0.414112534912,0.00457289398006,0.0700342601094,0.999999992541,7.7970253616e-05,8.30253007963e-05,-4.40962037218e-05,1793252948180427520
+156,2.600000000,POSE1_TO_POSE2_PRESS,770.566334841,749,726,703,671,642,899,792,826.566334841,653.566334841,635,655,0.414849947978,0.00457914548625,0.0700067325881,0.999999994656,8.79170008789e-05,3.09869421587e-05,-4.46960871904e-05,1793252948197094144
+157,2.616666667,POSE1_TO_POSE2_PRESS,770.012374479,749.012374479,726,702.987625521,671,642,899.012374479,792,826.012374479,653.012374479,635,654.987625521,0.415574262252,0.00458563743586,0.0699624999956,0.999999992833,9.98497109196e-05,-4.76634591908e-05,-4.57477898898e-05,1793252948213760768
+158,2.633333333,POSE1_TO_POSE2_PRESS,770.585233619,749.585233619,726,702.414766381,671,642,899.585233619,792,826.585233619,653.585233619,635,654.414766381,0.416366928918,0.00458927157433,0.0699285337583,0.999999989755,9.60139100767e-05,-9.47395735447e-05,-4.79228013259e-05,1793252948230427392
+159,2.650000000,POSE1_TO_POSE2_PRESS,771,749.837261141,726,702,671,642,900,792,827,653.837261141,635,654,0.417183389956,0.00459211231722,0.0699116604076,0.999999987318,9.50229424908e-05,-0.000117822819653,-4.95241775362e-05,1793252948247094272
+160,2.666666667,POSE1_TO_POSE2_PRESS,771,749.247566599,726,702,671,642,900,792,827,653.247566599,635,654,0.418062276985,0.00459287153646,0.0699396313273,0.999999990579,0.000101495575428,-7.79592565875e-05,-4.96205855264e-05,1793252948263760896
+161,2.683333333,POSE1_TO_POSE2_PRESS,771,749,726,702,671.336285652,642,900,792,827,653,635,654.336285652,0.418953695501,0.00459076403055,0.0699670250622,0.999999992824,0.000102321747014,-3.79173595783e-05,-4.94480651934e-05,1793252948280427520
+162,2.700000000,POSE1_TO_POSE2_PRESS,771,749,726,702,671.915910346,642,900,792,827,653,635,654.915910346,0.419854181866,0.0045865821389,0.0699940011403,0.999999993886,9.9062092743e-05,2.25357959787e-06,-4.90809461043e-05,1793252948297094144
+163,2.716666667,POSE1_TO_POSE2_PRESS,771,749,726,702,672,642,900.493783886,792,827,653.493783886,635,654.506216114,0.420774512252,0.0045758955847,0.0700170073609,0.999999994772,8.22971683614e-05,3.55766660697e-05,-4.91726331e-05,1793252948313760768
+164,2.733333333,POSE1_TO_POSE2_PRESS,771,749,726,702,672,641.929200408,901,792,827,654,635,654,0.421691539931,0.0045658423617,0.070033488529,0.999999994856,6.62664935763e-05,5.8741247953e-05,-4.94581805763e-05,1793252948330427392
+165,2.750000000,POSE1_TO_POSE2_PRESS,771,749,726,702,672,641.356162289,901,792,827,654,635,654,0.42256125054,0.00456811206167,0.0700084610718,0.999999995987,7.17018394441e-05,1.80866737093e-05,-5.05666347936e-05,1793252948347094016
+166,2.766666667,POSE1_TO_POSE2_PRESS,771,749,726,702,671.777007162,641.222992838,901.222992838,792,827,653.777007162,635.222992838,654,0.423419093933,0.00457284381237,0.0699593952665,0.999999994043,7.62151687681e-05,-5.78650649342e-05,-5.25114246569e-05,1793252948363760896
+167,2.783333333,POSE1_TO_POSE2_PRESS,771,749,726,702,671.187806343,641.812193657,901.812193657,792,827,653.187806343,635.812193657,654,0.424257448634,0.00458161884408,0.0698708526964,0.999999976914,7.92143248148e-05,-0.000191783260321,-5.58296788598e-05,1793252948380427520
+168,2.800000000,POSE1_TO_POSE2_PRESS,771,749.39661834,726,702,671.39661834,641.60338166,901.60338166,792,827,653.39661834,635.60338166,654,0.425201724902,0.0045855009268,0.0698621589574,0.999999976205,7.88829675396e-05,-0.000195245440458,-5.69779303317e-05,1793252948397094144
+169,2.816666667,POSE1_TO_POSE2_PRESS,771,749.978808308,726,702,671.978808308,641.021191692,901.021191692,792,827,653.978808308,635.021191692,654,0.426195560191,0.00458709367333,0.0698908252651,0.999999985929,7.69933142986e-05,-0.000137669248252,-5.71108708257e-05,1793252948413760768
+170,2.833333333,POSE1_TO_POSE2_PRESS,771,749.447517655,726,702,672.552482345,641.552482345,901,792,827,654,635,654,0.427192244297,0.00459000409046,0.0699582001599,0.999999993098,9.01506525326e-05,-5.13788207957e-05,-5.51061487536e-05,1793252948430427392
+171,2.850000000,POSE1_TO_POSE2_PRESS,771,749,726,702,672.871249519,641.871249519,901.257500962,792,827.128750481,654,635,654,0.428185243936,0.00459221070734,0.0700191209609,0.99999999316,9.96369938322e-05,2.92507010016e-05,-5.3817870609e-05,1793252948447094272
+172,2.866666667,POSE1_TO_POSE2_PRESS,771,749,726,702,672.284611725,641.284611725,902.43077655,792,827.715388275,654,635,654,0.429164757391,0.00459173731447,0.0700518882504,0.999999990356,9.40463760176e-05,8.58902656139e-05,-5.53647291997e-05,1793252948463760896
+173,2.883333333,POSE1_TO_POSE2_PRESS,771,749,726,702,672,641,903,792,828,654,635,654,0.430129955719,0.00459083006414,0.0700534652759,0.999999990224,9.04355085366e-05,9.03721472027e-05,-5.66222912573e-05,1793252948480427520
+174,2.900000000,POSE1_TO_POSE2_PRESS,771,749,726,702,672,641,903,792,828,654,635,654,0.431081664254,0.00458951397193,0.0700256504198,0.999999993363,8.86902422997e-05,4.57036775598e-05,-5.76072371459e-05,1793252948497094400
+175,2.916666667,POSE1_TO_POSE2_PRESS,770.541936034,749,725.541936034,702,672,641,903,792,827.541936034,653.541936034,635.458063966,654,0.43192833886,0.00459023846382,0.0699498199107,0.999999990451,9.28627603223e-05,-8.47108353965e-05,-5.74248901948e-05,1793252948513760768
+176,2.933333333,POSE1_TO_POSE2_PRESS,770.032894926,749.032894926,725,702,672.032894926,641,903,792,827.032894926,653.032894926,635.967105074,654,0.432759035319,0.00459131615508,0.0698693822137,0.999999968754,9.78013061995e-05,-0.000222854511114,-5.71179768897e-05,1793252948530427392
+177,2.950000000,POSE1_TO_POSE2_PRESS,770.607327496,749.607327496,725,702,672.607327496,641,903,792,827.607327496,653.607327496,635.392672504,654,0.433767560796,0.00458964323185,0.0699146404847,0.99999998589,9.05112335288e-05,-0.000128327444951,-5.96600213359e-05,1793252948547094272
+178,2.966666667,POSE1_TO_POSE2_PRESS,771,750,725,702,673.186650919,641,903,792,828,654,635,654,0.434759390636,0.00458738168772,0.0699623091214,0.999999993823,8.44475305197e-05,-3.89397074546e-05,-6.08814549621e-05,1793252948563761152
+179,2.983333333,POSE1_TO_POSE2_PRESS,771,750,725,702,673.776540602,641,903,792,828,654,635,654,0.435715151583,0.00458384849261,0.0700151850964,0.999999994188,8.10332638996e-05,3.93450924333e-05,-5.92498555079e-05,1793252948580427776
+180,3.000000000,POSE1_TO_POSE2_PRESS,771,749.639771077,725,701.639771077,673.639771077,641,903,792,828,653.639771077,635,654,0.436678480596,0.00458223313242,0.0700417054889,0.999999991599,7.94088398347e-05,8.38386378855e-05,-5.88911871248e-05,1793252948597094144
+181,3.016666667,POSE1_TO_POSE2_PRESS,771,749.059864553,725,701.059864553,673.059864553,641,903,792,828,653.059864553,635,654,0.437646424767,0.00458178732142,0.0700521535123,0.999999989328,7.8875911833e-05,0.000107725333529,-5.93087876769e-05,1793252948613760768
+182,3.033333333,POSE1_TO_POSE2_PRESS,771,749,725,701.515361245,673,641.515361245,903,791.484638755,828,653,635.515361245,654.515361245,0.438492870223,0.00458195976869,0.0700080325035,0.999999993898,7.77808917319e-05,5.03596077195e-05,-6.01570353058e-05,1793252948630428416
+183,3.050000000,POSE1_TO_POSE2_PRESS,770.908004736,749,725,702,673,641.908004736,903,791,828,653,636,655,0.439311366102,0.00458245308643,0.0699544482319,0.999999994889,7.67392984107e-05,-2.48684652139e-05,-6.09441604919e-05,1793252948647095808
+184,3.066666667,POSE1_TO_POSE2_PRESS,770.320891763,749,725,702,673,641.320891763,903,791,828,653,636,655,0.440054711756,0.00458429028608,0.0698837408493,0.999999984576,7.63334910765e-05,-0.000145891829213,-6.11355197746e-05,1793252948663761664
+185,3.083333333,POSE1_TO_POSE2_PRESS,770.262470717,749,724.737529283,702,673,641,903,791,828,653,635.737529283,654.737529283,0.440872163522,0.00458631825938,0.069863684895,0.999999978764,7.83171749804e-05,-0.00018055052952,-6.11620971674e-05,1793252948680428032
+186,3.100000000,POSE1_TO_POSE2_PRESS,770.84131247,749,724.15868753,702,673,641,903,791,828,653,635.15868753,654.15868753,0.441778939587,0.00458857618301,0.0699046820225,0.999999988508,8.31810507667e-05,-0.000111108931211,-6.09900540859e-05,1793252948697094912
+187,3.116666667,POSE1_TO_POSE2_PRESS,771,749,724.421017641,702,673,640.578982359,903,791,828,653,635,654,0.442686568279,0.0045864169178,0.0699671965228,0.999999994703,8.2069932631e-05,-1.61509150492e-05,-5.99757573391e-05,1793252948713761792
+188,3.133333333,POSE1_TO_POSE2_PRESS,771,749,725,702,673,640,903.001037411,791,828.001037411,653,635.001037411,654.001037411,0.443594278481,0.004582597827,0.0700377112532,0.99999999129,7.87040494347e-05,8.82354141733e-05,-5.86455463428e-05,1793252948730428416
+189,3.150000000,POSE1_TO_POSE2_PRESS,771,749,725,702,673,640,903.574680993,791,828.574680993,653,635.574680993,654.574680993,0.444369192451,0.00458346889352,0.0700383231054,0.999999992382,7.64001174331e-05,7.7284866031e-05,-5.85274893562e-05,1793252948747094784
+190,3.166666667,POSE1_TO_POSE2_PRESS,770.847892527,749,725,702,673,640.152107473,904,791,829,653,636,655,0.445126379808,0.0045838710488,0.0700297269004,0.999999993848,7.38714033322e-05,5.80348432339e-05,-5.8981964177e-05,1793252948763761152
+191,3.183333333,POSE1_TO_POSE2_PRESS,770.259618492,749,725,702,673,640.740381508,904,791,829,653,636,655,0.445832736469,0.00458292860631,0.0699947266894,0.999999995523,7.06981283516e-05,1.49861624437e-05,-6.10781677949e-05,1793252948780427520
+192,3.200000000,POSE1_TO_POSE2_PRESS,770.323795254,749,725,702,673,641,904,791,828.676204746,653,635.676204746,655,0.446522181606,0.00458225064667,0.0699638312744,0.999999995225,7.10586577611e-05,-2.74153495647e-05,-6.12351536666e-05,1793252948797094144
+193,3.216666667,POSE1_TO_POSE2_PRESS,770.903369625,749,725,702,673,641,904,791,828.096630375,653,635.096630375,655,0.447198267597,0.00458178161291,0.0699361784078,0.999999993053,7.42106839727e-05,-6.93056338654e-05,-5.98602719738e-05,1793252948813760768
+194,3.233333333,POSE1_TO_POSE2_PRESS,771,749,724.519902839,702,673,641,904.480097161,791.480097161,828,653,635.480097161,655,0.447846962019,0.00458343337763,0.0699128296199,0.999999988373,7.99597586368e-05,-0.000116351308874,-5.76393480088e-05,1793252948830428672
+195,3.250000000,POSE1_TO_POSE2_PRESS,771,749,724.055842224,702,673,640.944157776,905,791.888315552,828,653,636,655,0.448492712138,0.00458523117734,0.0698955069758,0.999999982888,8.52460112866e-05,-0.000154475960437,-5.56332127458e-05,1793252948847096064
+196,3.266666667,POSE1_TO_POSE2_PRESS,771,749,724.627771698,702,673,640.372228302,905,790.744456605,828,653,636,655,0.449161903119,0.00458445689413,0.0699259182583,0.999999989986,8.14525295561e-05,-0.000100620364579,-5.71766078429e-05,1793252948863762432
+197,3.283333333,POSE1_TO_POSE2_PRESS,771,749,725,702,673.207346202,640,905,790.207346202,828.207346202,653,635.792653798,655,0.449816044247,0.00458351982172,0.0699597490141,0.99999999423,7.90240478319e-05,-4.43406690513e-05,-5.77013677374e-05,1793252948880429056
+198,3.300000000,POSE1_TO_POSE2_PRESS,771,749,725,702,673.801170413,640,905,790.801170413,828.801170413,653,635.198829587,655,0.450442133482,0.00458227932234,0.0699999534124,0.999999995147,7.91398259251e-05,1.64573629885e-05,-5.63274667656e-05,1793252948897095168
+199,3.316666667,POSE1_TO_POSE2_PRESS,770.615012689,749,724.615012689,702,673.615012689,640.384987311,905,791,829,653,635,655,0.450983696444,0.00458240041041,0.0699932546128,0.999999995323,7.86864151159e-05,3.0010803121e-06,-5.61633344287e-05,1793252948913761280
+200,3.333333333,POSE1_TO_POSE2_PRESS,770.03623315,749,724.03623315,702,673.03623315,640.96376685,905,791,829,653,635,655,0.451482711216,0.00458320688476,0.0699629460121,0.999999994216,7.79464899048e-05,-4.78328160719e-05,-5.6608166817e-05,1793252948930427904
+201,3.350000000,POSE1_TO_POSE2_PRESS,770.538229356,748.461770644,724.538229356,702,672.461770644,641,905,790.461770644,829,653,635,654.461770644,0.451940839827,0.00458624879756,0.0699119030874,0.99999998793,7.9538911468e-05,-0.000120415544511,-5.75589893277e-05,1793252948947094784
+202,3.366666667,POSE1_TO_POSE2_PRESS,771,748.11522425,725,702,672.11522425,640.88477575,905,790.11522425,829,653,635,654.11522425,0.452388866697,0.00458896743057,0.0698646664307,0.999999977502,8.1292261341e-05,-0.000187007225122,-5.84534744757e-05,1793252948963762176
+203,3.383333333,POSE1_TO_POSE2_PRESS,771,748.703807166,725,702,672.703807166,640.296192834,905,790.703807166,829,653,635,654.703807166,0.452806611621,0.00458974467457,0.0698387550849,0.999999969942,8.30668360002e-05,-0.000223019860117,-5.89776967663e-05,1793252948980430336
+204,3.400000000,POSE1_TO_POSE2_PRESS,771.287790001,749,724.712209999,701.712209999,672.712209999,640,905,791,829,653.287790001,635.287790001,655.287790001,0.453228452318,0.00459097824661,0.0698294385157,0.99999996693,8.37899736621e-05,-0.000235789831785,-5.93524485705e-05,1793252948997096960
+205,3.416666667,POSE1_TO_POSE2_PRESS,771.867112894,749,724.132887106,701.132887106,672.132887106,640,905,791,829,653.867112894,635.867112894,655.867112894,0.453654442033,0.00459267408145,0.0698369325501,0.999999969428,8.34479996977e-05,-0.000225014852754,-5.95757859527e-05,1793252949013762560
+206,3.433333333,POSE1_TO_POSE2_PRESS,771.554482216,749.445517784,724.445517784,701.445517784,672,640,905,791,828.554482216,653.554482216,635.554482216,655.554482216,0.45404308473,0.00459252915557,0.0698432120046,0.999999971003,8.57327997381e-05,-0.000217127621413,-5.91493735746e-05,1793252949030429440
+207,3.450000000,POSE1_TO_POSE2_PRESS,770.976594319,749.976594319,725,702,671.976594319,640,905.023405681,791,828,653,635.023405681,655,0.454418319229,0.00459194438182,0.0698487369507,0.999999972096,8.88565548774e-05,-0.000210925884769,-5.84986746095e-05,1793252949047096320
+208,3.466666667,POSE1_TO_POSE2_PRESS,770.404420905,749.404420905,725,702,671.404420905,640,905.595579095,791,828,653,635.595579095,655,0.454739829927,0.00459389357753,0.0698450482653,0.999999968906,9.33182170994e-05,-0.000224088624685,-5.71239519931e-05,1793252949063762176
+209,3.483333333,POSE1_TO_POSE2_PRESS,770.173235511,749,724.826764489,702,671,640,905.826764489,790.826764489,828.173235511,653,635.826764489,655,0.455041112925,0.00459526186878,0.0698359249642,0.999999963719,9.743421908e-05,-0.000244868235276,-5.57532703283e-05,1793252949080428032
+210,3.500000000,POSE1_TO_POSE2_PRESS,770.764110366,749,724.235889634,702,671,640,905.235889634,790.235889634,828.764110366,653,635.235889634,655,0.455293630571,0.0045952297046,0.0698136997926,0.999999953118,0.000100716896312,-0.000284010735226,-5.43923308292e-05,1793252949097094400
+211,3.516666667,POSE1_TO_POSE2_PRESS,771,749,724.348472451,702,671,639.651527549,905.348472451,790.348472451,829,653,635,655,0.455538763657,0.0045955847919,0.0697976397953,0.999999945122,0.000101174560422,-0.00031081151373,-5.39966109963e-05,1793252949113761280
+212,3.533333333,POSE1_TO_POSE2_PRESS,771,749,724.928506821,702,671,639.071493179,905.928506821,790.928506821,829,653,635,655,0.455778989689,0.00459619721002,0.0697856765891,0.999999939298,9.97549876577e-05,-0.000329411152365,-5.42422849942e-05,1793252949130427904
+213,3.550000000,POSE1_TO_POSE2_PRESS,771,749,725,702,670.494220886,639,905.494220886,791,828.494220886,653,635.505779114,655,0.456016828479,0.00459650056435,0.0697978000265,0.999999945848,9.86573344959e-05,-0.000309129051697,-5.48557957567e-05,1793252949147095296
+214,3.566666667,POSE1_TO_POSE2_PRESS,771,749,724.916192686,702,670,639,905.083807314,790.916192686,828.083807314,653,635.916192686,655,0.456247079986,0.00459667083869,0.0698118537847,0.999999952636,9.8026856597e-05,-0.000286468747545,-5.52632502819e-05,1793252949163762176
+215,3.583333333,POSE1_TO_POSE2_PRESS,771,749,724.331323289,702,670,639,905.668676711,790.331323289,828.668676711,653,635.331323289,655,0.456433975733,0.00459630523695,0.0698172031271,0.999999953705,9.99189177863e-05,-0.000282270657213,-5.41295745639e-05,1793252949180428032
+216,3.600000000,POSE1_TO_POSE2_PRESS,771,749,724,702,670,639,905.748616007,790,829,653,635,655,0.45660661484,0.00459652118278,0.0698203170384,0.999999954169,0.000101269318925,-0.000280235189241,-5.36222299023e-05,1793252949197094400
+217,3.616666667,POSE1_TO_POSE2_PRESS,771,749,724,702,670,639,905.16873412,790,829,653,635,655,0.456760623965,0.00459749707023,0.0698205097834,0.999999953865,0.000101911901667,-0.000281025744324,-5.39333480597e-05,1793252949213761024
+218,3.633333333,POSE1_TO_POSE2_PRESS,771,749,724.409727956,702,670,639,905.409727956,790,829,653,635,655,0.456890561969,0.00459712641077,0.0698159096996,0.999999952718,0.000100606359605,-0.000285516702123,-5.40528942196e-05,1793252949230427904
+219,3.650000000,POSE1_TO_POSE2_PRESS,771,749,724.987607331,702,670,639,905.987607331,790,829,653,635,655,0.457010621236,0.00459620313149,0.0698093426498,0.999999951192,9.85013115519e-05,-0.000291526296718,-5.40938196595e-05,1793252949247094528
+220,3.666666667,POSE1_TO_POSE2_PRESS,771,749,725,702,669.436017994,639,906,790,829,653,635,655,0.457106478355,0.00459915079169,0.069805154744,0.99999994858,0.000102466841864,-0.000299020509812,-5.4099619889e-05,1793252949263761408
+221,3.683333333,POSE1_TO_POSE2_PRESS,771,749,725,702,669,639,906,790,828.857086583,653.142913417,635,655,0.457196693663,0.00460085806113,0.0698011973678,0.999999946253,0.000105494686197,-0.000305707305074,-5.39192527165e-05,1793252949280428288
+222,3.700000000,POSE1_TO_POSE2_PRESS,771,749,725,702,669,639,906,790,828.270108453,653.729891547,635,655,0.457271026604,0.00459844755999,0.0697977942925,0.999999945071,0.000105195548207,-0.00030978417166,-5.31628126603e-05,1793252949297095168
+223,3.716666667,POSE1_TO_POSE2_PRESS,771,749.313162887,725,701.686837113,669,639.313162887,905.686837113,790.313162887,828.313162887,653.686837113,635.313162887,655,0.457335674144,0.00459773265637,0.069794845132,0.99999994405,0.000103659232175,-0.000313584151193,-5.3092293846e-05,1793252949313762048
+224,3.733333333,POSE1_TO_POSE2_PRESS,771,749.893274521,725,701.106725479,669,639.893274521,905.106725479,790.893274521,828.893274521,653.106725479,635.893274521,655,0.457392065587,0.00459846312691,0.0697922829007,0.999999943164,0.000101068311168,-0.00031714810496,-5.36064732744e-05,1793252949330428416
+225,3.750000000,POSE1_TO_POSE2_PRESS,771,749.530004118,725,701.469995882,669,639.530004118,905.469995882,791,829,653,635.530004118,655,0.457436625028,0.00459823207591,0.069792755236,0.999999942981,0.000101825457555,-0.000317593034751,-5.2951706972e-05,1793252949347094784
+226,3.766666667,POSE1_TO_POSE2_PRESS,770.953256018,749,724.953256018,702,669.046743982,639,906,790.953256018,829,653,635,655,0.457477054404,0.00459788780035,0.0697936321419,0.999999942821,0.000103376781816,-0.000317737412031,-5.21049325527e-05,1793252949363761408
+227,3.783333333,POSE1_TO_POSE2_PRESS,770.367383461,749,724.367383461,702,669.632616539,639,906,790.367383461,829,653,635,655,0.457500615563,0.00459873785245,0.0697912845183,0.99999994108,0.000105381979821,-0.000322525641318,-5.20831834912e-05,1793252949380427776
+228,3.800000000,POSE1_TO_POSE2_PRESS,770.216092223,749,724,702,669.783907777,639,905.783907777,790.216092223,828.783907777,653.216092223,635,655,0.457521725981,0.0045997312477,0.0697891677225,0.999999939735,0.000106873796389,-0.000326181776547,-5.20897866574e-05,1793252949397094400
+229,3.816666667,POSE1_TO_POSE2_PRESS,770.795537594,749,724,702,669.204462406,639,905.204462406,790.795537594,828.204462406,653.795537594,635,655,0.457538715547,0.00460096567051,0.0697874390573,0.999999939092,0.000107502376033,-0.000327934326384,-5.21440633202e-05,1793252949413761280
+230,3.833333333,POSE1_TO_POSE2_PRESS,771,749,724.374239585,702,669,639,905,791,828,653.625760415,635,655,0.457550918048,0.00460029047515,0.069785783389,0.999999938436,0.000106758749886,-0.000330217931124,-5.18311005656e-05,1793252949430428160
+231,3.850000000,POSE1_TO_POSE2_PRESS,771,749,724.952536223,702,669,639,905,791,828,653.047463777,635,655,0.457560510363,0.00459857404554,0.0697841675227,0.999999937768,0.000105266917802,-0.000332791097632,-5.13178976511e-05,1793252949447095552
+232,3.866666667,POSE1_TO_POSE2_PRESS,771,749.527554224,725,702,669,639,905.527554224,791,828.527554224,653,635.527554224,655,0.457565121691,0.00459770699747,0.069783067307,0.999999937391,0.000104196989163,-0.000334348820633,-5.07189869002e-05,1793252949463762176
+233,3.883333333,POSE1_TO_POSE2_PRESS,771,750,725,702,669,639,905.895311068,790.895311068,829,653,635.895311068,655,0.457569038765,0.00459725776532,0.0697823071002,0.999999937045,0.000103701488073,-0.000335609507179,-5.02239969045e-05,1793252949480428544
+234,3.900000000,POSE1_TO_POSE2_PRESS,771,750,725,702,669,639,905.307044944,790.307044944,829,653,635.307044944,655,0.457571806191,0.00459838769076,0.0697829044836,0.999999936733,0.000105685118559,-0.000335917524925,-5.02444348639e-05,1793252949497094912
+235,3.916666667,POSE1_TO_POSE2_PRESS,771,749.722914341,725,702,668.722914341,639,905.277085659,790.277085659,828.722914341,653.277085659,635.277085659,655,0.457574279838,0.00459864315337,0.0697830451116,0.999999936728,0.000105978851795,-0.00033581571798,-5.03922983503e-05,1793252949513761536
+236,3.933333333,POSE1_TO_POSE2_PRESS,771,749.143298939,725,702,668.143298939,639,905.856701061,790.856701061,828.143298939,653.856701061,635.856701061,655,0.457576432729,0.00459794385356,0.0697826870415,0.999999937061,0.000104427508985,-0.00033526645321,-5.06792885338e-05,1793252949530428160
+237,3.950000000,POSE1_TO_POSE2_PRESS,771,749,725,702,668.433658788,639,906,790.566341212,828.433658788,653.566341212,635.566341212,654.566341212,0.457576312766,0.00459768360041,0.0697814472748,0.999999936471,0.000105211628769,-0.000336836881365,-5.02840159037e-05,1793252949547094784
+238,3.966666667,POSE1_TO_POSE2_PRESS,771,749,724.990288173,702,668.990288173,639,905.990288173,790,828.990288173,653,635,654.009711827,0.45757545925,0.00459755404273,0.0697799283343,0.999999935579,0.000106711282258,-0.000339098695158,-4.9669326967e-05,1793252949563761664
+239,3.983333333,POSE1_TO_POSE2_PRESS,771,749,724.416083234,702,668.416083234,639,905.416083234,790,828.416083234,653,635,654.583916766,0.457575356609,0.0045966397981,0.0697790139285,0.999999935079,0.000105217556006,-0.000341082520551,-4.93254092516e-05,1793252949580428288
+240,4.000000000,POSE1_TO_POSE2_PRESS,771,749,724.162862593,701.837137407,668.162862593,639,905.162862593,790.162862593,828.162862593,653,635,655,0.457575580441,0.00459607595105,0.0697781602332,0.999999934743,0.000104422774762,-0.000342344521983,-4.90917376335e-05,1793252949597094656
+241,4.016666667,POSE1_TO_POSE2_PRESS,771,749,724.754283612,701.245716388,668.754283612,639,905.754283612,790.754283612,828.754283612,653,635,655,0.457576663363,0.0045964341441,0.0697774662924,0.999999934849,0.000105467205211,-0.000341707107758,-4.91481688335e-05,1793252949613761024
+242,4.033333333,POSE1_TO_POSE2_PRESS,771,749,724.661476487,701.338523513,669,639,906,791,829,653,635,655,0.457577731479,0.0045972185893,0.0697778766342,0.999999934968,0.000106938060464,-0.000340875787039,-4.93145111786e-05,1793252949630427648
+243,4.050000000,POSE1_TO_POSE2_PRESS,771,749,724.082340732,701.917659268,669,639,906,791,829,653,635,655,0.457578789072,0.00459830600158,0.0697790718666,0.999999935095,0.000108712005482,-0.000339906643493,-4.9558975028e-05,1793252949647094528
+244,4.066666667,POSE1_TO_POSE2_PRESS,771,749,724,702,669.49237963,639,905.50762037,791,829,653,635.49237963,655,0.457578048044,0.00459785144799,0.0697785877789,0.999999934691,0.000107282267748,-0.000341514326812,-4.97665908025e-05,1793252949663761152
+245,4.083333333,POSE1_TO_POSE2_PRESS,771,749,724.06610899,702,669.93389101,639,905.06610899,791,829,653,635.93389101,655,0.457577391364,0.00459711981678,0.0697780585668,0.999999934361,0.00010549656474,-0.000343016499435,-4.98762533985e-05,1793252949680427776
+246,4.100000000,POSE1_TO_POSE2_PRESS,771,749,724.637855699,702,669.362144301,639,905.637855699,791,829,653,635.362144301,655,0.457579659922,0.00459622369472,0.0697793130928,0.999999935316,0.000105049553731,-0.000340445024455,-4.92834286897e-05,1793252949697094400
+247,4.116666667,POSE1_TO_POSE2_PRESS,770.781175032,749,725,702,669,639,906,791,829,653,635,655,0.457580427148,0.00459557530305,0.0697793394535,0.999999935664,0.000104163223174,-0.000339741711599,-4.89745085795e-05,1793252949713761024
+248,4.133333333,POSE1_TO_POSE2_PRESS,770.184271222,749,725,702,669,639,906,791,829,653,635,655,0.457578600421,0.00459535493196,0.0697772438293,0.999999934964,0.00010251785016,-0.000342266149611,-4.91561097364e-05,1793252949730427648
+249,4.150000000,HOLD_POSE2,771,749,724,702,669,639,905,791,829,653,636,655,0.457578999504,0.00459835749592,0.0697770077456,0.999999934752,0.000104107204925,-0.000342397547057,-4.92180870168e-05,1793252949764497408
+250,4.166666667,HOLD_POSE2,771,749,724.574816638,702,669,639,905,790.425183362,829,653,635.425183362,655,0.457578843529,0.00459677525874,0.0697769369392,0.99999993496,0.000102216822817,-0.000342346629835,-4.93070141027e-05,1793252949781164032
+251,4.183333333,HOLD_POSE2,771,749,724.847240616,701.847240616,668.847240616,639,905.152759384,790,829,653,635,655,0.457578753609,0.0045956214132,0.0697767688193,0.999999935099,0.000100618755216,-0.000342387746237,-4.94883021778e-05,1793252949797830912
+252,4.200000000,HOLD_POSE2,771,749,724.260414886,701.260414886,668.260414886,639,905.739585114,790,829,653,635,655,0.457578851388,0.0045956848437,0.0697763241827,0.99999993505,9.98512999102e-05,-0.000342690376507,-4.99320343605e-05,1793252949814497536
+253,4.216666667,HOLD_POSE2,771,749,724.324163122,701,668,638.675836878,906,790,829,653,635,655,0.457579722417,0.00459632358823,0.0697768144938,0.999999934999,0.000101878144925,-0.000342257324579,-4.98341750289e-05,1793252949831164160
+254,4.233333333,HOLD_POSE2,771,749,724.906947834,701,668,638.093052166,906,790,829,653,635,655,0.457581210354,0.00459742132584,0.0697780507184,0.999999934931,0.000106134319414,-0.000341237335725,-4.9304226859e-05,1793252949847830784
+255,4.250000000,HOLD_POSE2,771,749,724.517025024,701.482974976,668,638.482974976,905.517025024,790.482974976,829,653,635,655,0.457580496938,0.00459604603348,0.0697774301529,0.99999993462,0.000105467662754,-0.000342387254287,-4.90690454542e-05,1793252949864497408
+256,4.266666667,HOLD_POSE2,771,749,724,701.942359554,668,639,905.057640446,790.942359554,829,653,635.057640446,655,0.457579578019,0.00459442080904,0.0697765731747,0.999999934313,0.000103982681818,-0.000343759494726,-4.89058474901e-05,1793252949881164032
+257,4.283333333,HOLD_POSE2,771,749,724,701.368390006,668,639,905.631609994,790.368390006,829,653,635.631609994,655,0.457580565021,0.00459476592079,0.0697767587791,0.999999934472,0.000103546149134,-0.000343429996601,-4.88857582848e-05,1793252949897830656
+258,4.300000000,HOLD_POSE2,771,749,724,701.211245442,668,639,906,790,829,653,635.788754558,655,0.457581370444,0.00459492962773,0.0697773424245,0.999999934769,0.000103378833047,-0.000342650344646,-4.86417266219e-05,1793252949914497536
+259,4.316666667,HOLD_POSE2,771,749,724,701.801033883,668,639,906,790,829,653,635.198966117,655,0.457581850482,0.00459476826481,0.0697786393429,0.99999993531,0.000103693941897,-0.000341064035888,-4.79963994405e-05,1793252949931164160
+260,4.333333333,HOLD_POSE2,771,749.384400456,724.384400456,702,668,639,906,790.384400456,829,653,635.384400456,655,0.457581118715,0.00459403778428,0.0697781088137,0.999999935092,0.000103164472358,-0.000341853150906,-4.80655277528e-05,1793252949947830784
+261,4.350000000,HOLD_POSE2,771,749.964497734,724.964497734,702,668,639,906,790.964497734,829,653,635.964497734,655,0.457579770024,0.00459301756809,0.069776647938,0.999999934484,0.000102205031175,-0.000343851585066,-4.84983826039e-05,1793252949964497664
+262,4.366666667,HOLD_POSE2,771,750,724.459893087,702,668,639,905.459893087,791,829,653,635.459893087,655,0.45758166114,0.00459470296147,0.0697775415961,0.999999934927,0.000103799377418,-0.000342066612959,-4.86080069875e-05,1793252949981164032
+263,4.383333333,HOLD_POSE2,771,749.884638716,724.115361284,702,668.115361284,639,905,791,828.884638716,653,635,655,0.457583369263,0.00459610847603,0.0697784520996,0.999999935392,0.000104905265759,-0.000340343046136,-4.87546071584e-05,1793252949997830912
+264,4.400000000,HOLD_POSE2,771,749.309632114,724.690367886,702,668.690367886,639,905,791,828.309632114,653,635,655,0.457583506748,0.00459569607715,0.0697788181465,0.999999935699,0.0001034016133,-0.000339846858119,-4.91324907325e-05,1793252950014497792
+265,4.416666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,669,639,906,790,829,653,635,655,0.457584114361,0.00459538887121,0.0697782999011,0.999999935818,0.000103424109478,-0.000339601516227,-4.83568096143e-05,1793252950052657152
+266,4.433333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.40020277,639,906,790,829,653,635,655,0.457583106191,0.00459544103215,0.0697783231383,0.99999993542,0.000104237806694,-0.000340485138654,-4.86277961311e-05,1793252950069324032
+267,4.450000000,POSE2_TO_POSE3_RETREAT,771,749.190335616,725,702,668.190335616,639,905.809664384,790,829,653,635,655,0.457582157472,0.00459584660865,0.0697779818155,0.99999993492,0.000105188421248,-0.000341625404209,-4.88626650035e-05,1793252950085990912
+268,4.466666667,POSE2_TO_POSE3_RETREAT,771,749.762309384,725,702,668.762309384,639,905.237690616,790,829,653,635,655,0.457581327955,0.00459696081167,0.0697769095207,0.999999934216,0.000106413566176,-0.00034328025995,-4.90251151554e-05,1793252950102657280
+269,4.483333333,POSE2_TO_POSE3_RETREAT,771,749.656049515,724.656049515,702,668.656049515,639,905.343950485,790.343950485,829,653,635,655,0.457581333023,0.00459758638745,0.0697764946948,0.999999934058,0.00010720500752,-0.000343490082053,-4.90408563251e-05,1793252950119323904
+270,4.500000000,POSE2_TO_POSE3_RETREAT,771,749.067534533,724.067534533,702,668.067534533,639,905.932465467,790.932465467,829,653,635,655,0.457581931519,0.00459786452688,0.0697765473593,0.999999934291,0.000107688065744,-0.000342672419175,-4.89522807014e-05,1793252950135990528
+271,4.516666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,668,639,905.48344634,790.48344634,828.48344634,653,635,655,0.457582267175,0.00459731292099,0.0697774410628,0.999999934657,0.000106475224697,-0.00034202489018,-4.86613544426e-05,1793252950152656896
+272,4.533333333,POSE2_TO_POSE3_RETREAT,771,749,724.098556734,702,668,638.901443266,905.098556734,790,828.098556734,653,635,654.901443266,0.45758235865,0.0045968028741,0.0697780794223,0.999999934969,0.000105114726387,-0.000341562103189,-4.84566872767e-05,1793252950169323776
+273,4.550000000,POSE2_TO_POSE3_RETREAT,771,749,724.673258554,702,668,638.326741446,905.673258554,790,828.673258554,653,635,654.326741446,0.457581435045,0.00459701324576,0.0697769574571,0.999999934948,0.000104102950389,-0.000341885288906,-4.87954780443e-05,1793252950185990144
+274,4.566666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.248327336,638.248327336,905.751672664,790.248327336,829,653,635.248327336,654.248327336,0.457577177806,0.00459644228179,0.0697743980142,0.999999934079,0.000103199531099,-0.000344675093443,-4.8900760848e-05,1793252950202657024
+275,4.583333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.823879622,638.823879622,905.176120378,790.823879622,829,653,635.823879622,654.823879622,0.457568527783,0.00459484173921,0.069769944384,0.999999932067,0.00010243889527,-0.000350715201502,-4.8698346399e-05,1793252950219323648
+276,4.600000000,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.592006756,638.592006756,905,790.592006756,828.592006756,653,635.592006756,655,0.45754162242,0.0045960333738,0.0697577064741,0.999999924788,0.000104123748376,-0.000370437143195,-4.85632659972e-05,1793252950235990272
+277,4.616666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.00411816,638.00411816,905,790.00411816,828.00411816,653,635.00411816,655,0.457506667778,0.00459845615536,0.0697420362624,0.99999991463,0.000106886884155,-0.000396191778962,-4.84578749694e-05,1793252950252656896
+278,4.633333333,POSE2_TO_POSE3_RETREAT,771,749,725,701.426251189,668,638.573748811,905,790,828.573748811,653,635,655,0.457450975877,0.00459801830994,0.0697218237213,0.999999902515,0.000107201093225,-0.000425581129296,-4.85632440917e-05,1793252950269323520
+279,4.650000000,POSE2_TO_POSE3_RETREAT,771,749,725,701,668.15128117,639,905.15128117,790,829,653,635,655,0.457391535254,0.0045977304102,0.0697034332924,0.999999891525,0.000107634403729,-0.000450566193935,-4.85299949857e-05,1793252950285990400
+280,4.666666667,POSE2_TO_POSE3_RETREAT,771,749,725,701,668.728071344,639,905.728071344,790,829,653,635,655,0.457321962048,0.00459792102354,0.069690258048,0.999999885735,0.000108451303028,-0.000463091198531,-4.81026721933e-05,1793252950302657024
+281,4.683333333,POSE2_TO_POSE3_RETREAT,771,749,725,701.304638528,668.695361472,638.695361472,905.695361472,790,828.695361472,653,635,655,0.457243061941,0.00459664105354,0.0696808510346,0.999999880149,0.000108519698075,-0.000475103953034,-4.69213234515e-05,1793252950319323648
+282,4.700000000,POSE2_TO_POSE3_RETREAT,771,749,725,701.881006776,668.118993224,638.118993224,905.118993224,790,828.118993224,653,635,655,0.457155842481,0.00459404936106,0.0696748051869,0.999999874742,0.000107920446556,-0.000486659792896,-4.50674030085e-05,1793252950335990272
+283,4.716666667,POSE2_TO_POSE3_RETREAT,771,749,724.531863219,702,668,638.468136781,905,790,828.468136781,653,635,655,0.457059131374,0.00459463785662,0.0696737584676,0.999999873471,0.000111566756177,-0.00048859555538,-4.34245815736e-05,1793252950352656896
+284,4.733333333,POSE2_TO_POSE3_RETREAT,771,749,724.05696285,702,668,639,905,790,828.94303715,653,635,655,0.456957605505,0.0045957403553,0.069674540403,0.999999873627,0.000115836793541,-0.000487423003716,-4.18041599406e-05,1793252950369323520
+285,4.750000000,POSE2_TO_POSE3_RETREAT,771,749,724.635678909,702,668,639,905,790,828.364321091,653,635,655,0.456834597203,0.00459397251008,0.0696801590639,0.999999876973,0.00011570273464,-0.00048070434045,-3.98858619763e-05,1793252950385990144
+286,4.766666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.212727662,639,905,790.212727662,828.212727662,653,635,655,0.456696834448,0.00459347495404,0.0696843830435,0.999999878533,0.000117259624167,-0.000477235823878,-3.78108899952e-05,1793252950402657024
+287,4.783333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.786943106,639,905,790.786943106,828.786943106,653,635,655,0.456533999484,0.0045951359986,0.0696862370429,0.999999877107,0.000121689939722,-0.000479290277189,-3.54696823002e-05,1793252950419324672
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770.637614748,749,724.637614748,701.637614748,669,639,905.362385252,790.637614748,828.637614748,653,635,655,0.456357232331,0.00459479899123,0.0696882233669,0.999999876889,0.000126538629418,-0.00047870015868,-3.24927139521e-05,1793252950435991552
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770.061448883,749,724.061448883,701.061448883,669,639,905.938551117,790.061448883,828.061448883,653,635,655,0.456172246198,0.00459328328052,0.0696902877527,0.999999877362,0.00013163412947,-0.000476549937726,-2.91406934117e-05,1793252950452658176
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770.528775681,748.471224319,724.528775681,701.528775681,669,639,905.471224319,790,828.528775681,653.528775681,635,655,0.455948413223,0.00459141350253,0.0696845297655,0.999999871106,0.000134001414798,-0.000489073176964,-2.52811866579e-05,1793252950469324544
+291,4.850000000,POSE2_TO_POSE3_RETREAT,771,748.235938102,724.882030949,702,669.117969051,639,905,790.117969051,829,653.882030949,635,654.882030949,0.455713999111,0.0045900895324,0.0696800039833,0.999999865719,0.000136936430945,-0.000499347632388,-2.14838958542e-05,1793252950485990912
+292,4.866666667,POSE2_TO_POSE3_RETREAT,771,749.393164555,724.303417722,702,669.696582278,639,905,790.696582278,829,653.303417722,635,654.303417722,0.455456377011,0.00459106188092,0.0696839362436,0.999999867541,0.000143360124444,-0.000494000761415,-1.81661181577e-05,1793252950502657280
+293,4.883333333,POSE2_TO_POSE3_RETREAT,771,749.72783906,724,702,670,639,905,790.72783906,829,653.27216094,635,654.27216094,0.455173726483,0.00459701113562,0.0696833822656,0.999999865607,0.000155043497844,-0.000494458534591,-1.60537075247e-05,1793252950519323648
+294,4.900000000,POSE2_TO_POSE3_RETREAT,771,749.1556062,724,702,670,639,905,790.1556062,829,653.8443938,635,654.8443938,0.454863480797,0.00460844769416,0.0696778819711,0.999999859342,0.000172525947808,-0.000501316237059,-1.52702784183e-05,1793252950535990272
+295,4.916666667,POSE2_TO_POSE3_RETREAT,771,749,724.429249355,701.570750645,670,639,905,790.429249355,828.570750645,654,635,655,0.454551004352,0.00462182940167,0.0696798683353,0.999999861099,0.000191310350066,-0.000490916619122,-1.42499253872e-05,1793252950552656896
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770.981470598,749,724.981470598,701.018529402,670.018529402,639,905,790.981470598,828,653.981470598,635,655,0.454236261235,0.00463523491445,0.0696850579358,0.999999865655,0.000209944681211,-0.000473756832091,-1.29556034342e-05,1793252950569323520
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770.4009843,749,724.4009843,701.5990157,670.5990157,639,905,790.4009843,828,653.4009843,635,655,0.453878042863,0.00462732936428,0.069702592146,0.999999878155,0.000209280257212,-0.000447052270861,-6.03607077788e-06,1793252950585990400
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770.177721913,749,724,702,671,639,904.822278087,790.177721913,828,653.177721913,635,655,0.453504798379,0.00462142555072,0.0697178261858,0.999999888467,0.000210561355733,-0.00042276432988,3.26082256413e-07,1793252950602657280
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770.752451573,749,724,702,671,639,904.247548427,790.752451573,828,653.752451573,635,655,0.453097987559,0.00461999335865,0.0697279219405,0.999999895059,0.000216188500024,-0.000403874809775,5.44312043968e-06,1793252950619323904
+300,5.000000000,POSE2_TO_POSE3_RETREAT,771,749,724.334144079,701.665855921,671.334144079,639.334144079,904.334144079,791,828,653.665855921,635,655,0.452649434799,0.00461862310452,0.0697263767919,0.999999892704,0.00022057371979,-0.000407214389661,1.07792507406e-05,1793252950635990528
+301,5.016666667,POSE2_TO_POSE3_RETREAT,771,749,724.921104803,701.078895197,671.921104803,639.921104803,904.921104803,791,828,653.078895197,635,655,0.452169299642,0.00461729971309,0.0697160240243,0.999999883451,0.000224019287998,-0.000427372719798,1.62811487966e-05,1793252950652657408
+302,5.033333333,POSE2_TO_POSE3_RETREAT,771,749,724.497519861,701,672,640,904.497519861,790.497519861,827.497519861,653,635,654.497519861,0.451651805078,0.00461416638876,0.0697092357855,0.999999883552,0.000198181936742,-0.000439864401247,1.17625354701e-05,1793252950669323776
+303,5.050000000,POSE2_TO_POSE3_RETREAT,771,749,724,701.082407531,672,640,904,790,827.082407531,653,635,654,0.451125992995,0.00461035459373,0.0697053311709,0.999999885058,0.000170462009521,-0.000448082097793,7.01092513023e-06,1793252950685990400
+304,5.066666667,POSE2_TO_POSE3_RETREAT,771,749,724,701.658854337,672,640,904,790,827.658854337,653,635,654,0.450585096217,0.00460416026833,0.0697153957035,0.999999891512,0.000158716762255,-0.000437814195196,1.01910526535e-05,1793252950702657280
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770.765279773,749,724,702,672,640,903.765279773,790.234720227,827.765279773,653,635,654.234720227,0.450035304085,0.0046005194274,0.069732211843,0.999999901624,0.000151586413372,-0.000416644725661,1.34489798174e-05,1793252950719324672
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770.190256144,749,724,702,672,640,903.190256144,790.809743856,827.190256144,653,635,654.809743856,0.449472615273,0.00460058069407,0.0697588166344,0.999999916361,0.000151146863067,-0.000379669885259,1.6819702695e-05,1793252950735992320
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,902.605756261,791,827,653,635,655,0.448880137882,0.00459846942135,0.0697877074767,0.99999993474,0.000138554350894,-0.000333165549864,1.79661213114e-05,1793252950752659200
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,902.016570668,791,827,653,635,655,0.448272930939,0.00459528389224,0.0698177287026,0.999999952896,0.000119952558724,-0.000281949161845,1.80126872074e-05,1793252950769325568
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770.564551132,749,724,701.435448868,672.564551132,640,902,791,827,653,635,654.435448868,0.447564820954,0.00459472397527,0.0698020177015,0.99999994565,0.000112258889082,-0.000309365704386,1.9753106085e-05,1793252950785991424
+310,5.166666667,POSE2_TO_POSE3_RETREAT,771,749,724,701,673,640,902,791,826.855898374,653,635,654,0.446840451148,0.00459433203098,0.0697768248651,0.999999932943,0.000104570396865,-0.000350328860579,2.12008906298e-05,1793252950802657536
+311,5.183333333,POSE2_TO_POSE3_RETREAT,771,749,724,701,673,640,902,791,826.280353838,653,635,654,0.446076141775,0.00459421551003,0.0697272056054,0.999999904834,9.59522983922e-05,-0.000425037853712,2.16257623268e-05,1793252950819324160
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770.699706921,749,724.300293079,701.300293079,672.699706921,640,901.699706921,791,826,653,635,654,0.4453330696,0.00459184971145,0.0697118383488,0.999999895789,0.000112482891367,-0.000441886320458,2.24752954183e-05,1793252950835990528
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770.114214009,749,724.885785991,701.885785991,672.114214009,640,901.114214009,791,826,653,635,654,0.444610167115,0.00458734768779,0.0697290015248,0.999999906509,0.000152898158492,-0.000403782439698,2.3728145778e-05,1793252950852657152
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770.466734001,749,724.533265999,702,672,640,901,791,826,653.466734001,635,654,0.443852693402,0.00458520375358,0.0697612045361,0.999999920598,0.000186901640085,-0.000351104313365,2.44404841795e-05,1793252950869324032
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770.953652407,748.953652407,724,702,672,640,900.907304813,791,826,653.953652407,635,654.046347593,0.443082865757,0.0045836754944,0.0697952794913,0.999999931924,0.000215279012782,-0.000298622087449,2.51490012636e-05,1793252950885990912
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770.376705415,748.376705415,724,702,672,640,899.75341083,791,826,653.376705415,635,654.623294585,0.442267523522,0.00458265318103,0.0698090573183,0.999999938507,0.000197036590803,-0.000288818443167,2.73134095771e-05,1793252950902657280
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770.200221026,748.200221026,724,702,672,640,899,791,825.799778974,653,635,654.799778974,0.441448772296,0.00458080608391,0.0698192893328,0.999999946279,0.000175973604211,-0.000275099265942,2.82103724539e-05,1793252950919323904
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770.777108773,748.777108773,724,702,672,640,899,791,825.222891227,653,635,654.222891227,0.44062360794,0.00457740735865,0.0698228507708,0.999999956191,0.000149604418655,-0.000254013975067,2.67229476862e-05,1793252950935990272
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770.639367841,749,724,702,672,640,898.639367841,791,825,653,635,654,0.439732561773,0.00457293580405,0.0698043330933,0.999999950502,0.000131496473383,-0.00028451491288,2.74788194188e-05,1793252950952657152
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770.051666396,749,724,702,672,640,898.051666396,791,825,653,635,654,0.43880003366,0.0045677887508,0.0697719134693,0.999999932152,0.000118590155617,-0.000347496725776,2.96471656459e-05,1793252950969323520
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770.528339908,749,724,702,672,640,898,791,825,653.528339908,635,654,0.437853530518,0.00456625674927,0.0697128152474,0.999999897071,0.000127236389091,-0.00043457350071,2.85395477099e-05,1793252950985990400
+322,5.366666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,672,640.107397957,897.785204085,791,825,654,635,654,0.436920834467,0.00456448529097,0.0696704020495,0.999999868085,0.00013498785918,-0.000494827434449,2.74571792265e-05,1793252951002657280
+323,5.383333333,POSE2_TO_POSE3_RETREAT,771,749,724,702,672,640.685550481,896.628899039,791,825,654,635,654,0.436054563205,0.00456013691572,0.0697123952489,0.999999899894,0.000129711661521,-0.00042732970688,2.78695399282e-05,1793252951019323904
+324,5.400000000,POSE2_TO_POSE3_RETREAT,771,749,724.262203891,702,671.737796109,641,896,791,824.737796109,654,635,654,0.435180984609,0.0045559996112,0.0697584400348,0.999999926628,0.0001229946909,-0.000361595054707,2.93997576883e-05,1793252951035990272
+325,5.416666667,POSE2_TO_POSE3_RETREAT,771,749,724.837069778,702,671.162930222,641,896,791,824.162930222,654,635,654,0.434298692351,0.00455211399494,0.0698093160936,0.999999948527,0.000114559686703,-0.000297962753119,3.22629512493e-05,1793252951052656896
+326,5.433333333,POSE2_TO_POSE3_RETREAT,771,749,724.57842537,702,671.42157463,641,896.42157463,791,824,653.57842537,635,654,0.433389655109,0.00454554266055,0.0698349314008,0.999999959789,0.000106958886067,-0.000260498905324,3.34857726532e-05,1793252951069323520
+327,5.450000000,POSE2_TO_POSE3_RETREAT,771,749,724,702,671.990289274,640.990289274,896.990289274,791,824,653.009710726,634.990289274,654,0.432468866024,0.00453796418782,0.0698498059001,0.999999966921,9.98053136557e-05,-0.000234599981932,3.40591167215e-05,1793252951085990400
+328,5.466666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,671.41274636,640.41274636,896.41274636,791,824,653.58725364,634.41274636,654,0.431479449165,0.00453360917902,0.0698208484922,0.999999955326,9.95096971263e-05,-0.000279729455644,3.45931874104e-05,1793252951102658048
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770.8357411,748.8357411,724,702,671,640.1642589,896,791,824,654,634.1642589,654.1642589,0.430478744535,0.00452916460614,0.0697794626045,0.999999935341,9.75364324907e-05,-0.000344409729897,3.44608756415e-05,1793252951119324928
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770.260082474,748.260082474,724,702,671,640.739917526,896,791,824,654,634.739917526,654.739917526,0.429449768826,0.00452449571301,0.0697069485838,0.999999890385,9.13613618201e-05,-0.000458056564742,3.26595548239e-05,1793252951135990784
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,748.322758892,724.322758892,702,671,640.677241108,895.677241108,791,824,653.677241108,634.677241108,654.677241108,0.428505832923,0.00451689618682,0.0697023662941,0.999999887768,8.01300091819e-05,-0.000465817979573,3.25127256035e-05,1793252951152657152
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,748.911519892,724.911519892,702,671,640.088480108,895.088480108,791,824,653.088480108,634.088480108,654.088480108,0.427631982725,0.00450688137629,0.0697537700216,0.999999922717,6.47315165752e-05,-0.000386313800504,3.37294476937e-05,1793252951169323776
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,671,640.49197024,895,791,823.50802976,653,634.49197024,654,0.426731112236,0.00450339618312,0.0698128880365,0.999999954219,6.63377468146e-05,-0.000293101600739,3.54024751072e-05,1793252951185990656
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770,749,724.929148923,702,671,641,895,791,823,653.070851077,634.929148923,654,0.425820532449,0.00449989595385,0.069863924174,0.999999974399,6.80624648284e-05,-0.000212616104075,3.69213981339e-05,1793252951202657536
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,749,724.35098214,702,671,641,895,791,823,653.64901786,634.35098214,654,0.424874649454,0.00448801909461,0.069847322322,0.999999969171,4.91011751778e-05,-0.000240617360466,3.67590315223e-05,1793252951219324160
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,749,724.223817181,702,671,641,895,791,823,653.776182819,634,654,0.423915956095,0.00447921127442,0.0698178010919,0.999999956123,3.52709532594e-05,-0.000291894983464,3.61607810033e-05,1793252951235990784
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,749,724.793414129,702,671,641,895,791,823,653.206585871,634,654,0.422937471599,0.00447514487398,0.0697683204466,0.999999927089,2.93678203998e-05,-0.000379132747272,3.48891243023e-05,1793252951252657408
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,671,641,895,791,823,653.378198279,634.378198279,654.378198279,0.421960295659,0.00446960708323,0.0697113144702,0.999999886054,2.70760193613e-05,-0.000475279820595,3.56012411793e-05,1793252951269323776
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,671,641,895,791,823,653.971625275,634.971625275,654.971625275,0.420983864462,0.00446323193977,0.069650025909,0.999999832764,2.68393899966e-05,-0.000576497081562,3.74423028957e-05,1793252951285990400
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770.551076594,749,725,702.551076594,671,641,895,791.551076594,823,654,635,654.448923406,0.420159843704,0.00445479544458,0.0697187025692,0.999999894019,3.72313402211e-06,-0.000459069309365,3.4700165956e-05,1793252951302657024
+341,5.683333333,POSE2_TO_POSE3_RETREAT,771,749,725,702.870878549,671,641,895,791.870878549,823,653.870878549,635,654,0.419348849299,0.00444700665871,0.0697912135855,0.99999994242,-1.55021917827e-05,-0.000337367744882,3.32157669355e-05,1793252951319323648
+342,5.700000000,POSE2_TO_POSE3_RETREAT,771,749,725,702.295270341,671,641,895,791.295270341,823,653.295270341,635,654,0.418556433764,0.00444181551165,0.0698544160095,0.999999970645,-1.73002885009e-05,-0.00023885376158,3.68763119726e-05,1793252951335990528
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770.71387284,749,725,702.28612716,671,641,895,791,823,653.28612716,635,654,0.417734202553,0.00444016616967,0.069871331953,0.999999976048,-9.58286246319e-06,-0.000215137421301,3.908729066e-05,1793252951352657408
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770.126377708,749,725,702.873622292,671,641,895,791,823,653.873622292,635,654,0.416880567559,0.0044422472904,0.0698394959226,0.999999962671,8.15693887211e-06,-0.00027020289245,3.97714905592e-05,1793252951369324032
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,671.45511252,641,895,791,823,654,634.54488748,654,0.416038521403,0.00445723249723,0.0698090657525,0.999999953378,1.96075695694e-05,-0.000302501265921,3.67852221702e-05,1793252951385990656
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671.965139599,641,895,791,822.965139599,654,634.034860401,654,0.415197633724,0.00447496303223,0.0697786603923,0.999999944014,2.93275833076e-05,-0.000331685986173,3.31127030142e-05,1793252951402657024
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,671.386898055,641,895,791,822.386898055,654,634.613101945,654,0.414325297117,0.00448035968481,0.0697426359551,0.999999914764,3.8939189392e-05,-0.000409598099482,3.4423596546e-05,1793252951419323648
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,748.810635403,725.189364597,702.810635403,671,641,895,791,822.189364597,654,634.810635403,654,0.413515194257,0.00447985807735,0.0697288914666,0.999999900868,4.05689826333e-05,-0.000442007542331,3.5317002525e-05,1793252951435990016
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,748.23837398,725.76162602,702.23837398,671,641,895,791,822.76162602,654,634.23837398,654,0.412830928402,0.00446743013888,0.0697601972175,0.999999925916,2.60594844836e-05,-0.000382410215925,3.53662456315e-05,1793252951452656896
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770.344821239,748.344821239,725.655178761,702,671,641,895,791.344821239,823,654,634,654,0.41218563828,0.00446115068603,0.0698050103104,0.999999954125,1.52923219583e-05,-0.000300535400372,3.45686698535e-05,1793252951469323776
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770.935822444,748.935822444,725.064177556,702,671,641,895,791.935822444,823,654,634,654,0.41156817434,0.00445926085327,0.0698594667663,0.999999978869,7.19694476619e-06,-0.000202755906538,3.31665201981e-05,1793252951485990912
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770.483173407,749,725.516826593,702.516826593,671,641,895,792,823,653.483173407,634,654,0.41089433369,0.00445871180076,0.069866827036,0.999999979853,6.88993313782e-06,-0.0001978796646,3.30286997682e-05,1793252951502657536
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.904059677,671,641,895,792,823,653,634.095940323,654,0.410210782637,0.00445842046194,0.0698602814945,0.999999975899,7.99414390572e-06,-0.000216906039534,3.30262571748e-05,1793252951519324160
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.328309614,671,641,895,792,823,653,634.671690386,654,0.409513015387,0.00445860113,0.0698128839328,0.99999995473,1.14111017641e-05,-0.000298872399196,3.29305807995e-05,1793252951535990784
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,749,725.753049354,702.246950646,671,641,895,792,823,653.246950646,634.753049354,654,0.408858147768,0.00446101778152,0.0697771067391,0.999999935579,1.42011994104e-05,-0.00035721621887,3.22085314814e-05,1793252951552657152
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,749,725.178439019,702.821560981,671,641,895,792,823,653.821560981,634.178439019,654,0.408260200404,0.0044664011863,0.0697567477157,0.999999925588,1.61595645916e-05,-0.00038421711509,3.06553966339e-05,1793252951569323776
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,749,725.407365216,702.592634784,671,641,895,792,823,654,634,654,0.407718457911,0.00446960213884,0.0697627260287,0.999999930239,2.18621211555e-05,-0.000371640261071,3.04581361565e-05,1793252951585990912
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,749,725.998211332,702.001788668,671,641,895,792,823,654,634,654,0.407202030538,0.00447182009604,0.0697805669095,0.999999940874,2.92510948265e-05,-0.000341237240039,3.08715733471e-05,1793252951602658304
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.575063779,671,641,895,792,823,653.424936221,634,654,0.406703885531,0.00447236071754,0.0697933343617,0.999999944703,2.19097395035e-05,-0.000330372047457,3.11153637292e-05,1793252951619324928
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770.151640723,749,725.848359277,702.848359277,671,641,895,792,823,653,634,654,0.40621038186,0.00447391881847,0.0698008570727,0.999999945901,1.73757152393e-05,-0.000326975649704,3.1360082476e-05,1793252951635991552
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770.72756584,749,725.27243416,702.27243416,671,641,895,792,823,653,634,654,0.405729709008,0.00447833803492,0.0697937483238,0.999999940009,2.08216326037e-05,-0.000344310631781,3.16088401258e-05,1793252951652658176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770.689717886,749,725.310282114,702,671,641,895,792,823,653.310282114,634,654,0.405303381056,0.00447892238581,0.069797228969,0.999999941764,2.23509360001e-05,-0.000339088962999,3.14741847674e-05,1793252951669324544
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770.10090544,749,725.89909456,702,671,641,895,792,823,653.89909456,634,654,0.40492583681,0.00447606430026,0.0698102153751,0.999999950096,2.21597561171e-05,-0.00031361890896,3.09953517887e-05,1793252951685990656
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,749,726,702,671,641,895,792.480083521,823,654,634,654,0.404572467591,0.00447257517877,0.0698249561423,0.999999959091,2.56000986362e-05,-0.000283287743634,3.01849474552e-05,1793252951702657280
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770.059262422,749,726,702.059262422,671,641.059262422,895,792.940737578,823,654,634,654.059262422,0.404225628027,0.00446923415738,0.0698387902065,0.999999966715,2.86831993556e-05,-0.000254714407753,2.94431813757e-05,1793252951719323904
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770.636761796,749,726,702.636761796,671,641.636761796,895,792.363238204,823,654,634,654.636761796,0.403892167516,0.00446832948839,0.069841522532,0.999999967983,2.20745697028e-05,-0.000250304388842,2.9901299849e-05,1793252951735990528
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770.787300081,749,726,702.787300081,671,641.787300081,895,792,823,654,634.212699919,654.787300081,0.403566123941,0.00446814789349,0.0698381756101,0.999999966628,1.61916001673e-05,-0.000256103472431,2.98753646938e-05,1793252951752657408
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770.214008812,749,726,702.214008812,671,641.214008812,895,792,823,654,634.785991188,654.214008812,0.403252654372,0.00446919213017,0.0698245225064,0.999999960533,1.15388469066e-05,-0.000279210104291,2.90288106916e-05,1793252951769324288
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.369648614,671.369648614,641,895.369648614,792,823,654,635,654,0.40297096002,0.00446930530786,0.0698143951246,0.999999955347,6.42273735104e-06,-0.00029743086378,2.82714324664e-05,1793252951785991168
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.959480762,671.959480762,641,895.959480762,792,823,654,635,654,0.402708192747,0.00446886389449,0.0698063678602,0.999999950716,1.03062624364e-06,-0.000312741324708,2.7567172276e-05,1793252951802657792
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671.459851161,641,895.459851161,792,823,654,634.459851161,654,0.402481971969,0.00447254657746,0.0698005851796,0.999999948192,5.31220593522e-06,-0.000320706360934,2.71330266079e-05,1793252951819323904
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.880837229,671,641.119162771,895,792,823,653.880837229,634,654,0.402266240769,0.00447746312705,0.0697956930106,0.999999946018,1.21361997439e-05,-0.000327258612174,2.67878228057e-05,1793252951835990528
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.305567177,671,641.694432823,895,792,823,653.305567177,634,654,0.402080340974,0.00448593803902,0.0697935756317,0.999999944699,2.59602949238e-05,-0.000330477177016,2.67067893291e-05,1793252951852657152
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.270235373,671,641.729764627,895,792.270235373,823,653.270235373,634.270235373,654,0.401907725588,0.00449322068755,0.0697929855934,0.99999994338,4.64127786099e-05,-0.000332220506593,2.67484961265e-05,1793252951869323776
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.846641196,671,641.153358804,895,792.846641196,823,653.846641196,634.846641196,654,0.401750161143,0.00449915252858,0.0697941259968,0.999999941662,7.43750728788e-05,-0.000332292428283,2.69292648199e-05,1793252951885990656
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770.433105056,749,726,703,671,641,895,792.566894944,823,654,634.566894944,654,0.401621214193,0.00449807328712,0.0697939047586,0.999999941798,7.37958983094e-05,-0.000332050310582,2.64792235423e-05,1793252951902657536
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770.977210915,749,726,702.977210915,671,641.022789085,895,792,823,654,634,654,0.401503554813,0.00449458727575,0.0697932288594,0.999999942704,6.30047389452e-05,-0.000331598478322,2.57704424858e-05,1793252951919324928
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,770.179622148,749,726,702.179622148,671,642,895,792,822.820377852,654,634,654,0.401318620373,0.00449389061326,0.0697936861878,0.99999994511,4.76549754802e-05,-0.00032706535635,2.31956738903e-05,1793252951952657920
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,770.076123917,749,726,703,671,642,895,792,822.923876083,654,634,654,0.401124409708,0.00449328993526,0.0697950387764,0.999999946072,4.03200428894e-05,-0.000325125441228,2.28709752563e-05,1793252952002657280
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641.495687595,895,792,823,654,634,654,0.401087688792,0.00449315081124,0.0697973097592,0.999999947751,3.91107674168e-05,-0.00032005940035,2.30363646834e-05,1793252952019323904
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.985318899,671,641.014681101,895,792,823,653.014681101,634,654,0.400977288554,0.00449272455936,0.0698109220307,0.999999954674,3.56828810795e-05,-0.000298096197278,2.27537315053e-05,1793252952119324160
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641.565665633,895,792.565665633,823,653.565665633,634,654,0.40097509836,0.0044924736165,0.0698131664878,0.999999955741,3.75953250077e-05,-0.000294253719319,2.28086120309e-05,1793252952135990528
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.859197083,671.140802917,641.859197083,894.859197083,792.859197083,823,654,634,654.140802917,0.400972779433,0.00449201630345,0.0698148962902,0.999999956499,3.86231512462e-05,-0.000291527550207,2.28357201658e-05,1793252952152656896
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.298496622,671.701503378,641.298496622,894.298496622,792.298496622,823,654,634,654.701503378,0.400969691616,0.00449095701133,0.0698150308131,0.999999956395,3.67085129865e-05,-0.000292136823522,2.27623890977e-05,1793252952169323776
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,749,726,702,671.726697549,641,894.273302451,792,822.726697549,654,634,654.726697549,0.400967707742,0.0044911553813,0.0698154169781,0.999999956428,3.62704978764e-05,-0.000292083380364,2.26920693002e-05,1793252952185990656
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,749,726,702,671.14226358,641,894.85773642,792,822.14226358,654,634,654.14226358,0.400966980613,0.00449278549211,0.0698160896161,0.99999995662,3.75134919612e-05,-0.000291275491136,2.26251775679e-05,1793252952202657536
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,749,726,702,671,641,895,792,822.45116303,654,634.45116303,654.45116303,0.400966865205,0.00449317006467,0.069816471555,0.999999956788,3.97634898474e-05,-0.000290386580603,2.27826761751e-05,1793252952219324416
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.046406286,671,641.046406286,895,792,823,654,634.953593714,654.953593714,0.400967111226,0.00449322059948,0.0698168984066,0.999999957022,4.21099676967e-05,-0.000289231018532,2.29676977057e-05,1793252952235991296
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.629205521,671,641.629205521,895,792,823,654,634.370794479,654.370794479,0.400969259966,0.00449404210438,0.0698189254575,0.999999958173,4.18267129287e-05,-0.000285294637341,2.26363693964e-05,1793252952252657408
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,642,895,792,823,654,634,654,0.400969608907,0.00449473328977,0.0698197757424,0.999999958569,4.1423164288e-05,-0.000283979423109,2.2409089696e-05,1793252952269323776
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,642,895,792,823,654,634,654,0.400966810015,0.00449519654743,0.0698185678736,0.999999957661,4.08092227463e-05,-0.000287248606925,2.23637901113e-05,1793252952285990400
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770.358551162,749,726,703,671,642,895,792.358551162,823,654,634.358551162,654,0.400967227732,0.00449542629434,0.0698192675382,0.999999957869,4.08106681484e-05,-0.00028652973433,2.22907216436e-05,1793252952302657024
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770.946997692,749,726,703,671,642,895,792.946997692,823,654,634.946997692,654,0.400969707869,0.0044955063191,0.0698211902726,0.999999958788,4.12066865758e-05,-0.000283253804773,2.21998483608e-05,1793252952319323648
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770.47280182,749,726,703,671,642,895,792.47280182,823,654,634.47280182,654,0.400969072816,0.00449507804969,0.069820657925,0.999999958696,4.08094227008e-05,-0.000283628391735,2.22870364536e-05,1793252952335990528
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770.105986691,749,726,702.894013309,671,642,895,792,823,654,634,654,0.400968326301,0.0044948255368,0.0698201482419,0.999999958596,4.04909194392e-05,-0.000284023164206,2.23252731042e-05,1793252952352657408
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770.682132399,749,726,702.317867601,671,642,895,792,823,654,634,654,0.400968453249,0.00449557588081,0.0698208171521,0.999999958904,4.08701386424e-05,-0.000282904499047,2.2068171529e-05,1793252952369323776
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770.742014543,749,726,702,671,641.742014543,895,792,823,654,634,654,0.400968440844,0.00449556608144,0.0698213812064,0.999999958999,4.07572749577e-05,-0.000282599579378,2.18556663307e-05,1793252952385990400
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770.166521579,749,726,702,671,641.166521579,895,792,823,654,634,654,0.400968256936,0.00449462075955,0.0698218162129,0.999999958835,4.00387957476e-05,-0.000283296151294,2.16980466898e-05,1793252952402657792
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.419064125,671,641,895,792.419064125,823,654,634,654,0.400967977235,0.00449572439669,0.0698214339311,0.999999958733,4.15237804457e-05,-0.000283444598466,2.16728550995e-05,1793252952419324160
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.99139142,671,641.00860858,895,792.99139142,823,654,634,654,0.40096764361,0.00449762384496,0.0698207255083,0.999999958648,4.38748173937e-05,-0.000283387705705,2.17003536804e-05,1793252952435990528
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.411841239,671,641.588158761,895,792.411841239,823,654,634,654,0.400966320569,0.00449697207577,0.0698204571792,0.999999958317,4.41608552224e-05,-0.000284514067517,2.16462237888e-05,1793252952452657152
+410,6.833333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.166186234,671,642,895,792,823,654,634,654,0.400965552252,0.0044966297251,0.0698205029241,0.999999958234,4.43072237912e-05,-0.000284786619512,2.15725132545e-05,1793252952469324032
+411,6.850000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.740474377,671,642,895,792,823,654,634,654,0.400966146169,0.00449704721052,0.0698213199374,0.999999958763,4.41106079097e-05,-0.000282962479034,2.1450718731e-05,1793252952485990656
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e2d1969ef52b9b9ee076780b9ca3d1166cf898d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
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+7,0.116666667,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
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+10,0.166666667,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
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+394,6.566666667,pose2_to_pose3_retreat,0.585753055834,0.0100051479937,1.06002080234,0.55632439869,0.0186775544745,1.05963217862
+395,6.583333333,pose2_to_pose3_retreat,0.585753000591,0.010005150106,1.06002079868,0.556324343361,0.0186775563068,1.05963217519
+396,6.600000000,pose2_to_pose3_retreat,0.585752757277,0.0100051594095,1.06002078258,0.55632409967,0.018677564377,1.0596321601
+397,6.616666667,pose2_to_pose3_retreat,0.585752735443,0.0100051602443,1.06002078113,0.556324077803,0.0186775651012,1.05963215875
+398,6.633333333,pose2_to_pose3_retreat,0.585752689046,0.0100051620184,1.06002077806,0.556324031334,0.0186775666401,1.05963215587
+399,6.650000000,pose2_to_pose3_retreat,0.585752356724,0.0100051747251,1.06002075607,0.556323698498,0.0186775776625,1.05963213526
+400,6.666666667,pose2_to_pose3_retreat,0.585752332772,0.010005175641,1.06002075449,0.556323674509,0.0186775784569,1.05963213377
+401,6.683333333,pose2_to_pose3_retreat,0.585752172438,0.0100051800138,1.06002074498,0.556323513979,0.0186775821904,1.05963212478
+402,6.700000000,pose2_to_pose3_retreat,0.585752014898,0.0100051617276,1.06002074987,0.556323356928,0.0186775655029,1.05963212829
+403,6.716666667,pose2_to_pose3_retreat,0.585751898595,0.0100051482279,1.06002075347,0.556323240987,0.0186775531834,1.05963213088
+404,6.733333333,pose2_to_pose3_retreat,0.585751759492,0.0100051320816,1.06002075779,0.556323102315,0.0186775384487,1.05963213398
+405,6.750000000,pose2_to_pose3_retreat,0.585751654456,0.0100051198898,1.06002076104,0.556322997606,0.0186775273227,1.05963213632
+406,6.766666667,pose2_to_pose3_retreat,0.585751589006,0.0100051122927,1.06002076307,0.556322932359,0.0186775203898,1.05963213777
+407,6.783333333,pose2_to_pose3_retreat,0.585751384542,0.0100050885599,1.06002076941,0.55632272853,0.0186774987318,1.05963214233
+408,6.800000000,pose2_to_pose3_retreat,0.585751146093,0.0100050641581,1.0600208177,0.556322490202,0.0186774745894,1.05963218729
+409,6.816666667,pose2_to_pose3_retreat,0.585751009154,0.0100050538319,1.06002089148,0.556322352634,0.0186774619803,1.05963225774
+410,6.833333333,pose2_to_pose3_retreat,0.585750931033,0.0100050452646,1.06002087944,0.556322274309,0.0186774527355,1.05963224608
+411,6.850000000,pose2_to_pose3_retreat,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ef8d75524f490c3f9bd83b425bf155615e695bd
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33b5576b68b68b9b2b34e5c15648edb4bfb8ee74a812abd8aad83e9ffc9e313
+size 26187618
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..87cabcf77e49bdf82882247cea3172f5f5888b80
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_02/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,770,749,726,703,671,641,895,792,823,654,634,654,0.400967022383,0.0044947030073,0.0698209640001,0.99999995896,4.13515684732e-05,-0.000282667780196,2.16643542581e-05,1793252952637897216
+1,0.016666667,BASELINE,770,749,726,703,671,641.603611798,895,792,823,654,634.603611798,654,0.400966995506,0.00449460170029,0.0698212940389,0.999999958945,4.06560886692e-05,-0.000282811677949,2.17653811223e-05,1793252952654564096
+2,0.033333333,BASELINE,770,749,726,703,671,642,895,792,823,654,634.802584775,654,0.400967497612,0.00449440296094,0.0698220071771,0.999999959158,3.99456284836e-05,-0.000282153922807,2.18342152618e-05,1793252952671230720
+3,0.050000000,BASELINE,770,749,726,703,671,642,895,792,823,654,634.227543216,654,0.400969011584,0.00449401784781,0.0698234531285,0.999999959803,3.92065129061e-05,-0.000279962723435,2.18414694644e-05,1793252952687897344
+4,0.066666667,BASELINE,770,749,726,702.652731177,671,641.652731177,895,792,823,653.652731177,634.347268823,654,0.400969233593,0.00449442143749,0.0698238850124,0.999999959971,3.90411008087e-05,-0.000279397850598,2.16778482517e-05,1793252952704563968
+5,0.083333333,BASELINE,770,749,726,702.078069463,671,641.078069463,895,792,823,653.078069463,634.921930537,654,0.40096860962,0.00449534147267,0.0698236528812,0.999999959829,3.92513518849e-05,-0.000279897902434,2.14023371944e-05,1793252952721230592
+6,0.100000000,BASELINE,770,749,726,702,671,641.513384782,895,792,823,653.513384782,634.486615218,654,0.40096824328,0.00449499413729,0.0698232708151,0.999999959861,3.90688583578e-05,-0.000279798461519,2.15606863615e-05,1793252952737897216
+7,0.116666667,BASELINE,770,749,726,702.104136445,671,641.895863555,895,792,823,654,634.104136445,654,0.400967854653,0.0044947504731,0.0698228479619,0.999999959834,3.89190588261e-05,-0.000279908728404,2.16383724696e-05,1793252952754563584
+8,0.133333333,BASELINE,770,749,726,702.679754613,671,641.320245387,895,792,823,654,634.679754613,654,0.400967181742,0.00449587826816,0.0698223471634,0.999999959419,3.91968288106e-05,-0.000281395159923,2.10420421872e-05,1793252952771230208
+9,0.150000000,BASELINE,770,749,726,702.744781025,671,641,895,792,823,653.744781025,634.744781025,654,0.400966805262,0.00449649808389,0.0698220655265,0.999999959154,4.00919223668e-05,-0.000282218187199,2.09163064502e-05,1793252952787896832
+10,0.166666667,BASELINE,770,749,726,702.169509583,671,641,895,792,823,653.169509583,634.169509583,654,0.400966800515,0.0044964808778,0.0698220587252,0.999999959078,4.17611587053e-05,-0.000282209284978,2.13807108357e-05,1793252952804563456
+11,0.183333333,BASELINE,770,749,726,702,671,641.4142915,895,792,823.4142915,653,634,654,0.400966807235,0.00449672049347,0.069822078067,0.999999959048,4.26206857244e-05,-0.000282178260426,2.15096902669e-05,1793252952821230336
+12,0.200000000,BASELINE,770.001640463,749,726,702.001640463,671,641.998359537,895,792.001640463,823.998359537,653.001640463,634.001640463,654,0.400966817531,0.00449706098025,0.0698221075239,0.999999959038,4.31341460018e-05,-0.000282137074088,2.14980689916e-05,1793252952837897216
+13,0.216666667,BASELINE,770.583513609,749,726,702.583513609,671,641.416486391,895,792.583513609,823.416486391,653.583513609,634.583513609,654,0.400966398164,0.00449513147278,0.0698218517633,0.99999995924,4.0886763182e-05,-0.000281770468715,2.13185074258e-05,1793252952854563584
+14,0.233333333,BASELINE,770.836320792,749,726,702.836320792,671,641.163679208,895,792.836320792,823,653.836320792,634.836320792,654,0.400966210569,0.00449411840292,0.0698218015075,0.999999959409,3.95849853525e-05,-0.00028136274501,2.12043383316e-05,1793252952871230464
+15,0.250000000,BASELINE,770.260455115,749,726,702.260455115,671,641.739544885,895,792.260455115,823,653.260455115,634.260455115,654,0.400966606632,0.00449541315897,0.0698222687658,0.999999959509,4.06644843465e-05,-0.000280851474659,2.12548443126e-05,1793252952887898368
+16,0.266666667,BASELINE,770.314986404,749,726,702.314986404,671,641.685013596,895,792,823,653.314986404,634,654,0.400966979559,0.00449579936563,0.0698224867763,0.99999995957,4.11420883688e-05,-0.000280561995389,2.12840485325e-05,1793252952904564992
+17,0.283333333,BASELINE,770.890077633,749,726,702.890077633,671,641.109922367,895,792,823,653.890077633,634,654,0.400967333381,0.00449543532371,0.0698224989666,0.9999999596,4.11226683783e-05,-0.000280455663518,2.12956624952e-05,1793252952921230848
+18,0.300000000,BASELINE,770.521711337,749,726,703,671.478288663,641,895,792,823,654,634,654,0.400968913799,0.00449620270128,0.0698233541305,0.99999996007,4.19739260336e-05,-0.000278646287315,2.13198319465e-05,1793252952937897728
+19,0.316666667,BASELINE,770,749,726,702.932182379,671.932182379,641.067817621,895,792,822.932182379,654,634,654,0.400970414706,0.00449699247302,0.0698242348607,0.999999960545,4.25886770713e-05,-0.000276844128155,2.13137322991e-05,1793252952954564864
+20,0.333333333,BASELINE,770,749,726,702.35601374,671.35601374,641.64398626,895,792,822.35601374,654,634,654,0.400969146903,0.00449594600442,0.0698238140587,0.999999960309,3.98883618341e-05,-0.00027811270019,2.10585001318e-05,1793252952971231488
+21,0.350000000,BASELINE,770.219943913,749,726,702,671,641.780056087,895,792,822.219943913,654,634,654.219943913,0.400968416262,0.00449542441856,0.0698236438365,0.999999960104,3.92793261413e-05,-0.000278939109715,2.10072647718e-05,1793252952987898112
+22,0.366666667,BASELINE,770.795560326,749,726,702,671,641.204439674,895,792,822.795560326,654,634,654.795560326,0.400968554269,0.00449575162355,0.0698238788284,0.999999959955,4.20521102445e-05,-0.000279050495718,2.12859137843e-05,1793252953004563968
+23,0.383333333,BASELINE,770.622306512,748.622306512,726,702,671,641.377693488,895,792,823,654,634,655,0.400968251586,0.00449633716613,0.0698236959591,0.999999959708,4.41499426544e-05,-0.000279603577544,2.13719863499e-05,1793252953021230336
+24,0.400000000,BASELINE,770.036583949,748.036583949,726,702,671,641.963416051,895,792,823,654,634,655,0.400967706176,0.00449706499801,0.0698232829368,0.999999959408,4.5876019967e-05,-0.00028039994018,2.13519901277e-05,1793252953037896960
+25,0.416666667,BASELINE,770,748.546867284,726,702.546867284,671,641.453132716,895,792.546867284,823,654,634,654.453132716,0.400968809085,0.00449618450609,0.0698240824516,0.999999959964,4.37853826938e-05,-0.000278728590304,2.15458783891e-05,1793252953054563840
+26,0.433333333,BASELINE,770,749,726,702.871625996,671,641,895,792.871625996,823,654,634,654,0.400969374923,0.00449517640241,0.0698244167589,0.999999960313,4.15403130987e-05,-0.000277807029994,2.17150294494e-05,1793252953071230208
+27,0.450000000,BASELINE,770,749,726,702.296361524,671,641,895,792.296361524,823,654,634,654,0.400967688857,0.00449409705916,0.0698228503961,0.999999959759,3.96428002763e-05,-0.000280067911284,2.17484629554e-05,1793252953087896832
+28,0.466666667,BASELINE,770,749,726,702,671,641,895,792,823,654,634,654.278522891,0.400967311715,0.00449494196923,0.0698226561647,0.999999959684,3.99098940264e-05,-0.0002803192475,2.14375035114e-05,1793252953104563968
+29,0.483333333,BASELINE,770,749,726,702,671,641,895,792,823,654,634,654.853003421,0.400968325433,0.00449783158552,0.0698239199562,0.999999960119,4.24770927449e-05,-0.000278435246638,2.07605930855e-05,1793252953121231616
+30,0.500000000,BASELINE,770,749,726,702,671.437616,641,895,792.437616,823,654,634,654.562384,0.400968111036,0.00449799249868,0.0698242122491,0.999999960136,4.32614973273e-05,-0.000278244213724,2.09077677862e-05,1793252953137897984
+31,0.516666667,BASELINE,770,749,726,702.025403774,671.974596226,641.025403774,895,792.974596226,822.974596226,654,634,654,0.400967438054,0.00449721107332,0.0698241361825,0.999999960002,4.33337975918e-05,-0.000278681088841,2.13198521171e-05,1793252953154563840
+32,0.533333333,BASELINE,770,749,726,702.606436488,671.393563512,641.606436488,895,792.393563512,822.393563512,654,634,654,0.400965971535,0.00449634141139,0.0698233100077,0.999999959689,4.12393662464e-05,-0.000280118742898,2.13280929826e-05,1793252953171230464
+33,0.550000000,BASELINE,770,749,726,703,671,642,895,792.18531813,822.18531813,654,634,654,0.400965181733,0.00449554954962,0.0698226079504,0.99999995946,3.98006111324e-05,-0.000281141539052,2.13300406437e-05,1793252953187897088
+34,0.566666667,BASELINE,770,749,726,703,671,642,895,792.759683849,822.759683849,654,634,654,0.400965812595,0.00449492101775,0.0698221664591,0.99999995942,3.97383500764e-05,-0.000281293403153,2.13187766664e-05,1793252953204563712
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+36,0.600000000,BASELINE,770.908780455,749,726,703,671,642,895,792.091219545,823,654,634,654.908780455,0.400969155073,0.004494109344,0.0698243390948,0.999999960497,3.99309008389e-05,-0.000277389060681,2.16062850362e-05,1793252953237896960
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+38,0.633333333,BASELINE,770.08410663,749,726,702.91589337,672,642,895,792,822.91589337,654,634,654,0.400968220017,0.00449645455513,0.0698249935811,0.999999960309,4.53861832564e-05,-0.000277247465682,2.13677925115e-05,1793252953271230208
+39,0.650000000,BASELINE,770.665617691,749,726,702.334382309,672,642,895,792,822.334382309,654,634,654,0.400968125152,0.00449573310082,0.0698243192823,0.999999960264,4.08802697491e-05,-0.000278117476496,2.12583556125e-05,1793252953287896832
+40,0.666666667,BASELINE,771,749,726,702.24436374,672,642,895,792,822.24436374,653.75563626,634.24436374,654,0.400968578819,0.00449520295948,0.0698242952206,0.999999960375,3.8549844529e-05,-0.000278053485079,2.12392935801e-05,1793252953304563712
+41,0.683333333,BASELINE,771,749,726,702.819368503,672,642,895,792,822.819368503,653.180631497,634.819368503,654,0.400969774688,0.00449493167784,0.0698251509746,0.999999960717,3.91630055354e-05,-0.000276725724066,2.1342514993e-05,1793252953321230336
+42,0.700000000,BASELINE,771,749,726,703,671.596873561,641.596873561,894.596873561,792,823,653.403126439,634.596873561,654,0.400969329214,0.00449522474384,0.0698248395514,0.999999960571,3.95202328974e-05,-0.000277215788651,2.11779675044e-05,1793252953337896960
+43,0.716666667,BASELINE,771,749,726,703,671.009106498,641.009106498,894.009106498,792,823,653.990893502,634.009106498,654,0.400968131968,0.00449577629326,0.0698239935356,0.9999999602,3.97602371004e-05,-0.000278538456696,2.08907760672e-05,1793252953354563584
+44,0.733333333,BASELINE,770.428825913,749,726,703,671.571174087,641.571174087,894.571174087,792.571174087,823,654,634.571174087,654.571174087,0.400968386014,0.00449509959663,0.0698243771951,0.999999960328,3.87923076819e-05,-0.00027819802091,2.11142711558e-05,1793252953371230208
+45,0.750000000,BASELINE,770,749,726,702.849663644,671.849663644,641.849663644,895,793,823,654,635,654.849663644,0.400968966112,0.00449472173696,0.0698249384266,0.999999960542,3.82012646525e-05,-0.00027750088765,2.12170191199e-05,1793252953387897088
+46,0.766666667,BASELINE,770,749,726,702.273336478,671.273336478,641.273336478,895,793,823,654,635,654.273336478,0.400970405391,0.0044952454281,0.0698259479885,0.999999960979,3.87320263461e-05,-0.000275867184203,2.09548469399e-05,1793252953404563712
+47,0.783333333,BASELINE,770,749,726,702,671,641.307700385,894.692299615,792.692299615,823,654,634.692299615,654,0.400971003725,0.00449555829362,0.0698261463734,0.999999961153,3.91562512349e-05,-0.000275179109943,2.09078533388e-05,1793252953421230336
+48,0.800000000,BASELINE,770,749,726,702,671,641.892986064,894.107013936,792.107013936,823,654,634.107013936,654,0.400970843417,0.00449568096739,0.0698256129724,0.999999961092,3.94843662932e-05,-0.00027534411456,2.10549784421e-05,1793252953437896960
+49,0.816666667,BASELINE,770,749,726,702,671,642,894.473858799,792.473858799,823,654,634,654,0.400968746472,0.00449617929512,0.0698246359818,0.999999960473,4.18218899563e-05,-0.000277234076799,2.11115763833e-05,1793252953454563328
+50,0.833333333,BASELINE,770.053579103,749.053579103,726,702.053579103,671.053579103,641.946420897,895,792.946420897,823,654,634,654,0.400966644121,0.00449672805151,0.0698237617032,0.999999959848,4.41981636593e-05,-0.0002791140462,2.11131600879e-05,1793252953471230208
+51,0.850000000,BASELINE,770.631684198,749.631684198,726,702.631684198,671.631684198,641.368315802,895,792.368315802,823,654,634,654,0.400968730994,0.00449694763364,0.0698248646179,0.999999960482,4.25522442961e-05,-0.000277117722822,2.07744652037e-05,1793252953487896832
+52,0.866666667,BASELINE,770.791134062,749.791134062,726,703,671.791134062,641,895,792,823,654,634,654,0.400970179675,0.00449705382704,0.0698257579103,0.999999960942,4.15014086008e-05,-0.000275621179237,2.06386681474e-05,1793252953504563456
+53,0.883333333,BASELINE,770.215573442,749.215573442,726,703,671.215573442,641,895,792,823,654,634,654,0.400970507917,0.00449696094994,0.0698262831798,0.999999961108,4.14953293572e-05,-0.000275002072249,2.08590879026e-05,1793252953521230336
+54,0.900000000,BASELINE,770,749,726,703,671,641.367660344,895,792,823,654,634.367660344,654,0.400970643171,0.0044967996917,0.0698261855739,0.999999961057,4.17075929654e-05,-0.000275152441132,2.08968439208e-05,1793252953537897216
+55,0.916666667,BASELINE,770,749,726,703,671,641.95548908,895,792,823,654,634.95548908,654,0.400970662856,0.00449659748436,0.0698257149675,0.999999960876,4.20506082181e-05,-0.000275763600189,2.08252142388e-05,1793252953554563840
+56,0.933333333,BASELINE,770,749,726,702.464758323,671,641.464758323,895,792.535241677,823,654,634.464758323,654,0.400970209687,0.00449748460189,0.0698249584113,0.999999960611,4.26647796103e-05,-0.000276633670407,2.0768720087e-05,1793252953571230208
+57,0.950000000,BASELINE,770.113811489,749,726,702.113811489,671,641,895,792.886188511,823,654,634,654,0.400969800933,0.0044980049371,0.0698243853383,0.99999996041,4.31939946808e-05,-0.000277278885212,2.07768645536e-05,1793252953587896832
+58,0.966666667,BASELINE,770.690262681,749,726,702.690262681,671,641,895,792.309737319,823,654,634,654,0.4009697302,0.00449667154855,0.0698246533452,0.999999960498,4.32875648903e-05,-0.000276923848018,2.10427223241e-05,1793252953604563712
+59,0.983333333,BASELINE,770.735706751,749,726,702.735706751,671,641.264293249,895,792,823,654,634,654,0.400969482381,0.00449586934813,0.0698248621908,0.999999960627,4.24435595463e-05,-0.000276582246557,2.11364216475e-05,1793252953621230336
+60,1.000000000,BASELINE,770.164487201,749,726,702.164487201,671,641.835512799,895,792,823,654,634,654,0.400969028912,0.00449568402143,0.0698250023318,0.9999999608,4.05107386814e-05,-0.000276256248096,2.10301917402e-05,1793252953637896960
+61,1.016666667,BASELINE,770,749,726,702.422910542,671,642,895,792,823,654,634.422910542,654,0.400969346648,0.0044957138719,0.0698249680611,0.999999960726,3.97708974274e-05,-0.000276646149348,2.08078480234e-05,1793252953654563840
+62,1.033333333,BASELINE,770,749,726,703,671,642,895,792,823,653.983568416,635,654,0.400969922316,0.00449582259567,0.0698248579615,0.999999960553,3.95570459512e-05,-0.000277318464133,2.05624951637e-05,1793252953671230464
+63,1.050000000,BASELINE,770,749,726,703,671,642,895,792,823,653.404407445,635,654,0.400968650297,0.00449565231771,0.0698245665288,0.999999960371,4.08341362634e-05,-0.000277747474743,2.11373051763e-05,1793252953687897088
+64,1.066666667,BASELINE,770,749,726,702.826115995,671,642,895,792,823,653,634.826115995,654,0.400967884346,0.0044958256996,0.0698245105023,0.999999960316,4.17160237588e-05,-0.000277793662366,2.14016185196e-05,1793252953704563456
+65,1.083333333,BASELINE,770,749,726,702.249836789,671,642,895,792,823,653,634.249836789,654,0.400968289522,0.00449679436491,0.0698249992431,0.99999996056,4.16833491001e-05,-0.000276953936777,2.09473932279e-05,1793252953721230080
+66,1.100000000,BASELINE,770.326039,749,726,702,671,642,895,792,822.673961,653.326039,634,654,0.4009691317,0.00449641161723,0.0698253628158,0.999999960857,4.08275839323e-05,-0.000276013868669,2.08706151343e-05,1793252953737897216
+67,1.116666667,BASELINE,770.901606015,749,726,702,671,642,895,792,822.098393985,653.901606015,634,654,0.400970308331,0.00449499459016,0.0698256305933,0.999999961192,3.93418814248e-05,-0.000274997005281,2.10827094053e-05,1793252953754563840
+68,1.133333333,BASELINE,770.5111787,749,726.4888213,702,671,641.5111787,895,792,822,653.5111787,634,654,0.400969524613,0.00449555549118,0.0698250313673,0.999999960851,3.93250218328e-05,-0.000276245349675,2.09750662954e-05,1793252953771230464
+69,1.150000000,BASELINE,770,749,726.92310347,702,671,641,895,792.07689653,822,653.07689653,634.07689653,654,0.400968452489,0.00449643416035,0.0698243741865,0.999999960423,3.98556404071e-05,-0.000277726193897,2.08286972771e-05,1793252953787896832
+70,1.166666667,BASELINE,770,749,726.34507731,702,671,641,895,792.65492269,822,653.65492269,634.65492269,654,0.40096813516,0.00449672575518,0.0698245044021,0.999999960349,4.19803007647e-05,-0.000277678227603,2.08596185854e-05,1793252953804563456
+71,1.183333333,BASELINE,770,749,726,702,671,641,895,792.768309263,822.231690737,654,634.768309263,654,0.400968148458,0.00449693458128,0.0698247125967,0.999999960467,4.24139955755e-05,-0.000277193029269,2.07643731373e-05,1793252953821230336
+72,1.200000000,BASELINE,770,749,726,702,671,641,895,792.193404828,822.806595172,654,634.193404828,654,0.400968651529,0.00449702079847,0.0698250363049,0.999999960872,4.03427889269e-05,-0.00027606013984,2.04822313184e-05,1793252953837897216
+73,1.216666667,BASELINE,770,749,726,702,671.390467463,641.390467463,895,792,823,654,634,654,0.400967450826,0.00449679305192,0.0698245040721,0.999999960471,4.13631591939e-05,-0.000277345546879,2.06716538729e-05,1793252953854563840
+74,1.233333333,BASELINE,770,749,726,702,671.978886057,641.978886057,895,792,823,654,634,654,0.400965386378,0.00449640613851,0.069823537912,0.999999959652,4.39508334071e-05,-0.000279856931988,2.11001404124e-05,1793252953871230208
+75,1.250000000,BASELINE,770,749,726,702,671.441444991,641.441444991,895,792,823,654,634,654,0.400967148131,0.00449603189848,0.0698246080085,0.999999960304,4.11125403101e-05,-0.000277955721184,2.1037215177e-05,1793252953887896832
+76,1.266666667,BASELINE,770,749,726,702,671.137548999,641,894.862451001,792,823,654,634,654,0.400968822101,0.00449557106327,0.069825529064,0.99999996085,3.93119032724e-05,-0.00027624580612,2.10610043706e-05,1793252953904563712
+77,1.283333333,BASELINE,770,749,726,702,671.715424712,641,894.284575288,792,823,654,634,654,0.40096975919,0.00449483150662,0.0698257303971,0.999999960912,4.14795167146e-05,-0.000275674006275,2.14209354135e-05,1793252953921230592
+78,1.300000000,BASELINE,770,749,726,702.291037711,671.708962289,641,894.291037711,792,823,653.708962289,634,654,0.400970387784,0.00449477555774,0.0698259930855,0.999999961004,4.24238960519e-05,-0.000275193391659,2.14888703363e-05,1793252953937896960
+79,1.316666667,BASELINE,770,749,726,702.864455273,671.135544727,641,894.864455273,792,823,653.135544727,634,654,0.400970717059,0.00449538288056,0.0698263153038,0.999999961126,4.21814302196e-05,-0.000274801249708,2.1273495489e-05,1793252953954563584
+80,1.333333333,BASELINE,770,749,726,702.549530098,671,641.450469902,895,792,823,653.450469902,634,654,0.400970759755,0.00449548985626,0.0698264620578,0.999999961213,4.10350672329e-05,-0.000274674272369,2.10895800072e-05,1793252953971230208
+81,1.350000000,BASELINE,770.039645828,749,725.960354172,702,671,642,895,792,823,653.960354172,634.039645828,654,0.400970765778,0.00449553071059,0.0698265924341,0.999999961311,3.97200969507e-05,-0.000274524394552,2.09127868407e-05,1793252953987896832
+82,1.366666667,BASELINE,770.618776531,749,725.381223469,702,671,642,895,792,823,653.381223469,634.618776531,654,0.400971479926,0.00449677940951,0.0698272390523,0.999999961739,3.9918246937e-05,-0.000272945950594,2.07003961326e-05,1793252954004563456
+83,1.383333333,BASELINE,770.803412106,749,725.196587894,702.196587894,671,642,894.803412106,792,822.803412106,653,635,654,0.400972067419,0.00449740384655,0.0698275885736,0.99999996202,4.04280400761e-05,-0.000271847312099,2.06260396877e-05,1793252954021230080
+84,1.400000000,BASELINE,770.228142054,749,725.771857946,702.771857946,671,642,894.228142054,792,822.228142054,653,635,654,0.400972410939,0.00449682578433,0.0698273658047,0.999999962018,4.15381433674e-05,-0.000271672910138,2.08175750244e-05,1793252954037896704
+85,1.416666667,BASELINE,770.346630412,749,726,702.653369588,671,642,894.346630412,792,822,653,634.653369588,654,0.400971829629,0.00449777901295,0.0698271084239,0.999999961854,4.22167164136e-05,-0.000272182747061,2.06401143984e-05,1793252954054563584
+86,1.433333333,BASELINE,770.921075817,749,726,702.078924183,671,642,894.921075817,792,822,653,634.078924183,654,0.400970640494,0.00449973864785,0.0698268282952,0.999999961584,4.26116759074e-05,-0.000273142284509,2.0220139517e-05,1793252954071230208
+87,1.450000000,BASELINE,770.489538719,749,726,702,671,642,895,792,822,653.510461281,634,654,0.400969563133,0.00449752487651,0.0698261697627,0.999999961112,4.28499047829e-05,-0.000274776066888,2.09167217824e-05,1793252954087896832
+88,1.466666667,BASELINE,770,749,726,702.100018203,671,642,895,792,822.100018203,654,634.100018203,654,0.400968628158,0.00449529693167,0.0698255029059,0.999999960668,4.28869062952e-05,-0.000276332195524,2.15709044036e-05,1793252954104563712
+89,1.483333333,BASELINE,770,749,726,702.679000921,671,642,895,792,822.679000921,654,634.679000921,654,0.400968289786,0.00449618430492,0.069825084807,0.999999960525,4.20798190559e-05,-0.000277002189581,2.1170410542e-05,1793252954121230336
+90,1.500000000,BASELINE,770,749,726,703,671,642,895,792,823,654,635,654,0.400968062066,0.00449680805024,0.069824805212,0.999999960391,4.24322175698e-05,-0.000277451879396,2.09390196988e-05,1793252954137896960
+91,1.516666667,BASELINE,770,749,726,703,671,642,895,792,823,654,635,654,0.400967972026,0.0044971037735,0.0698246979523,0.999999960265,4.42273192913e-05,-0.000277627453136,2.09180372119e-05,1793252954154563584
+92,1.533333333,BASELINE,770.413154422,749,726,703,671,641.586845578,895,792,823,654,635,654,0.400968587487,0.0044959628408,0.0698251790518,0.999999960757,4.13268359589e-05,-0.000276304125678,2.08511521744e-05,1793252954171230208
+93,1.550000000,BASELINE,771,749,726,702.997917588,671,641.002082412,895,792,823,653.997917588,635,654,0.400969499641,0.00449422156557,0.0698259068852,0.999999961485,3.64550314185e-05,-0.000274352568829,2.07644798968e-05,1793252954187896832
+94,1.566666667,BASELINE,771,749,726,702.416066036,671,641.583933964,895,792,823,653.416066036,635,654,0.400969436697,0.00449553189266,0.0698256281719,0.999999961197,3.900856129e-05,-0.000275062496851,2.06066718449e-05,1793252954204563712
+95,1.583333333,BASELINE,770.837014797,749,726,702.162985203,671,642,895,792,823,653.162985203,635,654,0.400969636571,0.00449669574531,0.069825630917,0.999999961034,4.12377329014e-05,-0.000275337137301,2.0491878366e-05,1793252954221230336
+96,1.600000000,BASELINE,770.264991283,749,726,702.735008717,671,642,895,792,823,653.735008717,635,654,0.400970496029,0.00449749199638,0.069826340028,0.9999999612,4.26528743801e-05,-0.000274519351793,2.04850370354e-05,1793252954237896960
+97,1.616666667,BASELINE,770,749,726,702.692132079,671,641.692132079,895,792,823,654,635,654,0.400970370383,0.00449722869357,0.0698262253209,0.999999961137,4.23668826731e-05,-0.00027479360358,2.04926890563e-05,1793252954254563840
+98,1.633333333,BASELINE,770,749,726,702.118551646,671,641.118551646,895,792,823,654,635,654,0.400969394519,0.00449605091827,0.0698253995987,0.999999960874,4.06126886456e-05,-0.000276010363396,2.05128498988e-05,1793252954271230464
+99,1.650000000,BASELINE,770,749,726,702.473939512,671,641.473939512,895,792,823,654,635,654,0.40096959785,0.00449518810908,0.0698251127809,0.999999960914,3.96351320323e-05,-0.000275994043001,2.06930760058e-05,1793252954287897088
+100,1.666666667,BASELINE,770,748.931207832,725.931207832,703,671,641.931207832,895,792.068792168,822.931207832,654,634.931207832,654.068792168,0.400969931126,0.0044947224717,0.0698250007712,0.999999960982,3.93280748306e-05,-0.000275775483817,2.08868587073e-05,1793252954304563456
+101,1.683333333,BASELINE,770,748.355268003,725.355268003,703,671,641.355268003,895,792.644731997,822.355268003,654,634.355268003,654.644731997,0.400968957473,0.00449657989123,0.0698251423911,0.999999960672,4.24723509195e-05,-0.000276434387887,2.08731423416e-05,1793252954321230336
+102,1.700000000,BASELINE,770,748.220053529,725.220053529,703,671.220053529,641.220053529,895,792.779946471,822.220053529,654,634,654.779946471,0.400969227322,0.00449750980921,0.0698259782052,0.999999960847,4.35793978132e-05,-0.000275635690711,2.07839837509e-05,1793252954337896960
+103,1.716666667,BASELINE,770,748.794379583,725.794379583,703,671.794379583,641.794379583,895,792.205620417,822.794379583,654,634,654.205620417,0.400971499132,0.0044969465071,0.0698279316287,0.999999961806,4.14066318214e-05,-0.000272490345923,2.05733678608e-05,1793252954354563584
+104,1.733333333,BASELINE,770,749,726,703,671.622655683,641.622655683,895,792,823,654,634.377344317,654,0.400972008423,0.00449717764559,0.06982804702,0.999999962054,4.13692122813e-05,-0.000271586357305,2.05361025531e-05,1793252954371230464
+105,1.750000000,BASELINE,770,749,726,703,671.03487326,641.03487326,895,792,823,654,634.96512674,654,0.40097153479,0.00449785182918,0.069827137374,0.99999996191,4.25226366609e-05,-0.000271932332221,2.05955117124e-05,1793252954387897088
+106,1.766666667,BASELINE,770,749,726,702.452848963,671,641.547151037,895,792,822.452848963,654,634.452848963,654,0.400970676045,0.00449717371951,0.0698263235367,0.999999961583,4.17569465779e-05,-0.000273257265689,2.04984880737e-05,1793252954404563712
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,749,726,702,671,641,895,793,823,654,634,654,0.400969391993,0.00449610218352,0.0698259070295,0.999999961026,4.17897833097e-05,-0.00027527761454,2.05967504429e-05,1793252954446559232
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,749,726,702,671.57527583,641.57527583,895,792.42472417,823,653.42472417,634,654,0.400968988235,0.00449627923437,0.0698251980055,0.99999996074,4.1255622893e-05,-0.000276387629314,2.07047724273e-05,1793252954463225856
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,749,726,702,671.845979332,642,895,792,823,653.154020668,634.154020668,654,0.400969036818,0.00449636094053,0.0698249016927,0.999999960661,4.10780565611e-05,-0.000276695112673,2.07546011437e-05,1793252954479892736
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,749,726,702,671.257447877,642,895,792,823,653.742552123,634.742552123,654,0.40097036151,0.00449617366794,0.0698257696879,0.999999961168,4.19064848127e-05,-0.00027473855886,2.06402596931e-05,1793252954496559360
+111,1.850000000,POSE1_TO_POSE2_PRESS,770.327129742,749,726,702,671.327129742,641.672870258,895,792.327129742,823,654,634.672870258,654,0.40097047604,0.00449626456855,0.0698260917375,0.999999961253,4.24997841001e-05,-0.000274344238066,2.05812734863e-05,1793252954513225984
+112,1.866666667,POSE1_TO_POSE2_PRESS,770.908632855,749,726,702,671.908632855,641.091367145,895,792.908632855,823,654,634.091367145,654,0.400969649557,0.00449657177436,0.0698259892642,0.99999996101,4.29102490074e-05,-0.000275164696819,2.05653310645e-05,1793252954529892608
+113,1.883333333,POSE1_TO_POSE2_PRESS,770.515806257,749,726,702.484193743,671.515806257,641,895,792.515806257,823,653.515806257,634,654,0.400970532535,0.00449593953178,0.0698270128956,0.999999961402,4.14270683278e-05,-0.000273978804546,2.04016437246e-05,1793252954546559232
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,749,726,702.941470305,671,641.058529695,895,792,823,653,634,654.058529695,0.400971630864,0.00449521403057,0.0698280452064,0.999999961807,3.98405977924e-05,-0.000272742703146,2.02756853452e-05,1793252954563225856
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,749,726,702.368165424,671,641.631834576,895,792,823,653,634,654.631834576,0.400971820539,0.00449520854702,0.069827307592,0.999999961332,4.04503376635e-05,-0.000274354445111,2.07237870574e-05,1793252954579892480
+116,1.933333333,POSE1_TO_POSE2_PRESS,770.212247644,749,726,702,671,642,895,792,823,653.212247644,634,654.787752356,0.400979397771,0.0044948677069,0.0698305740076,0.999999962731,4.00691904352e-05,-0.000269228289726,2.11653047705e-05,1793252954596559360
+117,1.950000000,POSE1_TO_POSE2_PRESS,770.805417769,749,726,702,671,642,895,792,823,653.805417769,634,654.194582231,0.401000233509,0.00449392499974,0.069841026487,0.999999967294,3.79096904192e-05,-0.000252009577809,2.15950060772e-05,1793252954613225984
+118,1.966666667,POSE1_TO_POSE2_PRESS,771,749,726,702,671,641.611100896,895,792,823,654,634,654,0.401034835761,0.00449439355063,0.0698544999683,0.999999972892,3.77381699791e-05,-0.000228796245538,2.10531652664e-05,1793252954629892608
+119,1.983333333,POSE1_TO_POSE2_PRESS,771,749,726,702,671,641.032349374,895,792,823,654,634,654,0.401076158538,0.00449555104815,0.0698694482405,0.999999978522,3.85371394299e-05,-0.000202656463189,2.0037037917e-05,1793252954646559232
+120,2.000000000,POSE1_TO_POSE2_PRESS,770.45760892,749,726,702,671,641.54239108,895,792,823,653.45760892,634,654,0.401136740543,0.00449539649944,0.0698854876651,0.999999982474,3.7731664866e-05,-0.000182260403421,2.02242931622e-05,1793252954663225856
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,749,726,702.11964575,671,642,895,792,823,653.11964575,634,654,0.401200974235,0.00449526267877,0.0698997236341,0.999999985665,3.71612831202e-05,-0.000163960584927,2.01475670971e-05,1793252954679892736
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,749,726,702.707672714,671,642,895,792,823,653.707672714,634,654,0.401275039629,0.00449551409463,0.0699066466643,0.999999987473,3.78830875232e-05,-0.000152535768654,1.87585176911e-05,1793252954696559360
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,749,726,702.706746503,671,641.706746503,895,792,823,653.706746503,634.293253497,654,0.401356593296,0.00449648703308,0.0699097062731,0.999999988295,3.65561324849e-05,-0.000147605834146,1.69378516332e-05,1793252954713225984
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,749,726,702.123584039,671,641.123584039,895,792,823,653.123584039,634.876415961,654,0.40144554983,0.00449817326521,0.0699089465221,0.999999988226,3.32037838851e-05,-0.000149096708553,1.4690491558e-05,1793252954729892608
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,749,726,702,671,641,895,792,823,653.45220559,635,654.45220559,0.401549022412,0.00449820018694,0.0699069936483,0.999999987787,3.04774121889e-05,-0.000152793719068,1.23180958004e-05,1793252954746559232
+126,2.100000000,POSE1_TO_POSE2_PRESS,770.026045355,749,726,702.026045355,671,641.026045355,895,792,823,654,634.973954645,654.973954645,0.401658033879,0.00449790490106,0.0699049736279,0.999999987274,2.80574151031e-05,-0.000156736878137,9.889930818e-06,1793252954763225600
+127,2.116666667,POSE1_TO_POSE2_PRESS,770.600574879,749,726,702.600574879,671,641.600574879,895,792,823,654,634.399425121,654.399425121,0.401801485195,0.00450022076476,0.0699082960781,0.999999987807,2.85444762447e-05,-0.000153370572575,6.99539245894e-06,1793252954779892480
+128,2.133333333,POSE1_TO_POSE2_PRESS,771,749.180740447,726,702.819259553,671,642,895.180740447,792,823,654,634,654,0.40195443177,0.00450194022325,0.0699107725368,0.999999988274,2.68679666929e-05,-0.000150716666344,3.73590537835e-06,1793252954796559104
+129,2.150000000,POSE1_TO_POSE2_PRESS,771,749.773762135,726,702.226237865,671,642,895.773762135,792,823,654,634,654,0.402129037651,0.00450229924059,0.0699113192311,0.999999988592,2.02562052947e-05,-0.000149687791859,-3.56054140293e-07,1793252954813225728
+130,2.166666667,POSE1_TO_POSE2_PRESS,771,749.64309478,726,702.35690522,671,642,895.64309478,792,823,654,634,654,0.402327497229,0.00450297461764,0.069915303297,0.99999998983,1.53214589105e-05,-0.00014172162423,-4.5255174355e-06,1793252954829892352
+131,2.183333333,POSE1_TO_POSE2_PRESS,771,749.066044914,726,702.933955086,671,642,895.066044914,792,823,654,634,654,0.402540670152,0.00450384513028,0.0699214075867,0.999999991514,1.14211206199e-05,-0.000129476427032,-8.74278665234e-06,1793252954846558976
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.492438011,749,726,703,671,641.492438011,895.507561989,792,823,654,634,654,0.402776549004,0.00450708729627,0.0699233602939,0.999999991707,9.11663382051e-06,-0.000127697341758,-1.40211901276e-05,1793252954863225856
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.083328893,749,726,703,671.083328893,641,895.916671107,792,823,653.916671107,634.083328893,654,0.403022636285,0.00451009222682,0.0699251162041,0.999999991846,6.20714893585e-06,-0.000126068557756,-1.94126953463e-05,1793252954879892480
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.674987193,749,726,703,671.674987193,641,895.325012807,792,823,653.325012807,634.674987193,654,0.40331309586,0.00450978007083,0.0699289448365,0.999999992838,-1.65121267765e-06,-0.000117104842215,-2.4657523413e-05,1793252954896559104
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.739036896,749,725.739036896,702.739036896,671.739036896,641,895,792,823,653.260963104,635,654,0.403623338474,0.00451120689418,0.069936550681,0.999999994266,-6.30679851707e-06,-0.000102626239233,-2.99472314817e-05,1793252954913225728
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.159987253,749,725.159987253,702.159987253,671.159987253,641,895,792,823,653.840012747,635,654,0.403957694515,0.00451475335019,0.0699487605491,0.999999996037,-7.05853753466e-06,-8.14255698118e-05,-3.52916432252e-05,1793252954929892352
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,749,725.401283404,702,671,641.401283404,895.401283404,792,823,654,635,654.401283404,0.404310553151,0.00451664358997,0.0699545240671,0.999999996488,3.9213342996e-06,-7.54917205844e-05,-3.62006391688e-05,1793252954946559232
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,749,725.95576649,702,671,641.95576649,895.95576649,792,823,654,635,654.95576649,0.404670475594,0.00451790152892,0.0699578265341,0.999999996343,1.93800333897e-05,-7.53863510627e-05,-3.54163073307e-05,1793252954963226112
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,749,726,702.545184332,671,641.454815668,896,792,823,654,635,655,0.40507006093,0.00451592330529,0.069962535995,0.999999996401,4.37175901902e-05,-6.60217159095e-05,-3.04770961335e-05,1793252954979892736
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.138702789,896,792,823,653.861297211,635,654.861297211,0.405484463253,0.00450902619927,0.0699664699216,0.999999996322,5.80089777343e-05,-5.75044829904e-05,-2.61467814385e-05,1793252954996559104
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.735764065,896,792,823,653.264235935,635,654.264235935,0.405936467355,0.00448680119483,0.0699674379392,0.999999997537,3.65581152619e-05,-5.44401464529e-05,-2.50189076605e-05,1793252955013225984
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,749,726,702.67861245,671,642,896,792,823.32138755,653.32138755,634.67861245,654,0.406389599759,0.0044852060407,0.0699562240959,0.999999996835,1.84378370386e-05,-7.2992971909e-05,-2.57396890984e-05,1793252955029892352
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,749,726,702.10206957,671,642,896,792,823.89793043,653.89793043,634.10206957,654,0.406843627989,0.0044999892918,0.069935338855,0.999999993697,2.96176696936e-06,-0.000108708048998,-2.79281508731e-05,1793252955046558976
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,749,726,702.473567146,671,642,896.473567146,792,824,653.526432854,634,654,0.407358902486,0.00450737325341,0.0699239373599,0.999999992242,-1.36283977989e-05,-0.000120048384512,-3.03000157128e-05,1793252955063225856
+145,2.416666667,POSE1_TO_POSE2_PRESS,770.049782132,749,726,703,671,642,896.950217868,792,824.049782132,653,634.049782132,654,0.407892623116,0.00451278228417,0.0699168268819,0.999999991525,-2.76745440734e-05,-0.000122949632755,-3.26627883948e-05,1793252955079892736
+146,2.433333333,POSE1_TO_POSE2_PRESS,770.634302987,749,726,703,671,642,896.365697013,792,824.634302987,653,634.634302987,654,0.408482960015,0.00451407533812,0.0699338941498,0.999999995146,-1.18195332883e-05,-9.15256517115e-05,-3.45041003398e-05,1793252955096559360
+147,2.450000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671.218733068,642.218733068,896,792,825,653.218733068,635,654.218733068,0.409094811891,0.00452024760197,0.0699473020261,0.999999997225,7.78603894416e-06,-6.45350254449e-05,-3.6384705292e-05,1793252955113226240
+148,2.466666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671.803011413,642.803011413,896,792,825,653.803011413,635,654.803011413,0.409742619419,0.00453457396956,0.0699545943501,0.999999997688,3.36595240643e-05,-4.49533947805e-05,-3.8330976384e-05,1793252955129892864
+149,2.483333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671.619442063,642.619442063,896,792,825,653.619442063,635,654.619442063,0.410379259759,0.00454088364758,0.069951508553,0.999999997183,4.02412600736e-05,-4.95639118888e-05,-3.94832929549e-05,1793252955146559488
+150,2.500000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671.045319585,642.045319585,896,792,825,653.045319585,635,654.045319585,0.411010220072,0.00454311576779,0.069943144095,0.999999996296,3.70105642179e-05,-6.64793679078e-05,-4.0231777554e-05,1793252955163226112
+151,2.516666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,896.529630348,791.470369652,825,653,635,654,0.411715066074,0.00455237192792,0.069954055665,0.99999999645,5.4567398947e-05,-4.92099391378e-05,-4.12336666318e-05,1793252955179892992
+152,2.533333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671.107076386,642,897,791.107076386,825,653.107076386,635,654,0.412434639134,0.00456170840337,0.0699705362566,0.999999996296,7.13590332654e-05,-2.34044880435e-05,-4.20490845335e-05,1793252955196559616
+153,2.550000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671.695422605,642,897,791.695422605,825,653.695422605,635,654,0.413191943993,0.00456870019944,0.0700046224549,0.999999995798,7.67039905135e-05,2.75992657715e-05,-4.19287697624e-05,1793252955213226240
+154,2.566666667,POSE1_TO_POSE2_PRESS,770.718771923,749,726,703,671.718771923,641.718771923,897,792,825.281228077,654,635,654.281228077,0.413960603853,0.00457449534445,0.0700203850384,0.999999994516,8.22978248676e-05,4.91688902017e-05,-4.21673822928e-05,1793252955229892608
+155,2.583333333,POSE1_TO_POSE2_PRESS,770.135693439,749,726,703,671.135693439,641.135693439,897,792,825.864306561,654,635,654.864306561,0.414741451464,0.00457900608935,0.0700164803486,0.999999994432,8.81587871999e-05,3.91459999127e-05,-4.27912421762e-05,1793252955246559232
+156,2.600000000,POSE1_TO_POSE2_PRESS,770.4395091,749,726,703,671,641.4395091,897.4395091,792,826,653.5604909,635,654.5604909,0.415477621358,0.00458783044694,0.0699692187192,0.999999993253,9.85535344716e-05,-4.23572272216e-05,-4.45717591498e-05,1793252955263225856
+157,2.616666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,898.012367627,791.987632373,826,653.012367627,634.987632373,654,0.416203078044,0.00459782267847,0.0699102131109,0.999999982618,0.000110094503328,-0.000143059568543,-4.66698969145e-05,1793252955279892992
+158,2.633333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,898.587264924,791.412735076,826,653.587264924,634.412735076,654,0.417057606747,0.00460142625965,0.0699151729764,0.999999984129,0.000111224652908,-0.00013091083342,-4.72581111979e-05,1793252955296559360
+159,2.650000000,POSE1_TO_POSE2_PRESS,771,749,725.833337008,703,671.166662992,642,899,791.166662992,826,654,634.166662992,654,0.417916219629,0.00460482639955,0.0699281731677,0.999999986597,0.000113608310375,-0.000107714156263,-4.79309551821e-05,1793252955313225984
+160,2.666666667,POSE1_TO_POSE2_PRESS,771,749,725.242483618,703,671.757516382,642,899,791.757516382,826,654,634.757516382,654,0.418785227502,0.00460770874083,0.0699616375842,0.999999990116,0.000119182394037,-5.6398273968e-05,-4.88191984544e-05,1793252955329892608
+161,2.683333333,POSE1_TO_POSE2_PRESS,770.658790694,749,725.341209306,702.658790694,671.658790694,641.658790694,899.341209306,791.658790694,826.341209306,653.658790694,635,654,0.419701480536,0.00460932729746,0.0699922041058,0.999999991344,0.000121625318166,-9.42192308966e-06,-4.93037934711e-05,1793252955346559232
+162,2.700000000,POSE1_TO_POSE2_PRESS,770.080081855,749,725.919918145,702.080081855,671.080081855,641.080081855,899.919918145,791.080081855,826.919918145,653.080081855,635,654,0.420650618638,0.00461006619373,0.0700207535393,0.99999999075,0.000121888791134,3.4533884647e-05,-4.95074281291e-05,1793252955363225856
+163,2.716666667,POSE1_TO_POSE2_PRESS,770.495572852,749,726,702.495572852,671,641,900,791.495572852,827,653,635,654,0.421561753855,0.00458972260797,0.0700295141279,0.999999993116,9.65871625346e-05,4.45261292065e-05,-4.95555943241e-05,1793252955379892480
+164,2.733333333,POSE1_TO_POSE2_PRESS,770.927773857,749,726,703,671,641,900,791.927773857,827,653,635,654,0.42245348681,0.00456822812101,0.0700252482544,0.999999995772,7.00328960878e-05,3.29004665876e-05,-4.96984019906e-05,1793252955396559360
+165,2.750000000,POSE1_TO_POSE2_PRESS,770.340502112,749,726,703,671,641,900,791.340502112,827,653,635,654,0.42325038527,0.00456267178392,0.0699507541605,0.999999992262,6.38251265628e-05,-9.39851838337e-05,-5.06941530997e-05,1793252955413225984
+166,2.766666667,POSE1_TO_POSE2_PRESS,770,749,726,702.755148076,671,641,900.244851924,791,827,653,635,654,0.424100577692,0.00456529916051,0.0698887174803,0.99999997927,5.95425545726e-05,-0.000187197893096,-5.35969202645e-05,1793252955429892864
+167,2.783333333,POSE1_TO_POSE2_PRESS,770,749,726,702.172440085,671,641,900.827559915,791,827,653,635,654,0.425024307279,0.00457921873807,0.0698438700066,0.999999969209,5.7916444051e-05,-0.00023394740743,-5.91310622219e-05,1793252955446559488
+168,2.800000000,POSE1_TO_POSE2_PRESS,770.404035966,749,725.595964034,702.404035966,671.404035966,641,900.595964034,791,827,653,635,654,0.42602381454,0.00458357827341,0.069879260773,0.999999980462,6.98339574214e-05,-0.000175742063244,-5.75661223988e-05,1793252955463226112
+169,2.816666667,POSE1_TO_POSE2_PRESS,770.97789263,749,725.02210737,702.97789263,671.97789263,641,900.02210737,791,827,653,635,654,0.427055171924,0.0045839196185,0.0699483765445,0.999999992076,8.74440022707e-05,-7.34230496316e-05,-5.30173606977e-05,1793252955479892736
+170,2.833333333,POSE1_TO_POSE2_PRESS,771,748.447457756,725,702.447457756,671.447457756,641,900.552542244,791,827,653,635.552542244,653.447457756,0.42805940161,0.00458881557602,0.0700002764244,0.999999994144,9.38299467436e-05,-5.02601104526e-06,-5.36872439872e-05,1793252955496559360
+171,2.850000000,POSE1_TO_POSE2_PRESS,771,748.131318894,725,702,671.131318894,641,901,791,827,653,635.868681106,653.131318894,0.429054515365,0.00459296769096,0.0700431581559,0.999999992357,9.72278500726e-05,5.34894010827e-05,-5.45089656406e-05,1793252955513225984
+172,2.866666667,POSE1_TO_POSE2_PRESS,771,748.724498948,725,702,671.724498948,641,901,791,827,653,635.275501052,653.724498948,0.430021390359,0.00459386179369,0.070056748293,0.999999990912,9.16982518958e-05,8.20305409002e-05,-5.5129294928e-05,1793252955529892608
+173,2.883333333,POSE1_TO_POSE2_PRESS,771,749,725,702,672,641,901.309650774,791,827,653,635,654,0.430926438814,0.00459564815475,0.0700212494808,0.999999993794,9.41222074951e-05,2.2023410998e-05,-5.53942610532e-05,1793252955546559488
+174,2.900000000,POSE1_TO_POSE2_PRESS,771,749,725,702,672,641,901.887840242,791,827,653,635,654,0.431777869339,0.00459820830971,0.0699431792184,0.999999986531,0.000103443729036,-0.000114775509322,-5.53510444907e-05,1793252955563226112
+175,2.916666667,POSE1_TO_POSE2_PRESS,770.537383933,749,725,702,672,641,902,791,827,653,635,654,0.432704358996,0.00459568501227,0.0699048643231,0.999999979025,0.000101520605319,-0.00016872393474,-5.63495610059e-05,1793252955579892480
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,749,725,702,672.036612702,641.036612702,902,790.963387298,827.036612702,653,635.036612702,654,0.43365289708,0.00459179129783,0.069882299379,0.999999975023,9.63035224632e-05,-0.000193308402018,-5.75408737255e-05,1793252955596559360
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,749,725,702,672.611231377,641.611231377,902,790.388768623,827.611231377,653,635.611231377,654,0.434659975379,0.00458573781272,0.0699505758818,0.999999991773,8.24504585203e-05,-7.94078652612e-05,-5.78810980303e-05,1793252955613225984
+178,2.966666667,POSE1_TO_POSE2_PRESS,770.19217091,749,725,702,673.19217091,642,902.19217091,790.19217091,828,653,636,654.19217091,0.435648927712,0.00458080540442,0.0700065182954,0.999999995592,7.26158227653e-05,1.28678687111e-05,-5.81147162544e-05,1793252955629892608
+179,2.983333333,POSE1_TO_POSE2_PRESS,770.786332778,749,725,702,673.786332778,642,902.786332778,790.786332778,828,653,636,654.786332778,0.436599963597,0.00457821810927,0.07003665977,0.999999993982,7.11870984225e-05,5.99079764795e-05,-5.81253328394e-05,1793252955646559488
+180,3.000000000,POSE1_TO_POSE2_PRESS,770.630285544,749,725,702,673.260571087,641.630285544,902.630285544,791.369714456,828,653,635.630285544,654.630285544,0.43752351303,0.00457641265772,0.0700357602222,0.999999993319,6.95585507164e-05,7.12787397109e-05,-5.86787434317e-05,1793252955663225856
+181,3.016666667,POSE1_TO_POSE2_PRESS,770.052957527,749,725,702,672.105915055,641.052957527,902.052957527,791.947042473,828,653,635.052957527,654.052957527,0.438431627358,0.00457504625145,0.0700174295521,0.999999993967,6.78177921217e-05,6.26193405173e-05,-5.95369606405e-05,1793252955679892480
+182,3.033333333,POSE1_TO_POSE2_PRESS,770.519728945,749,725,702,672.519728945,641,902.519728945,791.480271055,828,653,635.519728945,654,0.439232608934,0.00458098080253,0.0699429953519,0.99999999375,7.18880070128e-05,-6.06342278622e-05,-6.0469332699e-05,1793252955696559104
+183,3.050000000,POSE1_TO_POSE2_PRESS,771,749,725,702,673,641,903,791,828,653,635.904917434,654,0.440030585837,0.00458661172484,0.0698734060285,0.999999979683,7.65105637346e-05,-0.000176181675377,-6.11516761209e-05,1793252955713225728
+184,3.066666667,POSE1_TO_POSE2_PRESS,771,749,725,702,673,641,903,791,828,653,635.313183821,654,0.440869383012,0.00458680527294,0.0698587190751,0.999999976648,8.09527981281e-05,-0.000191026379526,-6.04889151754e-05,1793252955729892352
+185,3.083333333,POSE1_TO_POSE2_PRESS,771,749,724.727373803,702,673.272626197,641,903,791,828,653,635.272626197,654,0.441750533762,0.00458641342678,0.0698893691174,0.999999985121,8.14518828672e-05,-0.000139819139783,-5.97808767476e-05,1793252955746559232
+186,3.100000000,POSE1_TO_POSE2_PRESS,771,749,724.148223941,702,673.851776059,641,903,791,828,653,635.851776059,654,0.442679304137,0.0045853634003,0.0699709932133,0.999999995151,7.75175381322e-05,-1.43472663373e-05,-5.90219305428e-05,1793252955763225856
+187,3.116666667,POSE1_TO_POSE2_PRESS,770.574107998,749,724.425892002,702,674.425892002,641,903,791,828,653,635.574107998,654,0.4435379819,0.00458631421916,0.0700171173785,0.999999993965,7.98198282819e-05,4.75745195291e-05,-5.86193186133e-05,1793252955779893248
+188,3.133333333,POSE1_TO_POSE2_PRESS,770.001723507,749,724.998276493,702,674.998276493,641,903,791,828,653,635.001723507,654,0.444372550243,0.00458795326126,0.070051030771,0.999999990908,8.42673103826e-05,8.76372281481e-05,-5.83392737158e-05,1793252955796561152
+189,3.150000000,POSE1_TO_POSE2_PRESS,770.587954979,749,725,702,673.824090042,641,903,791,828.587954979,653,635,654,0.44513443754,0.00458843507063,0.0700250474325,0.999999993915,8.29616423137e-05,4.29631250703e-05,-5.86659694e-05,1793252955813227008
+190,3.166666667,POSE1_TO_POSE2_PRESS,771,749,725,702,673,641,903,791,828.82566064,653,635.17433936,654,0.44588054917,0.00458770985988,0.0699969355389,0.999999995294,7.70089520076e-05,-4.80622246883e-07,-5.90103311393e-05,1793252955829892864
+191,3.183333333,POSE1_TO_POSE2_PRESS,771,749,725,702,673,641,903,791,828.247036144,653,635.752963856,654,0.446590586926,0.00458419372874,0.0699643071151,0.999999995598,6.03203194091e-05,-4.04777679779e-05,-5.93914104664e-05,1793252955846560256
+192,3.200000000,POSE1_TO_POSE2_PRESS,770.669541672,749,724.669541672,702,673,641,903,791,828,653,635.669541672,654,0.447258014252,0.00458455034358,0.0699327369192,0.999999991969,6.18463983127e-05,-9.40850889227e-05,-5.81729623756e-05,1793252955863227392
+193,3.216666667,POSE1_TO_POSE2_PRESS,770.092889112,749,724.092889112,702,673,641,903,791,828,653,635.092889112,654,0.447893696405,0.00458779218691,0.0699019551141,0.99999998303,7.69425912044e-05,-0.000157832102141,-5.57628527557e-05,1793252955879894272
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,749,724.480728081,702,673,641,903.480728081,791,828,653,635.480728081,654,0.448563540232,0.00458943306892,0.0699012941736,0.99999998236,8.60483668644e-05,-0.000157407951314,-5.56590658132e-05,1793252955896560896
+195,3.250000000,POSE1_TO_POSE2_PRESS,770.055410579,749,724.944589421,702,673,641.055410579,903.944589421,791,828,653,635.944589421,654,0.449241522063,0.00459034862111,0.0699109944672,0.999999984591,9.31520543458e-05,-0.000137906896882,-5.58856942503e-05,1793252955913227520
+196,3.266666667,POSE1_TO_POSE2_PRESS,770.64601184,749,724.35398816,702,673,641.64601184,903.35398816,791,828,653,635.35398816,654,0.449934750097,0.00458722760059,0.0699649083467,0.999999992838,9.20280584779e-05,-5.31600666427e-05,-5.50264045544e-05,1793252955929893888
+197,3.283333333,POSE1_TO_POSE2_PRESS,770.767504061,749,724,701.767504061,673,641.767504061,903.232495939,791,828.232495939,653,635,654.232495939,0.45057443588,0.00458715574967,0.0699950882409,0.999999994087,9.39803959076e-05,-6.37774932027e-06,-5.43347484586e-05,1793252955946560256
+198,3.300000000,POSE1_TO_POSE2_PRESS,770.187179548,749,724,701.187179548,673,641.187179548,903.812820452,791,828.812820452,653,635,654.812820452,0.451134019017,0.00459164564885,0.0699897605928,0.99999999336,0.000100535122671,-1.63927434546e-05,-5.38938833351e-05,1793252955963226880
+199,3.316666667,POSE1_TO_POSE2_PRESS,770.390356557,749,724,701.390356557,673,641,904,791.390356557,829,653,635,654.609643443,0.451636661728,0.00459541646545,0.0699531596353,0.999999990347,0.000106068001247,-7.10580549315e-05,-5.48216109136e-05,1793252955979893760
+200,3.333333333,POSE1_TO_POSE2_PRESS,770.966565129,749,724,701.966565129,673,641,904,791.966565129,829,653,635,654.033434871,0.452112194675,0.00459884492122,0.0699016691938,0.999999981434,0.000111114369443,-0.000146981755689,-5.64009365964e-05,1793252955996560640
+201,3.350000000,POSE1_TO_POSE2_PRESS,770.459640036,749,724,702,672.459640036,640.459640036,904,790.919280072,828.459640036,653,635,654,0.452568583356,0.00460079094342,0.0698654133889,0.999999972373,0.000116825760695,-0.000195821427587,-5.71024101849e-05,1793252956013227264
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,749,724,702,672,640,903.88236491,790.235270181,828,653,635,654,0.453020778216,0.00460249843515,0.0698355690441,0.999999962941,0.000122338853801,-0.000236260004886,-5.7724874858e-05,1793252956029893888
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,749,724,702,672,640,903.290458601,791.419082799,828,653,635,654,0.45346081947,0.00460361240838,0.0698277902919,0.999999959115,0.000126887306787,-0.000249554194662,-5.82468165217e-05,1793252956046560000
+204,3.400000000,POSE1_TO_POSE2_PRESS,770.294695899,749,724.294695899,701.705304101,671.705304101,640,903.294695899,791.705304101,828.294695899,653,635,654,0.45389044908,0.00460478449086,0.0698291438732,0.999999958951,0.000133278985509,-0.000246870245815,-5.82222577142e-05,1793252956063226624
+205,3.416666667,POSE1_TO_POSE2_PRESS,770.873344688,749,724.873344688,701.126655312,671.126655312,640,903.873344688,791.126655312,828.873344688,653,635,654,0.45431004657,0.00460601256418,0.0698392968731,0.999999962161,0.000141446695691,-0.000228790633487,-5.7671120828e-05,1793252956079893248
+206,3.433333333,POSE1_TO_POSE2_PRESS,771,749,724.551235896,701.448764104,671,640,904,791,828.551235896,653,635,654,0.454673622783,0.00460661130613,0.0698457592275,0.999999961031,0.000148757282404,-0.000229552276127,-5.58147562129e-05,1793252956096559616
+207,3.450000000,POSE1_TO_POSE2_PRESS,771,749.023835241,724.023835241,702,671,640,904,790.976164759,828.023835241,653,635,654,0.455019276894,0.00460711176894,0.0698500348897,0.999999958557,0.000154594066588,-0.000236855064075,-5.37177895305e-05,1793252956113225984
+208,3.466666667,POSE1_TO_POSE2_PRESS,771,749.612087793,724.612087793,702,671,640,904,790.387912207,828.612087793,653,635,654,0.455312264413,0.00460946089914,0.0698270189804,0.999999952355,0.000131218705023,-0.000274031169527,-5.45841831107e-05,1793252956129892864
+209,3.483333333,POSE1_TO_POSE2_PRESS,770.802858486,749.802858486,724.802858486,701.802858486,671,639.802858486,904,790.197141514,828.802858486,653,635,654.197141514,0.455598030439,0.00461090347918,0.0698078006154,0.999999946923,0.000102290168003,-0.000304265978982,-5.57912088957e-05,1793252956146559744
+210,3.500000000,POSE1_TO_POSE2_PRESS,770.22399862,749.22399862,724.22399862,701.22399862,671,639.22399862,904,790.77600138,828.22399862,653,635,654.77600138,0.4558698137,0.00461059073695,0.0697959353075,0.999999944838,6.26092107311e-05,-0.000321060591165,-5.76577891393e-05,1793252956163227136
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,749,724,701.353263161,671,639,904,791,828,653,635,655,0.456133549217,0.00461181769952,0.0697983253969,0.999999947327,5.19218842353e-05,-0.000315003719563,-5.85005348532e-05,1793252956179894016
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,749,724,701.92951624,671,639,904,791,828,653,635,655,0.456392204791,0.00461401656823,0.0698097139037,0.999999953133,5.95361716694e-05,-0.000294522332671,-5.86970068259e-05,1793252956196560896
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,749,724.506457741,702,670.493542259,639,904.506457741,791,828.506457741,653,635,654.493542259,0.45661746214,0.00461358031596,0.0698210166427,0.999999956084,8.60574534853e-05,-0.000279062361661,-5.05035659761e-05,1793252956213227264
+214,3.566666667,POSE1_TO_POSE2_PRESS,770.085195001,749,724.914804999,702,670,639,905,791,828.914804999,653,635,654,0.456831727469,0.00461305206155,0.0698303586756,0.999999957293,0.000111225470883,-0.000266858230606,-4.27798561808e-05,1793252956229893632
+215,3.583333333,POSE1_TO_POSE2_PRESS,770.673980191,749,724.326019809,702,670,639,905,791,828.326019809,653,635,654,0.457008530791,0.00461415068185,0.0698281815737,0.999999956249,0.00011281952374,-0.000269763029567,-4.47439961694e-05,1793252956246560256
+216,3.600000000,POSE1_TO_POSE2_PRESS,771,749,724,702,670,639,905,791,828.258690172,653,635,654,0.457168161836,0.004614884501,0.0698226656216,0.999999953924,0.000113583723498,-0.000277649643219,-4.64808737654e-05,1793252956263226624
+217,3.616666667,POSE1_TO_POSE2_PRESS,771,749,724,702,670,639,905,791,828.838343901,653,635,654,0.457306486784,0.00461516570191,0.0698130070724,0.999999949881,0.00011331830304,-0.000291717322417,-4.79357809357e-05,1793252956279893504
+218,3.633333333,POSE1_TO_POSE2_PRESS,771,749,724,702,670,639,905,791,829,653,635,654.413811167,0.457422695457,0.00461485415632,0.0698028500877,0.999999944993,0.000112674372326,-0.00030809806263,-4.89195663615e-05,1793252956296560640
+219,3.650000000,POSE1_TO_POSE2_PRESS,771,749,724,702,670,639,905,791,829,653,635,654.987659349,0.457530350896,0.00461431337239,0.0697925003386,0.999999939571,0.000111884056828,-0.000325373353911,-4.9721150478e-05,1793252956313227776
+220,3.666666667,POSE1_TO_POSE2_PRESS,770.435766985,749,724,701.435766985,669.435766985,639,905,790.435766985,828.435766985,653.564233015,635,654.435766985,0.457621250921,0.0046149469131,0.0697910014417,0.999999937991,0.000112910709638,-0.000329793922742,-5.00414538845e-05,1793252956329894144
+221,3.683333333,POSE1_TO_POSE2_PRESS,770.144332711,749.144332711,724,701.144332711,669,639,905,790,828.144332711,653.855667289,635,654,0.457707153399,0.00461569723402,0.0697892378567,0.999999936598,0.00011453887249,-0.00033339080083,-5.03466359458e-05,1793252956346560256
+222,3.700000000,POSE1_TO_POSE2_PRESS,770.735154677,749.735154677,724,701.735154677,669,639,905,790,828.735154677,653.264845323,635,654,0.457778735244,0.00461672897186,0.0697860537197,0.99999993555,0.000117904258825,-0.000335313573313,-5.06377615323e-05,1793252956363226880
+223,3.716666667,POSE1_TO_POSE2_PRESS,771,749.678527966,724,701.678527966,669,639,905,790.321472034,829,653,635,654,0.457841955139,0.00461660197309,0.0697857875689,0.999999935862,0.000118236485042,-0.000334257515104,-5.06744693812e-05,1793252956379893504
+224,3.733333333,POSE1_TO_POSE2_PRESS,771,749.095870394,724,701.095870394,669,639,905,790.904129606,829,653,635,654,0.457898381232,0.00461553353874,0.0697878921865,0.999999937276,0.000116104367984,-0.000330781254347,-5.050447115e-05,1793252956396560128
+225,3.750000000,POSE1_TO_POSE2_PRESS,771,749,724,701,669,639,904.523203839,791,829,653,635,654.476796161,0.457935415326,0.00461603491968,0.0697862807382,0.999999935899,0.000115332313842,-0.000335148632303,-5.07584045072e-05,1793252956413226752
+226,3.766666667,POSE1_TO_POSE2_PRESS,770.95149222,749,724,701.04850778,668.95149222,638.95149222,904.04850778,791,829,653,635,654.95149222,0.457967594415,0.00461676041219,0.0697837512492,0.999999933925,0.000115098255662,-0.000341027378152,-5.10089237922e-05,1793252956429893632
+227,3.783333333,POSE1_TO_POSE2_PRESS,770.368623768,749,724,701.631376232,668.368623768,638.368623768,904.631376232,791,829,653,635,654.368623768,0.457988362672,0.00461654893027,0.069779170809,0.999999931747,0.000117840032802,-0.000346538205408,-5.03020957536e-05,1793252956446560512
+228,3.800000000,POSE1_TO_POSE2_PRESS,770.214791522,749,724.214791522,702,668,638,905,791,829,653.214791522,635,654.214791522,0.458007727962,0.00461574703864,0.0697755859628,0.999999930376,0.000118041344117,-0.000350456374561,-4.99376984732e-05,1793252956463227136
+229,3.816666667,POSE1_TO_POSE2_PRESS,770.799147651,749,724.799147651,702,668,638,905,791,829,653.799147651,635,654.799147651,0.458024679344,0.00461392930373,0.0697737141097,0.999999930435,0.000113871597028,-0.000351634258028,-5.01624785346e-05,1793252956479893504
+230,3.833333333,POSE1_TO_POSE2_PRESS,770.621198285,749.378801715,724.621198285,702,668,638.378801715,905,791,829,654,635,655,0.458034853019,0.00461351487887,0.06977289517,0.999999929901,0.000113849554214,-0.00035318840971,-4.99323297567e-05,1793252956496560128
+231,3.850000000,POSE1_TO_POSE2_PRESS,770.044006852,749.955993148,724.044006852,702,668,638.955993148,905,791,829,654,635,655,0.458041477006,0.00461383540925,0.0697726276724,0.999999929058,0.000115999787564,-0.000354939624206,-4.94639212142e-05,1793252956513226752
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,749.469151187,724,702,668.530848813,638.469151187,905,791,829,653.469151187,635,654.469151187,0.458043775793,0.00461320249145,0.0697697665585,0.999999927844,0.000115213536653,-0.000358651464316,-4.90598400657e-05,1793252956529893120
+233,3.883333333,POSE1_TO_POSE2_PRESS,770.108215667,749,724,702,668.891784333,638.108215667,905,790.891784333,829,653,635,654,0.458045515421,0.00461199574328,0.0697671618424,0.999999926731,0.000113594132525,-0.000362307083513,-4.86664546603e-05,1793252956546560000
+234,3.900000000,POSE1_TO_POSE2_PRESS,770.697605407,749,724,702,668.302394593,638.697605407,905,790.302394593,829,653,635,654,0.458046356094,0.00460858740152,0.069766649016,0.999999926245,0.000109347827749,-0.000364993187972,-4.82970197717e-05,1793252956563226624
+235,3.916666667,POSE1_TO_POSE2_PRESS,770.717735358,749,724,702,668,638.717735358,904.717735358,790.282264642,828.717735358,653,635,654.282264642,0.458048265228,0.00460718686792,0.069766223375,0.999999926209,0.000107284360275,-0.000365707305574,-4.82709057035e-05,1793252956579893248
+236,3.933333333,POSE1_TO_POSE2_PRESS,770.138060386,749,724,702,668,638.138060386,904.138060386,790.861939614,828.138060386,653,635,654.861939614,0.458051300156,0.00460790187654,0.0697658895975,0.999999926665,0.000107520855751,-0.00036434362425,-4.86065342385e-05,1793252956596560640
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,749,724,702,668,638.438225579,904,790.561774421,828.438225579,653,635,654.561774421,0.458050689891,0.00460795405215,0.0697650302146,0.999999926129,0.000107652061292,-0.00036580175305,-4.83966500152e-05,1793252956613227008
+238,3.966666667,POSE1_TO_POSE2_PRESS,770.013733557,749,724,702,668,638.986266443,904.013733557,790,828.986266443,653,635,654,0.458049027304,0.00460780057803,0.0697640417679,0.99999992531,0.000107729924717,-0.00036806024689,-4.80227224971e-05,1793252956629893376
+239,3.983333333,POSE1_TO_POSE2_PRESS,770.600999094,749,724,702,668,638.399000906,904.600999094,790,828.399000906,653,635,654,0.458051008909,0.00460771264344,0.0697645255868,0.999999925823,0.000106954783416,-0.000366902360967,-4.79201761718e-05,1793252956646560000
+240,4.000000000,POSE1_TO_POSE2_PRESS,771,749,724,702,668,638.185807239,905,790.185807239,828,653,635,654.185807239,0.458052507317,0.00460689475752,0.0697649891057,0.999999926335,0.000105432504863,-0.00036596563346,-4.77826261223e-05,1793252956663226368
+241,4.016666667,POSE1_TO_POSE2_PRESS,771,749,724,702,668,638.765407247,905,790.765407247,828,653,635,654.765407247,0.458052981654,0.00460452984061,0.0697654096015,0.999999926839,0.000102326772188,-0.000365497620721,-4.7570890522e-05,1793252956679892992
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.656165055,749,724,702,668,638.656165055,905,790.656165055,828,653,635.343834945,655,0.458053149421,0.00460451101857,0.0697648907321,0.999999926785,0.00010111103494,-0.000365930818678,-4.79686436812e-05,1793252956696559360
+243,4.050000000,POSE1_TO_POSE2_PRESS,770.078534509,749,724,702,668,638.078534509,905,790.078534509,828,653,635.921465491,655,0.45805310873,0.00460608745816,0.0697637331276,0.999999926355,0.000101180427854,-0.000366976808053,-4.87808276466e-05,1793252956713226240
+244,4.066666667,POSE1_TO_POSE2_PRESS,770.495247547,749,724.495247547,701.504752453,668,638,905,790,828.495247547,653,635.504752453,654.504752453,0.458053754241,0.00460287523052,0.0697638173996,0.999999926615,9.99283978049e-05,-0.000366707513994,-4.80657108734e-05,1793252956729892608
+245,4.083333333,POSE1_TO_POSE2_PRESS,771,749,724.92943649,701.07056351,668.07056351,638,904.92943649,790.07056351,829,653,635,654,0.458054418814,0.00459937914654,0.0697639733545,0.99999992693,9.83967598625e-05,-0.000366365724848,-4.72579225767e-05,1793252956746559488
+246,4.100000000,POSE1_TO_POSE2_PRESS,771,749,724.338338245,701.661661755,668.661661755,638,904.338338245,790.661661755,829,653,635,654,0.458054427487,0.00459934764424,0.0697632165692,0.999999926879,9.63363712354e-05,-0.000367015893057,-4.75393570218e-05,1793252956763226112
+247,4.116666667,HOLD_POSE2,771,749,724,701,668,639,905,791,828,653,635,654,0.458055438926,0.00459511800499,0.0697640083067,0.999999927147,9.25380011908e-05,-0.000367226262704,-4.78289902457e-05,1793252956801543936
+248,4.133333333,HOLD_POSE2,771,749,724.57562357,701.57562357,668,639,904.42437643,790.42437643,828,653,635,654,0.458055979423,0.00459418124782,0.0697648419178,0.999999927532,9.15260864786e-05,-0.000366432059149,-4.78076543331e-05,1793252956818210560
+249,4.150000000,HOLD_POSE2,771,749,724.845910814,701.845910814,668,639,904,790.154089186,828,653,635,654.154089186,0.458055938151,0.00459213547086,0.0697648383801,0.999999927627,8.93382127027e-05,-0.000366729892549,-4.76879364637e-05,1793252956834877440
+250,4.166666667,HOLD_POSE2,771,749,724.259470711,701.259470711,668,639,904,790.740529289,828,653,635,654.740529289,0.458054264524,0.00458697795215,0.0697624859295,0.999999926882,8.38507756909e-05,-0.000370091816036,-4.72921737204e-05,1793252956851544320
+251,4.183333333,HOLD_POSE2,771,749,724,701.323019998,668,639,904.323019998,791,828.323019998,653.323019998,635,654.676980002,0.458054395164,0.00458217347638,0.0697619524677,0.999999927255,7.87261863124e-05,-0.000370258696018,-4.69084142832e-05,1793252956868210944
+252,4.200000000,HOLD_POSE2,771,749,724,701.902376581,668,639,904.902376581,791,828.902376581,653.902376581,635,654.097623419,0.458055957603,0.00457764916259,0.0697628624875,0.999999928516,7.38895395702e-05,-0.000367890108807,-4.65341802447e-05,1793252956884877568
+253,4.216666667,HOLD_POSE2,771,749,724,701.519219736,668,638.519219736,905,790.519219736,829,653.519219736,635,654.480780264,0.458055625597,0.0045782896028,0.0697623675486,0.99999992817,7.56178710105e-05,-0.000368501495279,-4.6354807119e-05,1793252956901544192
+254,4.233333333,HOLD_POSE2,771,749,724.058710731,701.058710731,668,638,905,790,829,653,635,655,0.458055015894,0.00457980545282,0.0697616884601,0.99999992758,7.82238188053e-05,-0.000369563811283,-4.62898775782e-05,1793252956918210560
+255,4.250000000,HOLD_POSE2,771,749,724.634175782,701.634175782,668,638,905,790,829,653,635,655,0.458055341045,0.00457981419064,0.0697618945225,0.999999927765,7.68445402577e-05,-0.000369279789808,-4.68846790552e-05,1793252956934877440
+256,4.266666667,HOLD_POSE2,771,749,724.78630016,702,668.21369984,638,905,790,829,653,635,654.78630016,0.45805614038,0.0045796144818,0.0697626507114,0.999999928181,7.59859913069e-05,-0.000368301099762,-4.70923131458e-05,1793252956951544064
+257,4.283333333,HOLD_POSE2,771,749,724.199693179,702,668.800306821,638,905,790,829,653,635,654.199693179,0.458057767167,0.00457905103267,0.0697643668735,0.999999929004,7.60361178927e-05,-0.000366110210093,-4.66243384157e-05,1793252956968210688
+258,4.300000000,HOLD_POSE2,770.617596609,749,724.382403391,701.617596609,668.617596609,638,905,790,829,653,635.382403391,654,0.458058145729,0.00457852347038,0.0697640961272,0.999999929074,7.54195041255e-05,-0.000366048624153,-4.66008340252e-05,1793252956984877312
+259,4.316666667,HOLD_POSE2,770.037827891,749,724.962172109,701.037827891,668.037827891,638,905,790,829,653,635.962172109,654,0.458057880059,0.00457801442988,0.0697627999017,0.999999928756,7.44587735724e-05,-0.000367086010296,-4.68067287972e-05,1793252957001544192
+260,4.333333333,HOLD_POSE2,770,749,725,701.539300409,668,638,905,790,828.460699591,653.539300409,635.460699591,654,0.458057525761,0.00457697114282,0.0697628300112,0.999999928808,7.27200277681e-05,-0.000367360139499,-4.62774137982e-05,1793252957018210560
+261,4.350000000,HOLD_POSE2,770.115698321,749,725,701.884301679,668,638,905,790.115698321,828,653.884301679,635,654,0.458057101225,0.00457622359932,0.0697627405405,0.999999928735,7.14617820111e-05,-0.000367859451039,-4.58623268574e-05,1793252957034877184
+262,4.366666667,HOLD_POSE2,770.689932164,749,725,701.310067836,668,638,905,790.689932164,828,653.310067836,635,654,0.458056422838,0.00457679593716,0.0697618102395,0.999999928071,7.2323079034e-05,-0.000369462348292,-4.61033326365e-05,1793252957051544064
+263,4.383333333,HOLD_POSE2,770.728356034,749,725,701.271643966,668.271643966,638.271643966,905,791,828.271643966,653,635,654.271643966,0.458056529624,0.00457648243155,0.0697617763934,0.999999928129,7.20697350077e-05,-0.000369343672762,-4.6184100993e-05,1793252957068210688
+264,4.400000000,HOLD_POSE2,770.137866929,749,725,701.862133071,668.862133071,638.862133071,905,791,828.862133071,653,635,654.862133071,0.458057558016,0.00457512915728,0.0697627947715,0.999999929033,7.05080685459e-05,-0.000367204281849,-4.60767888699e-05,1793252957084877312
+265,4.416666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,668,638,904,791,828,653,635,655,0.458056650487,0.00457396598094,0.0697617431598,0.999999928694,6.81152929408e-05,-0.000368562962173,-4.61960330222e-05,1793252957117558784
+266,4.433333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,668,638.575515241,904.575515241,790.424484759,828,653,635,654.424484759,0.458057144884,0.00457542640758,0.0697619514643,0.999999928729,6.8552420855e-05,-0.000368304944016,-4.6848472263e-05,1793252957134225408
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770.849878543,749,724.849878543,702,668,638.849878543,905.150121457,790,828,653,635,654.150121457,0.458057328015,0.00457670154508,0.0697620161618,0.999999928636,6.92369816605e-05,-0.000368374676363,-4.72633807956e-05,1793252957150892288
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770.277827091,749,724.277827091,702,668,638.277827091,905.722172909,790,828,653,635,654.722172909,0.458056636308,0.00457745591093,0.0697616772391,0.999999928186,7.06169751862e-05,-0.000369365581225,-4.70106878412e-05,1793252957167559424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.305684999,749,724.305684999,701.694315001,667.694315001,638,905.388630003,790,828,653,635,654.694315001,0.458056998431,0.00457697519174,0.0697620335512,0.999999928205,7.12109310466e-05,-0.000369263225074,-4.65135564995e-05,1793252957184226560
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.900018982,749,724.900018982,701.099981018,667.099981018,638,904.199962036,790,828,653,635,654.099981018,0.458058355654,0.00457532821952,0.0697630463523,0.999999928668,7.10626555234e-05,-0.000368128535964,-4.57856094881e-05,1793252957200893184
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.520020558,749.479979442,725,701.479979442,667.479979442,638.479979442,904,790.479979442,828.479979442,653,635.479979442,654,0.458058445577,0.00457424295712,0.0697631868327,0.999999928896,7.05734201084e-05,-0.000367644676011,-4.54348980152e-05,1793252957217559552
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770.056507653,749.943492347,724.943492347,702,668,638.943492347,904.056507653,790.943492347,828.943492347,653,635.943492347,654,0.458058087177,0.00457364341878,0.069762977681,0.999999929,7.01901131715e-05,-0.000367455716872,-4.52746122692e-05,1793252957234225920
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770.62824664,749.37175336,724.37175336,702,668,638.37175336,904.62824664,790.37175336,828.37175336,653,635.37175336,654,0.458055977983,0.00457643683811,0.0697611892318,0.999999928395,7.14014028668e-05,-0.000368755465892,-4.61549643774e-05,1793252957250892544
+274,4.566666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,668,638,905,790,828,653,635,654,0.45804990854,0.00457815954818,0.069757633708,0.999999926772,7.19585250385e-05,-0.000372938262233,-4.68598059205e-05,1793252957267559168
+275,4.583333333,POSE2_TO_POSE3_RETREAT,771,749,724,702,668,638,905,790,828,653,635,654,0.458036477387,0.0045778919164,0.0697507933691,0.999999923197,7.12996150122e-05,-0.000382480355293,-4.72383907596e-05,1793252957284226048
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770.617102168,749,724,701.617102168,668.382897832,638.382897832,904.617102168,790.382897832,828.382897832,653,635,654,0.458007185197,0.00457694881414,0.0697379453017,0.999999915076,7.17612223438e-05,-0.000403103902663,-4.69601586989e-05,1793252957300892416
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770.040467569,749,724,701.040467569,668.959532431,638.959532431,904.040467569,790.959532431,828.959532431,653,635,654,0.457969867715,0.00457566394061,0.0697220574727,0.999999904113,7.27897834499e-05,-0.000429334390538,-4.63495936559e-05,1793252957317559040
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.537848719,667.924302562,638.462151281,904.537848719,791,828.462151281,653,635,654,0.457915103237,0.00457590212216,0.0697044221568,0.999999894247,7.29982738904e-05,-0.000451704916572,-4.6253555633e-05,1793252957334225664
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,749,724.115425078,701.884574922,667.115425078,638,905,791,828,653,635,654,0.457855760383,0.00457656264775,0.0696876631371,0.999999884432,7.38276121187e-05,-0.000472823918449,-4.60794635634e-05,1793252957350892544
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,749,724.689556673,701.310443327,667.689556673,638,905,791,828,653,635,654,0.457783455903,0.00457844476235,0.0696749107183,0.999999875862,7.73702147846e-05,-0.000490127068448,-4.5440850003e-05,1793252957367559168
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770.271862309,749,724.728137691,701.271862309,668,638.271862309,904.728137691,791,828,653,635,654.271862309,0.457704051359,0.00457845368666,0.0696667587829,0.999999870509,7.82575970289e-05,-0.000500865856493,-4.4622416705e-05,1793252957384225792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770.863791308,749,724.136208692,701.863791308,668,638.863791308,904.136208692,791,828,653,635,654.863791308,0.457616287832,0.00457625728194,0.0696640230516,0.999999869215,7.60189569068e-05,-0.00050387634324,-4.35922795694e-05,1793252957400892416
+283,4.716666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,668,639,904,791,828,653,635,654.554856519,0.457515609808,0.00457573728928,0.0696653068809,0.999999870523,7.75202155828e-05,-0.000501179863123,-4.19821111226e-05,1793252957417559040
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770.976763963,749,724,702,668,638.976763963,904,790.976763963,828,653,635.023236037,654.023236037,0.457410019295,0.00457573384781,0.0696678349579,0.999999872577,8.01667198556e-05,-0.00049679530363,-4.01798839726e-05,1793252957434225664
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770.401009723,749,724,702,668,638.401009723,904,790.401009723,828,653,635.598990277,654.598990277,0.457279401439,0.00457609883279,0.0696713820602,0.999999874356,8.34657063821e-05,-0.000492830589015,-3.7933114278e-05,1793252957450892544
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770.178108999,749,724,701.821891001,668.178108999,638.178108999,904.178108999,790.178108999,828,653,635.821891001,654.821891001,0.457137824982,0.00457647801552,0.0696736856938,0.99999987501,8.71893956665e-05,-0.000491032706765,-3.55629011361e-05,1793252957467559424
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770.764948573,749,724,701.235051427,668.764948573,638.764948573,904.764948573,790.764948573,828,653,635.235051427,654.235051427,0.456971100374,0.00457688977967,0.0696731357729,0.999999873116,9.18877067964e-05,-0.000494207345497,-3.29094060935e-05,1793252957484226048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,771,749,724,701,669,639,904.652227821,790.652227821,828.347772179,653,635,654.347772179,0.456789609241,0.00457617468095,0.0696758873775,0.999999873536,9.57729858155e-05,-0.000492831516376,-2.95380846507e-05,1793252957500892672
+289,4.816666667,POSE2_TO_POSE3_RETREAT,771,749,724,701,669,639,904.072087472,790.072087472,828.927912528,653,635,654.927912528,0.45659825166,0.00457470665528,0.069680844936,0.999999875483,9.91150281088e-05,-0.000488415237677,-2.56871385895e-05,1793252957517559296
+290,4.833333333,POSE2_TO_POSE3_RETREAT,771,749,724,701.506334397,669,638.493665603,904,790.506334397,828.493665603,653,635,655,0.456373341469,0.00457168227248,0.0696845631542,0.999999876368,0.000103329476272,-0.0004859561124,-2.08343561501e-05,1793252957534225664
+291,4.850000000,POSE2_TO_POSE3_RETREAT,771,749,724,701.91621022,669,638.08378978,904,791,828,653,635,654.91621022,0.456138385112,0.0045689147434,0.0696874039566,0.999999876617,0.000107738170474,-0.000484666606729,-1.60497661434e-05,1793252957550892288
+292,4.866666667,POSE2_TO_POSE3_RETREAT,771,749,724,701.342975857,669,638.657024143,904,791,828,653,635,654.342975857,0.455872554864,0.00456893753215,0.0696861466741,0.999999874229,0.000112558450953,-0.000488587106288,-1.24938572975e-05,1793252957567558912
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770.763035635,749,724,701.236964365,669.236964365,639,904,790.763035635,828,653,635,654.236964365,0.45558898967,0.00456894077522,0.0696858730417,0.999999873289,0.000118123584849,-0.000489288088521,-8.15399653472e-06,1793252957584225792
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770.173106901,749,724,701.826893099,669.826893099,639,904,790.173106901,828,653,635,654.826893099,0.455279007847,0.0045689149045,0.0696870645807,0.999999874503,0.000124798196318,-0.000485193518655,-2.64641992912e-06,1793252957600892928
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.590665425,670,639,903.590665425,790,828,653.409334575,635,655,0.454941634982,0.0045674548029,0.0696837392346,0.99999987272,0.000130288966536,-0.000487417878252,2.75494199511e-06,1793252957617559552
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.011333437,670,639,903.011333437,790,828,653.988666563,635,655,0.454592886575,0.00456539906253,0.0696785380177,0.999999869653,0.000135288085096,-0.000492266501151,8.11219262614e-06,1793252957634226176
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.564912533,670.564912533,639,903,790.564912533,828,653.435087467,634.435087467,654.435087467,0.454227660585,0.00456383282184,0.0696876154129,0.999999879541,0.000139989784987,-0.000470260283788,1.32495776604e-05,1793252957650892544
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.859710049,671,639.140289951,903,791,828,653,634.140289951,654,0.453854606061,0.00456207886879,0.069699800382,0.999999890601,0.000144496828194,-0.00044450232847,1.83578358086e-05,1793252957667559168
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.286821137,671,639.713178863,903,791,828,653,634.713178863,654,0.453458425323,0.00455971596707,0.069720689348,0.999999905142,0.000148421925653,-0.000408827821855,2.33898050548e-05,1793252957684225536
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,749,724,701,671,640,903,791.296165445,828,653,635,654,0.45302011219,0.00455674089883,0.0697324608409,0.99999991195,0.000152878573275,-0.000389715691128,2.91605340625e-05,1793252957700891904
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,749,724,701,671,640,903,791.88927636,828,653,635,654,0.45253955565,0.00455315205149,0.0697350908501,0.999999911937,0.000157868171641,-0.000387209553433,3.56719691628e-05,1793252957717558528
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.469461003,671.469461003,639.530538997,902.530538997,791.530538997,827.530538997,653.469461003,635,654,0.452014767154,0.00455088590526,0.0697238953849,0.999999904528,0.000156062141693,-0.000406286063982,3.89865825466e-05,1793252957734225664
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770.046496541,749,724,701.953503459,671.953503459,639.046496541,902,791,827,653.953503459,635,654,0.451477765162,0.00454865466811,0.069711191789,0.999999896326,0.000148799650448,-0.000428454998917,4.04104748933e-05,1793252957750892288
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770.621462776,749,724,701.378537224,671.378537224,639.621462776,902,791,827,653.378537224,635,654,0.450917339963,0.0045433695107,0.0697174152547,0.999999902639,9.72487550825e-05,-0.000429466561325,2.86847695711e-05,1793252957767558912
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770.798553052,749,724,701,671.201446948,640,902,791,827,653,635,654,0.450354621011,0.00453795169894,0.0697282718565,0.99999990886,6.39814072834e-05,-0.000421458638654,2.3629577922e-05,1793252957784225536
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770.20889888,749,724,701,671.79110112,640,902,791,827,653,635,654,0.449787481816,0.00453227825009,0.0697480569474,0.999999918896,6.59481796636e-05,-0.00039606932113,3.14290946552e-05,1793252957800892160
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,749,724,701,672,640,901.625915346,791,827,653,635,654,0.449185361076,0.0045305380901,0.0697769802197,0.999999937191,5.97308602754e-05,-0.00034766018781,3.43809192175e-05,1793252957817558784
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770,749,724,701,672,640,901.046591634,791,827,653,635,654,0.448564047962,0.00453095590307,0.0698109170938,0.999999957121,4.90233931134e-05,-0.00028662138543,3.46730893446e-05,1793252957834225408
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.529521144,672,640,900.470478856,791,826.470478856,653,635,654,0.44786949948,0.00452926019284,0.0698092752954,0.999999955872,3.49155849525e-05,-0.000292890597222,3.53796331506e-05,1793252957850892032
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.894879744,672,640,900,791,826,653,635,654,0.447154938397,0.00452787519524,0.0697965544254,0.999999949099,2.17267871949e-05,-0.000316269085435,3.61016563617e-05,1793252957867558656
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.320320615,672,640,900,791,826,653,635,654,0.446379609678,0.00452870322264,0.0697482531272,0.999999923269,1.3970096885e-05,-0.000389764951595,3.67309668718e-05,1793252957884225536
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.261786874,672,640,899.738213126,791,825.738213126,653,635,654,0.44562437257,0.00453720492031,0.0697213484792,0.999999908846,1.00902623115e-05,-0.000425540717467,3.34745665968e-05,1793252957900892160
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.853404787,672,640,899.146595213,791,825.146595213,653,635,654,0.44489444922,0.00455537484397,0.0697214019347,0.999999914006,1.10949625228e-05,-0.000413792111816,2.53224741585e-05,1793252957917558784
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,898.566068792,791,825,653,635,654,0.444122955571,0.00456915409264,0.0697505308043,0.999999926553,0.000126357282153,-0.000361083313536,2.33998779068e-05,1793252957934225408
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770.010774153,749,724,702,672,640,897.989225847,791,825.010774153,653.010774153,635,654,0.443337294445,0.00458100389688,0.0697889539309,0.999999917993,0.000275666244866,-0.000295746713981,2.35888444209e-05,1793252957950892032
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770.586056536,749,724,702,672,640,897.413943464,791,825.586056536,653.586056536,635,654,0.442526807402,0.00456754138337,0.0698125236152,0.999999933582,0.000236824872341,-0.000275727665569,2.68953464838e-05,1793252957967558656
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770.834733876,749,724,702,672,640,896.834733876,791.165266124,825.834733876,654,635,654,0.441715748741,0.00455829338118,0.0698312168904,0.999999946465,0.000202615486901,-0.000255305469977,2.8900497155e-05,1793252957984225536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770.245448388,749,724,702,672,640,896.245448388,791.754551612,825.245448388,654,635,654,0.440903223543,0.00455985845131,0.069837398877,0.999999956025,0.000180290283817,-0.000233848931453,2.75668013928e-05,1793252958000892160
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,896,791.661842198,825,653.661842198,635,654,0.440023779464,0.00455867992474,0.0698253881809,0.999999955731,0.000156563249483,-0.000251498320559,2.78476668864e-05,1793252958017558784
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,896,791.082290204,825,653.082290204,635,654,0.439096565329,0.00455554287961,0.0698003906247,0.999999946758,0.000131835517598,-0.000297063504938,2.92810881131e-05,1793252958034225408
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,896,791.495205243,825,653.495205243,635,654,0.438117246642,0.00455002681868,0.0697367071055,0.999999916431,0.00011124344657,-0.00039233182745,2.89466952262e-05,1793252958050892032
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,896,791.928458403,825,653.928458403,635,654,0.437143308146,0.0045444961273,0.0696787890806,0.99999988105,9.57546819713e-05,-0.000477409663479,2.84650350593e-05,1793252958067558656
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,896,791.357834114,825,653.357834114,635,654,0.436267055337,0.00454160984115,0.0697057530596,0.999999899223,0.000111092773842,-0.000434017401911,2.89968844455e-05,1793252958084225536
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,671.778718471,640,896,791,825,653,635,654,0.435393733159,0.00453715159524,0.0697442929813,0.999999921514,0.000114561427852,-0.000378065776979,3.02307887171e-05,1793252958100892160
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,671.185323428,640,896,791,825,653,635,654,0.434525339076,0.0045300498952,0.0698022993521,0.99999994936,9.80700890304e-05,-0.000300993950491,3.2645289136e-05,1793252958117558784
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,671,640,896,791,824.602694972,653,635,654,0.433618290773,0.00452402304509,0.0698328616891,0.999999961854,8.45864992631e-05,-0.000260688000228,3.43462939049e-05,1793252958134225408
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,671,640,896,791,824.024956135,653,635,654,0.43269368793,0.00451848433237,0.0698509604715,0.999999968633,7.24688626494e-05,-0.000237079067515,3.57232685988e-05,1793252958150892032
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,749,724,702.545136974,671.545136974,640.545136974,896,791,824,653.545136974,635,654,0.431708219027,0.00451668772938,0.0698348165195,0.9999999627,7.92620666008e-05,-0.000258992820812,3.52290075818e-05,1793252958167558912
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,749,724.116455641,703,671.883544359,640.883544359,895.883544359,791,824,653.883544359,635,654,0.430708594994,0.00451398749569,0.0698047236364,0.999999949856,8.2963046548e-05,-0.0003036628549,3.45509435513e-05,1793252958184225792
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,749,724.693993277,703,671.306006723,640.306006723,895.306006723,791,824,653.306006723,635,654,0.429663806373,0.00450704062983,0.0697255236607,0.999999904339,7.10407351134e-05,-0.000430294591353,3.34796284309e-05,1793252958200892160
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,749,724.719483782,702.719483782,671,640,895,791,823.719483782,653.280516218,634.719483782,653.719483782,0.428692908944,0.00449790623127,0.0697046605722,0.999999890661,5.7215853208e-05,-0.000462920366286,3.32928885002e-05,1793252958217558784
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,749,724.122834728,702.122834728,671,640,895,791,823.122834728,653.877165272,634.122834728,653.122834728,0.427805284602,0.00448630655356,0.0697495413013,0.999999922672,4.12468365377e-05,-0.000389604414738,3.41030370127e-05,1793252958234225408
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,749,724.456224838,702,671,640,895,791.456224838,823,653.543775162,634.456224838,653.456224838,0.426917619483,0.00448287357469,0.0698075568895,0.999999954015,4.33741282842e-05,-0.00029798444938,3.59756977624e-05,1793252958250892032
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770,749,725,702.030721546,671,640.030721546,895,791.969278454,823,653,634.969278454,654,0.426025862463,0.00448107700922,0.0698649926869,0.999999976432,4.90675251484e-05,-0.000208048673874,3.80025891472e-05,1793252958267558912
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,749,725,702.605167163,671,640.605167163,895,791.394832837,823,653,634.394832837,654,0.425061873362,0.004470771467,0.0698519007888,0.999999971786,3.48448350198e-05,-0.000231904293037,3.78840396386e-05,1793252958284225536
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,748.814601515,724.814601515,703,671,640.814601515,895,791,823,653,634,654,0.424093880433,0.00446196621066,0.0698277634795,0.999999961364,2.22276453073e-05,-0.000274531828503,3.75406884145e-05,1793252958300892160
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,748.221651686,724.221651686,703,671,640.221651686,895,791,823,653,634,654,0.423117085924,0.00445645894869,0.0697793456448,0.999999935006,1.31397365008e-05,-0.000358424644083,3.67031677358e-05,1793252958317558784
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,748.361533892,724,702.638466108,671,640.361533892,895,791,822.638466108,653,634,654,0.42212980266,0.00445268484614,0.0697211126011,0.999999893873,9.84719565016e-06,-0.000459108139507,3.70996019102e-05,1793252958334225664
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,748.938890527,724,702.061109473,671,640.938890527,895,791,822.061109473,653,634,654,0.421136258043,0.00444994537782,0.0696570202332,0.999999836874,1.00142817132e-05,-0.00056981505912,3.82326625827e-05,1793252958350892544
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,671,640.485590281,895,791,822.514409719,653,634,654,0.420310164423,0.00444309835983,0.0697073716702,0.99999988478,-3.1925353918e-06,-0.00047863283877,3.66034694733e-05,1793252958367558912
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770.09185294,749,724.09185294,702,671.09185294,640.09185294,894.90814706,791.09185294,823,653.09185294,634,654,0.419506103772,0.0044379181788,0.0697726601529,0.999999933053,-1.55600747295e-05,-0.000363869814963,3.53578519303e-05,1793252958384225792
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770.680887843,749,724.680887843,702,671.680887843,640.680887843,894.319112157,791.680887843,823,653.680887843,634,654,0.418714012865,0.00444439207851,0.0698454726764,0.999999967713,-1.48157443061e-05,-0.000250824413533,3.79583068184e-05,1793252958400892416
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770.734543246,749,725,702.265456754,671.734543246,641,894.265456754,791.734543246,823,654,634,654,0.417886825229,0.00445634317658,0.0698749975252,0.99999997747,6.06990051335e-06,-0.000208434455526,3.97159854605e-05,1793252958417559040
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770.155254227,749,725,702.844745773,671.155254227,641,894.844745773,791.155254227,823,654,634,654,0.417018145069,0.00447476960974,0.0698533461653,0.999999966748,5.07673118016e-05,-0.000249575845363,4.04773046899e-05,1793252958434225664
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,641,894.577867436,791,823,654,634.422132564,654,0.41617466406,0.00447660826652,0.0698226352382,0.999999957797,4.9052042602e-05,-0.000283807794376,3.81268503931e-05,1793252958450892288
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,641,894.001177071,791,823,654,634.998822929,654,0.415340409287,0.00447237354769,0.0697886072785,0.999999949167,3.03434378601e-05,-0.000315509953709,3.46370647737e-05,1793252958467558912
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770.572592769,749,725,703,671,641,894.572592769,791,823,653.427407231,635,654,0.414484576603,0.00446451686465,0.0697507613983,0.999999921066,2.30102276655e-05,-0.000395028794897,3.59276527576e-05,1793252958484225792
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770.849222524,749,725,703,671,641.150777476,894.849222524,791,823,653.150777476,634.849222524,654,0.413664932847,0.00445859300912,0.0697286498118,0.999999900978,1.85141735826e-05,-0.00044310787424,3.68389406875e-05,1793252958500892672
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770.258127445,749,725,703,671,641.741872555,894.258127445,791,823,653.741872555,634.258127445,654,0.412951100808,0.00445833524856,0.0697525101016,0.999999919447,2.22355626353e-05,-0.000399087396244,3.66140019791e-05,1793252958517559296
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,641.673712111,894.326287889,791.326287889,822.673712111,654,634.326287889,654,0.412301129071,0.00445773348338,0.0697949309458,0.999999947862,1.65780980524e-05,-0.000320516316037,3.56435815196e-05,1793252958534225920
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,641.094475171,894.905524829,791.905524829,822.094475171,654,634.905524829,654,0.411700663973,0.00445686503457,0.0698517405378,0.999999976265,3.6498387702e-06,-0.000215160478138,3.40952389416e-05,1793252958550892800
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770.479659245,749,725.479659245,703,671,641,895,792,822.479659245,653.520340755,635,654.479659245,0.411022315648,0.00446117417523,0.0698664529092,0.999999979739,1.13950754557e-05,-0.000198031934339,3.42795812249e-05,1793252958567559424
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770.947132016,749,725.947132016,702.947132016,671,641,895,792,823,653.052867984,634.947132016,654.947132016,0.410329965314,0.00446597974995,0.0698683088072,0.999999978119,2.22963976032e-05,-0.000205087492354,3.46945079897e-05,1793252958584225792
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770.373245672,749,725.373245672,702.373245672,671,641,895,792,823,653.626754328,634.373245672,654.373245672,0.409649210867,0.00446573335522,0.0698243173794,0.99999995963,2.45945288108e-05,-0.000281025086428,3.40539717925e-05,1793252958600892416
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,749,725,702.207735532,671,641,895,791.792264468,823,653.792264468,634,654,0.408989451371,0.00446412840039,0.0697863102002,0.999999939907,2.15233516001e-05,-0.000344425943042,3.30533960981e-05,1793252958617559040
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,749,725,702.801915024,671,641,895,791.198084976,823,653.198084976,634,654,0.408368748207,0.00445999615847,0.069759435338,0.99999992555,8.46381662503e-06,-0.000384505089984,3.13830504412e-05,1793252958634225920
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770.384107298,749,725.384107298,703,671,641,895,791.384107298,823,653,634,654,0.407810958686,0.00445922105289,0.0697632145344,0.999999929076,8.49109144849e-06,-0.000375247467269,3.10713163856e-05,1793252958650892544
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770.960304874,749,725.960304874,703,671,641,895,791.960304874,823,653,634,654,0.407284631932,0.00446012483525,0.0697823236809,0.999999941144,1.50630179622e-05,-0.000341316758387,3.14390175261e-05,1793252958667559168
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770.464335438,749,725.464335438,703,671,641,895,792,823,653.535664562,634.535664562,654,0.406790504968,0.00446707147887,0.0697966201166,0.99999994596,1.8570208143e-05,-0.000326696996101,3.16750701176e-05,1793252958684225792
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,749,725.110418105,703,671,641,895,792,823,654,634.889581895,654,0.406301868193,0.00447402271324,0.0698062913564,0.999999948102,2.24857969794e-05,-0.000319791846514,3.19817359015e-05,1793252958700892416
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,749,725.682894765,703,671,641,895,792,823,654,634.317105235,654,0.405826236118,0.00447912219914,0.0697980979708,0.99999994152,2.90592715661e-05,-0.000339190505844,3.26246520003e-05,1793252958717559040
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792,823,654,634.266359969,654,0.40538293803,0.00448088415416,0.069797498533,0.999999940669,3.31426378035e-05,-0.000341328971102,3.25145825541e-05,1793252958734225664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792,823,654,634.863470066,654,0.404979790414,0.00447850175957,0.0698063288133,0.999999947069,3.41339337125e-05,-0.000322034742474,3.14694999575e-05,1793252958750892288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792,823,654,635,654,0.404622976255,0.00447422514418,0.0698221388321,0.999999957204,2.82549025723e-05,-0.000289604017019,3.03892483186e-05,1793252958767559424
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770.020475607,749,726,703,671,641,895,792,823,654,634.979524393,654,0.404280465279,0.00446954782535,0.0698395656028,0.999999967024,2.04444896762e-05,-0.000254306990575,2.9351789895e-05,1793252958784226304
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770.594675329,749,726,703,671,641,895,792,823,654,634.405324671,654,0.403953329225,0.00446921906557,0.0698447620171,0.999999968982,1.5478782911e-05,-0.000246803656203,2.97535226867e-05,1793252958800892928
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770.826114207,749,726,703,671,641,895,792.173885793,823,654,634,654,0.40362846547,0.00446828278475,0.0698438606766,0.999999968392,8.70517247622e-06,-0.000249493143678,2.98800282346e-05,1793252958817559296
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770.234877317,749,726,703,671,641,895,792.765122683,823,654,634,654,0.403309055608,0.00446588836546,0.0698283238404,0.9999999613,-2.40766799702e-06,-0.000276646881377,2.93459484507e-05,1793252958834225920
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,793,823,654,634,654,0.403020142801,0.00446447672829,0.0698174048782,0.999999955652,-1.25102941971e-05,-0.000296184530567,2.85200012332e-05,1793252958850892288
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,793,823,654,634,654,0.402751330638,0.00446371284472,0.0698095295653,0.999999951113,-2.19470870636e-05,-0.000310702401892,2.75016835026e-05,1793252958867558912
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792.498619224,823,654,634,654,0.402520575617,0.00446429719651,0.0698027387879,0.999999947874,-2.2784383422e-05,-0.000320879121027,2.77507962965e-05,1793252958884225792
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,749.075151633,726,703,671,641,895.075151633,792.075151633,823,653.924848367,634.075151633,654,0.402299841997,0.00446529260298,0.0697963088064,0.999999944867,-2.2089056855e-05,-0.000330122641039,2.82364359811e-05,1793252958900892416
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,749.651092691,726,703,671,641,895.651092691,792.651092691,823,653.348907309,634.651092691,654,0.402109437354,0.00446773583721,0.0697912443075,0.999999942501,-1.9417268495e-05,-0.000337305498376,2.90842930539e-05,1793252958917559296
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,749.766505329,726,703,671,641.233494671,895.766505329,792.766505329,823,653.233494671,635,654,0.401932997603,0.0044749027695,0.0697892796208,0.999999941715,4.41733518675e-06,-0.000340113545318,2.95489855652e-05,1793252958934225920
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,749.174174186,726,703,671,641.825825814,895.174174186,792.174174186,823,653.825825814,635,654,0.401778019221,0.00448932911847,0.0697920787506,0.999999941206,6.07751219645e-05,-0.000336198347617,2.94248276104e-05,1793252958950892544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,642,895,792,823,654,634.593209425,654,0.40164516404,0.00450300809893,0.0697923133568,0.999999939251,9.3600820415e-05,-0.000334672545127,2.70289428789e-05,1793252958967559424
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,642,895,792,823,654,634.016979099,654,0.4015215238,0.00451637577896,0.0697914797665,0.999999937093,0.000116624738735,-0.000334141993389,2.36868198634e-05,1793252958984226048
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,642,895,792.558805403,823,654,634,654,0.40142307,0.00450711708593,0.0697905679065,0.999999940228,8.57752180609e-05,-0.000334316422714,2.04776303604e-05,1793252959000892672
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,642,895,792.862160756,823,653.862160756,634.137839244,654,0.401329275553,0.0044997439156,0.069789269515,0.999999941527,6.1120956518e-05,-0.000335973368662,1.82063134132e-05,1793252959017559296
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,642,895,792.272430039,823,653.272430039,634.727569961,654,0.401248249432,0.00450080431568,0.0697867117111,0.999999939263,6.21394156554e-05,-0.000342420421311,1.89964824465e-05,1793252959034225664
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641.68844742,894.68844742,792.31155258,823,653,634.68844742,654,0.401181565027,0.004502273771,0.0697864600733,0.999999939131,6.38761682589e-05,-0.000342445291275,1.97369832349e-05,1793252959050892288
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641.109399976,894.109399976,792.890600024,823,653,634.109399976,654,0.401127194219,0.00450409443578,0.0697881884784,0.999999940828,6.62296381069e-05,-0.000336956162086,2.0434839623e-05,1793252959067559168
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641.467863703,894.467863703,792.532136297,823,653.467863703,634,654,0.401090149621,0.00450195225934,0.069792124555,0.999999943714,6.16304656414e-05,-0.000329147048737,2.08937187686e-05,1793252959084225792
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.955489711,671,641.955489711,895,792,823,654,634,654,0.401057768755,0.00449933116867,0.069796459991,0.999999946659,5.61135707892e-05,-0.000321060347374,2.12852386731e-05,1793252959100892672
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.381241781,671,641.381241781,895,792,823,654,634,654,0.401032859056,0.00450199661694,0.0697994279898,0.99999994807,5.89494818603e-05,-0.000316101708437,2.15376101693e-05,1793252959117559296
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.198670991,671,641,895,792,823,654,634,654,0.401010962213,0.00450246721458,0.0698018517567,0.999999949127,5.95990410338e-05,-0.000312593917291,2.19002316962e-05,1793252959134226176
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.789773394,671,641,895,792,823,654,634,654,0.400995016611,0.00449860236115,0.0698032005119,0.999999949526,5.59299365323e-05,-0.000311951961287,2.2480628209e-05,1793252959150892544
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.627869245,671,641,895,792,823,654,634.372130755,654,0.400983295652,0.00449896515972,0.0698045438809,0.999999950128,5.67454641037e-05,-0.000309876050825,2.23588292909e-05,1793252959167559168
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.050338779,671,641,895,792,823,654,634.949661221,654,0.400973906508,0.00450166143527,0.0698058842768,0.999999950832,6.0036310268e-05,-0.00030700866097,2.18494495457e-05,1793252959184225792
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.524967212,671.524967212,641.524967212,895,792,823,654,635,654,0.400972161882,0.00450060305128,0.0698080644254,0.999999952264,5.67243165534e-05,-0.000302942580856,2.1892608942e-05,1793252959200892672
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770.099796184,749,725.900203816,703,671.900203816,641.900203816,895,792,823,654,635,654,0.400971002995,0.00449921411906,0.0698101701105,0.999999953581,5.3199973236e-05,-0.0002992092992,2.19622362924e-05,1793252959217559296
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770.673368736,749,725.326631264,703,671.326631264,641.326631264,895,792,823,654,635,654,0.400969159549,0.00449795794752,0.0698115416168,0.999999954143,5.16606357012e-05,-0.000297599335634,2.1907048107e-05,1793252959234225920
+393,6.550000000,POSE2_TO_POSE3_RETREAT,771,749,725.256029284,703,671.256029284,641,895,792,823,654,635,654,0.40096717742,0.00449816512201,0.0698123975637,0.999999954356,5.14319598498e-05,-0.000296937664135,2.17151105107e-05,1793252959250892544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,771,749,725.850710685,703,671.850710685,641,895,792,823,654,635,654,0.400965011853,0.00450030787656,0.0698125715758,0.999999954109,5.29369071614e-05,-0.000297530306413,2.1342293296e-05,1793252959267558912
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diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fd80ceb82ca7033fd15da1367ffe3853c055062
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..203303ec580fe9b8748f1d776331ecd757b6b3ba
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a362575afcdf279a2f299f0e2e45b6dc67b54cb16655debd122cdf4d3d271e2
+size 26245761
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..babb6f11d17afe06635ad4b5e7badf299b08037c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
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+6,0.100000000,BASELINE,770.52051614,749,726,703,671,641.47948386,895,793,823,654,634,654,0.40096694912,0.00450204768968,0.0698203033112,0.999999957966,5.56402920287e-05,-0.000283822784452,2.03924873148e-05,1793252959802641408
+7,0.116666667,BASELINE,770.05675646,749,726,703,671,641.94324354,895,793,823,654,634.05675646,654,0.400967522276,0.00450087943794,0.0698204656022,0.999999957937,5.54178434056e-05,-0.000283947420376,2.0704933403e-05,1793252959819308288
+8,0.133333333,BASELINE,770.631527173,749,726,703,671,641.368472827,895,793,823,654,634.631527173,654,0.400966934397,0.00450178992654,0.0698208673156,0.999999957865,5.73208744804e-05,-0.000283800040916,2.10362289934e-05,1793252959835974912
+9,0.150000000,BASELINE,770.787469628,749,726,703,671,641,895,792.787469628,823,654,634.787469628,654,0.400965997453,0.00450186019447,0.06982079744,0.999999957728,5.77114259957e-05,-0.00028419523319,2.11389478092e-05,1793252959852641280
+10,0.166666667,BASELINE,770.19533452,749,726,703,671,641,895,792.19533452,823,654,634.19533452,654,0.400964437037,0.00450042972741,0.06981988525,0.999999957476,5.54005074054e-05,-0.000285559523672,2.0833401054e-05,1793252959869308160
+11,0.183333333,BASELINE,770,749,726,703,671,641.386512656,895,792.386512656,823,654,634,654,0.400964467237,0.00450066417968,0.0698197883994,0.99999995753,5.4770450618e-05,-0.000285500905836,2.07265527844e-05,1793252959885975040
+12,0.200000000,BASELINE,770,749,726,703,671,641.963295404,895,792.963295404,823,654,634,654,0.400965280455,0.00450171822815,0.069820092919,0.999999957736,5.49678380207e-05,-0.000284741827493,2.0717518566e-05,1793252959902642176
+13,0.216666667,BASELINE,770.539083394,749,726,703,671,641.460916606,895,792.460916606,823,654,634,654,0.400965832334,0.00450132449686,0.0698203517726,0.999999957838,5.4855329827e-05,-0.00028440354263,2.07231202067e-05,1793252959919308800
+14,0.233333333,BASELINE,771,749,726,703,671,641,895,792,823,654,634.116524401,654.116524401,0.40096626025,0.00450097069129,0.0698206107638,0.999999957918,5.50139334113e-05,-0.000284091169489,2.07418651466e-05,1793252959935975424
+15,0.250000000,BASELINE,771,749,726,703,671,641,895,792,823,654,634.700873579,654.700873579,0.400966261786,0.00450117221261,0.0698208827674,0.999999957934,5.63455588219e-05,-0.000283768012068,2.08093846503e-05,1793252959952642304
+16,0.266666667,BASELINE,770.715277813,749.284722187,726,703,671,641.284722187,895,792.284722187,823,654,635,655,0.400966059517,0.00450123233546,0.0698211039179,0.999999957978,5.6243789732e-05,-0.000283629534042,2.0837938371e-05,1793252959969308928
+17,0.283333333,BASELINE,770.131954209,749.868045791,726,703,671,641.868045791,895,792.868045791,823,654,635,655,0.40096564351,0.00450114416712,0.0698212717363,0.999999958052,5.46387530011e-05,-0.000283684737913,2.08256268564e-05,1793252959985975552
+18,0.300000000,BASELINE,770,749.553590773,726,703,671.446409227,642,895,792.553590773,823,654,635,654.553590773,0.400965589887,0.0045002070613,0.0698208150149,0.99999995815,5.28318325521e-05,-0.000283678735176,2.08583629643e-05,1793252960002641920
+19,0.316666667,BASELINE,770,749.023176822,726,703,671.976823178,641.976823178,895,792,823,654,635,654,0.400965618557,0.00449910702713,0.0698201987046,0.999999958231,5.11765793798e-05,-0.000283693861642,2.0902993861e-05,1793252960019308288
+20,0.333333333,BASELINE,770,749.596484464,726,703,671.403515536,641.403515536,895,792,823,654,635,654,0.400965085931,0.00450003054831,0.0698201281002,0.999999957786,5.45222293161e-05,-0.000284635235019,2.09173724302e-05,1793252960035974912
+21,0.350000000,BASELINE,770,749.825244853,726,703,671,641.174755147,895,792,823,654,635,654,0.400964653133,0.00450097416646,0.0698200644381,0.999999957475,5.68066387404e-05,-0.000285287951033,2.08448308828e-05,1793252960052641536
+22,0.366666667,BASELINE,770,749.235179449,726,703,671,641.764820551,895,792,823,654,635,654,0.40096445758,0.00450196554544,0.0698200172745,0.999999957503,5.65689813788e-05,-0.000285254665014,2.05657213647e-05,1793252960069308160
+23,0.383333333,BASELINE,770,749,726,703,671,642,895,792.348455227,823,654,634.651544773,654,0.400964891926,0.00450226379372,0.0698199716179,0.999999957667,5.62801055811e-05,-0.000284752694449,2.0374788826e-05,1793252960085975040
+24,0.400000000,BASELINE,770,749,726,703,671,642,895,792.92782838,823,654,634.07217162,654,0.400965743699,0.00450210271105,0.06981992696,0.999999957919,5.59572877947e-05,-0.000283940131144,2.02422902952e-05,1793252960102641920
+25,0.416666667,BASELINE,770,749,726,702.496838525,671,641.496838525,895,792.496838525,823,654,634,654,0.400964849083,0.00450129810276,0.0698198099333,0.999999957712,5.48082054613e-05,-0.000284866570684,2.05625160218e-05,1793252960119308288
+26,0.433333333,BASELINE,770.078240975,749,726,702.078240975,671,641,895,792.078240975,823,654,634.078240975,654,0.400963997981,0.00450050242152,0.0698197543835,0.999999957503,5.3652340959e-05,-0.00028579909088,2.08457738091e-05,1793252960135975168
+27,0.450000000,BASELINE,770.65536931,749,726,702.65536931,671,641,895,792.65536931,823,654,634.65536931,654,0.400965008841,0.00450034753644,0.069820156489,0.999999957708,5.32029062036e-05,-0.000285192574613,2.04825535905e-05,1793252960152641792
+28,0.466666667,BASELINE,770.762446088,749.237553912,726,703,671.237553912,641,895,792.762446088,823,654,634.762446088,654,0.400965230795,0.00450036328543,0.0698203923767,0.999999957762,5.32443929701e-05,-0.000285009004836,2.02591017033e-05,1793252960169308416
+29,0.483333333,BASELINE,770.17276663,749.82723337,726,703,671.82723337,641,895,792.17276663,823,654,634.17276663,654,0.400964283356,0.00450063196488,0.06982038188,0.999999957595,5.40135714571e-05,-0.00028545236757,2.02428280711e-05,1793252960185975040
+30,0.500000000,BASELINE,770.409003611,749.590996389,726,703,671.590996389,641,894.590996389,792,823,653.590996389,634.409003611,654,0.40096460338,0.00450030159748,0.0698205687802,0.999999957777,5.24905666871e-05,-0.000285091619061,2.03583124063e-05,1793252960202641920
+31,0.516666667,BASELINE,770.987496297,749.012503703,726,703,671.012503703,641,894.012503703,792,823,653.012503703,634.987496297,654,0.400965448634,0.00449972298802,0.0698208374807,0.999999958097,5.00176924878e-05,-0.000284397650815,2.05283965923e-05,1793252960219308544
+32,0.533333333,BASELINE,770.437583185,749,726,703,671,641,894.562416815,792,823,653.562416815,635,654,0.400965135933,0.00450049265282,0.0698211816783,0.99999995798,5.34324855258e-05,-0.000284174680933,2.07360092508e-05,1793252960235975168
+33,0.550000000,BASELINE,770,749,726,703,671,641.137180758,895,792,823,653.862819242,634.862819242,654,0.400965152469,0.00450124784572,0.0698215495426,0.999999957952,5.59463784318e-05,-0.000283779975761,2.08460802429e-05,1793252960252641792
+34,0.566666667,BASELINE,770,749,726,703,671,641.711697008,895,792,823,653.288302992,634.288302992,654,0.400966300177,0.00450186194395,0.0698219875396,0.999999958276,5.51735166377e-05,-0.000282804602497,2.06425429654e-05,1793252960269308416
+35,0.583333333,BASELINE,770.295186576,749,726,703,671.295186576,641.704813424,894.704813424,792,823,653,634,654,0.400966807615,0.00450222319726,0.0698219061134,0.999999958439,5.45018771599e-05,-0.000282370860449,2.04536146078e-05,1793252960285974784
+36,0.600000000,BASELINE,770.887715051,749,726,703,671.887715051,641.112284949,894.112284949,792,823,653,634,654,0.400966670107,0.00450232975956,0.0698213014714,0.999999958442,5.39321989863e-05,-0.000282482704253,2.02794018133e-05,1793252960302641408
+37,0.616666667,BASELINE,770.532166695,749,726,703,671.532166695,641,894.467833305,792,823,653,634,654,0.400966492909,0.00450219227855,0.069821796716,0.999999958457,5.41843816907e-05,-0.000282381946906,2.02827921907e-05,1793252960319308032
+38,0.633333333,BASELINE,770.044884046,749,726,703,671.044884046,641.044884046,895,792,823,653.044884046,634,654,0.400966259734,0.00450206855066,0.069822460368,0.99999995847,5.4646371732e-05,-0.000282242855292,2.03041760883e-05,1793252960335974912
+39,0.650000000,BASELINE,770.619975488,749,726,703,671.619975488,641.619975488,895,792,823,653.619975488,634,654,0.400965474933,0.00450278131828,0.0698220755712,0.99999995844,5.53168513391e-05,-0.000282238118598,2.00475855068e-05,1793252960352641536
+40,0.666666667,BASELINE,770.80480452,749,726,703,671.80480452,641.80480452,895,792,823,654,634,654,0.400964706026,0.00450276730803,0.0698215008402,0.999999958297,5.53017425951e-05,-0.000282747144253,2.00323222649e-05,1793252960369308416
+41,0.683333333,BASELINE,770.229334124,749,726,703,671.229334124,641.229334124,895,792,823,654,634,654,0.400963968081,0.0045013374074,0.0698205560841,0.999999957934,5.39509878626e-05,-0.000284257068771,2.04872068799e-05,1793252960385975040
+42,0.700000000,BASELINE,770,749,726,703,671.356934362,641.356934362,895,792,823,654,634.356934362,654,0.400963613244,0.00450137297222,0.0698201549861,0.999999957725,5.42540877184e-05,-0.000284925778387,2.05675532688e-05,1793252960402641664
+43,0.716666667,BASELINE,770,749,726,703,671.950357147,641.950357147,895,792,823,654,634.950357147,654,0.400963512237,0.00450237948764,0.0698201140912,0.99999995762,5.56529562155e-05,-0.000285037137332,2.03997477006e-05,1793252960419308288
+44,0.733333333,BASELINE,770.524499565,749,726,703,671.475500435,641.475500435,894.475500435,792.524499565,823,654,634.475500435,654,0.400964607666,0.00450026505189,0.0698205556164,0.999999957962,5.40612838692e-05,-0.000284129482523,2.05916872224e-05,1793252960435974912
+45,0.750000000,BASELINE,770.90229698,749,726,703,671,641,894.09770302,793,823,653.90229698,634,654,0.400965676564,0.00449850675215,0.0698210681592,0.999999958302,5.29425936477e-05,-0.000283128429858,2.07543800194e-05,1793252960452641536
+46,0.766666667,BASELINE,770.325063307,749,726,703,671,641,894.674936693,793,823,653.325063307,634,654,0.400966079171,0.00449989477614,0.0698217131023,0.999999958451,5.54852803217e-05,-0.000282125562162,2.0612339025e-05,1793252960469308160
+47,0.783333333,BASELINE,770,749,726,702.740520426,671,641.259479574,895,792.740520426,822.740520426,653,634,654,0.400966433798,0.00450106280306,0.06982210464,0.999999958495,5.65127060597e-05,-0.000281766312525,2.05929952834e-05,1793252960485974784
+48,0.800000000,BASELINE,770,749,726,702.14655544,671,641.85344456,895,792.14655544,822.14655544,653,634,654,0.400966726575,0.00450194724017,0.0698221695222,0.999999958411,5.55868659618e-05,-0.000282236726711,2.07318159606e-05,1793252960502641152
+49,0.816666667,BASELINE,770.43421649,749,726,702.43421649,671,642,895,792,822.43421649,653,634,654,0.400965926801,0.0045012333536,0.0698217598448,0.999999958245,5.3945904485e-05,-0.000283151260592,2.06087387696e-05,1793252960519308288
+50,0.833333333,BASELINE,770.989348732,749,726,703,671,641.989348732,894.989348732,792,823,653.010651268,634,654.010651268,0.400964787359,0.00450002073019,0.06982120144,0.99999995805,5.21014430705e-05,-0.000284198106981,2.04050669549e-05,1793252960535975168
+51,0.850000000,BASELINE,770.413738303,749,726,703,671,641.413738303,894.413738303,792,823,653.586261697,634,654.586261697,0.400964613965,0.00450012443848,0.0698209995501,0.999999957961,5.18879150446e-05,-0.000284546649885,2.04768811114e-05,1793252960552641792
+52,0.866666667,BASELINE,770,749,726,703,671,641.165891933,894.165891933,792,822.834108067,654,634,654.834108067,0.400965079674,0.00450055537452,0.0698211643568,0.999999958108,5.24233475637e-05,-0.000283923408826,2.05635382924e-05,1793252960569308160
+53,0.883333333,BASELINE,770,749,726,703,671,641.755796592,894.755796592,792,822.244203408,654,634,654.244203408,0.400967178902,0.00450182269077,0.0698222664245,0.999999958852,5.48730913981e-05,-0.000280816329264,2.06881336083e-05,1793252960585974784
+54,0.900000000,BASELINE,770.338661039,749,726,702.661338961,671,641.661338961,895,792,822.338661039,653.661338961,634,654,0.400967860581,0.00450215265468,0.0698229162818,0.999999959129,5.63053096145e-05,-0.000279552419367,2.05490249955e-05,1793252960602641408
+55,0.916666667,BASELINE,770.916552256,749,726,702.083447744,671,641.083447744,895,792,822.916552256,653.083447744,634,654,0.400967540903,0.00450182047278,0.0698232466974,0.999999959085,5.70187475754e-05,-0.000279590524758,2.0223635908e-05,1793252960619308032
+56,0.933333333,BASELINE,770.506287225,749,726,702.493712775,671,641.493712775,895,792,823,653.493712775,634,654,0.400966707636,0.00450158053824,0.0698222791068,0.999999958779,5.59804250018e-05,-0.000280891205937,2.02184696098e-05,1793252960635974912
+57,0.950000000,BASELINE,770,749,726,703,671,641.92986187,895,792,823,653.92986187,634.07013813,654,0.400965895161,0.00450146455872,0.0698212811998,0.999999958436,5.51189127868e-05,-0.000282274712033,2.02826319267e-05,1793252960652641792
+58,0.966666667,BASELINE,770,749,726,703,671,641.35781517,895,792,823,653.35781517,634.64218483,654,0.400965851759,0.0045021241922,0.0698216339857,0.999999958163,5.76383030512e-05,-0.000282726067121,2.0456168541e-05,1793252960669308416
+59,0.983333333,BASELINE,770,749,726.222335502,703,671.222335502,641,895,792,823,653.222335502,634.777664498,654,0.400965919542,0.00450270886511,0.0698218158359,0.999999958101,5.83855448498e-05,-0.000282790704828,2.04407217746e-05,1793252960685975040
+60,1.000000000,BASELINE,770,749,726.816021734,703,671.816021734,641,895,792,823,653.816021734,634.183978266,654,0.400966173027,0.00450316833696,0.0698217121847,0.999999958399,5.61728970493e-05,-0.000282209436842,2.01096299138e-05,1793252960702641920
+61,1.016666667,BASELINE,770,749,726.60130839,703,671.60130839,641.39869161,895,792.39869161,823,654,634,654,0.400965895955,0.00450358337327,0.0698215329713,0.999999958271,5.808573024e-05,-0.000282276114727,2.01160958838e-05,1793252960719308288
+62,1.033333333,BASELINE,770,749,726.023585414,703,671.023585414,641.976414586,895,792.976414586,823,654,634,654,0.400965380636,0.00450397845589,0.069821319827,0.999999957941,6.18510994028e-05,-0.000282633750946,2.02741412846e-05,1793252960735974912
+63,1.050000000,BASELINE,770.552584496,749,726,703,671,641.447415504,895,792.447415504,823,654,634,654.552584496,0.400965224289,0.0045025779009,0.0698209725808,0.999999958183,5.66903004379e-05,-0.000282868602858,2.01434136451e-05,1793252960752641792
+64,1.066666667,BASELINE,770.871871601,749,726,703,671,641,895,792,823,654,634,654.871871601,0.40096522528,0.00450122678657,0.0698210104036,0.999999958477,5.22095045748e-05,-0.000282695889449,2.00732736015e-05,1793252960769308416
+65,1.083333333,BASELINE,770.298274369,749,726,703,671,641,895,792,823,654,634,654.298274369,0.400965720178,0.00450031327976,0.0698224068539,0.999999958958,5.14137799982e-05,-0.000281124347756,2.02565128683e-05,1793252960785974784
+66,1.100000000,BASELINE,770.284586019,749,726,703,671.284586019,641.284586019,895,792,823,654,634.284586019,654,0.400965968098,0.0045007292549,0.0698226821993,0.999999958964,5.19646390151e-05,-0.000281011429179,2.01222552801e-05,1793252960802641408
+67,1.116666667,BASELINE,770.877481722,749,726,703,671.877481722,641.877481722,895,792,823,654,634.877481722,654,0.400965948452,0.00450258554035,0.0698217429822,0.999999958453,5.3974335607e-05,-0.000282478727589,1.96440336455e-05,1793252960819308288
+68,1.133333333,BASELINE,770.54290688,749,726,703,671.54290688,641.54290688,895,792,823,653.54290688,635,654,0.400965746279,0.00450205081118,0.069821142988,0.99999995829,5.39390463079e-05,-0.000283047942742,1.98386378636e-05,1793252960835975168
+69,1.150000000,BASELINE,770.033230337,749,726,703,671,641,895,792,823,653.033230337,634.966769663,654,0.400965512856,0.00450106622693,0.069820683378,0.999999958215,5.35305025951e-05,-0.000283367081994,2.01748230919e-05,1793252960852641792
+70,1.166666667,BASELINE,770.609137483,749,726,703,671,641,895,792,823,653.609137483,634.390862517,654,0.400965545502,0.004502905687,0.0698210734167,0.999999958084,5.57250674196e-05,-0.000283422414794,1.99611737305e-05,1793252960869308160
+71,1.183333333,BASELINE,770.81109612,749,726,702.81109612,671,641,895,792,823,654,634,654,0.40096545639,0.00450388179484,0.0698214005865,0.999999958068,5.71061366477e-05,-0.000283206064644,1.99172535135e-05,1793252960885974784
+72,1.200000000,BASELINE,770.223177868,749,726,702.223177868,671,641,895,792,823,654,634,654,0.400965110094,0.00450303427746,0.0698215949606,0.999999958305,5.67688909534e-05,-0.000282415849101,2.02318455738e-05,1793252960902641408
+73,1.216666667,BASELINE,770,749,726,702.360132558,671.360132558,641.360132558,895,792,823,653.639867442,634.360132558,654,0.400965913773,0.00450266592243,0.0698221132972,0.999999958589,5.69026373537e-05,-0.000281370417548,2.03681096828e-05,1793252960919308032
+74,1.233333333,BASELINE,770,749,726,702.940623506,671.940623506,641.940623506,895,792,823,653.059376494,634.940623506,654,0.4009674211,0.00450259075794,0.0698228298604,0.999999958902,5.73245750447e-05,-0.000280168824129,2.03952582283e-05,1793252960935974656
+75,1.250000000,BASELINE,770.515328378,749,726,703,672,641.484671622,895,792,823,653.515328378,634.484671622,654,0.400967165386,0.00450218511256,0.0698225425223,0.999999958872,5.62170891835e-05,-0.000280510996477,2.02508450069e-05,1793252960952641536
+76,1.266666667,BASELINE,771,749,726,703,671.909917927,641.090082073,895,792,823,654,634,654,0.400966630053,0.00450187072098,0.0698221220816,0.999999958753,5.51286294677e-05,-0.00028115859724,2.01045417329e-05,1793252960969308672
+77,1.283333333,BASELINE,771,749,726,703,671.331324259,641.668675741,895,792,823,654,634,654,0.400965667734,0.00450225539921,0.0698216001409,0.999999958376,5.50883780787e-05,-0.000282508632163,2.00539967338e-05,1793252960985975552
+78,1.300000000,BASELINE,770.748260434,749,726,703,671.251739566,642,895,792,823,654,634.251739566,654,0.400965694778,0.00450229851992,0.069821943231,0.999999958478,5.45148582072e-05,-0.000282259207869,2.00557959363e-05,1793252961002642176
+79,1.316666667,BASELINE,770.159206946,749,726,703,671.840793054,642,895,792,823,654,634.840793054,654,0.4009670475,0.00450188397672,0.0698234454035,0.999999959218,5.32267947903e-05,-0.000279866616748,2.01277328176e-05,1793252961019308288
+80,1.333333333,BASELINE,770.422193171,749,726,703,672,641.577806829,895,792,823,654,634.577806829,654.422193171,0.400966868051,0.00450072155017,0.0698226982724,0.99999995908,5.26198726139e-05,-0.00028047436243,2.01110498828e-05,1793252961035974912
+81,1.350000000,BASELINE,770.99924538,749,726,703,671.99924538,641.00075462,895,792.00075462,822.99924538,654,634.00075462,654.99924538,0.400966124646,0.00449928527176,0.0698211230819,0.999999958618,5.22673147904e-05,-0.000282187154274,2.00615459059e-05,1793252961052641536
+82,1.366666667,BASELINE,770.423770956,749,726,703,671.423770956,641.576229044,895,792.576229044,822.423770956,654,634.576229044,654.423770956,0.400968070172,0.00450024801577,0.0698233862613,0.999999959403,5.35009301376e-05,-0.000279161706319,2.00136022104e-05,1793252961069308160
+83,1.383333333,BASELINE,770,749,726,703,671,641.845214927,894.845214927,792.845214927,822.154785073,654,634.845214927,654,0.400968824622,0.00450092298205,0.0698246123964,0.999999959757,5.43341200669e-05,-0.000277725076924,2.00454993665e-05,1793252961085974784
+84,1.400000000,BASELINE,770,749,726,703,671,641.258050561,894.258050561,792.258050561,822.741949439,654,634.258050561,654,0.400966251901,0.00450079406529,0.0698229416347,0.99999995893,5.40487550072e-05,-0.000280726680028,2.03004253248e-05,1793252961102641664
+85,1.416666667,BASELINE,770,749,726,703,671,641,894.324717644,792,822.675282356,654,634,654,0.400965526294,0.00450125486066,0.0698225945769,0.999999958685,5.43844311947e-05,-0.000281527380513,2.03473606203e-05,1793252961119308288
+86,1.433333333,BASELINE,770,749,726,703,671,641,894.904038885,792,822.095961115,654,634,654,0.400966248968,0.00450217803568,0.0698232854049,0.999999958903,5.52070514815e-05,-0.000280602403967,2.0231215231e-05,1793252961135974912
+87,1.450000000,BASELINE,770,749,726,702.517145967,671,641,895,792,822.482854033,653.517145967,634,654,0.400966189927,0.0045014622552,0.0698227905921,0.999999958817,5.49891624298e-05,-0.000280951072572,2.02368528369e-05,1793252961152641792
+88,1.466666667,BASELINE,770,749,726,702.061002392,671,641,894.938997608,792,823,653.061002392,634,654,0.400966129741,0.00450053004952,0.0698221995802,0.999999958721,5.46392341077e-05,-0.000281357994164,2.02478040561e-05,1793252961169308160
+89,1.483333333,BASELINE,770,749,726,702.634394017,671,641,894.365605983,792,823,653.634394017,634,654,0.40096736348,0.00450051301391,0.0698227776542,0.999999959054,5.49153389594e-05,-0.000280130350634,2.01003083013e-05,1793252961185975040
+90,1.500000000,BASELINE,770,749,726,703,671.213633989,641.213633989,894.213633989,792,823,653.786366011,634,654,0.400968314782,0.00450109025255,0.0698233533416,0.99999995934,5.54360649527e-05,-0.000279013209122,1.99742254806e-05,1793252961202641664
+91,1.516666667,BASELINE,770,749,726,703,671.803164264,641.803164264,894.803164264,792,823,653.196835736,634,654,0.400968769127,0.00450271313698,0.0698239248295,0.999999959545,5.63872101557e-05,-0.000278090499809,1.9885819463e-05,1793252961219308288
+92,1.533333333,BASELINE,770.385841074,749,726,703,671.614158926,641.614158926,894.614158926,792.385841074,823,653,634,654,0.40096868778,0.00450231163212,0.0698242433892,0.999999959674,5.50906540218e-05,-0.000277870437293,2.01353940833e-05,1793252961235974912
+93,1.550000000,BASELINE,770.96508268,749,726,703,671.03491732,641.03491732,894.03491732,792.96508268,823,653,634,654,0.400968337922,0.00450089541438,0.0698244351702,0.999999959759,5.26674511178e-05,-0.000278002572197,2.05543794695e-05,1793252961252641536
+94,1.566666667,BASELINE,770.458724648,749,726,703,671.541275352,641,894,792.458724648,823,653.541275352,634,654,0.400968465695,0.00450209932026,0.069824113417,0.999999959648,5.49965651105e-05,-0.000277967819003,2.03175951141e-05,1793252961269308416
+95,1.583333333,BASELINE,770,749,725.883751075,702.883751075,671.883751075,641,894.116248925,792,823,654,634.116248925,654,0.40096857379,0.00450291428345,0.0698239833103,0.999999959539,5.67794572139e-05,-0.000278016540537,2.01413528963e-05,1793252961285975040
+96,1.600000000,BASELINE,770,749,725.312780932,702.312780932,671.312780932,641,894.687219068,792,823,654,634.687219068,654,0.400968485062,0.00450155040464,0.0698247317092,0.999999959505,5.5233276648e-05,-0.00027843365915,2.03664755562e-05,1793252961302641664
+97,1.616666667,BASELINE,770,749,725.269086846,702.269086846,671.269086846,641,895,791.730913154,823,653.730913154,634.730913154,654,0.400967964486,0.00450125695542,0.0698244225444,0.999999959359,5.51274027889e-05,-0.000278979755385,2.03223238286e-05,1793252961319308288
+98,1.633333333,BASELINE,770,749,725.864156427,702.864156427,671.864156427,641,895,791.135843573,823,653.135843573,634.135843573,654,0.400966920753,0.00450226026817,0.0698228322043,0.999999959079,5.67663750772e-05,-0.000279682100326,1.99519621556e-05,1793252961335974912
+99,1.650000000,BASELINE,770,749,726,702.552746077,671.552746077,641,894.552746077,791.447253923,823,653,634,654,0.40096670419,0.00450169433945,0.0698229306268,0.999999959096,5.61362011256e-05,-0.000279741799609,2.00235814695e-05,1793252961352641792
+100,1.666666667,BASELINE,770,749,726,702.026486763,671,641,894,792,823,653.026486763,634,654,0.400966712836,0.00450077762523,0.0698234784044,0.999999959185,5.49531100897e-05,-0.00027964617157,2.02169626656e-05,1793252961369308672
+101,1.683333333,BASELINE,770,749,726,702.599056394,671,641,894,792,823,653.599056394,634,654,0.400966319936,0.0045021991397,0.0698229912495,0.999999958941,5.62094189271e-05,-0.000280267477439,2.0225192341e-05,1793252961385975296
+102,1.700000000,BASELINE,770,749,726,703,671,641,894.172342569,792,823,653.827657431,634,654,0.400965706347,0.00450306794639,0.069822497108,0.999999958692,5.7213456353e-05,-0.000280953691359,2.01768017643e-05,1793252961402642176
+103,1.716666667,BASELINE,770,749,726,703,671,641,894.747302615,792,823,653.252697385,634,654,0.400964577192,0.00450264554655,0.069821986645,0.999999958436,5.76281506433e-05,-0.000281791539904,1.99961379861e-05,1793252961419308800
+104,1.733333333,BASELINE,770,749,726,703,671,641,895,792,823,653.332729488,634,654,0.400964965384,0.00450207019318,0.0698221672137,0.999999958566,5.7171407562e-05,-0.000281422692475,2.00282067058e-05,1793252961435975424
+105,1.750000000,BASELINE,770,749,726,703,671,641,895,792,823,653.926363829,634,654,0.400966543378,0.00450137490353,0.0698228896444,0.999999958996,5.60313399437e-05,-0.000280107632537,2.02270864127e-05,1793252961452641792
+106,1.766666667,BASELINE,770,749,726,702.493807453,671,641,894.493807453,792,822.493807453,654,634,654,0.400967243843,0.00450233232736,0.0698234172268,0.999999959185,5.60806498783e-05,-0.000279435916454,2.00131137752e-05,1793252961469308672
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894,792,823,653,634,654,0.400968174401,0.00450259034372,0.0698231876122,0.999999959135,5.70392808424e-05,-0.000279435130211,1.98266434333e-05,1793252961512534784
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,749,726,702.412435175,671,641,894.587564825,792,823,653.587564825,634,654,0.40096913379,0.00450178156832,0.0698238730187,0.999999959757,5.63323451081e-05,-0.000277335782318,1.99490527007e-05,1793252961529201664
+109,1.816666667,POSE1_TO_POSE2_PRESS,770.173271261,749,726,702,671,641,895,792,822.826728739,653.826728739,634,654,0.400969522774,0.00450167731953,0.0698240614036,0.999999960047,5.59721402963e-05,-0.000276354929573,2.00145290032e-05,1793252961545868544
+110,1.833333333,POSE1_TO_POSE2_PRESS,770.754601256,749,726,702,671,641,895,792,822.245398744,653.245398744,634,654,0.400968568437,0.00450323225074,0.069823079289,0.999999959565,5.64284964961e-05,-0.000278008164195,1.9945926584e-05,1793252961562534912
+111,1.850000000,POSE1_TO_POSE2_PRESS,770.670137664,749,726,702,671,641,895,792.329862336,822.329862336,653.329862336,634,654,0.400968056421,0.00450347703237,0.0698229369797,0.999999959308,5.67997239817e-05,-0.000278851627058,1.99774882873e-05,1793252961579201280
+112,1.866666667,POSE1_TO_POSE2_PRESS,770.099309979,749,726,702,671,641,895,792.900690021,822.900690021,653.900690021,634,654,0.40096786752,0.00450276474602,0.0698234081505,0.999999959218,5.71087646786e-05,-0.000279103549309,2.00822201637e-05,1793252961595867904
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,749,726,702.479395928,671,641,895,792.520604072,823,654,634.479395928,654,0.400966879555,0.00450235651059,0.0698231062631,0.999999959032,5.5775246798e-05,-0.000280054795554,1.98750122277e-05,1793252961612534528
+114,1.900000000,POSE1_TO_POSE2_PRESS,770.060618698,749,726,703,671,641,895,792,823,654,635,654,0.400965932117,0.00450204183373,0.0698226785874,0.999999958844,5.4413005573e-05,-0.000281006863039,1.96514536958e-05,1793252961629201152
+115,1.916666667,POSE1_TO_POSE2_PRESS,770.649312159,749,726,703,671,641,895,792,823,654,635,654,0.400966803832,0.00450198431827,0.0698225735089,0.999999958854,5.58142747265e-05,-0.000280682980003,1.98577988149e-05,1793252961645867520
+116,1.933333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.234233158,895,792,823,654,634.765766842,654,0.400971594127,0.00450206348963,0.0698245331353,0.999999959687,5.6109742924e-05,-0.000277632063612,1.99648947234e-05,1793252961662534144
+117,1.950000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.813595597,895,792,823,654,634.186404403,654,0.400982158226,0.00450234406128,0.0698295349874,0.999999961699,5.47758759778e-05,-0.000270563018195,1.99257525279e-05,1793252961679201024
+118,1.966666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,895,792,823,653.610663513,634,654,0.401009614615,0.00450226252009,0.0698419702595,0.999999967102,5.46457030832e-05,-0.0002498351278,1.98211792435e-05,1793252961695867648
+119,1.983333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,895,792,823,653.036640497,634,654,0.401045084071,0.00450200920627,0.0698579316658,0.999999973507,5.50865170463e-05,-0.000222627996303,1.96855679057e-05,1793252961712534272
+120,2.000000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.450108639,895,792,823,653,634.549891361,654,0.401098744652,0.00450243862285,0.0698753907796,0.999999979157,5.45927819517e-05,-0.000195756626735,1.96376788289e-05,1793252961729201152
+121,2.016666667,POSE1_TO_POSE2_PRESS,770.863694163,749,726,702.863694163,671,641,895,792.136305837,823,653,635,654,0.401157147023,0.00450270478701,0.0698914278706,0.999999983486,5.39383309451e-05,-0.000172443422196,1.95538992576e-05,1793252961745867776
+122,2.033333333,POSE1_TO_POSE2_PRESS,770.280460932,749,726,702.280460932,671,641,895,792.719539068,823,653,635,654,0.4012270302,0.00450228303651,0.0699024675237,0.999999985495,5.29658461388e-05,-0.000160721862562,1.93328284308e-05,1793252961762534400
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,749,726,702.298004398,671,641,895,792.701995602,823,653,634.701995602,654,0.401304963093,0.00450180133129,0.0699097057593,0.999999987194,5.11055617007e-05,-0.000150554846963,1.82340265138e-05,1793252961779201024
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,749,726,702.872053141,671,641,895,792.127946859,823,653,634.127946859,654,0.401390352512,0.00450126408946,0.0699134227046,0.999999988637,4.84228999669e-05,-0.000141827821194,1.63221738421e-05,1793252961795867648
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,748.558199986,726,703,671,641,895,792,822.558199986,653,634,654,0.401483672594,0.00450246871641,0.0699107795235,0.999999988046,4.67834103887e-05,-0.000146715039141,1.3941789624e-05,1793252961812534272
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,748.010861943,726,702.989138057,671,641,895,792,822.010861943,653.010861943,634,654.010861943,0.401579879832,0.00450415657859,0.0699063947325,0.99999998684,4.54093103066e-05,-0.000155332845822,1.14233671846e-05,1793252961829201152
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,748.609632762,726,702.390367238,671,641,895,792,822.609632762,653.609632762,634,654.609632762,0.40170924218,0.0045049594004,0.0699064776397,0.999999987132,4.22055703066e-05,-0.000154526096996,8.70693545839e-06,1793252961845867776
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,749,726,702.200878483,671,641,895,792,823,654,634.200878483,654.799121517,0.401851759911,0.004506239633,0.0699079642272,0.999999987588,3.99389427351e-05,-0.0001523053048,5.63310142103e-06,1793252961862534400
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,749,726,702.778028642,671,641,895,792,823,654,634.778028642,654.221971358,0.402018919381,0.00450841411839,0.0699120800916,0.999999988352,3.94276496952e-05,-0.00014743582448,1.88980640466e-06,1793252961879201024
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.352482823,749,726,702.647517177,671,641.352482823,895,792,823,654,634.647517177,654,0.402205875598,0.00450967972806,0.0699172109264,0.999999989708,3.57955010296e-05,-0.000138917545741,-2.23024606066e-06,1793252961895867648
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.92525219,749,726,702.07474781,671,641.92525219,895,792,823,654,634.07474781,654,0.402405203943,0.00451037732987,0.0699229760744,0.999999991315,3.02129522999e-05,-0.000128118925051,-6.58575602826e-06,1793252961912534272
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.486024922,749,726,702.513975078,671.513975078,641.486024922,895,792,823,654,634,654,0.402621409692,0.00451096053871,0.0699232984225,0.999999991619,2.49750763187e-05,-0.000126524039084,-1.13874475973e-05,1793252961929201664
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671.897019491,641,895,792,823,654,634,654,0.402849475979,0.00451177769468,0.0699234918606,0.999999991878,1.95751281814e-05,-0.000124873253562,-1.63819525804e-05,1793252961945869056
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671.317780905,641,895,792,823,654,634,654,0.403120679211,0.00451375619845,0.0699268671061,0.999999992877,1.31863907658e-05,-0.000116575405249,-2.19584653314e-05,1793252961962534912
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,895,791.739854061,823,654,634.260145939,654,0.403418198143,0.00451614485942,0.0699348220642,0.999999994462,7.84002316813e-06,-0.000101269602919,-2.75413468796e-05,1793252961979201280
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,895,791.163521568,823,654,634.836478432,654,0.403747701684,0.00451903203348,0.069948343296,0.999999996445,3.7605729798e-06,-7.7446194228e-05,-3.31319688473e-05,1793252961995868160
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,895.411571852,791.823143705,823,654,634.588428148,654,0.404083942624,0.00452259063497,0.0699526005385,0.999999996602,3.56665529042e-06,-7.27640274846e-05,-3.8573833989e-05,1793252962012534784
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,895.986174441,792.972348883,823,654,634.013825559,654,0.404422852356,0.00452641520042,0.0699531881542,0.999999996159,4.91186439537e-06,-7.56640386638e-05,-4.39567738477e-05,1793252962029201408
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,749,726,702.442580945,671.557419055,641,895.442580945,792.442580945,823,653.442580945,634,654,0.404813284501,0.00452770090896,0.0699608185387,0.99999999646,3.81625238032e-05,-6.5035925139e-05,-3.73473241134e-05,1793252962045867776
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,748.865172299,726,702.134827701,671.865172299,641,895,791.865172299,823,653,634,654,0.405210778358,0.00453062500993,0.069966348364,0.99999999527,7.19100359865e-05,-5.73060039488e-05,-3.17160970846e-05,1793252962062534400
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,748.266261952,726,702.733738048,671.266261952,641,895,791.266261952,823,653,634,654,0.405628206589,0.00453940397685,0.0699640503169,0.999999992217,0.000104660197646,-6.06997974227e-05,-3.04696429575e-05,1793252962079201024
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,748.318416523,726,703,671,641.318416523,895,791,823,653,634.318416523,654,0.406070944514,0.00453620646941,0.0699581157572,0.999999990587,0.000114317052264,-6.95181356656e-05,-3.04129043249e-05,1793252962095867904
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,748.891703433,726,703,671,641.891703433,895,791,823,653,634.891703433,654,0.406533941141,0.00452342262413,0.0699492704206,0.999999990528,0.000105489316571,-8.2678446931e-05,-3.13084504782e-05,1793252962112534784
+144,2.400000000,POSE1_TO_POSE2_PRESS,770.476993307,749,726,703,671,641.523006693,895,791.476993307,823.476993307,653,635,654,0.407016104904,0.00450636396127,0.0699354800179,0.999999994383,3.46470163297e-06,-0.000101341029026,-3.08560869169e-05,1793252962129201408
+145,2.416666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895.063856834,791.936143166,824,653,635,654,0.407512403943,0.00449201374491,0.0699229477871,0.999999987453,-0.00010225265438,-0.000117111611949,-3.03871866388e-05,1793252962145868544
+146,2.433333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895.640901286,791.359098714,824,653,635,654,0.408086426488,0.00450743127802,0.0699297826393,0.999999992546,-6.32089919287e-05,-9.93418882323e-05,-3.2308293114e-05,1793252962162535424
+147,2.450000000,POSE1_TO_POSE2_PRESS,770.780992741,749,726,703,671,641,896,791,824.219007259,653,634.780992741,654,0.408682091722,0.0045196145286,0.0699391669738,0.999999996055,-2.80057720471e-05,-7.69948068477e-05,-3.43233250553e-05,1793252962179202048
+148,2.466666667,POSE1_TO_POSE2_PRESS,770.201137787,749,726,703,671,641,896,791,824.798862213,653,634.201137787,654,0.409313416538,0.00452646880694,0.0699527519668,0.999999998224,8.69733431202e-07,-4.71058352463e-05,-3.64931133808e-05,1793252962195868416
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.375524486,896,791.375524486,825,653,634.375524486,654,0.4099470037,0.00453182813954,0.0699527243702,0.999999998111,1.89382418523e-05,-4.40269787955e-05,-3.84731477543e-05,1793252962212535040
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.950491098,896,791.950491098,825,653,634.950491098,654,0.410581792379,0.00453639350197,0.0699454670882,0.999999997174,3.12671223831e-05,-5.51870519644e-05,-4.03524032073e-05,1793252962229202432
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.5389994,749,726,703,671,642,896,792,825.5389994,653,635,654,0.411239863725,0.00454758443634,0.0699433715601,0.999999995821,5.11256728528e-05,-6.38816627293e-05,-4.07820101732e-05,1793252962245868544
+152,2.533333333,POSE1_TO_POSE2_PRESS,770.873497273,749,726,703,671,642,896,792,825.873497273,653.126502727,634.873497273,654,0.411921813756,0.00455731306217,0.0699495295087,0.99999999521,6.7085485356e-05,-5.82303512245e-05,-4.1102076671e-05,1793252962262534400
+153,2.550000000,POSE1_TO_POSE2_PRESS,770.29415884,749,726,703,671,642,896,792,825.29415884,653.70584116,634.29415884,654,0.412681388305,0.00455957247909,0.0699834910907,0.999999996922,6.65495868643e-05,-2.0571751581e-06,-4.15189589694e-05,1793252962279201280
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671.283367876,642,896.283367876,792,825,653.716632124,634,654,0.41344783353,0.00456603785134,0.0700094493713,0.999999995903,7.06814525703e-05,3.76267613066e-05,-4.22245364252e-05,1793252962295867904
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671.8590259,642,896.8590259,792,825,653.1409741,634,654,0.414221365857,0.00457684161016,0.0700271523586,0.999999994077,7.96280542733e-05,6.03022759682e-05,-4.32278991835e-05,1793252962312534272
+156,2.600000000,POSE1_TO_POSE2_PRESS,770.441408564,749,726,703,671.558591436,642,897,791.558591436,825.441408564,653,634.441408564,654,0.414952982758,0.00458618889849,0.0699956575818,0.999999994497,9.5043778065e-05,4.23253156357e-06,-4.42059208559e-05,1793252962329200640
+157,2.616666667,POSE1_TO_POSE2_PRESS,770.97417148,749,726,703,671,642,897.02582852,791.02582852,826,653.02582852,635,654,0.41567505842,0.00459482064341,0.0699488301282,0.999999989887,0.000111398662874,-7.59628834218e-05,-4.52325722042e-05,1793252962345867520
+158,2.633333333,POSE1_TO_POSE2_PRESS,770.392839254,749,726,703,671,642,897.607160746,791.607160746,826,653.607160746,635,654,0.4164842942,0.00459822203047,0.0699153984525,0.999999985676,0.000102829414048,-0.00012577875552,-4.74818848175e-05,1793252962362534400
+159,2.650000000,POSE1_TO_POSE2_PRESS,770.186768318,749,726,703,671,642,898,792,826,653.813231682,635,654,0.417314752533,0.0046022056543,0.0699034767653,0.999999983419,0.000101061365135,-0.000143314263737,-4.90918284422e-05,1793252962379201280
+160,2.666666667,POSE1_TO_POSE2_PRESS,770.762781497,749,726,703,671,642,898,792,826,653.237218503,635,654,0.418189440855,0.0046074027207,0.0699363841632,0.999999987966,0.000113467734553,-9.35740883088e-05,-4.93692596919e-05,1793252962395867904
+161,2.683333333,POSE1_TO_POSE2_PRESS,771,749,726,702.661606714,671,641.661606714,898.338393286,791.661606714,826,653.338393286,635,654,0.419085652954,0.00461465685136,0.0699681437821,0.999999989456,0.000128604283405,-4.59311605441e-05,-4.93950693306e-05,1793252962412534528
+162,2.700000000,POSE1_TO_POSE2_PRESS,771,749,726,702.086275995,671,641.086275995,898.913724005,791.086275995,826,653.913724005,635,654,0.419996935613,0.00462335130446,0.0699990997436,0.99999998818,0.000145652458538,2.4330669215e-07,-4.9244697599e-05,1793252962429201152
+163,2.716666667,POSE1_TO_POSE2_PRESS,771,749,726,702.500859363,671,641.500859363,899.500859363,791.500859363,826.500859363,653.499140637,635,654,0.420930301635,0.00461946812751,0.0700232163834,0.999999989641,0.000129748029846,3.65059064435e-05,-5.05124741811e-05,1793252962445868032
+164,2.733333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,900,792,827,653,635,654,0.421857810773,0.00460982931577,0.0700371058087,0.999999991247,0.000107819006515,5.65847475819e-05,-5.17589057176e-05,1793252962462534656
+165,2.750000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,900,792,827,653,635,654,0.422731277426,0.00458059239328,0.0700010094709,0.99999999508,8.47191199358e-05,-3.32530403881e-06,-5.15007436334e-05,1793252962479201024
+166,2.766666667,POSE1_TO_POSE2_PRESS,771,749,726,702.753656064,671.246343936,641.753656064,900,791.753656064,827,653,635.246343936,654,0.423586519103,0.00456379875245,0.0699442956735,0.999999992328,6.48873219491e-05,-9.15378972732e-05,-5.24882239131e-05,1793252962495867648
+167,2.783333333,POSE1_TO_POSE2_PRESS,771,749,726,702.179388328,671.820611672,641.179388328,900,791.179388328,827,653,635.820611672,654,0.424417500499,0.00456356913699,0.0698601366827,0.999999973623,4.94058771353e-05,-0.000217425779306,-5.51338561399e-05,1793252962512534272
+168,2.800000000,POSE1_TO_POSE2_PRESS,771,749,726,702,671.605673254,641,900,791,827,653,635.605673254,654,0.425363653393,0.00456967522244,0.0698618934997,0.999999975537,5.32371187596e-05,-0.000207428120174,-5.53626119058e-05,1793252962529200896
+169,2.816666667,POSE1_TO_POSE2_PRESS,771,749,726,702,671.032209282,641,900,791,827,653,635.032209282,654,0.426362127067,0.00457865952984,0.0699026806934,0.99999998714,6.58418495491e-05,-0.000135699518339,-5.44934137449e-05,1793252962545867776
+170,2.833333333,POSE1_TO_POSE2_PRESS,770.439772624,749,725.439772624,702.560227376,671.560227376,641,900,791,827,653,635,653.439772624,0.427378871695,0.00458348013105,0.0699621987826,0.999999993029,8.70721148234e-05,-5.9624108818e-05,-5.29630828509e-05,1793252962562534656
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,749,725,702.850202842,672,641,900,791,827,653,635,653.149797158,0.428398354268,0.0045874479601,0.0700174598614,0.999999993524,9.99243571574e-05,1.58061162672e-05,-5.2129157124e-05,1793252962579201280
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,749,725,702.272059438,672,641,900,791,827,653,635,653.727940562,0.429422556884,0.0045896857976,0.0700573606333,0.99999999083,8.73518058289e-05,8.8651750967e-05,-5.33991103456e-05,1793252962595867904
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,748.695325573,725,702,672.304674427,641,900.304674427,791,827,653,635,654,0.430376674191,0.0045911653465,0.0700525829223,0.999999991522,8.47237263507e-05,8.26321289542e-05,-5.43101016235e-05,1793252962612534784
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,748.119844591,725,702,672.880155409,641,900.880155409,791,827,653,635,654,0.431268496875,0.0045919708987,0.070008093225,0.999999994337,9.0934683247e-05,6.51397629576e-06,-5.49020333597e-05,1793252962629201152
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,748.453801784,725,702,672.092396432,641,901,791,827,653,635,654,0.432129692102,0.00459030282588,0.0699362217914,0.999999987333,9.41255949191e-05,-0.000115956773065,-5.502243743e-05,1793252962645867776
+176,2.933333333,POSE1_TO_POSE2_PRESS,770.02798355,749,725,702,671.02798355,641,901,791,827,653,635,653.97201645,0.432991595251,0.00458774752075,0.0698635374412,0.999999965336,9.56242749124e-05,-0.000239053840716,-5.51024345378e-05,1793252962662534400
+177,2.950000000,POSE1_TO_POSE2_PRESS,770.622783183,749,725,702,671.622783183,641,901,791,827,653,635,653.377216817,0.434031010068,0.00458039975509,0.0699202688695,0.99999998709,7.89361462114e-05,-0.000127884499164,-5.68761472922e-05,1793252962679201024
+178,2.966666667,POSE1_TO_POSE2_PRESS,770.789614571,749,725,702,672.420770858,641,901,791,827,653,635,653.210385429,0.43505007694,0.00457618860076,0.0699735585512,0.99999999548,6.89209329347e-05,-3.10042896286e-05,-5.77011649789e-05,1793252962695867648
+179,2.983333333,POSE1_TO_POSE2_PRESS,770.214490127,749,725,702,673.571019747,641,901,791,827,653,635,653.785509873,0.436033867352,0.00457741529582,0.0700208813879,0.999999995054,7.04743547988e-05,4.11032892847e-05,-5.68814591037e-05,1793252962712534528
+180,3.000000000,POSE1_TO_POSE2_PRESS,770.360204795,749,725,702,673.639795205,641,901.360204795,791,827,653,635,654,0.43698537661,0.00457903978912,0.0700397147378,0.999999992649,7.39227587328e-05,7.72768578265e-05,-5.7144493552e-05,1793252962729201408
+181,3.016666667,POSE1_TO_POSE2_PRESS,770.93464422,749,725,702,673.06535578,641,901.93464422,791,827,653,635,654,0.437917686341,0.00458090087597,0.0700416037389,0.999999990995,7.84982181758e-05,9.20783873436e-05,-5.80514964677e-05,1793252962745867776
+182,3.033333333,POSE1_TO_POSE2_PRESS,771,749,725,702,672.472893505,641,902,791,827.527106495,653,635,654,0.438772478119,0.0045834916778,0.069984276277,0.99999999507,7.92282714809e-05,8.50787786145e-06,-5.92515601536e-05,1793252962762534400
+183,3.050000000,POSE1_TO_POSE2_PRESS,770.882017981,749,724.882017981,702,672.117982019,641,902,791,827.882017981,653,635.117982019,654,0.439606585285,0.00458622990881,0.0699204116234,0.99999999106,7.97159230249e-05,-8.89124917206e-05,-6.01680249939e-05,1793252962779201024
+184,3.066666667,POSE1_TO_POSE2_PRESS,770.306276113,749,724.306276113,702,672.693723887,641,902,791,827.306276113,653,635.693723887,654,0.440399049665,0.0045891766808,0.0698606789762,0.999999976661,8.11784765811e-05,-0.000191069962384,-5.98381790054e-05,1793252962795867904
+185,3.083333333,POSE1_TO_POSE2_PRESS,770.270109148,749,724,701.729890852,673,641,902.270109148,790.729890852,827,653,635.729890852,654,0.441265076141,0.00459041753533,0.0698615412327,0.999999976635,8.15705972952e-05,-0.000191149000024,-5.94800771989e-05,1793252962812534528
+186,3.100000000,POSE1_TO_POSE2_PRESS,770.847225653,749,724,701.152774347,673,641,902.847225653,790.152774347,827,653,635.152774347,654,0.442214713596,0.00458971943569,0.0699312759523,0.999999992166,8.07460587275e-05,-7.52051926123e-05,-5.90898596716e-05,1793252962829200896
+187,3.116666667,POSE1_TO_POSE2_PRESS,770.579017882,749,724.420982118,701.420982118,674.262946354,641,902.579017882,790.420982118,827.420982118,653,635.420982118,654,0.443100101745,0.0045899384136,0.0699894365213,0.999999994531,8.66082304321e-05,9.10250661268e-06,-5.79105403406e-05,1793252962845867520
+188,3.133333333,POSE1_TO_POSE2_PRESS,770.006471073,749,724.993528927,701.993528927,675.980586782,641,902.006471073,790.993528927,827.993528927,653,635.993528927,654,0.443962358522,0.00459048756362,0.0700434300957,0.999999990542,9.48777943767e-05,8.20203799279e-05,-5.64471233773e-05,1793252962862534400
+189,3.150000000,POSE1_TO_POSE2_PRESS,770.588071765,749,725,702,674.235784705,641,902.588071765,791,828,653,636,654,0.444774484635,0.00458829858973,0.0700335376219,0.999999992841,8.885662056e-05,5.68386650561e-05,-5.65012118222e-05,1793252962879201280
+190,3.166666667,POSE1_TO_POSE2_PRESS,770.82279981,749,724.82279981,702,673,641,903,791,828,653,635.82279981,654,0.445562131044,0.00458624495137,0.0700162028225,0.999999994891,7.85584735588e-05,2.78424897556e-05,-5.72019190588e-05,1793252962895868160
+191,3.183333333,POSE1_TO_POSE2_PRESS,770.246434318,749,724.246434318,702,673,641,903,791,828,653,635.246434318,654,0.446295924962,0.00458456668141,0.0699837483795,0.999999996474,5.89939128822e-05,-7.22009301436e-06,-5.93201380349e-05,1793252962912534784
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,749,724,702,673,641,903,791,828,653,635,654,0.446988325882,0.00458224458258,0.0699516576753,0.999999994907,5.70515570143e-05,-5.90185935562e-05,-5.87252382817e-05,1793252962929201152
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,749,724,702,673,641,903,791,828,653,635,654,0.447649809239,0.00457944159109,0.0699198386592,0.999999988492,6.82716910408e-05,-0.00012331758958,-5.61038384245e-05,1793252962945867776
+194,3.233333333,POSE1_TO_POSE2_PRESS,770.477840576,749,724,702,673.477840576,641,903,791,828,653,635,654,0.448323501049,0.00457627776377,0.0699058289449,0.999999985036,7.43704106122e-05,-0.00014629203705,-5.47382462533e-05,1793252962962534656
+195,3.250000000,POSE1_TO_POSE2_PRESS,771,749,724,702,673.943222384,641,903,791,828,653,635,654,0.449004345965,0.00457351712294,0.069901309211,0.999999983917,7.89603192009e-05,-0.00015175350225,-5.38711152106e-05,1793252962979201280
+196,3.266666667,POSE1_TO_POSE2_PRESS,771,749,724,702,673.351098714,641,903,791,828,653,635,654,0.449728619149,0.0045752679117,0.0699512333861,0.99999999263,7.93990422271e-05,-7.33840703314e-05,-5.52333919358e-05,1793252962995868160
+197,3.283333333,POSE1_TO_POSE2_PRESS,771,749,724,702,673.234401212,641,903,791,828,653,635,654.234401212,0.450401871153,0.0045764358637,0.0699844085479,0.999999994966,8.05264080059e-05,-2.19155920773e-05,-5.57031118535e-05,1793252963012534784
+198,3.300000000,POSE1_TO_POSE2_PRESS,771,749,724,702,673.810252345,641,903,791,828,653,635,654.810252345,0.451000801047,0.004576754803,0.0699931855838,0.999999995032,8.26569133687e-05,-9.63347342894e-06,-5.48726533954e-05,1793252963029201408
+199,3.316666667,POSE1_TO_POSE2_PRESS,770.614384594,749,724,702,673.614384594,640.614384594,903.385615406,791,828,653,635.385615406,654.614384594,0.451537711306,0.00457830619392,0.0699651033384,0.999999993416,8.63919082946e-05,-5.19672353964e-05,-5.48108348645e-05,1793252963045868032
+200,3.333333333,POSE1_TO_POSE2_PRESS,770.03926134,749,724,702,673.03926134,640.03926134,903.96073866,791,828,653,635.96073866,654.03926134,0.452044142526,0.00458046326412,0.0699189068718,0.99999998701,9.09154176316e-05,-0.00012114156778,-5.51267584653e-05,1793252963062534912
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,749,724,702,672.450719451,640,903.450719451,791.549280549,828.549280549,653,636,654,0.452518696211,0.00458214328983,0.0698791846151,0.999999978559,9.9439314219e-05,-0.000173047933382,-5.52121055082e-05,1793252963079202048
+202,3.366666667,POSE1_TO_POSE2_PRESS,770.136444862,749,724,702,672.136444862,640,903.136444862,791.863555138,828.863555138,653,635.863555138,654,0.452990220383,0.00458397303061,0.0698456858758,0.999999968953,0.000107330637209,-0.000217944661957,-5.54491834304e-05,1793252963095868672
+203,3.383333333,POSE1_TO_POSE2_PRESS,770.715943738,749,724,702,672.715943738,640,903.715943738,791.284056262,828.284056262,653,635.284056262,654,0.453459491422,0.00458640240925,0.0698308554118,0.999999962309,0.000112216185258,-0.000244188424348,-5.6233807737e-05,1793252963112534784
+204,3.400000000,POSE1_TO_POSE2_PRESS,770.707314465,749,724,701.707314465,672.414628931,639.707314465,903.707314465,791,828,653,635,654,0.45391446218,0.00458849716921,0.0698296972756,0.99999996097,0.000119065153284,-0.000246420863062,-5.62072874872e-05,1793252963129201408
+205,3.416666667,POSE1_TO_POSE2_PRESS,770.133223526,749,724,701.133223526,671.266447052,639.133223526,903.133223526,791,828,653,635,654,0.454355683765,0.00459027020659,0.0698416845351,0.999999964858,0.000127801870603,-0.000225567375359,-5.54008842328e-05,1793252963145868032
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,748.558615124,724,701,671,639.441384876,903.441384876,791,828.441384876,653,635,654.441384876,0.454748209542,0.00459206818271,0.0698466829573,0.999999964335,0.000132274129575,-0.000225487393471,-5.46776909169e-05,1793252963162534656
+207,3.450000000,POSE1_TO_POSE2_PRESS,770.016721224,748.016721224,724.016721224,701.016721224,671,639.983278776,904,791,829,653,635,655,0.455124129687,0.00459392931896,0.0698488907443,0.999999962328,0.000135277381554,-0.000232642934374,-5.40572060402e-05,1793252963179201280
+208,3.466666667,POSE1_TO_POSE2_PRESS,770.611828712,748.611828712,724.611828712,701.611828712,671,639.388171288,904,791,829,653,635,655,0.455434658157,0.00459771448761,0.0698276218784,0.99999995246,0.000132042282944,-0.000272938437932,-5.61196430094e-05,1793252963195867904
+209,3.483333333,POSE1_TO_POSE2_PRESS,770.79947719,749,724.79947719,702,671,639,904,791,829,653,635,655,0.455744509388,0.00460039151373,0.0698097518132,0.99999994659,0.000107315307128,-0.000303169838494,-5.82281728998e-05,1793252963212534528
+210,3.500000000,POSE1_TO_POSE2_PRESS,770.222813403,749,724.222813403,702,671,639,904,791,829,653,635,655,0.456053090221,0.00460098988406,0.0697982572256,0.999999947819,4.22738373512e-05,-0.000314522975419,-6.04231636996e-05,1793252963229201152
+211,3.516666667,POSE1_TO_POSE2_PRESS,770.351579537,749,724.351579537,702,670.648420463,639,904,791,828.648420463,653,635,655,0.456345045917,0.00460174743606,0.0698025525295,0.999999950932,2.2550905152e-05,-0.000306369426678,-6.13601027059e-05,1793252963245867520
+212,3.533333333,POSE1_TO_POSE2_PRESS,770.92454262,749,724.92454262,702,670.07545738,639,904,791,828.07545738,653,635,655,0.456626533083,0.00460260522205,0.0698167904534,0.999999956738,3.13642648731e-05,-0.000285932857397,-6.15048685924e-05,1793252963262534144
+213,3.550000000,POSE1_TO_POSE2_PRESS,771,749,724.501228187,702,670,639,904.498771813,790.501228187,828,653,635,654.501228187,0.456866624102,0.00460402349773,0.0698231615141,0.999999958041,6.87103556026e-05,-0.000276838076668,-5.05818332653e-05,1793252963279201280
+214,3.566666667,POSE1_TO_POSE2_PRESS,771,749.0758214,724.0758214,702,670,639,905,790.0758214,828.0758214,653,635,654,0.457095346715,0.0046057781264,0.069827044968,0.999999956834,0.000105272576361,-0.000271394298137,-3.99474990482e-05,1793252963295868160
+215,3.583333333,POSE1_TO_POSE2_PRESS,771,749.670870366,724.670870366,702,670,639,905,790.670870366,828.670870366,653,635,654,0.457289214348,0.00460925395964,0.0698220641317,0.99999995441,0.000106831301955,-0.000279172549651,-4.27857764037e-05,1793252963312534784
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+217,3.616666667,POSE1_TO_POSE2_PRESS,770.166851799,749.166851799,724.166851799,702.833148201,670,639,905,791,829,653,635,654.833148201,0.457627005083,0.00460945029277,0.0698029785946,0.999999945928,0.000104404057558,-0.000308319750485,-4.67165605929e-05,1793252963345868032
+218,3.633333333,POSE1_TO_POSE2_PRESS,770.408791322,749,724,702.591208678,669.591208678,639,904.591208678,791,829,653,635,655,0.45776424912,0.00461085600936,0.0697953333115,0.999999942026,0.000106172210913,-0.000319936589429,-4.81189226889e-05,1793252963362534400
+219,3.650000000,POSE1_TO_POSE2_PRESS,770.984361696,749,724,702.015638304,669.015638304,639,904.015638304,791,829,653,635,655,0.457892474746,0.00461332197012,0.069789173656,0.999999938558,0.000109589253556,-0.000329287307552,-4.94277164727e-05,1793252963379201024
+220,3.666666667,POSE1_TO_POSE2_PRESS,770.423888495,749,724,702,669,639,904.576111505,791,828.423888495,653,635,655,0.457990006214,0.00461640404541,0.0697834028574,0.999999934876,0.00011293116585,-0.000339017001335,-5.06239451758e-05,1793252963395867648
+221,3.683333333,POSE1_TO_POSE2_PRESS,770.164034245,749,724,702,668.835965755,639,904.835965755,791,828,653,635,655,0.458083000468,0.00461810628953,0.0697775471592,0.999999931505,0.000114275291621,-0.000348237016089,-5.15984313503e-05,1793252963412534528
+222,3.700000000,POSE1_TO_POSE2_PRESS,770.741180587,749,724,702,668.258819413,639,904.258819413,791,828,653,635,655,0.458166726916,0.0046162901609,0.0697714502957,0.999999929111,0.000110593375254,-0.000356146771824,-5.20223873641e-05,1793252963429201152
+223,3.716666667,POSE1_TO_POSE2_PRESS,771,749,724,702,668.316683224,639,904,791,828,653,635,654.683316776,0.458237303698,0.00461691822492,0.0697648712765,0.999999925968,0.000110328865852,-0.000364867369529,-5.25758255632e-05,1793252963445868032
+224,3.733333333,POSE1_TO_POSE2_PRESS,771,749,724,702,668.890849491,639,904,791,828,653,635,654.109150509,0.458297188996,0.00461953356849,0.0697579002343,0.999999922186,0.000112842919221,-0.000374247232744,-5.32345408297e-05,1793252963462534912
+225,3.750000000,POSE1_TO_POSE2_PRESS,771,749,724,701.523160806,669,639,904.476839194,791,828.476839194,653,635,654,0.458340324296,0.0046194551747,0.0697529523316,0.999999918835,0.000114472000505,-0.000382649376268,-5.29731467806e-05,1793252963479201280
+226,3.766666667,POSE1_TO_POSE2_PRESS,771,749,724,701,668.935432921,639,905,790.935432921,829,653,635.064567079,654.064567079,0.458378619424,0.0046186435706,0.069748681001,0.999999915822,0.000115564554301,-0.000390182291018,-5.25221293825e-05,1793252963495867648
+227,3.783333333,POSE1_TO_POSE2_PRESS,771,749,724,701,668.355974824,639,905,790.355974824,829,653,635.644025176,654.644025176,0.458409669411,0.00461702714145,0.0697460180643,0.999999915059,0.000114035064967,-0.000392613641702,-5.2281229709e-05,1793252963512534528
+228,3.800000000,POSE1_TO_POSE2_PRESS,771,749,724.222374506,701,668,639,904.777625494,790.222374506,828.777625494,653,636,654.777625494,0.458437193342,0.00461661325047,0.0697438706043,0.999999914204,0.000114827214971,-0.000394587307892,-5.20314399671e-05,1793252963529201152
+229,3.816666667,POSE1_TO_POSE2_PRESS,771,749,724.798957701,701,668,639,904.201042299,790.798957701,828.201042299,653,636,654.201042299,0.4584591008,0.00461811481957,0.06974254422,0.9999999132,0.000119317382637,-0.000395831952305,-5.17674897157e-05,1793252963545867776
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+231,3.850000000,POSE1_TO_POSE2_PRESS,771,749,725,701,668.946816621,639,904.946816621,791,828,653,635.053183379,654,0.458486112003,0.00462018684882,0.0697386071406,0.999999910635,0.000121484898298,-0.000401618804539,-5.1701046967e-05,1793252963579201024
+232,3.866666667,POSE1_TO_POSE2_PRESS,771,749,725,701.53680805,668.46319195,639,905,791,828.53680805,653,635,654,0.45849208595,0.00461968345937,0.0697370954099,0.999999909583,0.000120934482117,-0.000404426506624,-5.14642333308e-05,1793252963595867904
+233,3.883333333,POSE1_TO_POSE2_PRESS,771,749,725,702,668,639,905,791,828.874570501,653,635.125429499,654.125429499,0.458496656323,0.0046191657163,0.0697355594168,0.999999908467,0.000120978428048,-0.000407201668223,-5.11598565802e-05,1793252963612534528
+234,3.900000000,POSE1_TO_POSE2_PRESS,771,749,725,702,668,639,905,791,828.297013377,653,635.702986623,654.702986623,0.458498289196,0.00461912733035,0.0697337176468,0.99999990703,0.000123502007845,-0.000410019427606,-5.07049249404e-05,1793252963629201152
+235,3.916666667,POSE1_TO_POSE2_PRESS,770.719698026,749,724.719698026,702,668,639,905,791,828,653,635.719698026,654.719698026,0.458500386125,0.00461902331589,0.0697327978754,0.999999906564,0.000123796394306,-0.000411086365606,-5.05375138537e-05,1793252963645868032
+236,3.933333333,POSE1_TO_POSE2_PRESS,770.142638569,749,724.142638569,702,668,639,905,791,828,653,635.142638569,654.142638569,0.458502974355,0.00461884982012,0.0697328542296,0.999999907134,0.000121730719924,-0.000410299698227,-5.06745025491e-05,1793252963662534400
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+238,3.966666667,POSE1_TO_POSE2_PRESS,771,749,724,701.000446408,668,638,904,791,829,653,635,654.999553592,0.45850406473,0.00462236568151,0.0697307311211,0.999999904643,0.00012763498384,-0.000414512052223,-5.10279884578e-05,1793252963695867904
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+240,4.000000000,POSE1_TO_POSE2_PRESS,771,749,724,702,667.812341189,638.187658811,904,791,828.812341189,653,635,654,0.458506707259,0.00462067723213,0.0697316692294,0.999999905796,0.000124702601829,-0.000412691578889,-5.0418694894e-05,1793252963729201152
+241,4.016666667,POSE1_TO_POSE2_PRESS,771,749,724,702,667.234164833,638.765835167,904,791,828.234164833,653,635,654,0.458507198526,0.00462125683066,0.0697307072526,0.999999905321,0.000125558639997,-0.000413548661184,-5.06954278268e-05,1793252963745867520
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.657653061,749,724,702,667.342346939,638.657653061,904,790.657653061,828,653,635,654,0.458507979688,0.00462085727947,0.0697308585885,0.999999905382,0.000125254002998,-0.000413493667194,-5.07069736133e-05,1793252963762534400
+243,4.050000000,POSE1_TO_POSE2_PRESS,770.082274375,749,724,702,667.917725625,638.082274375,904,790.082274375,828,653,635,654,0.458508958178,0.00461979123195,0.0697317677441,0.999999905806,0.000124159307313,-0.000412817833006,-5.05380094533e-05,1793252963779201024
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,749,724,702,667.495582849,638,904.504417151,790.504417151,828.504417151,653,635.504417151,654,0.45850880311,0.00461969912951,0.0697315281703,0.999999905568,0.000124544795507,-0.000413346979938,-4.99713405289e-05,1793252963795867648
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,749,724.091523508,702,667,638.091523508,904.908476492,791,828.908476492,653,635.908476492,654,0.458508478455,0.00461964823356,0.069730976,0.999999905278,0.000124925076219,-0.000413987473437,-4.95108462936e-05,1793252963812534528
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,749,724.67078146,702,667,638.67078146,904.32921854,791,828.32921854,653,635.32921854,654,0.458508257961,0.00461895094315,0.0697297793798,0.999999905308,0.000123961495586,-0.000414149926696,-4.996978423e-05,1793252963829201152
+247,4.116666667,POSE1_TO_POSE2_PRESS,770,749,724.751330573,701.751330573,667,639,904,791,828.248669427,653,635,654.248669427,0.458507591805,0.00461905604727,0.0697286072041,0.999999904874,0.000123832308967,-0.000415199871366,-5.02745561612e-05,1793252963845867776
+248,4.133333333,POSE1_TO_POSE2_PRESS,770,749,724.175246341,701.175246341,667,639,904,791,828.824753659,653,635,654.824753659,0.458506338858,0.0046202176376,0.0697274672135,0.999999903824,0.000124801741198,-0.00041741834663,-5.03763428786e-05,1793252963862534656
+249,4.150000000,HOLD_POSE2,771,749,724,702,668,639,904,792,828,653,635,654,0.458508469107,0.00462055888973,0.0697282164588,0.999999904122,0.000124087341618,-0.000416952328894,-5.00865750333e-05,1793252963896598272
+250,4.166666667,HOLD_POSE2,770.408841478,749,724.591158522,701.408841478,668,639,904.591158522,790.817682956,828,653,635,654.591158522,0.458507157914,0.00462003851019,0.0697278890351,0.999999903333,0.000125690784194,-0.000418425657749,-4.9558520267e-05,1793252963913264896
+251,4.183333333,HOLD_POSE2,770,749,724.821745681,701.178254319,667.821745681,638.821745681,904.821745681,790.178254319,828.178254319,653,635.178254319,654.821745681,0.458507026176,0.00461994131755,0.069728063937,0.999999903141,0.000127017801356,-0.000418521776643,-4.92277410663e-05,1793252963929931520
+252,4.200000000,HOLD_POSE2,770,749,724.243760333,701.756239667,667.243760333,638.243760333,904.243760333,790.756239667,828.756239667,653,635.756239667,654.243760333,0.458509539333,0.00462079311124,0.0697293652919,0.999999904294,0.00012772494148,-0.000415529535573,-4.93393474804e-05,1793252963946598144
+253,4.216666667,HOLD_POSE2,770.334244071,749,724,702,667,638,904,790.665755929,829,653,635.665755929,654.334244071,0.458510718653,0.00462076517968,0.069730128074,0.999999904868,0.000127805246671,-0.000414129917958,-4.92508887912e-05,1793252963963264768
+254,4.233333333,HOLD_POSE2,770.912262338,749,724,702,667,638,904,790.087737662,829,653,635.087737662,654.912262338,0.458510925166,0.00462009563811,0.0697304980589,0.999999905026,0.000127428382357,-0.00041389184844,-4.90165166327e-05,1793252963979931392
+255,4.250000000,HOLD_POSE2,770.503298571,749,724,702,667,638,904,790,828.503298571,653,635,654.503298571,0.458510293522,0.00462065713374,0.0697298178308,0.999999904791,0.000126496011658,-0.000414713101201,-4.92973961022e-05,1793252963996598272
+256,4.266666667,HOLD_POSE2,770,749,724,701.918567759,667,638.081432241,904,790.081432241,828,653,635,654,0.458509754396,0.00462121228337,0.0697291469204,0.999999904559,0.000125563097432,-0.000415515040118,-4.9637481637e-05,1793252964013264896
+257,4.283333333,HOLD_POSE2,770,749,724,701.339080422,667,638.660919578,904,790.660919578,828,653,635,654,0.458510698509,0.00462038122912,0.0697296824742,0.99999990479,0.00012523486984,-0.000415039406097,-4.9775731296e-05,1793252964029931520
+258,4.300000000,HOLD_POSE2,770,749.239195331,724,701.239195331,667,638.760804669,904,790.760804669,828.239195331,653,635,654.239195331,0.458511426281,0.00461926461326,0.0697299882697,0.99999990513,0.000124635453768,-0.00041441863728,-4.96242772479e-05,1793252964046597888
+259,4.316666667,HOLD_POSE2,770,749.815762165,724,701.815762165,667,638.184237835,904,790.184237835,828.815762165,653,635,654.815762165,0.458511848916,0.00461774522895,0.0697299700039,0.999999905622,0.000123653541694,-0.000413593164073,-4.90642124727e-05,1793252964063264512
+260,4.333333333,HOLD_POSE2,770,749.608036886,724,702,667,638,904,790.391963114,828.608036886,653,635,654.608036886,0.458511927566,0.00461825525906,0.069729958394,0.999999905558,0.000124415322643,-0.000413543558119,-4.88558321638e-05,1793252964079931392
+261,4.350000000,HOLD_POSE2,770,749.032007706,724,702,667,638,904,790.967992294,828.032007706,653,635,654.032007706,0.458511844681,0.004619718303,0.0697299499096,0.999999905232,0.000125995942581,-0.000413858299724,-4.88126029984e-05,1793252964096598016
+262,4.366666667,HOLD_POSE2,770,749.556299225,724,702,667,638,904,791,828.556299225,653,635,654,0.458511454177,0.00462099439489,0.0697300235001,0.999999905079,0.000126111964003,-0.000414143948945,-4.92240950884e-05,1793252964113264640
+263,4.383333333,HOLD_POSE2,770,749.857044075,724,702,667.142955925,638,904,791,828.857044075,653,635,654,0.458511177814,0.00462173869394,0.0697299922671,0.999999904951,0.000126449096909,-0.000414328896223,-4.93888679537e-05,1793252964129931520
+264,4.400000000,HOLD_POSE2,770,749.277630982,724,702,667.722369018,638,904,791,828.277630982,653,635,654,0.458511305192,0.00462089296452,0.0697296262556,0.999999904871,0.000127724388172,-0.000414211617419,-4.87187037479e-05,1793252964146598144
+265,4.416666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,667,638,904,791,828,653,635,654,0.458512655138,0.00461961837157,0.0697299292919,0.999999905262,0.000126194921558,-0.000413769679287,-4.84294016049e-05,1793252964183957248
+266,4.433333333,POSE2_TO_POSE3_RETREAT,771,749,724,701.417563392,667.582436608,638.582436608,904,790.417563392,828,653,635,654,0.458511506889,0.00461827506951,0.0697293504194,0.999999904822,0.000124118743225,-0.000415435040251,-4.86152649385e-05,1793252964200624128
+267,4.450000000,POSE2_TO_POSE3_RETREAT,771,749,724,701.166641336,667.833358664,638.833358664,904.166641336,790.166641336,828,653,635,654,0.458510592969,0.00461766191241,0.069728748151,0.999999904373,0.00012314547617,-0.000416783925263,-4.87873488367e-05,1793252964217290752
+268,4.466666667,POSE2_TO_POSE3_RETREAT,771,749,724,701.755324186,667.244675814,638.244675814,904.755324186,790.755324186,828,653,635,654,0.458510272519,0.00461889794498,0.0697280866294,0.999999903912,0.000124965479289,-0.000417331292875,-4.89245345078e-05,1793252964233956352
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.66049855,749,724,702,667,638,905,790.66049855,828.33950145,653,635,654.33950145,0.458511154431,0.00461939459637,0.06972849115,0.999999903982,0.000126346618606,-0.000416776264285,-4.86919010061e-05,1793252964250622464
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.079525929,749,724,702,667,638,905,790.079525929,828.920474071,653,635,654.920474071,0.458512891524,0.00461936536114,0.0697296538957,0.999999904427,0.000127415614944,-0.000415437153883,-4.81962327772e-05,1793252964267289088
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.495620771,749,724,702,667,638,904.504379229,790,828.504379229,653,635,655,0.458512587804,0.00461942121842,0.0697300013903,0.999999904625,0.000126120828277,-0.000415318537286,-4.85164605424e-05,1793252964283955712
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770.930478202,749,724,702,667,638,904,790,828.069521798,653,635,654.930478202,0.45851199316,0.00461955876048,0.0697301516275,0.999999904739,0.000124950941198,-0.000415363283685,-4.88179769577e-05,1793252964300622336
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770.358900508,749,724,702,667,638,904,790,828.641099492,653,635,654.358900508,0.458511634917,0.00462018873862,0.069729811056,0.99999990454,0.000127390238574,-0.000415189947891,-4.80499315872e-05,1793252964317289216
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770.221531117,749,724,701.778468883,667,638.221531117,904.221531117,790.221531117,828.778468883,653,635,654,0.458508440492,0.00462042682771,0.069727812956,0.999999903282,0.000128705936383,-0.000417845880495,-4.77101686433e-05,1793252964333955840
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770.816904013,749,724,701.183095987,667,638.816904013,904.816904013,790.816904013,828.183095987,653,635,654,0.458500459906,0.00462000358974,0.0697230177167,0.999999900205,0.000128125519005,-0.000425276305922,-4.80931478707e-05,1793252964350622720
+276,4.600000000,POSE2_TO_POSE3_RETREAT,771,749,724,701.39786467,667,638.60213533,904.60213533,791,828,653,635,654.39786467,0.458484406869,0.00461966890454,0.069714469739,0.99999989504,0.000127666182464,-0.000437363537785,-4.83073664939e-05,1793252964367289344
+277,4.616666667,POSE2_TO_POSE3_RETREAT,771,749,724,701.97242477,667,638.02757523,904.02757523,791,828,653,635,654.97242477,0.458464768779,0.00461937354641,0.0697042551348,0.999999888794,0.000127260618987,-0.000451518901611,-4.84466369768e-05,1793252964383955968
+278,4.633333333,POSE2_TO_POSE3_RETREAT,771,749,724.54780585,702,667.54780585,638,904.54780585,791,828.54780585,653,635,654.45219415,0.458417450125,0.00462069499033,0.0696854043884,0.999999874582,0.000127808365762,-0.000481805591074,-4.86280344508e-05,1793252964400622336
+279,4.650000000,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.126639425,638.126639425,904.873360575,791,828.873360575,653,635,654,0.458366300714,0.00462140054604,0.0696665395513,0.999999860637,0.000128082692679,-0.000509846434928,-4.8765152581e-05,1793252964417288960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,668.717990434,638.717990434,904.282009566,791,828.282009566,653,635,654,0.458306214825,0.00461954696121,0.0696492206393,0.999999852039,0.000127177331235,-0.000526661809052,-4.87319917243e-05,1793252964433955840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,771,749,724.697785505,702,668.39557101,639,904,790.697785505,828.302214495,653,635,654,0.458238194985,0.00461946048758,0.0696379614292,0.99999984448,0.000128968182847,-0.000540452678027,-4.81391283468e-05,1793252964450622464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,771,749,724.120058724,702,667.240117449,639,904,790.120058724,828.879941276,653,635,654,0.458162942204,0.00462098499187,0.0696322265161,0.999999837952,0.000133217023248,-0.000551486271513,-4.7036015059e-05,1793252964467289088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,771,749.456110337,724,702,667,639,904,790.456110337,829,653,635,654.456110337,0.458082064126,0.00462087233053,0.0696357092744,0.999999841025,0.000135645509411,-0.000545424891204,-4.54037757995e-05,1793252964483955968
+284,4.733333333,POSE2_TO_POSE3_RETREAT,771,749.968294188,724,702,667.031705812,638.968294188,904,791,828.968294188,653,635,654.968294188,0.457998301627,0.0046204016676,0.069641661285,0.999999846438,0.000137620383203,-0.000535052404216,-4.36397088915e-05,1793252964500622592
+285,4.750000000,POSE2_TO_POSE3_RETREAT,771,749.395513616,724,702,667.604486384,638.395513616,904,791,828.395513616,653,635,654.395513616,0.457890498053,0.00462115069594,0.0696484871758,0.999999850117,0.000140003392754,-0.000527638520768,-4.19946976385e-05,1793252964517289216
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770.815876127,749,724,701.815876127,668,638.184123873,904,791,828.184123873,653,635,654,0.457774309945,0.004621088335,0.0696554968553,0.999999854249,0.000141657777495,-0.00051945791607,-3.99825308336e-05,1793252964533956096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770.220939738,749,724,701.220939738,668,638.779060262,904,791,828.779060262,653,635,654,0.45763941449,0.00461921562277,0.0696629165989,0.999999859443,0.000141686472724,-0.000509566623379,-3.71511760934e-05,1793252964550622720
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770.362463228,749,724.362463228,701.362463228,668,639,904.362463228,791,829,653.362463228,635,654,0.457481342273,0.00461817386985,0.0696690878779,0.999999863527,0.00014420934253,-0.000500978798811,-3.42066436709e-05,1793252964567289088
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770.939052842,749,724.939052842,701.939052842,668,639,904.939052842,791,829,653.939052842,635,654,0.457309578292,0.00461762300881,0.0696745216229,0.999999866927,0.000148205654453,-0.000493161001513,-3.11952508765e-05,1793252964583955712
+290,4.833333333,POSE2_TO_POSE3_RETREAT,771,749,724.486064955,702,668,639,904.486064955,791,828.486064955,653.486064955,635,654,0.457103985761,0.00461548228179,0.0696734281874,0.999999865268,0.000150402762791,-0.000496065636901,-2.76006337153e-05,1793252964600622592
+291,4.850000000,POSE2_TO_POSE3_RETREAT,771,749,724,702,668.091079255,639,904,791,828,653,635,654,0.456891139797,0.00461362151742,0.0696732295234,0.999999863748,0.000153200296187,-0.000498462438396,-2.38500241451e-05,1793252964617289216
+292,4.866666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,668.681737985,639,904,791,828,653,635,654,0.456660439646,0.00461432712035,0.0696821704822,0.999999866334,0.000160457687137,-0.000491122142808,-1.96218945235e-05,1793252964633955584
+293,4.883333333,POSE2_TO_POSE3_RETREAT,771,749,724,702,669.267215922,639,904,791,828,653,635,654,0.456407182961,0.00461327375723,0.0696879587977,0.999999868045,0.000165804911763,-0.000486003550683,-1.48325680154e-05,1793252964650622208
+294,4.900000000,POSE2_TO_POSE3_RETREAT,771,749,724,702,669.846640705,639,904,791,828,653,635,654,0.456127571761,0.00461016525909,0.0696900636377,0.999999868812,0.000168920342114,-0.000483480745629,-9.38755238854e-06,1793252964667288832
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770.57700291,749,724,702,669.57700291,638.57700291,904,791,828,653,635,654.42299709,0.455811676366,0.00460941674813,0.069689402706,0.999999867362,0.000175758467333,-0.000484113136042,-4.44242520149e-06,1793252964683955456
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770.001750986,749,724,702,669.001750986,638.001750986,904,791,828,653,635,654.998249014,0.455482720736,0.00460951769807,0.069687746254,0.999999865043,0.000183936550371,-0.000485881216946,3.22770531782e-07,1793252964700622336
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.427732759,669,638.572267241,903.427732759,791,828,653,635,654.427732759,0.455114517777,0.00460546327744,0.0696800930303,0.999999859149,0.00018694260155,-0.000496703865916,6.2931161252e-06,1793252964717288704
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770.150997033,749,724,701,669.150997033,639,903,791,828,653,635,654,0.45474368037,0.00460145362423,0.0696747524061,0.999999856094,0.00018973578172,-0.000501670298379,1.18179511302e-05,1793252964733955328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770.743514511,749,724,701,669.743514511,639,903,791,828,653,635,654,0.454365490195,0.00459761197036,0.0696762274389,0.999999861677,0.0001919526928,-0.000489432118483,1.60293380081e-05,1793252964750622208
+300,5.000000000,POSE2_TO_POSE3_RETREAT,771,749,724,701,670.326914096,639,903,791,827.673085904,653,635,654,0.453968158797,0.00458640421762,0.0696912227477,0.999999875897,0.000184485413361,-0.000462331616794,2.0518707117e-05,1793252964767288832
+301,5.016666667,POSE2_TO_POSE3_RETREAT,771,749,724,701,670.903354263,639,903,791,827.096645737,653,635,654,0.4535562173,0.00456957408926,0.0697165377749,0.999999895455,0.000169626412231,-0.000423887042066,2.52202541413e-05,1793252964783955456
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770.52002944,749,724,701,671,639,902.52002944,791,827,653,635,654,0.453086007933,0.00455766557928,0.0697318751565,0.999999908023,0.0001607297175,-0.000396515485786,2.99329307614e-05,1793252964800622080
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770,749,724,701,671,639,902.056531728,791,827,653,635,654.056531728,0.452597822331,0.00454884880014,0.0697425046314,0.999999917013,0.000152632631164,-0.000376240907063,3.34543793492e-05,1793252964817288960
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,749,724,701,671,639,902.632261081,791,827,653,635,654.632261081,0.452052334059,0.00455932211562,0.0697283543308,0.999999909478,0.000140849118334,-0.00040066133605,2.60147873488e-05,1793252964833955584
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770.214143627,749,724,701.214143627,671.428287254,639,902.571712746,791,827,653,635,654.785856373,0.451496189882,0.00457404100821,0.0697185308109,0.999999902722,0.000131776371629,-0.000420580087047,1.74202569039e-05,1793252964850621952
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770.80690533,749,724,701.80690533,672.613810661,639,901.386189339,791,827,653,635,654.19309467,0.450921205495,0.00459626632127,0.0697163572856,0.999999898304,0.000127496414013,-0.000432539614971,6.7837302604e-06,1793252964867288576
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770.612067737,749,724,702,673,639.387932263,900.612067737,791,827,653,635,654,0.450328902087,0.00460080374212,0.0697268087766,0.99999990176,0.000127141294958,-0.000424549170397,8.53260406629e-06,1793252964883955456
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770.036710344,749,724,702,673,639.963289656,900.036710344,791,827,653,635,654,0.449728231204,0.00459679545525,0.0697433599028,0.999999908796,0.000128682417806,-0.000406920119544,1.62653457306e-05,1793252964900622080
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.460905892,672.460905892,640,900,791,826.460905892,653,635,654,0.449102052835,0.00458850941115,0.0697773699189,0.999999933594,0.000109849798149,-0.00034698011196,1.87039484475e-05,1793252964917288704
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770,748.882111883,724,701,672,640,899.882111883,791,826,653,635,654,0.448462391565,0.00458236292214,0.0698074391868,0.999999952111,9.21550790251e-05,-0.000294735166375,2.04052447738e-05,1793252964933955584
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770,748.291451039,724,701,672,640,899.291451039,791,826,653,635,654,0.447775630924,0.00458596598571,0.0698169328517,0.999999955622,8.45922362652e-05,-0.00028491444292,2.05966613062e-05,1793252964950622208
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,748.292958761,724,701,672,640,899,791,826,653,635,654,0.447033891528,0.00458563654461,0.0697955689208,0.999999945414,7.39469726255e-05,-0.000321293423407,2.17745721604e-05,1793252964967289088
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,748.87127968,724,701,672,640,899,791,826,653,635,654,0.446238598929,0.00458147657158,0.0697441475521,0.999999916823,6.02992159234e-05,-0.000402674117968,2.3913396838e-05,1793252964983955712
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,749,724,701,672,639.552829839,899,791,825.552829839,653,635,654,0.445473599452,0.00458001245498,0.0697284468045,0.999999912454,4.14737030861e-05,-0.000415739620673,2.30696984703e-05,1793252965000622080
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770.022264633,749,724,701.022264633,672,639.022264633,898.977735367,791,825.022264633,653,635,654,0.444715929556,0.00457929831703,0.0697247322949,0.999999916649,2.60489963048e-05,-0.000406890768491,2.15266645411e-05,1793252965017288448
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770.594883733,749,724,701.594883733,672,639.594883733,898.405116267,791,825.594883733,653,635,654,0.443925053362,0.00457804424432,0.069764509237,0.999999933357,0.000131330831423,-0.000339810243889,2.38041263304e-05,1793252965033955328
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770.825932416,749,724,702,672,640,897.825932416,791.174067584,825.825932416,653,635,654,0.44312572212,0.00457548230843,0.0697987544394,0.999999935514,0.000213415857359,-0.000287635203525,2.63075074278e-05,1793252965050621952
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770.230871332,749,724,702,672,640,897.230871332,791.769128668,825.230871332,653,635,654,0.442305941853,0.00456975722251,0.069819620776,0.999999934055,0.00023939792621,-0.000271510037344,2.93572893253e-05,1793252965067288576
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,896.647906461,791.647906461,825,653,635,654,0.441477499475,0.00456698662166,0.0698317637134,0.999999940864,0.00023231642237,-0.000251797127222,2.99838997062e-05,1793252965083955456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,896.07260978,791.07260978,825,653,635,654,0.440643565944,0.00456608896182,0.0698383766133,0.999999952307,0.000204274881301,-0.000229809834112,2.90743855015e-05,1793252965100622336
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,896,791,825,653,635,654,0.439722701969,0.00456253997322,0.0698159669132,0.999999947325,0.000178518343629,-0.000269434527603,2.97585676895e-05,1793252965117288960
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770.077753075,749,724,702,672.077753075,640,896,791,825,653,635,654,0.438781273859,0.0045587139198,0.0697835927271,0.999999934855,0.0001530640481,-0.000325475374727,3.04516468854e-05,1793252965133955584
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770.651912201,749,724,702,672.651912201,640,896,791,825,653,635,654,0.437788722432,0.00455556398782,0.0697143655211,0.999999899201,0.000127432206575,-0.000429505832216,2.97318484312e-05,1793252965150622464
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770.765009321,749,724,702,672.765009321,640,895.765009321,791,825,653,635,654,0.436838803753,0.00455059273033,0.0696836508105,0.99999988109,0.000111334784668,-0.000473860442135,2.96714865396e-05,1793252965167289088
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770.1681974,749,724,702,672.1681974,640,895.1681974,791,825,653,635,654,0.43595452767,0.00454281713023,0.0697122347776,0.999999902611,0.000109917753604,-0.000426330623232,3.0626476491e-05,1793252965183955712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,749,724.414811579,702.414811579,672,640,895,791.414811579,825,653,634.585188421,653.585188421,0.43507041352,0.00453937147169,0.0697637194555,0.999999930162,0.000110678233023,-0.000355499505579,3.23435910073e-05,1793252965200622336
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,749,724.992403955,702.992403955,672,640,895,791.992403955,825,653,634.007596045,653.007596045,0.434186362969,0.00453762497387,0.0698241908528,0.999999955148,0.000112293212948,-0.000275524468753,3.43597790339e-05,1793252965217288704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671.435507469,640.564492531,895.564492531,792,824.435507469,653,634.564492531,653.564492531,0.433267216695,0.00452985409575,0.0698427973382,0.99999996426,9.2131966225e-05,-0.00024846273686,3.54780630165e-05,1793252965233956608
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,749,724.859530477,702.859530477,671,641,895.859530477,792,824,653,635,654,0.432330387646,0.00452294006961,0.0698510266177,0.999999968454,7.82854808313e-05,-0.000235890765274,3.63179810518e-05,1793252965250623744
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,749,724.270914108,702.270914108,671,641,895.270914108,792,824,653,635,654,0.431338636557,0.00451901583439,0.0698279289189,0.999999959961,8.5511132063e-05,-0.000267296523797,3.63079899e-05,1793252965267289600
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770.312746083,749,724,702,671,640.687253917,895,791.687253917,824,653.312746083,634.687253917,654,0.430312240999,0.00451429416044,0.0697747331095,0.999999934211,8.48101640399e-05,-0.000350875772782,3.56610895793e-05,1793252965283955968
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770.892179965,749,724,702,671,640.107820035,895,791.107820035,824,653.892179965,634.107820035,654,0.429256303132,0.0045088924872,0.0696958717555,0.99999988172,7.7349932814e-05,-0.000478944888807,3.44710776129e-05,1793252965300622336
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770.528620503,749,724.471379497,702,671,640,895,791.471379497,824,653.528620503,634,653.528620503,0.428329218678,0.00449906899994,0.0697214536027,0.999999901439,6.2375555972e-05,-0.000438213838498,3.46355847513e-05,1793252965317288960
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770.049780101,749,725,702.049780101,671,640,895,791.950219899,823.950219899,653.049780101,634.049780101,653.049780101,0.427432741995,0.00448894736492,0.0697717627168,0.999999934251,4.741405563e-05,-0.00035777971095,3.52713722025e-05,1793252965333955584
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770.620382061,749,725,702.620382061,671,640,895,791.379617939,823.379617939,653.620382061,634.620382061,653.620382061,0.426548291458,0.00448628299977,0.0698309599979,0.999999962714,5.05605122637e-05,-0.000265710376939,3.75980083863e-05,1793252965350622464
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770.801766197,749,725,702.801766197,671,640.198233803,894.801766197,791.198233803,823,653.801766197,635,654,0.42563821548,0.00448069375344,0.0698636061951,0.999999974945,4.77548699898e-05,-0.000215197763735,3.89783869409e-05,1793252965367289344
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770.209503996,749,725,702.209503996,671,640.790496004,894.209503996,791.790496004,823,653.209503996,635,654,0.424677203775,0.00446929073407,0.0698434769382,0.999999968136,3.31182699463e-05,-0.000247287235971,3.84778945721e-05,1793252965383955968
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,749,725,702.374131365,671,640.625868635,894,791.625868635,823,653,635,654,0.423689633283,0.00446314355366,0.0698034918719,0.99999994909,2.11907669709e-05,-0.00031617063221,3.75177257811e-05,1793252965400622336
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,749,725,702.953044761,671,640.046955239,894,791.046955239,823,653,635,654,0.422687525809,0.00445987317467,0.0697526386642,0.999999917192,1.0746097915e-05,-0.000405193299699,3.63059513903e-05,1793252965417288960
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,640,894.528639191,791,822.471360809,653,635,654,0.421707453483,0.00445279127918,0.0696948472169,0.999999873145,1.19696426153e-05,-0.000502130783359,3.7827929698e-05,1793252965433955840
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770.10367637,749,725,703,671,640.10367637,895,791,822.10367637,653.10367637,635,654,0.420761261862,0.00444505804136,0.069659513231,0.999999841941,9.80652680237e-06,-0.000560817098395,3.8794403939e-05,1793252965450622464
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770.677514994,749,725,703,671,640.677514994,895,791,822.677514994,653.677514994,635,654,0.419959895531,0.00443589674093,0.0697287989581,0.999999901203,-1.23854323372e-05,-0.000442869871798,3.6147428786e-05,1793252965467289088
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770.738805278,749,725,703,671.261194722,640.738805278,895,791,823,653.738805278,635,654,0.419157589177,0.00442920722293,0.069798799808,0.999999945046,-2.92080089691e-05,-0.000328275279531,3.59129072634e-05,1793252965483955712
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770.142499528,749,725,703,671.857500472,640.142499528,895,791,823,653.142499528,635,654,0.418354076843,0.00442568898544,0.0698697181502,0.999999974724,-3.91417031413e-05,-0.000217982106037,3.877354753e-05,1793252965500622592
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,672,640.437990955,895,791,823,653,635,654,0.417503223865,0.00443513318479,0.0698668495185,0.999999973625,-1.07724466815e-05,-0.000225892537867,4.00871133356e-05,1793252965517289216
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770.013468541,749,725,703,671.986531459,640.986531459,894.986531459,791,823,653,635,654,0.416638300444,0.00444884819804,0.0698405808662,0.999999962099,2.89678488345e-05,-0.000270735290887,4.08057550435e-05,1793252965533955584
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770.587000156,749,725,703,671.412999844,640.412999844,894.412999844,791,823,653,635,654,0.415806437432,0.00447089989568,0.0698047398998,0.999999951059,4.14105415741e-05,-0.000307895427811,3.69865278624e-05,1793252965550622208
+348,5.800000000,POSE2_TO_POSE3_RETREAT,771,749,725,703,671,640.166086303,894,791,823,653,634.833913697,654,0.414964829094,0.00448318951972,0.0697696373546,0.999999935264,4.59339104691e-05,-0.000355180794565,3.47571606772e-05,1793252965567289088
+349,5.816666667,POSE2_TO_POSE3_RETREAT,771,749,725,703,671,640.759462713,894,791,823,653,634.240537287,654,0.414098148789,0.00447036426908,0.0697364345371,0.999999907064,3.00832434873e-05,-0.000428515340337,3.66180242932e-05,1793252965583955712
+350,5.833333333,POSE2_TO_POSE3_RETREAT,771,749,725,702.657832686,671,641,894,791.342167314,823,653,634,654,0.413334736399,0.00446259391579,0.069738461384,0.999999907835,2.48399890352e-05,-0.000427013889008,3.7030653196e-05,1793252965600622592
+351,5.850000000,POSE2_TO_POSE3_RETREAT,771,749,725,702.082403298,671,641,894,791.917596702,823,653,634,654,0.412641723797,0.00445826958453,0.0697645049762,0.999999928852,2.68280137484e-05,-0.000374495287475,3.64559924024e-05,1793252965617289216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770.507037667,749,725,702.492962333,671,641,894.492962333,792,823,653.492962333,634,654,0.412006659534,0.00445915517937,0.0698210929334,0.999999960732,1.53531457316e-05,-0.000277554214732,3.55603542372e-05,1793252965633956352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770.068070452,749,725,703,671,641,895,792,823,653.931929548,634.068070452,654,0.411376327976,0.00446066018097,0.0698747982722,0.999999981867,4.31526515293e-06,-0.000187194925492,3.47261743389e-05,1793252965650623232
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770.641346463,749,725,703,671,641,895,792,823,653.358653537,634.641346463,654,0.410709238797,0.00446029957222,0.0698692201963,0.999999979151,1.3220854861e-05,-0.000200788839457,3.47462889933e-05,1793252965667289600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770.777783057,749,725,703,671.222216943,641,894.777783057,792,823,653.222216943,635,654,0.410032356067,0.00446196075765,0.0698495442569,0.999999970822,2.13046060007e-05,-0.000238122181194,3.46405545865e-05,1793252965683955968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770.184221591,749,725,703,671.815778409,641,894.184221591,792,823,653.815778409,635,654,0.409339107499,0.00446700054324,0.0698063095188,0.999999949366,2.80149899234e-05,-0.00031512624219,3.43245149345e-05,1793252965700622336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,749,725.399918199,703.399918199,671.600081801,641,894,792,823,654,634.600081801,654,0.408707275311,0.00446828275167,0.0697764132714,0.999999933968,2.58872708549e-05,-0.000360978094574,3.29807719792e-05,1793252965717289728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,749,725.979817857,703.979817857,671.020182143,641,894,792,823,654,634.020182143,654,0.408103083239,0.00446787387917,0.0697525199505,0.999999922169,1.97820023233e-05,-0.000392810037011,3.11745155945e-05,1793252965733957376
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,749,726,704,671,641,894.554692156,792,823,653.445307844,634,654,0.407578863662,0.00446482307867,0.0697712037823,0.999999933502,2.28284288333e-05,-0.000362591464989,3.16650350582e-05,1793252965750624000
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,749,725.867894783,703.867894783,671,641,894.867894783,792,823,653,634,654,0.407065127164,0.00446324954604,0.0697892019686,0.999999942882,2.50140106034e-05,-0.000335525445862,3.21289492483e-05,1793252965767290624
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,749,725.281120208,703.281120208,671,641,894.281120208,792,823,653,634,654,0.40657754572,0.00446708822213,0.069799556506,0.999999945746,2.31010741042e-05,-0.000327010138148,3.22162643425e-05,1793252965783957248
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,749,725.301868306,703,671,641,894.301868306,792,823,653.301868306,634,654,0.406093129301,0.00447255719981,0.0698010516747,0.999999944397,2.72957048277e-05,-0.000330755946123,3.25714178426e-05,1793252965800623872
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,749,725.881374623,703,671,641,894.881374623,792,823,653.881374623,634,654,0.405611623886,0.00447952561817,0.069794398596,0.99999993898,3.71076620805e-05,-0.000345778697818,3.31729109456e-05,1793252965817290496
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770.458846455,749,726,703,671,641,895,792,823.458846455,654,634.458846455,654,0.405203689149,0.00448356518253,0.0698023270831,0.999999943923,4.04385700645e-05,-0.000330863447321,3.23697333338e-05,1793252965833956352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770.964589714,749,726,703,671,641,895,792.035410286,823.964589714,654,634.964589714,654,0.404817735631,0.00448610396077,0.0698143697818,0.999999951358,4.1038104134e-05,-0.000307615878072,3.11924517645e-05,1793252965850622464
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770.393836467,749,726,703,671,641,895,792.606163533,823.393836467,654,634.393836467,654,0.404477817028,0.00447735038629,0.0698318714933,0.999999961445,2.55634582354e-05,-0.000274894788916,2.98253131004e-05,1793252965867289088
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792.81569477,823.18430523,654,634,654,0.404142494658,0.0044711979863,0.069844289063,0.999999967895,1.41575667458e-05,-0.000251334531068,2.8994568798e-05,1793252965883955712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792.221105635,823.778894365,654,634,654,0.403817404059,0.00447083609071,0.0698453887666,0.999999968706,1.18091764088e-05,-0.000248167305788,2.93578981501e-05,1793252965900622592
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770.363868948,749,726,703,671,641.363868948,895,792,823.636131052,654,634,654,0.403495070991,0.00446899093792,0.0698365242932,0.999999964948,4.10985577501e-06,-0.000263097693981,2.94285026871e-05,1793252965917289216
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770.943151684,749,726,703,671,641.943151684,895,792,823.056848316,654,634,654,0.403174370376,0.0044662676831,0.0698217609347,0.999999957861,-6.75726540512e-06,-0.000288742036583,2.93258114373e-05,1793252965933956096
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770.481574424,749,726.518425576,703,671,641.481574424,895,792,823,654,634.518425576,654,0.402902619739,0.00446339722165,0.0698105371773,0.999999951697,-1.8943944083e-05,-0.000308924100327,2.84974739633e-05,1793252965950622720
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770.095353532,749,726.904646468,703,671,641,895,792.095353532,823,654,634.904646468,654,0.402644921956,0.00446114962528,0.0698011363264,0.999999946188,-2.89911508455e-05,-0.00032558621903,2.78608041923e-05,1793252965967289600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770.6830751,749,726.3169249,703,671,641,895,792.6830751,823,654,634.3169249,654,0.40243228375,0.00446220096904,0.0697991594323,0.999999945708,-2.72495480091e-05,-0.000327141849704,2.86215522771e-05,1793252965983955968
+374,6.233333333,POSE2_TO_POSE3_RETREAT,771,749,726,703,671.266727485,641.266727485,895,793,823,654,634,654,0.40223028637,0.004462735318,0.0697972911648,0.999999944939,-2.63219534867e-05,-0.000329473890163,2.9602574465e-05,1793252966000622592
+375,6.250000000,POSE2_TO_POSE3_RETREAT,771,749,726,703,671.845617496,641.845617496,895,793,823,654,634,654,0.402040742415,0.00446266460589,0.0697955500279,0.999999943828,-2.6347027638e-05,-0.000332714595935,3.08413927637e-05,1793252966017288960
+376,6.266666667,POSE2_TO_POSE3_RETREAT,771,749,726,703.423957397,671.576042603,641.576042603,895,792.576042603,823,653.576042603,634.423957397,654,0.401875137961,0.00446547265523,0.0697954246888,0.999999943928,-7.54442806416e-06,-0.000333203865369,3.25945427018e-05,1793252966033955840
+377,6.283333333,POSE2_TO_POSE3_RETREAT,771,749,726,703.997920674,671,641.002079326,895.002079326,792,823,653,634.997920674,654,0.401718367762,0.00446940498999,0.0697958785274,0.999999943894,1.82674234841e-05,-0.000332695056225,3.45170548314e-05,1793252966050622208
+378,6.300000000,POSE2_TO_POSE3_RETREAT,771,749,726,703.424715189,671,641.575284811,895.575284811,792,823,653,634.424715189,654,0.401596774088,0.00449458398393,0.0697940123661,0.999999940169,8.86058361534e-05,-0.000332886241764,3.15815012668e-05,1793252966067289088
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770.846968212,749,726,703,671,641.846968212,895.846968212,792.153031788,823,653.153031788,634.153031788,654,0.401482311867,0.00451289570369,0.0697926142539,0.999999935656,0.000130913555099,-0.0003328814897,2.72049925602e-05,1793252966083955968
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770.256231665,749,726,703,671,641.256231665,895.256231665,792.743768335,823,653.743768335,634.743768335,654,0.4013882472,0.00451156549618,0.0697925548658,0.999999940279,9.30472795303e-05,-0.000332316316511,1.87070343261e-05,1793252966100622592
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792.672670937,823,654,634.672670937,654,0.401303399525,0.00450745825389,0.0697924566565,0.999999941933,7.27864882646e-05,-0.000332524854777,1.62115619173e-05,1793252966117289216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792.094606846,823,654,634.094606846,654,0.401225612084,0.00450122379463,0.0697923287101,0.9999999421,6.60115460233e-05,-0.000333326058504,1.83140104909e-05,1793252966133955840
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641.479554295,895,792.479554295,823,653.520445705,634.479554295,654,0.401166137128,0.00450648229435,0.0697934317072,0.999999942134,7.17199401796e-05,-0.000332030485213,1.85531026371e-05,1793252966150622464
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671.054519197,641.945480803,895,793,823,653,634.945480803,654,0.401112536787,0.00451267050659,0.0697949978221,0.999999942405,7.82430817419e-05,-0.000329732659791,1.85485545741e-05,1793252966167289088
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671.644891163,641.355108837,895,793,823,653,634.355108837,654,0.401081454736,0.00450589149365,0.0697987482379,0.999999945722,6.87641889433e-05,-0.000321616855501,1.97332449149e-05,1793252966183955968
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770.23087069,749.23087069,726,702.76912931,671.76912931,641.23087069,895,792.76912931,823,653,634,654,0.401053066292,0.00450295021725,0.0698022282324,0.999999948186,6.46343606176e-05,-0.000314694660728,2.04147334238e-05,1793252966200622592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770.810220184,749.810220184,726,702.189779816,671.189779816,641.810220184,895,792.189779816,823,653,634,654,0.401028743612,0.00450580166376,0.0698053000496,0.999999949524,6.85784706741e-05,-0.000309574114063,2.03366833862e-05,1793252966217289472
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770.614017716,749.614017716,726,702.385982284,671,641.614017716,894.614017716,792.385982284,823,653.385982284,634,654,0.401010671057,0.00450519927761,0.0698080506925,0.999999950706,6.78900080184e-05,-0.000305843952144,2.09284258763e-05,1793252966233955840
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770.04000324,749.04000324,726,702.95999676,671,641.04000324,894.04000324,792.95999676,823,653.95999676,634,654,0.400995643266,0.00450291434856,0.0698106448747,0.999999951811,6.4944776394e-05,-0.000302791119619,2.18464593968e-05,1793252966250622464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.464886071,671,641,894.535113929,792.464886071,823,654,634,654,0.400984572945,0.00450229641506,0.0698106956361,0.99999995189,6.31970541524e-05,-0.000302927576375,2.14494574083e-05,1793252966267288832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.113479363,671,641,895,792.226958727,823,653.886520637,634.113479363,654,0.400975982108,0.00450238806244,0.0698110959813,0.999999952153,6.28576063297e-05,-0.000302157262552,2.10627344131e-05,1793252966283955456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.705185429,671,641,895,793.410370858,823,653.294814571,634.705185429,654,0.400976591022,0.00450494378309,0.0698137724827,0.999999953486,6.80748909491e-05,-0.000296558791528,2.11344738672e-05,1793252966300622336
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770.290156638,749.290156638,726,703,671,641,895,793.709843362,823,653.290156638,634.709843362,654,0.400974973269,0.00450489692459,0.0698156363321,0.999999954363,6.77669972268e-05,-0.000293642978909,2.13622290804e-05,1793252966317289216
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770.868440174,749.868440174,726,703,671,641,895,793.131559826,823,653.868440174,634.131559826,654,0.400971144424,0.00450226569314,0.0698166932146,0.999999954804,6.19725762158e-05,-0.000293391057962,2.17449086807e-05,1793252966333955584
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770.555937773,749.555937773,726,703,671,641,895,793,823,654,634.444062227,654,0.40097088873,0.00450324597695,0.0698177285009,0.999999955515,6.34892405692e-05,-0.000290644744298,2.15637949656e-05,1793252966350622464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792.980881351,823,653.980881351,635,654,0.40097161605,0.0045051373947,0.069818716834,0.999999956261,6.69607044049e-05,-0.000287305540106,2.12297890352e-05,1793252966367289344
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,792.399406484,823,653.399406484,635,654,0.400970305717,0.00450254450775,0.0698185111603,0.999999956176,6.45990778736e-05,-0.000288134484164,2.12824158339e-05,1793252966383955968
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770.183835439,749,726,703,671,641,895,792,823,653,635,654,0.400969759705,0.00450113214357,0.0698187772021,0.999999956262,6.31630475197e-05,-0.000288158083345,2.12241407644e-05,1793252966400622592
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,770.648794343,749,726.351205657,703,671,641.351205657,895,792.351205657,823,653.351205657,635,654,0.400971026692,0.00450385330157,0.069820757418,0.999999956914,6.42207221549e-05,-0.000285698474836,2.05699922771e-05,1793252966433955584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770.072934655,749,726.927065345,703,671,641.927065345,895,792.927065345,823,653.927065345,635,654,0.400970526902,0.0045056314779,0.0698210392372,0.999999956915,6.45999709964e-05,-0.000285638639765,2.01847680122e-05,1793252966450622208
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,749,726.497738148,703,671,641.497738148,895,793,823,653.497738148,634.497738148,654,0.400969655033,0.0045051750546,0.0698205559857,0.999999956812,6.31304932266e-05,-0.000286301616584,2.0555033064e-05,1793252966467288832
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,793,823,653,634,654,0.400969079871,0.00450455535067,0.0698202780147,0.999999956795,6.19363685873e-05,-0.000286593839641,2.09386992683e-05,1793252966483955712
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,895,793,823,653,634,654,0.400970760849,0.00450497010374,0.0698220346371,0.999999957444,6.42387751189e-05,-0.000283826266379,2.07036808326e-05,1793252966500622336
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770.255950682,749,726,702.744049318,671,641,895,792.744049318,823,653,634,654,0.400970521621,0.00450472229935,0.0698220809784,0.999999957449,6.48111433338e-05,-0.00028368137347,2.06418006545e-05,1793252966517288960
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770.835390205,749,726,702.164609795,671,641,895,792.164609795,823,653,634,654,0.4009678555,0.00450363710732,0.069819965744,0.999999956645,6.31969652686e-05,-0.000286851211852,2.0798745001e-05,1793252966533955584
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+411,6.850000000,POSE2_TO_POSE3_RETREAT,771,749.731954277,726,703,671,641.731954277,895,792.268045723,823,654,634.731954277,654,0.400970458319,0.00450347693369,0.0698225500531,0.999999957943,6.36795809258e-05,-0.000282187088923,2.07407282559e-05,1793252966617288704
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diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..881b68207f51e4585e6910e95639f6a2c56887bc
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,416 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
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+364,6.066666667,pose2_to_pose3_retreat,0.589317378696,0.0100051296628,1.06002090192,0.559888723717,0.0186775435073,1.05963227787
+365,6.083333333,pose2_to_pose3_retreat,0.588989481298,0.01000499825,1.06002096384,0.559560827441,0.0186774158231,1.05963233808
+366,6.100000000,pose2_to_pose3_retreat,0.588688141051,0.0100050647345,1.06002100811,0.55925948656,0.0186774800702,1.0596323804
+367,6.116666667,pose2_to_pose3_retreat,0.588401293068,0.0100051773924,1.0600210198,0.558972636971,0.0186775872668,1.05963239187
+368,6.133333333,pose2_to_pose3_retreat,0.588125380486,0.0100051949965,1.06002101239,0.558696723397,0.0186776016106,1.05963238681
+369,6.150000000,pose2_to_pose3_retreat,0.587861009356,0.0100051638654,1.0600210016,0.55843235314,0.0186775734692,1.0596323767
+370,6.166666667,pose2_to_pose3_retreat,0.587609948254,0.01000513605,1.06002105917,0.558181293295,0.0186775494289,1.05963242335
+371,6.183333333,pose2_to_pose3_retreat,0.587377697466,0.010005228698,1.06002100994,0.557949041474,0.0186776390268,1.05963238421
+372,6.200000000,pose2_to_pose3_retreat,0.587165814973,0.0100051188134,1.06002077229,0.557737160471,0.0186775345392,1.0596321543
+373,6.216666667,pose2_to_pose3_retreat,0.58697607716,0.0100051180084,1.06002085305,0.55754742165,0.0186775300529,1.0596322292
+374,6.233333333,pose2_to_pose3_retreat,0.586804185621,0.0100051653019,1.06002086751,0.557375529329,0.0186775748159,1.05963224636
+375,6.250000000,pose2_to_pose3_retreat,0.58664935846,0.0100051252124,1.06002093905,0.557220702001,0.0186775340625,1.05963231585
+376,6.266666667,pose2_to_pose3_retreat,0.586509947278,0.0100050922127,1.06002109311,0.557081291159,0.0186775018195,1.05963246102
+377,6.283333333,pose2_to_pose3_retreat,0.586385294108,0.0100051546976,1.06002113753,0.556956638027,0.0186775643012,1.05963250257
+378,6.300000000,pose2_to_pose3_retreat,0.586276670939,0.0100052178916,1.060020995,0.556848014377,0.0186776261699,1.05963236699
+379,6.316666667,pose2_to_pose3_retreat,0.586181605419,0.010005213807,1.06002089265,0.556752950265,0.0186776269572,1.0596322672
+380,6.333333333,pose2_to_pose3_retreat,0.586099915486,0.0100051043605,1.06002092442,0.556671260648,0.0186775181995,1.0596322903
+381,6.350000000,pose2_to_pose3_retreat,0.586028717443,0.0100051694653,1.06002082078,0.556600061199,0.0186775785276,1.05963218655
+382,6.366666667,pose2_to_pose3_retreat,0.585967788721,0.010005163063,1.06002099674,0.556539132088,0.0186775709077,1.05963236467
+383,6.383333333,pose2_to_pose3_retreat,0.585917439786,0.0100050778785,1.06002102133,0.556488784405,0.0186774900715,1.05963239152
+384,6.400000000,pose2_to_pose3_retreat,0.585876479825,0.010005032139,1.06002110071,0.556447825111,0.0186774465166,1.05963246907
+385,6.416666667,pose2_to_pose3_retreat,0.585844494878,0.010005036206,1.0600211487,0.556415840157,0.0186774506191,1.05963251839
+386,6.433333333,pose2_to_pose3_retreat,0.585819475793,0.0100050917289,1.0600210959,0.556390819764,0.018677501922,1.05963247044
+387,6.450000000,pose2_to_pose3_retreat,0.585800799661,0.0100052018011,1.06002098989,0.556372140502,0.0186776015041,1.05963236736
+388,6.466666667,pose2_to_pose3_retreat,0.585785444968,0.0100052100391,1.06002078618,0.556356789629,0.0186776226852,1.05963216323
+389,6.483333333,pose2_to_pose3_retreat,0.585773494867,0.0100052715995,1.0600210383,0.55634483763,0.0186776775433,1.05963240954
+390,6.500000000,pose2_to_pose3_retreat,0.585765613161,0.0100052201523,1.06002121843,0.5563369558,0.0186776255065,1.05963258588
+391,6.516666667,pose2_to_pose3_retreat,0.585760322964,0.0100051583191,1.06002121826,0.556331666137,0.0186775654645,1.05963258532
+392,6.533333333,pose2_to_pose3_retreat,0.585756742911,0.0100052282867,1.06002096069,0.556328084356,0.0186776297657,1.05963233217
+393,6.550000000,pose2_to_pose3_retreat,0.58575487345,0.0100051827602,1.06002089865,0.556326215531,0.0186775864,1.05963227021
+394,6.566666667,pose2_to_pose3_retreat,0.585754312522,0.0100051451465,1.06002090119,0.556325655243,0.018677550929,1.05963227213
+395,6.583333333,pose2_to_pose3_retreat,0.58575350502,0.0100050909983,1.06002090484,0.556324848662,0.0186774998655,1.05963227488
+396,6.600000000,pose2_to_pose3_retreat,0.585752841463,0.0100050568188,1.0600209187,0.556324185545,0.0186774671306,1.05963228762
+397,6.616666667,pose2_to_pose3_retreat,0.58575281052,0.0100050575354,1.06002092178,0.556324154551,0.0186774676704,1.05963229057
+398,6.633333333,pose2_to_pose3_retreat,0.585752793714,0.0100050579245,1.06002092345,0.556324137718,0.0186774679635,1.05963229216
+399,6.650000000,pose2_to_pose3_retreat,0.585752661042,0.0100050609968,1.06002093665,0.55632400483,0.0186774702779,1.05963230478
+400,6.666666667,pose2_to_pose3_retreat,0.58575258178,0.0100050628322,1.06002094454,0.55632392544,0.0186774716605,1.05963231231
+401,6.683333333,pose2_to_pose3_retreat,0.585752498968,0.0100050647499,1.06002095278,0.556323842493,0.0186774731051,1.05963232018
+402,6.700000000,pose2_to_pose3_retreat,0.585752483187,0.0100050651153,1.06002095435,0.556323826686,0.0186774733803,1.05963232168
+403,6.716666667,pose2_to_pose3_retreat,0.585752421663,0.01000506654,1.06002096047,0.556323765062,0.0186774744536,1.05963232753
+404,6.733333333,pose2_to_pose3_retreat,0.585752096251,0.0100050740754,1.06002099285,0.556323439122,0.01867748013,1.05963235847
+405,6.750000000,pose2_to_pose3_retreat,0.585751927117,0.010005077992,1.06002100968,0.556323269712,0.0186774830804,1.05963237454
+406,6.766666667,pose2_to_pose3_retreat,0.585751827376,0.0100050803016,1.0600210196,0.556323169809,0.0186774848202,1.05963238403
+407,6.783333333,pose2_to_pose3_retreat,0.585751644033,0.0100050845472,1.06002103784,0.556322986168,0.0186774880184,1.05963240145
+408,6.800000000,pose2_to_pose3_retreat,0.585751466007,0.0100050887688,1.06002105303,0.556322807858,0.0186774912422,1.05963241595
+409,6.816666667,pose2_to_pose3_retreat,0.585751255302,0.0100050993964,1.0600209276,0.556322597065,0.018677501783,1.05963229526
+410,6.833333333,pose2_to_pose3_retreat,0.585751092442,0.0100051076107,1.06002083064,0.556322434137,0.0186775099303,1.05963220197
+411,6.850000000,pose2_to_pose3_retreat,0.585751002437,0.0100051121504,1.06002077706,0.556322344095,0.0186775144329,1.05963215042
+412,6.866666667,pose2_to_pose3_retreat,0.585750975896,0.0100050938046,1.06002077581,0.556322318042,0.0186774977154,1.05963214856
+413,6.883333333,pose2_to_pose3_retreat,0.585750961835,0.0100050774217,1.06002078007,0.556322304408,0.0186774827501,1.0596321521
+414,6.900000000,pose2_to_pose3_retreat,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53f685c228d981f094b2a1cc2b5f031e56932059
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:077973012288f2f68f1c5d279ae009999ba8911283e7ac93b58cd387b951d78c
+size 26306230
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83bd3029eaa3b4cae984fbfd987ec0a795d8cb4d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
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+1,0.016666667,BASELINE,770,749,726,703,671,641.410439633,895,792.589560367,823,654,634.589560367,654,0.400968558583,0.00450324069091,0.0698228206254,0.999999957986,6.28432430772e-05,-0.000282244353617,2.04242620534e-05,1793252966814282752
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+3,0.050000000,BASELINE,770.755354283,749,726,703,671,641.755354283,895,792.244645717,823,653.244645717,635,654,0.400967663587,0.00450361387474,0.0698228547125,0.999999957794,6.22038796025e-05,-0.00028306074067,2.04725149784e-05,1793252966847616000
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+12,0.200000000,BASELINE,770,749,726,703,671.963728571,641.036271429,895,792,822.036271429,653.036271429,634,654,0.400969787424,0.00450485452497,0.0698246180289,0.999999958405,6.47081096317e-05,-0.000280331550781,2.0443591183e-05,1793252966997615616
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+16,0.266666667,BASELINE,770.296984833,749,726.296984833,702.296984833,671.703015167,641,895,792,823,653.296984833,634.296984833,654.296984833,0.400968837891,0.00450421999789,0.0698242426361,0.999999958455,6.40341011442e-05,-0.000280310897001,2.03741669684e-05,1793252967064282112
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+20,0.333333333,BASELINE,770,749,726,703.612263056,671,641.387736944,895,792,823,653.387736944,635,654,0.400970630592,0.00450214350283,0.0698244078785,0.999999959145,5.92576394429e-05,-0.000278912620102,2.01396716241e-05,1793252967130949120
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+26,0.433333333,BASELINE,770,749,726,703,671.917866043,641,894.917866043,792,822.082133957,653,634.917866043,654,0.40096888434,0.00450275559281,0.0698236930922,0.999999958469,6.243916784e-05,-0.000280634862551,2.01700135741e-05,1793252967230948608
+27,0.450000000,BASELINE,770,749,726,703,671.325023591,641,894.325023591,792,822.674976409,653,634.325023591,654,0.400969071006,0.00450401902162,0.0698245823812,0.999999958383,6.43386119178e-05,-0.000280497772924,2.03678241926e-05,1793252967247615744
+28,0.466666667,BASELINE,770.260829975,749,726,703,671,641.260829975,894.260829975,792,823.260829975,653.260829975,634.260829975,654,0.400969559398,0.00450445274434,0.0698251344754,0.999999958563,6.41344838541e-05,-0.00027990397956,2.03634409682e-05,1793252967264282624
+29,0.483333333,BASELINE,770.838201831,749,726,703,671,641.838201831,894.838201831,792,823.838201831,653.838201831,634.838201831,654,0.400970413963,0.00450387954005,0.0698252773513,0.999999959062,6.13774716282e-05,-0.000278755932956,2.01136763514e-05,1793252967280948992
+30,0.500000000,BASELINE,771,749,726,703,671,642,895,792.413628325,823.586371675,654,634.586371675,654,0.400970045891,0.00450346797009,0.0698247058049,0.999999958952,6.16438646558e-05,-0.000279078812433,2.02707316049e-05,1793252967297615360
+31,0.516666667,BASELINE,771,749,726,703,671,642,895,792.988297405,823.011702595,654,634.011702595,654,0.400969201801,0.00450311933034,0.0698238561074,0.999999958605,6.30873808617e-05,-0.000279974377684,2.05861768359e-05,1793252967314281984
+32,0.533333333,BASELINE,770.422397823,749,726,703,671,641.422397823,895,792.422397823,823,653.422397823,634,654,0.400969389811,0.00450286246282,0.06982477593,0.999999958928,6.23937797735e-05,-0.000278985052415,2.04652492842e-05,1793252967330948608
+33,0.550000000,BASELINE,770,749,726,703,671,641,895,792,823,653,634,654,0.400969438729,0.00450278237389,0.0698252328477,0.999999959128,6.20027740301e-05,-0.000278367914645,2.0288086973e-05,1793252967347615232
+34,0.566666667,BASELINE,770,749,726,703,671,641,895,792,823,653,634,654,0.400969082086,0.00450314403217,0.0698244274851,0.999999958986,6.24883881613e-05,-0.000278789950996,1.99917828563e-05,1793252967364282112
+35,0.583333333,BASELINE,770,749,726,703,671,641,895,792,823,653,634,654,0.400968800888,0.00450302121139,0.0698239830778,0.999999958898,6.1805113863e-05,-0.000279264434543,1.99032927908e-05,1793252967380948992
+36,0.600000000,BASELINE,770,749,726,703,671,641,895,792,823,653,634,654,0.400968579568,0.00450251388752,0.0698238251398,0.99999995885,6.01941601831e-05,-0.000279780542452,1.99797327384e-05,1793252967397615872
+37,0.616666667,BASELINE,770.470395681,749,726,702.529604319,671,641,895,792,823,653,634,654,0.400969508324,0.0045033982305,0.0698247257716,0.999999958918,6.0978352243e-05,-0.000279374568908,1.98778953534e-05,1793252967414282240
+38,0.633333333,BASELINE,770.952835743,749,726,702,671,641,895,792,823,653,634,654,0.400970519627,0.0045044428702,0.0698257093393,0.999999959001,6.21443728035e-05,-0.000278828053324,1.97875070759e-05,1793252967430948608
+39,0.650000000,BASELINE,770.361533303,749,726,702,671,641,895,792,823,653,634,654,0.400969518333,0.00450374909202,0.0698249207078,0.99999995897,6.15407960425e-05,-0.000279037256511,2.02888145839e-05,1793252967447615232
+40,0.666666667,BASELINE,770,749,726,702.224978716,671,641.224978716,894.775021284,792.224978716,823,653,634.224978716,654,0.400969044628,0.00450353387802,0.069824633212,0.999999958959,6.164889513e-05,-0.000279029296083,2.0592361578e-05,1793252967464281856
+41,0.683333333,BASELINE,770,749,726,702.803953147,671,641.803953147,894.196046853,792.803953147,823,653,634.803953147,654,0.400969401064,0.00450407166717,0.0698251342349,0.99999995898,6.28767899665e-05,-0.000278679636701,2.05847396635e-05,1793252967480948480
+42,0.700000000,BASELINE,770,749,726,703,671,641.619652809,894.380347191,792.619652809,823,653.380347191,634.619652809,654,0.400968565262,0.00450527540754,0.0698245844833,0.999999958485,6.59729535633e-05,-0.000279743398229,2.05374360505e-05,1793252967497615360
+43,0.716666667,BASELINE,770,749,726,703,671,641.044579861,894.955420139,792.044579861,823,653.955420139,634.044579861,654,0.400967119072,0.00450682009388,0.0698234967684,0.999999957709,7.00256117634e-05,-0.000281530786663,2.04698166602e-05,1793252967514282240
+44,0.733333333,BASELINE,770,749,726,703,671,641,895,792,823,653.458337576,634,654,0.400968664578,0.00450513038597,0.0698242771377,0.999999958459,6.63565060312e-05,-0.000279747448483,2.04740187842e-05,1793252967530948864
+45,0.750000000,BASELINE,770,749,725.872826032,702.872826032,671,641,895,792,823,653,634,654,0.400970096569,0.0045036912161,0.0698252647639,0.999999959172,6.31447369901e-05,-0.000277939171733,2.04747700688e-05,1793252967547615232
+46,0.766666667,BASELINE,770,749,725.293253058,702.293253058,671,641,895,792,823,653,634,654,0.400970230413,0.00450411017788,0.0698264312269,0.999999959357,6.3868199184e-05,-0.000277109609923,2.04417753557e-05,1793252967564281600
+47,0.783333333,BASELINE,770,749,725.284730274,702.284730274,671,641,895,792,822.715269726,653.284730274,634,654,0.400969390012,0.00450413009067,0.0698262806051,0.999999959211,6.31878551067e-05,-0.000277804081752,2.02376788452e-05,1793252967580948736
+48,0.800000000,BASELINE,770,749,725.861085542,702.861085542,671,641,895,792,822.138914458,653.861085542,634,654,0.400967551775,0.00450374129157,0.0698247810056,0.999999958721,6.10697117987e-05,-0.000280059491463,1.98583373184e-05,1793252967597616384
+49,0.816666667,BASELINE,770.436004983,749,726,703,671,641,894.563995017,792,822,653.563995017,634,654,0.400967979788,0.00450330256838,0.0698242939317,0.999999958584,6.14770609294e-05,-0.000280447562486,2.00213315014e-05,1793252967614283264
+50,0.833333333,BASELINE,770.989240175,749,726,703,671.010759825,641,894.010759825,792,822.010759825,653.010759825,634,654,0.400969123028,0.00450286938391,0.0698241510582,0.99999995857,6.26586701881e-05,-0.000280212226609,2.03516477943e-05,1793252967630949376
+51,0.850000000,BASELINE,770.398785865,749,726,703,671.601214135,641,894.601214135,792,822.601214135,653.601214135,634,654,0.40097002671,0.00450358874804,0.0698252290671,0.999999959112,6.23457891722e-05,-0.000278338439528,2.0417814512e-05,1793252967647616000
+52,0.866666667,BASELINE,770,749,726,702.811932304,671.811932304,641,894.811932304,792,823,653.811932304,634,654,0.400970678992,0.00450388996861,0.0698258507843,0.999999959459,6.18409197384e-05,-0.000277203822289,2.03963183152e-05,1793252967664282624
+53,0.883333333,BASELINE,770,749,726,702.232570505,671.232570505,641,894.232570505,792,823,653.232570505,634,654,0.400970808211,0.00450332119863,0.0698255231395,0.999999959407,6.09365987557e-05,-0.000277607123727,2.01924304418e-05,1793252967680949504
+54,0.900000000,BASELINE,770.3438606,749,726,702.3438606,671,641,894.3438606,792,822.6561394,653.3438606,634,654,0.400970563822,0.00450372302708,0.069825690278,0.999999959394,6.11600391157e-05,-0.000277615141703,2.00097836239e-05,1793252967697615872
+55,0.916666667,BASELINE,770.918326255,749,726,702.918326255,671,641,894.918326255,792,822.081673745,653.918326255,634,654,0.400970068879,0.00450477577311,0.0698261892356,0.999999959409,6.21397960719e-05,-0.000277358068622,1.98413818157e-05,1793252967714282240
+56,0.933333333,BASELINE,771,749,726,703,671,641,894.495661886,792,822.504338114,653.495661886,634.504338114,654,0.400968905985,0.00450391387515,0.0698250906915,0.999999959014,6.19580549608e-05,-0.000278794769349,2.01688731797e-05,1793252967730949888
+57,0.950000000,BASELINE,770.90910524,749,726,703,671.09089476,641,894,792,823,653,634.90910524,654,0.400967878285,0.00450299208136,0.0698240603711,0.999999958634,6.17528038525e-05,-0.000280174724805,2.04930203822e-05,1793252967747617280
+58,0.966666667,BASELINE,770.329902565,749,726,703,671.670097435,641,894,792,823,653,634.329902565,654,0.400968171605,0.00450345326806,0.0698248189432,0.999999958715,6.24554225667e-05,-0.000279741733915,2.03576700568e-05,1793252967764283392
+59,0.983333333,BASELINE,770.249323252,749,726,702.750676748,671.750676748,641,894.249323252,792,823,653,634,654,0.400968428553,0.00450359586657,0.0698252454066,0.999999958812,6.30556968798e-05,-0.000279271371939,2.02051044588e-05,1793252967780950016
+60,1.000000000,BASELINE,770.828579775,749,726,702.171420225,671.171420225,641,894.828579775,792,823,653,634,654,0.400968637372,0.00450331687252,0.0698252323855,0.999999958931,6.35205373799e-05,-0.00027875155617,2.00297576086e-05,1793252967797616640
+61,1.016666667,BASELINE,770.596052393,749,726,702,671,641,894.596052393,792.403947607,823,653.403947607,634,654,0.400969992498,0.00450414207113,0.0698256932955,0.999999959229,6.36374929828e-05,-0.000277647973302,2.00860572773e-05,1793252967814283008
+62,1.033333333,BASELINE,770.022319076,749,726,702,671,641,894.022319076,792.977680924,823,653.977680924,634,654,0.400971829435,0.00450543137979,0.0698263534064,0.999999959602,6.36082269106e-05,-0.000276299023714,2.02397217338e-05,1793252967830949632
+63,1.050000000,BASELINE,770,749,726,702.565669729,671,641,894.565669729,793,823,654,634.565669729,654,0.400971054996,0.00450369500886,0.0698267160096,0.999999959746,6.09519095707e-05,-0.000276372362972,2.02693337516e-05,1793252967847616256
+64,1.066666667,BASELINE,770,749,726,703,671,641,894.848256196,792.848256196,823,654,634.848256196,654,0.400970133001,0.00450236473218,0.0698266904795,0.999999959695,5.9565919024e-05,-0.000276857895064,2.03034892513e-05,1793252967864282880
+65,1.083333333,BASELINE,770,749,726,703,671,641,894.269198928,792.269198928,823,654,634.269198928,654,0.40096909313,0.00450252289591,0.0698256058693,0.99999995913,6.20566281154e-05,-0.000278342055658,2.03645789485e-05,1793252967880949248
+66,1.100000000,BASELINE,770,749,726,702.690864757,671,641,894.309135243,792,823,653.690864757,634,654,0.400968132272,0.00450279344103,0.0698248264181,0.99999995877,6.26284073e-05,-0.000279509259889,2.02892291453e-05,1793252967897615616
+67,1.116666667,BASELINE,770,749,726,702.113158828,671,641,894.886841172,792,823,653.113158828,634,654,0.400967240057,0.0045031616209,0.0698243120833,0.999999958593,6.15330573772e-05,-0.000280401098522,2.0095343355e-05,1793252967914281984
+68,1.133333333,BASELINE,770,749,726,702.46077497,671,641.46077497,894.53922503,792,823,653.46077497,634,654,0.400969282689,0.00450299788164,0.0698258359856,0.99999995928,6.17849220628e-05,-0.000277883678956,2.00957566427e-05,1793252967930948608
+69,1.150000000,BASELINE,770,749,726,703,671,641.96520961,894,792,823,653.96520961,634,654,0.400971717286,0.0045026634127,0.0698276606583,0.99999996008,6.22534097408e-05,-0.000274879423849,2.01391973772e-05,1793252967947615488
+70,1.166666667,BASELINE,770,749,726,703,671,641.375229176,894,792,823,653.375229176,634,654,0.400968998473,0.00450167211133,0.0698263619562,0.999999959477,6.09418546439e-05,-0.00027735877702,2.01139896041e-05,1793252967964282624
+71,1.183333333,BASELINE,770,749,726,702.78896972,671,641.21103028,894.21103028,792,823,653,634.21103028,653.78896972,0.400967658228,0.00450170918577,0.0698254097893,0.999999959085,6.03836642333e-05,-0.000278893664643,2.00569831587e-05,1793252967980949504
+72,1.200000000,BASELINE,770,749,726,702.20921173,671,641.79078827,894.79078827,792,823,653,634.79078827,653.20921173,0.400968726719,0.00450354311428,0.069825063114,0.999999959073,6.11418080869e-05,-0.000278778312644,1.99444157179e-05,1793252967997616128
+73,1.216666667,BASELINE,770.367267585,749,726,702.367267585,671,641.632732415,895,792,823,653,634.632732415,653.367267585,0.400968238647,0.00450376723062,0.0698245405084,0.9999999588,6.15494165667e-05,-0.000279670664043,1.98849053213e-05,1793252968014282240
+74,1.233333333,BASELINE,770.941895716,749,726,702.941895716,671,641.058104284,895,792,823,653,634.058104284,653.941895716,0.400966871735,0.00450308244134,0.069823918572,0.999999958378,6.17591115199e-05,-0.000281131968261,1.98553511215e-05,1793252968030948864
+75,1.250000000,BASELINE,770.473173378,749,726,703,671,641,895,792,823,653,634,654,0.400968797613,0.00450277335965,0.0698247012556,0.999999959013,6.13147673289e-05,-0.000278954521378,1.99555333349e-05,1793252968047615744
+76,1.266666667,BASELINE,770,749,726,703,671,641,894.888094131,792,823,653.111905869,634.111905869,654,0.400970724491,0.00450281134557,0.0698255239833,0.999999959609,6.10416281629e-05,-0.000276865702085,2.00194214277e-05,1793252968064282368
+77,1.283333333,BASELINE,770,749,726,703,671,641,894.307249919,792,823,653.692750081,634.692750081,654,0.40097110337,0.00450412660348,0.0698258523907,0.999999959567,6.17942265005e-05,-0.000276863546311,1.98700635527e-05,1793252968080948992
+78,1.300000000,BASELINE,770.271916746,749,726,703,671,641,894.271916746,792,823,653.728083254,634.728083254,654,0.400970318079,0.00450460185643,0.0698256857627,0.999999959298,6.22782374728e-05,-0.000277718429722,1.99363846099e-05,1793252968097615616
+79,1.316666667,BASELINE,770.849199464,749,726,703,671,641,894.849199464,792,823,653.150800536,634.150800536,654,0.40096822541,0.00450413377303,0.0698249632037,0.999999958774,6.24606213588e-05,-0.000279535779067,2.02449158675e-05,1793252968114282240
+80,1.333333333,BASELINE,771,749,726,703,671.422865317,641,895,792,822.577134683,653,634,654,0.400967820396,0.0045031913559,0.069824854448,0.999999958626,6.09548543873e-05,-0.000280393316873,2.02919079757e-05,1793252968130948864
+81,1.350000000,BASELINE,771,749,726,703,671.995252325,641,895,792,822.004747675,653,634,654,0.400968012123,0.00450208121824,0.0698249627281,0.999999958608,5.88521712048e-05,-0.000280911473378,2.02464220218e-05,1793252968147615488
+82,1.366666667,BASELINE,770.412799776,749,726,702.412799776,671.412799776,641,894.412799776,792,822.587200224,653.587200224,634.587200224,654,0.400968842195,0.00450356304038,0.0698253389021,0.999999958829,6.25459073809e-05,-0.000279317046622,2.02900600728e-05,1793252968164282112
+83,1.383333333,BASELINE,770.175770567,749,726,702.175770567,671.175770567,641,894.175770567,792,823,654,634.824229433,654,0.400969248988,0.00450458988414,0.0698254834061,0.99999995899,6.43132800066e-05,-0.000278343564046,2.02308492653e-05,1793252968180948736
+84,1.400000000,BASELINE,770.756188793,749,726,702.756188793,671.756188793,641,894.756188793,792,823,654,634.243811207,654,0.400968669045,0.00450451939861,0.0698250894158,0.999999959032,6.1534294491e-05,-0.00027884025619,1.99331503941e-05,1793252968197615616
+85,1.416666667,BASELINE,770.668069541,749,726,703,671.668069541,641.331930459,894.668069541,792,823,653.668069541,634,654,0.400969720224,0.00450378628328,0.0698255792512,0.999999959483,6.07061808343e-05,-0.000277402105331,1.99270163657e-05,1793252968214282240
+86,1.433333333,BASELINE,770.095715238,749,726,703,671.095715238,641.904284762,894.095715238,792,823,653.095715238,634,654,0.400971952857,0.00450257321197,0.0698267092592,0.999999960227,6.12911227055e-05,-0.000274562509098,2.01320685806e-05,1793252968230948864
+87,1.450000000,BASELINE,770,749,726,703,671.480181573,642,894.480181573,792,822.519818427,653.480181573,634,654,0.400970694743,0.00450282822966,0.0698262792846,0.999999959836,6.09849037407e-05,-0.000276047743316,2.01816007895e-05,1793252968247615488
+88,1.466666667,BASELINE,770.056492144,749,726,702.943507856,671.943507856,641.943507856,895,792,822.056492144,653.943507856,634.056492144,654,0.400968863393,0.00450332481139,0.0698255052597,0.999999959233,6.06591799538e-05,-0.00027829201341,2.01899656032e-05,1793252968264282368
+89,1.483333333,BASELINE,770.630078498,749,726,702.369921502,671.369921502,641.369921502,895,792,822.630078498,653.369921502,634.630078498,654,0.400968201399,0.00450333400256,0.0698244494415,0.999999958819,6.17929786049e-05,-0.000279534486669,2.01073734057e-05,1793252968280949248
+90,1.500000000,BASELINE,770.787964523,749,726,702.212035477,671,641,895,792,823,653,634.787964523,654,0.40096828714,0.00450332006271,0.0698242243558,0.999999958839,6.15116693734e-05,-0.000279534547315,1.99759091935e-05,1793252968297616128
+91,1.516666667,BASELINE,770.190803835,749,726,702.809196165,671,641,895,792,823,653,634.190803835,654,0.40096973101,0.00450326410944,0.0698255081502,0.999999959643,5.8660065048e-05,-0.000277277983484,1.97556775579e-05,1793252968314282496
+92,1.533333333,BASELINE,770,749,726,703,671,641.391848043,894.608151957,792,822.608151957,653,634,654,0.400970321566,0.00450391764464,0.0698259771073,0.999999959939,5.85909060915e-05,-0.000276235945918,1.95755759967e-05,1793252968330949120
+93,1.550000000,BASELINE,770,749,726,703,671,641.967687397,894.032312603,792,822.032312603,653,634,654,0.40097051145,0.00450490431847,0.0698260634596,0.999999959999,5.98282374537e-05,-0.000275764186057,1.94143173966e-05,1793252968347615488
+94,1.566666667,BASELINE,770,749,726,703,671,642,894.553554484,792,822.553554484,653.553554484,634,654,0.400970478824,0.00450450993081,0.069825894048,0.999999959522,6.31676950987e-05,-0.000276714213979,1.98543047934e-05,1793252968364281856
+95,1.583333333,BASELINE,770,749,726,703,671,641.861503548,895,792,823,653.861503548,634,654,0.400970266443,0.00450408516907,0.0698257460067,0.999999959123,6.53006944737e-05,-0.00027763453028,2.0213558282e-05,1793252968380948736
+96,1.600000000,BASELINE,770,749,726,703,671,641.281411984,895,792,823,653.281411984,634,654,0.400969523096,0.00450382534752,0.0698257145857,0.999999959105,6.31884399028e-05,-0.000278190603684,2.02014227571e-05,1793252968397615872
+97,1.616666667,BASELINE,770.297410979,749,726,703,671,641,895,792,822.702589021,653.297410979,634,654,0.400969715591,0.00450364005472,0.069826197251,0.999999959398,6.21139808626e-05,-0.000277380368437,2.01728051203e-05,1793252968414282496
+98,1.633333333,BASELINE,770.875038648,749,726,703,671,641,895,792,822.124961352,653.875038648,634,654,0.400970789825,0.00450352498192,0.0698271642817,0.999999959984,6.20173191668e-05,-0.000275282815223,2.01286582566e-05,1793252968430949376
+99,1.650000000,BASELINE,770.553992998,749,726,703,671,641,895,792,822.446007002,654,634,654,0.400970248895,0.00450317014072,0.0698271434141,0.99999995983,6.05976070188e-05,-0.000276156540312,2.01259901529e-05,1793252968447616000
+100,1.666666667,BASELINE,770.015815817,749,726,703,671,641,895,792.015815817,823,653.984184183,634,654,0.400969305429,0.00450280112534,0.0698268363013,0.999999959483,5.8906145857e-05,-0.000277774841204,2.01238989816e-05,1793252968464282368
+101,1.683333333,BASELINE,770.610468262,749,726,703,671,641,895,792.610468262,823,653.389531738,634,654,0.400969948189,0.0045043357997,0.069826034022,0.999999959707,6.06361869844e-05,-0.000276623945178,1.97238516718e-05,1793252968480948736
+102,1.700000000,BASELINE,771,749,726,703,671,641,895,792.799680564,823,653,634,654,0.400969865884,0.00450508348376,0.0698252649277,0.999999959722,6.14958554571e-05,-0.000276394587438,1.94927273251e-05,1793252968497615360
+103,1.716666667,BASELINE,771,749,726,703,671,641,895,792.218947246,823,653,634,654,0.400968406657,0.00450433664453,0.069824558853,0.999999959347,6.07026544595e-05,-0.000277915264495,1.95823938645e-05,1793252968514281984
+104,1.733333333,BASELINE,771,749,726,703,671.357011109,641,895,792.357011109,823,653.357011109,634,654,0.400969106024,0.00450367403069,0.0698253113308,0.999999959461,6.06570527521e-05,-0.000277500882895,1.97798002445e-05,1793252968530948608
+105,1.750000000,BASELINE,771,749,726,703,671.930079789,641,895,792.930079789,823,653.930079789,634,654,0.400971111738,0.00450306238868,0.0698269465017,0.99999995987,6.1063886429e-05,-0.000275915434043,2.00424091087e-05,1793252968547615488
+106,1.766666667,BASELINE,770.496483285,749,726,703,671.496483285,641,895,792.496483285,823,654,634.503516715,654,0.400971249712,0.00450323644973,0.0698272801824,0.999999959909,6.24413505782e-05,-0.000275467443227,2.00025761206e-05,1793252968564282112
+107,1.783333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895,793,823,653,634,654,0.400972224892,0.00450250295262,0.0698286585252,0.999999960692,6.27615825332e-05,-0.00027253729298,1.99974376476e-05,1793252968606771968
+108,1.800000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895,792.421433293,823,653.578566707,634,654,0.400971256465,0.00450339653234,0.0698282355227,0.999999960279,6.31015609774e-05,-0.00027396760318,2.00632210073e-05,1793252968623438848
+109,1.816666667,POSE1_TO_POSE2_PRESS,770.844130552,749,726,703,671,641,895,792,823,653.844130552,634.155869448,654,0.400970293269,0.00450407678536,0.0698275797125,0.999999959929,6.30653781373e-05,-0.000275252091287,2.00460301313e-05,1793252968640105472
+110,1.833333333,POSE1_TO_POSE2_PRESS,770.270217654,749,726,703,671,641,895,792,823,653.270217654,634.729782346,654,0.400969344099,0.00450418489422,0.0698262995096,0.999999959752,6.20203269748e-05,-0.000276145483377,1.98063015244e-05,1793252968656772096
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671.31187023,641.31187023,895,792,823,653,634.68812977,654,0.400968621965,0.00450397201731,0.0698254466367,0.999999959474,6.17211174068e-05,-0.000277222304887,1.97454567163e-05,1793252968673438464
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671.901231903,641.901231903,895,792,823,653,634.098768097,654,0.400968101838,0.00450347353827,0.0698249739875,0.999999959105,6.20855321905e-05,-0.000278462335556,1.98437765962e-05,1793252968690104832
+113,1.883333333,POSE1_TO_POSE2_PRESS,770.482037722,749,726,703,671.517962278,641.517962278,895,792.482037722,823,653.482037722,634.482037722,654,0.400968498528,0.00450263042076,0.0698256057398,0.999999959265,6.15389950021e-05,-0.000277987867751,2.01243253716e-05,1793252968706771456
+114,1.900000000,POSE1_TO_POSE2_PRESS,771,749,726,702.939250165,671,641.060749835,895,792.939250165,823,654,634.939250165,654,0.400969225752,0.00450184783774,0.0698263865341,0.999999959549,6.06701680392e-05,-0.000277136527135,2.03856699954e-05,1793252968723438080
+115,1.916666667,POSE1_TO_POSE2_PRESS,771,749,726,702.363683801,671,641.636316199,895,792.363683801,823,654,634.363683801,654,0.400971189861,0.00450216623078,0.0698265461563,0.999999959986,5.86243055416e-05,-0.000276016517692,2.01733724699e-05,1793252968740104704
+116,1.933333333,POSE1_TO_POSE2_PRESS,770.783873576,749.216126424,726.216126424,702.216126424,671,642,895,792,823,654,634,654.216126424,0.400975105713,0.00450230050064,0.0698281247314,0.999999960763,5.77723091962e-05,-0.000273378658654,2.00113599738e-05,1793252968756771584
+117,1.950000000,POSE1_TO_POSE2_PRESS,770.196779078,749.803220922,726.803220922,702.803220922,671,642,895,792,823,654,634,654.803220922,0.400982371617,0.00450211873405,0.069832138854,0.999999962114,5.89695128716e-05,-0.000268135501726,1.99356587434e-05,1793252968773438208
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,749.615055552,726.615055552,703,671.384944448,641.615055552,895,792,823,653.615055552,634,654.615055552,0.401006691436,0.00450176671573,0.0698429179034,0.99999996649,6.05053505574e-05,-0.000250896121571,2.02782676273e-05,1793252968790104576
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,749.036039771,726.036039771,703,671.963960229,641.036039771,895,792,823,653.036039771,634,654.036039771,0.401039609058,0.00450132886429,0.0698571075188,0.999999971945,6.22119120581e-05,-0.000227608795375,2.08317692661e-05,1793252968806771200
+120,2.000000000,POSE1_TO_POSE2_PRESS,770.542853198,749,726,703,671.457146802,641,895,792,823,653.542853198,634,654,0.401093321356,0.00450185075301,0.0698741858269,0.999999978317,6.1337851851e-05,-0.00019799615452,2.00520169456e-05,1793252968823437824
+121,2.016666667,POSE1_TO_POSE2_PRESS,770.879030316,749,726,703,671,641,895,792,823,654,634.120969684,654,0.401151011181,0.00450255955301,0.0698899812731,0.999999983153,6.00596364513e-05,-0.000172388589895,1.91862206023e-05,1793252968840104448
+122,2.033333333,POSE1_TO_POSE2_PRESS,770.303798881,749,726,703,671,641,895,792,823,654,634.696201119,654,0.401218454286,0.00450373102388,0.0699002393596,0.999999984806,5.79069631986e-05,-0.000163397329646,1.83296244852e-05,1793252968856771328
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,895,792,823,654,634.72263085,654,0.401292777718,0.00450470544688,0.0699068478327,0.999999986115,5.78418843521e-05,-0.000155327745309,1.72304916114e-05,1793252968873437696
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,895,792,823,654,634.134818362,654,0.401374801899,0.00450545932546,0.0699093715029,0.999999987073,6.01133299969e-05,-0.000148289740361,1.58599013461e-05,1793252968890104320
+125,2.083333333,POSE1_TO_POSE2_PRESS,770.42648903,749,726,703,671,641,895,792.42648903,823,654,634.42648903,654,0.401471389493,0.00450488400688,0.0699092493388,0.999999987364,5.53864889663e-05,-0.000148390099907,1.36124060493e-05,1793252968906771456
+126,2.100000000,POSE1_TO_POSE2_PRESS,770.979908067,749,726,703,671,641,895,792.979908067,823,654,634.979908067,654,0.401572311391,0.00450391309778,0.0699083397317,0.999999987416,4.85768450138e-05,-0.00015061495187,1.11039297092e-05,1793252968923438336
+127,2.116666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.579911043,895,792.420088957,823,654,635,654,0.401696468133,0.00450702495526,0.0699058832018,0.999999986531,4.82908541085e-05,-0.000156657667509,8.06311069208e-06,1793252968940104704
+128,2.133333333,POSE1_TO_POSE2_PRESS,770.826153887,749,726,703,671,641.826153887,895,792,823,654,635,654,0.401833627767,0.00450938452978,0.069905059418,0.999999986187,4.72246718707e-05,-0.00015928775725,4.90503892914e-06,1793252968956771328
+129,2.150000000,POSE1_TO_POSE2_PRESS,770.250308365,749,726,703,671,641.250308365,895,792,823,654,635,654,0.401998831018,0.0045096488683,0.0699081459334,0.999999987229,4.37860834913e-05,-0.00015369394616,1.52220849538e-06,1793252968973438208
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.334578622,749.334578622,726.334578622,703,671,641,895,792,823,653.665421378,635,654,0.402179997827,0.00451017277381,0.0699123323667,0.999999988485,4.0085106224e-05,-0.000146348681088,-2.2567129555e-06,1793252968990104832
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.926417734,749.926417734,726.926417734,703,671,641,895,792,823,653.073582266,635,654,0.402373439178,0.0045108962627,0.069917364537,0.999999989851,3.6182375431e-05,-0.000137656706809,-6.34019268481e-06,1793252969006771456
+132,2.200000000,POSE1_TO_POSE2_PRESS,771,749.495802747,726.495802747,703,671,641,895,792,823,653,635,654,0.402594732301,0.00451212714888,0.0699199187838,0.999999990797,3.13336078822e-05,-0.000131506250994,-1.14053290209e-05,1793252969023438080
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.919823996,749.080176004,726,702.919823996,671,641,895,791.919823996,823,653.080176004,635,654,0.402826336804,0.00451385927116,0.0699226785924,0.9999999917,2.65597983837e-05,-0.000124973214857,-1.6644043477e-05,1793252969040104448
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.342633602,749.657366398,726,702.342633602,671,641,895,791.342633602,823,653.657366398,635,654,0.403097348566,0.00451825199588,0.0699288936122,0.999999993011,2.30833013587e-05,-0.000113831648153,-2.20947811294e-05,1793252969056771328
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.239100643,749.760899357,726,702.239100643,671,641,895,791.478201285,823,654,635,654,0.403386748724,0.00452091785028,0.0699364594663,0.999999994458,1.76601806047e-05,-0.000100041746362,-2.7643307295e-05,1793252969073438208
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.827472374,749.172527626,726,702.827472374,671,641,895,792.654944748,823,654,635,654,0.403703010088,0.00452106114377,0.0699459985787,0.999999996007,9.39349016539e-06,-8.23832363089e-05,-3.33346796743e-05,1793252969090105088
+137,2.283333333,POSE1_TO_POSE2_PRESS,771,749.409498003,726,703,671,641.409498003,895,792.590501997,823,653.590501997,635,654,0.404038000021,0.00452324424341,0.0699498680468,0.999999996204,4.24259812629e-06,-7.7701545353e-05,-3.92053655335e-05,1793252969106771456
+138,2.300000000,POSE1_TO_POSE2_PRESS,771,749.988890713,726,703,671,641.988890713,895,792.011109287,823,653.011109287,635,654,0.404380760154,0.00452627362864,0.0699513852625,0.999999995907,3.84405284665e-07,-7.84037464806e-05,-4.51504457823e-05,1793252969123438080
+139,2.316666667,POSE1_TO_POSE2_PRESS,771,749.436116124,726,703,671.563883876,641.436116124,895.563883876,792,823,653.563883876,635,654,0.404763261704,0.00452774666922,0.0699573918552,0.999999996239,-2.00943365093e-06,-7.06353738404e-05,-5.027566286e-05,1793252969140104704
+140,2.333333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671.861129505,641.138870495,895.861129505,792,823.138870495,654,634.861129505,654,0.405156889871,0.00452829906416,0.0699624756688,0.999999996686,1.45320056234e-05,-6.32361749202e-05,-4.91832235339e-05,1793252969156771328
+141,2.350000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671.285893306,641.714106694,895.285893306,792,823.714106694,654,634.285893306,654,0.405583039361,0.00452605416298,0.0699643841088,0.999999993843,9.0482857357e-05,-5.75173380884e-05,-2.86037190132e-05,1793252969173437952
+142,2.366666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.70221417,895,791.70221417,824,653.70221417,634.29778583,654,0.406023824592,0.00451699907725,0.0699617216427,0.999999991297,0.000115264152304,-6.09071978669e-05,-2.0280082304e-05,1793252969190104576
+143,2.383333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.110192685,895,791.110192685,824,653.110192685,634.889807315,654,0.406479071128,0.00450121499709,0.0699545427648,0.99999999302,8.94859386807e-05,-7.32971607557e-05,-2.40661977238e-05,1793252969206771456
+144,2.400000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.470400146,895.470400146,791.470400146,824,653.470400146,635,654,0.406963642864,0.00450410756711,0.0699372371745,0.999999990741,8.99364592647e-05,-9.8029825122e-05,-2.8632848589e-05,1793252969223438080
+145,2.416666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,896,792,824.048149468,654,635,654,0.407461550934,0.00451152552979,0.0699198672671,0.999999988164,8.81497682577e-05,-0.000121675765211,-3.31004293797e-05,1793252969240104704
+146,2.433333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,896,792,824.623383483,654,635,654,0.408032034234,0.00452172512591,0.0699271455728,0.999999994141,-3.79113553789e-06,-0.000102525488586,-3.45294333744e-05,1793252969256771584
+147,2.450000000,POSE1_TO_POSE2_PRESS,771,749,726.198207767,703,671,641.801792233,896,791.801792233,825,653.801792233,635,654,0.408621248401,0.00452864933495,0.0699368457291,0.999999994632,-5.54897559211e-05,-7.98599053373e-05,-3.57771338769e-05,1793252969273438464
+148,2.466666667,POSE1_TO_POSE2_PRESS,771,749,726.772255086,703,671,641.227744914,896,791.227744914,825,653.227744914,635,654,0.409245979814,0.00452936278766,0.0699511381736,0.999999997574,-3.08813620894e-05,-5.05286358568e-05,-3.66810488993e-05,1793252969290106112
+149,2.483333333,POSE1_TO_POSE2_PRESS,770.64216939,749,726.64216939,703,671,641.35783061,896,791,825,653,634.64216939,654,0.409869540149,0.00453806725995,0.0699517748408,0.999999998184,2.61729105176e-06,-4.61321977764e-05,-3.86991061519e-05,1793252969306772736
+150,2.500000000,POSE1_TO_POSE2_PRESS,770.049012395,749,726.049012395,703,671,641.950987605,896,791,825,653,634.049012395,654,0.410492330302,0.00455202700578,0.0699434308205,0.999999996571,4.1962599486e-05,-5.81340888633e-05,-4.14498761269e-05,1793252969323438592
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.527342783,749,726,703,671,641.472657217,896,791,825,653,634.527342783,654,0.411162187229,0.00455628762765,0.0699434504843,0.999999995349,6.11861529979e-05,-6.17322709258e-05,-4.18120145153e-05,1793252969340105216
+152,2.533333333,POSE1_TO_POSE2_PRESS,770.897716808,749,726,703,671,641,896,791,825.102283192,653,635,654,0.411849678081,0.00456086037894,0.0699495258155,0.999999994686,7.64949365572e-05,-5.4781465784e-05,-4.21390507163e-05,1793252969356771584
+153,2.550000000,POSE1_TO_POSE2_PRESS,770.322320443,749,726,703,671,641,896,791,825.677679557,653,635,654,0.412599125327,0.00457091785379,0.0699801271937,0.999999995691,8.20792217415e-05,-2.53733767375e-06,-4.32989006736e-05,1793252969373437952
+154,2.566666667,POSE1_TO_POSE2_PRESS,770.260015926,749,726,703,671,641,896.260015926,791,826,653,634.739984074,654,0.413364799731,0.00457891715732,0.0700066025989,0.999999994628,8.58048271177e-05,3.80789255988e-05,-4.39493436192e-05,1793252969390104832
+155,2.583333333,POSE1_TO_POSE2_PRESS,770.851191244,749,726,703,671,641,896.851191244,791,826,653,634.148808756,654,0.414151141341,0.00458429515061,0.07002782312,0.999999993195,8.71631966096e-05,6.38858082761e-05,-4.39509999591e-05,1793252969406771712
+156,2.600000000,POSE1_TO_POSE2_PRESS,771,749,726,702.567371153,671,641.432628847,897,791.432628847,826,653,634.432628847,654,0.414888346042,0.00458975650461,0.0699991364386,0.999999993946,9.977190812e-05,1.0911451714e-05,-4.50975917602e-05,1793252969423438336
+157,2.616666667,POSE1_TO_POSE2_PRESS,771,749,726,702.010732472,671,642,897.010732472,791.989267528,826,653,635,654,0.415610492582,0.00459529690502,0.0699538750451,0.999999989909,0.000115656935408,-6.80409264421e-05,-4.66378409481e-05,1793252969440104960
+158,2.633333333,POSE1_TO_POSE2_PRESS,771,749,726,702.585773416,671,642,897.585773416,791.414226584,826,653,635,654,0.416409992388,0.00460351911565,0.0699198493508,0.999999986187,0.000104820387081,-0.000119473961558,-4.86255485719e-05,1793252969456771584
+159,2.650000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,898,791.160891721,826.160891721,653,635,654,0.417229755293,0.00461094264364,0.0699041665923,0.999999983283,0.000102503726232,-0.000142909576137,-5.00304894917e-05,1793252969473438208
+160,2.666666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,898,791.736209258,826.736209258,653,635,654,0.418101711958,0.00461630891982,0.069935731675,0.999999986856,0.000122132641457,-9.42292719552e-05,-4.9934336689e-05,1793252969490104832
+161,2.683333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.678811073,898.321188927,792,827,653,635,654,0.419001973027,0.00462067395293,0.0699666720336,0.999999987927,0.000139312519208,-4.75645424997e-05,-4.9747470195e-05,1793252969506771456
+162,2.700000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.085649856,898.914350144,792,827,653,635,654,0.419926201297,0.00462419116585,0.0699970833946,0.99999998685,0.000154418631021,-2.60653838585e-06,-4.94837903145e-05,1793252969523438080
+163,2.716666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,899,791.506035806,827,653,635,654,0.420856067424,0.00462189250847,0.0700201726742,0.999999989517,0.000131464178729,3.21109837412e-05,-5.14951377965e-05,1793252969540104960
+164,2.733333333,POSE1_TO_POSE2_PRESS,771,749,726,702.929099875,671,641.070900125,899.070900125,791.070900125,827,653,635,654,0.421779575866,0.00461519441914,0.0700353177063,0.999999991745,0.000103353974786,5.44783873132e-05,-5.34798652771e-05,1793252969556771328
+165,2.750000000,POSE1_TO_POSE2_PRESS,771,749,726,702.354945536,671,641.645054464,899.645054464,791.645054464,827,653,635,654,0.42265120293,0.00458423568784,0.0700028450196,0.99999999507,8.42407144069e-05,1.45083351434e-06,-5.25503814774e-05,1793252969573438208
+166,2.766666667,POSE1_TO_POSE2_PRESS,771,749,725.774748123,702,671,641.774748123,899.774748123,791.774748123,827,653,635,653.774748123,0.42350328338,0.00456513081293,0.0699495445419,0.999999992756,7.10148627015e-05,-8.17019054973e-05,-5.26307993601e-05,1793252969590104832
+167,2.783333333,POSE1_TO_POSE2_PRESS,771,749,725.184765601,702,671,641.184765601,899.184765601,791.184765601,827,653,635,653.184765601,0.424323713847,0.00456521984512,0.0698625194403,0.999999973437,6.73219729304e-05,-0.000213633727553,-5.43464620725e-05,1793252969606771456
+168,2.800000000,POSE1_TO_POSE2_PRESS,771,749,725,702.397931471,671,641,899.397931471,791.397931471,827,653,635,653.397931471,0.425287217959,0.00457050671727,0.0698605159562,0.999999974412,6.51905166797e-05,-0.000209609521619,-5.46897574059e-05,1793252969623438080
+169,2.816666667,POSE1_TO_POSE2_PRESS,771,749,725,702.977306583,671,641,899.977306583,791.977306583,827,653,635,653.977306583,0.426315958891,0.00457816363319,0.069897279534,0.999999986177,6.37710229989e-05,-0.0001435938386,-5.44072984091e-05,1793252969640104704
+170,2.833333333,POSE1_TO_POSE2_PRESS,770.44787416,749,725,703,671.55212584,641.55212584,900,791.44787416,827.55212584,653,635,654,0.427320730806,0.00458268398736,0.0699588452914,0.999999992959,8.53711186473e-05,-6.36083808533e-05,-5.24238340535e-05,1793252969656771328
+171,2.850000000,POSE1_TO_POSE2_PRESS,770.126878847,749,725,702.873121153,671.873121153,641.873121153,900,791,827.873121153,653,635,654,0.428328356079,0.00458709917851,0.0700163111936,0.999999993529,0.000100492857917,1.47099364008e-05,-5.12436035259e-05,1793252969673437952
+172,2.866666667,POSE1_TO_POSE2_PRESS,770.702053948,749,725,702.297946052,671.297946052,641.297946052,900,791,827.297946052,653,635,654,0.429349515347,0.00459159457635,0.0700557188395,0.999999990968,8.94092320618e-05,8.51256632566e-05,-5.3146414671e-05,1793252969690104576
+173,2.883333333,POSE1_TO_POSE2_PRESS,771,749,725,702,671,641,900.285432169,791,827,653,635,654,0.430310840675,0.00459202301185,0.0700561773543,0.999999991175,8.41537677337e-05,8.74870983833e-05,-5.39788887455e-05,1793252969706771200
+174,2.900000000,POSE1_TO_POSE2_PRESS,771,749,725,702,671,641,900.877626482,791,827,653,635,654,0.431207860683,0.00458808056592,0.0700147761175,0.999999994794,8.51619966152e-05,1.67086287277e-05,-5.36610407535e-05,1793252969723437824
+175,2.916666667,POSE1_TO_POSE2_PRESS,770.544220604,749,725,702,671.911558792,641,901,791,827,653,635,654,0.432083637346,0.00458309369644,0.0699387266813,0.999999988287,8.89312649067e-05,-0.000112310465302,-5.38869127616e-05,1793252969740104704
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,749,725,702,672.970309027,641,901,791,827,653,635,654,0.432960706766,0.00457782768671,0.0698608154892,0.999999964584,9.2210413666e-05,-0.000243677553996,-5.43123930375e-05,1793252969756771328
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,749,725,702,672.406896046,641,901,791,827,653,635,654,0.433960478106,0.00457243404086,0.0699116659513,0.999999985276,7.37516257411e-05,-0.000144560109711,-5.57802459598e-05,1793252969773437952
+178,2.966666667,POSE1_TO_POSE2_PRESS,770.168243558,749,724.831756442,702,672.168243558,641.168243558,901,791,827.168243558,653,635,654,0.434959484872,0.00457029516945,0.0699624500333,0.999999995123,6.25696567853e-05,-5.12912452263e-05,-5.66446948949e-05,1793252969790104832
+179,2.983333333,POSE1_TO_POSE2_PRESS,770.773868918,749,724.226131082,702,672.773868918,641.773868918,901,791,827.773868918,653,635,654,0.435956504195,0.00457661771511,0.0700130615583,0.999999995606,7.03051894289e-05,2.67731187473e-05,-5.59404793408e-05,1793252969806771456
+180,3.000000000,POSE1_TO_POSE2_PRESS,770.637070811,749,724,702,672.637070811,641.637070811,901.362929189,791,828,653,635,654,0.436934794699,0.00457891128779,0.0700369196015,0.999999993031,7.56587426465e-05,7.11765215196e-05,-5.61077735299e-05,1793252969823438080
+181,3.016666667,POSE1_TO_POSE2_PRESS,770.057881295,749,724,702,672.057881295,641.057881295,901.942118705,791,828,653,635,654,0.437901925114,0.00457880409695,0.0700448359182,0.999999990657,7.95929342339e-05,9.55222040415e-05,-5.67943784933e-05,1793252969840104704
+182,3.033333333,POSE1_TO_POSE2_PRESS,770.51760126,749,724,702,672,641,901.48239874,791,828,653,635,654,0.438765733309,0.00458140591092,0.0699864138389,0.999999995123,7.93576473202e-05,1.03579916888e-05,-5.78670615032e-05,1793252969856771328
+183,3.050000000,POSE1_TO_POSE2_PRESS,771,749,724,702,672,641,901.092784163,791,828,653,635.092784163,654,0.43961007572,0.00458454774404,0.0699218500014,0.999999991361,7.88284565165e-05,-8.72786600776e-05,-5.86996856982e-05,1793252969873438208
+184,3.066666667,POSE1_TO_POSE2_PRESS,771,749,724,702,672,641,901.66854972,791,828,653,635.66854972,654,0.44041280679,0.00458893490333,0.0698636568313,0.99999997778,7.9179178047e-05,-0.00018654701657,-5.80595639021e-05,1793252969890104832
+185,3.083333333,POSE1_TO_POSE2_PRESS,771,749,724.243661892,702,672.243661892,641,902,791,828,653,635.756338108,654,0.441280568224,0.004590969415,0.0698603647491,0.999999976403,8.0469532484e-05,-0.000193322265621,-5.7833817494e-05,1793252969906771456
+186,3.100000000,POSE1_TO_POSE2_PRESS,771,749,724.817887604,702,672.817887604,641,902,791,828,653,635.182112396,654,0.442236553013,0.00458981220777,0.0699315542131,0.999999992077,8.30346395786e-05,-7.46167648101e-05,-5.81702333927e-05,1793252969923438080
+187,3.116666667,POSE1_TO_POSE2_PRESS,771,749,725,702,673.406247839,641,902,791,828,653,635,654,0.443137630306,0.00458763814609,0.0699909598637,0.999999994439,8.78198899688e-05,1.22709906603e-05,-5.70923720834e-05,1793252969940104960
+188,3.133333333,POSE1_TO_POSE2_PRESS,771,749,725,702,673.998866724,641,902.001133276,791,828,652.998866724,635,654,0.444013100404,0.00458499127156,0.0700447663225,0.999999990544,9.35886160164e-05,8.4191235047e-05,-5.53627290079e-05,1793252969956771328
+189,3.150000000,POSE1_TO_POSE2_PRESS,771,749,725,702,673.423961734,641,902.576038266,791,828,652.423961734,635,654,0.444834835351,0.0045820676593,0.070034605638,0.9999999938,7.52353507124e-05,5.98438624958e-05,-5.61963175458e-05,1793252969973437952
+190,3.166666667,POSE1_TO_POSE2_PRESS,770.849245949,749,724.849245949,702,673,641,902.849245949,791,828,652.150754051,635.150754051,654,0.445634546841,0.00457824907788,0.0700179658394,0.99999999616,5.87856935837e-05,3.0986664866e-05,-5.71254723295e-05,1793252969990104576
+191,3.183333333,POSE1_TO_POSE2_PRESS,770.275061464,749,724.275061464,702,673,641,902.275061464,791,828,652.724938536,635.724938536,654,0.446372400134,0.00457191675121,0.0699831278275,0.999999997107,4.76827917201e-05,-1.05375092049e-05,-5.83230490526e-05,1793252970006771456
+192,3.200000000,POSE1_TO_POSE2_PRESS,770.307567505,749,724,702,673,641,902,791,828,652.692432495,635.692432495,654,0.447066612401,0.00456841266278,0.0699472717202,0.999999994882,4.87684667506e-05,-6.71881332625e-05,-5.7820452322e-05,1793252970023438080
+193,3.216666667,POSE1_TO_POSE2_PRESS,770.897961645,749,724,702,673,641,902,791,828,652.102038355,635.102038355,654,0.447720694102,0.00456750930822,0.0699104794156,0.999999987094,6.10622645881e-05,-0.000137748426162,-5.57544446326e-05,1793252970040104704
+194,3.233333333,POSE1_TO_POSE2_PRESS,770.523019257,749,724,702,673,641,902,791,828,652.476980743,635,653.523019257,0.448415537184,0.00456982335108,0.0699005622314,0.999999983931,7.13224128857e-05,-0.000155151788394,-5.45856512355e-05,1793252970056771584
+195,3.250000000,POSE1_TO_POSE2_PRESS,770.053961069,749,724,702,673,641,902.053961069,791,828,653,635,653.053961069,0.449123435049,0.0045723056383,0.0699016253988,0.999999983707,7.96857279115e-05,-0.000152785804748,-5.37761995086e-05,1793252970073437696
+196,3.266666667,POSE1_TO_POSE2_PRESS,770.634237763,749,724,702,673,641,902.634237763,791,828,653,635,653.634237763,0.449875594785,0.00456987203223,0.0699550166521,0.999999993619,7.36925262658e-05,-6.59281762728e-05,-5.46431534698e-05,1793252970090104320
+197,3.283333333,POSE1_TO_POSE2_PRESS,770.787978513,749,724,702,673,641,903,791,828,653,635,654,0.450569667249,0.00456968084707,0.0699884231713,0.999999995742,7.28865547893e-05,-1.27459153959e-05,-5.51381249545e-05,1793252970106771200
+198,3.300000000,POSE1_TO_POSE2_PRESS,770.214445536,749,724,702,673,641,903,791,828,653,635,654,0.451164696767,0.00457331314688,0.0699877543131,0.999999995069,8.0925175541e-05,-1.6982525018e-05,-5.4998840741e-05,1793252970123438592
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,749,724,702,672.629598908,640.629598908,903,791,828,653,635,654.370401092,0.451704152771,0.00457654325775,0.069956701323,0.999999992516,8.846110497e-05,-6.42977790791e-05,-5.4849741915e-05,1793252970140105472
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,749,724,702,672.037995759,640.037995759,903,791,828,653,635,654.962004241,0.45221042055,0.00457953318332,0.0699075030503,0.999999984494,9.56968295298e-05,-0.000137339428301,-5.46947815899e-05,1793252970156772352
+201,3.350000000,POSE1_TO_POSE2_PRESS,770.5405849,749,724.5405849,702,672,640,903,791,828,653,635,654.4594151,0.452709022122,0.00458383097211,0.0698678703866,0.999999974961,0.000104262761365,-0.000190153580136,-5.52112367729e-05,1793252970173439488
+202,3.366666667,POSE1_TO_POSE2_PRESS,770.881895384,749,724.881895384,702,671.881895384,640,903,791,828,653,635,654,0.453206055378,0.00458799762892,0.0698359665214,0.999999965109,0.000111761262992,-0.000232723464817,-5.59609886401e-05,1793252970190106624
+203,3.383333333,POSE1_TO_POSE2_PRESS,770.305024855,749,724.305024855,702,671.305024855,640,903,791,828,653,635,654,0.453699040606,0.00459130624337,0.0698315342355,0.999999962751,0.000114758807936,-0.000240893123318,-5.74379611582e-05,1793252970206772992
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,749,724,702,671,640,903.276554131,791.276554131,828,653,635,654,0.454167342262,0.0045940137537,0.0698339062687,0.99999996253,0.000120780034135,-0.000238847504692,-5.74892727915e-05,1793252970223439360
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,749,724,702,671,640,903.863416214,791.863416214,828,653,635,654,0.454607947652,0.00459604679412,0.0698439130981,0.999999964571,0.000130193985938,-0.0002253398195,-5.59409195308e-05,1793252970240105984
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,749,724,702,671,639.555261229,904,791.555261229,828,653,635,654,0.455003498946,0.0045975597893,0.0698437513229,0.999999962519,0.000130494113862,-0.000233995268434,-5.63865732906e-05,1793252970256772096
+207,3.450000000,POSE1_TO_POSE2_PRESS,770.024267273,749,724,702,671,639,903.975732727,791,828,653,635,654,0.455383058755,0.00459900126538,0.0698394625558,0.999999958701,0.000128162718927,-0.000250738840081,-5.74693762504e-05,1793252970273437952
+208,3.466666667,POSE1_TO_POSE2_PRESS,770.601205603,749,724,702,671,639,903.398794397,791,828,653,635,654,0.455709665226,0.00460240650994,0.0698114308707,0.999999945366,0.000128860104513,-0.000298577048123,-5.92878635283e-05,1793252970290105088
+209,3.483333333,POSE1_TO_POSE2_PRESS,770.822377689,749,724,702,670.822377689,639,903.177622311,791,828,653,635,654,0.456039943398,0.00460588581656,0.0697939023422,0.99999993869,0.000109630127102,-0.000326875375601,-6.12609940587e-05,1793252970306771968
+210,3.500000000,POSE1_TO_POSE2_PRESS,770.247128763,749,724,702,670.247128763,639,903.752871237,791,828,653,635,654,0.456378441025,0.00460953091854,0.0697998862614,0.999999948436,4.57906080387e-05,-0.000311431576321,-6.35803099571e-05,1793252970323438848
+211,3.516666667,POSE1_TO_POSE2_PRESS,770.336363428,749,724,701.663636572,670,639,903.663636572,791,828,653,635,654,0.45668662616,0.00461252083134,0.0698080128738,0.999999953812,2.66356937006e-05,-0.000295942989663,-6.39153962469e-05,1793252970340105472
+212,3.533333333,POSE1_TO_POSE2_PRESS,770.926064224,749,724,701.073935776,670,639,903.073935776,791,828,653,635,654,0.456971981003,0.00461501727856,0.0698177532897,0.999999957867,4.11356803724e-05,-0.000280420669677,-6.27560293997e-05,1793252970356771328
+213,3.550000000,POSE1_TO_POSE2_PRESS,770.493766396,749,724,701,670,639,903,791,828.506233604,653,635,654,0.457224121161,0.00461762429826,0.0698226343871,0.999999957716,7.71031217178e-05,-0.000275387585173,-5.27658601958e-05,1793252970373437696
+214,3.566666667,POSE1_TO_POSE2_PRESS,770.084530843,749,724,701.084530843,669.915469157,638.915469157,903.084530843,791,828.915469157,653,635,654,0.457464392792,0.00462027625943,0.0698245969025,0.999999955079,0.00011096585709,-0.000275017128407,-4.35286844943e-05,1793252970390104576
+215,3.583333333,POSE1_TO_POSE2_PRESS,770.659891394,749,724,701.659891394,669.340108606,638.340108606,903.659891394,791,828.340108606,653,635,654,0.457663396758,0.00462309713742,0.0698136573955,0.999999949437,0.000114738653146,-0.000292989331247,-4.60143019841e-05,1793252970406771456
+216,3.600000000,POSE1_TO_POSE2_PRESS,771,749,724,702,669,638.239974998,904,791,828,653,635,654,0.457848168509,0.00462466796372,0.0698027798653,0.999999944017,0.000117039633341,-0.00030977467449,-4.8029794247e-05,1793252970423438336
+217,3.616666667,POSE1_TO_POSE2_PRESS,771,749,724,702,669,638.826886782,904,791,828,653,635,654,0.458012364444,0.00462443156443,0.0697919919369,0.99999993915,0.000117212778889,-0.000324844149406,-4.93656166665e-05,1793252970440105472
+218,3.633333333,POSE1_TO_POSE2_PRESS,771,749,724,702,669,639,904,791,828,653,635,654,0.458154916795,0.004626145187,0.0697811071497,0.999999933587,0.000118892416087,-0.000340714472981,-5.10342742016e-05,1793252970456772096
+219,3.650000000,POSE1_TO_POSE2_PRESS,771,749,724,702,669,639,904,791,828,653,635,654,0.458288414518,0.00462867460391,0.0697701818417,0.999999927563,0.000121202296129,-0.000356919832263,-5.28421737258e-05,1793252970473438464
+220,3.666666667,POSE1_TO_POSE2_PRESS,770.431945913,749,724,702,668.431945913,639,904,791,828,653,635,654,0.458389762897,0.00462929983975,0.0697569686067,0.999999920504,0.000122130968635,-0.00037572163612,-5.39459605626e-05,1793252970490104832
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,749,724,701.85685308,668,638.85685308,904,791,828.14314692,653,635,654,0.458486316154,0.00463054115009,0.0697449384823,0.99999991354,0.000123956657923,-0.000393096569113,-5.50383283944e-05,1793252970506771456
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,749,724,701.281908345,668,638.281908345,904,791,828.718091655,653,635,654,0.458569615092,0.00463371249675,0.0697365632852,0.999999907718,0.00012854015293,-0.00040606966788,-5.61227520614e-05,1793252970523438336
+223,3.716666667,POSE1_TO_POSE2_PRESS,770.300152436,749.300152436,724,701,668,638,904,791,829,653,635,654,0.45864549495,0.00463508985414,0.0697314211189,0.999999904093,0.0001303654429,-0.000414267085663,-5.65880979977e-05,1793252970540104960
+224,3.733333333,POSE1_TO_POSE2_PRESS,770.889059103,749.889059103,724,701,668,638,904,791,829,653,635,654,0.458714237476,0.00463474134888,0.069729389209,0.999999902709,0.000129537270461,-0.000417870179208,-5.64578756436e-05,1793252970556771328
+225,3.750000000,POSE1_TO_POSE2_PRESS,771,749.529965794,724,701,667.529965794,638,904,791,828.529965794,653,635,654,0.458771446402,0.00463434171897,0.069729486806,0.999999903013,0.000129008653239,-0.00041736650337,-5.60001694464e-05,1793252970573437952
+226,3.766666667,POSE1_TO_POSE2_PRESS,771,749,724,701.048885084,667.048885084,638,904,790.951114916,828.048885084,653,635,654,0.458824416606,0.00463408600771,0.069729962966,0.999999903524,0.000128914410795,-0.000416235878203,-5.55054373998e-05,1793252970590104832
+227,3.783333333,POSE1_TO_POSE2_PRESS,771,749,724,701.624683576,667.624683576,638,904,790.375316424,828.624683576,653,635,654,0.458860554401,0.00463550944467,0.0697291918453,0.99999990203,0.000132752689574,-0.000418622045849,-5.54309265167e-05,1793252970606771712
+228,3.800000000,POSE1_TO_POSE2_PRESS,771,749,724,701.795717025,667.795717025,638,904,790.204282975,828.795717025,653,635,654.204282975,0.458892965587,0.00463620145692,0.0697280932798,0.999999900678,0.000135876355923,-0.000420887268372,-5.50949090691e-05,1793252970623438592
+229,3.816666667,POSE1_TO_POSE2_PRESS,771,749,724,701.209002099,667.209002099,638,904,790.790997901,828.209002099,653,635,654.790997901,0.4589184003,0.00463552419109,0.0697263817148,0.999999899619,0.000137662217819,-0.000422926073075,-5.42693331309e-05,1793252970640104960
+230,3.833333333,POSE1_TO_POSE2_PRESS,770.627282866,749,724,701.372717134,667,638,904,791,828,653,635,654.627282866,0.45893656047,0.00463675945415,0.0697244115429,0.999999898402,0.000139631313328,-0.000425133343267,-5.44075215044e-05,1793252970656771584
+231,3.850000000,POSE1_TO_POSE2_PRESS,770.048327948,749,724,701.951672052,667,638,904,791,828,653,635,654.048327948,0.458950695374,0.0046390529882,0.0697222982746,0.999999897094,0.00014170179852,-0.000427433831396,-5.50789953283e-05,1793252970673438208
+232,3.866666667,POSE1_TO_POSE2_PRESS,770.530471852,749,724,701.469528148,667.530471852,638,904,791,828.530471852,653,635,654,0.458958533797,0.0046388107894,0.069720709472,0.999999896123,0.00014066473775,-0.000430082829748,-5.47364928966e-05,1793252970690104576
+233,3.883333333,POSE1_TO_POSE2_PRESS,770.891774965,749,724.108225035,701.108225035,667.891774965,638,904,790.891774965,828.891774965,653,635,654,0.458965054077,0.00463848050273,0.0697192707824,0.999999895251,0.000139668394924,-0.000432475101519,-5.4377600154e-05,1793252970706771456
+234,3.900000000,POSE1_TO_POSE2_PRESS,770.318459007,749,724.681540993,701.681540993,667.318459007,638,904,790.318459007,828.318459007,653,635,654,0.458968374142,0.00463876414567,0.0697182719199,0.999999894698,0.000140063324365,-0.000433627698313,-5.43451399025e-05,1793252970723439104
+235,3.916666667,POSE1_TO_POSE2_PRESS,770.262191978,749,724.737808022,701.737808022,667,638,904,790.262191978,828,653,635,654,0.458970719324,0.00463892696644,0.0697171860337,0.999999893631,0.000141878047389,-0.000435540581553,-5.39801616452e-05,1793252970740106496
+236,3.933333333,POSE1_TO_POSE2_PRESS,770.852008596,749,724.147991404,701.147991404,667,638,904,790.852008596,828,653,635,654,0.458971846332,0.00463893881271,0.0697159914059,0.999999891906,0.000145466887902,-0.000438403488566,-5.3199682143e-05,1793252970756772864
+237,3.950000000,POSE1_TO_POSE2_PRESS,771,749,724,701.433765528,667,638,903.566234472,791,828.433765528,653,635,654.433765528,0.458974405714,0.00463905010448,0.069716585395,0.999999892357,0.000145565605376,-0.000437353862122,-5.30918355552e-05,1793252970773438976
+238,3.966666667,POSE1_TO_POSE2_PRESS,771,749,724,701.98723955,667,638,903.01276045,791,829,653,635.01276045,654.98723955,0.458977379918,0.00463917944798,0.0697177224525,0.999999893494,0.000144524712586,-0.000435079169468,-5.32047013931e-05,1793252970790105344
+239,3.983333333,POSE1_TO_POSE2_PRESS,771,749,724,701.410997668,667,638,903.589002332,791,829,653,635.589002332,654.410997668,0.45897748571,0.00463863502212,0.0697163850077,0.999999892808,0.000144783073923,-0.000436578029341,-5.31149206682e-05,1793252970806771712
+240,4.000000000,POSE1_TO_POSE2_PRESS,770.835413318,749,724,701.164586682,667.164586682,638,904,790.835413318,829,653,635.835413318,654,0.458977600307,0.00463804582921,0.0697153930718,0.999999892393,0.000144372085801,-0.000437681475426,-5.29641754107e-05,1793252970823438080
+241,4.016666667,POSE1_TO_POSE2_PRESS,770.261464426,749,724,701.738535574,667.738535574,638,904,790.261464426,829,653,635.261464426,654,0.458977736808,0.00463734529113,0.0697152604906,0.999999892654,0.000142296282677,-0.000437801442919,-5.26617983525e-05,1793252970840104960
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,749,724,702,667.677906234,638,904,790,828.677906234,653,635,654.322093766,0.458977438995,0.00463807513152,0.0697144043053,0.999999892244,0.000142473838051,-0.000438667385878,-5.27613981279e-05,1793252970856771584
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,749,724,702,667.086307704,638,904,790,828.086307704,653,635,654.913692296,0.458976777781,0.00464000180919,0.0697129426603,0.99999989127,0.000144536840915,-0.000440157507137,-5.31973430543e-05,1793252970873438464
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,749,724,701.506071238,667,638,904,790,828,653,635,654.506071238,0.458975851268,0.00463977351723,0.0697118512093,0.9999998903,0.000144843563554,-0.000442248042186,-5.32590036275e-05,1793252970890105088
+245,4.083333333,POSE1_TO_POSE2_PRESS,770.071876296,749,724,701.071876296,667.071876296,638,904,790,828,653,635,654,0.458975081237,0.00463922858333,0.0697109698056,0.999999889482,0.000144813231891,-0.000444112594468,-5.31834968795e-05,1793252970906771456
+246,4.100000000,POSE1_TO_POSE2_PRESS,770.647383727,749,724,701.647383727,667.647383727,638,904,790,828,653,635,654,0.45897572519,0.00463904411395,0.0697111171233,0.99999988975,0.00014452317048,-0.000443675106029,-5.25948276894e-05,1793252970923438080
+247,4.116666667,POSE1_TO_POSE2_PRESS,770.772273976,749,724,701.772273976,667.772273976,638,904,790,828,653,635,654,0.458976412013,0.00463922111312,0.0697113727728,0.99999988995,0.000144628699702,-0.000443201340928,-5.24851142591e-05,1793252970940104704
+248,4.133333333,POSE1_TO_POSE2_PRESS,770.184282777,749,724,701.184282777,667.184282777,638,904,790,828,653,635,654,0.458977166656,0.00463996995964,0.0697117998046,0.999999890045,0.000145360057785,-0.000442670185663,-5.31331142322e-05,1793252970956771328
+249,4.150000000,HOLD_POSE2,770,749,724,702,667,638,904,790,828,654,635,654,0.458979228234,0.0046403006281,0.0697131586306,0.99999989123,0.000143649168566,-0.000440606430893,-5.26347944738e-05,1793252970990754560
+250,4.166666667,HOLD_POSE2,770.577408376,749,724,701.422591624,667,638,904,790.577408376,828,653.422591624,635,654.577408376,0.458978364585,0.00463875489014,0.0697129149388,0.999999890743,0.00014271197768,-0.00044202748387,-5.25279767031e-05,1793252971007422208
+251,4.183333333,HOLD_POSE2,771,749,724,701,667,638,904,791,828.153249742,653,635,654.846750258,0.458977698446,0.00463805846697,0.0697124045084,0.999999890181,0.000142552948368,-0.000443352658934,-5.2480290068e-05,1793252971024089344
+252,4.200000000,HOLD_POSE2,771,749,724,701,667,638,904,791,828.724813886,653,635,654.275186114,0.458977571433,0.00463968035476,0.0697111659813,0.999999889421,0.000144518008526,-0.000444416123521,-5.25940092649e-05,1793252971040755456
+253,4.216666667,HOLD_POSE2,770.692590873,749,724,701,667,638,904,791,829,653,635,654,0.458977566569,0.00463955759927,0.0697105246199,0.999999889345,0.000144644532052,-0.000444562015237,-5.24704921326e-05,1793252971057421824
+254,4.233333333,HOLD_POSE2,770.099753327,749,724,701,667,638,904,791,829,653,635,654,0.45897767512,0.00463781494784,0.0697104377249,0.999999889904,0.000143063979924,-0.000443855943333,-5.21267018004e-05,1793252971074088192
+255,4.250000000,HOLD_POSE2,770,749,724,701.481553637,666.518446363,638,904,790.518446363,828.518446363,652.518446363,635,654,0.458977508883,0.00463813973314,0.0697102492723,0.999999889571,0.000143674283526,-0.000444403483468,-5.21664997053e-05,1793252971090754560
+256,4.266666667,HOLD_POSE2,770.060186334,749,724.060186334,702,666.060186334,638,904,790.060186334,828,652.060186334,635,654,0.458977457761,0.00463886517726,0.0697100983384,0.999999889158,0.000144573866528,-0.00044502629667,-5.22962589269e-05,1793252971107421440
+257,4.283333333,HOLD_POSE2,770.635893319,749,724.635893319,702,666.635893319,638,904,790.635893319,828,652.635893319,635,654,0.458978868808,0.00463943992459,0.069710444749,0.999999889608,0.00014415487886,-0.000444121565534,-5.25318828319e-05,1793252971124088320
+258,4.300000000,HOLD_POSE2,770.78445087,749,724.78445087,701.78445087,667,638.21554913,904,791,828,653,635,654.21554913,0.458979808976,0.00463927097263,0.0697108949114,0.99999988997,0.000143654995049,-0.000443472740436,-5.24942822867e-05,1793252971140754944
+259,4.316666667,HOLD_POSE2,770.198000264,749,724.198000264,701.198000264,667,638.801999736,904,791,828,653,635,654.801999736,0.458979938889,0.00463782231625,0.0697115236022,0.99999989018,0.000143015911001,-0.000443264260176,-5.19865366889e-05,1793252971157421568
+260,4.333333333,HOLD_POSE2,770.383609383,749,724,701.383609383,667,639,904.383609383,791,828,653,635,655,0.458979092695,0.00463709603734,0.069710731663,0.999999889631,0.000142096066748,-0.000444795624006,-5.20045863995e-05,1793252971174088448
+261,4.350000000,HOLD_POSE2,770.962751557,749,724,701.962751557,667,639,904.962751557,791,828,653,635,655,0.458977748961,0.00463673796746,0.0697092156026,0.999999888688,0.000141033113772,-0.000447213818499,-5.22906436492e-05,1793252971190755072
+262,4.366666667,HOLD_POSE2,770.458240569,749,724,702,667,638.458240569,904.458240569,790.458240569,828,652.458240569,635,654.458240569,0.458980140899,0.00463641037005,0.0697106652801,0.999999890474,0.000139378442107,-0.000443719368667,-5.23267947184e-05,1793252971207421440
+263,4.383333333,HOLD_POSE2,770,749,724,702,667,638,904,790,828.119357039,652.238714079,635,654,0.458981844348,0.00463656346257,0.0697117020131,0.999999891675,0.000138779981794,-0.00044119542552,-5.23077696269e-05,1793252971224088064
+264,4.400000000,HOLD_POSE2,770,749,724,702,667,638,904,790,828.691638308,653.383276616,635,654,0.458979960779,0.004638532681,0.0697103981679,0.999999889988,0.000142343869814,-0.000443896508224,-5.21445526596e-05,1793252971240754688
+265,4.416666667,HOLD_POSE2,770.272356817,749,724.272356817,701.727643183,667,638,904,790.272356817,828.727643183,653.727643183,635,654,0.458979198657,0.00463909203783,0.0697101533582,0.999999889266,0.00014452239786,-0.000444854631118,-5.18250399167e-05,1793252971257421056
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,771,749,724,702,667,638,904,790,828,653,635,654,0.458980866066,0.0046369757874,0.0697112012105,0.999999890589,0.000142498995674,-0.000442574372286,-5.14106106855e-05,1793252971306751232
+268,4.466666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,667,638,904,790.577100478,828,653,635,654,0.458980437004,0.00463647720842,0.0697109832019,0.999999890559,0.00014090470853,-0.000443164523327,-5.13121832797e-05,1793252971323418112
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.846638631,749,724,701.846638631,667,638,904,791,828.153361369,653,635,654,0.458980435761,0.00463634396826,0.0697110594878,0.999999890633,0.000140248119919,-0.000443213535088,-5.12470134243e-05,1793252971340084736
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.272680197,749,724,701.272680197,667,638,904,791,828.727319803,653,635,654,0.458981607825,0.00463721267809,0.0697119428829,0.999999890996,0.000142163190639,-0.00044177846012,-5.12730531402e-05,1793252971356750848
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,749,724,701,666.689900403,638,904,790.689900403,828.689900403,653,635,654,0.458981915215,0.00463850121274,0.0697117515661,0.999999890581,0.000144437115072,-0.000441958627246,-5.14565015498e-05,1793252971373416960
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,749,724,701,666.099136628,638,904,790.099136628,828.099136628,653,635,654,0.458981440007,0.00464016972134,0.0697105875515,0.999999889459,0.000147035829822,-0.000443600713776,-5.17824170289e-05,1793252971390083328
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,749,724,701,666.482176697,638,904,790.482176697,828.482176697,652.517823303,635,654,0.458980854338,0.00463870776275,0.0697104867599,0.999999889734,0.000144532675077,-0.000443805130798,-5.17687243253e-05,1793252971406749952
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770.060962784,749,724,701.060962784,667,638,903.939037216,790.939037216,828.939037216,652.060962784,635,654,0.458980227493,0.00463708658803,0.0697106253766,0.999999890189,0.000141790098493,-0.000443671756364,-5.17059076884e-05,1793252971423416576
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770.634522628,749,724,701.634522628,667,638,903.365477372,790.365477372,828.365477372,652.634522628,635,654,0.458979441718,0.00463943451814,0.0697109742811,0.999999889861,0.000145684831756,-0.000443135744618,-5.18058606563e-05,1793252971440083456
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770.786508831,749,724,702,667,638,903.213491169,790,828,652.786508831,635,654.213491169,0.45897405412,0.00464038855961,0.0697084090919,0.999999888005,0.000147361605143,-0.000446756926147,-5.17868697582e-05,1793252971456750080
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770.198040485,749,724,702,667,638,903.801959515,790,828,652.198040485,635,654.801959515,0.458960583855,0.00463889436638,0.0697007255707,0.999999883402,0.000145142739987,-0.00045767982708,-5.15589651222e-05,1793252971473416960
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.615469404,667,638,904,790.384530596,828,652.384530596,635,654.615469404,0.458930102953,0.00463774866375,0.0696867383961,0.99999987354,0.000143669751357,-0.000479183200592,-5.15901740124e-05,1793252971490083840
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.035889598,667,638,904,790.964110402,828,652.964110402,635,654.035889598,0.458890993579,0.00463677972928,0.0696695537571,0.999999860452,0.000142575100684,-0.0005060534113,-5.17528155386e-05,1793252971506750208
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770.541071597,749,724,701.541071597,667,638,903.458928403,790.458928403,828,653,635,654,0.458834185774,0.00463857352133,0.0696498207643,0.999999848146,0.000143429187464,-0.000529563080221,-5.19566851052e-05,1793252971523417088
+281,4.683333333,POSE2_TO_POSE3_RETREAT,771,749,724,702,666.882440269,638,903.117559731,790,828,653,635,654,0.458772932205,0.00464018541882,0.0696315519897,0.999999836116,0.000145082174312,-0.000551379698597,-5.19494433987e-05,1793252971540083456
+282,4.700000000,POSE2_TO_POSE3_RETREAT,771,749,724,702,666.307120909,638,903.692879091,790,828,653,635,654,0.458698916647,0.00464037892377,0.0696196396725,0.999999826532,0.000149345058426,-0.000567467628819,-5.1109569661e-05,1793252971556750080
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770.725325647,749,724,702,666.274674353,638,904,790,828,653,635,654,0.458620537259,0.004640064312,0.0696132635158,0.999999820865,0.000151955313778,-0.000576787467563,-4.99663160872e-05,1793252971573416704
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770.136114699,749,724,702,666.863885301,638,904,790,828,653,635,654,0.458537160742,0.00463916784281,0.0696132269584,0.999999819922,0.000152673101627,-0.000578356991577,-4.84756546001e-05,1793252971590083328
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770.444139683,749,724,701.555860317,667,638,903.555860317,790.444139683,828,653,635,654,0.45844098506,0.00463848395045,0.0696173125535,0.999999822893,0.00015239213002,-0.000573396058707,-4.69896819551e-05,1793252971606749952
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770.978392912,749.021607088,724,701.021607088,667,638,903.021607088,791,828.021607088,653,635,654,0.458339929717,0.0046379302189,0.0696225945078,0.999999826932,0.000152049355267,-0.00056652425609,-4.54760928133e-05,1793252971623416576
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770.403392553,749.596607447,724,701.596607447,667,638,903.596607447,791,828.596607447,653,635,654,0.458212374895,0.0046390745546,0.0696268013562,0.999999829278,0.000157808154977,-0.000560957252237,-4.32191230079e-05,1793252971640083200
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770.175778366,749.824221634,724,702,667,638,904,791,828.824221634,653,635,654,0.458076797499,0.00463906125559,0.0696317209966,0.999999832352,0.000162292796816,-0.000554356831483,-4.0553358705e-05,1793252971656749824
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770.764752793,749.235247207,724,702,667,638,904,791,828.235247207,653,635,654,0.45792236174,0.00463632674497,0.0696383161718,0.999999837215,0.00016378231948,-0.000545327194561,-3.6926655786e-05,1793252971673416448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770.652163719,749,724,701.652163719,667,638,903.652163719,790.652163719,828,653,635,654,0.457750071213,0.00463593098172,0.0696476029895,0.999999843101,0.000167526528463,-0.000533469409581,-3.38174943723e-05,1793252971690083072
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770.072997958,749,724,701.072997958,667,638,903.072997958,790.072997958,828,653,635,654,0.457565906307,0.0046370906086,0.0696586798922,0.999999849533,0.000172770222944,-0.000519730755943,-3.10525250007e-05,1793252971706749696
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.503666345,667.503666345,638,903.503666345,790.503666345,828,653,635,654,0.45735064722,0.00463681576007,0.0696681130967,0.999999854972,0.000178247498925,-0.000507501605071,-2.69330774341e-05,1793252971723416576
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770.079670971,749,724,701.920329029,668,638.079670971,903.920329029,791,828,653,635,654,0.45712499633,0.00463594728748,0.0696768834737,0.999999859929,0.000183309820464,-0.00049601447975,-2.25609879003e-05,1793252971740083200
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770.653820564,749,724,701.346179436,668,638.653820564,903.346179436,791,828,653,635,654,0.456862680423,0.00463267845679,0.0696830112569,0.999999863654,0.000185587650977,-0.000487781606961,-1.78332430467e-05,1793252971756750080
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770.765490183,749,724,701,668.234509817,639,903,791,828,653,635,654,0.456582136902,0.00463095372432,0.0696875911324,0.999999865483,0.000190023179901,-0.00048245004396,-1.29587799509e-05,1793252971773416704
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770.174870295,749,724,701,668.825129705,639,903,791,828,653,635,654,0.456273914228,0.00463157375071,0.0696898204639,0.999999864487,0.000197735237339,-0.000481524205916,-7.86152116449e-06,1793252971790083072
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,749,724,701,669,638.592063786,903,791,828,653,635,654,0.455934783407,0.00462953341375,0.0696885123315,0.999999861582,0.000202783704456,-0.000485500289274,-2.24914816743e-06,1793252971806749952
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,749,724,701,669,638.012543712,903,791,828,653,635,654,0.45558265218,0.00462637408956,0.0696857162906,0.999999857824,0.000206711826834,-0.000491538191525,3.57988917281e-06,1793252971823416576
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770.56278848,749,724,701.56278848,669.56278848,638.56278848,903,791,828,653,635,654,0.455188194292,0.00462612049066,0.0696779260432,0.99999985153,0.000215382792596,-0.000500459326134,9.51733748203e-06,1793252971840083200
+300,5.000000000,POSE2_TO_POSE3_RETREAT,771,749,724,702,670,639,903,790.861969559,828,653,635,654,0.45478796148,0.00462565835268,0.0696720169673,0.999999847653,0.000223332124413,-0.000504568481998,1.50532193033e-05,1793252971856749824
+301,5.016666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,670,639,903,790.286720037,828,653,635,654,0.454372402547,0.00462433202648,0.069672416595,0.999999852031,0.000228663267292,-0.000493233373824,1.93095185566e-05,1793252971873416704
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770.703719725,749,724,702,670,639,902.703719725,790.296280275,828,653,635,654,0.453943800576,0.00462049704772,0.0696859223064,0.999999863713,0.000229934527381,-0.000468112536666,2.39879769058e-05,1793252971890083072
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770.113017159,749,724,702,670,639,902.113017159,790.886982841,828,653,635,654,0.453502237312,0.00461416914807,0.0697124519129,0.999999881628,0.000227171364748,-0.000429292419475,2.90859474616e-05,1793252971906749696
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,670.465192331,639,902,791,827.534807669,653,635,654,0.453015513212,0.00460663460952,0.069726909555,0.999999897743,0.000203971413049,-0.000402905090049,2.40274533718e-05,1793252971923416576
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.959637391,671,639,901.959637391,790.959637391,827,653,635,654,0.452513162322,0.00459939018106,0.0697369098508,0.99999991127,0.000175410541223,-0.00038265275336,1.63824281362e-05,1793252971940082944
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.385569829,671,639,901.385569829,790.385569829,827,653,635,654,0.451945463623,0.00459975666872,0.0697257378706,0.999999908333,0.000139898271337,-0.000404626992459,6.30996532495e-06,1793252971956749824
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,749,723.810333279,701.189666721,671,639,900.810333279,790.189666721,827,653,635,654,0.451363199737,0.00460004038755,0.0697192725638,0.999999904556,0.000117836856167,-0.000420713028592,1.83383917195e-06,1793252971973416448
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770,749,723.23270561,701.76729439,671,639,900.23270561,790.76729439,827,653,635,654,0.450751142971,0.00460015480373,0.0697224347005,0.999999902153,0.000123289001574,-0.000424754817858,8.80495150096e-06,1793252971990083328
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770,749,723.35452436,702,671.35452436,639,900,791,826.64547564,653,635,654,0.450127989937,0.00459758640686,0.0697342549935,0.999999906556,0.00012368122242,-0.000413959745789,1.51303129928e-05,1793252972006749952
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770,749,723.948232608,702,671.948232608,639,900,791,826.051767392,653,635,654,0.449497350705,0.00459320801967,0.06975191661,0.999999915214,0.00012065970739,-0.000393154816284,2.10200110553e-05,1793252972023416576
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.48907894,672,639.51092106,899.48907894,791,826,653,635,654,0.448900738106,0.0045925824379,0.0697830647683,0.999999937279,0.000104423098326,-0.000337850440198,1.98780234154e-05,1793252972040083200
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.074782802,672,639.925217198,899,791,826,653,635,654,0.448281609874,0.00459196845198,0.0698104981393,0.999999954195,8.75836769696e-05,-0.000289116050777,1.87456256857e-05,1793252972056749824
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.667279996,672,639.332720004,899,791,826,653,635,654,0.447484106754,0.00458895304505,0.0698032958326,0.999999949273,7.53100809796e-05,-0.000308679291673,2.23296128338e-05,1793252972073416448
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770.258598668,749,724,701.741401332,672,639,898.741401332,791,826,653,635,654,0.446679713348,0.00458627696045,0.0697784137271,0.999999936996,5.96707094456e-05,-0.000349111831716,2.38411448127e-05,1793252972090083328
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770.84840798,749,724,701.15159202,672,639,898.15159202,791,826,653,635,654,0.445866494823,0.00458403547616,0.0697308875071,0.999999912312,3.97204836347e-05,-0.000416273567736,2.26982968918e-05,1793252972106749952
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770.568696303,749,724,701.431303697,672.431303697,639.431303697,898,791,826,653,635,654,0.445083362931,0.00458248949711,0.0697274356945,0.999999915027,2.29116199463e-05,-0.000410995186373,2.2455301104e-05,1793252972123416576
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770.01167819,749,724,701.98832181,672.98832181,640,897.98832181,791.01167819,825.98832181,653,635,654,0.444310054147,0.00458117692941,0.0697397333343,0.999999927422,1.09257339923e-05,-0.000380164861446,2.25947929355e-05,1793252972140082944
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770.58581194,749,724,701.41418806,672.41418806,640,897.41418806,791.58581194,825.41418806,653,635,654,0.443508580842,0.0045795183561,0.0697762493328,0.999999930649,0.000178890372506,-0.00032559906027,2.61636169693e-05,1793252972156749568
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770.840154498,749,724,701.159845502,672,640,896.840154498,791.840154498,825,653,635,654,0.442696780636,0.00457727409508,0.0698063429966,0.999999916928,0.000291180188091,-0.000283749118134,2.90561268461e-05,1793252972173416448
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770.266380413,749,724,701.733619587,672,640,896.266380413,791.266380413,825,653,635,654,0.441858238406,0.00457351316418,0.0698198056749,0.999999928161,0.000259297037931,-0.000274827607038,3.01972861896e-05,1793252972190083328
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,749.317559683,724,702,672,640,896,791,825,653,635,654,0.440997561108,0.00456978986136,0.0698284824684,0.999999939808,0.000229810888864,-0.000258154569895,3.04572414738e-05,1793252972206749952
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770,749.910309385,724,702,672,640,896,791,825,653,635,654,0.440117702108,0.00456609916638,0.069833011922,0.999999951511,0.000202401928173,-0.000234764236497,2.99535652397e-05,1793252972223416320
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770,749.509438042,724,702,671.509438042,640,895.509438042,791.490561958,824.509438042,653,634.509438042,654,0.439148101862,0.00456434851407,0.0697875523121,0.999999934041,0.000177046782445,-0.000315628358908,3.08382949466e-05,1793252972240083200
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770.068220997,749,724,702,671.068220997,640,895,791.931779003,824.068220997,653,634.068220997,654,0.438168320213,0.00456249299817,0.0697349399731,0.9999999043,0.000151913807754,-0.000409048878303,3.16534206037e-05,1793252972256750080
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770.643165533,749,724,702,671.643165533,640,895,791.356834467,824.643165533,653,634.643165533,654,0.437231757762,0.00455728942329,0.0696953992017,0.999999886913,0.000125711238803,-0.000457671755578,3.01129079442e-05,1793252972273416704
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770.776497337,749,724,702,672,640,895,791,825,653,635,654,0.436321387888,0.00455181724126,0.0696924810304,0.999999889824,0.00011124775494,-0.000455076074833,2.96808413196e-05,1793252972290083328
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770.187337675,749,724,702,672,640,895,791,825,653,635,654,0.435453869701,0.0045459056091,0.0697494785153,0.999999924826,0.000115989759048,-0.000368685317612,3.10622250867e-05,1793252972306749696
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770.395154192,749,724,702,672,640,895,791,825,653,635,654,0.434533699691,0.00454206614054,0.0697975149337,0.999999945425,0.000114524586807,-0.000308070048617,3.35687067272e-05,1793252972323416576
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770.97453736,749,724,702,672,640,895,791,825,653,635,654,0.433588982374,0.00453919275744,0.0698413735159,0.999999959599,0.0001101655016,-0.0002594718454,3.65997319587e-05,1793252972340083200
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770.447054283,749,724,702,671.447054283,640,895,791,825,653,635,654,0.432656753848,0.00453065762034,0.0698513938783,0.999999968248,9.16643230956e-05,-0.000231922241248,3.62475662249e-05,1793252972356749568
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770.129940164,749,724,702.129940164,671.129940164,640,895,791.129940164,824.870059836,653,635,654,0.431697117368,0.00452305267703,0.0698429224624,0.999999967769,7.95446676771e-05,-0.000238417649624,3.59388117721e-05,1793252972373416192
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770.702273359,749,724,702.702273359,671.702273359,640,895,791.702273359,824.297726641,653,635,654,0.430642213551,0.00451950074069,0.0697767898764,0.999999931254,9.1364755493e-05,-0.000357528224915,3.63073320637e-05,1793252972390082816
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770.716633198,749,724,702.716633198,671.716633198,640,895,791.716633198,824,653,634.716633198,654,0.42963073529,0.00451441603746,0.0697267193264,0.999999899838,8.92207516377e-05,-0.000437153620092,3.54966049236e-05,1793252972406749440
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770.126041989,749,724,702.126041989,671.126041989,640,895,791.126041989,824,653,634.126041989,654,0.428666338796,0.00450766951877,0.0696940631335,0.999999884531,7.19369724677e-05,-0.000473969441228,3.34073459038e-05,1793252972423416064
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,749,724,702.456441708,671,640,894.543558292,791,823.543558292,653,634.456441708,654,0.427743900007,0.00449944634649,0.0697481633245,0.99999992231,5.95303374335e-05,-0.00038808689471,3.49974858974e-05,1793252972440082944
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,749,724.036360409,703,671,640,894.036360409,791,823,653,634.963639591,654,0.426832437147,0.00449109802334,0.0698223781238,0.999999960368,4.92686551331e-05,-0.000274655238993,3.74422581816e-05,1793252972456749824
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,749,724.61087248,703,671,640,894.61087248,791,823,653,634.38912752,654,0.425914935528,0.00448682718946,0.0698459126299,0.99999996767,5.1168269771e-05,-0.000246201397481,3.77607049293e-05,1793252972473417472
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770.185432674,749,724.814567326,702.814567326,671,640,895,791.185432674,823,653,634,654,0.424986094422,0.00448010099199,0.0698532767442,0.999999969744,4.72360416988e-05,-0.000238432449542,3.78187100361e-05,1793252972490084608
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770.760093986,749,724.239906014,702.239906014,671,640,895,791.760093986,823,653,634,654,0.42403345123,0.00446822091331,0.0698266987346,0.99999996126,3.10626045697e-05,-0.000274081696616,3.73300405507e-05,1793252972506750976
+340,5.666666667,POSE2_TO_POSE3_RETREAT,771,749,724.344772714,702.344772714,671,640,894.655227286,791.655227286,823,653,634,654,0.42303642161,0.0044619043257,0.0697700042754,0.999999928883,1.8494846139e-05,-0.000374818266413,3.74551170363e-05,1793252972523417088
+341,5.683333333,POSE2_TO_POSE3_RETREAT,771,749,724.936630495,702.936630495,671,640,894.063369505,791.063369505,823,653,634,654,0.422007582036,0.00445957487442,0.0696917265408,0.999999862894,8.51113672137e-06,-0.000522200356898,3.80200405754e-05,1793252972540083200
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770.483030198,749,725,702.483030198,671,640,894.516969802,791,822.483030198,653,634,654,0.421072368975,0.0044510783152,0.0696790624325,0.999999858791,1.18781466587e-05,-0.000530024920738,3.67599847729e-05,1793252972556749824
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,749.095212786,725,702.095212786,671,640,894.904787214,791.095212786,822.095212786,653,634.095212786,654,0.420173615435,0.00444174651091,0.0696900621283,0.99999987494,1.02943673842e-05,-0.000498749335214,3.55481105785e-05,1793252972573416448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,749.669854607,725,702.669854607,671,640,894.330145393,791.669854607,822.669854607,653,634.669854607,654,0.4194019189,0.00443193249753,0.0697806014271,0.999999936109,-2.42791439799e-05,-0.000354852205762,3.5680720704e-05,1793252972590083072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,749.74983963,725,702.74983963,671,640.25016037,894.25016037,791.74983963,823,653,635,654,0.418616324351,0.00442600254391,0.0698446507751,0.999999965731,-4.13873434658e-05,-0.000255871746798,3.68036789878e-05,1793252972606749952
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,749.16188585,725,702.16188585,671,640.83811415,894.83811415,791.16188585,823,653,635,654,0.417811963273,0.00442531726585,0.0698729305378,0.999999974957,-3.49120002078e-05,-0.000217542621314,3.92639125404e-05,1793252972623416832
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,749.421463008,725,702.421463008,671,641,895,791,823,653.421463008,634.578536992,654,0.416958748242,0.00443634285525,0.0698529722654,0.999999970016,-9.92486246447e-06,-0.000241543859598,3.90646248859e-05,1793252972640083456
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770.003039101,749.996960899,725,703,671,640.996960899,894.996960899,791.003039101,823,653.996960899,634,654,0.416086982389,0.00445185682219,0.0698147130572,0.999999957207,2.20058232558e-05,-0.000289257179381,3.78508024187e-05,1793252972656750080
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770.580239909,749.419760091,725,703,671,640.419760091,894.419760091,791.580239909,823,653.419760091,634,654,0.415217382094,0.00447470019176,0.0697816040462,0.999999940009,3.69201921541e-05,-0.000342536303804,3.58735024835e-05,1793252972673416448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,771,749,725,703,671,640.155957426,894,792,822.844042574,653,634.155957426,654,0.41436794955,0.00448717747546,0.0697522873254,0.999999920939,4.70562679773e-05,-0.000393316031952,3.47781398761e-05,1793252972690083072
+351,5.850000000,POSE2_TO_POSE3_RETREAT,771,749,725,703,671,640.727720396,894,792,822.272279604,653,634.727720396,654,0.413572287019,0.00447201724755,0.0697330814037,0.999999902689,4.44527119024e-05,-0.000437432013989,3.60341522757e-05,1793252972706749952
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770.690597492,749,725.309402508,703,671,641,894,791.690597492,822.309402508,653,634.690597492,654,0.412861770293,0.00446300104022,0.069750376845,0.999999916129,3.34083270323e-05,-0.000406611132483,3.59536152242e-05,1793252972723416576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770.099897285,749,725.900102715,703,671,641,894,791.099897285,822.900102715,653,634.099897285,654,0.412228665137,0.00445957075769,0.0698008580219,0.999999951964,1.46898422932e-05,-0.000307660328137,3.46579348832e-05,1793252972740083200
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,749.481367137,725.518632863,703,671,641,894,791.481367137,823,653,634,654,0.411587704931,0.00446024321453,0.0698462020032,0.999999972873,6.64663816006e-06,-0.000230263500232,3.44782889702e-05,1793252972756750336
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770.060372973,749.939627027,725.060372973,703,671,641,894.060372973,792,823,653,634.060372973,653.939627027,0.410938614069,0.00446177427625,0.069882946086,0.99999998486,3.60058409669e-06,-0.000170516310522,3.45114748811e-05,1793252972773417216
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770.636491063,749.363508937,725.636491063,703,671,641,894.636491063,792,823,653,634.636491063,653.363508937,0.410233723859,0.00446350642767,0.0698551565961,0.999999974,2.46817009651e-05,-0.000224066642325,3.44222956572e-05,1793252972790084096
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770.783760769,749,725.783760769,703,671,640.783760769,895,792,823,653,634.783760769,653.216239231,0.409552525819,0.00446730238689,0.0698220974521,0.999999958219,3.7227244009e-05,-0.000284633969665,3.40510685175e-05,1793252972806750976
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770.19780613,749,725.19780613,703,671,640.19780613,895,792,823,653,634.19780613,653.80219387,0.408911835579,0.00447462694496,0.0697800285105,0.999999935035,3.51790723961e-05,-0.000357198612193,3.31976094978e-05,1793252972823417600
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,749,725.383872431,703,671,640.383872431,895,792,823,653,634,654,0.408324297564,0.00447537957879,0.0697648503606,0.999999928095,3.17453898857e-05,-0.000376542093788,3.19015663929e-05,1793252972840084224
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,749,725.963371891,703,671,640.963371891,895,792,823,653,634,654,0.407763846646,0.00447278306413,0.0697633761494,0.999999931164,2.76056305425e-05,-0.000368763297165,3.0379975916e-05,1793252972856750848
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,749,725.459399248,703,671,641,894.459399248,792,823,653,634,654,0.407247838416,0.00446784635404,0.0697852678194,0.999999940858,2.89858437329e-05,-0.000341291931574,3.10460647603e-05,1793252972873417216
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,749,725.117438579,703,671,641,894,791.882561421,823,653.117438579,634,654,0.40673698524,0.00446433326267,0.0698036677944,0.999999947907,2.94205173969e-05,-0.000319854277496,3.18287996664e-05,1793252972890083328
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,749,725.693348093,703,671,641,894,791.306651907,823,653.693348093,634,654,0.406234550553,0.0044669942763,0.0698022818618,0.99999994565,2.47099098217e-05,-0.000327158805388,3.24906734313e-05,1793252972906749952
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.72478143,671,641,894.27521857,791.27521857,823,653.72478143,634,654,0.405764469019,0.00447335997083,0.0697988576277,0.999999942477,2.70494373812e-05,-0.000336501978317,3.28758924726e-05,1793252972923416576
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.136122173,671,641,894.863877827,791.863877827,823,653.136122173,634,654,0.405331233845,0.00448394484899,0.0697931120145,0.999999938147,3.74182170539e-05,-0.000348166921074,3.29460351768e-05,1793252972940083200
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.445351764,671,641,895,792,823,653,634,654,0.404953655997,0.00448751381966,0.069807294397,0.999999947168,3.82384148891e-05,-0.000321292598708,3.12011804493e-05,1793252972956749824
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770.024453027,749,726,702.975546973,671,641,895,792,823,653,634.024453027,654,0.404593793488,0.00448849302114,0.0698271856325,0.999999958777,3.5581342017e-05,-0.000283441145002,2.90065579466e-05,1793252972973416704
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770.598801807,749,726,702.401198193,671,641,895,792,823,653,634.598801807,654,0.404255828055,0.00447869156484,0.0698406578358,0.999999965742,1.93173716496e-05,-0.000259428612145,2.89748049828e-05,1793252972990083328
+369,6.150000000,POSE2_TO_POSE3_RETREAT,771,749,726,702.173412387,671,641.173412387,895,792,823,653,634.826587613,654,0.40392006435,0.00447222799947,0.0698474739189,0.999999969062,7.4928418336e-06,-0.000246933840607,2.90386010245e-05,1793252973006749696
+370,6.166666667,POSE2_TO_POSE3_RETREAT,771,749,726,702.748629488,671,641.748629488,895,792,823,653,634.251370512,654,0.4035894022,0.00447349848683,0.0698388674543,0.999999965459,5.95470832189e-06,-0.000261126271264,2.9323788686e-05,1793252973023416320
+371,6.183333333,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641.666801805,894.666801805,792,823,653,634,654,0.40328475549,0.0044727545218,0.0698296506597,0.999999961378,-1.39374659412e-06,-0.000276404564487,2.9016370957e-05,1793252973040083200
+372,6.200000000,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641.074974294,894.074974294,792,823,653,634,654,0.403000301996,0.00447044693365,0.0698199601245,0.999999956728,-1.32521884256e-05,-0.000292525708543,2.82489713903e-05,1793252973056749824
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770.494461485,749,726,703,670.494461485,641,894.505538515,792,823,653,634,654,0.402746173996,0.00446662438892,0.0698118060135,0.999999952132,-2.16248410435e-05,-0.000307342645605,2.84230073708e-05,1793252973073416448
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.083770685,641,895,792,823,653,634,654,0.402502436802,0.00446324645977,0.0698043522264,0.999999947685,-2.78323705515e-05,-0.000320973196227,2.88408810958e-05,1793252973090083328
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.658257943,641,895,792,823,653,634,654,0.402293798689,0.00446376033538,0.0697996952777,0.999999945215,-2.43189240526e-05,-0.00032876230393,2.98871499639e-05,1793252973106750720
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,894.761815367,792,822.761815367,653.238184633,634,654,0.402100234275,0.00446428607263,0.0697966914261,0.999999943726,-2.02434262239e-05,-0.000333412073867,3.12325501761e-05,1793252973123417600
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,894.173901941,792,822.173901941,653.826098059,634,654,0.401928802728,0.0044648292264,0.0697961148334,0.999999943742,-1.53426632204e-05,-0.000333452323444,3.30171677645e-05,1793252973140083968
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770.407819121,749,726.407819121,703,671,641,894.407819121,792,822.407819121,653.592180879,634,654,0.401777603554,0.00447356744872,0.0697956315921,0.999999942576,4.77592875749e-05,-0.000333718662755,3.46147872578e-05,1793252973156750592
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770.986939119,749,726.986939119,703,671,641,894.986939119,792,822.986939119,653.013060881,634,654,0.401634902818,0.00448574793836,0.0697951875624,0.999999934388,0.000135308141086,-0.000334079966918,3.61338595554e-05,1793252973173416960
+380,6.333333333,POSE2_TO_POSE3_RETREAT,771,749,726.436618514,703.563381486,671,641,894.436618514,792,823,653,634,654,0.401525072383,0.00450738761339,0.0697946288254,0.999999932499,0.000155620136105,-0.000331068377414,3.4335483366e-05,1793252973190083840
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770.860396397,749,726,703.860396397,671,641,894.279207206,792,823,653,634,654,0.401420581327,0.00452194317527,0.0697940626722,0.999999933109,0.000155686519515,-0.000329604206739,3.00912665885e-05,1793252973206750720
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770.28466945,749,726,703.28466945,671,641,895.4306611,792,823,653,634,654,0.40133040124,0.00451368604618,0.0697934816195,0.999999939574,9.73518925662e-05,-0.000333217314304,1.84453409778e-05,1793252973223417344
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641.298171801,895.403656398,792,823,653,634,654,0.401252656317,0.00450777185478,0.0697938396396,0.999999941981,6.66543635669e-05,-0.000333775813752,1.37248238222e-05,1793252973240083712
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,770.604799533,749,726,703,671,641,894.395200467,792,823,653,634,654,0.400970995473,0.00450609253364,0.0698217494292,0.999999957313,6.95692405291e-05,-0.000283087734053,1.98972073452e-05,1793252973673416448
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+415,6.916666667,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641,894.124715474,792,823,653.124715474,634.124715474,654,0.400970962696,0.00450637721124,0.0698235746595,0.999999957871,6.70955664221e-05,-0.000281725086463,1.96860233584e-05,1793252973773416704
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f390218e5bb0cb54fb4d3d20eb83630c49f8954
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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+411,6.850000000,pose2_to_pose3_retreat,0.585750960193,0.0100050848927,1.06002085824,0.556322303712,0.0186774932395,1.05963222603
+412,6.866666667,pose2_to_pose3_retreat,0.585750886016,0.0100051440688,1.06002080401,0.556322229637,0.0186775528264,1.05963217323
+413,6.883333333,pose2_to_pose3_retreat,0.585750903196,0.0100050933434,1.06002079105,0.556322246777,0.018677502,1.05963216105
+414,6.900000000,pose2_to_pose3_retreat,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
+415,6.916666667,pose2_to_pose3_retreat,0.585750930363,0.0100050407542,1.06002078961,0.556322273893,0.0186774492553,1.05963216001
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..19cc4996f7edf1659bb45104a35a2034d32d2270
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee0d7aaf3d7f2fd47d3eefcc4f1311f53a459b594b582db6ac1eb558cd82ed38
+size 26369618
diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d483b4b6de42e18aae006720da2c0bbbe1be5b64
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+22,0.366666667,BASELINE,770.769576334,749,726,703,671,641,895,792,823,653.769576334,634,654,0.400971213363,0.00450575066641,0.0698253264736,0.999999958999,6.6113644836e-05,-0.000277950643019,1.93688179408e-05,1793252974287439872
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+27,0.450000000,BASELINE,770,749,726,703,671,641,894.655549331,792.655549331,823,653.344450669,634,654,0.400971600491,0.00450679926888,0.069825686445,0.999999959015,6.83826763169e-05,-0.000277347651425,1.92729189928e-05,1793252974370773248
+28,0.466666667,BASELINE,770.236162703,749,726,703,671,641,894.763837297,792.763837297,823,653.236162703,634,654,0.40097172987,0.0045066963793,0.0698260686767,0.999999959062,6.90456723761e-05,-0.000277000327582,1.95057497865e-05,1793252974387439872
+29,0.483333333,BASELINE,770.829330218,749,726,703,671,641,894.170669782,792.170669782,823,653.829330218,634,654,0.400972302018,0.00450747550064,0.0698262309694,0.999999959181,6.89782249142e-05,-0.000276597448442,1.93279329199e-05,1793252974404106496
+30,0.500000000,BASELINE,771,749,726,703,671,641,894.412091789,792,823,653.587908211,634,654,0.40097180617,0.0045070943063,0.0698261256997,0.999999959188,6.79983197904e-05,-0.000276814325596,1.93663398481e-05,1793252974420773120
+31,0.516666667,BASELINE,771,749,726,703,671,641,894.99064982,792,823,653.00935018,634,654,0.400970878901,0.00450624439745,0.0698259123472,0.999999959146,6.66498234883e-05,-0.000277281555965,1.94920913083e-05,1793252974437439744
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+39,0.650000000,BASELINE,770.376671074,749,726.623328926,703,671,641.623328926,894.376671074,792.376671074,823,653.376671074,634,654,0.400970112652,0.00450830528638,0.0698249125655,0.999999958468,6.94394832824e-05,-0.000279062028942,1.91289005395e-05,1793252974570773248
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+51,0.850000000,BASELINE,770,749,726,703,671,641,894.588648266,792,823,653,634,654,0.400972178333,0.00450643939893,0.0698269122068,0.999999959662,6.62249175784e-05,-0.00027553623103,1.92479998827e-05,1793252974770773248
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+54,0.900000000,BASELINE,771,749,726,702.655660671,671,641.344339329,894,792.655660671,823,653.655660671,634,654,0.400969713551,0.00450698210789,0.0698251888544,0.999999958593,6.95439008631e-05,-0.000278589581793,1.90986552202e-05,1793252974820773376
+55,0.916666667,BASELINE,771,749,726,702.077087135,671,641.922912865,894,792.077087135,823,653.077087135,634,654,0.400970017776,0.00450573145304,0.0698250533738,0.999999958842,6.52715525597e-05,-0.000278721599349,1.92309402402e-05,1793252974837440000
+56,0.933333333,BASELINE,770.5017719,749,726,702,671,641.5017719,894,792,823,653.4982281,634,654,0.400970669686,0.00450646678581,0.0698258354195,0.999999959012,6.7326043316e-05,-0.000277615509996,1.92859208997e-05,1793252974854106624
+57,0.950000000,BASELINE,770.074708906,749,726,702.074708906,671,641,894.074708906,792,823,654,634,654,0.40097142948,0.00450753058931,0.0698266363935,0.999999959152,7.0042817729e-05,-0.000276437354628,1.9315340939e-05,1793252974870772992
+58,0.966666667,BASELINE,770.662637113,749,726,702.662637113,671,641,894.662637113,792,823,654,634,654,0.400972563243,0.00450875369853,0.0698265985123,0.999999959213,7.0628226251e-05,-0.000276071545229,1.92508014821e-05,1793252974887439616
+59,0.983333333,BASELINE,771,749,726,702.753067425,671,641,894.753067425,792,822.753067425,653.753067425,634,653.753067425,0.400973087166,0.0045092071239,0.0698267597794,0.999999959346,7.06418258771e-05,-0.000275587112753,1.92097607619e-05,1793252974904106240
+60,1.000000000,BASELINE,771,749,726,702.173663033,671,641,894.173663033,792,822.173663033,653.173663033,634,653.173663033,0.400972789995,0.0045086242415,0.0698271891811,0.999999959577,6.98855379254e-05,-0.000274942965254,1.92003589031e-05,1793252974920772864
+61,1.016666667,BASELINE,770.596730855,749,726,702.403269145,671,641,894,792,822.403269145,653,634,653.403269145,0.400971796549,0.00450752728256,0.0698265077449,0.999999959385,6.85098348316e-05,-0.000275981407071,1.92338231599e-05,1793252974937439744
+62,1.033333333,BASELINE,770.020856856,749,726,702.979143144,671,641,894,792,822.979143144,653,634,653.979143144,0.400970505087,0.00450621029168,0.0698253508545,0.999999959009,6.68690134067e-05,-0.000277740020774,1.92856347166e-05,1793252974954106624
+63,1.050000000,BASELINE,770.555386489,749,726,703,671,641,894,792,822.444613511,653,634,654,0.400970845228,0.0045062795242,0.0698257520507,0.999999959196,6.65172678773e-05,-0.000277157172178,1.91627037324e-05,1793252974970772992
+64,1.066666667,BASELINE,770.865279236,749,726,703,671,641,894.134720764,792,822.134720764,653,634,654,0.400971067259,0.00450656138673,0.0698260628706,0.999999959293,6.6862874103e-05,-0.000276726541855,1.91121252817e-05,1793252974987439360
+65,1.083333333,BASELINE,770.27555256,749,726,703,671,641,894.72444744,792,822.72444744,653,634,654,0.400970683303,0.00450738544846,0.069825870704,0.999999959011,6.94001085868e-05,-0.000277107188459,1.93280883463e-05,1793252975004105984
+66,1.100000000,BASELINE,770.308420283,749,726.308420283,703,671,641,895,792,822.691579717,653,634.308420283,654,0.400970487008,0.0045078037558,0.0698258662097,0.999999958886,7.01340902165e-05,-0.000277376617312,1.92830779871e-05,1793252975020772608
+67,1.116666667,BASELINE,770.887346583,749,726.887346583,703,671,641,895,792,822.112653417,653,634.887346583,654,0.400970455304,0.0045078661883,0.0698260263171,0.999999958902,6.92864936643e-05,-0.000277548500448,1.90091757907e-05,1793252975037439232
+68,1.133333333,BASELINE,771,749,726.537207931,702.537207931,671,641,894.537207931,792,822.462792069,653,634.537207931,654,0.400969434577,0.00450784391096,0.0698253552984,0.999999958588,6.92092500127e-05,-0.000278700537267,1.89564065732e-05,1793252975054106368
+69,1.150000000,BASELINE,771,749,726,702,671,641.037491763,894.037491763,792,823,653,634,654,0.400968380847,0.00450786791911,0.0698246093255,0.999999958246,6.94045935926e-05,-0.00027987738272,1.89567226806e-05,1793252975070773504
+70,1.166666667,BASELINE,771,749,726,702,671,641.613558214,894.613558214,792,823,653,634,654,0.400970285614,0.00450885082576,0.0698256711946,0.999999958667,7.08420460688e-05,-0.000278008808896,1.89521359865e-05,1793252975087440384
+71,1.183333333,BASELINE,770.805492452,749,725.805492452,702.194507548,671,642,895,792,823,653,634,654,0.400971152807,0.00450918019161,0.0698260698399,0.999999958852,7.14978949443e-05,-0.000277171019478,1.89626852995e-05,1793252975104107008
+72,1.200000000,BASELINE,770.21459204,749,725.21459204,702.78540796,671,642,895,792,823,653,634,654,0.400969905499,0.00450817768695,0.0698251168816,0.999999958567,7.05608902612e-05,-0.000278433896704,1.90040807427e-05,1793252975120773376
+73,1.216666667,BASELINE,770.367940111,749,725.367940111,703,671,641.632059889,894.632059889,792,822.632059889,653,634,654,0.400969714267,0.00450700732775,0.0698249617122,0.999999958662,6.82255205138e-05,-0.000278682010855,1.88926156689e-05,1793252975137440000
+74,1.233333333,BASELINE,770.945700177,749,725.945700177,703,671,641.054299823,894.054299823,792,822.054299823,653,634,654,0.40097012527,0.0045057412486,0.0698252614865,0.999999958967,6.50927251385e-05,-0.000278351450475,1.86939810074e-05,1793252975154106368
+75,1.250000000,BASELINE,771,749,726,703,671.521830949,641,894.521830949,792,822,653.521830949,634,654,0.400971680945,0.00450628632759,0.0698268627512,0.99999995958,6.59564138169e-05,-0.000275934185521,1.87193171049e-05,1793252975170773248
+76,1.266666667,BASELINE,771,749,726,702.900255494,671.900255494,641,894.900255494,792,822.099744506,653.900255494,634,654,0.40097280989,0.00450684218753,0.0698280580096,0.999999960001,6.7076978059e-05,-0.000274126194592,1.88280433654e-05,1793252975187439616
+77,1.283333333,BASELINE,771,749,726,702.312798418,671.312798418,641,894.312798418,792,822.687201582,653.312798418,634,654,0.400971271691,0.00450653212068,0.0698266079207,0.999999959356,6.74265003405e-05,-0.000276355723243,1.92309150041e-05,1793252975204106752
+78,1.300000000,BASELINE,770.729282675,749,726,702,671,641,894.270717325,792,823,653,634,654,0.40097025301,0.00450676652324,0.0698256057398,0.999999958878,6.80177099393e-05,-0.000277928823753,1.93374033935e-05,1793252975220773632
+79,1.316666667,BASELINE,770.15025561,749,726,702,671,641,894.84974439,792,823,653,634,654,0.40096982599,0.00450762100148,0.0698251136646,0.999999958593,6.88841680764e-05,-0.000278754342886,1.91063520615e-05,1793252975237440768
+80,1.333333333,BASELINE,770,749,726,702.426585431,671,641,895,792.426585431,823,653,634,654,0.400970327932,0.00450773272626,0.0698257968141,0.999999958964,6.91621978423e-05,-0.000277364738395,1.88799598258e-05,1793252975254107392
+81,1.350000000,BASELINE,770.002662135,749,726,702.997337865,671,641,894.997337865,792.997337865,823,653,634,654,0.40097114999,0.00450757969244,0.069826886062,0.999999959559,6.9223215243e-05,-0.00027521428013,1.86581962002e-05,1793252975270773760
+82,1.366666667,BASELINE,770.579098892,749,726,702.420901108,671,641,894.420901108,792.420901108,823,653,634,654,0.400970803292,0.00450646250652,0.0698267383256,0.999999959383,6.69548232316e-05,-0.000276382691751,1.90821502096e-05,1793252975287439872
+83,1.383333333,BASELINE,771,749.159023902,726,702.159023902,671,641,894.159023902,792,823,653,634,654,0.400970633912,0.00450567818115,0.0698266080948,0.99999995929,6.54099525219e-05,-0.000277070970897,1.9343889278e-05,1793252975304106240
+84,1.400000000,BASELINE,771,749.748388736,726,702.748388736,671,641,894.748388736,792,823,653,634,654,0.40097094438,0.00450579462275,0.0698265252369,0.999999959435,6.58230312056e-05,-0.000276459944639,1.91666521086e-05,1793252975320772864
+85,1.416666667,BASELINE,771,749.667927853,726,703,671,641,895,792,823,653,634,654,0.400970947295,0.00450548503013,0.0698263942593,0.999999959386,6.64098630703e-05,-0.000276502047309,1.90848298197e-05,1793252975337439488
+86,1.433333333,BASELINE,771,749.088476882,726,703,671,641,895,792,823,653,634,654,0.400970721095,0.00450485806116,0.0698262274346,0.999999959192,6.71261332208e-05,-0.000277030701713,1.90740873388e-05,1793252975354106112
+87,1.450000000,BASELINE,770.513855569,749,726,703,671,641,894.513855569,792,823,653,634,654,0.400971836798,0.00450652708054,0.0698272902167,0.999999959503,6.90398993966e-05,-0.000275433114173,1.91022621611e-05,1793252975370773248
+88,1.466666667,BASELINE,770,749,726,702.940018706,671,641,894,792.059981294,823,653,634,654,0.400972902967,0.00450822403884,0.0698283027494,0.999999959818,7.05942000223e-05,-0.000273886904437,1.91574113968e-05,1793252975387440384
+89,1.483333333,BASELINE,770,749,726,702.365444973,671,641,894,792.634555027,823,653,634,654,0.400971469547,0.00450661101717,0.0698269831695,0.999999959446,6.72131997977e-05,-0.000276068716464,1.93838124946e-05,1793252975404107264
+90,1.500000000,BASELINE,770,749,726,702,671,641,894.215978666,793,823,653.215978666,634,654,0.400970226331,0.00450626351325,0.069825884495,0.999999959083,6.61581376984e-05,-0.000277635388088,1.93882655304e-05,1793252975420773888
+91,1.516666667,BASELINE,770,749,726,702,671,641,894.809372209,793,823,653.809372209,634,654,0.400969315489,0.00450812745581,0.0698251718448,0.99999995875,6.91675683809e-05,-0.000278127123969,1.90048723628e-05,1793252975437440256
+92,1.533333333,BASELINE,770.392033611,749,726,702.392033611,671,641,894.607966389,792.607966389,822.607966389,653.607966389,634,654,0.400969110772,0.00450720920886,0.0698251686876,0.999999958805,6.69189427647e-05,-0.00027849076589,1.88449552397e-05,1793252975454106368
+93,1.550000000,BASELINE,770.969615574,749,726,702.969615574,671,641,894.030384426,792.030384426,822.030384426,653.030384426,634,654,0.40096924026,0.00450497415998,0.0698255013313,0.999999959027,6.21816948716e-05,-0.000278793781358,1.87908086354e-05,1793252975470772736
+94,1.566666667,BASELINE,770.456074169,749,726,703,671,641,894,792.543925831,822.543925831,653,634,654,0.400971275392,0.00450580324441,0.0698271483729,0.999999959613,6.50592612466e-05,-0.000276001404264,1.91000133138e-05,1793252975487439616
+95,1.583333333,BASELINE,770,749,726,702.878748034,671,641,894,792.878748034,823,653,634,654,0.400972844864,0.00450674378356,0.0698284341475,0.999999960027,6.80147064703e-05,-0.000273766447138,1.93100325828e-05,1793252975504106496
+96,1.600000000,BASELINE,770,749,726,702.289068791,671,641,894,792.289068791,823,653,634,654,0.400972206579,0.00450745759445,0.069828042296,0.99999995976,6.96375167543e-05,-0.000274348956845,1.90589286398e-05,1793252975520773120
+97,1.616666667,BASELINE,770,749,726,702.293837012,671,641,894,792,822.706162988,653.293837012,634,654,0.400972352853,0.00450801081831,0.069827962267,0.999999959829,6.95652456402e-05,-0.00027413351741,1.8775977875e-05,1793252975537440000
+98,1.633333333,BASELINE,770,749,726,702.870229399,671,641,894,792,822.129770601,653.870229399,634,654,0.400973253565,0.00450840962069,0.0698281820885,0.999999960221,6.78629743215e-05,-0.000273150765416,1.84624030367e-05,1793252975554107648
+99,1.650000000,BASELINE,770,749,726,703,670.5509993,641,894,791.5509993,822.4490007,654,634,654,0.400972768607,0.00450719598906,0.0698277763636,0.999999960183,6.66558288002e-05,-0.000273565104901,1.87729373712e-05,1793252975570774272
+100,1.666666667,BASELINE,770,749,726,703,670.028219625,641,894,791.028219625,823,653.971780375,634,654,0.400971924765,0.00450566439596,0.0698272059166,0.999999960007,6.57583693865e-05,-0.000274394875513,1.92323697638e-05,1793252975587440384
+101,1.683333333,BASELINE,770,749,726,703,670.602723126,641,894,791.602723126,823,653.397276874,634,654,0.40097192756,0.00450704715523,0.0698269652762,0.999999959577,6.80709443516e-05,-0.000275408389136,1.90637543268e-05,1793252975604106752
+102,1.700000000,BASELINE,770,749,726,703,671,641,894,792,823,653,634.182234193,654,0.400972190284,0.00450782707024,0.0698269984563,0.999999959492,6.90875122165e-05,-0.000275470894683,1.89316400685e-05,1793252975620773376
+103,1.716666667,BASELINE,770,749,726,703,671,641,894,792,823,653,634.7729703,654,0.400973035672,0.00450725563033,0.069827645441,0.99999996019,6.71989093873e-05,-0.000273401590403,1.88813480265e-05,1793252975637440000
+104,1.733333333,BASELINE,770,749,726,703,671,641,894.355445173,792,823,653,634.644554827,654,0.400972610573,0.00450753214015,0.0698275632917,0.999999960082,6.73338956279e-05,-0.000273766594323,1.88383692434e-05,1793252975654107136
+105,1.750000000,BASELINE,770,749,726,703,671,641,894.932763345,792,823,653,634.067236655,654,0.400971392422,0.00450833794997,0.0698270260086,0.999999959469,6.87320294465e-05,-0.000275651121445,1.87999554764e-05,1793252975670774016
+106,1.766666667,BASELINE,770.509123165,749,726,703,671,641,894.490876835,792,823,653,634,654,0.40097108564,0.00450859278678,0.0698263866497,0.999999959405,6.80947028957e-05,-0.000276053700758,1.86377364412e-05,1793252975687440896
+107,1.783333333,POSE1_TO_POSE2_PRESS,771,749,726,702,671,641,895,792,822,653,634,654,0.400971804631,0.00450903687173,0.0698268273473,0.99999995982,6.87385300764e-05,-0.000274397849749,1.84482359629e-05,1793252975730010624
+108,1.800000000,POSE1_TO_POSE2_PRESS,770.421047516,749,726,702.578952484,671,641,894.421047516,792,822.578952484,653,634.578952484,654,0.4009708968,0.00450631788728,0.0698267771582,0.999999959629,6.5757404103e-05,-0.000275779527088,1.90530419224e-05,1793252975746676992
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894,792,823,653.157390695,634.842609305,654,0.400970584018,0.00450465539583,0.0698267997266,0.99999995956,6.40180350539e-05,-0.000276416167985,1.93686129093e-05,1793252975763343104
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894,792,823,653.734457744,634.265542256,654,0.40097185791,0.00450581000252,0.0698270163002,0.999999959839,6.55897633719e-05,-0.000275066197609,1.89129498799e-05,1793252975780009472
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894,792,823,653.689619754,634,654,0.400972406453,0.00450706882873,0.069827521921,0.999999959942,6.73528493037e-05,-0.000274267882443,1.88695438515e-05,1793252975796676096
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894,792,823,653.114672892,634,654,0.400972336714,0.00450841649108,0.0698282739241,0.999999959895,6.92790474423e-05,-0.00027393979558,1.91775437172e-05,1793252975813342720
+113,1.883333333,POSE1_TO_POSE2_PRESS,770.471714022,749,726,703,671,641,894,792,823,653,634,654,0.400971595653,0.00450745181206,0.0698276584394,0.999999959613,6.85179005531e-05,-0.00027515583797,1.91940700137e-05,1793252975830009856
+114,1.900000000,POSE1_TO_POSE2_PRESS,770.940086924,749,726,703,671,641,894.059913076,792,823,653,634,654,0.400971082615,0.0045061487906,0.0698269693654,0.999999959372,6.7040635031e-05,-0.000276400357249,1.91110865783e-05,1793252975846676736
+115,1.916666667,POSE1_TO_POSE2_PRESS,770.360884909,749,726,703,671,641,894.639115091,792,823,653,634,654,0.400973995589,0.00450690648421,0.0698285954103,0.99999996001,6.51595381427e-05,-0.000274557313674,1.87950213903e-05,1793252975863343104
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,749,726,702.783287408,671,641.216712592,894.783287408,792,823,653,634,654,0.40098163822,0.00450722140549,0.0698322162315,0.999999961533,6.47786335612e-05,-0.000269049983531,1.87247628537e-05,1793252975880009472
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,749,726,702.208342277,671,641.791657723,894.208342277,792,823,653,634,654,0.400997099116,0.00450680441048,0.0698391344789,0.999999964433,6.6877592901e-05,-0.000257485475838,1.90608302555e-05,1793252975896675328
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,749,726,702.373761048,671,641.626238952,894,792,823,653,634.373761048,654,0.401031536657,0.00450719402535,0.0698528669477,0.999999970292,6.84570570307e-05,-0.000233169711984,1.90232344495e-05,1793252975913341696
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,749,726,702.959932465,671,641.040067535,894,792,823,653,634.959932465,654,0.401076758726,0.00450804204082,0.069870471975,0.999999977069,6.9741289445e-05,-0.000201607340912,1.87732838941e-05,1793252975930008320
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,749,726,702.459235864,671,641,894.540764136,792,822.459235864,653,634.459235864,654,0.401133337276,0.00450833137086,0.0698843929296,0.999999980358,6.9516097456e-05,-0.000184690310822,1.84621117665e-05,1793252975946674944
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,749,726,702.121636144,671,641,895,792.121636144,822,653.121636144,634,654,0.40119367729,0.00450833617661,0.0698969035381,0.999999983145,6.82012514159e-05,-0.00016951149629,1.80322212756e-05,1793252975963341824
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,749,726,702.704145567,671,641,895,792.704145567,822,653.704145567,634,654,0.401265112284,0.0045074182456,0.0699050945721,0.999999985556,6.31773722096e-05,-0.000156847364634,1.71695320104e-05,1793252975980008448
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,895,792.718345391,822.281654609,654,634,654,0.401346707669,0.00450747497872,0.0699091361539,0.999999986767,6.07264318226e-05,-0.00015010911316,1.56775568125e-05,1793252975996675072
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,895,792.14599724,822.85400276,654,634,654,0.401438789512,0.0045085376552,0.0699088951177,0.999999986879,6.09310020007e-05,-0.000149486917574,1.35361005247e-05,1793252976013341696
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,749,726,702.562760439,671,641,895,792,823,654,634,654,0.401538781188,0.00450907079996,0.0699064159127,0.999999986367,5.89835226827e-05,-0.00015383392007,1.10169433523e-05,1793252976030008320
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,749,726,702.023888773,671,641,894.976111227,792,823,653.976111227,634,654,0.401643308131,0.00450948028427,0.0699034009987,0.99999998565,5.63692408501e-05,-0.000159538031026,8.35917802436e-06,1793252976046675200
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,749,726,702.603185791,671,641,894.396814209,792,823,653.396814209,634,654,0.401790304674,0.00451123056969,0.0699057502046,0.99999998609,5.53855419162e-05,-0.000157232226956,5.48587791941e-06,1793252976063341824
+128,2.133333333,POSE1_TO_POSE2_PRESS,770.181771923,749,726,703,671,641,894.181771923,791.818228077,822.818228077,653,634,654,0.401946284038,0.00451270409118,0.0699082673874,0.999999986781,5.26926883725e-05,-0.000153805851415,2.20485079064e-06,1793252976080008192
+129,2.150000000,POSE1_TO_POSE2_PRESS,770.75881214,749,726,703,671,641,894.75881214,791.24118786,822.24118786,653,634,654,0.402121796786,0.00451357578129,0.0699111498408,0.999999987983,4.62832289249e-05,-0.00014794276117,-1.962790145e-06,1793252976096674816
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.664658336,749,726,703,671,641,895,791.335341664,822.335341664,653,634,654,0.402315161318,0.00451447761266,0.0699152114796,0.999999989211,4.09993606935e-05,-0.000140919862012,-6.23031529582e-06,1793252976113341440
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.088495499,749,726,703,671,641,895,791.911504501,822.911504501,653,634,654,0.402521345892,0.00451540108965,0.069920119935,0.999999990424,3.65238202188e-05,-0.000133064060843,-1.05695714018e-05,1793252976130008064
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.49801407,749,726,703,671,641,895,792,823,653,634,654,0.402764412363,0.00451854654925,0.0699252510822,0.999999991625,3.36052285082e-05,-0.000123966869574,-1.5880470364e-05,1793252976146674944
+133,2.216666667,POSE1_TO_POSE2_PRESS,770.91483372,749,726,703,671,641,895,792,823,653,634,654,0.403018907209,0.00452168673738,0.0699301697928,0.999999992721,3.0108610449e-05,-0.000114862851388,-2.14155855211e-05,1793252976163341568
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.33485625,749,726,703,671,641,895,792,823,653,634,654,0.403300915309,0.0045224536361,0.0699336194755,0.999999993668,2.16121809351e-05,-0.000107027978534,-2.72289709435e-05,1793252976180008192
+135,2.250000000,POSE1_TO_POSE2_PRESS,770.242904111,749,726,702.757095889,671,641,895,792,822.757095889,653,634,654,0.403604213669,0.00452392401787,0.0699407719725,0.999999994993,1.48919431634e-05,-9.33782329127e-05,-3.27570035697e-05,1793252976196675072
+136,2.266666667,POSE1_TO_POSE2_PRESS,770.817635678,749,726,702.182364322,671,641,895,792,822.182364322,653,634,654,0.403936596296,0.00452635541666,0.069952982825,0.999999996649,1.05981332877e-05,-7.17848822186e-05,-3.78952199087e-05,1793252976213341952
+137,2.283333333,POSE1_TO_POSE2_PRESS,771,749,726,702.400547277,671,641,895,792,822.400547277,653,634,654,0.404276417962,0.00452805059531,0.0699555770315,0.999999996627,5.04134959887e-06,-6.93355527407e-05,-4.37467583659e-05,1793252976230008576
+138,2.300000000,POSE1_TO_POSE2_PRESS,771,749,726,702.987260772,671,641,895,792,822.987260772,653,634,654,0.404619697132,0.00452940359376,0.0699537016163,0.999999995881,-1.10243848089e-06,-7.57839751181e-05,-4.99298342776e-05,1793252976246674944
+139,2.316666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895.566503586,792,823,653,634,654,0.405037899196,0.00451552579171,0.0699605194173,0.999999996483,-1.77168342312e-05,-6.36390263851e-05,-5.16645437223e-05,1793252976263341824
+140,2.333333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895.854603103,792,823,653,634.145396897,654,0.405462395205,0.00450282510545,0.0699667480542,0.999999997432,-1.14416397109e-05,-5.27711947427e-05,-4.71125747314e-05,1793252976280008192
+141,2.350000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895.276256878,792,823,653,634.723743122,654,0.405900681043,0.00449463612379,0.0699706478016,0.999999996579,6.36840437266e-05,-4.69350724788e-05,-2.41347106634e-05,1793252976296674816
+142,2.366666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895,792,823,653,634.700407351,654,0.40634483941,0.00449802903088,0.0699609585603,0.999999992399,0.000104037093804,-6.3658191644e-05,-1.80738088178e-05,1793252976313341696
+143,2.383333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,895,792,823,653,634.126840959,654,0.406794368182,0.00451201342995,0.0699388423589,0.999999988182,0.00011259101281,-0.000101011455453,-2.74832555503e-05,1793252976330008320
+144,2.400000000,POSE1_TO_POSE2_PRESS,771,749,726.45935025,703,671,641,895,791.54064975,823.45935025,653,634.45935025,654,0.407298864888,0.00451417841183,0.0699283539307,0.999999992779,3.02884199071e-05,-0.000111806784631,-3.20126418325e-05,1793252976346674944
+145,2.416666667,POSE1_TO_POSE2_PRESS,771,749,726.951726368,703,671.048273632,641,895.048273632,791.048273632,824,653,634.951726368,654,0.407827077074,0.00451399623222,0.0699230184389,0.999999990785,-6.79505521733e-05,-0.000112212773654,-3.49322331156e-05,1793252976363341824
+146,2.433333333,POSE1_TO_POSE2_PRESS,771,749,726.372184107,703,671.627815893,641,895.627815893,791.627815893,824,653,634.372184107,654,0.408444522869,0.00452491608142,0.0699380583219,0.999999994409,-5.76662105559e-05,-8.1268751926e-05,-3.53847001447e-05,1793252976380008448
+147,2.450000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671.794756075,641,895.794756075,792,824.205243925,653,634,654,0.409060690009,0.00453457519584,0.06994926462,0.999999996912,-4.0498474423e-05,-5.66366362285e-05,-3.64388860842e-05,1793252976396675328
+148,2.466666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671.221122873,641,895.221122873,792,824.778877127,653,634,654,0.409674562074,0.00454197143547,0.0699535900726,0.999999998257,-1.09758363022e-05,-4.33336689245e-05,-3.85730883689e-05,1793252976413343488
+149,2.483333333,POSE1_TO_POSE2_PRESS,771,749,726.35313689,703,671,641,895.706273781,792,825,653,634.35313689,654,0.410301759566,0.00454703793804,0.0699508927383,0.999999997992,1.60620383503e-05,-4.61366638529e-05,-4.03644228809e-05,1793252976430010624
+150,2.500000000,POSE1_TO_POSE2_PRESS,771,749,726.927789663,703,671,641,896.855579325,792,825,653,634.927789663,654,0.410937315814,0.00455064304172,0.0699437901465,0.999999996515,4.15412682341e-05,-5.904261517e-05,-4.19406830392e-05,1793252976446676992
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.481795091,749,726.481795091,703,671,641,896.481795091,791.481795091,825,653,635,654,0.411628503365,0.00456147106793,0.0699529210672,0.999999995448,7.22836345298e-05,-4.51666829249e-05,-4.28950036878e-05,1793252976463343616
+152,2.533333333,POSE1_TO_POSE2_PRESS,770.108308461,749.108308461,726,703,671,641.108308461,896,791.108308461,825.108308461,653,635,654,0.412345301789,0.00457182014024,0.0699688440117,0.999999994355,9.46194874238e-05,-2.08801051483e-05,-4.35988063663e-05,1793252976480010240
+153,2.550000000,POSE1_TO_POSE2_PRESS,770.687214592,749.687214592,726,703,671,641.687214592,896,791.687214592,825.687214592,653,635,654,0.413138639447,0.00457557778293,0.0700041410519,0.999999995565,7.71426448301e-05,3.19164187502e-05,-4.36024869274e-05,1793252976496676096
+154,2.566666667,POSE1_TO_POSE2_PRESS,771,749.736005458,726,703,671,641.736005458,896,791.736005458,826,653,635,653.736005458,0.413912274697,0.00458082251375,0.0700219544794,0.999999994487,7.62357552532e-05,5.73022915847e-05,-4.3942022434e-05,1793252976513342208
+155,2.583333333,POSE1_TO_POSE2_PRESS,771,749.161724445,726,703,671,641.161724445,896,791.161724445,826,653,635,653.161724445,0.414662752791,0.00458781509684,0.0700192185151,0.999999993234,9.4804388444e-05,5.04710120886e-05,-4.46763057808e-05,1793252976530009088
+156,2.600000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641,896.42279702,791,826,653,635,653.42279702,0.415382418208,0.00459706793276,0.069976154998,0.999999991993,0.000115052532655,-2.55639438915e-05,-4.60816706978e-05,1793252976546675712
+157,2.616666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.011151981,897.011151981,791,826.011151981,653.011151981,635,654,0.416092863676,0.00460710845883,0.0699183294833,0.999999981674,0.000135215715095,-0.000126841192491,-4.77452923039e-05,1793252976563342848
+158,2.633333333,POSE1_TO_POSE2_PRESS,771,749,726,703,671,641.590299388,897.590299388,791,826.590299388,653.590299388,635,654,0.41694891591,0.00461214026799,0.0699138107329,0.999999983166,0.00011751907707,-0.000132064166243,-4.91639070641e-05,1793252976580009216
+159,2.650000000,POSE1_TO_POSE2_PRESS,771,749,726,702.831178161,671,641.831178161,898,791,826.831178161,653.831178161,635,654,0.41782084577,0.00461713626439,0.069921206101,0.999999985427,0.000111542711289,-0.000119070684025,-5.02592280254e-05,1793252976596675840
+160,2.666666667,POSE1_TO_POSE2_PRESS,771,749,726,702.254166807,671,641.254166807,898,791,826.254166807,653.254166807,635,654,0.418731165637,0.00462204566985,0.0699574082771,0.999999987832,0.000133904458844,-6.203215119e-05,-5.05728659465e-05,1793252976613342208
+161,2.683333333,POSE1_TO_POSE2_PRESS,771,749,726,702.322272915,671.322272915,641,898.322272915,791,826.322272915,653,635,654,0.419648206027,0.00462633319387,0.0699892702911,0.999999987668,0.000148186713058,-1.24493074917e-05,-5.05040709113e-05,1793252976630008576
+162,2.700000000,POSE1_TO_POSE2_PRESS,771,749,726,702.898262579,671.898262579,641,898.898262579,791,826.898262579,653,635,654,0.420570537258,0.00463013112722,0.0700177154112,0.99999998607,0.000156108199723,3.12638710579e-05,-5.01341967692e-05,1793252976646675200
+163,2.716666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671.515353564,641,899,791.484646436,827,653,634.515353564,654,0.421472964131,0.00461373652545,0.0700302360152,0.999999989634,0.000125327418964,4.95230024683e-05,-5.07110976097e-05,1793252976663341824
+164,2.733333333,POSE1_TO_POSE2_PRESS,771,749,725.927836752,703,671,641,899,791.927836752,827,653.072163248,634.072163248,654,0.422364261986,0.00459306971262,0.0700293308486,0.999999993588,8.97463399758e-05,4.59648145152e-05,-5.15504430038e-05,1793252976680008448
+165,2.750000000,POSE1_TO_POSE2_PRESS,771,749,725.348035945,703,671,641,899,791.348035945,827,653.651964055,634.651964055,654,0.423207308559,0.00457282165676,0.0699580123158,0.999999992861,7.88016177295e-05,-7.26569781095e-05,-5.28072246383e-05,1793252976696675328
+166,2.766666667,POSE1_TO_POSE2_PRESS,770.770487968,749,725,702.770487968,671,641,899,790.770487968,827,653.770487968,635,654,0.424085354931,0.00456455605169,0.0698968828928,0.999999982675,6.5145314157e-05,-0.00016566063715,-5.44382540759e-05,1793252976713342208
+167,2.783333333,POSE1_TO_POSE2_PRESS,770.196322928,749,725,702.196322928,671,641,899,790.196322928,827,653.196322928,635,654,0.425015959832,0.00457428421795,0.0698510542142,0.99999997303,4.74170899746e-05,-0.000220194145489,-5.66312839119e-05,1793252976730008320
+168,2.800000000,POSE1_TO_POSE2_PRESS,770,749,725,702.386734172,671.386734172,641,899,790.386734172,827,653,635.386734172,654,0.425988614094,0.00457979514572,0.069877891275,0.999999981351,5.63531890487e-05,-0.000176108755795,-5.57542290937e-05,1793252976746674944
+169,2.816666667,POSE1_TO_POSE2_PRESS,770,749,725,702.97441146,671.97441146,641,899,790.97441146,827,653,635.97441146,654,0.426983116718,0.00458311483899,0.0699424847128,0.999999992186,7.91437981611e-05,-8.07819919323e-05,-5.32819892109e-05,1793252976763341568
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,749,725.557480273,703,671.442519727,641,899.557480273,791,827,653,635.442519727,653.442519727,0.428008007682,0.00458997489732,0.0699977088037,0.999999993633,9.93369710155e-05,-6.20580407434e-06,-5.31725444324e-05,1793252976780008192
+171,2.850000000,POSE1_TO_POSE2_PRESS,770.138838945,749,725.861161055,702.861161055,671.138838945,641,900,791,827,653,635,653.138838945,0.429029164009,0.00459524673178,0.0700432922336,0.999999990915,0.000109138895099,5.83659914147e-05,-5.33982659821e-05,1793252976796675072
+172,2.866666667,POSE1_TO_POSE2_PRESS,770.715466686,749,725.284533314,702.284533314,671.715466686,641,900,791,827,653,635,653.715466686,0.430034182027,0.00459500234876,0.0700598215419,0.999999990325,8.65478507168e-05,9.43704826163e-05,-5.43416671508e-05,1793252976813341696
+173,2.883333333,POSE1_TO_POSE2_PRESS,770.708973952,749,725,702,672,641,900.291026048,791,827,653,635,654,0.430968276003,0.00459143348057,0.070024571183,0.999999994654,8.09494285845e-05,3.4121667166e-05,-5.45350891887e-05,1793252976830008320
+174,2.900000000,POSE1_TO_POSE2_PRESS,770.134455345,749,725,702,672,641,900.865544655,791,827,653,635,654,0.431833281813,0.00458462618471,0.0699388815224,0.999999987132,9.19037583038e-05,-0.000119888848477,-5.39979450641e-05,1793252976846674944
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,749,725,702,672,641,901,791,827,653,635.449612183,654,0.432744281878,0.00457653363311,0.0698985477136,0.999999979012,8.56772220686e-05,-0.000177890860853,-5.46898650462e-05,1793252976863341568
+176,2.933333333,POSE1_TO_POSE2_PRESS,770.03611721,749,725,702,672,641,901,790.96388279,827,653,635.96388279,654,0.433675733566,0.00456901715135,0.069878036795,0.999999976155,7.45298188362e-05,-0.000197545897859,-5.57820451345e-05,1793252976880008448
+177,2.950000000,POSE1_TO_POSE2_PRESS,770.615402141,749,725,702,672,641,901,790.384597859,827,653,635.384597859,654,0.434703414468,0.00457606992206,0.0699472341082,0.999999992694,6.832293848e-05,-8.16558932226e-05,-5.72462302471e-05,1793252976896675328
+178,2.966666667,POSE1_TO_POSE2_PRESS,771,749,725,702,672.193384715,641,901.193384715,790.193384715,827,653,635,654,0.435719561655,0.00458134607384,0.0700045522848,0.999999995957,6.75377776113e-05,1.33527113025e-05,-5.78476562979e-05,1793252976913342464
+179,2.983333333,POSE1_TO_POSE2_PRESS,771,749,725,702,672.768794628,641,901.768794628,790.768794628,827,653,635,654,0.436712924546,0.0045831125741,0.0700384036269,0.999999993138,7.74630470614e-05,6.71108098895e-05,-5.67447313703e-05,1793252976930010112
+180,3.000000000,POSE1_TO_POSE2_PRESS,770.655236538,749,724.655236538,702,673,640.655236538,902,791,827.344763462,653,635,654,0.437672098302,0.00458432282253,0.0700359289384,0.999999992052,8.34487177899e-05,7.52821429203e-05,-5.71409615543e-05,1793252976946676736
+181,3.016666667,POSE1_TO_POSE2_PRESS,770.078892307,749,724.078892307,702,673,640.078892307,902,791,827.921107693,653,635,654,0.438608306844,0.00458515943142,0.0700090537211,0.999999993125,8.67881235196e-05,5.28324255684e-05,-5.85441880561e-05,1793252976963342336
+182,3.033333333,POSE1_TO_POSE2_PRESS,770.50871294,749,724.50871294,702,672.49128706,640.50871294,902,791,828,653,635,654,0.439403563865,0.00458978951572,0.0699330225116,0.999999991776,8.62742879259e-05,-7.45483488587e-05,-5.87214089834e-05,1793252976980009216
+183,3.050000000,POSE1_TO_POSE2_PRESS,770.903451229,749,724.903451229,702,672,641,902,790.903451229,828,653,635,654,0.440196163434,0.00459396642363,0.0698626300949,0.999999975745,8.54502654714e-05,-0.000194348185095,-5.86312037185e-05,1793252976996676096
+184,3.066666667,POSE1_TO_POSE2_PRESS,770.323404216,749,724.323404216,702,672,641,902,790.323404216,828,653,635,654,0.441087399129,0.00459286111789,0.069859515553,0.999999976003,8.61331496425e-05,-0.000192847509241,-5.81754807884e-05,1793252977013342720
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,749,724,702,672.25413383,641,901.74586617,790.25413383,828,653,635,654,0.442005869615,0.00459114157411,0.0698940912344,0.999999985268,8.75863320131e-05,-0.000135790356897,-5.79183078209e-05,1793252977030008832
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,749,724,702,672.828510197,641,901.171489803,790.828510197,828,653,635,654,0.442958659505,0.00458864800852,0.0699761616269,0.999999994234,9.00101918435e-05,-8.72462860218e-06,-5.79113336611e-05,1793252977046675456
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,749,724,702,673,641,901.41186355,791,828,653,635,653.58813645,0.4438490812,0.00458670661888,0.0700196684198,0.999999993143,8.85017326233e-05,5.0547655828e-05,-5.76817404515e-05,1793252977063342080
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,749,724,702,673,641,901.999038032,791,828,653,635,653.000961968,0.44471295577,0.00458500026433,0.07004676051,0.999999991438,8.53194707739e-05,8.09634724759e-05,-5.73573890005e-05,1793252977080008704
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,749,724.578403175,702,673,641,902,791,828,653,635,653.578403175,0.445504155411,0.00457608818809,0.0700207063135,0.999999995859,5.78508139647e-05,3.95274157893e-05,-5.80704971686e-05,1793252977096675328
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641,902,791,828,653,635,654,0.446273912717,0.00456938155932,0.069992067259,0.999999997429,4.13434774465e-05,-3.80986787241e-06,-5.84636168818e-05,1793252977113342208
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641,902,791,828,653,635,654,0.446986684904,0.00456860052281,0.0699567533148,0.9999999955,5.42364496087e-05,-5.1913027853e-05,-5.79970274698e-05,1793252977130009600
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641,902,791,828,653,635,654,0.447684903012,0.00456914452929,0.069922819701,0.999999990432,6.48032896811e-05,-0.00010817618532,-5.6865064853e-05,1793252977146676480
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641,902,791,828,653,635,654,0.448369991547,0.00457088388411,0.0698901313137,0.999999981038,7.3271677709e-05,-0.000171800639749,-5.51328554507e-05,1793252977163343104
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,749,724.526941722,702,673,641,902,791,828,653,635,654,0.449108653159,0.00457282486341,0.0699124664977,0.999999986393,7.83954778214e-05,-0.000134124782098,-5.54859012518e-05,1793252977180009216
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,749,724.060692868,702,673,640.939307132,902.060692868,791,828.060692868,653,635,654,0.449853969297,0.00457469750779,0.0699482005351,0.999999992395,8.2323539651e-05,-7.25865245034e-05,-5.62549449282e-05,1793252977196675584
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,749,724.638747241,702,673,640.361252759,902.638747241,791,828.638747241,653,635,654,0.45054431825,0.00457556729016,0.0699834336457,0.999999994795,8.30318063632e-05,-1.88355539889e-05,-5.62226068918e-05,1793252977213342208
+197,3.283333333,POSE1_TO_POSE2_PRESS,770.215815341,749,724.784184659,701.784184659,672.784184659,640,903,791,829,653,635,654,0.451185409668,0.00457683060536,0.0699921734733,0.999999994906,8.32088779805e-05,-6.43970635664e-06,-5.67730684164e-05,1793252977230009344
+198,3.300000000,POSE1_TO_POSE2_PRESS,770.791239975,749,724.208760025,701.208760025,672.208760025,640,903,791,829,653,635,654,0.451744424058,0.0045787496573,0.0699567680076,0.999999992916,8.25008286582e-05,-6.29531754697e-05,-5.82946386619e-05,1793252977246676480
+199,3.316666667,POSE1_TO_POSE2_PRESS,771,749,724,701.374463728,672,640,903,791,828.625536272,653,635,654,0.452282655056,0.00458252416084,0.0699136728427,0.99999998608,9.42708720749e-05,-0.000125081867339,-5.75052227775e-05,1793252977263343616
+200,3.333333333,POSE1_TO_POSE2_PRESS,771,749,724,701.962127956,672,640,903,791,828.037872044,653,635,654,0.452809053107,0.00458735506384,0.069866199553,0.999999973937,0.000113145303124,-0.000190407584883,-5.5400049559e-05,1793252977280010496
+201,3.350000000,POSE1_TO_POSE2_PRESS,770.458268011,749,724,702,672,640,902.458268011,791,828,653,635,654,0.453311048003,0.00459179100914,0.0698441114058,0.999999966971,0.000112024339297,-0.000224165461494,-5.70866125007e-05,1793252977296677376
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,749,724,702,671.879279491,639.879279491,902.120720509,791,828,652.879279491,635,654,0.453808884019,0.00459554460679,0.06982919716,0.999999961575,0.00011102144181,-0.00024716187369,-5.86164675187e-05,1793252977313344000
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,749,724,702,671.300519568,639.300519568,902.699480432,791,828,652.300519568,635,654,0.454297318551,0.00459681245967,0.0698348675195,0.999999963371,0.000115692543576,-0.000237577624452,-5.8560725211e-05,1793252977330010368
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,749.276029071,724.276029071,701.723970929,670.723970929,639,903.276029071,790.723970929,828,652.276029071,635,654,0.454753959366,0.00459869482556,0.0698395381112,0.9999999633,0.000122259177941,-0.000234775362011,-5.77375665415e-05,1793252977346676736
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,749.85018933,724.85018933,701.14981067,670.14981067,639,903.85018933,790.14981067,828,652.85018933,635,654,0.455176260657,0.00460124090947,0.0698431288819,0.999999961232,0.000130873123139,-0.000239298132145,-5.60855431843e-05,1793252977363343104
+206,3.433333333,POSE1_TO_POSE2_PRESS,770.435346356,749.564653644,724.564653644,701,670.435346356,639,904,790.435346356,828,653,635,654,0.455555688254,0.00460468226341,0.0698262803246,0.999999951998,0.00013442367492,-0.00027313205033,-5.77382491292e-05,1793252977380009728
+207,3.450000000,POSE1_TO_POSE2_PRESS,770.975962891,749.024037109,724,701.024037109,670.975962891,639,903.975962891,790.975962891,828,653,635,654,0.455919766853,0.0046083913779,0.0698031366723,0.999999939152,0.000136147877213,-0.000315426140475,-6.05480342869e-05,1793252977396676352
+208,3.466666667,POSE1_TO_POSE2_PRESS,770.395342114,749.604657886,724,701.604657886,670.395342114,639,903.395342114,790.395342114,828,653,635,654,0.456278912608,0.00461098205283,0.0698013125203,0.999999939325,0.000136973908221,-0.000314009809733,-6.31353220837e-05,1793252977413343488
+209,3.483333333,POSE1_TO_POSE2_PRESS,770.176102324,749.823897676,724.176102324,702,670,639,903.176102324,790.176102324,828.176102324,653,635,654,0.456627708921,0.00461346056898,0.0698038766436,0.999999940971,0.000140935575467,-0.000306697151681,-6.42789326527e-05,1793252977430010112
+210,3.500000000,POSE1_TO_POSE2_PRESS,770.72796649,749.27203351,724.72796649,702,670,639,903.72796649,790.72796649,828.72796649,653,635,654,0.456954421859,0.00461569976377,0.0698158043366,0.999999945439,0.00015158796884,-0.000286803087869,-6.23420678301e-05,1793252977446676224
+211,3.516666667,POSE1_TO_POSE2_PRESS,770.695879828,749,724.695879828,701.695879828,669.695879828,638.695879828,904,791,828.695879828,653,635,654,0.4572540687,0.00461927889981,0.0698228448609,0.99999995137,0.000129249710403,-0.000277673386125,-5.87573632816e-05,1793252977463342848
+212,3.533333333,POSE1_TO_POSE2_PRESS,770.096113355,749,724.096113355,701.096113355,669.096113355,638.096113355,904,791,828.096113355,653,635,654,0.457527403643,0.0046241606418,0.0698251343919,0.999999956842,7.48400383561e-05,-0.000279008110066,-5.35707333571e-05,1793252977480009472
+213,3.550000000,POSE1_TO_POSE2_PRESS,770.496487207,749,724,701.496487207,669,638,904,791,828.496487207,653,635,654,0.457767873058,0.0046252286942,0.0698173353666,0.999999954005,7.18542225123e-05,-0.000290261761729,-5.07443383236e-05,1793252977496675840
+214,3.566666667,POSE1_TO_POSE2_PRESS,770.914140292,749,724.085859708,701.914140292,668.914140292,638,903.914140292,791,828.914140292,652.914140292,635,654,0.457995000188,0.0046260303685,0.069806825896,0.999999949324,7.89541058799e-05,-0.000304522798371,-4.88293954571e-05,1793252977513342208
+215,3.583333333,POSE1_TO_POSE2_PRESS,770.335447207,749,724.664552793,701.335447207,668.335447207,638,903.335447207,791,828.335447207,652.335447207,635,654,0.458181542995,0.00462948045799,0.0697918092624,0.999999942062,8.76173288796e-05,-0.00032518123492,-4.95608298923e-05,1793252977530008832
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,749,724.759017739,701.240982261,668,638.240982261,903,790.759017739,828,652.240982261,635.240982261,654,0.4583504628,0.0046317206349,0.069774355686,0.999999932853,9.46615362878e-05,-0.000350431541842,-5.03098995054e-05,1793252977546675712
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,749,724.18570994,701.81429006,668,638.81429006,903,790.18570994,828,652.81429006,635.81429006,654,0.45849507967,0.00463229228692,0.0697535414553,0.99999992078,9.94730467479e-05,-0.000382014246324,-5.10832887808e-05,1793252977563342592
+218,3.633333333,POSE1_TO_POSE2_PRESS,770,749,724,702,668,638.601668907,903.398331093,790,828,653,635.601668907,654,0.458626640631,0.00463347720506,0.0697391081869,0.999999912007,0.000102330790647,-0.000403459134534,-5.22986655045e-05,1793252977580009216
+219,3.650000000,POSE1_TO_POSE2_PRESS,770,749,724,702,668,638.012485272,903.987514728,790,828,653,635.012485272,654,0.458751946103,0.00463495595763,0.0697277322322,0.999999904903,0.000104252425429,-0.000420046685732,-5.37258118407e-05,1793252977596676096
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,749,724,702,668,638,904,790,828.567320562,653,635,654,0.458868883036,0.00463431891281,0.0697265483282,0.999999904154,0.000104886933262,-0.000421594846361,-5.42942891926e-05,1793252977613342464
+221,3.683333333,POSE1_TO_POSE2_PRESS,770.145411422,749,724,701.854588578,668,638,904,790,828.854588578,652.854588578,635,654,0.458979223482,0.00463458419913,0.0697260304864,0.999999903799,0.000106530736051,-0.000421955114845,-5.48404394023e-05,1793252977630008832
+222,3.700000000,POSE1_TO_POSE2_PRESS,770.719049594,749,724,701.280950406,668,638,904,790,828.280950406,652.280950406,635,654,0.459070671255,0.00463764168529,0.0697268243427,0.999999904175,0.000111228906461,-0.000419775980653,-5.53755833377e-05,1793252977646675456
+223,3.716666667,POSE1_TO_POSE2_PRESS,770.709173393,749,724,701.290826607,668,638,904,790.290826607,828,652.290826607,635,654,0.459149337753,0.00463919466556,0.0697254847771,0.999999903317,0.000113822270341,-0.000421037426427,-5.60209885002e-05,1793252977663342080
+224,3.733333333,POSE1_TO_POSE2_PRESS,770.139182834,749,724,701.860817166,668,638,904,790.860817166,828,652.860817166,635,654,0.459215735539,0.00463930347364,0.0697220973437,0.999999901277,0.000114395234674,-0.000425601478631,-5.67722332846e-05,1793252977680008448
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,749,724,702,667.547670242,638,904,791,828.452329758,653,635,654,0.459264150716,0.0046399878508,0.069716904522,0.999999897279,0.000115661509069,-0.000434544461177,-5.68887089127e-05,1793252977696675072
+226,3.766666667,POSE1_TO_POSE2_PRESS,770,749.048956317,724,701.951043683,667.048956317,638,904,791,828.951043683,653,635,654,0.459306154268,0.00464087628998,0.0697113277197,0.999999892813,0.000117245803862,-0.000444294390117,-5.68253087252e-05,1793252977713341952
+227,3.783333333,POSE1_TO_POSE2_PRESS,770,749.625752819,724,701.374247181,667.625752819,638,904,791,828.374247181,653,635,654,0.459341668164,0.00464195999513,0.0697078996681,0.999999891068,0.000119843916515,-0.000447491405803,-5.70336295474e-05,1793252977730008832
+228,3.800000000,POSE1_TO_POSE2_PRESS,770.2016815,749.7983185,724.2016815,701.2016815,667.596637,638,904,791,828,653,635,654,0.459373375079,0.00464248950798,0.0697056129019,0.999999889853,0.00012185839449,-0.000449668148707,-5.69418471778e-05,1793252977746675712
+229,3.816666667,POSE1_TO_POSE2_PRESS,770.776006689,749.223993311,724.776006689,701.776006689,666.447986622,638,904,791,828,653,635,654,0.459398047893,0.00464199504848,0.0697054348706,0.999999889644,0.000122794499837,-0.000449959749703,-5.62955689197e-05,1793252977763342336
+230,3.833333333,POSE1_TO_POSE2_PRESS,770.639704335,749,724.639704335,701.639704335,666.360295665,638,904,791,828,653,635,654,0.459415129326,0.00464236467956,0.0697034085612,0.999999888312,0.000123897115852,-0.000452640042029,-5.60527498176e-05,1793252977780008960
+231,3.850000000,POSE1_TO_POSE2_PRESS,770.049044788,749,724.049044788,701.049044788,666.950955212,638,904,791,828,653,635,654,0.459427357022,0.00464328678818,0.0697002005099,0.999999886248,0.000125106194513,-0.000456847602793,-5.60678922583e-05,1793252977796675328
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,749,724,701,666.468765652,638,904,791,828,653,635,654,0.459434523319,0.00464203912852,0.0696977292437,0.999999884888,0.000125818567417,-0.000459682132047,-5.5547789948e-05,1793252977813341952
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,749,724,701,666,638,904,790.889908164,828.110091836,653,634.889908164,654,0.459440598907,0.00464071498517,0.0696956385641,0.999999883787,0.000125767756895,-0.000462137874408,-5.5108469688e-05,1793252977830008576
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,749,724,701,666,638,904,790.313092838,828.686907162,653,634.313092838,654,0.459443993556,0.00463989954975,0.0696948785002,0.999999883528,0.000122672185696,-0.000463514879529,-5.52170922914e-05,1793252977846675456
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,749,724,701.262303131,666.262303131,638,903.737696869,790,829,652.737696869,634.262303131,654,0.459446705178,0.00464012310074,0.0696940795609,0.999999882881,0.000122380577077,-0.000464980878217,-5.52544246609e-05,1793252977863342336
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,749,724,701.836014107,666.836014107,638,903.163985893,790,829,652.163985893,634.836014107,654,0.459448605907,0.00464158014247,0.0696932344685,0.999999881776,0.000125417849175,-0.000466552530779,-5.52071208532e-05,1793252977880009216
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,749,724,702,667,638,903.422089208,790.422089208,828.577910792,652.422089208,635,654,0.459449592951,0.00464223734086,0.0696924628055,0.999999880809,0.000127794331005,-0.000467979790821,-5.51948755388e-05,1793252977896675840
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,749,724.012849462,702,666.987150538,638,904,791,828,653,635,654,0.459450213784,0.0046425326335,0.069691734232,0.999999879925,0.000129797414288,-0.00046931490451,-5.5186138461e-05,1793252977913342208
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,749,724.592003127,702,666.407996873,638,904,791,828,653,635,654,0.459450811561,0.00464098653352,0.0696916094708,0.999999880394,0.000126999812578,-0.000469135896389,-5.47136135237e-05,1793252977930008832
+240,4.000000000,POSE1_TO_POSE2_PRESS,770.170746374,749,724.829253626,702,666,638,904,790.829253626,828,653,635,654,0.459451498187,0.00464031124089,0.0696912909509,0.999999880565,0.000125792399589,-0.000469133227839,-5.44043182331e-05,1793252977946675200
+241,4.016666667,POSE1_TO_POSE2_PRESS,770.748511247,749,724.251488753,702,666,638,904,790.251488753,828,653,635,654,0.459452396605,0.00464171174468,0.0696905105563,0.999999880037,0.00012837561617,-0.000469550910647,-5.44841233899e-05,1793252977963341824
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.676998038,749,724,702,666.323001962,638.323001962,904,790,828,653,635,654,0.459451773782,0.00464212632462,0.0696898720328,0.999999879382,0.000128846991872,-0.000470815307911,-5.44692849474e-05,1793252977980008704
+243,4.050000000,POSE1_TO_POSE2_PRESS,770.105031022,749,724,702,666.894968978,638.894968978,904,790,828,653,635,654,0.45944997841,0.00464178096922,0.0696893428613,0.999999878631,0.000127690592269,-0.000472732339922,-5.43814966384e-05,1793252977996675840
+244,4.066666667,POSE1_TO_POSE2_PRESS,770.483487442,749,724,702,666.516512558,638.516512558,904,790,828.483487442,653,635,654,0.459452549226,0.00464154320067,0.0696908894804,0.999999879688,0.000128028731974,-0.0004703942196,-5.44247955778e-05,1793252978013342464
+245,4.083333333,POSE1_TO_POSE2_PRESS,770.925963368,749.074036632,724,702,666,638,904,790.074036632,828.925963368,653,635,654,0.459455360546,0.0046412990281,0.0696923318769,0.99999988075,0.000128749824794,-0.000467931734583,-5.44345896393e-05,1793252978030009088
+246,4.100000000,POSE1_TO_POSE2_PRESS,770.346956881,749.653043119,724,702,666,638,904,790.653043119,828.346956881,653,635,654,0.459453113674,0.00464084611814,0.0696898787606,0.999999879128,0.000129789957893,-0.000471149227309,-5.40147495911e-05,1793252978046675712
+247,4.116666667,POSE1_TO_POSE2_PRESS,770,749.76998062,724,702,666,638,904,790.76998062,828,653,635,654,0.459452103513,0.00464069127927,0.0696886382782,0.99999987841,0.000129744283552,-0.000472694749066,-5.39016647619e-05,1793252978063342592
+248,4.133333333,POSE1_TO_POSE2_PRESS,770,749.196039836,724,702,666,638,904,790.196039836,828,653,635,654,0.45945294246,0.0046409821116,0.0696892109066,0.999999879058,0.000128075126951,-0.000471740366283,-5.42472355095e-05,1793252978080008960
+249,4.150000000,HOLD_POSE2,771,749,724,702,666,638,903,790,828,653,635,654,0.459452847247,0.00464398928579,0.0696885413813,0.999999878188,0.000131159932125,-0.00047269062092,-5.46261702706e-05,1793252978114032640
+250,4.166666667,HOLD_POSE2,771,749.579272629,724,702,666.579272629,638,904.158545259,790.579272629,828.579272629,653,635,654,0.459454208677,0.00464298922953,0.069690047716,0.999999878954,0.00012968424661,-0.00047153104443,-5.41590129597e-05,1793252978130700032
+251,4.183333333,HOLD_POSE2,770.842119781,749.842119781,724,702,666.842119781,638,904.842119781,790.842119781,828.842119781,653,635,654,0.459455086111,0.00464182732272,0.0696908446875,0.999999879345,0.000128634427661,-0.000471033258562,-5.37586991342e-05,1793252978147367168
+252,4.200000000,HOLD_POSE2,770.265276865,749.265276865,724,702,666.265276865,638,904.265276865,790.265276865,828.265276865,653,635,654,0.459454679183,0.00464023591702,0.0696897592403,0.999999878754,0.000128714719604,-0.000472291649288,-5.35357660542e-05,1793252978164033792
+253,4.216666667,HOLD_POSE2,770,749,724.309871005,702,666,638,903.690128995,790.309871005,828,653,635,654,0.45945476028,0.00464048330896,0.0696892412736,0.999999878566,0.000128953363953,-0.000472596055715,-5.3775102392e-05,1793252978180700160
+254,4.233333333,HOLD_POSE2,770,749,724.883575627,702,666,638,903.116424373,790.883575627,828,653,635,654,0.459455256897,0.00464229630935,0.0696892064771,0.999999878724,0.000129326834361,-0.000472088210763,-5.44080290129e-05,1793252978197366272
+255,4.250000000,HOLD_POSE2,770,749,724.528540298,702,666,638,903.471459702,790.528540298,828,653,635,654,0.45945499287,0.00464334790906,0.0696896589888,0.999999878995,0.000129223770398,-0.000471540837698,-5.44042271199e-05,1793252978214032640
+256,4.266666667,HOLD_POSE2,770,749,724,702,666,638,904,790.061531459,828,653,635,654,0.459454486303,0.00464385465322,0.0696900028958,0.999999879173,0.000128992596956,-0.000471247718957,-5.42181177714e-05,1793252978230699008
+257,4.283333333,HOLD_POSE2,770,749,724,702,666,638,904,790.639660964,828,653,635,654,0.459453569364,0.00464141450288,0.0696883933455,0.99999987832,0.000128704475888,-0.000473173729958,-5.38624558428e-05,1793252978247365632
+258,4.300000000,HOLD_POSE2,770.217593288,749,724,701.782406712,666,638,904,791,828,653,635,654,0.459453343128,0.00464009910537,0.0696875871908,0.999999877875,0.000128331489977,-0.000474239267962,-5.3653724011e-05,1793252978264032512
+259,4.316666667,HOLD_POSE2,770.795199311,749,724,701.204800689,666,638,904,791,828,653,635,654,0.459454259672,0.00464064463564,0.0696881102715,0.999999878108,0.000127818093402,-0.000473881134849,-5.36880911936e-05,1793252978280699136
+260,4.333333333,HOLD_POSE2,770.629704839,749,724,701.370295161,666,638,904,790.629704839,828.370295161,653,635.370295161,654,0.459454825545,0.004641090274,0.0696884270526,0.99999987832,0.000127982292895,-0.000473373024126,-5.38417015886e-05,1793252978297365760
+261,4.350000000,HOLD_POSE2,770.055987899,749,724,701.944012101,666,638,904,790.055987899,828.944012101,653,635.944012101,654,0.459455198778,0.00464148103674,0.069688630503,0.999999878519,0.00012851872998,-0.000472782523117,-5.40608182879e-05,1793252978314032640
+262,4.366666667,HOLD_POSE2,770.533147358,749,724,702,666,638,904,790,828.466852642,653,635.466852642,654,0.4594545233,0.00464169183807,0.0696881928225,0.999999878259,0.000128144294758,-0.000473441568811,-5.39860838035e-05,1793252978330699264
+263,4.383333333,HOLD_POSE2,770.878624036,749,724,701.878624036,666,638,904,790,828,653,635,654,0.459453836048,0.00464174602764,0.0696876313936,0.999999877874,0.000127950690955,-0.000474319246619,-5.38606025959e-05,1793252978347365888
+264,4.400000000,HOLD_POSE2,770.300090165,749,724,701.300090165,666,638,904,790,828,653,635,654,0.459453531601,0.00464128364526,0.0696868650103,0.999999877209,0.00012880918911,-0.000475511441121,-5.36636743319e-05,1793252978364032256
+265,4.416666667,HOLD_POSE2,770,749,724,701,666,638,904,790.280496377,828,653,635,654,0.459454157707,0.00464150895534,0.0696870799672,0.99999987711,0.000129978414728,-0.00047541689632,-5.35183243836e-05,1793252978380698880
+266,4.433333333,HOLD_POSE2,770,749,724,701,666,638,904,790.863295129,828,653,635,654,0.45945578671,0.00464247541964,0.0696883525547,0.999999877621,0.000131482523945,-0.000473935580067,-5.34285624998e-05,1793252978397365760
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,666,638,904,790,828,653,635,654,0.459455000113,0.0046406507944,0.0696882179357,0.99999987826,0.000128937364969,-0.000473303264454,-5.32837219412e-05,1793252978430021632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,749.578901507,724,701.421098493,666,638,904,790,828,653,635,654,0.459455312691,0.00464154836371,0.0696880823648,0.999999877904,0.000130880573846,-0.000473501801225,-5.34550712476e-05,1793252978446688000
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.157114505,749.842885495,724.157114505,701.157114505,666,638,904,790,828,653,635,654,0.459455590512,0.00464165687607,0.0696880475465,0.999999877677,0.000131640928737,-0.000473768327291,-5.34730440795e-05,1793252978463354624
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.733490343,749.266509657,724.733490343,701.733490343,666,638,904,790,828,653,635,654,0.459455775584,0.00463965978376,0.0696882815872,0.999999877799,0.000129244828596,-0.000474216283392,-5.30817305837e-05,1793252978480021760
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.691603805,749,724.691603805,701.691603805,666,638,904,790,828,653,635,654,0.459456385129,0.00464024947485,0.0696885655474,0.999999878175,0.000128429441762,-0.000473610839554,-5.3368792934e-05,1793252978496688384
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770.117962292,749,724.117962292,701.117962292,666,638,904,790,828,653,635,654,0.459457359755,0.00464306400606,0.0696888924423,0.999999878773,0.000128973594555,-0.000472099387746,-5.42393126273e-05,1793252978513354496
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770.470429428,749,724.470429428,701.470429428,666.470429428,638,903.529570572,790,828,652.529570572,635,654,0.459457186167,0.00464308228258,0.0696890305464,0.999999878723,0.0001302925244,-0.000471861360391,-5.40857539721e-05,1793252978530020864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,771,749.061253026,724.938746974,702,666.938746974,638,903,790.061253026,828,652.061253026,635,654,0.459456453716,0.00464237618172,0.0696888391849,0.999999878417,0.000131493317517,-0.000472223626437,-5.36772327465e-05,1793252978546687488
+275,4.583333333,POSE2_TO_POSE3_RETREAT,771,749.640354617,724.359645383,702,666.359645383,638,903,790.640354617,828,652.640354617,635,654,0.45945350944,0.00464166579301,0.0696862756186,0.999999877374,0.000129999703973,-0.000474873954041,-5.33544542402e-05,1793252978563354368
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770.782422184,749.782422184,724,701.782422184,666,638,903,791,828,653,635,654,0.459447648617,0.00464139359431,0.0696827463251,0.999999875191,0.000129340450625,-0.000479644019204,-5.32046267932e-05,1793252978580022272
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770.208277359,749.208277359,724,701.208277359,666,638,903,791,828,653,635,654,0.459437008154,0.00464183950242,0.0696776343963,0.999999871104,0.000130048548774,-0.000487887914735,-5.33382319589e-05,1793252978596692224
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,749,724.375363408,701.375363408,666,638,903,790.624636592,828,653,635,654,0.459410943936,0.00464277497819,0.0696662824309,0.999999862103,0.000131032556617,-0.000505732597394,-5.34680972607e-05,1793252978613358080
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,749,724.964409983,701.964409983,666,638,903,790.035590017,828,653,635,654,0.459376099434,0.00464398915023,0.0696513781989,0.999999849886,0.000132173631612,-0.00052904272174,-5.35958335598e-05,1793252978630021376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,749,724.455563622,702,666,637.455563622,903.544436378,790,828,653,635,654,0.459319660537,0.00464296265716,0.069631232644,0.999999835001,0.000131654994069,-0.000556611111552,-5.33730826561e-05,1793252978646687744
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,666,637.123436313,903.876563687,790,828,653,634.876563687,654,0.45925951839,0.00464183949308,0.0696125505264,0.999999820957,0.000131393785834,-0.000581390677617,-5.29798858107e-05,1793252978663353856
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,666,637.700794763,903.299205237,790,828,653,634.299205237,654,0.459190864482,0.00464089069139,0.0696004894529,0.999999812914,0.000132471721502,-0.000594907721811,-5.20427756958e-05,1793252978680020480
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.733269221,666,638,903.266730779,790,828,653,634.266730779,654,0.459115933691,0.00464098845833,0.0695937676702,0.999999807997,0.000133805464613,-0.000602891960428,-5.12096386366e-05,1793252978696687104
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.179620178,666,638,903.820379822,790,828,653,634.820379822,654,0.459034250956,0.00464221200337,0.0695927892824,0.99999980659,0.000135414375876,-0.000604924643071,-5.04883438843e-05,1793252978713353984
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.414398148,666,638,904,790.414398148,828.414398148,653,635,654,0.45893783604,0.00464197483688,0.0695942081471,0.999999806906,0.00013793184529,-0.000603964678022,-4.88907579786e-05,1793252978730020352
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770.02625778,749,724,701.97374222,666.02625778,638,903.97374222,790.97374222,828.97374222,652.97374222,635,654,0.45883336309,0.00464101641928,0.0695967906414,0.999999808082,0.00014076213937,-0.000601519924132,-4.68642803446e-05,1793252978746687232
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770.605570523,749,724,701.394429477,666.605570523,638,903.394429477,790.394429477,828.394429477,652.394429477,635,654,0.458708181708,0.00463964154361,0.0695996342085,0.999999810218,0.000140991362925,-0.000598072018872,-4.46678327041e-05,1793252978763353856
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770.816462266,749,724,701.183537734,666.816462266,638,903.183537734,790.367075468,828,652.183537734,635,654,0.458574257025,0.00463830693602,0.0696032171087,0.999999812741,0.000142119967175,-0.000593748759373,-4.22239409998e-05,1793252978780020736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770.241365684,749,724,701.758634316,666.241365684,638,903.758634316,791.517268632,828,652.758634316,635,654,0.458421679424,0.00463705823643,0.0696083772997,0.999999816081,0.000145167307452,-0.000587558022222,-3.92521531582e-05,1793252978796687360
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770.340663002,749,724,702,666.340663002,638,903.659336998,791.318673995,828,653,635.340663002,654,0.458254688449,0.0046381772349,0.0696140178229,0.999999819578,0.000150765077773,-0.000580332127033,-3.6440316877e-05,1793252978813353984
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770.927705286,749,724,702,666.927705286,638,903.072294714,790.144589427,828,653,635.927705286,654,0.458077273208,0.00464100863448,0.0696200057396,0.999999823119,0.000158207407736,-0.000572357569019,-3.37441627945e-05,1793252978830020608
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770.492488499,749.507511501,724,702,667,638,903,790,828,653,635.492488499,654,0.457864254371,0.00463814133596,0.0696292320511,0.999999828409,0.000161227804666,-0.000562430690251,-2.93260918977e-05,1793252978846687232
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770.086297372,749.913702628,724,701.913702628,667,638,903,790,828,653,635,654,0.457642428783,0.00463519585174,0.0696400511244,0.999999834986,0.000164290135054,-0.00054993518582,-2.4674800371e-05,1793252978863354112
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770.66506031,749.33493969,724,701.33493969,667,638,903,790,828,653,635,654,0.457398881828,0.00463637156047,0.0696573639781,0.999999847685,0.000171135837696,-0.000524346267232,-2.00726825159e-05,1793252978880020736
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770.757989562,749,724,701,667,638,903,790,828,653,635,654,0.457138336647,0.00463586705356,0.0696739340724,0.999999859313,0.000176431579808,-0.000500017426286,-1.51460951203e-05,1793252978896687360
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770.183529723,749,724,701,667,638,903,790,828,653,635,654,0.456854441041,0.00463305443672,0.0696894838382,0.99999986986,0.00017959814296,-0.000477419553981,-9.77378465528e-06,1793252978913353984
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,749,724,701,667.400434251,638.400434251,903,790,828,653,635,654,0.456535806052,0.00463155357628,0.0696952084742,0.999999871566,0.000185533648946,-0.000471623427938,-3.98277816163e-06,1793252978930020352
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,749,724,701,667.98886011,638.98886011,903,790,828,653,635,654,0.456200861995,0.00463066854536,0.0696963205124,0.999999869215,0.000192769088651,-0.000473715207474,2.00479313224e-06,1793252978946687232
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,749,724,701,668.568319067,639,903,790.568319067,828,653,635,654,0.455804028527,0.00462972302542,0.0696908798304,0.999999863595,0.00020110777103,-0.000481977536005,7.93526893385e-06,1793252978963354112
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,749,724,701,669.14691258,638.85308742,902.85308742,791,828,653,635,654,0.455396870966,0.0046279010238,0.0696837411944,0.999999857396,0.000207901623262,-0.000491726398519,1.37596001338e-05,1793252978980020480
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,749,724,701,669.72348099,638.27651901,902.27651901,791,828,653,635,654,0.454963012718,0.00462351910577,0.0696720065825,0.999999849988,0.000210115251303,-0.000505474491993,1.92767253771e-05,1793252978996687104
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770.299741854,749,724,701,670,638.299741854,902,790.700258146,827.700258146,653,635,654,0.454524168596,0.00461806813571,0.0696710515226,0.999999852046,0.000211308681632,-0.000500676670808,2.40677187667e-05,1793252979013353984
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770.875719356,749,724,701,670,638.875719356,902,790.124280644,827.124280644,653,635,654,0.45408072955,0.00461163194978,0.0696800306647,0.999999862605,0.000211561919891,-0.000478787334885,2.81895252827e-05,1793252979030020608
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770.537964542,749,724,701.462035458,670,639,902,790.462035458,827,653,635,654,0.45362345484,0.00459851958368,0.0697019896912,0.99999988326,0.000196237387124,-0.000440629015879,2.85752458348e-05,1793252979046687488
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.949692965,670.050307035,639,901.949692965,790.949692965,827.050307035,653,635,654,0.453153773595,0.00458581317469,0.0697257666708,0.999999903792,0.000175403696879,-0.00040117290324,2.66375916675e-05,1793252979063353856
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.370763649,670.629236351,639,901.370763649,790.370763649,827.629236351,653,635,654,0.452593726376,0.00459667447165,0.0697311195608,0.999999911838,0.000141718149122,-0.000395116004439,1.10877508308e-05,1793252979080020480
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.206950224,671,639,901,790.206950224,827.793049776,652.793049776,635,654,0.452017020006,0.00460268167382,0.0697320479271,0.999999914069,0.00011846745325,-0.000397265478115,2.64278843915e-06,1793252979096687360
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.782499237,671,639,901,790.782499237,827.217500763,652.217500763,635,654,0.451410642075,0.0046000432531,0.0697250957793,0.99999990779,0.000113802261439,-0.000414031312745,6.85231720388e-06,1793252979113353984
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,671.365022764,639,900.634977236,791,826.634977236,652.365022764,635,654,0.450795874939,0.00459380243989,0.0697248409356,0.999999905953,0.000104856211667,-0.000420667293913,1.17822173103e-05,1793252979130020608
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,671.951783024,639,900.048216976,791,826.048216976,652.951783024,635,654,0.4501760117,0.00458537330985,0.0697286544507,0.999999906816,9.33097030905e-05,-0.000421149772389,1.71497155526e-05,1793252979146687232
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,639,899.468059749,791,826,653,635,654,0.44952857031,0.00459040424185,0.0697520452229,0.9999999216,9.36645114054e-05,-0.000384263564407,1.91904160478e-05,1793252979163353856
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,639,899,791,826,653,635,654,0.448867209692,0.00459386448826,0.0697783254902,0.999999937007,8.9621716091e-05,-0.00034281453653,2.07809274631e-05,1793252979180020736
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,639,899,791,826,653,635,654,0.448157786256,0.00458567303745,0.0698093771692,0.999999953918,6.26467438974e-05,-0.000296256536786,2.17320023825e-05,1793252979196687360
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770.264172063,748.735827937,724,701.735827937,672,639.264172063,899,791,826,653,635,654,0.447405266447,0.00458254331347,0.0698078466327,0.999999953501,4.6417639242e-05,-0.000300500962939,2.32740576158e-05,1793252979213353984
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770.838199409,748.161800591,724,701.161800591,672,639.838199409,899,791,826,653,635,654,0.446602197528,0.00458535063862,0.0697680994491,0.99999993239,4.27926792223e-05,-0.000364333061622,2.55092913773e-05,1793252979230020608
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770.576257951,748.423742049,724,701.423742049,672,640,898.576257951,791.423742049,826,653,635,654,0.445819373905,0.00458367936398,0.0697411561487,0.999999918933,2.58834707125e-05,-0.000401103593822,2.40638008217e-05,1793252979246687232
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.98645531,672,640,897.972910619,791.98645531,825.98645531,653,635,653.98645531,0.445043887992,0.0045802256865,0.0697204081509,0.99999990933,7.96641377349e-06,-0.000425232789154,2.13025744776e-05,1793252979263353856
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.407496189,672,640,896.814992378,791.407496189,825.407496189,653,635,653.407496189,0.444242992545,0.0045757477955,0.0697484896915,0.999999919363,0.000165637362686,-0.00036505648594,2.39248056924e-05,1793252979280020480
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770.170094092,749,724,701,672,640,896,791,825,653,635,653.170094092,0.443425962283,0.0045732641859,0.069777665019,0.999999913726,0.000271569442813,-0.000313191896085,2.66402062468e-05,1793252979296687360
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770.744431176,749,724,701,672,640,896,791,825,653,635,653.744431176,0.442570586318,0.00457552015491,0.0698094398218,0.999999927664,0.000254539726983,-0.000281080820058,2.9577032818e-05,1793252979313355008
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770.674024572,749,724,701.325975428,672,639.674024572,895.674024572,791,825,653,635,653.674024572,0.441722334347,0.00457275484447,0.0698262594311,0.999999940259,0.000226897031261,-0.000259024339568,3.01129673883e-05,1793252979330021888
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770.086702083,749,724,701.913297917,672,639.086702083,895.086702083,791,825,653,635,653.086702083,0.440879793998,0.00456596378071,0.0698310888839,0.999999951376,0.000190745501344,-0.000245029017206,2.87240141733e-05,1793252979346688512
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,639.494092814,895,791,825,653,635,653.494092814,0.439970083851,0.00456271769958,0.0698219585515,0.999999951927,0.000166309429806,-0.000259950518881,3.02217492488e-05,1793252979363354624
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,895,791,824.926273613,652.926273613,635,653.926273613,0.439037110997,0.00456031975584,0.0698020176289,0.999999946187,0.000144490676226,-0.000292800537679,3.18791043941e-05,1793252979380020992
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,672,640,895,791,824.346851676,652.346851676,635,653.346851676,0.438024370049,0.00455952810428,0.0697245090622,0.999999905675,0.000126707312664,-0.000414272895991,3.12021515587e-05,1793252979396687616
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,749,724.230340946,702,671.769659054,640,895,791,824.230340946,652.230340946,634.769659054,653.230340946,0.437045699096,0.00455545278806,0.0696856127723,0.999999881696,0.000111393476669,-0.000472486474758,3.09265106441e-05,1793252979413354240
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,749,724.804208887,702,671.195791113,640,895,791,824.804208887,652.804208887,634.195791113,653.804208887,0.436117839462,0.00454648026404,0.0697043022351,0.999999899332,9.97626561083e-05,-0.000436356894027,3.12493806719e-05,1793252979430021120
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770.387150113,749,725,702,671,640,895,791,825,653,634.387150113,654,0.43522247187,0.00454257249108,0.0697516791859,0.99999992457,0.000108193521842,-0.000371589576083,3.27975256931e-05,1793252979446688000
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770.974790001,749,725,702,671,640,895,791,825,653,634.974790001,654,0.434343930681,0.00454128755349,0.069813912254,0.999999948692,0.000127013543817,-0.000291991903813,3.49801921228e-05,1793252979463355136
+330,5.500000000,POSE2_TO_POSE3_RETREAT,771,749,725,702.55443165,671,640,895,791,825,653,635,654,0.433418173076,0.0045348135046,0.0698375796046,0.999999960535,0.000104571665847,-0.000258277327792,3.58937483578e-05,1793252979480021760
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770.867205773,749,725,702.867205773,670.867205773,640,895,791,824.867205773,653,635,654,0.43247670618,0.00452804044313,0.0698507485065,0.999999967436,8.48093905657e-05,-0.000237914949222,3.65021326745e-05,1793252979496688128
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770.291910756,749,725,702.291910756,670.291910756,640,895,791,824.291910756,653,635,654,0.431489944701,0.00452104605812,0.0698346944119,0.999999963569,8.01391152311e-05,-0.000255191976658,3.62831708043e-05,1793252979513354240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770.283656726,749,725,702.283656726,670.283656726,640.283656726,895,791.283656726,824,653,634.716343274,654,0.430451311932,0.0045156263113,0.069784578857,0.99999994076,8.03847957604e-05,-0.00033278263192,3.56841590738e-05,1793252979530020864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770.859504835,749,725,702.859504835,670.859504835,640.859504835,895,791.859504835,824,653,634.140495165,654,0.429359247232,0.0045118285808,0.0696993770023,0.999999884098,8.56943424596e-05,-0.000472501624503,3.4693662051e-05,1793252979546687488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770.553667881,749,725,703,671,640.553667881,895,791.553667881,823.553667881,653,634,654,0.428419663045,0.00450434563193,0.0697131163438,0.999999895676,7.05730768896e-05,-0.000449938738047,3.49732532695e-05,1793252979563354112
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770.035818359,749,725,703,671,640.035818359,895,791.035818359,823.035818359,653.035818359,634,654,0.427529487287,0.00449587278883,0.0697597965669,0.999999928295,5.02283881773e-05,-0.000373643015905,3.57474218002e-05,1793252979580020480
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770.611965601,749,725,703,671,640.611965601,895,791.611965601,823.611965601,653.611965601,634,654,0.42664233865,0.00449040769904,0.0698217282077,0.999999959698,5.05492760946e-05,-0.000276802035715,3.77993119398e-05,1793252979596687360
+338,5.633333333,POSE2_TO_POSE3_RETREAT,771,749,725,702.810407834,671,640.810407834,895,791.810407834,823.810407834,653.810407834,634.189592166,654,0.425729767127,0.00448326794141,0.069858513926,0.999999973667,4.93149989518e-05,-0.000220686197956,3.91361265552e-05,1793252979613354240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,771,749,725,702.229729652,671,640.229729652,895,791.229729652,823.229729652,653.229729652,634.770270348,654,0.424764753742,0.00447267371949,0.0698434292709,0.999999967337,4.48727667571e-05,-0.000248577160106,3.89979020912e-05,1793252979630021120
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770.653223541,749,725,702.346776459,671,640,894.653223541,791.346776459,823,653,635,654,0.423764882326,0.00446603646763,0.0698053465212,0.999999949332,3.13920055341e-05,-0.00031448004698,3.81260491805e-05,1793252979646688000
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770.079448489,749,725,702.920551511,671,640,894.079448489,791.920551511,823,653,635,654,0.42274219303,0.00446198943444,0.0697522093044,0.999999917132,1.19946565192e-05,-0.000405265396221,3.67739655458e-05,1793252979663354624
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,640,894,791.491487264,823,653,634.491487264,654,0.421757718389,0.00445692405968,0.0696932166753,0.999999870919,1.43371754984e-05,-0.000506481433746,3.7845253662e-05,1793252979680020992
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,749,725,702.903090281,671,640,894,791,823,653,634.096909719,654,0.42080889364,0.00445058210121,0.0696543606063,0.999999835184,1.52863367719e-05,-0.000572627555273,3.86721056028e-05,1793252979696687616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,749,725,702.32387194,671,640,894,791,823,653,634.67612806,654,0.420006926896,0.0044387012908,0.069720405578,0.999999895388,-8.08855148706e-06,-0.000455891332874,3.63440009125e-05,1793252979713354240
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770,749,725,702.252719103,671,640.252719103,894.252719103,791,823,653,635,654,0.419208768365,0.00443066035195,0.0697879537785,0.999999940102,-2.76913425391e-05,-0.000343130644536,3.5923516154e-05,1793252979730020864
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770,749,725,702.825977737,671,640.825977737,894.825977737,791,823,653,635,654,0.418415440091,0.00442748976457,0.0698574086135,0.999999970668,-4.25097436874e-05,-0.000235412387849,3.79225860958e-05,1793252979746687488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.589766967,641,895,791,823,653,634.589766967,654,0.417568595829,0.00442404473355,0.0698625695708,0.999999972083,-2.43830009916e-05,-0.000231605356233,3.99821567119e-05,1793252979763353856
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.000718309,641,895,791,823,653,634.000718309,654,0.416698424525,0.00442048007558,0.0698397056094,0.999999961793,8.10413059382e-06,-0.000273091963338,4.20680990494e-05,1793252979780020480
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.578586592,641,894.421413408,791.578586592,823,653,634.578586592,654,0.415854908863,0.00445390625034,0.0698043333972,0.999999952004,1.87159979926e-05,-0.000307106696261,3.64411538877e-05,1793252979796687360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770.157351395,749,725.157351395,703,670.842648605,641,894.157351395,792,823,653,635,654,0.415009771246,0.0044799319195,0.0697695694733,0.999999937071,3.04312972644e-05,-0.000351898004305,3.31602393178e-05,1793252979813353984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770.734706445,749,725.734706445,703,670.265293555,641,894.734706445,792,823,653,635,654,0.41416021724,0.00448608355494,0.0697364699528,0.99999990781,4.51631779725e-05,-0.000425478593859,3.61665035256e-05,1793252979830020608
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770.690782715,749,726,703,670.309217285,641,894.690782715,792,823,653,634.690782715,654,0.413391696511,0.00448105121815,0.0697342685428,0.99999990436,4.58377011123e-05,-0.000433380257729,3.68868763284e-05,1793252979846687488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770.118689866,749,726,703,670.881310134,641,894.118689866,792,823,653,634.118689866,654,0.41269206483,0.00446651102626,0.0697583346129,0.999999924482,3.45616113778e-05,-0.000385446149466,3.56639391616e-05,1793252979863354880
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770.469492694,749,726,703,671,641,894,792,823,653,634,654,0.412047298035,0.00446316406147,0.0698132906709,0.999999957367,1.77458450812e-05,-0.000289355264849,3.49849250134e-05,1793252979880021760
+355,5.916666667,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641,894,791.939773568,823,653,634,654,0.411411809169,0.0044623948782,0.0698692130757,0.999999980673,2.58923157818e-06,-0.000193529472193,3.45367269839e-05,1793252979896687872
+356,5.933333333,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641,894,791.363275733,823,653,634,654,0.410732736228,0.00445860543625,0.0698641024667,0.999999977653,1.40861217137e-05,-0.000208039256756,3.48465718154e-05,1793252979913354496
+357,5.950000000,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641,894,791,823,653,634,654,0.410057737156,0.00445818410177,0.0698458036566,0.999999969492,2.21125794663e-05,-0.000243546976202,3.48082456665e-05,1793252979930021376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641,894,791,823,653,634,654,0.409389678979,0.00446350115736,0.069805035541,0.999999949564,2.42263109574e-05,-0.000314829778924,3.41767254959e-05,1793252979946688256
+359,5.983333333,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641,894,791,823,653,634,654,0.408756259878,0.0044706434232,0.0697748191829,0.999999933621,2.66114681623e-05,-0.000361881437703,3.30430652246e-05,1793252979963354880
+360,6.000000000,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641,894,791,823,653,634,654,0.408143032863,0.00447884965886,0.0697507537538,0.999999921138,2.91548477098e-05,-0.00039480804972,3.16166925456e-05,1793252979980021504
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770.458560873,749,726,703,671,641,893.458560873,791.541439127,823,653,634,654,0.407611744758,0.00447329620664,0.0697689039847,0.999999931863,3.97857016526e-05,-0.000365635135927,3.16536478216e-05,1793252979996687872
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770.120704713,749,726,703,671,641,893.120704713,792,823,653,634,654,0.407093390634,0.00446749069258,0.0697883261366,0.99999994196,4.50451739862e-05,-0.000336223541743,3.16853545902e-05,1793252980013354240
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770.696533464,749,726,703,671,641,893.696533464,792,823,653,634,654,0.40660170005,0.00446444670894,0.0698011556426,0.999999947066,2.78697926129e-05,-0.000322664547472,3.13025102708e-05,1793252980030021120
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770.728081676,749,726,703,671,640.728081676,894,791.728081676,823,653,634,654,0.406119482793,0.00446429698784,0.0698022915931,0.999999945638,1.86010805673e-05,-0.00032766079319,3.1877100996e-05,1793252980046687744
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770.153191434,749,726,703,671,640.153191434,894,791.153191434,823,653,634,654,0.405647820764,0.0044673720598,0.0697903985609,0.999999936852,1.81419956939e-05,-0.000353331323709,3.35184677059e-05,1793252980063354624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,640.433385633,894,791.433385633,823,653.433385633,634.433385633,654,0.405233327884,0.0044763329203,0.0697974121117,0.999999941257,2.11363779432e-05,-0.000340616363107,3.19434340034e-05,1793252980080021504
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770.023731232,749,726,703,670.976268768,641,894,792,823,653.976268768,634.976268768,654,0.404841821022,0.00448698766017,0.0698115088327,0.999999950111,2.52718892536e-05,-0.000313499128056,2.92907309301e-05,1793252980096687872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770.60291326,749,726,703,670.39708674,641,894,792,823,653.39708674,634.39708674,654,0.404502229655,0.00448724401398,0.0698306363051,0.999999961233,2.6752720207e-05,-0.000275664454741,2.87623307384e-05,1793252980113354240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770.819739113,749,726,703,670.180260887,641,894,792.180260887,823,653,634,654,0.404165721397,0.00448414544877,0.0698440794206,0.999999968259,2.3094452721e-05,-0.000249248983873,2.86976911343e-05,1793252980130020608
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770.246391756,749,726,703,670.753608244,641,894,792.753608244,823,653,634,654,0.403835936379,0.00447373096881,0.0698451269227,0.99999996884,8.22959394122e-06,-0.000247734838349,2.96443526543e-05,1793252980146687232
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,894,792.671775846,823,653,634,654,0.403518593425,0.00447097763617,0.0698370904075,0.999999965284,5.77001724754e-07,-0.000261827263758,2.96442544078e-05,1793252980163354112
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,894,792.096203902,823,653,634,654,0.403210626704,0.00447399769795,0.0698222082304,0.9999999582,-1.64047042645e-06,-0.000287680708893,2.89306836613e-05,1793252980180020992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,749,726,702.506390469,671,641,894,792,823,653,634.493609531,654,0.402934225024,0.00447129392437,0.0698144961005,0.999999953567,-1.14634602901e-05,-0.000303160104886,2.87755454469e-05,1793252980196688128
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,749,726,702.084138461,671,641,894.084138461,792,823,653,635,654,0.402670833523,0.00446770436868,0.0698081990604,0.999999949478,-2.1341477998e-05,-0.000315837602083,2.89067682058e-05,1793252980213355520
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,749,726,702.662092461,671,641,894.662092461,792,823,653,635,654,0.402446620509,0.00446565796207,0.0698017619814,0.999999946711,-2.25842256962e-05,-0.000324289711848,3.00609115293e-05,1793252980230021888
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770.239481428,749,726,703,671,641,895,792,823,653,634.760518572,654,0.402236453056,0.00446524622784,0.0697956561539,0.999999944003,-2.04841437931e-05,-0.000332575095263,3.11223399882e-05,1793252980246688000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770.816074977,749,726,703,671,641,895,792,823,653,634.183925023,654,0.402046057207,0.00446713558186,0.0697900166214,0.99999994138,-1.36784427552e-05,-0.000340625781583,3.20532559425e-05,1793252980263354112
+378,6.300000000,POSE2_TO_POSE3_RETREAT,771,749,726,703,670.600221371,641,894.600221371,792,823,653.399778629,634.399778629,654,0.401884225007,0.00446697612002,0.0697889922658,0.999999940882,-5.08129643144e-06,-0.000342159527454,3.37132504283e-05,1793252980280020736
+379,6.316666667,POSE2_TO_POSE3_RETREAT,771,749,726,703,670.013187378,641,894.013187378,792,823,653.986812622,634.986812622,654,0.401735771957,0.00446585699763,0.0697901296482,0.999999941335,4.35495842973e-06,-0.000340640753613,3.57147435436e-05,1793252980296687616
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770.433878222,749,726,703,670.566121778,641,894.566121778,792.566121778,823,653.433878222,634.433878222,654,0.401610947967,0.0044770874121,0.0697919459432,0.999999939555,8.19000112038e-05,-0.000335868052458,3.70884234346e-05,1793252980313354240
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,894.71007952,792.85503976,823,653,634.14496024,654,0.401492761532,0.00449140795357,0.0697927072839,0.999999933148,0.000146034783906,-0.000333112527902,3.76019855345e-05,1793252980330020864
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,893.554154243,792.277077121,823,653,634.722922879,654,0.401392779777,0.00451411110919,0.0697902708275,0.99999992903,0.000165437190828,-0.000336605765188,3.55894353248e-05,1793252980346688000
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770.298487197,749,726,703,670.701512803,641,893.298487197,792,823,653,634.701512803,654,0.401306304594,0.00451995048114,0.0697899010481,0.9999999327,0.000141710464194,-0.000337239951792,2.80582213009e-05,1793252980363354880
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770.871843035,749,726,703,670.128156965,641,893.871843035,792,823,653,634.128156965,654,0.401232267231,0.00451026046167,0.0697914344144,0.999999940624,7.82673078195e-05,-0.000335241316765,1.54450214068e-05,1793252980380021248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770.541096796,749,726,703,670.917806408,641,894,792,823,653,634,654,0.401174996223,0.00450749740737,0.0697931043783,0.999999942508,6.61845823124e-05,-0.000332281091483,1.39184133616e-05,1793252980396687872
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671.951014143,641,894.048985857,792,822.951014143,653,634,654,0.401123921092,0.00450725936764,0.0697949354931,0.999999943471,6.92706735746e-05,-0.00032866629641,1.54498891944e-05,1793252980413354240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671.370932714,641,894.629067286,792,822.370932714,653,634,654,0.401087693121,0.00451277818984,0.06979808746,0.999999945445,7.65197030395e-05,-0.000320955870196,1.55355811871e-05,1793252980430020864
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.793511987,641,894.793511987,792.206488013,822.206488013,653,634,654,0.401055193039,0.00451423580515,0.0698008346384,0.999999947157,7.83473816038e-05,-0.00031510122654,1.6113034832e-05,1793252980446687488
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.220810142,641,894.220810142,792.779189858,822.779189858,653,634,654,0.401029304502,0.00450849072535,0.0698028639099,0.999999948516,7.05601012233e-05,-0.000312537879716,1.75626452434e-05,1793252980463354112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770.361488125,749,726,703,670.361488125,641,894,792.638511875,823,653,634,654,0.401009760747,0.00450867636328,0.0698047007031,0.99999994925,7.04113637762e-05,-0.000310188857074,1.80296000922e-05,1793252980480021248
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770.949808073,749,726,703,670.949808073,641,894,792.050191927,823,653,634,654,0.400994198308,0.00451258349439,0.0698064167172,0.999999949599,7.50557705616e-05,-0.000307974321785,1.78799438922e-05,1793252980496688640
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770.470001853,749,726,703,670.470001853,641,894,792,823,653,634,654,0.400985665125,0.00450943768551,0.0698080067966,0.999999950897,7.10206197487e-05,-0.000304670940545,1.83724705908e-05,1793252980513355264
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,670,641,894,792,823,653,634,654,0.400978781055,0.00450651778736,0.0698095787646,0.999999952171,6.74592768415e-05,-0.000301254080138,1.88027406453e-05,1793252980530021632
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,670,641,894,792,823,653,634,654,0.400976164006,0.0045073935887,0.0698111233928,0.999999953078,6.94099762408e-05,-0.00029778601987,1.87083593784e-05,1793252980546687488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770.264424956,749,726.264424956,703,670.264424956,641.264424956,894.264424956,792,823,653,634,654,0.400973784741,0.00450833971537,0.0698124815629,0.999999953541,7.1034834139e-05,-0.000295841976724,1.86955829508e-05,1793252980563354112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770.841139686,749,726.841139686,703,670.841139686,641.841139686,894.841139686,792,823,653,634,654,0.400971686302,0.00450936889742,0.0698136195235,0.999999953493,7.22748686724e-05,-0.000295697819838,1.87791830305e-05,1793252980580020736
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770.575071312,749,726.575071312,703,671,641.575071312,895,792,823,653,634,654,0.400970754912,0.00450720432178,0.0698153856924,0.99999995425,6.99152347738e-05,-0.000293666792611,1.9289336215e-05,1793252980596687616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770.011264979,749,726,703,671,641,895,792.011264979,823,653,634,654,0.400970267022,0.00450395755097,0.0698173408764,0.999999955267,6.63108095635e-05,-0.000290983197877,1.9931624825e-05,1793252980613353984
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770.590433537,749,726,703,671,641,895,792.590433537,823,653,634,654,0.400969769611,0.00450736585829,0.0698167845899,0.999999954936,6.89442127073e-05,-0.000291565601952,1.90599082198e-05,1793252980630020608
+400,6.666666667,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641.169140066,894.830859934,793,823,653,634,654,0.400969147533,0.00450953644967,0.0698164945615,0.999999954759,7.03375487588e-05,-0.000291880239745,1.84426266193e-05,1793252980646687488
+401,6.683333333,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641.746730822,894.253269178,793,823,653,634,654,0.400968224399,0.004508718122,0.0698168475108,0.999999954967,6.87362881076e-05,-0.00029154825767,1.84397716542e-05,1793252980663354112
+402,6.700000000,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641.675267412,894.324732588,792.675267412,823,653,634,653.675267412,0.40096804835,0.00450795619017,0.0698176966614,0.999999955399,6.74806704098e-05,-0.000290346477268,1.86435372123e-05,1793252980680020736
+403,6.716666667,POSE2_TO_POSE3_RETREAT,771,749,726,703,671,641.096944707,894.903055293,792.096944707,823,653,634,653.096944707,0.400968455715,0.00450723829901,0.0698189333055,0.999999956002,6.64949722237e-05,-0.000288465454119,1.90086568343e-05,1793252980696687616
+404,6.733333333,POSE2_TO_POSE3_RETREAT,771,749,726.487143175,703,671,641,895,792,823,653,634,653.487143175,0.400968584498,0.00450726479525,0.0698186664428,0.999999955881,6.7761116487e-05,-0.000288575736555,1.92339307398e-05,1793252980713354240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770.928404213,749,726.928404213,703,671,641,894.928404213,792,822.928404213,653,634,654,0.400968565004,0.0045072925869,0.0698182341784,0.999999955668,6.91101999278e-05,-0.000288987430179,1.93617654699e-05,1793252980730020864
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770.349593357,749,726.349593357,703,671,641,894.349593357,792,822.349593357,653,634,654,0.400967892502,0.00450626751399,0.0698187752406,0.999999955847,6.78340822302e-05,-0.000288693388516,1.89988218836e-05,1793252980746688000
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770.228231022,749,726,703,671,641,894,792.228231022,822.228231022,653,634,654,0.400967522595,0.00450569405762,0.0698190479673,0.999999956041,6.69360561071e-05,-0.000288240574161,1.88346353685e-05,1793252980763354880
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diff --git a/Obstacle_avoidance/ball_0050_10/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d4d73613fc022e787c082bd8f49d5fd2c3c841c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
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+347,5.783333333,pose2_to_pose3_retreat,0.600017807919,0.0100051128205,1.06002111088,0.570589151738,0.0186775224648,1.05963248419
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+349,5.816666667,pose2_to_pose3_retreat,0.598559023855,0.0100052112079,1.06002081727,0.569130366066,0.0186776156969,1.05963219727
+350,5.833333333,pose2_to_pose3_retreat,0.597838402257,0.010005138899,1.0600210064,0.568409745062,0.0186775450207,1.05963237784
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+353,5.883333333,pose2_to_pose3_retreat,0.595869786045,0.0100051706956,1.06002083108,0.566441129799,0.0186775801592,1.05963220519
+354,5.900000000,pose2_to_pose3_retreat,0.595278559077,0.0100051657774,1.06002100758,0.565849901835,0.0186775720599,1.05963238614
+355,5.916666667,pose2_to_pose3_retreat,0.594703449124,0.0100051643031,1.06002109317,0.565274791926,0.0186775708688,1.05963247467
+356,5.933333333,pose2_to_pose3_retreat,0.594134056693,0.0100052435029,1.06002113327,0.564705397903,0.018677644357,1.05963250783
+357,5.950000000,pose2_to_pose3_retreat,0.593566506036,0.0100051446038,1.06002105301,0.564137849827,0.0186775541484,1.0596324261
+358,5.966666667,pose2_to_pose3_retreat,0.593002870611,0.0100051104164,1.06002087262,0.563574215947,0.0186775251758,1.05963224507
+359,5.983333333,pose2_to_pose3_retreat,0.592464819888,0.0100051066566,1.06002091798,0.563036165255,0.0186775214318,1.05963228844
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+363,6.050000000,pose2_to_pose3_retreat,0.590589075579,0.0100051484762,1.06002077918,0.561160418112,0.0186775538742,1.059632155
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+365,6.083333333,pose2_to_pose3_retreat,0.589791499902,0.0100051416647,1.06002079954,0.560362843491,0.0186775506912,1.0596321764
+366,6.100000000,pose2_to_pose3_retreat,0.589429992636,0.0100052610221,1.06002112562,0.560001336399,0.0186776704675,1.05963249869
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+369,6.150000000,pose2_to_pose3_retreat,0.588486825821,0.0100050580142,1.06002090264,0.559058170833,0.0186774718586,1.05963227931
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+371,6.183333333,pose2_to_pose3_retreat,0.587936729244,0.0100051746211,1.06002090781,0.558508072998,0.018677584002,1.05963228014
+372,6.200000000,pose2_to_pose3_retreat,0.587679804372,0.0100051429081,1.06002090919,0.558251148168,0.0186775523468,1.05963227974
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+374,6.233333333,pose2_to_pose3_retreat,0.587221164017,0.0100051158215,1.0600210597,0.557792507584,0.018677524487,1.05963243029
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+376,6.266666667,pose2_to_pose3_retreat,0.58684141093,0.0100051780993,1.06002107936,0.557412754795,0.0186775876906,1.05963244811
+377,6.283333333,pose2_to_pose3_retreat,0.586681338002,0.0100052058032,1.06002096732,0.557252681164,0.018677613094,1.05963233799
+378,6.300000000,pose2_to_pose3_retreat,0.586538389469,0.0100051789106,1.06002088403,0.557109733793,0.0186775904196,1.05963226086
+379,6.316666667,pose2_to_pose3_retreat,0.586411283216,0.010005147082,1.06002085405,0.556982627748,0.0186775592075,1.0596322289
+380,6.333333333,pose2_to_pose3_retreat,0.586299825688,0.0100051209273,1.06002086529,0.556871169162,0.0186775292012,1.05963223446
+381,6.350000000,pose2_to_pose3_retreat,0.586201439126,0.0100051687891,1.06002117083,0.556772782695,0.0186775768887,1.05963252938
+382,6.366666667,pose2_to_pose3_retreat,0.58611576402,0.0100051901318,1.06002075702,0.556687108519,0.0186776021485,1.05963213251
+383,6.383333333,pose2_to_pose3_retreat,0.58604180393,0.0100052804641,1.06002077966,0.556613145563,0.0186776827141,1.05963215415
+384,6.400000000,pose2_to_pose3_retreat,0.585979597078,0.0100050441893,1.06002096364,0.556550942739,0.0186774601661,1.05963233933
+385,6.416666667,pose2_to_pose3_retreat,0.585928220329,0.0100050979649,1.06002084375,0.556499564793,0.0186775097638,1.05963221685
+386,6.433333333,pose2_to_pose3_retreat,0.585886065201,0.0100051547616,1.06002098608,0.556457408703,0.0186775633853,1.05963236116
+387,6.450000000,pose2_to_pose3_retreat,0.585852202825,0.0100051142874,1.06002090917,0.556423546933,0.0186775249595,1.05963228404
+388,6.466666667,pose2_to_pose3_retreat,0.58582488055,0.0100051110445,1.06002082296,0.55639622474,0.018677521799,1.05963219347
+389,6.483333333,pose2_to_pose3_retreat,0.585803626527,0.0100052028003,1.06002111529,0.556374969473,0.0186776092264,1.05963248342
+390,6.500000000,pose2_to_pose3_retreat,0.58578695206,0.0100050726459,1.06002089091,0.556358296486,0.0186774843916,1.05963226563
+391,6.516666667,pose2_to_pose3_retreat,0.585774788535,0.0100050915825,1.06002122205,0.556346132286,0.0186775007387,1.0596325901
+392,6.533333333,pose2_to_pose3_retreat,0.585766444386,0.0100051292541,1.06002118011,0.556337788537,0.0186775399963,1.05963255334
+393,6.550000000,pose2_to_pose3_retreat,0.585760946754,0.0100051325189,1.06002100252,0.556332290847,0.0186775431401,1.05963237751
+394,6.566666667,pose2_to_pose3_retreat,0.585757624087,0.0100051091864,1.06002080804,0.556328967664,0.0186775179439,1.05963218055
+395,6.583333333,pose2_to_pose3_retreat,0.585755509842,0.0100050400505,1.06002099064,0.556326854523,0.0186774525047,1.05963236198
+396,6.600000000,pose2_to_pose3_retreat,0.5857543192,0.0100049902405,1.06002115483,0.55632566479,0.0186774057547,1.05963252561
+397,6.616666667,pose2_to_pose3_retreat,0.585753434208,0.0100049697616,1.06002123031,0.556324780246,0.0186773867837,1.05963260091
+398,6.633333333,pose2_to_pose3_retreat,0.585752833921,0.0100050310463,1.06002106993,0.556324179221,0.0186774456084,1.05963244147
+399,6.650000000,pose2_to_pose3_retreat,0.585752385777,0.0100050767983,1.06002095021,0.556323730527,0.0186774895239,1.05963232244
+400,6.666666667,pose2_to_pose3_retreat,0.585752035412,0.0100051125678,1.0600208566,0.556323379732,0.0186775238576,1.05963222938
+401,6.683333333,pose2_to_pose3_retreat,0.585751800938,0.0100051365058,1.06002079396,0.55632314497,0.0186775468346,1.05963216711
+402,6.700000000,pose2_to_pose3_retreat,0.585751669872,0.0100051440634,1.06002078632,0.556323013803,0.0186775540252,1.05963215893
+403,6.716666667,pose2_to_pose3_retreat,0.585751624228,0.0100051409674,1.06002081059,0.556322968182,0.0186775509688,1.05963218229
+404,6.733333333,pose2_to_pose3_retreat,0.585751598222,0.0100051392034,1.06002082442,0.55632294219,0.0186775492274,1.0596321956
+405,6.750000000,pose2_to_pose3_retreat,0.585751557026,0.0100051364092,1.06002084633,0.556322901015,0.0186775464689,1.05963221668
+406,6.766666667,pose2_to_pose3_retreat,0.585751491088,0.0100051319367,1.06002088139,0.556322835112,0.0186775420536,1.05963225042
+407,6.783333333,pose2_to_pose3_retreat,0.585751435423,0.0100051281611,1.06002091099,0.556322779476,0.0186775383262,1.05963227891
+408,6.800000000,pose2_to_pose3_retreat,0.585751408417,0.0100051263293,1.06002092535,0.556322752483,0.0186775365178,1.05963229273
+409,6.816666667,pose2_to_pose3_retreat,0.585751359094,0.0100051229838,1.06002095158,0.556322703186,0.0186775332151,1.05963231796
+410,6.833333333,pose2_to_pose3_retreat,0.585751251169,0.0100051156634,1.06002100897,0.556322595318,0.0186775259883,1.05963237319
+411,6.850000000,pose2_to_pose3_retreat,0.585751096467,0.0100051156978,1.06002102494,0.556322440585,0.0186775258698,1.05963238811
+412,6.866666667,pose2_to_pose3_retreat,0.585750960648,0.0100051401287,1.0600208853,0.556322304479,0.0186775495011,1.05963225228
+413,6.883333333,pose2_to_pose3_retreat,0.585750923772,0.0100051467617,1.06002084739,0.556322267526,0.0186775559171,1.05963221541
+414,6.900000000,pose2_to_pose3_retreat,0.58575090823,0.0100051495574,1.06002083141,0.556322251951,0.0186775586213,1.05963219987
+415,6.916666667,pose2_to_pose3_retreat,0.585750877358,0.01000514336,1.06002079243,0.556322220988,0.0186775521645,1.05963216204
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diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ccd21704537712c14ffbddfba55aee9c7536635
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:163ba1f447bfe1c602b4073ce7ffd4326d2d4859f42a23dc4848f6326083a4af
+size 26162458
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23e003ab6796738fd1e060341e6c72d3041ffbe5
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
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+17,0.283333333,BASELINE,770,749,727,703,670,642,895,793,823,653,634.886544306,654,0.401032338179,0.00449381230436,0.0798540061768,0.999999977711,0.000133346167202,-0.000155910536519,4.98891528397e-05,1793252982448436992
+18,0.300000000,BASELINE,770,749,727,703,670.474764493,641.525235507,895,792.525235507,823,653,634.525235507,654,0.401032788938,0.00449421662396,0.0798540011682,0.999999977649,0.000134111294326,-0.000155636612183,4.99383756195e-05,1793252982465103104
+19,0.316666667,BASELINE,770.065225864,749,727,703,671,641.065225864,895,792.065225864,823,653.065225864,634.065225864,654,0.401033212167,0.00449472510365,0.0798539978882,0.999999977588,0.000134786773008,-0.000155426615574,5.00003798037e-05,1793252982481769472
+20,0.333333333,BASELINE,770.644508949,749,727,703,671,641.644508949,895,792.644508949,823,653.644508949,634.644508949,654,0.401034392234,0.00449453348404,0.079854906731,0.999999978033,0.000133493854326,-0.000153749359599,4.97352526679e-05,1793252982498436352
+21,0.350000000,BASELINE,770.778484512,749,726.778484512,703,671,642,895,793,823,653.778484512,634.778484512,654,0.401034506855,0.00449474433255,0.0798551817834,0.999999978064,0.000133471558027,-0.000153594242163,4.96529930648e-05,1793252982515102976
+22,0.366666667,BASELINE,770.205094292,749,726.205094292,703,671,642,895,793,823,653.205094292,634.205094292,654,0.401032929028,0.00449559449692,0.0798544500669,0.999999977435,0.000135467630469,-0.000155857023941,4.98612163985e-05,1793252982531769088
+23,0.383333333,BASELINE,770,749,726,703,671,642,895,792.630040345,823,653,634,654,0.401032136024,0.00449504523601,0.0798536848306,0.999999977257,0.000135015784036,-0.00015739324618,4.98426166076e-05,1793252982548435456
+24,0.400000000,BASELINE,770,749,726,703,671,642,895,792.054059857,823,653,634,654,0.401031780068,0.00449371667195,0.079852900928,0.999999977329,0.000133200755949,-0.000158524866671,4.96977049849e-05,1793252982565101824
+25,0.416666667,BASELINE,770,749,726.536794002,703,671,642,895,792.536794002,823,653,634,654,0.401032120837,0.00449370818447,0.0798535552825,0.999999977613,0.000132849327886,-0.000157006089794,4.97486135814e-05,1793252982581768704
+26,0.433333333,BASELINE,770,749,727,703,670.874053916,642,895,793,823,653,634.125946084,654,0.40103221444,0.00449389237355,0.0798540865971,0.999999977753,0.000133003022702,-0.000155943665724,4.98659551126e-05,1793252982598435584
+27,0.450000000,BASELINE,770,749,727,703,670.296527112,642,895,793,823,653,634.703472888,654,0.401031163072,0.00449427715303,0.0798536426088,0.999999977304,0.000134424284619,-0.000157501808463,5.01487683418e-05,1793252982615102208
+28,0.466666667,BASELINE,770.279074551,749.279074551,727,703,670.279074551,641.720925449,895,792.720925449,823,653,635,654,0.40103014188,0.00449441871806,0.0798529284879,0.999999977062,0.000134479496895,-0.000159001874426,5.00941382336e-05,1793252982631768832
+29,0.483333333,BASELINE,770.85264466,749.85264466,727,703,670.85264466,641.14735534,895,792.14735534,823,653,635,654,0.401029152533,0.00449430362917,0.0798519293076,0.999999977038,0.000133093174736,-0.000160440654332,4.9683418442e-05,1793252982648435456
+30,0.500000000,BASELINE,771,749.561357528,727,703,670.561357528,641.438642472,895,792.438642472,823.438642472,653.438642472,635,654,0.40103060023,0.00449555300258,0.0798526606059,0.999999977108,0.000134476031828,-0.000158816567161,4.97647217881e-05,1793252982665102080
+31,0.516666667,BASELINE,771,749,727,703,670.028355784,641.971644216,895,793.028355784,824,653.971644216,634.971644216,654,0.401032849229,0.00449715075934,0.0798539768586,0.999999977208,0.000136689778501,-0.000156203086226,4.99978649157e-05,1793252982681768704
+32,0.533333333,BASELINE,771,749,727,703,670.606795672,641.393204328,895,793.606795672,824,653.393204328,634.393204328,654,0.401034297861,0.00449635555585,0.0798550346271,0.999999977444,0.000136449517103,-0.000154938481765,4.98766302426e-05,1793252982698435328
+33,0.550000000,BASELINE,771,749,726.815214436,703.184785564,670.815214436,641,895,793.815214436,823.815214436,653,634,654,0.401033967863,0.00449565801372,0.0798549282563,0.999999977486,0.000135600944818,-0.00015545231666,4.97507190259e-05,1793252982715102208
+34,0.566666667,BASELINE,771,749,726.238179833,703.761820167,670.238179833,641,895,793.238179833,823.238179833,653,634,654,0.401029862324,0.00449516777993,0.0798523507372,0.999999977105,0.000133461095503,-0.000159741290369,4.96148808052e-05,1793252982731768832
+35,0.583333333,BASELINE,770.663590454,749,726,703.663590454,670,641.336409546,895,793,823,653,634,654,0.401029143014,0.0044950141998,0.0798521530094,0.999999977107,0.00013264265585,-0.000160414565312,4.95988851383e-05,1793252982748435968
+36,0.600000000,BASELINE,770.090719756,749,726,703.090719756,670,641.909280244,895,793,823,653,634,654,0.401030803873,0.00449509725234,0.0798536280286,0.999999977386,0.000132753030442,-0.000158546378043,4.96671263909e-05,1793252982765103616
+37,0.616666667,BASELINE,770,749,726.498622839,703,670,642,895,793,823,653,634.498622839,654.498622839,0.401031372802,0.00449703006169,0.0798537366944,0.999999976996,0.000136118988953,-0.000158184511827,4.95666456872e-05,1793252982781770240
+38,0.633333333,BASELINE,770,749,727,703,670.088799492,641.911200508,895,793,823,653,634.911200508,654.911200508,0.401031607298,0.00449863366892,0.0798535780008,0.999999976581,0.000139198405349,-0.000158150848435,4.94909360682e-05,1793252982798436864
+39,0.650000000,BASELINE,770,749,727,703,670.66650462,641.33349538,895,793,823,653,634.33349538,654.33349538,0.401031131662,0.00449650854871,0.0798533627568,0.999999976795,0.000137327620679,-0.000158363725741,4.97263945406e-05,1793252982815103488
+40,0.666666667,BASELINE,770,749,727,703,670.757032218,641,895,793,823,653,634.242967782,654,0.401030682642,0.00449490509136,0.0798530186646,0.999999977016,0.000135247974162,-0.000158709037791,4.98814083414e-05,1793252982831770368
+41,0.683333333,BASELINE,770,749,727,703,670.182265133,641,895,793,823,653,634.817734867,654,0.401030269969,0.00449401402228,0.0798524986161,0.999999977247,0.000132883103868,-0.00015923520408,4.99265660567e-05,1793252982848437248
+42,0.700000000,BASELINE,770,749.392136305,727,703,670.392136305,641.392136305,895,793,823.392136305,653,635,654.392136305,0.401030861258,0.00449409209902,0.079853386552,0.999999977453,0.000132640858611,-0.000158179469085,4.9799128685e-05,1793252982865103360
+43,0.716666667,BASELINE,770,749.966367932,727,703,670.966367932,641.966367932,895,793,823.966367932,653,635,654.966367932,0.401031918755,0.00449462021554,0.0798549283099,0.999999977646,0.000133384291323,-0.000156389150662,4.95915437776e-05,1793252982881769728
+44,0.733333333,BASELINE,770,750,727,703,671,642,895,793,823.440509096,653,635,654.440509096,0.401030749504,0.00449543278565,0.0798537409842,0.999999977225,0.000134575120993,-0.000158042899927,4.96100691758e-05,1793252982898436352
+45,0.750000000,BASELINE,770,749.850787574,727,703,670.850787574,642,895,793,823,653,634.850787574,654,0.40102998808,0.00449566383206,0.0798529072643,0.999999976986,0.000134969837802,-0.00015921208122,4.96281544795e-05,1793252982915102720
+46,0.766666667,BASELINE,770,749.274175598,727,703,670.274175598,642,895,793,823,653,634.274175598,654,0.401030791631,0.00449417848989,0.0798535727245,0.999999977383,0.000133004466858,-0.000158379548561,4.96046863975e-05,1793252982931769344
+47,0.783333333,BASELINE,770.300679667,749,727,703,670,641.699320333,895,793,823,653,634.300679667,654,0.401030995907,0.0044946021796,0.0798539513805,0.999999977371,0.000133567611566,-0.000157988326119,4.95796173689e-05,1793252982948436480
+48,0.800000000,BASELINE,770.873942442,749,727,703,670,641.126057558,895,793,823,653,634.873942442,654,0.401030656907,0.0044967565144,0.0798540700323,0.999999976985,0.000136422998355,-0.000157997176228,4.95530969887e-05,1793252982965104128
+49,0.816666667,BASELINE,770.538582555,749.461417445,727,703,670.461417445,641,895,793,823,653,634.538582555,654,0.401030223489,0.0044971070377,0.0798537105238,0.999999976741,0.000137253380557,-0.000158770194694,4.97158220843e-05,1793252982981770752
+50,0.833333333,BASELINE,770.051811604,749.948188396,726.948188396,703,671,641,895,793,823,653,634.051811604,654,0.401029992902,0.00449689757251,0.0798534066111,0.999999976609,0.000137393778088,-0.000159407925936,4.99306509413e-05,1793252982998437376
+51,0.850000000,BASELINE,770.631139304,749.368860696,726.368860696,703,671,641,895,793,823,653,634.631139304,654,0.401032098396,0.00449616343061,0.0798550410269,0.999999977209,0.00013632076021,-0.000156475134076,5.01328500954e-05,1793252983015103744
+52,0.866666667,BASELINE,770.791427507,749,726,703,670.791427507,641,895,793,823,653,634.791427507,654,0.401033303356,0.00449581983916,0.0798559089768,0.999999977404,0.000136652017854,-0.000154884414671,5.0288012255e-05,1793252983031770112
+53,0.883333333,BASELINE,770.217314636,749,726,703,670.217314636,641,895,793,823,653,634.217314636,654,0.401032930054,0.00449616071944,0.0798554336323,0.999999976897,0.000139444383438,-0.000155645787346,5.03607382173e-05,1793252983048436736
+54,0.900000000,BASELINE,770,749,726,703,670,641.365093838,895,793,823,653,634,654,0.401031150342,0.00449611944296,0.0798544108274,0.999999976786,0.000138273302518,-0.000157444570722,5.0204408749e-05,1793252983065103360
+55,0.916666667,BASELINE,770,749,726,703,670,641.952554884,895,793,823,653,634,654,0.401028514029,0.00449584540678,0.0798530545816,0.999999976904,0.000134688210524,-0.000159875208392,4.9908568798e-05,1793252983081769984
+56,0.933333333,BASELINE,770,749,726,703,670.532304549,641.467695451,895,792.467695451,823,653,634,654.532304549,0.401029902575,0.00449528063793,0.0798535003228,0.999999977179,0.000133876205296,-0.000158876653167,4.97634450132e-05,1793252983098436864
+57,0.950000000,BASELINE,770.111384069,749,726.111384069,703,670.888615931,641.111384069,895,792.111384069,823,653,634,654.888615931,0.401031226333,0.00449480189139,0.0798538928256,0.999999977379,0.000133477619158,-0.00015798163587,4.96823264485e-05,1793252983115103744
+58,0.966666667,BASELINE,770.690494368,749,726.690494368,703,670.309505632,641.690494368,895,792.690494368,823,653,634,654.309505632,0.401030793111,0.00449479163401,0.0798533969465,0.999999977203,0.000133791973425,-0.000158786557616,4.98143749869e-05,1793252983131771136
+59,0.983333333,BASELINE,771,749,727,703,670,641.732005933,895,793,823.267994067,653.267994067,634.267994067,654,0.401030438641,0.00449574006919,0.0798532028794,0.999999976837,0.000136060553552,-0.000159137590825,4.98927336921e-05,1793252983148437504
+60,1.000000000,BASELINE,771,749,727,703,670,641.156355126,895,793,823.843644874,653.843644874,634.843644874,654,0.401030174579,0.00449778908183,0.0798533552916,0.999999976239,0.000140572581734,-0.000158967560851,4.99094565747e-05,1793252983165103616
+61,1.016666667,BASELINE,771,749.427424572,727,703,670.427424572,641,895,793,823.572575428,654,635,654.427424572,0.401030738114,0.00449775079083,0.079853916549,0.999999976353,0.000140738259399,-0.000158133018252,4.98162445536e-05,1793252983181769984
+62,1.033333333,BASELINE,770.985943258,750,727,703,670.985943258,641.014056742,895,793,823,653.985943258,634.985943258,655,0.401031584916,0.00449696682774,0.0798546039081,0.999999976727,0.0001392947165,-0.000157084124576,4.96811067226e-05,1793252983198436352
+63,1.050000000,BASELINE,770.406500733,750,727,703,670.406500733,641.593499267,895,793,823,653.406500733,634.406500733,655,0.40103141236,0.00449749739868,0.0798542311712,0.999999976825,0.000138314971145,-0.000157380454783,4.95085163164e-05,1793252983215103232
+64,1.066666667,BASELINE,770,749.827711142,727,703,670,642,895,793,823,653,634,654.827711142,0.40103134091,0.00449769427456,0.0798539856024,0.999999976942,0.000137502004857,-0.000157372815784,4.94255176391e-05,1793252983231769856
+65,1.083333333,BASELINE,770,749.250456311,727,703,670,642,895,793,823,653,634,654.250456311,0.401031507108,0.00449710679817,0.0798540389432,0.999999977107,0.000137081053806,-0.000156650695363,4.95531048574e-05,1793252983248436736
+66,1.100000000,BASELINE,770.323747073,749,727,703,670,641.676252927,895,793,823.323747073,653,634.323747073,654,0.40103087946,0.00449596937224,0.0798538247436,0.999999977177,0.000135417611311,-0.000157616865632,4.96544301854e-05,1793252983265103872
+67,1.116666667,BASELINE,770.895611822,749,727,703,670,641.104388178,895,793,823.895611822,653,634.895611822,654,0.401029643413,0.00449441046854,0.0798534055025,0.999999977165,0.00013280193138,-0.000159876931063,4.97356285629e-05,1793252983281770752
+68,1.133333333,BASELINE,770.515654166,749,727,703,670,641.484345834,895,793,823.515654166,653.484345834,634.515654166,654,0.401030288946,0.00449589624486,0.0798537765922,0.999999977003,0.000134879828297,-0.000159225862806,4.94852240219e-05,1793252983298437120
+69,1.150000000,BASELINE,770.075106503,749,727,703,670,641.924893497,895,793,823,653.924893497,634,654,0.401031111838,0.00449781455583,0.079854236097,0.999999976804,0.000137751782159,-0.000158096490105,4.92039457537e-05,1793252983315103744
+70,1.166666667,BASELINE,770.654189377,749,727,703,670,641.345810623,895,793,823,653.345810623,634,654,0.401030305503,0.00449807313077,0.07985410466,0.999999976639,0.000138919184459,-0.000158119626429,4.92123697349e-05,1793252983331770624
+71,1.183333333,BASELINE,771,749,727,703,670,641,895,793,823.215144162,653,634,654,0.401029743013,0.00449801454865,0.0798536563496,0.999999976511,0.000139295572273,-0.000158589020579,4.92377603638e-05,1793252983348437248
+72,1.200000000,BASELINE,771,749,727,703,670,641,895,793,823.749225339,653,634,654,0.401029542007,0.00449748580219,0.0798527382953,0.999999976439,0.000138499333514,-0.000159719962496,4.9288302929e-05,1793252983365103104
+73,1.216666667,BASELINE,770.670504757,749,727,703,670,641.329495243,895,793,824,653,634.329495243,654,0.401029602608,0.00449723230477,0.0798528121975,0.999999976589,0.000137783010902,-0.00015942624373,4.92100737655e-05,1793252983381769472
+74,1.233333333,BASELINE,770.049349979,749,727,703,670,641.950650021,895,793,824,653,634.950650021,654,0.401029894777,0.00449722244979,0.0798537641506,0.999999976934,0.000137137427771,-0.000157871456996,4.90178596371e-05,1793252983398436352
+75,1.250000000,BASELINE,770,749.545534959,727,703,670,641.454465041,895,793,823.454465041,653,635,654,0.401031259424,0.00449725965476,0.0798549778065,0.999999976958,0.000137302471283,-0.0001574548491,4.93950793746e-05,1793252983415103744
+76,1.266666667,BASELINE,770,750,727,703,670,641.135054646,895,793,823,653,634.864945354,654,0.401032235684,0.00449725967941,0.0798556672282,0.999999976929,0.000137639321675,-0.000157249063056,4.9693931199e-05,1793252983431770624
+77,1.283333333,BASELINE,770,750,727,703,670,641.714383116,895,793,823,653,634.285616884,654,0.401031629818,0.00449712403546,0.079854557837,0.999999976817,0.000138311200661,-0.000157413653446,4.95733171925e-05,1793252983448436992
+78,1.300000000,BASELINE,770,749.710516335,727,703,670,642,895,793,823,653,634.289483665,654,0.40103066001,0.00449695317933,0.0798536901968,0.999999976607,0.000138967408931,-0.000158168402397,4.95590231416e-05,1793252983465103616
+79,1.316666667,BASELINE,770,749.139527218,727,703,670,642,895,793,823,653,634.860472782,654,0.40102933629,0.0044967480815,0.0798530576449,0.999999976303,0.000139608378332,-0.000159497045041,4.9648118859e-05,1793252983481770496
+80,1.333333333,BASELINE,770.446486207,749,727,703,670.446486207,641.553513793,895,793,823.446486207,653,635,654,0.401029800789,0.00449551839772,0.0798535991142,0.999999976912,0.00013592401887,-0.000158892935983,4.95300246086e-05,1793252983498436864
+81,1.350000000,BASELINE,771,749,727,703,671,641.036656588,895,793,823.963343412,653,634.963343412,654,0.401030840624,0.00449409709343,0.0798544592362,0.999999977721,0.000131351343103,-0.000157692770459,4.93719496326e-05,1793252983515103232
+82,1.366666667,BASELINE,771,749,727,703,671,641.61643051,895,793,823.38356949,653,634.38356949,654,0.401031836881,0.00449474582408,0.0798544154814,0.999999977433,0.000134341230577,-0.000156921711526,4.96142260625e-05,1793252983531770880
+83,1.383333333,BASELINE,771,749,727,703,671,642,895,792.804876415,823,653,634,654,0.40103249908,0.00449533600225,0.0798546779823,0.999999977249,0.000136502554195,-0.00015617713091,4.97850691401e-05,1793252983548437504
+84,1.400000000,BASELINE,771,749,727,703,671,642,895,792.228296237,823,653,634,654,0.401032508213,0.00449581171345,0.0798555391973,0.999999977281,0.000137044078528,-0.000155484313909,4.98162637247e-05,1793252983565102848
+85,1.416666667,BASELINE,770.653454572,749,727,703,670.653454572,642,895,792,823,653,634,654,0.401032358021,0.00449608777661,0.0798558602984,0.999999977214,0.00013742448311,-0.000155582200796,4.98084536181e-05,1793252983581769472
+86,1.433333333,BASELINE,770.079752517,749,727,703,670.079752517,642,895,792,823,653,634,654,0.401032103392,0.0044962329727,0.0798558273607,0.999999977082,0.000137699275476,-0.000156198385218,4.97750763742e-05,1793252983598437376
+87,1.450000000,BASELINE,770.509044392,749,727,703,671.018088783,641.490955608,895,792.509044392,823,653,634,654,0.401032200858,0.00449669199419,0.0798552781376,0.999999977039,0.000138052681486,-0.000156194456697,4.9673071525e-05,1793252983615103232
+88,1.466666667,BASELINE,771,749,727,703,671.805250215,641,895,793,823.097374893,653,634,654,0.401032155508,0.00449693788518,0.0798547684482,0.999999977045,0.000138039877263,-0.000156191875436,4.95926386301e-05,1793252983631769088
+89,1.483333333,BASELINE,771,749,727,703,670.657020874,641,895,793,823.671489563,653,634,654,0.401031132618,0.00449589223028,0.0798548604308,0.99999997722,0.000136171993413,-0.000156686083146,4.96720697341e-05,1793252983648435712
+90,1.500000000,BASELINE,771,749,727,703,670,641.2478676,895,793,823.7521324,653,634,654,0.401030310637,0.00449530804888,0.0798548206343,0.999999977275,0.000134671086656,-0.000157635174266,4.96529902636e-05,1793252983665102080
+91,1.516666667,BASELINE,771,749,727,703,670,641.827272979,895,793,823.172727021,653,634,654,0.401029757386,0.00449534111604,0.0798546045756,0.999999977171,0.000133661033921,-0.000159192699189,4.9502146986e-05,1793252983681768960
+92,1.533333333,BASELINE,770.587657012,749,727,703,670,642,895,793,823.412342988,653,634,654,0.401029919946,0.0044959907531,0.0798544802864,0.999999977108,0.000134507653978,-0.000158887431469,4.94693748327e-05,1793252983698435840
+93,1.550000000,BASELINE,770.000181037,749,727,703,670,642,895,793,823.999818963,653,634,654,0.401030386529,0.00449690226372,0.0798543949743,0.999999977059,0.000136142852059,-0.000157790986507,4.94867506003e-05,1793252983715102976
+94,1.566666667,BASELINE,770.58246165,749,727,703.58246165,670.58246165,642,895.58246165,793,824,653,634,654,0.401030974728,0.0044954683652,0.0798548225266,0.999999977538,0.000133799330816,-0.000156836503672,4.92328287397e-05,1793252983731769600
+95,1.583333333,BASELINE,770.83726667,749,727,703.83726667,671,641.83726667,895.83726667,793,823.83726667,653,634.16273333,654.16273333,0.401031414061,0.00449480466547,0.0798550234723,0.999999977705,0.000133188126374,-0.000156322109558,4.9137756761e-05,1793252983748436224
+96,1.600000000,BASELINE,770.262987279,749,727,703.262987279,671,641.262987279,895.262987279,793,823.262987279,653,634.737012721,654.737012721,0.401031476822,0.00449609059569,0.079854650939,0.999999977086,0.000136960982792,-0.000156920571292,4.9444621201e-05,1793252983765102848
+97,1.616666667,BASELINE,770,749,727,703.311751233,671,641.311751233,895,793,823,653,634.688248767,654.688248767,0.401031312818,0.00449629698246,0.0798545297685,0.999999976912,0.000137729259797,-0.000157278489125,4.96913267217e-05,1793252983781769472
+98,1.633333333,BASELINE,770,749,727,703.886877588,671,641.886877588,895,793,823,653,634.113122412,654.113122412,0.401030957239,0.00449559134425,0.0798546209554,0.999999977121,0.000135959193869,-0.000157433189512,4.98872084867e-05,1793252983798435840
+99,1.650000000,BASELINE,770.473056358,749,727,703.526943642,671,642,895,792.526943642,823,653,634,654.473056358,0.401030594064,0.00449394566128,0.0798546986624,0.999999977289,0.000134702977445,-0.00015748196902,4.97583106078e-05,1793252983815102464
+100,1.666666667,BASELINE,771,749.060985856,727,703,671,641.939014144,895,792.060985856,823,653,634,654.939014144,0.401030329321,0.00449257380534,0.0798547678918,0.999999977413,0.000133920335546,-0.000157425407,4.95599476988e-05,1793252983831769088
+101,1.683333333,BASELINE,771,749.640787031,727,703,671,641.359212969,895,792.640787031,823,653,634,654.359212969,0.401030917771,0.00449548953618,0.07985479308,0.99999997724,0.000136096117128,-0.000156693321531,4.94471478304e-05,1793252983848436224
+102,1.700000000,BASELINE,770.7817088,750,727,703,671,641.2182912,895,793,823,653,634,654,0.401031158795,0.00449727060417,0.0798549726887,0.999999977122,0.000137435383259,-0.000156298262663,4.93705223026e-05,1793252983865103104
+103,1.716666667,BASELINE,770.20794521,750,727,703,671,641.79205479,895,793,823,653,634,654,0.401030834058,0.00449720395054,0.0798554037605,0.999999977102,0.000137412440585,-0.000156452028796,4.93528042428e-05,1793252983881769984
+104,1.733333333,BASELINE,770,749.625014773,726.625014773,703,670.625014773,641.625014773,895.374985227,793,823.374985227,653,634.374985227,654,0.401030920146,0.00449760084539,0.0798554601188,0.999999976999,0.000138240242951,-0.000156361755778,4.94249994987e-05,1793252983898436608
+105,1.750000000,BASELINE,770,749.036873493,726.036873493,703,670.036873493,641.036873493,895.963126507,793,823.963126507,653,634.963126507,654,0.401031239761,0.00449826123906,0.0798553034757,0.999999976846,0.000139551641575,-0.000156132761516,4.95483049462e-05,1793252983915103232
+106,1.766666667,BASELINE,770,749,726.546197462,703,670.546197462,641.546197462,895.453802538,793,824,653,635,654,0.401031260726,0.00449734834009,0.079855613862,0.999999977117,0.000137409855362,-0.000156366380896,4.93304904824e-05,1793252983931769344
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,749,727,703,671,642,895,793,823,653,635,654,0.401030493282,0.00449728524545,0.0798539688579,0.999999977019,0.000136482704431,-0.000157935160007,4.88954947012e-05,1793252983973784832
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,749,726.424991295,703,670.424991295,642,895,793,823.575008705,653,634.424991295,654,0.401030141806,0.00449763526024,0.0798540711319,0.999999976997,0.000136562442152,-0.000157995287175,4.89287580832e-05,1793252983990452480
+109,1.816666667,POSE1_TO_POSE2_PRESS,770.153686653,749,726.153686653,703,670,642,895,793,823.846313347,653,634.153686653,654,0.401030112351,0.00449786973214,0.0798543660809,0.99999997702,0.000136655574991,-0.000157761591602,4.89542738139e-05,1793252984007119872
+110,1.833333333,POSE1_TO_POSE2_PRESS,770.742759503,749,726.742759503,703,670,642,895,793,823.257240497,653,634.742759503,654,0.401030995161,0.00449777687718,0.0798552068679,0.99999997717,0.00013678665551,-0.000156695511687,4.89578408635e-05,1793252984023785984
+111,1.850000000,POSE1_TO_POSE2_PRESS,770.672883708,749,727,703,670.327116292,642,895,793,823,653,634.672883708,654,0.401031146399,0.00449765063282,0.0798553892805,0.999999977122,0.000137297123095,-0.000156474258395,4.92108139633e-05,1793252984040451840
+112,1.866666667,POSE1_TO_POSE2_PRESS,770.0921829,749,727,703,670.9078171,642,895,793,823,653,634.0921829,654,0.401030730511,0.0044974985046,0.0798550613132,0.999999976921,0.000138101696125,-0.000156907925004,4.96571296564e-05,1793252984057117696
+113,1.883333333,POSE1_TO_POSE2_PRESS,770.484434196,749,727,703,671,641.515565804,895,792.515565804,823,653,634.484434196,654,0.401029891534,0.00449643709543,0.0798545147372,0.999999977042,0.000136007216706,-0.000158009866412,4.95105275451e-05,1793252984073784320
+114,1.900000000,POSE1_TO_POSE2_PRESS,770.939728947,749,727,703,671,641,895,792.060271053,823,653,634.939728947,654,0.401028955175,0.0044953018161,0.0798539299846,0.999999977138,0.000133689529817,-0.000159437934277,4.93038938226e-05,1793252984090450944
+115,1.916666667,POSE1_TO_POSE2_PRESS,770.363974568,749,727,703,671,641,895,792.636025432,823,653,634.363974568,654,0.401027868749,0.00449500222907,0.0798533715289,0.99999997656,0.000134141575922,-0.000162576754199,4.95407327181e-05,1793252984107117568
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,749,727,703,671,641.215827664,895,793,823,653,634.215827664,654,0.401028352514,0.00449540205853,0.0798539768875,0.999999975926,0.00013565278924,-0.000165117845989,4.98252246818e-05,1793252984123784448
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,749,727,703,671,641.802586664,895,793,823,653,634.802586664,654,0.401031534885,0.00449700393731,0.0798565824305,0.999999975199,0.000138984335926,-0.000166631654437,5.0191615373e-05,1793252984140451328
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,749,727,703,670.614611304,641.614611304,895,792.614611304,823.385388696,653,634.614611304,654.385388696,0.401044662514,0.00449717848878,0.0798621986687,0.999999975306,0.00013979118661,-0.000165262977396,5.03465306954e-05,1793252984157118208
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,749,727,703,670.033815554,641.033815554,895,792.033815554,823.966184446,653,634.033815554,654.966184446,0.401062832778,0.00449662932995,0.0798693414465,0.999999975833,0.000139317918558,-0.000162432768276,5.03942198164e-05,1793252984173785344
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,749.541393849,727,703.541393849,670,641.541393849,895,792.541393849,823.458606151,653,634.541393849,654.458606151,0.401107073019,0.00449810302773,0.0798829494445,0.999999978439,0.000138444924627,-0.00014654108506,4.9812280557e-05,1793252984190451200
+121,2.016666667,POSE1_TO_POSE2_PRESS,770.11872655,749.88127345,727,704,670.11872655,642,895,792.88127345,823.11872655,653,635,654,0.401157502171,0.0044989972151,0.079897068798,0.999999981019,0.00013730395755,-0.000129213961778,4.91214168251e-05,1793252984207117312
+122,2.033333333,POSE1_TO_POSE2_PRESS,770.705797618,749.294202382,727,704,670.705797618,642,895,792.294202382,823.705797618,653,635,654,0.401225987194,0.00449711207048,0.0799116286288,0.999999983715,0.000135203389919,-0.000109409738016,4.81544239334e-05,1793252984223783936
+123,2.050000000,POSE1_TO_POSE2_PRESS,770.710940448,749,727,703.710940448,670.710940448,641.710940448,895,792.289059552,823.710940448,653,634.710940448,654,0.401306413569,0.00449678008941,0.079924091976,0.999999985835,0.000133565466217,-9.12254502011e-05,4.65697967737e-05,1793252984240450816
+124,2.066666667,POSE1_TO_POSE2_PRESS,770.131505029,749,727,703.131505029,670.131505029,641.131505029,895,792.868494971,823.131505029,653,634.131505029,654,0.401398835673,0.0044980083448,0.079934449292,0.999999987464,0.000132392293364,-7.46684763718e-05,4.43647228345e-05,1793252984257117440
+125,2.083333333,POSE1_TO_POSE2_PRESS,770.447190073,749,727,703.447190073,670.447190073,641.447190073,895,793,823.447190073,653,634.447190073,654,0.4014985672,0.004499073724,0.0799379037303,0.99999998798,0.000131013522274,-7.18049212427e-05,4.14648124936e-05,1793252984273784320
+126,2.100000000,POSE1_TO_POSE2_PRESS,771,749,727,703.974581671,671,642,895,793,824,653,635,654,0.401601728746,0.00450012434639,0.0799394979609,0.999999988239,0.00012955309459,-7.26040474174e-05,3.83097004966e-05,1793252984290451712
+127,2.116666667,POSE1_TO_POSE2_PRESS,771,749,727,703.401726779,671,642,895,793,824,653,635,654,0.401732545882,0.00450188700563,0.079944675188,0.999999989117,0.00012763400585,-6.57040504777e-05,3.40516937945e-05,1793252984307118592
+128,2.133333333,POSE1_TO_POSE2_PRESS,770.823610977,749,727,703,670.823610977,642,895,792.823610977,823.823610977,653,634.823610977,654,0.401872629728,0.0045038234446,0.0799506748754,0.999999990124,0.000125024305402,-5.69885818276e-05,2.95601429482e-05,1793252984323785472
+129,2.150000000,POSE1_TO_POSE2_PRESS,770.233145163,749,727,703,670.233145163,642,895,792.233145163,823.233145163,653,634.233145163,654,0.402034467343,0.00450616783477,0.0799586053043,0.999999991435,0.000120793380295,-4.40112576544e-05,2.45203431075e-05,1793252984340451584
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.351231606,749.351231606,727,703,670.351231606,642,895,792,823,653,634.351231606,654,0.402216836429,0.0045082895111,0.0799646938974,0.99999999246,0.000116279946137,-3.4687035624e-05,1.88604485895e-05,1793252984357117696
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.931635441,749.931635441,727,703,670.931635441,642,895,792,823,653,634.931635441,654,0.402412601943,0.00451026587094,0.079969580727,0.999999993308,0.000111582179547,-2.77463949558e-05,1.27959530833e-05,1793252984373784320
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.492633218,750,727,703,670.492633218,642,895,792.507366782,823.507366782,653,634.492633218,654,0.402617377539,0.00451271143458,0.0799655366292,0.999999993781,0.000104423990807,-3.86996295601e-05,6.07148146204e-06,1793252984390451200
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,749.916192466,727,703.083807534,670,641.916192466,895,793,824,653.083807534,634,654,0.402826582743,0.00451499289025,0.0799598081267,0.999999994012,9.58545932905e-05,-5.27880996643e-05,-9.16797021181e-07,1793252984407117568
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,749.3317877,727,703.6682123,670,641.3317877,895,793,824,653.6682123,634,654,0.403055061286,0.00451591990888,0.0799511408293,0.99999999415,8.08179906377e-05,-7.13334464089e-05,-8.95450952123e-06,1793252984423784448
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,749,726.747901564,704,670,641.252098436,895,793,824.252098436,653.747901564,634.252098436,654,0.40331551506,0.0045127798916,0.0799464984096,0.999999994635,6.23697612327e-05,-8.11218884233e-05,-1.60960760187e-05,1793252984440451328
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,749,726.164696635,704,670,641.835303365,895,793,824.835303365,653.164696635,634.835303365,654,0.403617965141,0.00450429822272,0.0799471422713,0.999999995826,3.94406966529e-05,-7.94089964866e-05,-2.20606424235e-05,1793252984457118208
+137,2.283333333,POSE1_TO_POSE2_PRESS,770.41358666,749,726.41358666,703.58641334,670.41358666,642,895,793,825,653,634.58641334,654,0.403954647215,0.00449693473331,0.0799515544056,0.999999996914,1.73897719661e-05,-7.36409338991e-05,-2.11209927948e-05,1793252984473784576
+138,2.300000000,POSE1_TO_POSE2_PRESS,770.989933118,749,726.989933118,703.010066882,670.989933118,642,895,793,825,653,634.010066882,654,0.404304800684,0.00449001128407,0.0799574494776,0.999999997642,-4.3155755822e-06,-6.62770298224e-05,-1.74643095167e-05,1793252984490450688
+139,2.316666667,POSE1_TO_POSE2_PRESS,770.434663364,749,727,703,671,642,895.565336636,793,825,653,634.565336636,654,0.404691026083,0.00450533187734,0.0799607954442,0.99999999792,2.28028637152e-05,-5.66408245819e-05,-2.07923933101e-05,1793252984507117312
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.144474099,749,727,703.144474099,671,642,896,793,825,653,634.855525901,654,0.405085468029,0.00451740850689,0.0799630435478,0.999999997572,4.37014264572e-05,-4.85502489248e-05,-2.42761693708e-05,1793252984523784448
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.735196555,749,727,703.735196555,671,642,896,793,825,653,634.264803445,654,0.405503308285,0.00451824383275,0.0799620405668,0.999999997671,4.27072590642e-05,-4.53585530805e-05,-2.78573106957e-05,1793252984540451072
+142,2.366666667,POSE1_TO_POSE2_PRESS,770.680951283,749,727,703.680951283,670.680951283,642,896,793,825,653,634.319048717,654,0.405944892385,0.00452580215338,0.0799562228446,0.9999999971,4.27889698864e-05,-5.49733488528e-05,-3.07656139484e-05,1793252984557117696
+143,2.383333333,POSE1_TO_POSE2_PRESS,770.102681049,749,727,703.102681049,670.102681049,642,896,793,825,653,634.897318951,654,0.406405767989,0.00453882279004,0.0799464932289,0.999999995682,4.37448128658e-05,-7.49931952608e-05,-3.31272483872e-05,1793252984573784576
+144,2.400000000,POSE1_TO_POSE2_PRESS,770.471827444,749.471827444,726.528172556,703,670,642,896,793,825,653,634.528172556,654,0.406897788828,0.00455012077726,0.0799383102803,0.999999993071,6.71712228742e-05,-9.12167990016e-05,-3.20090062279e-05,1793252984590451200
+145,2.416666667,POSE1_TO_POSE2_PRESS,770.953214947,750,726.046785053,703,670,642,896,793,825,653,634,654,0.407398229871,0.00456074089413,0.0799306230161,0.99999998945,9.39750451682e-05,-0.000106496652935,-3.04365466885e-05,1793252984607118080
+146,2.433333333,POSE1_TO_POSE2_PRESS,770.363623275,750,726.636376725,703,670,642,896,793,825,653,634,654,0.407918346904,0.00456781139799,0.079924812445,0.999999986863,0.000103676797645,-0.000120336342783,-3.23110557174e-05,1793252984623784704
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,749.777985502,727,703,670.222014498,642,896,792.777985502,825.222014498,653,634,654,0.408466212988,0.00457661708236,0.0799211995214,0.999999985132,0.000110127438704,-0.000128327979085,-3.37738090502e-05,1793252984640451584
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,749.19871029,727,703,670.80128971,642,896,792.19871029,825.80128971,653,634,654,0.409058732185,0.00458821497959,0.0799211230028,0.99999998515,0.000111346464182,-0.000126909058964,-3.45739743202e-05,1793252984657119232
+149,2.483333333,POSE1_TO_POSE2_PRESS,770.378420442,749,727,703,671,642,896,792.378420442,825.621579558,653,634.378420442,654,0.409711592248,0.00459723424817,0.0799441834001,0.999999987393,0.000126665933423,-8.90442884626e-05,-3.52395498612e-05,1793252984673786112
+150,2.500000000,POSE1_TO_POSE2_PRESS,770.954431426,749,727,703,671,642,896,792.954431426,825.045568574,653,634.954431426,654,0.410395959005,0.00460490709697,0.0799793246346,0.999999987689,0.000149347885885,-3.21494799455e-05,-3.58348498431e-05,1793252984690452480
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.471338197,749.528661803,726.471338197,703,670.471338197,642,896.528661803,792.471338197,825.528661803,653,634.471338197,654,0.411094892403,0.00460150076778,0.079994089364,0.999999990995,0.000128353035234,-1.11287063859e-05,-3.75722378577e-05,1793252984707119104
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,749.894782891,726.105217109,703,670.105217109,642,897,792.105217109,826,653,634.105217109,654,0.411787835146,0.00459572133352,0.0799989014724,0.999999993415,0.000107664854882,-5.8283165391e-06,-3.9297709873e-05,1793252984723785984
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,749.30685989,726.69314011,703,670.69314011,642,897,792.69314011,826,653,634.69314011,654,0.412447553336,0.00458342125067,0.0799660845032,0.999999991892,0.0001055972992,-5.85100296407e-05,-4.05183996949e-05,1793252984740452352
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,749,727,703,671,642,897,792.721400581,826,653,635,654,0.413145632262,0.00457961283002,0.0799371500698,0.999999988793,0.000105791081707,-9.67817912578e-05,-4.30725953692e-05,1793252984757118464
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,749,727,703,671,642,897,792.138631016,826,653,635,654,0.413885592876,0.00458507546137,0.0799124545194,0.999999985892,0.000108453755052,-0.000119321017631,-4.70826904716e-05,1793252984773785088
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,749,726.560471381,703,671,642,897.439528619,792,826,653,635,654,0.414679335142,0.0045950458252,0.0799258878394,0.999999987189,0.000121433772947,-9.25408996459e-05,-4.80818716264e-05,1793252984790451456
+157,2.616666667,POSE1_TO_POSE2_PRESS,770.016154746,749,726,703,671,642,898,792.016154746,826.016154746,653.016154746,635,654,0.415489778143,0.0046061620129,0.0799505962517,0.999999988044,0.000137466429514,-5.19619154199e-05,-4.81225422083e-05,1793252984807117824
+158,2.633333333,POSE1_TO_POSE2_PRESS,770.58951948,749,726,703,671,642,898,792.58951948,826.58951948,653.58951948,635,654,0.416297243445,0.00460826906239,0.0799537041493,0.999999985756,0.000147712684881,-6.64117239162e-05,-4.75182113232e-05,1793252984823784704
+159,2.650000000,POSE1_TO_POSE2_PRESS,770.832888166,749.167111834,726,703,671,642,898.167111834,792.832888166,827,653.832888166,635,654,0.417114216118,0.00461058767018,0.0799558049576,0.999999985328,0.000148306001992,-7.12463923325e-05,-4.76811971069e-05,1793252984840451072
+160,2.666666667,POSE1_TO_POSE2_PRESS,770.244641927,749.755358073,726,703,671,642,898.755358073,792.244641927,827,653.244641927,635,654,0.417955148035,0.0046134394207,0.0799553678251,0.999999989658,0.000124573187148,-5.18501827892e-05,-4.97778787202e-05,1793252984857117952
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,749.661384142,726,703,670.661384142,642,899,792,827,653,635,654,0.418835200037,0.00461298632935,0.0799700628761,0.999999991069,0.000122010775597,-1.68720104498e-05,-5.18748117623e-05,1793252984873784832
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,749.081678099,726,703,670.081678099,642,899,792,827,653,635,654,0.419743105007,0.00461018023251,0.0799955318494,0.999999989069,0.000134521422824,2.92003204418e-05,-5.39719236597e-05,1793252984890451456
+163,2.716666667,POSE1_TO_POSE2_PRESS,770.494359615,749,726.494359615,703,670,642,899.494359615,792,827,653,635,654,0.420618485708,0.00461030810188,0.0799824335738,0.99999998962,0.000133424073229,7.10014975604e-06,-5.3914576484e-05,1793252984907117824
+164,2.733333333,POSE1_TO_POSE2_PRESS,771,749,727,703,670.069549829,642,900,792,827,653,635,654,0.421498449223,0.00461109419954,0.0799672885577,0.99999998988,0.000130414004825,-1.87096949298e-05,-5.3692826668e-05,1793252984923784192
+165,2.750000000,POSE1_TO_POSE2_PRESS,771,749,727,703,670.642958435,642,900,792,827,653,635,654,0.422450255957,0.00461316294052,0.0799831387711,0.999999990037,0.000129715204319,9.60340100097e-06,-5.48398321071e-05,1793252984940450816
+166,2.766666667,POSE1_TO_POSE2_PRESS,771,749,726.776415716,703,670.776415716,642,900,792.223584284,827.223584284,653,635,654,0.423385582098,0.00461503462603,0.0799970602628,0.999999989362,0.000132074809023,2.91340153654e-05,-5.46134572772e-05,1793252984957117696
+167,2.783333333,POSE1_TO_POSE2_PRESS,771,749,726.183880122,703,670.183880122,642,900,792.816119878,827.816119878,653,635,654,0.424293712665,0.00461658113754,0.080007799045,0.99999998833,0.000139481291785,3.41720767536e-05,-5.21207764759e-05,1793252984973784576
+168,2.800000000,POSE1_TO_POSE2_PRESS,771,749,726,703,670.398458564,642,900,792.601541436,828,653,635,654,0.425170959622,0.00461560501319,0.0799716853517,0.999999988571,0.000137232152188,-3.69923899093e-05,-5.1545285955e-05,1793252984990450944
+169,2.816666667,POSE1_TO_POSE2_PRESS,771,749,726,703,670.976208977,642,900,792.023791023,828,653,635,654,0.426034310024,0.00461349379443,0.0799144897495,0.999999979978,0.000130638332299,-0.000142445220094,-5.18324609312e-05,1793252985007117568
+170,2.833333333,POSE1_TO_POSE2_PRESS,770.450205329,749,726,703,671,642,900,792,828,653,635,654,0.427005879254,0.00461250766293,0.0799088153933,0.999999982497,0.000130542816487,-0.00012274836462,-5.38317933124e-05,1793252985023784448
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.875660196,900.124339804,792,827.875660196,653,635,654,0.427980079583,0.00461116021144,0.0799082610816,0.999999984742,0.000129345885517,-0.000103585725616,-5.52744213408e-05,1793252985040451328
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.296955491,900.703044509,792,827.296955491,653,635,654,0.428946910762,0.00460831584794,0.079918330863,0.999999985323,0.00012310430743,-0.000106016049485,-5.4414025969e-05,1793252985057117952
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.287801444,901,792,827.287801444,652.712198556,635,654,0.429928816369,0.00460561767212,0.0799498038709,0.999999989212,0.000118471259088,-6.85609894528e-05,-5.328481833e-05,1793252985073784320
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.878937217,901,792,827.878937217,652.121062783,635,654,0.430926609921,0.00460307357403,0.0800038352545,0.999999991921,0.000115533554023,1.09321025004e-05,-5.18722902054e-05,1793252985090450688
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,749.459198456,726,703,671.459198456,642,901,792,828,652.459198456,635,654,0.431889786155,0.00460300536721,0.0800315000406,0.999999990903,0.000112925480718,5.25711592158e-05,-5.17413029139e-05,1793252985107117568
+176,2.933333333,POSE1_TO_POSE2_PRESS,770.036161251,749.963838749,726,702.963838749,672,641.963838749,901.036161251,791.963838749,827.963838749,653.036161251,635,654,0.432837374499,0.00460391368158,0.080045941042,0.999999989684,0.000110982940199,7.48617803827e-05,-5.20637070018e-05,1793252985123783936
+177,2.950000000,POSE1_TO_POSE2_PRESS,770.605779594,749.394220406,726,702.394220406,672,641.394220406,901.605779594,791.394220406,827.394220406,653.605779594,635,654,0.433686527429,0.00460982119992,0.0799654765484,0.999999990627,0.000117606093658,-4.44610220144e-05,-5.42056856344e-05,1793252985140450816
+178,2.966666667,POSE1_TO_POSE2_PRESS,771,749,726,702.183100945,672,641.183100945,902,791.183100945,827.183100945,653.816899055,635,654.183100945,0.434567749865,0.00461323802612,0.0799097819308,0.999999983517,0.000119797825821,-0.000124349765488,-5.61373610937e-05,1793252985157117696
+179,2.983333333,POSE1_TO_POSE2_PRESS,771,749,726,702.777735519,672,641.777735519,902,791.777735519,827.777735519,653.222264481,635,654.777735519,0.435521051177,0.00461105682894,0.0799097595226,0.999999985383,0.000112029598077,-0.000115607415885,-5.75963656854e-05,1793252985173784320
+180,3.000000000,POSE1_TO_POSE2_PRESS,771,749,725.637274573,703,672,642,902,792,828,653,635.362725427,654.637274573,0.436467833699,0.00461105116894,0.0799364738138,0.999999989122,0.000109321098227,-8.09906505471e-05,-5.69756782693e-05,1793252985190451456
+181,3.016666667,POSE1_TO_POSE2_PRESS,771,749,725.058041518,703,672,642,902,792,828,653,635.941958482,654.058041518,0.437410725156,0.00461234406814,0.0799791470064,0.999999991993,0.000109632705863,-3.09296735786e-05,-5.51136407193e-05,1793252985207119104
+182,3.033333333,POSE1_TO_POSE2_PRESS,770.482044292,749,725.517955708,703,672,641.482044292,902,791.482044292,828,653,635.482044292,654,0.438351921355,0.00460835563672,0.0800195880218,0.99999999247,0.000103056844228,3.69181934753e-05,-5.54729916961e-05,1793252985223785216
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,749,725.904967631,703,672,641,902,791.095032369,828,653,635,654,0.43927720729,0.00460446129322,0.0800490699764,0.99999998984,9.66602954736e-05,8.8532554321e-05,-5.6030565976e-05,1793252985240451072
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,749,725.320475428,703,672,641,902,791.679524572,828,653,635,654,0.440121520468,0.00460408076155,0.0800233881038,0.999999992814,9.51377418239e-05,4.63349511424e-05,-5.63349581196e-05,1793252985257117952
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,749,725,702.736623758,672,641,902,792,828,652.736623758,635,654,0.44091539661,0.00460603774917,0.0799633243156,0.999999992462,9.74729207448e-05,-4.79327724901e-05,-5.7247910975e-05,1793252985273784576
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,749,725,702.153549639,672,641,902,792,828,652.153549639,635,654,0.441648049961,0.00461083212242,0.0798615262204,0.999999971711,0.000104490786765,-0.000205405536921,-5.8899561123e-05,1793252985290451200
+187,3.116666667,POSE1_TO_POSE2_PRESS,770.423358099,749.423358099,725,702,672.423358099,641.423358099,902,791.576641901,828.423358099,652.423358099,635.423358099,654,0.442460374292,0.00460963260468,0.079845274942,0.999999969135,0.000100006953542,-0.000219383101029,-6.00012841798e-05,1793252985307118336
+188,3.133333333,POSE1_TO_POSE2_PRESS,770.99806148,749.99806148,725,702,672.99806148,641.99806148,902,791.00193852,828.99806148,652.99806148,635.99806148,654,0.443301180074,0.00460629034548,0.0798596055837,0.999999977394,9.14114062103e-05,-0.000182062920725,-6.09064154989e-05,1793252985323785728
+189,3.150000000,POSE1_TO_POSE2_PRESS,770.425316262,749.425316262,725,702,672.425316262,641.425316262,902,791.574683738,828.425316262,653,636,654,0.444151933552,0.00460938096137,0.0799371102897,0.999999991323,9.61719362713e-05,-6.85001195656e-05,-5.84121385384e-05,1793252985340451584
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,749,725,702,672.15536867,641.15536867,902.15536867,791.84463133,828.15536867,652.84463133,635.84463133,654,0.444987321415,0.004611509988,0.0800019422088,0.999999993222,9.81774017541e-05,2.59748008655e-05,-5.69492802621e-05,1793252985357117696
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,749,725,702,672.747455038,641.747455038,902.747455038,791.252544962,828.747455038,652.252544962,635.252544962,654,0.445779424427,0.00461087493629,0.0800305518756,0.99999999185,9.23117434163e-05,6.60712967998e-05,-5.84179238313e-05,1793252985373784320
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641.669290219,903,791,829,652.330709781,635.330709781,654,0.446527723699,0.0046092568183,0.0800395764815,0.999999990754,9.12304362071e-05,8.22956145714e-05,-5.82736092469e-05,1793252985390450944
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641.092604318,903,791,829,652.907395682,635.907395682,654,0.447243442473,0.00460690751294,0.0800340340618,0.999999990728,9.37076456539e-05,8.07642237313e-05,-5.69296047181e-05,1793252985407117824
+194,3.233333333,POSE1_TO_POSE2_PRESS,770.482629326,749,725,702,673,641.482629326,903,791,828.517370674,653,635.517370674,654.482629326,0.447889365142,0.00460731359994,0.0800024259869,0.999999993172,9.18850414461e-05,4.16355800145e-05,-5.89836221362e-05,1793252985423784960
+195,3.250000000,POSE1_TO_POSE2_PRESS,770.942344885,749,725,702,673,641.942344885,903,791,828,653,635,654.942344885,0.448513682575,0.00460837711151,0.0799643655294,0.99999999404,8.98074749527e-05,-8.82039238561e-06,-6.14526188974e-05,1793252985440452096
+196,3.266666667,POSE1_TO_POSE2_PRESS,770.366690514,749,725,702,673,641.366690514,903,791,828,653,635,654.366690514,0.449063848599,0.00461061148331,0.0799131334307,0.999999989132,9.28293706849e-05,-9.64271591998e-05,-6.18097432448e-05,1793252985457118208
+197,3.283333333,POSE1_TO_POSE2_PRESS,770.21564615,749,725,702,672.78435385,641,903,791.21564615,828.21564615,653,635.21564615,654.21564615,0.449635513108,0.00461290613359,0.0798803248194,0.999999982493,9.52253458967e-05,-0.000148577294747,-6.22088853018e-05,1793252985473784320
+198,3.300000000,POSE1_TO_POSE2_PRESS,770.809708862,749,725,702,672.190291138,641,903,791.809708862,828.809708862,653,635.809708862,654.809708862,0.450244903168,0.00461530656053,0.0798798458088,0.999999983785,9.65229544583e-05,-0.000138508011027,-6.26817608122e-05,1793252985490450688
+199,3.316666667,POSE1_TO_POSE2_PRESS,771,749,725,702,672.389913081,641,903,792,828.610086919,652.610086919,635.610086919,654.610086919,0.450837825676,0.00461884902073,0.0799078127556,0.999999988442,0.000100091039591,-9.57392490355e-05,-6.27076187055e-05,1793252985507117568
+200,3.333333333,POSE1_TO_POSE2_PRESS,771,749,725,702,672.963586062,641,903,792,828.036413938,652.036413938,635.036413938,654.036413938,0.451422987339,0.00462292970344,0.0799491858347,0.999999991856,0.000104729164448,-3.75597361717e-05,-6.25228040924e-05,1793252985523784448
+201,3.350000000,POSE1_TO_POSE2_PRESS,771,749,725,702,671.926550279,641,903,791.46327514,828.53672486,652.53672486,635,654,0.451907402221,0.00462572846745,0.0799459659485,0.99999999104,0.000106112280496,-5.29887341475e-05,-6.20734776782e-05,1793252985540450816
+202,3.366666667,POSE1_TO_POSE2_PRESS,771,749,725,702,671.11321935,640.88678065,903,791,829,653,635,654,0.452371598955,0.00462831892075,0.0799333168044,0.999999989101,0.000106785775976,-8.09554666476e-05,-6.19835845893e-05,1793252985557117440
+203,3.383333333,POSE1_TO_POSE2_PRESS,771,749,725,702,671.704021755,640.295978245,903,791,829,653,635,654,0.452779314809,0.00463039717533,0.0798936421332,0.999999982523,0.000105396545488,-0.000140764432706,-6.34854803017e-05,1793252985573784064
+204,3.400000000,POSE1_TO_POSE2_PRESS,770.709980149,749,725,701.709980149,671.709980149,640,903,791,829,653,635,654,0.453178839686,0.00463383645643,0.0798545824305,0.999999971797,0.000110377671926,-0.000200170966426,-6.4461692177e-05,1793252985590450944
+205,3.416666667,POSE1_TO_POSE2_PRESS,770.128805204,749,725,701.128805204,671.128805204,640,903,791,829,653,635,654,0.453570141497,0.00463864209148,0.0798161401058,0.999999956896,0.000121754091275,-0.000259173488857,-6.49101624038e-05,1793252985607117568
+206,3.433333333,POSE1_TO_POSE2_PRESS,770.448663153,749,724.551336847,701.448663153,671,640,903.448663153,791,829,653,635,654,0.45394603779,0.00464058058568,0.0798045537772,0.99999995197,0.000123650533519,-0.000276548776261,-6.55138758193e-05,1793252985623784192
+207,3.450000000,POSE1_TO_POSE2_PRESS,770.975290185,749,724.024709815,702,670.975290185,640,903.975290185,791,829,653,635,654,0.454315402935,0.00464167621921,0.0798004442684,0.999999950371,0.000122953182182,-0.000282445626856,-6.60751675707e-05,1793252985640450560
+208,3.466666667,POSE1_TO_POSE2_PRESS,770.40729706,749,724.59270294,702,670.40729706,640,903.40729706,791,829,653,635,654,0.454637614358,0.00464218949192,0.0797925969454,0.999999946168,0.00012457500269,-0.000296571308294,-6.4731880596e-05,1793252985657117184
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,749,724.831410072,702,670,639.831410072,903,791,828.831410072,653,635,654,0.454952965818,0.00464352981814,0.0797881902196,0.999999943558,0.000126954530264,-0.000304507954437,-6.3579198448e-05,1793252985673784064
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,749,724.235515544,702,670,639.235515544,903,791,828.235515544,653,635,654,0.455250930103,0.00464696637728,0.0797925039623,0.999999945375,0.000131254526543,-0.000296757995698,-6.29096196428e-05,1793252985690450944
+211,3.516666667,POSE1_TO_POSE2_PRESS,770.349181845,748.650818155,724.349181845,702,669.650818155,639.349181845,903.349181845,791,828.349181845,653,635,654,0.455522510014,0.00464850624059,0.0797912858216,0.999999944218,0.000133134517977,-0.000299754754612,-6.31368249038e-05,1793252985707117568
+212,3.533333333,POSE1_TO_POSE2_PRESS,770.926561716,748.073438284,724.926561716,702,669.073438284,639.926561716,903.926561716,791,828.926561716,653,635,654,0.455776847184,0.00464880657173,0.0797864524739,0.999999941073,0.000133432983359,-0.000309774729446,-6.3950098236e-05,1793252985723784192
+213,3.550000000,POSE1_TO_POSE2_PRESS,770.496567582,748.503432418,725,702,669,639.496567582,903.496567582,791,829,653,635,654.503432418,0.455985576495,0.00464989531281,0.0797783497672,0.99999993595,0.000132241910287,-0.000326338731125,-6.41469690589e-05,1793252985740450816
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,749,724.918227649,702,669,639,903,791,829,652.918227649,635,654.918227649,0.456183756745,0.00465107328631,0.0797703606182,0.999999930688,0.000131675021042,-0.000342294643328,-6.41854753991e-05,1793252985757117440
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,749,724.330334573,702,669,639,903,791,829,652.330334573,635,654.330334573,0.45635778158,0.00465209243563,0.0797660231672,0.999999927918,0.000136314959057,-0.000348584375617,-6.37997766543e-05,1793252985773784064
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,749,724.253800408,702,669,639,903.253800408,790.746199592,829,652,635,654,0.456518737786,0.00465197570286,0.0797597468364,0.99999992414,0.000136221144346,-0.000359281266355,-6.38757250384e-05,1793252985790450432
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,749,724.833115366,702,669,639,903.833115366,790.166884634,829,652,635,654,0.456662932667,0.00465040213174,0.0797509837737,0.999999918911,0.000130056001844,-0.000375630607008,-6.45437641226e-05,1793252985807117312
+218,3.633333333,POSE1_TO_POSE2_PRESS,770,749,724.587755991,702,668.587755991,639,904,790.412244009,829,652,635,654,0.456792885982,0.00465155901911,0.0797442856677,0.999999914722,0.000128470352085,-0.000386891694194,-6.60740587697e-05,1793252985823784192
+219,3.650000000,POSE1_TO_POSE2_PRESS,770,749,724.008702753,702,668.008702753,639,904,790.991297247,829,652,635,654,0.456917076627,0.0046538207514,0.0797384231201,0.999999910959,0.000128737735243,-0.00039609388474,-6.79532540107e-05,1793252985840450816
+220,3.666666667,POSE1_TO_POSE2_PRESS,770,749,724,702,668,639,903.434726338,790.434726338,829,652.565273662,635,654,0.457022672154,0.00465376822467,0.0797435148546,0.999999913632,0.000125308176823,-0.000390338640158,-6.83315566941e-05,1793252985857117184
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,749,724.142771577,702,668,639.142771577,903.142771577,790,829,653,635,654,0.457122060289,0.00465292485792,0.0797489002186,0.999999916512,0.000121505320929,-0.000384066278516,-6.859713555e-05,1793252985873784064
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,749,724.731511281,702,668,639.731511281,903.731511281,790,829,653,635,654,0.457202944986,0.0046497214889,0.079754680668,0.999999919814,0.000116712621381,-0.000376891535368,-6.85821411123e-05,1793252985890450944
+223,3.716666667,POSE1_TO_POSE2_PRESS,770.315734183,749,724.684265817,702,668,639.684265817,904,790.315734183,829,653,635,654,0.457271772979,0.00464878854053,0.0797573874987,0.999999921153,0.000113821552413,-0.000374145029774,-6.89543383438e-05,1793252985907117568
+224,3.733333333,POSE1_TO_POSE2_PRESS,770.896170399,749,724.103829601,702,668,639.103829601,904,790.896170399,829,653,635,654,0.457330493003,0.00464975904415,0.0797575175006,0.999999920889,0.000112524752755,-0.000375111024469,-6.96511454164e-05,1793252985923784192
+225,3.750000000,POSE1_TO_POSE2_PRESS,771,748.527891139,724.472108861,702,668,639,904,791,829,653,635,654,0.457374671294,0.00464847652513,0.0797542969962,0.999999919661,0.000110997849422,-0.000378792347076,-6.98090927971e-05,1793252985940450816
+226,3.766666667,POSE1_TO_POSE2_PRESS,770.95302385,748.04697615,725,702,668,639,904,791,829,653,635,654,0.457414349108,0.00464694141398,0.0797504122852,0.999999918175,0.000109752337618,-0.000383051115909,-6.98232048215e-05,1793252985957117440
+227,3.783333333,POSE1_TO_POSE2_PRESS,770.379180469,748.620819531,725,702,668,639,904,791,829,653,635,654,0.457439081722,0.00464807823385,0.07974726452,0.999999916342,0.000112225031443,-0.000387151828274,-6.9540732808e-05,1793252985973784064
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,749,725,702,668,639,904,791,829,653,635,654,0.457460970143,0.00464899182121,0.0797444563032,0.999999914753,0.000114518967656,-0.000390659151333,-6.90336013115e-05,1793252985990450688
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,749,725,702,668,639,904,791,829,653,635,654,0.457477318409,0.00464947057783,0.0797423094869,0.999999913671,0.000116464704939,-0.000393010621655,-6.80888596116e-05,1793252986007117312
+230,3.833333333,POSE1_TO_POSE2_PRESS,770.378940672,749,725,702,668,639,904,790.621059328,829,653,635,654.378940672,0.457490220632,0.00464895975683,0.0797414432278,0.999999912944,0.000117100174183,-0.000394827287542,-6.71577815904e-05,1793252986023783936
+231,3.850000000,POSE1_TO_POSE2_PRESS,770.954802111,749,725,702,668,639,904,790.045197889,829,653,635,654.954802111,0.45750133208,0.0046479346907,0.0797412424249,0.999999912403,0.000117054747894,-0.000396366036238,-6.62338040827e-05,1793252986040450816
+232,3.866666667,POSE1_TO_POSE2_PRESS,770.469705098,749,724.469705098,702,668,639,904,790.530294902,829,653,635,654.469705098,0.457507129252,0.00464811230098,0.0797405787238,0.999999911617,0.000121374854646,-0.000397272960278,-6.48653051943e-05,1793252986057117440
+233,3.883333333,POSE1_TO_POSE2_PRESS,770.108402777,749,724,702,668,639,904,791,829,653,635,654,0.45751186177,0.0046478493112,0.079739808353,0.999999910887,0.000125063405357,-0.000398187922786,-6.34981288713e-05,1793252986073784320
+234,3.900000000,POSE1_TO_POSE2_PRESS,770.698264546,749,724,702,668,639,904,791,829,653,635,654,0.457513876048,0.00464517449165,0.0797387393274,0.999999910583,0.000124295557502,-0.000399377596102,-6.23049822451e-05,1793252986090450688
+235,3.916666667,POSE1_TO_POSE2_PRESS,770.717262945,749,724.282737055,702,667.717262945,639,904,790.717262945,829,653,635,654,0.457515189802,0.00464413845515,0.0797379846104,0.999999910125,0.000125118000761,-0.000400418183743,-6.1323601462e-05,1793252986107117312
+236,3.933333333,POSE1_TO_POSE2_PRESS,770.138434178,749,724.861565822,702,667.138434178,639,904,790.138434178,829,653,635,654,0.457515769944,0.00464481860681,0.0797375590478,0.999999909502,0.000127605850028,-0.000401302644016,-6.05639888136e-05,1793252986123784192
+237,3.950000000,POSE1_TO_POSE2_PRESS,770.4378226,749,724.5621774,702,667,639,904,790,829,653,634.5621774,654,0.457517227727,0.00464573752796,0.0797370963013,0.999999908891,0.000131490920193,-0.000401746013489,-5.94066732347e-05,1793252986140451072
+238,3.966666667,POSE1_TO_POSE2_PRESS,770.986716258,749,724,702,667.013283742,639,904,790,829,653,634.013283742,654,0.4575189303,0.00464669955846,0.0797366329603,0.999999908275,0.000135755644899,-0.000402044441285,-5.81458828993e-05,1793252986157117440
+239,3.983333333,POSE1_TO_POSE2_PRESS,770.410709455,749,724,702,667.589290545,639,904,790,829,653,634.589290545,654,0.45751931593,0.00464630831225,0.0797366395789,0.999999908044,0.000137497753441,-0.000402076471747,-5.77975483669e-05,1793252986173784064
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,749,724.169295596,702,667.830704404,639,904,790,828.830704404,652.830704404,635,654,0.457519664227,0.0046459078778,0.0797365985523,0.99999990798,0.000138372064583,-0.000401999549406,-5.73584806265e-05,1793252986190450944
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,749,724.759234937,702,667.240765063,639,904,790,828.240765063,652.240765063,635,654,0.45751991976,0.00464548461365,0.0797364391433,0.999999908334,0.000137090185165,-0.000401651915266,-5.66939707969e-05,1793252986207117568
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,749,724.657299294,702,667.342700706,639,904,790,828.342700706,652.342700706,634.657299294,654,0.457519283637,0.00464556239321,0.079735625385,0.999999907585,0.000138201784138,-0.000403206256349,-5.61762496069e-05,1793252986223784192
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,749,724.078297252,702,667.921702748,639,904,790,828.921702748,652.921702748,634.078297252,654,0.457518032693,0.00464598565587,0.0797343604353,0.999999906063,0.000140963750762,-0.000406072060414,-5.57597431512e-05,1793252986240451072
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,748.503387492,724,702,667.503387492,639,904,790,829,653,634.496612508,654,0.457517681438,0.00464386646937,0.0797335172461,0.999999905913,0.00013956369378,-0.000407021370381,-5.50483506403e-05,1793252986257117696
+245,4.083333333,POSE1_TO_POSE2_PRESS,770.07255072,748,724,702,667,639,904,790.07255072,828.92744928,652.92744928,635,654,0.457517589878,0.00464171051189,0.0797328878007,0.999999905993,0.000138081767272,-0.000407425350187,-5.4325639572e-05,1793252986273784064
+246,4.100000000,POSE1_TO_POSE2_PRESS,770.660337019,748,724,702,667,639,904,790.660337019,828.339662981,652.339662981,635,654,0.457518343474,0.0046421168751,0.0797333079301,0.999999906208,0.000140640463674,-0.000406084859766,-5.38500262975e-05,1793252986290450688
+247,4.116666667,POSE1_TO_POSE2_PRESS,770.755394033,748.244605967,724,702,667.244605967,639,903.755394033,790.755394033,828,652,635,654,0.457518965271,0.00464226676277,0.0797336262852,0.999999906361,0.000141526060608,-0.000405456528732,-5.34101052823e-05,1793252986307117568
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+249,4.150000000,HOLD_POSE2,770,749,725,702,668,638,904,791,829,653,635,654,0.457520906004,0.00464315839076,0.0797330708694,0.999999906365,0.000140086161586,-0.00040595152387,-5.33744866117e-05,1793252986357807360
+250,4.166666667,HOLD_POSE2,770,749,724.422671229,701.422671229,667.422671229,638.577328771,904,790.422671229,829,653,635,654.577328771,0.45752284932,0.00464447453138,0.0797345035109,0.999999906934,0.000142533416146,-0.000403703250207,-5.32998445497e-05,1793252986374475264
+251,4.183333333,HOLD_POSE2,770,749,724,701.157550937,667,639,903.842449063,790.157550937,829,652.842449063,635,654.842449063,0.457523811364,0.00464476984434,0.0797354915312,0.999999907318,0.000143536893486,-0.000402414881848,-5.31368266816e-05,1793252986391142400
+252,4.200000000,HOLD_POSE2,770,749,724,701.74568074,667,639,903.25431926,790.74568074,829,652.25431926,635,654.25431926,0.457522091641,0.00464227528641,0.079735264424,0.999999907219,0.00014059460014,-0.000403749886385,-5.27322821209e-05,1793252986407808256
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+254,4.233333333,HOLD_POSE2,770,749,724,702,667,639,903.907705449,791,829,652.907705449,634.092294551,654,0.457521921717,0.00464143804514,0.0797341460221,0.99999990603,0.000142347283533,-0.00040612742623,-5.23259834506e-05,1793252986441140992
+255,4.250000000,HOLD_POSE2,770.484505336,748.515494664,724.484505336,701.515494664,667,639,904.484505336,791,829,653,634,654,0.457523085299,0.0046419307341,0.0797348676616,0.999999906643,0.000142955023424,-0.000404445878764,-5.19782816178e-05,1793252986457808128
+256,4.266666667,HOLD_POSE2,770.939283457,748.060716543,725,701.060716543,667,639,904.939283457,791,829,653,634.060716543,654.060716543,0.457524138081,0.00464251307047,0.0797356312416,0.999999907295,0.000143438442866,-0.000402697868898,-5.16764371552e-05,1793252986474475264
+257,4.283333333,HOLD_POSE2,770.364445878,748.635554122,725,701.635554122,667,639,904.364445878,791,829,653,634.635554122,654.635554122,0.457522972082,0.00464331076888,0.0797345464168,0.999999906148,0.000144991680458,-0.000404930762868,-5.20841763403e-05,1793252986491141888
+258,4.300000000,HOLD_POSE2,770,749,725,702,667,639,904,790.783864605,829,652.783864605,635,654.783864605,0.457522538091,0.00464387435678,0.079734142181,0.999999905618,0.000145689621604,-0.000405971259328,-5.22115667656e-05,1793252986507808768
+259,4.316666667,HOLD_POSE2,770,749,725,702,667,639,904,790.193334018,829,652.193334018,635,654.193334018,0.457523372103,0.00464403241247,0.079734916879,0.999999906166,0.000144905996482,-0.000404946254466,-5.18533299449e-05,1793252986524475136
+260,4.333333333,HOLD_POSE2,770,749,725,702,667,639,904,790.389260359,829,652.389260359,635,654,0.45752291329,0.00464348591076,0.0797342942831,0.999999905786,0.000145765277684,-0.000405613465049,-5.15560306262e-05,1793252986541141504
+261,4.350000000,HOLD_POSE2,770,749,725,702,667,639,904,790.967991866,829,652.967991866,635,654,0.457521825199,0.00464259646816,0.0797329915592,0.999999904951,0.000147424237844,-0.000407104355614,-5.12883923958e-05,1793252986557807872
+262,4.366666667,HOLD_POSE2,770,749,725,702,667,639,904,791,829,653,635,654,0.457522140284,0.0046427740107,0.0797328531667,0.999999905084,0.000146082936932,-0.00040722569027,-5.15656968056e-05,1793252986574474496
+263,4.383333333,HOLD_POSE2,770.116180851,749,724.883819149,702,667,639,903.883819149,791,828.883819149,652.883819149,634.883819149,654,0.457522321088,0.00464266563269,0.0797327201867,0.9999999052,0.00014469541095,-0.000407404443315,-5.18098267393e-05,1793252986591141120
+264,4.400000000,HOLD_POSE2,770.706812704,749,724.293187296,702,667,639,903.293187296,791,828.293187296,652.293187296,634.293187296,654,0.45752161805,0.0046411345345,0.0797323309375,0.999999905023,0.000143836426692,-0.000408145115636,-5.17881944534e-05,1793252986607807744
+265,4.416666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,667,638,904,790,829,653,635,655,0.457523706498,0.00464162595033,0.0797332298787,0.99999990598,0.000142089267444,-0.000406469263779,-5.13159296677e-05,1793252986644865024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,667,638,904,790.576600964,829,653,635,654.423399036,0.457521703161,0.00464103649451,0.0797311854776,0.999999905138,0.000140586997908,-0.000409029743549,-5.15080311374e-05,1793252986661531904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,667,638.152259429,904,791,829,653,634.847740571,654,0.457520761528,0.00464071330023,0.0797302754429,0.999999904796,0.000139760251135,-0.000410127719046,-5.16694850882e-05,1793252986678198784
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,667,638.725313271,904,791,829,653,634.274686729,654,0.457522754089,0.00464112596411,0.0797325004192,0.999999905849,0.000140800424239,-0.000407183819798,-5.17462395349e-05,1793252986694864896
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,749,724.691551018,702.308448982,667.308448982,638.691551018,904,791,829,652.691551018,634.308448982,654.308448982,0.45752298575,0.00464133045804,0.0797329364471,0.999999905828,0.000141915126447,-0.000406870094476,-5.15899740386e-05,1793252986711531264
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,749,724.099133636,702.900866364,667.900866364,638.099133636,904,791,829,652.099133636,634.900866364,654.900866364,0.457521596269,0.00464134330374,0.0797317255095,0.999999904818,0.000143098442566,-0.000408977794986,-5.12191826224e-05,1793252986728197888
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770,749,724,703,667.51798434,638.48201566,904,791,829,652.48201566,635,655,0.457521381466,0.00464117171839,0.0797314017585,0.999999904674,0.000143168500877,-0.000409305301012,-5.12161491716e-05,1793252986744865024
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,749,724,702.878969077,667,639,904,790.939484538,829,653,635,655,0.457521576267,0.00464102757225,0.0797314499504,0.99999990479,0.000143026158426,-0.0004090669677,-5.12535522449e-05,1793252986761532160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.728518308,667,639,904,790.364259154,829,653,635,655,0.457523247042,0.00464143205777,0.0797331452005,0.999999905629,0.000142980157423,-0.000407058829756,-5.10062735091e-05,1793252986778198528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,749,724.215274391,701.215274391,667,639,904,790.215274391,829,653,635,654.784725609,0.457520634722,0.00464232279451,0.079731962429,0.999999904955,0.000143119529373,-0.000408663341312,-5.10007966779e-05,1793252986794864896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,749,724.802246443,701.802246443,667,639,904,790.802246443,829,653,635,654.197753557,0.457510627115,0.0046440531036,0.0797258103998,0.999999901632,0.000143578970481,-0.000416505535891,-5.14128205409e-05,1793252986811531520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770.384142168,749,724.615857832,702,667,639,904,790.615857832,828.615857832,653,635,654,0.457484410091,0.00464422873347,0.0797131058118,0.99999989293,0.000143880599403,-0.000436799633148,-5.14179537383e-05,1793252986828197888
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770.963458772,749,724.036541228,702,667,639,904,790.036541228,828.036541228,653,635,654,0.457449957406,0.00464361446417,0.0796970720081,0.999999880927,0.00014410204728,-0.000463420276851,-5.12163544811e-05,1793252986844864256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770.459659034,749,724,702,667.540340966,638.459659034,904,790,828.540340966,653,635,654,0.457394745537,0.00464115983454,0.0796761934684,0.999999862797,0.000142522786521,-0.000501584773024,-5.00539317474e-05,1793252986861531392
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,749,724.116864517,702,667.883135483,638,904,790.116864517,829,652.883135483,635.116864517,654,0.457335884424,0.00463974929389,0.0796565118402,0.999999844803,0.000142379400393,-0.000536394533422,-4.90123403394e-05,1793252986878198272
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,749,724.692623505,702,667.307376495,638,904,790.692623505,829,652.307376495,635.692623505,654,0.457268181592,0.00464292511442,0.0796428108913,0.999999833809,0.000148350327474,-0.00055497947827,-4.86992216214e-05,1793252986894864896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770.274486902,749,724.725513098,702,667.274486902,638.274486902,904,791,829,652.274486902,635.725513098,654,0.457193366274,0.00464343778305,0.0796326759434,0.99999982483,0.000150709205484,-0.000570420675885,-4.740867165e-05,1793252986911531264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770.8633416,749,724.1366584,702,667.8633416,638.8633416,904,791,829,652.8633416,635.1366584,654,0.45711040508,0.00464090036355,0.0796266251109,0.999999818383,0.000148931230401,-0.000582261362335,-4.49986770092e-05,1793252986928197376
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770.555337603,749,724.444662397,702,668,639,904,791,829,653,635,654,0.457016067766,0.0046379185586,0.079627707672,0.999999819358,0.000148764805204,-0.000580812032311,-4.2542327385e-05,1793252986944864000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770.023649625,749,724.976350375,702,668,639,904,790.976350375,829,653,635,654,0.456917187427,0.00463497760072,0.0796308545341,0.999999822421,0.00014924120004,-0.000575570963587,-4.00469040455e-05,1793252986961530880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770.601307744,749,724.398692256,702,668,639,904,790.398692256,829,653,635,654,0.456792420656,0.00463613953059,0.0796318583128,0.999999821903,0.000153367151232,-0.000575592279627,-3.69643208193e-05,1793252986978198528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770.823041582,749,724.176958418,702,668,639,904,790.176958418,829,653,635,654,0.456658738741,0.00463650559088,0.0796320239183,0.999999821348,0.000156511823415,-0.00057590477061,-3.37786931431e-05,1793252986994865664
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770.251863084,749,724.748136916,702,668,639,904,790.748136916,829,653,635,654,0.456505196085,0.0046350986482,0.0796303222788,0.999999820753,0.000157470445388,-0.000576865928184,-3.03635080452e-05,1793252987011531520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770.331105917,748.668894083,724.668894083,702,668,638.668894083,903.668894083,791,828.668894083,653,635,654,0.456334270959,0.00463364749691,0.0796274713939,0.999999818337,0.000161590093356,-0.000580116775517,-2.60592537871e-05,1793252987028197888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770.923374853,748.076625147,724.076625147,702,668,638.076625147,903.076625147,791,828.076625147,653,635,654,0.456149635223,0.00463216147549,0.0796237140303,0.999999814418,0.000168203031486,-0.000585173638035,-2.10537371933e-05,1793252987044864512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,771,748.504797863,724,702,668.504797863,638.504797863,903.504797863,790.495202137,828.504797863,653,635,654,0.455942048622,0.00462942507166,0.0796328014894,0.99999982171,0.000170789773303,-0.000571999463721,-1.50652103376e-05,1793252987061531392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770.916438504,749,724.083561496,702,668.916438504,639,903.916438504,790,828.916438504,653,635,654.083561496,0.455727939814,0.00462679071032,0.079644087627,0.999999830728,0.00017316086673,-0.00055540878279,-8.9945044428e-06,1793252987078198528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770.343806419,749,724.656193581,702,668.343806419,639,903.343806419,790,828.343806419,653,635,654.656193581,0.455495618761,0.00462584108552,0.0796570706534,0.999999841253,0.000177771532716,-0.000534678057885,-3.29777501326e-06,1793252987094864896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,668.235454053,639,903,790.235454053,828,653,635,654.764545947,0.455243543256,0.00462442804971,0.0796646913807,0.999999847333,0.000182980245509,-0.000521386056341,2.82209266159e-06,1793252987111531008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,668.824673521,639,903,790.824673521,828,653,635,654.175326479,0.454961787063,0.00462231874739,0.0796642553507,0.999999847256,0.000189087512522,-0.000519270602311,9.57771747863e-06,1793252987128197632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,748.593327756,725,702,669.406672244,639,903.406672244,790.593327756,828.406672244,653,634.593327756,654,0.454639744867,0.00462185122614,0.0796621987151,0.999999845876,0.00019433467505,-0.000519870448453,1.47448588077e-05,1793252987144864256
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,748.014387781,725,702,669.985612219,639,903.985612219,790.014387781,828.985612219,653,634.014387781,654,0.454300637391,0.00462207916893,0.0796594555855,0.999999843927,0.000199217494266,-0.000521620504934,1.92391130124e-05,1793252987161530880
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,748.562736106,725,702,670,639,903.437263894,790.562736106,829,653,634.562736106,654,0.453911537256,0.00462126010263,0.0796564823342,0.999999847169,0.000167710231715,-0.000526695157437,1.13094073552e-05,1793252987178197504
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,670,639,903,791,828.860677839,652.860677839,635,654,0.453517463089,0.00462425920496,0.0796566626196,0.999999851277,0.000147782956857,-0.000524954713056,5.36172791534e-06,1793252987194864384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,670,639,903,791,828.285629197,652.285629197,635,654,0.453111817487,0.00463928298321,0.0796667238523,0.999999860219,0.000166972260314,-0.000501635242882,6.60303314745e-06,1793252987211531008
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770.296242952,749,725,702,670,639,903,791,828,652.296242952,635,654.296242952,0.452687434017,0.00464806219052,0.079678039148,0.999999867544,0.00017783113309,-0.000482909246639,9.28698420938e-06,1793252987228197888
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770.884849315,749,725,702,670,639,903,791,828,652.884849315,635,654.884849315,0.452244558016,0.00465067860637,0.0796905920849,0.999999873778,0.000180468671249,-0.000468716566566,1.33946886445e-05,1793252987244865024
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770.534031147,749,724.534031147,701.534031147,670.465968853,639.465968853,902.534031147,791,828,653,635,655,0.451763929326,0.00463768164587,0.0797075075431,0.999999887281,0.00016239022471,-0.000445860548567,1.66329375049e-05,1793252987261531648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770,749,724.045074923,701.045074923,671.045074923,640,902,791,827.954925077,652.954925077,635,655,0.451271702393,0.00462226683591,0.0797257848822,0.99999990155,0.000144206867008,-0.000419207062747,1.92163705277e-05,1793252987278198016
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,749,724.621909614,701.621909614,671.621909614,640,902,791,827.378090386,652.378090386,635,655,0.450750969537,0.00462312666507,0.0797476115301,0.999999913474,0.000184225072306,-0.000372611157437,1.65694665757e-05,1793252987294864640
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.802923336,639.802923336,901.802923336,791,827.197076664,652.197076664,635,654.802923336,0.45021532714,0.00462118088731,0.0797701536914,0.999999924546,0.000203824021034,-0.000330294321954,1.64380824871e-05,1793252987311531264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.230928833,639.230928833,901.230928833,791,827.769071167,652.769071167,635,654.230928833,0.449651320926,0.00461389773437,0.0797940570412,0.9999999389,0.000184577458176,-0.000296117976018,2.1092213326e-05,1793252987328197888
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.356165073,639,900.643834927,791,827.643834927,653,635,654,0.449030953243,0.00460887039171,0.0797890505165,0.999999937633,0.000169425664869,-0.000308975966829,2.3730588059e-05,1793252987344864512
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.953482464,639,900.046517536,791,827.046517536,653,635,654,0.448372424349,0.00460537041382,0.0797644696874,0.999999924811,0.000157046359546,-0.000353679976566,2.50041340437e-05,1793252987361531392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770.529287905,749,725,702,672,639.529287905,900,791.529287905,827,653,635,654,0.447674895001,0.00460061727099,0.0797310408388,0.9999999085,0.000149176819273,-0.000400096782584,2.58508114686e-05,1793252987378198016
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770.896606486,749,725,702,672,640,899.896606486,791.896606486,827,653,635,654,0.446975541091,0.00459535793112,0.079708200857,0.999999896526,0.00014421897102,-0.000430614394979,2.68196909639e-05,1793252987394864640
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770.321968019,749,725,702,672,640,899.321968019,791.321968019,827,653,635,654,0.446282883691,0.00458827383228,0.0797370284431,0.999999912949,0.000150796057512,-0.000388007661282,2.85098530887e-05,1793252987411531008
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,640,898.739377919,791.260622081,827,653,635,654,0.445585607832,0.00458162076886,0.0797744308199,0.999999932598,0.000148570606237,-0.000334358610519,3.05697643192e-05,1793252987428197632
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,640,898.146655284,791.853344716,827,653,635,654,0.444882446755,0.00457551695608,0.0798227597218,0.999999954774,0.000135128425068,-0.000266638759483,3.3100832595e-05,1793252987444864256
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770.434805708,749,725,702,672,640,897.565194292,791.565194292,827,653,635,654,0.444117537307,0.00456961962933,0.0798353963477,0.999999957071,0.000134602459199,-0.000257710609733,3.63994319283e-05,1793252987461530880
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770.987503372,749,725,702,672,640,897,791,826.987503372,652.987503372,635,654,0.44333147717,0.00456370386679,0.0798358475322,0.999999953701,0.000137918664612,-0.000268304615847,3.98663674697e-05,1793252987478197504
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770.412849034,749,725,702,672,640,897,791,826.412849034,652.412849034,635,654,0.442507203137,0.00455390486954,0.0798160216621,0.999999950297,0.000123045621656,-0.000287579860861,3.95542352938e-05,1793252987494864384
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,639.834081825,896.834081825,791.165918175,826,652.165918175,635,654,0.441665028856,0.00454518255213,0.0797931046549,0.999999943627,0.000111550526925,-0.000314195223786,3.97850510419e-05,1793252987511531520
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,639.244820588,896.244820588,791.755179412,826,652.755179412,635,654,0.440777181836,0.00453920740229,0.0797623005595,0.999999928604,0.00010867432576,-0.000359539021917,4.14012077219e-05,1793252987528198400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,749,725,702.3382822,672,639.3382822,896,792,826,653,635,654,0.439856803135,0.00453183038111,0.0797131301578,0.999999898235,0.00010289250387,-0.000437263779657,4.17641110844e-05,1793252987544865024
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,749,725,702.917007678,672,639.917007678,896,792,826,653,635,654,0.438913301696,0.00452345694197,0.0796509054054,0.999999849909,9.50454323847e-05,-0.000538004180507,4.12362301884e-05,1793252987561531392
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,672,640,896,792,826,653,635,654,0.438070843463,0.00451274639499,0.0796907554024,0.999999882235,8.57010126299e-05,-0.000475780802743,4.26471530613e-05,1793252987578197760
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671.924630569,640,895.924630569,792,825.924630569,653,635,654,0.437244141185,0.00450227788658,0.0797499612171,0.999999922637,7.75741050689e-05,-0.000383038454409,4.46005542626e-05,1793252987594864128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,671.351824587,640,895.351824587,792,825.351824587,653,635,654,0.436409783169,0.00449598915904,0.0798241301269,0.999999959554,7.91372138317e-05,-0.000268934232801,4.79920699995e-05,1793252987611531008
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,640.221623391,895.221623391,792,825.221623391,653,635,654,0.435530243244,0.00448875066232,0.0798650452119,0.999999974464,7.44741735365e-05,-0.000207334060875,5.03766425843e-05,1793252987628198144
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,640.79609358,895.79609358,792,825.79609358,653,635,654,0.434578769027,0.00448000003627,0.0798530168644,0.999999970602,5.98984772933e-05,-0.000229325619801,5.11580613912e-05,1793252987644865536
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,749,725,702.616453545,671,641,895.616453545,792,826,653,635,654,0.433611494723,0.00447171900735,0.0798219474637,0.999999958506,5.44422686257e-05,-0.000278034319532,5.21532620108e-05,1793252987661532160
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,749,725,702.021856852,671,641,895.021856852,792,826,653,635,654,0.43263552632,0.00446369637944,0.0797804005357,0.999999938831,5.40041490685e-05,-0.000341444388556,5.32660979855e-05,1793252987678198528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,749,725,702.552273684,670.447726316,640.447726316,895,791.447726316,825.447726316,653,635,654,0.431603008152,0.00445965766221,0.079717889176,0.999999890176,5.2418167399e-05,-0.00046248314365,5.48635820568e-05,1793252987694864896
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.126581522,640,895,791.126581522,825,653,635,654,0.430605627911,0.00445505662826,0.0796822358908,0.999999855214,5.00786131418e-05,-0.000532843844429,5.60417757416e-05,1793252987711531008
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.704304858,640,895,791.704304858,825,653,635,654,0.429741172132,0.00444790961996,0.0797451572911,0.999999911421,4.52094184045e-05,-0.000414747743841,5.56596857328e-05,1793252987728197376
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,640.280565671,895,792.280565671,825,653,635,654,0.42885215681,0.00445436449408,0.0798031024308,0.999999947569,5.0475374247e-05,-0.000314987401535,5.56557436174e-05,1793252987744864256
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,640.855293051,895,792.855293051,825,653,635,654,0.427937391859,0.00447508038983,0.0798558301594,0.999999968743,6.63676243275e-05,-0.000234451367013,5.6048274568e-05,1793252987761531136
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,749,725.442954605,703,670.557045395,640.557045395,895.442954605,792.557045395,824.557045395,653,634.557045395,654,0.426977437239,0.0044859743356,0.0798331577744,0.999999958618,8.64028589786e-05,-0.000268669830738,5.58210239595e-05,1793252987778198272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770,749,725.965871638,703,670,640,895.965871638,792,824,653,634.034128362,654,0.426002279771,0.00449214258751,0.0797861894092,0.999999935149,0.000105217279549,-0.000339947372395,5.53851240786e-05,1793252987794865152
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,749,725.388084478,703,670,640,895.388084478,792,824,653,634.611915522,654,0.425027187407,0.00447568264498,0.0797563782856,0.999999920437,8.23755494033e-05,-0.000386419477027,5.49478662899e-05,1793252987811532032
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770.18810056,749,725.18810056,703,670,640.18810056,895,792,824,653,635,654,0.424057859754,0.00446392179991,0.079730884004,0.999999904829,6.91463720181e-05,-0.000427191536425,5.53940995436e-05,1793252987828198912
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770.761008162,749,725.761008162,703,670,640.761008162,895,792,824,653,635,654,0.42310032509,0.0044617741384,0.0797142209037,0.999999891376,7.55820869155e-05,-0.000456302728644,5.76477362364e-05,1793252987844865024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770.654139092,749.345860908,726,703,670.345860908,641,895,792.345860908,824,653,635,654,0.422217047086,0.00446242664367,0.0797421939374,0.999999914284,7.49395181471e-05,-0.000403178377811,5.71232568781e-05,1793252987861531392
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770.060736944,749.939263056,726,703,670.939263056,641,895,792.939263056,824,653,635,654,0.421386916474,0.00446508329796,0.0798021141617,0.999999953715,6.92308448679e-05,-0.00029119600084,5.46104101878e-05,1793252987878197760
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770,749.481815502,726,703,671,641,895,792.481815502,824,653.518184498,635,654,0.420541467346,0.0044732848928,0.0798434644691,0.999999969952,8.19387209938e-05,-0.000224478611279,5.46869270381e-05,1793252987894864640
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770.095146918,749,726,703.095146918,670.904853082,641,895,792,823.904853082,653.904853082,635,654,0.419682696226,0.00448036703334,0.0798685705686,0.999999976631,9.39183257531e-05,-0.000186779617412,5.50458499496e-05,1793252987911531264
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770.670555346,749,726,703.670555346,670.329444654,641,895,792,823.329444654,653.329444654,635,654,0.418765497878,0.00447860726016,0.0798223706376,0.999999957956,9.16223132579e-05,-0.000269501070273,5.53399366666e-05,1793252987928198144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770.748419901,749,726,704,670.251580099,641,895,792,823,653,635,654,0.417872910388,0.00447459751029,0.0797951501752,0.999999943526,8.67978163708e-05,-0.000319923994669,5.53343476548e-05,1793252987944865024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770.159872672,749,726,704,670.840127328,641,895,792,823,653,635,654,0.417013286827,0.00446757413512,0.079793350873,0.999999941911,7.85866608376e-05,-0.00032708616977,5.49273724557e-05,1793252987961532416
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770.422093731,749,726,703.577906269,671,641,894.577906269,792.422093731,823,653,634.577906269,654,0.416163227588,0.00446670061823,0.079785764212,0.999999935257,7.66857973196e-05,-0.00034726398398,5.48874166376e-05,1793252987978198784
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770.998403011,749,726,703.001596989,670.998403011,640.998403011,894,792.998403011,823,653,634.001596989,654,0.415316958582,0.0044681280947,0.0797760246893,0.999999926232,7.71447180046e-05,-0.000372238375998,5.49869120223e-05,1793252987994864384
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770.422101492,749,726,703.577898508,670.422101492,640.422101492,894,792.422101492,823,653,634.577898508,654,0.414551056085,0.00447222765165,0.0797682695241,0.999999924364,7.99006521321e-05,-0.000376498430471,5.60122143383e-05,1793252988011531264
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770,749,726,703.846569146,670,640.153430854,894.153430854,792.153430854,823,653,634.846569146,654,0.413801251008,0.00447440125027,0.0797672990101,0.999999926386,8.41523119269e-05,-0.000370096570261,5.63545150607e-05,1793252988028198144
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770,749,726,703.273142173,670,640.726857827,894.726857827,792.726857827,823,653,634.273142173,654,0.413095510257,0.00447130280053,0.0797849005549,0.999999938271,9.24983180823e-05,-0.000334509167786,5.48271918982e-05,1793252988044864512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,670,641,895,792.690696123,823,653,634,654,0.412370875113,0.00446861273967,0.0797898403842,0.999999940483,9.38263658573e-05,-0.000327481316578,5.46541639881e-05,1793252988061531392
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,670,641,895,792.100046262,823,653,634,654,0.411629053477,0.00446629415372,0.0797832629861,0.9999999345,8.87708061403e-05,-0.000346431528968,5.57130170787e-05,1793252988078198272
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,670,641,894.51906156,792,823,653,634,654,0.410929742083,0.00446728691308,0.0797747010919,0.999999928182,8.8166371304e-05,-0.000364287193443,5.61871986472e-05,1793252988094865152
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,748.940378024,726,703.059621976,670.059621976,641,894.059621976,792,823,653,634.059621976,654,0.410249094187,0.00446905592594,0.0797692865502,0.999999924005,8.85429033161e-05,-0.000375445920499,5.64871570782e-05,1793252988111531776
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770,748.364553307,726,703.635446693,670.635446693,641,894.635446693,792,823,653,634.635446693,654,0.409654978811,0.00447169928499,0.0797946253168,0.999999939771,8.95538182456e-05,-0.000330555547766,5.63109807406e-05,1793252988128198400
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,748.203205874,726.203205874,704,671,641,895,792.203205874,823,653,634.796794126,654,0.409067454643,0.00447448361428,0.0798160644215,0.999999951127,8.93233272669e-05,-0.000294264106526,5.63593062246e-05,1793252988144865024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,748.757047743,726.757047743,704,671,641,895,792.757047743,823,653,634.242952257,654,0.408491303802,0.0044775111904,0.0798307745752,0.999999957394,8.69507644884e-05,-0.000272810307336,5.67950144685e-05,1793252988161531392
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.653259006,641.346740994,895,792.653259006,823,653,634,654,0.407901020946,0.00447793366652,0.0798178586266,0.999999949245,9.46225281893e-05,-0.000298827828045,5.70812755767e-05,1793252988178197760
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.035548755,641.964451245,895,792.035548755,823,653,634,654,0.407299694217,0.00447632032363,0.0797833535841,0.999999926794,0.000110143676758,-0.000361942973403,5.72507474267e-05,1793252988194864640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770,749,726.457152681,703.457152681,670,641.457152681,894.457152681,792,823,653,634,654,0.40678346817,0.00447455698994,0.0797639057029,0.999999918779,0.000102232254012,-0.00038572019756,5.66686194856e-05,1793252988211531776
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.118235616,641,894,792.118235616,823,653,634,654,0.406289126533,0.00447355106445,0.079753026904,0.999999916157,9.3727859391e-05,-0.000394697875409,5.58040565789e-05,1793252988228199168
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.69128867,641,894,792.69128867,823,653,634,654,0.405858978063,0.00447549389556,0.0797715740054,0.999999931266,8.84466169707e-05,-0.000355986277394,5.40295951271e-05,1793252988244865792
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770.272958804,749,726,703,670.727041196,641,894,793,823,653,634,654,0.405447616753,0.00447779448162,0.0797912479169,0.999999942545,9.46548518153e-05,-0.000321022485304,5.3803075878e-05,1793252988261532416
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770.864692355,749,726,703,670.135307645,641,894,793,823,653,634,654,0.405058196042,0.00448051287144,0.0798122377717,0.99999994976,0.000114281064917,-0.000290435568199,5.53843199651e-05,1793252988278199040
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770.553417066,749,726,703,670.446582934,641,894,792.553417066,823,653,634,654,0.404666748158,0.00448251808319,0.079821544314,0.999999951779,0.000115862114486,-0.000282475968484,5.6782954542e-05,1793252988294865408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.974572781,641,894.025427219,792.025427219,823,653,634,654,0.404276592916,0.00448416168517,0.079827030693,0.999999952296,0.000112370791815,-0.000281773683924,5.81734501672e-05,1793252988311532032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.398507579,641,894.601492421,792.601492421,823,653,634,654,0.403927444251,0.00448255290173,0.0798247938637,0.999999948652,0.000114880709706,-0.000292969720663,6.05600039776e-05,1793252988328197888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,670,641,894.819200654,792.819200654,823,653,634,654,0.403596869158,0.00448199515763,0.07982283484,0.999999946275,0.000114227227031,-0.000301315363217,6.00956425592e-05,1793252988344864256
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,670,641,894.232618138,792.232618138,823,653,634,654,0.403307980343,0.00448379634966,0.0798214993192,0.99999994693,0.000106473858205,-0.000303263625016,5.32327321101e-05,1793252988361530880
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,749,726,703.349715618,670.349715618,641,894,792.349715618,823,653,634.349715618,654,0.403036111384,0.00448174289125,0.0798217466563,0.999999946759,0.000104094146267,-0.000304847203586,5.20950258794e-05,1793252988378197248
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,749,726,703.929257234,670.929257234,641,894,792.929257234,823,653,634.929257234,654,0.4027754275,0.00447715623507,0.0798230342152,0.999999946088,0.000105245891666,-0.000306191119955,5.4719806832e-05,1793252988394863872
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,749.506838019,726,703.493161981,670.493161981,641.506838019,894,793,823.506838019,653,634.493161981,654,0.40255090946,0.0044776184778,0.0798252852382,0.999999947353,0.00010592457137,-0.000301600839317,5.57756955619e-05,1793252988411530496
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,749.916209907,726.083790093,703,670.083790093,641.916209907,894,792.916209907,823.916209907,653,634,654,0.402337730105,0.00447863107848,0.0798276147471,0.999999948858,0.000106403110714,-0.000296249518626,5.65490367713e-05,1793252988428197120
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,749.341344497,726.658655503,703,670.658655503,641.341344497,894,792.341344497,823.341344497,653,634,654,0.402161533524,0.00447875498175,0.0798296191431,0.999999950331,0.000106094161375,-0.000291273540004,5.69448815124e-05,1793252988444863744
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,749,726.760947583,703,670.760947583,641.239052417,894,792,823,653,634,654,0.401998176194,0.00447917947229,0.0798326280706,0.999999951859,0.000107139274661,-0.000285510390513,5.73389599326e-05,1793252988461530624
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,749,726.172465143,703,670.172465143,641.827534857,894,792,823,653,634,654,0.40185358639,0.00448004334015,0.0798371053516,0.999999953458,0.000110163661555,-0.000278596610261,5.77304564449e-05,1793252988478197248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,749,726.409673928,703,670,642,894,792.409673928,823,653,634.409673928,654,0.401719524079,0.00448724330965,0.079836740885,0.999999951345,0.000126565373791,-0.000279436510724,5.66208731548e-05,1793252988494863872
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+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,749,726.408498164,703,670.408498164,642,894.408498164,793,823,653,634,654,0.400967225923,0.00450059994827,0.0798221265738,0.999999944642,0.000134574922501,-0.00029991460236,5.15421334202e-05,1793252988844864000
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,749,726.165635123,703,670,641.834364877,894.165635123,793,823,653,634,654,0.400966860138,0.00450003241225,0.079822144623,0.999999944886,0.000133044008318,-0.000299811650104,5.13901033932e-05,1793252988861530880
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,749,726.738476193,703,670,641.261523807,894.738476193,793,823,653,634,654,0.400967059144,0.00450198683351,0.0798218051569,0.999999944505,0.000135773386788,-0.000299877046882,5.12813424614e-05,1793252988878197504
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,749,726.67866831,703,670.32133169,641.32133169,894.67866831,793,823,653,634,654,0.400966663284,0.0045034523383,0.0798219443884,0.999999944195,0.00013861635306,-0.000299627007817,5.11708939496e-05,1793252988894864128
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,749,726.087400167,703,670.912599833,641.912599833,894.087400167,793,823,653,634,654,0.400965767706,0.00450450712604,0.0798224857524,0.999999943944,0.000141554739251,-0.000299111985135,5.10590277821e-05,1793252988911530752
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770,749,726,703.494629591,670.505370409,641.505370409,894,792.505370409,823,653,634,654,0.400966206737,0.00450415332502,0.0798225697495,0.999999944203,0.000141192728184,-0.000298439614822,5.09253909003e-05,1793252988928197632
+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,749,726.074193261,704,670.074193261,641.074193261,894,792,823,653,634,654,0.400966994055,0.00450369729278,0.0798227844286,0.999999944599,0.000140302700737,-0.000297554169068,5.07729808659e-05,1793252988944864256
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,749,726.647941821,704,670.647941821,641.647941821,894,792,823,653,634,654,0.400968567729,0.00450419804614,0.0798244131805,0.999999945328,0.000139712067007,-0.000295417822123,5.0519594747e-05,1793252988961530880
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,749,727,703.773092634,670.773092634,641.773092634,894,792.226907366,823,653,634,654,0.400968607326,0.00450405846072,0.079824815139,0.999999945405,0.000139720152188,-0.000295158984015,5.04893265046e-05,1793252988978197504
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,749,727,703.185842099,670.185842099,641.185842099,894,792.814157901,823,653,634,654,0.400966210712,0.00450290197712,0.0798232688723,0.999999944447,0.00014067904057,-0.000297881747703,5.08133834447e-05,1793252988994864128
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,641,894,793,823,653,634.398283853,654,0.400967507812,0.00450344356024,0.0798244702509,0.999999944808,0.000141998604748,-0.000296017013888,5.09278354452e-05,1793252989011530752
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,641,894,793,823,653,634.980963167,654,0.400970515009,0.00450477130583,0.0798269437207,0.999999945768,0.000143485152736,-0.000292028383324,5.09452455822e-05,1793252989028197376
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,641.553417519,894,793,823,653,634.446582481,654,0.400968092881,0.00450419905147,0.0798256146855,0.999999945326,0.000141845359537,-0.000294314673226,5.10477133717e-05,1793252989044864256
+410,6.833333333,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,642,894,793,823,653,634,654,0.400966270723,0.00450364238494,0.0798245807669,0.999999945068,0.000140138378126,-0.000296016904189,5.09771252295e-05,1793252989061531136
+411,6.850000000,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,642,894,793,823,653,634,654,0.400967235447,0.00450336947741,0.0798250536829,0.999999945656,0.000138568021795,-0.00029488725419,5.02806400499e-05,1793252989078197760
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e7b4ced6198a9277e8f3e2e269e07b5e458d3deb
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,413 @@
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+399,6.650000000,pose2_to_pose3_retreat,0.585752352441,0.010005077215,1.07002089351,0.556323696513,0.0186774881018,1.06963227595
+400,6.666666667,pose2_to_pose3_retreat,0.585752229918,0.0100050665403,1.07002090625,0.556323574273,0.0186774783602,1.0696322881
+401,6.683333333,pose2_to_pose3_retreat,0.585752213819,0.0100050651377,1.07002090792,0.556323558211,0.0186774770802,1.06963228969
+402,6.700000000,pose2_to_pose3_retreat,0.585752032462,0.0100050493371,1.07002092677,0.556323377272,0.0186774626608,1.06963230767
+403,6.716666667,pose2_to_pose3_retreat,0.585751798756,0.0100050289756,1.07002095106,0.556323144106,0.0186774440792,1.06963233084
+404,6.733333333,pose2_to_pose3_retreat,0.585751745499,0.0100050243356,1.0700209566,0.556323090972,0.0186774398449,1.06963233612
+405,6.750000000,pose2_to_pose3_retreat,0.585751589088,0.0100050107084,1.07002097286,0.556322934922,0.0186774274089,1.06963235163
+406,6.766666667,pose2_to_pose3_retreat,0.585751258897,0.0100050831365,1.07002099718,0.556322602992,0.0186774937324,1.06963237144
+407,6.783333333,pose2_to_pose3_retreat,0.585751219719,0.0100050991907,1.07002099933,0.556322563423,0.0186775084269,1.06963237284
+408,6.800000000,pose2_to_pose3_retreat,0.585751026938,0.0100051781891,1.07002100991,0.55632236872,0.0186775807343,1.06963237972
+409,6.816666667,pose2_to_pose3_retreat,0.585750942392,0.0100052128345,1.07002101455,0.556322283331,0.0186776124452,1.06963238274
+410,6.833333333,pose2_to_pose3_retreat,0.585750926178,0.0100052189058,1.07002101307,0.556322267003,0.0186776181463,1.06963238159
+411,6.850000000,pose2_to_pose3_retreat,0.585750812456,0.0100053063881,1.07002087057,0.556322154543,0.0186777102311,1.06963224626
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ab44fac5204b8402483a835ae0d094d7686b340
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b980114dc2a35b591d173d589b51440d592deb6a83b25b9be83dcafd950a3f8
+size 26289050
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba29942b776f84159273a400323b16b4032bb6e9
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_02/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,770,749,727,703,671,641,894,793,823,653,634,655,0.40096683232,0.00450228533068,0.0798254424564,0.999999946076,0.000137889576715,-0.000293724013507,5.06123516163e-05,1793252989229850112
+1,0.016666667,BASELINE,770.576908928,749,727,703,670.423091072,641,894,793,823,653,634,654.423091072,0.400967566165,0.0045017720957,0.0798257884699,0.999999946088,0.000137873168924,-0.000293683171969,5.06554810935e-05,1793252989246516736
+2,0.033333333,BASELINE,770.846920748,749,726.846920748,703.153079252,670.153079252,641,894,793,823,653,634,654,0.400968038939,0.0045018951265,0.0798260551786,0.99999994608,0.00013810980639,-0.000293588697835,5.07072006747e-05,1793252989263183360
+3,0.050000000,BASELINE,770.272781895,749,726.272781895,703.727218105,670.727218105,641,894,793,823,653,634,654,0.400967793612,0.00450376826907,0.0798261037519,0.999999946018,0.000139042469822,-0.000293346701944,5.07825481949e-05,1793252989279850240
+4,0.066666667,BASELINE,770,749,726.308197852,703.691802148,670.691802148,641.308197852,894,793,823,653,634,654,0.400968286823,0.00450424378647,0.0798264044203,0.999999946273,0.000139598594827,-0.000292228357673,5.06907526817e-05,1793252989296516864
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+6,0.100000000,BASELINE,770,749,726.521341605,703,670.478658395,642,894,793,823,653,634,654,0.4009694747,0.00450359636675,0.0798276836581,0.999999947095,0.000138544347975,-0.000289998654467,5.01676586898e-05,1793252989329850368
+7,0.116666667,BASELINE,770.060319786,749,726.060319786,703.060319786,670.939680214,642,894,792.939680214,823,653,634.060319786,654,0.400969167445,0.00450381708351,0.0798283103956,0.999999947247,0.000137155604831,-0.000290168837865,4.99540296733e-05,1793252989346516736
+8,0.133333333,BASELINE,770.635282138,749,726.635282138,703.635282138,670.364717862,642,894,792.364717862,823,653,634.635282138,654,0.400968116301,0.004502984294,0.0798274724354,0.999999946776,0.000137496717137,-0.000291557139325,5.0374998138e-05,1793252989363183360
+9,0.150000000,BASELINE,771,749,726.78523853,703.78523853,670.21476147,642,894,792.21476147,823.21476147,653,634.78523853,654,0.400967602551,0.00450327982821,0.0798270267555,0.999999946388,0.00013918278908,-0.000292054132747,5.05708869079e-05,1793252989379850240
+10,0.166666667,BASELINE,771,749,726.197923513,703.197923513,670.802076487,642,894,792.802076487,823.802076487,653,634.197923513,654,0.400968021034,0.00450553270155,0.0798272615767,0.999999946136,0.000143202005218,-0.000291004945639,5.03763227323e-05,1793252989396516864
+11,0.183333333,BASELINE,770.61589867,749,726.38410133,703,670.61589867,641.61589867,894,793,823.61589867,653,634.38410133,654,0.400967367117,0.00450578811988,0.0798266446067,0.999999945842,0.000143599719715,-0.000291812541462,5.04101110495e-05,1793252989413183488
+12,0.200000000,BASELINE,770.036562714,749,726.963437286,703,670.036562714,641.036562714,894,793,823.036562714,653,634.963437286,654,0.40096616811,0.00450502825326,0.0798255946803,0.999999945528,0.000142156663762,-0.000293563920229,5.05599684953e-05,1793252989429850368
+13,0.216666667,BASELINE,770,749,727,703,670,641,894,792.458777625,823,653,634.458777625,654,0.400966528334,0.00450489890415,0.079825585256,0.999999945803,0.000142321069895,-0.000292612117613,5.01591196762e-05,1793252989446516736
+14,0.233333333,BASELINE,770,749,727,703,670.118480862,641.118480862,894,792.118480862,823,653,634.118480862,654,0.400967157214,0.00450458525227,0.0798260357463,0.999999946202,0.000142251432944,-0.000291331555717,4.98637624731e-05,1793252989463183360
+15,0.250000000,BASELINE,770,749,727,703,670.694110754,641.694110754,894,792.694110754,823,653,634.694110754,654,0.400968417418,0.00450339660243,0.0798279903395,0.999999946922,0.000140860957527,-0.000289485096383,5.01185724365e-05,1793252989479849984
+16,0.266666667,BASELINE,770,749,727,703,671,642,894,793,823,653,634.724774665,654,0.400969093891,0.00450292373137,0.0798285319711,0.999999947273,0.000139575399552,-0.00028888031461,5.02040762251e-05,1793252989496516864
+17,0.283333333,BASELINE,770,749,727,703,671,642,894,793,823,653,634.137440414,654,0.400969108406,0.00450326256233,0.0798274712867,0.999999947208,0.000138408819332,-0.000289683610586,5.00975847126e-05,1793252989513183488
+18,0.300000000,BASELINE,770.443705562,749,726.556294438,703,671,642,894.443705562,793,823,653,634.443705562,654.443705562,0.400968377715,0.00450337074021,0.0798271321999,0.999999946902,0.000138372662666,-0.000290755412631,5.0103791358e-05,1793252989529850112
+19,0.316666667,BASELINE,771,749,726,703,671,642,894.977116915,793,823,653.022883085,634.977116915,654.977116915,0.400967516375,0.00450339273502,0.0798270363153,0.999999946562,0.000138677352186,-0.000291769551573,5.01414330387e-05,1793252989546516992
+20,0.333333333,BASELINE,771,749,726,703,671,642,894.399828053,793,823,653.600171947,634.399828053,654.399828053,0.400969005355,0.00450303387744,0.0798274917983,0.999999947226,0.000138873191386,-0.000289399305629,5.01065438052e-05,1793252989563183616
+21,0.350000000,BASELINE,770.824881829,749,726.175118171,703,671,641.824881829,894,793,823,653.824881829,634,654,0.4009697004,0.0045027252489,0.0798276760184,0.999999947567,0.000138700536509,-0.000288299066943,5.01119169603e-05,1793252989579850240
+22,0.366666667,BASELINE,770.255213762,749,726.744786238,703,671,641.255213762,894,793,823,653.255213762,634,654,0.400968606673,0.00450252978891,0.0798272490699,0.999999947192,0.000137697646227,-0.000290060217723,5.02080032735e-05,1793252989596517120
+23,0.383333333,BASELINE,770,749,726.671845731,703,670.671845731,641,894,793,823,653,634,654,0.400967815155,0.00450316882173,0.0798270675733,0.999999946795,0.000138824462079,-0.000290858318937,5.03869893124e-05,1793252989613183488
+24,0.400000000,BASELINE,770,749,726.077358631,703,670.077358631,641,894,793,823,653,634,654,0.400967268913,0.00450448513608,0.0798270852875,0.999999946377,0.000141679765663,-0.000290874801017,5.06332574932e-05,1793252989629850112
+25,0.416666667,BASELINE,770,749,726.504226871,703,670.504226871,641.504226871,894,793,823,653,634,654,0.40096721422,0.00450487362693,0.0798273561936,0.999999946297,0.000142268713277,-0.000290939684037,5.01894930341e-05,1793252989646516992
+26,0.433333333,BASELINE,770.083165265,749,726.916834735,703,671,642,894,793,823,653,634,654,0.400967528779,0.00450499338267,0.0798277709025,0.999999946392,0.000142293363509,-0.000290678094417,4.97393462069e-05,1793252989663183360
+27,0.450000000,BASELINE,770.657865455,749,726.342134545,703,671,642,894,793,823,653,634,654,0.400969591131,0.00450434515196,0.0798288116769,0.999999947218,0.000140986608708,-0.000288444147419,4.986156503e-05,1793252989679849984
+28,0.466666667,BASELINE,770.768647469,749,726.231352531,703.231352531,670.768647469,641.768647469,894,792.768647469,823,653,634,654,0.400969796455,0.00450404772685,0.0798287086641,0.999999947373,0.000140086109671,-0.000288333498142,4.99418993048e-05,1793252989696517376
+29,0.483333333,BASELINE,770.196945078,749,726.803054922,703.803054922,670.196945078,641.196945078,894,792.196945078,823,653,634,654,0.400967269847,0.00450426638272,0.0798269229906,0.999999946541,0.000139783266127,-0.000291346497916,4.99606159186e-05,1793252989713185280
+30,0.500000000,BASELINE,770,749,727,703.610563414,670,641.389436586,894.389436586,792.389436586,823,653,634.389436586,654,0.400967723031,0.00450423536658,0.0798271485572,0.999999946848,0.000138682441965,-0.000290876722495,4.96259567827e-05,1793252989729851904
+31,0.516666667,BASELINE,770,749,727,703.016467414,670,641.983532586,894.983532586,792.983532586,823,653,634.983532586,654,0.400969742176,0.00450407314108,0.0798284310846,0.999999947749,0.000137162257505,-0.000288576654817,4.91055891724e-05,1793252989746517760
+32,0.533333333,BASELINE,770,749,727,703,670.562518322,641.437481678,894.437481678,793,823,653,634.437481678,654,0.400970436754,0.00450423383857,0.0798293520615,0.999999947942,0.0001375465418,-0.000287661647769,4.94684683382e-05,1793252989763184640
+33,0.550000000,BASELINE,770,749,726.859908874,703,671,641,894,792.859908874,823,653,634,654,0.400970386998,0.00450421102211,0.0798296367041,0.999999947949,0.000137553545968,-0.000287590048201,4.97307638568e-05,1793252989779851008
+34,0.566666667,BASELINE,770,749,726.28538195,703,671,641,894,792.28538195,823,653,634,654,0.400968146095,0.00450359056259,0.079827979978,0.999999947438,0.000136222198458,-0.000290011484498,4.96030538153e-05,1793252989796517376
+35,0.583333333,BASELINE,770.296136348,749,726.296136348,703.296136348,671,641.296136348,894,792.296136348,823,653,634.296136348,654,0.400967387632,0.00450370511651,0.0798273109586,0.999999947051,0.000137299367539,-0.000290827027784,4.96579278049e-05,1793252989813184256
+36,0.600000000,BASELINE,770.884555102,749,726.884555102,703.884555102,671,641.884555102,894,792.884555102,823,653,634.884555102,654,0.400968092315,0.00450454511828,0.0798276167916,0.999999946783,0.000140753708419,-0.000290057577573,4.98930096468e-05,1793252989829851392
+37,0.616666667,BASELINE,770.534272109,749.465727891,726.534272109,703.534272109,671,641.534272109,894.465727891,793,823,653,634.534272109,654,0.400968529981,0.00450444838651,0.0798278332505,0.999999946791,0.000141131424277,-0.000289886525162,4.96654180955e-05,1793252989846518016
+38,0.633333333,BASELINE,770,750,726.045077733,703,671,641,894.954922267,792.954922267,823.045077733,653,634,654,0.400968843635,0.00450413576907,0.0798279738757,0.999999946862,0.000140783398444,-0.000289860678349,4.93714636951e-05,1793252989863184640
+39,0.650000000,BASELINE,770,750,726.623784884,703,671,641,894.376215116,792.376215116,823.623784884,653,634,654,0.400968460777,0.00450397414598,0.0798274750265,0.999999946866,0.000140733811442,-0.00028982473181,4.96287787861e-05,1793252989879851264
+40,0.666666667,BASELINE,770,749.799717765,727,703,670.799717765,641.200282235,894,792.200282235,823.799717765,653,634.200282235,654,0.400968241629,0.00450387105098,0.0798273892496,0.999999946951,0.000140788632308,-0.000289472533934,4.98271787117e-05,1793252989896517888
+41,0.683333333,BASELINE,770,749.227326094,727,703,670.227326094,641.772673906,894,792.772673906,823.227326094,653,634.772673906,654,0.400968326641,0.00450387669679,0.0798280709301,0.999999947183,0.000141037435199,-0.000288532764693,4.9916118644e-05,1793252989913184512
+42,0.700000000,BASELINE,770,749.355938943,727,703,670.355938943,641.644061057,894,793,823,653,635,654,0.400968710141,0.00450321477226,0.0798284757299,0.999999947444,0.00013931789345,-0.000288447289584,4.99973229822e-05,1793252989929850880
+43,0.716666667,BASELINE,770,749.946367231,727,703,670.946367231,641.053632769,894,793,823,653,635,654,0.400969290281,0.00450211305844,0.0798286981232,0.999999947719,0.000136301624101,-0.000288924615733,5.00734311774e-05,1793252989946517248
+44,0.733333333,BASELINE,770,749.473935428,727,703,671,641,894,793,823,653,635,654,0.400969654794,0.00450366666368,0.0798285900353,0.999999947558,0.000139228928656,-0.000288090278268,5.00235705831e-05,1793252989963184896
+45,0.750000000,BASELINE,770,749,726.895582427,703.104417573,671,641.104417573,894,793,823,653,634.895582427,654,0.400969785238,0.00450529642607,0.07982846545,0.99999994733,0.000142164263374,-0.000287460434341,4.99590352536e-05,1793252989979852544
+46,0.766666667,BASELINE,770,749,726.318461765,703.681538235,671,641.681538235,894,793,823,653,634.318461765,654,0.400968953567,0.00450606992743,0.0798284156596,0.999999947037,0.000142447612122,-0.000288349620785,4.98850436948e-05,1793252989996518912
+47,0.783333333,BASELINE,770,749,726.256425045,703.743574955,671,642,894,793,823,653,634,654,0.400968218516,0.00450591188281,0.0798279781366,0.999999946871,0.000141476180296,-0.000289412286604,4.98324704484e-05,1793252990013185024
+48,0.800000000,BASELINE,770,749,726.828561606,703.171438394,671,642,894,793,823,653,634,654,0.400967602424,0.00450460691525,0.0798270632356,0.999999946855,0.000138959857765,-0.000290688541023,4.98062675018e-05,1793252990029850880
+49,0.816666667,BASELINE,770,749,727,703,671,642,894,793,823,653,634,654,0.400966943086,0.00450543727665,0.0798265774112,0.999999946274,0.000141077099095,-0.000291717638652,4.94916981834e-05,1793252990046517248
+50,0.833333333,BASELINE,770.012871086,749,727,703.012871086,670.987128914,641.987128914,894,793,823,653,634.012871086,654,0.400966335868,0.00450712543644,0.0798263385453,0.999999945479,0.000145097095303,-0.000292540196784,4.90748025872e-05,1793252990063183616
+51,0.850000000,BASELINE,770.588801894,749,727,703.588801894,670.411198106,641.411198106,894,793,823,653,634.588801894,654,0.400968818187,0.00450637255004,0.0798288722374,0.99999994642,0.000145630024341,-0.000288953428715,4.9578806886e-05,1793252990079850240
+52,0.866666667,BASELINE,770.835331831,749,726.835331831,703.835331831,670,641.164668169,894.164668169,792.835331831,823,653,634.835331831,654,0.400970035082,0.00450557535931,0.0798301004822,0.999999947066,0.00014477915927,-0.000287084568417,4.99038340455e-05,1793252990096517120
+53,0.883333333,BASELINE,770.259626674,749,726.259626674,703.259626674,670,641.740373326,894.740373326,792.259626674,823,653,634.259626674,654,0.400968093286,0.00450466757821,0.0798280701303,0.999999946988,0.000140474132005,-0.000289503869407,4.97821068068e-05,1793252990113184256
+54,0.900000000,BASELINE,770,749,726.323587317,703.323587317,670.323587317,641.676412683,894.352825365,792.323587317,823,653,634,654,0.400967587645,0.00450373428238,0.0798273783774,0.999999947088,0.000138097719159,-0.000290304655814,4.97664870156e-05,1793252990129850880
+55,0.916666667,BASELINE,770,749,726.912969033,703.912969033,670.912969033,641.087030967,893.174061934,792.912969033,823,653,634,654,0.400968261661,0.00450278002881,0.0798277861489,0.999999947347,0.000137305469074,-0.000289775995349,4.98380238149e-05,1793252990146517760
+56,0.933333333,BASELINE,770,749,726.506892717,703.506892717,670.506892717,641.493107283,893.493107283,793,823,653,634,654,0.400967920999,0.00450381439048,0.0798278870187,0.999999947212,0.000137949216505,-0.000289969467361,4.96452227792e-05,1793252990163184384
+57,0.950000000,BASELINE,770.071310426,749,726,703.071310426,670.071310426,642,894,793,823,653,634,654,0.400967516612,0.00450501757598,0.0798279308621,0.99999994705,0.000138862985389,-0.000290128335941,4.94300135306e-05,1793252990179850496
+58,0.966666667,BASELINE,770.647152307,749,726,703.647152307,670.647152307,642,894,793,823,653,634,654,0.400967905098,0.00450497766808,0.0798279474206,0.999999947185,0.000139927019972,-0.00028915722611,4.93802752451e-05,1793252990196517632
+59,0.983333333,BASELINE,770.772712862,749,726,704,670.772712862,641.772712862,894,793,823,653,634,654,0.400967817681,0.00450513931148,0.0798277854622,0.999999947109,0.000140422093054,-0.000289181387331,4.93779124627e-05,1793252990213184512
+60,1.000000000,BASELINE,770.185785127,749,726,704,670.185785127,641.185785127,894,793,823,653,634,654,0.400966977233,0.00450561987322,0.079827341033,0.999999946698,0.00014001688811,-0.000290780383988,4.94505127974e-05,1793252990229850624
+61,1.016666667,BASELINE,770,749.395634259,726.395634259,704,670.395634259,641.395634259,894.395634259,793,822.604365741,653,634,654,0.400966551136,0.00450506600133,0.0798272554341,0.999999946646,0.00013911372756,-0.000291398498748,4.94270136999e-05,1793252990246517504
+62,1.033333333,BASELINE,770,749.974502475,726.974502475,704,670.974502475,641.974502475,894.974502475,793,822.025497525,653,634,654,0.40096631694,0.00450403304207,0.0798273360236,0.999999946758,0.000137979943993,-0.000291562328002,4.93590071298e-05,1793252990263184384
+63,1.050000000,BASELINE,770,749.449071119,727,703.449071119,671,641.449071119,894.449071119,792.449071119,822.550928881,653,634,654,0.400966442406,0.00450502018198,0.0798274801997,0.99999994652,0.000140404702671,-0.000291237548674,4.92686110561e-05,1793252990279851008
+64,1.066666667,BASELINE,770,749,726.873302557,703,670.873302557,641,894,792.126697443,823,653,634,654,0.400966787735,0.00450564764816,0.0798276893435,0.999999946427,0.000141941299164,-0.000290808460023,4.92765816036e-05,1793252990296517632
+65,1.083333333,BASELINE,770,749,726.299458637,703,670.299458637,641,894,792.700541363,823,653,634,654,0.400967850532,0.00450467723625,0.0798281174347,0.999999946925,0.000139764675817,-0.000290090693781,4.96353530816e-05,1793252990313184000
+66,1.100000000,BASELINE,770,749,726,703,670,641,894,793,823,653,634,654,0.400968539965,0.00450458636762,0.0798285787516,0.999999947185,0.000139286339766,-0.000289428939411,4.96037267277e-05,1793252990329850624
+67,1.116666667,BASELINE,770,749,726,703,670,641,894,793,823,653,634,654,0.400968821916,0.00450545541496,0.0798290763306,0.999999947189,0.000140661480576,-0.000288828315324,4.91460279807e-05,1793252990346516992
+68,1.133333333,BASELINE,770,749,726,703,670.455414363,641.455414363,894,792.544585637,823,653,634,653.544585637,0.400969086555,0.00450488255863,0.0798288900898,0.999999947335,0.000139694684997,-0.000288796880811,4.91197677455e-05,1793252990363183872
+69,1.150000000,BASELINE,770,749,726.034073401,703,671,641.965926599,894,792.034073401,823,653,634,653.034073401,0.400969233346,0.00450400283748,0.0798284905537,0.999999947469,0.000138302509995,-0.000288985131027,4.92090839806e-05,1793252990379850496
+70,1.166666667,BASELINE,770,749,726.606375303,703,671,641.393624697,894,792.606375303,823,653,634,653.606375303,0.400967592845,0.00450445976578,0.0798276544892,0.999999946844,0.000140234904998,-0.000290202455282,4.92737414218e-05,1793252990396517376
+71,1.183333333,BASELINE,770,749,727,703.180096713,671,641,894,793,823,653,634,654,0.400966896152,0.0045046865838,0.07982757879,0.99999994668,0.000141018475029,-0.000290374388941,4.93528722822e-05,1793252990413184000
+72,1.200000000,BASELINE,770,749,727,703.756945399,671,641,894,793,823,653,634,654,0.400968278662,0.00450440647032,0.0798291781708,0.999999947536,0.000139271190947,-0.000288243333654,4.94638880103e-05,1793252990429850624
+73,1.216666667,BASELINE,770,749,726.656953583,703.656953583,671,641.343046417,894.343046417,793,823,653,634,654,0.400968421797,0.00450441259145,0.0798296490244,0.99999994769,0.000138983962493,-0.000287845808731,4.94703779604e-05,1793252990446517248
+74,1.233333333,BASELINE,770,749,726.064115447,703.064115447,671,641.935884553,894.935884553,793,823,653,634,654,0.400967662472,0.0045046271364,0.0798292981327,0.999999947336,0.000139759884159,-0.000288710566548,4.94007567064e-05,1793252990463183872
+75,1.250000000,BASELINE,770,749,726,703,671,641.483672741,894.483672741,793,823,653,634,654,0.400968185664,0.00450422457428,0.0798289706762,0.999999947391,0.000138946614817,-0.000288894761177,4.95139540269e-05,1793252990479850496
+76,1.266666667,BASELINE,770,749,726,703,671,641,894,792.905376479,823,653,634,654,0.400968667877,0.00450398728253,0.0798286608733,0.999999947431,0.000138637975531,-0.000288880632803,4.96527766945e-05,1793252990496516864
+77,1.283333333,BASELINE,770,749,726,703,671,641,894,792.330346362,823,653,634,654,0.400968152428,0.00450496900508,0.0798284262696,0.999999947144,0.000141869768509,-0.00028827861135,4.98091450241e-05,1793252990513183488
+78,1.300000000,BASELINE,770,749,726.249942774,703,671,641.249942774,894,792.249942774,823,653,634.249942774,654,0.400968141385,0.00450467826392,0.0798283718756,0.999999947072,0.000142818186481,-0.000288045345947,4.98912396069e-05,1793252990529850368
+79,1.316666667,BASELINE,770,749,726.837332039,703,671,641.837332039,894,792.837332039,823,653,634.837332039,654,0.400968811339,0.00450266957578,0.0798285607816,0.999999947299,0.000140683830991,-0.000288309936298,4.98730575627e-05,1793252990546516736
+80,1.333333333,BASELINE,770,749,727,703,671,641.581378806,894,793,823,653,634.581378806,654,0.400969393498,0.00450397121982,0.0798289451199,0.999999947266,0.000141677586077,-0.000287963897138,4.97236617469e-05,1793252990563184128
+81,1.350000000,BASELINE,770,749,727,703,671,641.00242594,894,793,823,653,634.00242594,654,0.400969942032,0.00450654071898,0.0798294043087,0.99999994713,0.000143869405502,-0.000287383987255,4.95240111318e-05,1793252990579851776
+82,1.366666667,BASELINE,770,749,727,703,671,641.575545419,894,793,823,653,634,654,0.400970366725,0.00450450370095,0.0798304010705,0.999999948071,0.000140050365259,-0.000286013525068,4.93916995885e-05,1793252990596518144
+83,1.383333333,BASELINE,770,749,727,703,671,642,894,792.847816224,823,653,634,654,0.400970435232,0.00450310182262,0.0798308039684,0.999999948628,0.000137125396698,-0.000285499887955,4.92958314525e-05,1793252990613184256
+84,1.400000000,BASELINE,770,749,727,703,671,642,894,792.274851999,823,653,634,654,0.400969520343,0.00450350966755,0.0798295586088,0.999999948146,0.000136742423621,-0.000287364526244,4.92999440121e-05,1793252990629850880
+85,1.416666667,BASELINE,770,749,726.692859248,703,671,642,894,792.307140752,823.307140752,653,634,654,0.400969392234,0.00450408775084,0.0798291189866,0.999999947819,0.000137894518611,-0.000287959345139,4.92691342992e-05,1793252990646517248
+86,1.433333333,BASELINE,770,749,726.102542458,703,671,642,894,792.897457542,823.897457542,653,634,654,0.400969989517,0.00450482278959,0.079829422234,0.99999994763,0.000140461907722,-0.000287383422419,4.92061271304e-05,1793252990663183872
+87,1.450000000,BASELINE,770,749.478765145,726.478765145,703,671,642,894,793,823.521234855,653,634,654,0.400969035766,0.00450488802971,0.0798289509109,0.999999947277,0.000141141926432,-0.000288284765433,4.91583093238e-05,1793252990679850496
+88,1.466666667,BASELINE,770.057850625,749.942149375,727,703,671,642,894,793,823,653,634,654,0.400967941035,0.00450482751058,0.0798284093852,0.999999946948,0.000141321018117,-0.000289338221677,4.91458581453e-05,1793252990696517120
+89,1.483333333,BASELINE,770.63399604,749.36600396,727,703,671,642,894,793,823,653,634,654,0.400968504524,0.00450490182095,0.0798286977641,0.999999947147,0.000140566972476,-0.000288972136691,4.94216549664e-05,1793252990713184256
+90,1.500000000,BASELINE,770.791018037,749,727,703,671,641.791018037,894,792.791018037,823,653,634,654,0.40096889711,0.00450548517945,0.0798289847349,0.999999947321,0.000140701983283,-0.000288300422277,4.94314252626e-05,1793252990729851136
+91,1.516666667,BASELINE,770.218051665,749,727,703,671,641.218051665,894,792.218051665,823,653,634,654,0.400968992034,0.00450695514834,0.079829269253,0.999999947452,0.000142385466017,-0.000287096392359,4.89778564634e-05,1793252990746517504
+92,1.533333333,BASELINE,770,749,727,703.367000158,671,641.367000158,894.367000158,792,823,653,634,654,0.400968208998,0.00450622768902,0.0798288116485,0.999999947387,0.00014092615175,-0.000288053854793,4.88917516834e-05,1793252990763183872
+93,1.550000000,BASELINE,770,749,727,703.959477069,671,641.959477069,894.959477069,792,823,653,634,654,0.400966886563,0.00450415017873,0.0798278981004,0.999999947191,0.000137535972905,-0.000290339290044,4.90314085981e-05,1793252990779850496
+94,1.566666667,BASELINE,770,749,727,703.460515152,670.460515152,642,894.460515152,792.539484848,823,653,634,654,0.400968562655,0.00450543286077,0.0798287240561,0.99999994725,0.000140285923633,-0.000288814001631,4.90502953287e-05,1793252990796517120
+95,1.583333333,BASELINE,770,749,726.882101934,703,670,641.882101934,894.117898066,793,823,653,634,654,0.400970003866,0.00450657599504,0.0798293942398,0.999999947267,0.000142813256482,-0.000287508118311,4.90817202957e-05,1793252990813183488
+96,1.600000000,BASELINE,770,749,726.306325999,703,670,641.306325999,894.693674001,793,823,653,634,654,0.400969677909,0.00450621908413,0.0798289634727,0.999999947092,0.000142725287337,-0.00028814087948,4.9196274761e-05,1793252990829850112
+97,1.616666667,BASELINE,770,749,726.274352279,703,670.274352279,641.274352279,895,793,823,653,634,654,0.400968887628,0.00450536340679,0.0798286785391,0.999999947037,0.000141779242594,-0.000288788903976,4.92466702521e-05,1793252990846516992
+98,1.633333333,BASELINE,770,749,726.860603785,703,670.860603785,641.860603785,895,793,823,653,634,654,0.400967569477,0.00450394070349,0.0798285593973,0.999999947117,0.000139857688863,-0.000289454280649,4.92241261765e-05,1793252990863183872
+99,1.650000000,BASELINE,770,749,727,703,671,642,894.558346374,792.558346374,823,653,634,653.558346374,0.400967710569,0.00450447545004,0.0798287906261,0.99999994725,0.000139712552139,-0.000289085138276,4.90861388579e-05,1793252990879850752
+100,1.666666667,BASELINE,770,749,727,703,671,642,894,792,823,653,634,653.02106056,0.40096832254,0.00450558048084,0.0798291349866,0.999999947401,0.000140170501945,-0.000288368746966,4.89247592306e-05,1793252990896517888
+101,1.683333333,BASELINE,770,749,727,703,671,642,894,792,823,653,634,653.59993139,0.400969349527,0.00450561704126,0.0798295808874,0.999999947538,0.000141924529247,-0.000287002616397,4.90976365861e-05,1793252990913184000
+102,1.700000000,BASELINE,770,749,727,703,671,641.822655391,894,792,823,653,634,654,0.400969828664,0.00450567978433,0.0798296134461,0.999999947572,0.000142686852889,-0.000286496493061,4.91602542333e-05,1793252990929850112
+103,1.716666667,BASELINE,770,749,727,703,671,641.248503643,894,792,823,653,634,654,0.400969081988,0.00450580111088,0.0798287211551,0.99999994738,0.000141230247303,-0.000287914629196,4.89761666439e-05,1793252990946516736
+104,1.733333333,BASELINE,770,749,727,703,671,641,894,792.335513331,823,653,634,654,0.400969191059,0.00450579185921,0.0798287728273,0.999999947471,0.000141058356882,-0.00028768082267,4.89945751217e-05,1793252990963183616
+105,1.750000000,BASELINE,770,749,727,703,671,641,894,792.927058569,823,653,634,654,0.400969953156,0.00450568296265,0.0798295448425,0.999999947777,0.000141866838896,-0.000286186410559,4.91675093449e-05,1793252990979850496
+106,1.766666667,BASELINE,770,749,726.494859298,703,670.494859298,641,894,793,823,653,634,654,0.400970565443,0.00450612141902,0.079829794204,0.999999947868,0.000142155528978,-0.000285745494988,4.90405302318e-05,1793252990996517120
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,749,727,703,671,641,894,793,823,653,634,654,0.400969772556,0.00450694337205,0.0798292838316,0.999999947554,0.000142383836864,-0.000286721874898,4.90849992281e-05,1793252991039760128
+108,1.800000000,POSE1_TO_POSE2_PRESS,770,749,727,703,671,641.586210033,894,793,823,653,634,654,0.400969664139,0.00450674449495,0.0798295267803,0.99999994745,0.000142617746283,-0.000286960315673,4.91364195435e-05,1793252991056426752
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,749,727,703,671.171350106,642,894,793,823,653,634,654,0.400968967628,0.00450632133695,0.0798293071082,0.999999947221,0.000142549714939,-0.000287782227142,4.9178743247e-05,1793252991073093376
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,749,727,703,671.753922507,642,894,793,823,653,634,654,0.400966859751,0.00450535992824,0.0798279771944,0.999999946691,0.000141757057462,-0.000290004407167,4.91992360451e-05,1793252991089760000
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,749,726.667752851,703.332247149,671.667752851,642,894,793,823,653,634,654,0.400967534009,0.00450415954351,0.0798284961697,0.999999947334,0.000139826223079,-0.000288705482608,4.93001212379e-05,1793252991106427136
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,749,726.092534614,703.907465386,671.092534614,642,894,793,823,653,634,654,0.400970242834,0.00450278439659,0.0798303672306,0.999999948819,0.000137063044257,-0.000284831587384,4.94597970842e-05,1793252991123094784
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,749,726,703.517091942,670.517091942,641.517091942,894,793,823,653,634.482908058,654,0.400969877646,0.00450406105884,0.0798300203626,0.9999999482,0.000139401885923,-0.000285904624508,4.92515535755e-05,1793252991139760640
+114,1.900000000,POSE1_TO_POSE2_PRESS,770,749,726,703.059582211,670.059582211,641.059582211,894,793,823,653,634.940417789,654,0.400969122832,0.00450561888026,0.0798293764721,0.99999994732,0.000142160659744,-0.000287657596386,4.90163943445e-05,1793252991156426496
+115,1.916666667,POSE1_TO_POSE2_PRESS,770,749,726,703.646780469,670.646780469,641.646780469,894,793,823,653,634.353219531,654,0.400970136308,0.0045051646489,0.0798298675911,0.9999999478,0.00013997669981,-0.000287033507701,4.91674802755e-05,1793252991173093120
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,749,726.231917596,703.768082404,671,641.768082404,894,792.768082404,823,653,634.231917596,654,0.400976470066,0.00450507442979,0.079832642358,0.999999949419,0.000138492212322,-0.000282075668212,4.91521498086e-05,1793252991189760000
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,749,726.813943141,703.186056859,671,641.186056859,894,792.186056859,823,653,634.813943141,654,0.400990835437,0.0045055337317,0.0798388645707,0.999999952669,0.000138063664148,-0.000270575502364,4.88855934363e-05,1793252991206426624
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,749,727,703,671,641.390193707,894,792,823,653,634.609806293,654,0.401022184927,0.00450512863109,0.0798513236748,0.999999958369,0.000138439006019,-0.000248469297436,4.85862581521e-05,1793252991223092992
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,749,727,703,671,641.963730789,894,792,823,653,634.036269211,654,0.401061514879,0.00450431736695,0.0798667133566,0.999999964643,0.000139192077891,-0.000221379548637,4.82715207322e-05,1793252991239759872
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,749,726.461123907,703,670.461123907,641.461123907,894,792,823,653,634,654,0.401125462621,0.00450571418185,0.0798854232596,0.999999972108,0.000140955442924,-0.00018354650732,4.71788545248e-05,1793252991256427520
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,749,726,703,670.117006508,641.117006508,894,792.117006508,823,653,634,654,0.401192376574,0.00450719391175,0.0799030229239,0.999999977643,0.000141840483521,-0.000149961904067,4.5889659699e-05,1793252991273095168
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,749,726,703,670.706759324,641.706759324,894,792.706759324,823,653,634,654,0.401264560544,0.00450840639265,0.0799152312585,0.999999980072,0.000138901236432,-0.0001364726699,4.40186023081e-05,1793252991289761792
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,749,726,703,670.707815994,641.707815994,894,792.707815994,823,653,634,654,0.401349718815,0.00450924674492,0.0799248287546,0.999999982284,0.000136924941928,-0.000122244986686,4.17200124618e-05,1793252991306428160
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,749,726,703,670.12667173,641.12667173,894,792.12667173,823,653,634,654,0.401447708234,0.00450971907428,0.0799318442175,0.99999998425,0.000135900975657,-0.000107287002743,3.8998607355e-05,1793252991323094528
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,749,726,703,670.448531859,641,894,792.448531859,823,653,634.448531859,654,0.40155900663,0.00451059746498,0.0799351837959,0.999999985123,0.000134092896149,-0.000102431965344,3.57986066905e-05,1793252991339760640
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894,792.977412332,823,653,634.977412332,654,0.401675046177,0.00451166500757,0.0799376743471,0.999999985759,0.000132045305704,-9.9977164569e-05,3.24160311401e-05,1793252991356427008
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894,792.390667869,823,653,634.390667869,654,0.401816852316,0.00451463008765,0.0799445488602,0.999999987435,0.000129474187851,-8.71401545726e-05,2.78051308397e-05,1793252991373093632
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,749,726.193506857,703,670.806493143,641,893.806493143,792,823,653,634,654,0.401967593573,0.00451706570484,0.0799504245012,0.999999988832,0.000126229670505,-7.66682079607e-05,2.29013488828e-05,1793252991389760000
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,749,726.772561503,703,670.227438497,641,893.227438497,792,823,653,634,654,0.402136137362,0.00451844640687,0.079954309964,0.999999989936,0.000121643455894,-7.09084729921e-05,1.74140229144e-05,1793252991406426624
+130,2.166666667,POSE1_TO_POSE2_PRESS,770.351111221,749,727,703,670.351111221,641.351111221,893.702222441,792,823,653,634.351111221,654,0.402324792212,0.00452152537618,0.0799576098969,0.999999990873,0.000117883601209,-6.50683571e-05,1.11494360951e-05,1793252991423093760
+131,2.183333333,POSE1_TO_POSE2_PRESS,770.929334388,749,727,703,670.929334388,641.929334388,894.858668776,792,823,653,634.929334388,654,0.40252645567,0.00452570284881,0.0799605310874,0.999999991666,0.000114658266754,-5.91762472313e-05,4.38208717288e-06,1793252991439760896
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.496795771,749,727,703,670.496795771,642,894.496795771,792,823,653,634.496795771,654,0.402749334572,0.00452769791129,0.0799570958594,0.999999992264,0.000104835516218,-6.68736638173e-05,-3.12458454129e-06,1793252991456427264
+133,2.216666667,POSE1_TO_POSE2_PRESS,770,749,726.921180819,703,670.078819181,641.921180819,894,792,823,653,634,654,0.402979190024,0.00452953757474,0.0799528582076,0.999999992598,9.42673350485e-05,-7.61573919962e-05,-1.08253927321e-05,1793252991473093888
+134,2.233333333,POSE1_TO_POSE2_PRESS,770,749,726.330290294,703,670.669709706,641.330290294,894,792,823,653,634,654,0.403235180795,0.00453234169289,0.0799491569286,0.999999992737,8.48237848138e-05,-8.34549621442e-05,-1.91187302845e-05,1793252991489760256
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894.2558487,792,823,653,634,654,0.403517116444,0.00453514443035,0.0799484441063,0.999999992787,8.01303598565e-05,-8.54830292046e-05,-2.64320890983e-05,1793252991506426880
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641,894.835965468,792,823,653,634,654,0.403831935167,0.00453794541775,0.0799515189175,0.999999992887,8.1457345007e-05,-8.08324158614e-05,-3.25034015789e-05,1793252991523093248
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,749,726.41217292,703,671,641,894.58782708,792,823,653,634,654,0.40417928287,0.00453674550566,0.0799558506776,0.999999991041,0.000109775475161,-7.1915608962e-05,-2.63742404577e-05,1793252991539760128
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,749,726.986839166,703,671,641,894.013160834,792,823,653,634,654,0.404539454653,0.00453396829566,0.0799606779719,0.99999998694,0.000148734481061,-6.13169157891e-05,-1.54352155484e-05,1793252991556426752
+139,2.316666667,POSE1_TO_POSE2_PRESS,770.560202182,749,727,703,671,641,894.560202182,792,823,653,634,654,0.404951663596,0.00451862416264,0.0799628112396,0.999999997038,5.05488830297e-05,-5.43873765086e-05,-2.02859446029e-05,1793252991573094400
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.861075543,749,727,703,671,641,895,792,823.138924457,653,634,654,0.405368762334,0.00451008427032,0.0799628159252,0.999999998199,-1.84483860644e-05,-5.13449298155e-05,-2.50229374426e-05,1793252991589761536
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.264602012,749,727,703,671,641,895,792,823.735397988,653,634,654,0.405797948576,0.00452492431728,0.0799560180692,0.999999997568,1.92732772033e-05,-6.0821424196e-05,-2.81664504802e-05,1793252991606428416
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,749,726.67989373,703,671,641,895.32010627,792,824,653,634.32010627,654,0.406247697358,0.0045376306429,0.0799472008833,0.999999995111,5.77299035193e-05,-7.56157885415e-05,-2.69732673634e-05,1793252991623095040
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,749,726.104565851,703,671,641,895.895434149,792,824,653,634.895434149,654,0.406713840755,0.00454863574822,0.0799367736794,0.999999990589,9.67725219134e-05,-9.46501062139e-05,-2.23224247916e-05,1793252991639761152
+144,2.400000000,POSE1_TO_POSE2_PRESS,770.470008268,749,726.470008268,703.470008268,671,641.470008268,895.529991732,792,824.470008268,653,635,654,0.407215815722,0.00455499817303,0.0799315975471,0.999999989245,9.9258352365e-05,-0.00010489005166,-2.56060261858e-05,1793252991656427264
+145,2.416666667,POSE1_TO_POSE2_PRESS,771,749,727,703.954501679,671,641.954501679,895.045498321,792,825,653,635,654,0.40772859689,0.00456114626914,0.0799272597142,0.999999988512,9.52308964448e-05,-0.000113964757545,-3.03217987067e-05,1793252991673093376
+146,2.433333333,POSE1_TO_POSE2_PRESS,771,749,727,703.366083756,671,641.366083756,895.633916244,792,825,653,635,654,0.408275354294,0.00457704228821,0.0799190070951,0.999999984654,0.000110376032138,-0.000132444496209,-3.1097017424e-05,1793252991689760256
+147,2.450000000,POSE1_TO_POSE2_PRESS,770.779989908,749.220010092,727,703.220010092,671,641.220010092,895.779989908,792,825,653,634.779989908,654,0.408855440806,0.00458887166548,0.0799189169821,0.999999982741,0.000122210565852,-0.000136276265715,-3.18092424492e-05,1793252991706427136
+148,2.466666667,POSE1_TO_POSE2_PRESS,770.197722793,749.802277207,727,703.802277207,671,641.802277207,895.197722793,792,825,653,634.197722793,654,0.40949040524,0.00459400512374,0.0799322668218,0.99999998448,0.000128594035968,-0.000115989460166,-3.24177453488e-05,1793252991723094784
+149,2.483333333,POSE1_TO_POSE2_PRESS,770.376159837,749.623840163,727,703.623840163,671,641.623840163,895.376159837,792,825,653,634.376159837,654,0.410160155619,0.00459870010625,0.0799612079736,0.99999998748,0.000138991577858,-6.76833975675e-05,-3.37543130747e-05,1793252991739761664
+150,2.500000000,POSE1_TO_POSE2_PRESS,770.945731363,749.054268637,727,703.054268637,671,641.054268637,895.945731363,792,825,653,634.945731363,654,0.410847792013,0.00460316963568,0.0799981657756,0.99999998789,0.000151453051307,-4.97055586978e-06,-3.54652328331e-05,1793252991756428288
+151,2.516666667,POSE1_TO_POSE2_PRESS,771,749,727,703,670.474562212,641,895.474562212,792,825,653,634.474562212,654,0.411525475139,0.00459693197305,0.0799904235016,0.999999990663,0.000129889318272,-2.21185334941e-05,-3.6243635938e-05,1793252991773094656
+152,2.533333333,POSE1_TO_POSE2_PRESS,771,749,727,703.107585693,670.107585693,641,895.107585693,792,825.107585693,653,634.107585693,654,0.412205204819,0.00458908320718,0.0799733548685,0.999999991971,0.000109174389434,-5.23732245776e-05,-3.7365020689e-05,1793252991789760512
+153,2.550000000,POSE1_TO_POSE2_PRESS,771,749,727,703.695873162,670.695873162,641,895.695873162,792,825.695873162,653,634.695873162,654,0.412898761996,0.00457907419066,0.0799356490013,0.999999987954,0.00010826262184,-0.000103611126926,-4.0457673197e-05,1793252991806426880
+154,2.566666667,POSE1_TO_POSE2_PRESS,770.719793504,749.280206496,727,703.719793504,671,641.280206496,896,792,826,653,635,654,0.413633943194,0.00457919042173,0.0799173131346,0.999999985362,0.000109995102707,-0.000123732810369,-4.32112521597e-05,1793252991823093760
+155,2.583333333,POSE1_TO_POSE2_PRESS,770.139692066,749.860307934,727,703.139692066,671,641.860307934,896,792,826,653,635,654,0.414413673172,0.00459014334011,0.0799197082787,0.999999986288,0.000114557627758,-0.00011055192972,-4.56019333598e-05,1793252991839760640
+156,2.600000000,POSE1_TO_POSE2_PRESS,770,749.564684111,726.564684111,703,670.564684111,641.564684111,896.435315889,791.564684111,826,652.564684111,635,654,0.415211651758,0.00459852082605,0.0799390557293,0.999999987887,0.000126965006904,-7.7425825068e-05,-4.59395933335e-05,1793252991856427520
+157,2.616666667,POSE1_TO_POSE2_PRESS,770,749,726,703,670.008737689,641,897,791.008737689,826.008737689,652.008737689,634.991262311,654,0.416015234427,0.00460605067912,0.0799631817005,0.999999988161,0.000141648900112,-3.91117808503e-05,-4.56399692731e-05,1793252991873094656
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,749,726,703,670.584070136,641,897,791.584070136,826.584070136,652.584070136,634.415929864,654,0.416806880103,0.00461158725913,0.0799484962415,0.999999985979,0.000142600616965,-7.46185694437e-05,-4.62421679394e-05,1793252991889761280
+159,2.650000000,POSE1_TO_POSE2_PRESS,770,749,726.164275116,703,671,641.164275116,897.164275116,792,827,653,634.164275116,654,0.417634140973,0.004614839919,0.0799451516113,0.9999999855,0.000140779250779,-8.32614246639e-05,-4.74305232558e-05,1793252991906427648
+160,2.666666667,POSE1_TO_POSE2_PRESS,770,749,726.757193986,703,671,641.757193986,897.757193986,792,827,653,634.757193986,654,0.418554332675,0.0046121331361,0.0799713986542,0.999999989829,0.00013172206734,-2.18081032741e-05,-5.01483395677e-05,1793252991923094016
+161,2.683333333,POSE1_TO_POSE2_PRESS,770,749,726.6595817,703,671,642,898.3404183,792,827,653,635,654,0.419453389697,0.00460736061566,0.0799847748325,0.999999990552,0.000127305426097,8.66703624431e-06,-5.11294228608e-05,1793252991939760384
+162,2.700000000,POSE1_TO_POSE2_PRESS,770,749,726.083080659,703,671,642,898.916919341,792,827,653,635,654,0.420337789617,0.00460115549027,0.0799892249649,0.999999990597,0.000126107037594,1.76585629884e-05,-5.09060682696e-05,1793252991956427008
+163,2.716666667,POSE1_TO_POSE2_PRESS,770.492030818,749.492030818,726.492030818,703,670.507969182,642,899.492030818,792,827,653,635,654,0.421217878744,0.00460484551011,0.0799785795613,0.99999999059,0.000126947020964,-1.70174505647e-06,-5.19752587487e-05,1793252991973093888
+164,2.733333333,POSE1_TO_POSE2_PRESS,771,749.931337345,726.931337345,703,670.068662655,642,900,792,827,653,635,654,0.422106546842,0.00461022761672,0.0799698848402,0.999999990101,0.000129012233933,-1.85147148756e-05,-5.30231513238e-05,1793252991989760256
+165,2.750000000,POSE1_TO_POSE2_PRESS,771,749.3413869,726.3413869,703,670.6586131,642,900,792,827,653,635,654,0.423065856713,0.00461580689721,0.0799952966699,0.999999988939,0.00013777371314,2.02544894436e-05,-5.22570623483e-05,1793252992006426880
+166,2.766666667,POSE1_TO_POSE2_PRESS,770.755904776,749,726,703,671,642,900,792,827,653,635,654,0.423995301104,0.00462064381545,0.0800015433792,0.999999987766,0.000146322792718,2.05490805223e-05,-5.1330897717e-05,1793252992023093504
+167,2.783333333,POSE1_TO_POSE2_PRESS,770.176559537,749,726,703,671,642,900,792,827,653,635,654,0.424883727204,0.00462446114488,0.0799814679593,0.999999986281,0.000154580155457,-3.1998875536e-05,-5.01848787375e-05,1793252992039760384
+168,2.800000000,POSE1_TO_POSE2_PRESS,770.400601162,749.400601162,726,703,671.400601162,642,900,792,827,653,635,654,0.425795962986,0.00462492937213,0.0799454550411,0.999999983762,0.000150564673797,-8.44391595876e-05,-5.172790398e-05,1793252992056427008
+169,2.816666667,POSE1_TO_POSE2_PRESS,770.976804241,749.976804241,726,703,671.976804241,642,900,792,827,653,635,654,0.426718635592,0.0046239295336,0.0799024559855,0.999999979192,0.000141169439143,-0.000136832242738,-5.44496609885e-05,1793252992073093376
+170,2.833333333,POSE1_TO_POSE2_PRESS,770.448404387,749.448404387,726,703,671.448404387,642,900,792,827.551595613,652.448404387,635,654,0.427668251306,0.00461939644273,0.0799046144617,0.999999980552,0.000138625077998,-0.000129003567117,-5.51051857193e-05,1793252992089760000
+171,2.850000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.870249259,900,792,828,652.129750741,635,654,0.428627264607,0.00461616345963,0.0799139191212,0.999999982688,0.000136086991262,-0.000114182094687,-5.53849621696e-05,1793252992106426624
+172,2.866666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.279944219,900,792,828,652.720055781,635,654,0.429615623486,0.00461807129531,0.0799418661367,0.999999986236,0.000132551188765,-8.35055427101e-05,-5.46386377359e-05,1793252992123093248
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,749,725.695181999,703,671,641.304818001,900.304818001,791.695181999,827.695181999,652.695181999,635,654,0.430617806605,0.0046215200747,0.0799810479821,0.999999988978,0.000135447455751,-2.76172852574e-05,-5.41704215078e-05,1793252992139760128
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,749,725.115419412,703,671,641.884580588,900.884580588,791.115419412,827.115419412,652.115419412,635,654,0.43163245908,0.00462635877888,0.0800303635962,0.999999986854,0.000144145422659,5.10118255984e-05,-5.39530575564e-05,1793252992156427008
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,749,725,703,671,642,900.541346512,791.458653488,827,652.458653488,635,654.458653488,0.432548864096,0.00462738397356,0.0800155633952,0.999999988057,0.000143413386943,2.22571032855e-05,-5.31372841379e-05,1793252992173093632
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,749,725,702.967783523,671.032216477,642,900.032216477,791.967783523,827.032216477,653,635,654.967783523,0.433440308149,0.00462769851881,0.0799832264921,0.999999988121,0.000140817970634,-3.4320473758e-05,-5.24429289729e-05,1793252992189760256
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,749,725,702.378586328,671.621413672,642,900.621413672,791.378586328,827.621413672,653,635,654.378586328,0.43432241351,0.00463211489491,0.0799232318518,0.999999981573,0.000146531282385,-0.000110451552934,-5.64193210623e-05,1793252992206426880
+178,2.966666667,POSE1_TO_POSE2_PRESS,770,749,725,702.207953145,672,642,901,791.207953145,827.792046855,653,635,654,0.435240195361,0.00463297647453,0.0798962377944,0.999999977433,0.00014532527552,-0.00014341211385,-5.8722487229e-05,1793252992223093504
+179,2.983333333,POSE1_TO_POSE2_PRESS,770,749,725,702.789715292,672,642,901,791.789715292,827.210284708,653,635,654,0.436222108119,0.00462744808208,0.0799285643735,0.999999984769,0.000131681355366,-9.87709359974e-05,-5.8017924448e-05,1793252992239760128
+180,3.000000000,POSE1_TO_POSE2_PRESS,770.367763323,749,725,703,672,641.632236677,901,791.632236677,827,653,635,654,0.437188580507,0.0046227406003,0.0799695035563,0.999999989613,0.000126400926437,-3.99152750574e-05,-5.65967614784e-05,1793252992256426496
+181,3.016666667,POSE1_TO_POSE2_PRESS,770.943708845,749,725,703,672,641.056291155,901,791.056291155,827,653,635,654,0.438146312403,0.00461849781714,0.0800153181302,0.999999990216,0.000125854874336,2.6986869032e-05,-5.47699478195e-05,1793252992273093120
+182,3.033333333,POSE1_TO_POSE2_PRESS,771,749,725,703,672,641.516189989,901.516189989,791,827.516189989,653,635,654,0.439059920777,0.00461932464102,0.0800346999518,0.999999989645,0.00011914880876,5.7473681438e-05,-5.66674399494e-05,1793252992289759744
+183,3.050000000,POSE1_TO_POSE2_PRESS,770.908285146,749,725,702.908285146,672,641.908285146,902,791,828,653,635,654,0.439947447485,0.00462118822452,0.0800376006713,0.999999989741,0.000114726970819,6.26697702436e-05,-5.85583816862e-05,1793252992306426624
+184,3.066666667,POSE1_TO_POSE2_PRESS,770.31402618,749,725,702.31402618,672,641.31402618,902,791,828,653,635,654,0.440718251477,0.00462572356386,0.079965883788,0.999999989103,0.000126477672141,-4.90981545186e-05,-5.82028548713e-05,1793252992323093504
+185,3.083333333,POSE1_TO_POSE2_PRESS,770,749,725,702,672,641,902,791,828,652.728187961,635,654,0.441499083133,0.00463075107492,0.0798947046468,0.999999977661,0.000130699180887,-0.00015494474009,-5.98928612123e-05,1793252992339760384
+186,3.100000000,POSE1_TO_POSE2_PRESS,770,749,725,702,672,641,902,791,828,652.151785991,635,654,0.442291151642,0.00463633010851,0.079824128099,0.999999957663,0.000126483549171,-0.000254155922722,-6.38750723727e-05,1793252992356427008
+187,3.116666667,POSE1_TO_POSE2_PRESS,770.424607398,749,725,702,672.424607398,641.424607398,902.424607398,791,828,652.424607398,635,654,0.443151983291,0.00463756882372,0.0798562796799,0.999999970457,0.000123199857077,-0.000199417784575,-6.43422630696e-05,1793252992373093632
+188,3.133333333,POSE1_TO_POSE2_PRESS,770.998981499,749,725,702,673,642,902.998981499,791,828,653,635,654,0.444037265452,0.00463725314807,0.0799251341304,0.999999986726,0.000120264510346,-8.96936607742e-05,-6.35497135646e-05,1793252992389760000
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+190,3.166666667,POSE1_TO_POSE2_PRESS,769.8248995,749,725,702,673,642,902,791,828.1751005,653,635,654,0.445647093806,0.0046307051455,0.08002734902,0.999999988848,0.000124640071109,5.69553266848e-05,-5.93755847501e-05,1793252992423092992
+191,3.183333333,POSE1_TO_POSE2_PRESS,769.245319512,749,725,702,673,642,902,791,828.754680488,653,635,654,0.446421924223,0.00462011457294,0.0800403015308,0.99999998978,0.000106327070921,7.39901931568e-05,-6.05059566386e-05,1793252992439759616
+192,3.200000000,POSE1_TO_POSE2_PRESS,769.332194184,749,725,702.332194184,673,641.667805816,902,791.332194184,828.667805816,653,635,654,0.447160652133,0.00461403894039,0.0800317447491,0.999999990918,9.79259899803e-05,6.90705738792e-05,-6.16697096644e-05,1793252992456426496
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+196,3.266666667,POSE1_TO_POSE2_PRESS,770.349687605,749.349687605,725,702.650312395,673,641,903,791,829,653,635,654,0.449644689098,0.00462432493817,0.0798779530254,0.999999980971,0.000105866789301,-0.00015066263367,-6.44326707283e-05,1793252992523093248
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,749,725,702.527407212,673,641,902.763703606,791,828.763703606,653,635,654,0.450242642685,0.00462882778423,0.0798736111084,0.999999979692,0.000112234392802,-0.000154472254885,-6.44755611858e-05,1793252992539760128
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,749,725,701.370295608,673,641,902.185147804,791,828.185147804,653,635,654,0.450868877097,0.00463310321005,0.0799041151273,0.999999984321,0.000123455097629,-0.000109656621046,-6.3975975762e-05,1793252992556426752
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+202,3.366666667,POSE1_TO_POSE2_PRESS,770,749,724.137688393,702,671,640.862311607,903,791,828.137688393,652,634.137688393,654,0.452897517153,0.00464618268434,0.079882028885,0.999999977312,0.000115839923558,-0.000166544361042,-6.49605481321e-05,1793252992623093504
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+204,3.400000000,POSE1_TO_POSE2_PRESS,770,749,724.704412948,702,671,640,903,791,828.704412948,652.295587052,635,654,0.4537143061,0.00465701028587,0.0798121279711,0.999999951681,0.000141688384415,-0.000268645327645,-6.626834134e-05,1793252992656426496
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+206,3.433333333,POSE1_TO_POSE2_PRESS,770,749,724.448375413,701.551624587,670.551624587,640,903,791,828.448375413,653,635,654,0.454498551938,0.00466420377656,0.0797903533076,0.999999939278,0.00015935167193,-0.000302804020665,-6.60359611078e-05,1793252992689760000
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,749,725,701.023975571,670,640,903,791,829,653,635,654,0.454875217128,0.00466509169218,0.0797872347596,0.999999935908,0.000169630421325,-0.000308766199533,-6.38138216491e-05,1793252992706426880
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,749,725,701.612611896,670,640,903,791,829,653,635,654,0.455200605504,0.00466774890167,0.0797898526033,0.999999936643,0.000176491277914,-0.000302701929565,-6.2736895718e-05,1793252992723093504
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+229,3.816666667,POSE1_TO_POSE2_PRESS,770.800598776,749,725,702,667.199401224,639,904,790.800598776,829,652.800598776,635,654,0.457964497673,0.00463514046529,0.0797398896534,0.99999990657,0.000136797746234,-0.000406357145563,-5.49501908127e-05,1793252993073093376
+230,3.833333333,POSE1_TO_POSE2_PRESS,770.624728931,749,724.624728931,702,667,639,904,791,829,652.624728931,635,654,0.457975931519,0.00463546626131,0.0797382609916,0.999999905436,0.000137394591907,-0.000408939444036,-5.49537726842e-05,1793252993089760000
+231,3.850000000,POSE1_TO_POSE2_PRESS,770.051783674,749,724.051783674,702,667,639,904,791,829,652.051783674,635,654,0.457984504572,0.00463697776142,0.0797353222555,0.99999990363,0.000138910418312,-0.000412734271997,-5.56296072789e-05,1793252993106426624
+232,3.866666667,POSE1_TO_POSE2_PRESS,770,749,724.528803567,702,667,638.471196433,904,791,829,652,635,654,0.457990393172,0.00463720817143,0.0797349777459,0.999999903713,0.000138130323694,-0.000412850368494,-5.52095562681e-05,1793252993123093248
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,749,724.888443312,702,667,638.111556688,904,791,829,652.111556688,635,654,0.457995015322,0.00463732913862,0.0797347730532,0.999999903803,0.000136962496457,-0.000413083143655,-5.47518188908e-05,1793252993139759872
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,749,724.299673431,702,667,638.700326569,904,791,829,652.700326569,635,654,0.457995360919,0.00463752645915,0.0797340637954,0.999999903112,0.000135111915928,-0.000415378677666,-5.45986715281e-05,1793252993156426496
+235,3.916666667,POSE1_TO_POSE2_PRESS,770.283493967,749,724.283493967,702,667,639,904,791,829,653,635,654,0.457997084447,0.00463750623991,0.079733636521,0.999999902757,0.000135011101575,-0.000416303040745,-5.43187346668e-05,1793252993173093120
+236,3.933333333,POSE1_TO_POSE2_PRESS,770.860853977,749,724.860853977,702,667,639,904,791,829,653,635,654,0.458000236317,0.0046372605219,0.0797335015467,0.999999902753,0.000136724071141,-0.00041580606671,-5.39073694933e-05,1793252993189760000
+237,3.950000000,POSE1_TO_POSE2_PRESS,770.564394573,749,724.564394573,702,667.435605427,639,904,791,828.564394573,653,635,654,0.458001826259,0.00463765464508,0.079732975739,0.999999902635,0.000138102434647,-0.000415677092361,-5.35682712713e-05,1793252993206426624
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,749,724,702,668,639,904,790.990193737,828.009806263,653,635,654,0.458002912224,0.00463825810192,0.0797323554242,0.999999902488,0.000139349066914,-0.000415653442795,-5.32648974013e-05,1793252993223093248
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,749,724,702,668,639,904,790.399543255,828.600456745,653,635,654,0.45800352337,0.00463922672493,0.0797334880241,0.999999902794,0.000139086246646,-0.000414947079563,-5.37183551373e-05,1793252993239759872
+240,4.000000000,POSE1_TO_POSE2_PRESS,770.186384695,749,724.186384695,702,667.813615305,639,904,790.186384695,829,653,635,654,0.458004373045,0.00463972288934,0.079734406122,0.999999903154,0.000138371773602,-0.000414271049247,-5.40874681985e-05,1793252993256426752
+241,4.016666667,POSE1_TO_POSE2_PRESS,770.762439324,749,724.762439324,702,667.237560676,639,904,790.762439324,829,653,635,654,0.458005721408,0.00463923129605,0.0797348757657,0.999999903625,0.000136713041134,-0.000413658435261,-5.42802438786e-05,1793252993273093632
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.660886681,749,724.660886681,702,667,639,904,790.660886681,829,653,635,654,0.458005156,0.00463935899228,0.0797338160303,0.99999990314,0.000137211930567,-0.000414693940804,-5.40447556369e-05,1793252993289760512
+243,4.050000000,POSE1_TO_POSE2_PRESS,770.08377803,749,724.08377803,702,667,639,904,790.08377803,829,653,635,654,0.458003247476,0.00463992131615,0.0797316829515,0.99999990198,0.000139225074782,-0.000416886123896,-5.35087046877e-05,1793252993306427136
+244,4.066666667,POSE1_TO_POSE2_PRESS,770,749,724,702,667,639,904,790.490689272,828.509310728,653,635,654,0.458003507887,0.00464011471662,0.0797315734374,0.999999902011,0.00013896142125,-0.00041690688065,-5.34465800286e-05,1793252993323093760
+245,4.083333333,POSE1_TO_POSE2_PRESS,770,749,724.066918126,702,667,639,904,790.933081874,828.066918126,653,635,654,0.458004091199,0.00464008941493,0.0797317184663,0.99999990219,0.000138210817343,-0.000416727418537,-5.34502416931e-05,1793252993339760128
+246,4.100000000,POSE1_TO_POSE2_PRESS,770,749,724.660542211,702,667,639,904,790.339457789,828.660542211,653,635,654,0.458004316937,0.00463883585022,0.0797311621871,0.999999901929,0.000136670749015,-0.000417874482914,-5.33382291307e-05,1793252993356426752
+247,4.116666667,POSE1_TO_POSE2_PRESS,770.24793278,748.75206722,725,702,667,639,904,790.24793278,829,653,635,654,0.458004215438,0.00463813796759,0.0797304981998,0.999999901726,0.000135403225805,-0.000418773637978,-5.33068214055e-05,1793252993373093632
+248,4.133333333,POSE1_TO_POSE2_PRESS,770.82699811,748.17300189,725,702,667,639,904,790.82699811,829,653,635,654,0.458003676888,0.00463818223927,0.0797296903602,0.999999901606,0.00013449970653,-0.000419341691994,-5.33830673814e-05,1793252993389760256
+249,4.150000000,HOLD_POSE2,770,749,725,702,667,639,904,790,828,653,635,654,0.458005559066,0.00463707609535,0.0797305101488,0.999999902222,0.000133486995646,-0.000418213858454,-5.32349795185e-05,1793252993423771392
+250,4.166666667,HOLD_POSE2,770,749,725,702,667,639,904,790.587946251,828,653,635,654.587946251,0.458006467617,0.00463812064555,0.0797306941361,0.999999902021,0.000136786695232,-0.000417688586055,-5.27563963033e-05,1793252993440438016
+251,4.183333333,HOLD_POSE2,770,748.826721203,725,702,667,639,904,790.826721203,828.173278797,653,635,654.826721203,0.458006819294,0.00463904252525,0.0797309232807,0.999999901881,0.000138702926854,-0.00041740789941,-5.26397986222e-05,1793252993457104896
+252,4.200000000,HOLD_POSE2,770,748.247511524,725,702,667,639,904,790.247511524,828.752488476,653,635,654.247511524,0.458005866413,0.00463967703163,0.0797312582129,0.999999901903,0.000137378183432,-0.000417700190513,-5.33712048138e-05,1793252993473771520
+253,4.216666667,HOLD_POSE2,770,748,725,702,667,639,904,790.330135889,829,653,635,654,0.458005210037,0.00463966891652,0.0797308419187,0.999999901662,0.000136995371402,-0.0004183793937,-5.35468533621e-05,1793252993490438144
+254,4.233333333,HOLD_POSE2,770,748,725,702,667,639,904,790.906617514,829,653,635,654,0.458004774913,0.00463918128045,0.079729865063,0.999999901225,0.000137315423903,-0.000419347308714,-5.33077983177e-05,1793252993507104768
+255,4.250000000,HOLD_POSE2,770,748.48064964,725,702,667,639,904,790.51935036,828.51935036,653,635,654.48064964,0.45800537618,0.00463766032755,0.0797298339689,0.999999901195,0.000135896534758,-0.000419971616477,-5.25913648298e-05,1793252993523771392
+256,4.266666667,HOLD_POSE2,770,749,724.944099124,702,667,639,904,790.055900876,828.055900876,653,635,654.944099124,0.458006127727,0.00463641999506,0.0797299273898,0.999999901244,0.00013450523685,-0.000420385381126,-5.19271163867e-05,1793252993540438272
+257,4.283333333,HOLD_POSE2,770,749,724.352631721,702,667,639,904,790.647368279,828.647368279,653,635,654.352631721,0.458006399732,0.00463978181527,0.0797294622649,0.999999901329,0.000136598674617,-0.000419418342415,-5.26469046424e-05,1793252993557104896
+258,4.300000000,HOLD_POSE2,770,749,724,702,667,639,904,791,829,653,635,654,0.458006740729,0.00464093512686,0.0797296456507,0.99999990158,0.000137085651799,-0.000418621343308,-5.29543576161e-05,1793252993573771264
+259,4.316666667,HOLD_POSE2,770,749,724,702,667,639,904,791,829,653,635,654,0.458007183592,0.00463882766038,0.0797307865375,0.999999902081,0.00013520075174,-0.000418075401196,-5.26530133954e-05,1793252993590437888
+260,4.333333333,HOLD_POSE2,770,748.611279193,724,702,667,639,904,791,829,653,635,654,0.458006716192,0.00463918356278,0.0797304070136,0.99999990146,0.000136172813024,-0.000419242417537,-5.26482533404e-05,1793252993607104768
+261,4.350000000,HOLD_POSE2,770,748.03743109,724,702,667,639,904,791,829,653,635,654,0.458005815281,0.00464071263818,0.0797293033979,0.9999999003,0.000138505494723,-0.000421225225937,-5.27847407138e-05,1793252993623771392
+262,4.366666667,HOLD_POSE2,770,748.549901871,724.549901871,702,667,639,904,790.450098129,829,653,635,654,0.458006220808,0.00463948068088,0.0797295556412,0.999999900915,0.000136757730722,-0.00042033106096,-5.28127812062e-05,1793252993640438016
+263,4.383333333,HOLD_POSE2,770,749,724.863928307,702,666.863928307,639,904,790.136071693,829,653,635,654,0.458006217566,0.00463866297342,0.0797295488114,0.999999901117,0.000135836256174,-0.000420147106592,-5.28229924202e-05,1793252993657104640
+264,4.400000000,HOLD_POSE2,770,749,724.284612327,702,666.284612327,639,904,790.715387673,829,653,635,654,0.458004585832,0.00463982224744,0.0797283898783,0.999999899575,0.000138533860606,-0.000422930559574,-5.27997762858e-05,1793252993673771264
+265,4.416666667,POSE2_TO_POSE3_RETREAT,771,749,724,702,667,639,904,791,828,653,635,654,0.458006472296,0.00464108898243,0.0797286480644,0.999999900585,0.000137272051008,-0.000420970654003,-5.26319215119e-05,1793252993710803456
+266,4.433333333,POSE2_TO_POSE3_RETREAT,770.423676521,749,724,701.423676521,667,639,904,790.423676521,828.576323479,653,635,654,0.458007278561,0.00463965490554,0.079729368303,0.999999901228,0.000136558768352,-0.000419711898269,-5.23184228205e-05,1793252993727470080
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.155505852,666.844494148,638.844494148,903.844494148,790,829,653,635,654,0.458007616494,0.00463830643689,0.0797298739022,0.9999999016,0.000135626011879,-0.000419158373345,-5.20658738016e-05,1793252993744136960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,749,724,701.742623307,666.257376693,638.257376693,903.257376693,790,829,653,635,654,0.458006654555,0.00463719557643,0.0797297837632,0.999999901223,0.000134084098447,-0.000420562239431,-5.19824925318e-05,1793252993760803584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.325283131,748.674716869,724,702,666.325283131,638.325283131,903.325283131,790,829,652.674716869,635,654,0.458006658254,0.00463736754346,0.0797295941159,0.999999901086,0.000133738383228,-0.000420963601038,-5.22681827688e-05,1793252993777470208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.904463549,748.095536451,724,702,666.904463549,638.904463549,903.904463549,790,829,652.095536451,635,654,0.458007415675,0.00463854081185,0.0797293267983,0.999999901137,0.000134326351572,-0.00042058246527,-5.28419489849e-05,1793252993794136832
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.518765723,748.481234277,724,702,667,639,904,790.481234277,829,652.481234277,635,654,0.458008405686,0.0046395431283,0.0797302244753,0.999999901728,0.000135094964871,-0.00041892321135,-5.28813846763e-05,1793252993810804480
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,666.943902355,638.943902355,904,790.943902355,829,653,634.943902355,654,0.458009044495,0.00464040473386,0.0797310751089,0.999999902224,0.000136016268572,-0.00041744699278,-5.28190409862e-05,1793252993827471872
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,666.381946216,638.381946216,904,790.381946216,829,653,634.381946216,654,0.458006102041,0.00464030199425,0.0797294263702,0.999999900928,0.00013799267657,-0.000419897951826,-5.27906879182e-05,1793252993844138240
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,666,638.193621742,904,790,828.806378258,653,634.193621742,654,0.458001368401,0.00463997508752,0.0797268236077,0.999999899263,0.000138500823703,-0.000423692377994,-5.26862139619e-05,1793252993860804608
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,666,638.798071272,904,790,828.201928728,653,634.798071272,654,0.457992834213,0.00463917254166,0.0797221965917,0.999999896797,0.000135893605773,-0.00043033738053,-5.24202262463e-05,1793252993877471232
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,749,724.385794334,702,666.385794334,639,904,790,828.385794334,652.614205666,635,654,0.457965490021,0.00464048123881,0.07970881296,0.999999887329,0.000136703365777,-0.000451546110687,-5.25430969998e-05,1793252993894137856
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,749,724.965126444,702,666.965126444,639,904,790,828.965126444,652.034873556,635,654,0.457928709593,0.00464284906309,0.0796910364797,0.999999873682,0.000139227288283,-0.000480060887894,-5.2861042625e-05,1793252993910804480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770.541057269,749,725,702,667,639,904,790,829,652.541057269,635,654.541057269,0.457874217952,0.00464184791282,0.0796720489212,0.999999857122,0.00014017214094,-0.000513230179405,-5.19784965958e-05,1793252993927470848
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770.88101245,749,724.88101245,702,667,639,904,790,828.88101245,653,635,654.88101245,0.457815712605,0.00464055256751,0.079653448466,0.999999840967,0.000140428073043,-0.000543816546109,-5.10742586921e-05,1793252993944137216
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770.29436727,749,724.29436727,702,667,639,904,790,828.29436727,653,635,654.29436727,0.45774589082,0.00463894906165,0.0796366743203,0.999999830628,0.000138373856695,-0.000563079493632,-5.03869806792e-05,1793252993960803840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,667,639,904,790.288605456,828.288605456,653,635,654,0.457669942215,0.00463861712293,0.0796264834838,0.999999822595,0.000139057584333,-0.000577124643985,-4.89815692292e-05,1793252993977470464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,667,639,904,790.867879439,828.867879439,653,635,654,0.457587822995,0.00463956584116,0.0796229230179,0.999999817101,0.000142498828082,-0.00058591469713,-4.68528908752e-05,1793252993994137088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,667,639,904,790.553523636,829,653,634.553523636,654,0.457490238261,0.00463830362658,0.0796227414351,0.999999816178,0.000145107187923,-0.000587051815928,-4.42412645958e-05,1793252994010803712
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,667,639,904,790.024656529,828.975343471,652.975343471,634.024656529,654.024656529,0.457387003706,0.00463645329102,0.0796236445413,0.99999981666,0.00014743606092,-0.000585852940302,-4.14684378012e-05,1793252994027470336
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,667,639,904,790.598014285,828.401985715,652.401985715,634.598014285,654.598014285,0.457259730107,0.00463605265636,0.0796264688023,0.999999818225,0.000149021783258,-0.000582989936029,-3.828383168e-05,1793252994044136960
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,667,639,903.823675202,790.823675202,828,652,635,654.823675202,0.45712531583,0.0046354251888,0.0796296146094,0.999999819939,0.000151617649857,-0.000579593293176,-3.47358343322e-05,1793252994060803584
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,667,639,903.233747143,790.233747143,828,652,635,654.233747143,0.456974151752,0.00463426564173,0.0796335146635,0.999999822,0.000156583001222,-0.000574944900209,-3.0335434375e-05,1793252994077470208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,769.650322091,749,724,702,667.349677909,639,903,790,828.349677909,652.349677909,635,654,0.456800889071,0.00463297117106,0.0796352034418,0.999999822399,0.000159828225858,-0.000573566149452,-2.60396363812e-05,1793252994094136832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,769.071164642,749,724,702,667.928835358,639,903,790,828.928835358,652.928835358,635,654,0.456613123951,0.00463158815534,0.0796354410491,0.99999982172,0.000161944601041,-0.000574333132843,-2.18124840097e-05,1793252994110803456
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770.011913022,749,724,702,668,638.494043489,903,790,828.494043489,653,635,654,0.456387719711,0.00462942320912,0.0796285985498,0.999999816217,0.000165141833093,-0.000583116676987,-1.63937358081e-05,1793252994127470336
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770.917417737,749,724,702,668,638.082582263,903,790,828,652.917417737,635,654,0.456153367147,0.00462709929404,0.0796225269567,0.999999811301,0.000168922776109,-0.000590551324104,-1.06127912994e-05,1793252994144136704
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770.342045686,749,724,702,668,638.657954314,903,790,828,652.342045686,635,654,0.455897082035,0.00462448042637,0.0796269741905,0.999999814549,0.000175283330341,-0.000583235292801,-3.66664270069e-06,1793252994160803328
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770,749,724,701.761301595,668,639,903,790,828,652,634.761301595,654,0.455636556095,0.00462248091178,0.0796354626666,0.999999822045,0.000182495223391,-0.000567973562664,3.30579523455e-06,1793252994177469952
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770,749,724,701.172682379,668,639,903,790,828,652,634.172682379,654,0.455369813312,0.00462138934027,0.0796498754166,0.99999983534,0.000190955139278,-0.000541063806034,1.03167717022e-05,1793252994194136832
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,748.590588642,724.409411358,701,668,638.590588642,903,790.409411358,828,652.409411358,634.409411358,654,0.455062732831,0.00461928741622,0.0796601301701,0.999999843893,0.000196629457297,-0.00052274765128,1.69197077103e-05,1793252994210803712
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,748.011204069,724.988795931,701,668,638.011204069,903,790.988795931,828,652.988795931,634.988795931,654,0.454738905561,0.00461676602932,0.0796686586692,0.999999850466,0.000201147292719,-0.000507999258819,2.33532394773e-05,1793252994227470336
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,748.563405843,724.436594157,701,668.563405843,638.563405843,903,791,828,652.436594157,634.436594157,654,0.454360411239,0.00461374855195,0.079668827926,0.999999853066,0.000199768880356,-0.000503133756516,2.85775860182e-05,1793252994244136704
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,749,724.141006686,701,669,639,903,791.141006686,828,652.141006686,634.141006686,654,0.453968687878,0.00461057801354,0.0796673549467,0.999999856237,0.000187002228971,-0.00050169341337,2.93187362929e-05,1793252994260803328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,749,724.728373325,701,669,639,903,791.728373325,828,652.728373325,634.728373325,654,0.453538500163,0.00460695392417,0.0796612052281,0.99999985998,0.000138553894719,-0.000510478585634,1.59437024949e-05,1793252994277469952
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,749,724.698201605,701,669.301798395,639,902.698201605,791.698201605,828,653,635,654,0.453090996937,0.00460208896959,0.0796644793001,0.999999865607,0.000115993136862,-0.000505106768274,1.41112951407e-05,1793252994294136832
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,749,724.13677021,701,669.86322979,639,902.13677021,791.13677021,828,653,635,654,0.452628597366,0.00459615651536,0.0796758605288,0.999999874204,0.000115703099011,-0.000487555889499,2.22088487823e-05,1793252994310803456
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770,748.547629589,724,701.452370411,670.452370411,639,902,790.547629589,828,653,634.547629589,654,0.452146059348,0.00459345901272,0.0796908224593,0.999999884809,0.000110094538334,-0.000466441738768,2.63145240285e-05,1793252994327470080
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770,748.048275154,724.048275154,702,671,639,901.951724846,790.048275154,828,653,634,654,0.45165443751,0.00459141349406,0.0797072405281,0.999999896189,0.000103439211386,-0.000442810988314,2.90008534348e-05,1793252994344136704
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,748.620725151,724.620725151,702,671,639,901.379274849,790.620725151,828,653,634,654,0.451134607718,0.00458513448259,0.0797269475736,0.999999912398,0.000104017145121,-0.000404315744813,3.02356188682e-05,1793252994360803584
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.199072333,639,901,791,827.800927667,653,634.199072333,654,0.450602737457,0.00457908598713,0.0797507700745,0.999999927767,0.000117920655696,-0.000360001755312,3.09797099181e-05,1793252994377470464
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.788997851,639,901,791,827.211002149,653,634.788997851,654,0.450047227302,0.0045734900809,0.0797826727473,0.999999940759,0.000157987240097,-0.000304263400778,3.07604241749e-05,1793252994394137088
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,749,725,701.626540089,672,639.373459911,900.626540089,791,827.373459911,652.626540089,635,654,0.449431688856,0.00456924281246,0.0797939349898,0.999999944894,0.000157247628427,-0.000290587847705,3.23191070522e-05,1793252994410803712
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770,749,725,701.045120356,672,639.954879644,900.045120356,791,827.954879644,652.045120356,635,654,0.448782723887,0.00456574652838,0.0797937036812,0.999999945342,0.0001337852306,-0.000300334818128,3.48678454722e-05,1793252994427470336
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770,749,725,701.526563395,671.473436605,639.473436605,900,791,827.473436605,652.526563395,635,654,0.448073695413,0.00456833301237,0.079754116311,0.999999925814,0.000124696437045,-0.000362804727533,3.45641523162e-05,1793252994444136960
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770.098524334,749,725,702,671.098524334,639.098524334,899.901475666,791,827,653,635,654,0.447361038866,0.00457386296846,0.079719118324,0.999999905043,0.000121530523938,-0.000417175739439,3.33058899548e-05,1793252994460803584
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770.675812411,749,725,702,671.675812411,639.675812411,899.324187589,791,827,653,635,654,0.446655308264,0.00459120945106,0.0797225116946,0.999999905302,0.000141269572366,-0.000410636668858,2.85752073855e-05,1793252994477470208
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770.739324231,749,725,702,672,640,898.739324231,791.260675769,827,653,635,654,0.445943926191,0.00459649887348,0.0797479090953,0.999999918358,0.000154466785272,-0.000372373807151,2.75870271735e-05,1793252994494136832
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770.144757878,749,725,702,672,640,898.144757878,791.855242122,827,653,635,654,0.445225305246,0.00458634482649,0.0798014906983,0.999999943757,0.00015928478918,-0.000293477035097,3.13924881579e-05,1793252994510803456
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,749,724.564071379,702,672,640,897.564071379,792,826.564071379,652.564071379,635,654,0.444464338321,0.00457585159736,0.0798301908178,0.999999955303,0.000143307367386,-0.00026006101929,3.50088956165e-05,1793252994527470336
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770,749,724.012109865,702,672,640,896.987890135,791.987890135,826,652.012109865,635,654,0.443688672519,0.00456542667304,0.079849999641,0.999999962538,0.000121441859453,-0.000242267213379,3.85107893889e-05,1793252994544137216
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770,749,724.586508621,702,672,640,896.413491379,791.413491379,826,652.586508621,635,654,0.442863273462,0.0045632416316,0.0798287665982,0.999999953332,0.000136922782684,-0.000270234279614,3.9520565858e-05,1793252994560803840
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770,749,724.834700396,702,672,639.834700396,896,791,826,653,635,654,0.442022104678,0.0045582225631,0.0798078827219,0.999999945327,0.000140268102344,-0.000296757070621,4.00875044763e-05,1793252994577470464
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770,749,724.244622535,702,672,639.244622535,896,791,826,653,635,654,0.441140411723,0.00454592076054,0.0797878961166,0.999999941837,0.00011242798326,-0.000319568437543,3.95164615911e-05,1793252994594137088
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,749,724.339292438,702,672,639.339292438,895.660707562,791.339292438,825.660707562,652.660707562,635,653.660707562,0.440211343933,0.00453944846116,0.0797362334651,0.999999912741,0.00010770150702,-0.000401677402297,3.96729854437e-05,1793252994610803712
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,749,724.918843344,702,672,639.918843344,895.081156656,791.918843344,825.081156656,652.081156656,635,653.081156656,0.439248729293,0.00453710412786,0.0796621404933,0.999999853845,0.000119342175412,-0.000525775950561,4.03447106445e-05,1793252994627470336
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,640,895,791.505256112,825,652.494743888,635,653,0.43838594829,0.00452587968058,0.0796814343252,0.999999874684,0.00010260203244,-0.000488263231913,4.12695155088e-05,1793252994644136960
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.930124197,640,895,791.069875803,825,652.930124197,634.930124197,653.069875803,0.437542247738,0.00451343854261,0.079721845716,0.999999908537,8.36970998248e-05,-0.000417261920717,4.25741411539e-05,1793252994660803584
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.356249162,640,895,791.643750838,825,652.356249162,634.356249162,653.643750838,0.436718915908,0.00450265140295,0.0798048904331,0.99999995215,8.2511365971e-05,-0.000294527526393,4.63210899565e-05,1793252994677470208
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,671,640,895,791.775404725,825.224595275,652.224595275,634.224595275,653.775404725,0.435852790669,0.00449387904742,0.0798594927497,0.999999972527,7.79613934958e-05,-0.000215575693589,4.89447002715e-05,1793252994694137088
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,671,640,895,791.183151427,825.816848573,652.816848573,634.816848573,653.183151427,0.434916613335,0.00448840485197,0.0798675354321,0.999999974765,6.79042303619e-05,-0.000208295034538,4.97294292146e-05,1793252994710803712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,749,725,702.400160751,671.400160751,640,895,791.400160751,825.599839249,653,635,653.400160751,0.433950727811,0.00447824446726,0.0798415599254,0.999999966811,6.09647944041e-05,-0.000245213346809,5.03219086518e-05,1793252994727470336
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,749,725,702.979470031,671.979470031,640,895,791.979470031,825.020529969,653,635,653.979470031,0.432971542242,0.00446598611625,0.0798003547673,0.999999951595,5.54211385419e-05,-0.000301919158387,5.08283194548e-05,1793252994744137216
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671.44834565,640,895,792,825,653,635,654,0.431916588069,0.00445825859506,0.0797306069865,0.999999902644,4.48689026335e-05,-0.000435876107831,5.20692586413e-05,1793252994760803840
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,749,725.122905282,703,670.877094718,640,895,791.877094718,825,653,634.877094718,654,0.430900288678,0.00445035116208,0.0796842070481,0.999999860263,3.56551960234e-05,-0.0005247830706,5.29723740863e-05,1793252994777470720
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,749,725.691719534,703,670.308280466,640,895,791.308280466,825,653,634.308280466,654,0.430034331402,0.00444118704635,0.0797263193957,0.999999901331,3.19654042197e-05,-0.000439948120574,5.25519329713e-05,1793252994794137600
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,749,725.726089003,703,670.273910997,640,895,791,825,652.726089003,634,654,0.429149498106,0.0044352438515,0.0797809600776,0.999999938622,2.61167724429e-05,-0.000345226224847,5.37875747936e-05,1793252994810804224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,749,725.128068799,703,670.871931201,640,895,791,825,652.128068799,634,654,0.428242329543,0.00443311185918,0.0798504250919,0.999999969706,1.77136618239e-05,-0.000238805461276,5.69828009865e-05,1793252994827470848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.546606138,640,895,791.453393862,824.546606138,652.453393862,634,654,0.427279248278,0.00445878921297,0.0798395481492,0.999999964227,5.51421918614e-05,-0.00025556048277,5.65141836276e-05,1793252994844137216
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,670,640,894.969805459,792,824,653,634,654,0.426300781094,0.0044903074463,0.07980657762,0.999999946386,0.0001022877098,-0.000306156113717,5.50807396634e-05,1793252994860803584
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,670,640,894.395704064,792,824,653,634,654,0.425319633588,0.00449052581017,0.0797700188719,0.999999928175,9.94851844841e-05,-0.000361675881966,5.42530130385e-05,1793252994877470208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.183336439,640,894.183336439,792,824,653,634,654,0.424342126313,0.00448653442189,0.0797363244286,0.999999907753,9.52576425326e-05,-0.000415262187275,5.45586003272e-05,1793252994894137088
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.773332515,640,894.773332515,792,824,653,634,654,0.423372693266,0.00447320535755,0.07970898331,0.999999886585,8.7869262648e-05,-0.000464559879216,5.73779979612e-05,1793252994910803712
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,749,725.35871703,703,671,640.35871703,895,792,824,653,634,654,0.42246989275,0.00446758118837,0.0797301572881,0.999999906124,7.71588959663e-05,-0.000422632276478,5.6387085972e-05,1793252994927470336
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,749,725.941224525,703,671,640.941224525,895,792,824,653,634,654,0.421608661899,0.00446676382291,0.0797815980663,0.999999944102,6.43760628577e-05,-0.000323792535593,5.3019060298e-05,1793252994944137216
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.481743092,641,895,792,824,653,634,653.481743092,0.420772733754,0.00447127118288,0.0798327413402,0.999999967531,7.40491878175e-05,-0.000238001485063,5.30147021767e-05,1793252994960803840
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770.094244079,749,725.905755921,703.094244079,670.188488157,641,895,792,824,653,634.094244079,653.094244079,0.41992656835,0.00447612251477,0.0798697999724,0.999999979153,8.48889348935e-05,-0.000177853488006,5.34402300585e-05,1793252994977470464
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770.6680393,749,725.3319607,703.6680393,671.336078599,641,895,792,824,653,634.6680393,653.6680393,0.419013862838,0.00447968347109,0.0798353602635,0.999999965611,8.88416283638e-05,-0.000240736149489,5.41323946725e-05,1793252994994137088
+343,5.716666667,POSE2_TO_POSE3_RETREAT,771,749,725,704,671.750561328,641,895,792,823.750561328,653,634.750561328,654,0.418123661752,0.00447905210214,0.0798070646688,0.999999951951,8.87513182691e-05,-0.000292058598425,5.40584829488e-05,1793252995010803712
+344,5.733333333,POSE2_TO_POSE3_RETREAT,771,749,725,704,671.158723961,641,895,792,823.158723961,653,634.158723961,654,0.417264352048,0.00447266602494,0.0797872029605,0.999999941513,8.31112706693e-05,-0.000327512606621,5.29329960817e-05,1793252995027470080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770.577628212,749,725.422371788,703.577628212,670.577628212,641,895,792,823,653,634,654,0.416401823732,0.0044717750168,0.0797818310042,0.999999935349,8.02560408822e-05,-0.000346504514473,5.28800077949e-05,1793252995044136960
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770.000468919,749,725.999531081,703.000468919,670.000468919,641,895,792,823,653,634,654,0.415538115813,0.00447289779801,0.0797817691372,0.999999930902,7.84213688676e-05,-0.000359463523675,5.32200603041e-05,1793252995060803584
+347,5.783333333,POSE2_TO_POSE3_RETREAT,770.573877176,749,726,703,670,640.426122824,894.426122824,792,823,653,634,654,0.414758187013,0.00447411633793,0.0797667250387,0.999999924,7.92135645343e-05,-0.000377853259579,5.43322121035e-05,1793252995077470208
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770.847647055,749.152352945,726,703,670,640.152352945,894.152352945,792,823,653,634,654,0.413999620828,0.0044751472585,0.0797608956999,0.999999922869,8.00567901617e-05,-0.000380598831034,5.4740333498e-05,1793252995094137088
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770.257292111,749.742707889,726,703,670,640.742707889,894.742707889,792,823,653,634,654,0.413302274352,0.00447563856554,0.0797815930461,0.999999938063,8.10405821217e-05,-0.000338356044438,5.31226215831e-05,1793252995110803712
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770.326797952,749.673202048,726,703.326797952,670,641,894.673202048,792,823,653,634,654,0.412582410517,0.00447530955522,0.0797897355063,0.999999941705,8.70780523013e-05,-0.000325850827267,5.31908340508e-05,1793252995127470592
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770.90604834,749.09395166,726,703.90604834,670,641,894.09395166,792,823,653,634,654,0.411845151994,0.00447434684716,0.0797881792766,0.99999993725,9.70195046581e-05,-0.000336317977932,5.45614284969e-05,1793252995144136960
+352,5.866666667,POSE2_TO_POSE3_RETREAT,771,749,726,703.517574297,670,641,894,792,823,653,634,654,0.411127320462,0.00447369645239,0.0797781823798,0.999999931375,9.27838003678e-05,-0.000354426457844,5.49792147064e-05,1793252995160803584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,771,749,726,703,670,641,894,792,823,653,634.059267239,654,0.410425326063,0.00447322734212,0.0797696827552,0.999999926739,8.70651036786e-05,-0.000368638370197,5.51981071868e-05,1793252995177470208
+354,5.900000000,POSE2_TO_POSE3_RETREAT,771,749,726,703,670,641,894,792,823,653,634.645175764,654,0.409830638834,0.00447383184131,0.0797890078937,0.999999938049,9.25571966391e-05,-0.000335080755826,5.52887382178e-05,1793252995194137344
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770.771446888,749,726,703.228553112,670,641,894,792,823,653,635,654,0.409244045304,0.00447678662679,0.0798092284001,0.999999948777,9.46453067499e-05,-0.000300728374686,5.52419894733e-05,1793252995210804224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770.191956152,749,726,703.808043848,670,641,894,792,823,653,635,654,0.408669879503,0.00448335021841,0.0798308237198,0.999999959148,9.15066853237e-05,-0.000265155652209,5.49842975185e-05,1793252995227471104
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770,749,726,703.612500939,670,641,894,792,823,653.387499061,634.612500939,654,0.408080568504,0.00448600277342,0.0798217262983,0.999999952932,9.86101972132e-05,-0.000285194374746,5.54585345582e-05,1793252995244137472
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770,749,726,703.033063269,670,641,894,792,823,653.966936731,634.033063269,654,0.407483755634,0.00448671808839,0.0797974259462,0.999999936908,0.000110786910152,-0.00033277892388,5.62953154163e-05,1793252995260804096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770.539453697,749,726.539453697,703.539453697,670,641,894.539453697,792,823,653.460546303,634,654,0.406936596369,0.00448029617341,0.0797696707885,0.999999922523,0.000104438460488,-0.000375399688334,5.58636604536e-05,1793252995277470720
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770.884933864,749,726.884933864,703.884933864,670.115066136,641.115066136,894.884933864,792,823,653,634,654,0.406414902938,0.00447500832447,0.0797505072721,0.999999912972,9.68379168081e-05,-0.000402062205241,5.49959226321e-05,1793252995294137088
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770.294812425,749,726.294812425,703.294812425,670.705187575,641.705187575,894.294812425,792,823,653,634,654,0.405985940918,0.00447618563694,0.0797676778229,0.999999928403,8.86962707575e-05,-0.000364080576083,5.26446976362e-05,1793252995310803712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770.289743921,749,726,703,670.710256079,642,894,792.289743921,823,653,634,654,0.405569738369,0.00447949200308,0.0797865227185,0.999999940025,9.58736216867e-05,-0.000328697789874,5.21141308651e-05,1793252995327470592
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770.868744501,749,726,703,670.131255499,642,894,792.868744501,823,653,634,654,0.405166273858,0.00448492384238,0.0798070391422,0.99999994779,0.000118344208044,-0.000295909478413,5.34011606476e-05,1793252995344137472
+364,6.066666667,POSE2_TO_POSE3_RETREAT,771,749,726.445056568,703.445056568,670.445056568,642,894.445056568,793,823,653,634,654,0.404783876195,0.00448841617515,0.079821338256,0.999999952536,0.000123702534593,-0.000276803164905,5.48246440869e-05,1793252995360804096
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770.97940994,749,726.97940994,703.97940994,671,641.97940994,895,793,823,653,634,654,0.404407755812,0.00449117605848,0.0798331390193,0.999999956126,0.000124037354619,-0.000263041595785,5.63118801683e-05,1793252995377470720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770.403618524,749,726.403618524,703.403618524,671,641.403618524,895,793,823,653,634,654,0.404034374288,0.00448951679835,0.0798267182448,0.999999949899,0.000124181139844,-0.000285247912144,5.84395661403e-05,1793252995394138112
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,894.823356645,792.823356645,823,653,634,654,0.403685001072,0.00448858482462,0.079823047777,0.999999946093,0.000122550898989,-0.000298866488875,5.89388471281e-05,1793252995410804736
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,641,894.232614905,792.232614905,823,653,634,654,0.403391909682,0.00448935780135,0.0798258247509,0.999999948901,0.000116761875501,-0.00029235314721,5.56207192135e-05,1793252995427470848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770.350824573,749,726.350824573,703,670.649175427,641.350824573,894,792.350824573,823,653,634.350824573,654,0.403117500723,0.0044862389193,0.0798279987948,0.999999950911,0.000107030974073,-0.000289549341065,5.36952220731e-05,1793252995444136960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770.929521055,749,726.929521055,703,670.070478945,641.929521055,894,792.929521055,823,653,634.929521055,654,0.402855226578,0.00448059214915,0.0798297812164,0.99999995232,9.47396948299e-05,-0.000289154997565,5.26742833359e-05,1793252995460803584
+371,6.183333333,POSE2_TO_POSE3_RETREAT,769.990136149,749,727,703,670.504931926,641.495068074,894,793,823,653,634.495068074,654,0.402625777035,0.00447911509399,0.0798295424176,0.999999951955,9.1613281174e-05,-0.000291171916098,5.40066900213e-05,1793252995477470208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,769.081639235,749,726.918360765,703.081639235,670.918360765,641,894.081639235,793,823,653,634,654,0.402406672854,0.00447858375327,0.0798294138634,0.999999951704,8.98798928887e-05,-0.000292289273754,5.55078495358e-05,1793252995494136832
+373,6.216666667,POSE2_TO_POSE3_RETREAT,769.66920462,749,726.33079538,703.66920462,670.33079538,641,894.66920462,793,823,653,634,654,0.402223470145,0.00448032962036,0.079831705552,0.999999953649,8.89028826093e-05,-0.000285759716636,5.60323100236e-05,1793252995510803456
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,749,726,704,670.253140983,641.253140983,894.746859017,793,823,653,634,654,0.40205177774,0.00448255595225,0.0798342439385,0.99999995505,8.99464141261e-05,-0.000280336708046,5.67450920821e-05,1793252995527470336
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,749,726,704,670.832402061,641.832402061,894.167597939,793,823,653,634,654,0.401894914004,0.00448540126411,0.0798371001441,0.999999955774,9.35929982721e-05,-0.000276339260067,5.77004877248e-05,1793252995544137216
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770.410623226,749.410623226,726.410623226,703.589376774,670.589376774,641.589376774,894,793,823,653,634,654,0.40175706084,0.00449153902692,0.079837354123,0.999999952642,0.000121980679203,-0.000276690199725,5.7256774385e-05,1793252995560803840
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770.988421002,749.988421002,726.988421002,703.011578998,670.011578998,641.011578998,894,793,823,653,634,654,0.40162694734,0.00449901722531,0.0798365486729,0.99999994668,0.00016044105302,-0.000278811471896,5.62434501695e-05,1793252995577470208
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770.436902764,749.436902764,727,703,670,641.563097236,894,793,823,652.436902764,634,654,0.401513023997,0.0045097941673,0.0798308232358,0.999999941822,0.000174578158557,-0.000288398985078,5.20072456852e-05,1793252995594137088
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,749,727,703,670.141026976,641.858973024,894,792.858973024,823,652.141026976,634,654,0.401405873295,0.00451736327664,0.0798254953437,0.99999993815,0.000182185000778,-0.000296905573591,4.85366036433e-05,1793252995610803712
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,749,727,703,670.729481318,641.270518682,894,792.270518682,823,652.729481318,634,654,0.401319159333,0.00451454107548,0.0798217479246,0.999999938851,0.000170651766974,-0.000301498373588,4.77039126606e-05,1793252995627470336
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,749,727,703,671,641,894.312915016,792.625830032,823,653,634,654,0.401244179546,0.00451214786859,0.0798181470504,0.999999938869,0.000162086995979,-0.000306127946594,4.76961263507e-05,1793252995644137216
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,749,727,703,671,641,894.892076913,793.784153825,823,653,634,654,0.401179183889,0.00451011967545,0.0798146708652,0.999999938359,0.000156047970078,-0.000310788808809,4.83902183683e-05,1793252995660804096
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,749,727,703,670.530659951,641.469340049,894.530659951,793.530659951,823,653,634,654,0.401130448193,0.00450896614471,0.0798142826787,0.999999938788,0.000153210021747,-0.000310708632906,4.90918821803e-05,1793252995677470976
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,749,727,703,670.046887287,641.953112713,894,793,823,653,634,654,0.401086675076,0.00450795434556,0.0798146539556,0.999999939453,0.000151124208924,-0.000309482341417,4.97688621717e-05,1793252995694138112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770,749,727,703,670.632698664,641.367301336,894,793,823,653,634,654,0.401057139861,0.00450626918444,0.0798156257965,0.999999940307,0.000149257067248,-0.000307562691149,5.0142194297e-05,1793252995710804224
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770,749,726.784046036,703,670.784046036,641,894,792.784046036,823,653,634,654,0.401030818213,0.00450631511787,0.0798161576246,0.999999940583,0.000148890866023,-0.00030681381496,5.03065848326e-05,1793252995727470336
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770,749,726.205087373,703,670.205087373,641,894,792.205087373,823,653,634,654,0.401009898368,0.00450927090978,0.0798159498194,0.999999939894,0.000151047649105,-0.000308032934688,5.01197579955e-05,1793252995744136960
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770.373846483,749,726.373846483,703.373846483,670.373846483,641.373846483,894,792.373846483,823,653,634,654,0.400996694338,0.00451005099761,0.0798166192719,0.999999939922,0.000152424762283,-0.000307254587236,5.01637405804e-05,1793252995760803840
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770.95276671,749,726.95276671,703.95276671,670.95276671,641.95276671,894,792.95276671,823,653,634,654,0.400987722825,0.00450963760136,0.0798177699448,0.999999940343,0.000153374186931,-0.000305380527752,5.03343338382e-05,1793252995777470464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770.475574104,749,727,703.475574104,671.524425896,642,894.524425896,793,823,653,634,654,0.400979903973,0.00450932252651,0.0798183644696,0.999999940871,0.000151730818942,-0.000304446413102,5.04779357562e-05,1793252995794137088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,749,727,703.098878449,671.901121551,642,895,793,823,653,634,654,0.400972950135,0.00450917175784,0.0798189587153,0.999999941347,0.000150347686289,-0.000303558970575,5.05407151425e-05,1793252995810803968
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770,749,727,703.690464295,671.309535705,642,895,793,823,653,634,654,0.400969796385,0.00450979619652,0.0798197977601,0.999999941527,0.000151409046949,-0.000302488008714,5.02127072515e-05,1793252995827471104
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770,749,726.72376853,703.72376853,671,641.72376853,894.72376853,792.72376853,823,653,634,654,0.400968283592,0.00450928544413,0.0798204808994,0.999999941995,0.000150564729558,-0.000301394259021,5.00171393037e-05,1793252995844137984
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770,749,726.144386978,703.144386978,671,641.144386978,894.144386978,792.144386978,823,653,634,654,0.400968571667,0.00450752887696,0.0798209929405,0.999999942772,0.000147629026929,-0.000300275500698,4.99669174604e-05,1793252995860804096
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,670.566564698,641.433435302,894,792.433435302,823,653,634,654,0.400970357975,0.00450670912725,0.0798224740696,0.999999943799,0.000146928517144,-0.000297218937597,4.97469769692e-05,1793252995877470720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,749,726.010694918,703,670,641.989305082,894,792.989305082,823,653,634,654,0.400972567546,0.00450621839626,0.0798242404023,0.999999944872,0.000146976334266,-0.000293606648719,4.94801094743e-05,1793252995894137344
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,749,726.585577422,703,670,641.414422578,894,792.414422578,823,653,634,654,0.400970871091,0.00450668051639,0.0798240831553,0.999999944509,0.000147361944137,-0.000294609502622,4.97095087512e-05,1793252995910803968
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,641,894,792.164497,823,653,634,654,0.400969286412,0.00450712202321,0.0798238381347,0.999999944145,0.000147959066634,-0.000295526144015,4.98321328098e-05,1793252995927470336
+399,6.650000000,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,641,894,792.753843168,823,653,634,654,0.400967990418,0.00450751029164,0.0798233664197,0.999999943777,0.00014910246632,-0.000296220122855,4.96789867043e-05,1793252995944136704
+400,6.666666667,POSE2_TO_POSE3_RETREAT,770,749,727,703.338352107,670.676704214,641.338352107,894,793,823,653,634,654,0.400968508495,0.00450743035228,0.0798240762056,0.999999944192,0.000148416321553,-0.000295185639095,4.95355755347e-05,1793252995960803584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,770,749,727,703.919391459,671.838782919,641.919391459,894,793,823,653,634,654,0.400970327738,0.00450701458505,0.0798256334378,0.999999945162,0.000146417913287,-0.000292911394069,4.93991468748e-05,1793252995977470208
+402,6.700000000,POSE2_TO_POSE3_RETREAT,770.494432479,749,727,703.505567521,671.011135043,641.505567521,894,793,823,653,634.494432479,654,0.40097147937,0.00450726862521,0.0798268963102,0.999999945981,0.000145309566773,-0.000290678797281,4.92919934613e-05,1793252995994137600
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diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0488541f9685a6080762f40413532633315a7108
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
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+362,6.033333333,pose2_to_pose3_retreat,0.589590185825,0.010005099584,1.07002102115,0.560161530212,0.0186775109689,1.06963239021
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+367,6.116666667,pose2_to_pose3_retreat,0.588037948492,0.0100050852418,1.07002105386,0.558609293732,0.0186774992123,1.06963241606
+368,6.133333333,pose2_to_pose3_retreat,0.587778714989,0.0100051055228,1.0700209185,0.558350060548,0.0186775211482,1.06963229351
+369,6.150000000,pose2_to_pose3_retreat,0.587543547432,0.0100051414436,1.0700210544,0.558114891592,0.0186775526252,1.06963243617
+370,6.166666667,pose2_to_pose3_retreat,0.587330263931,0.0100051732192,1.07002116094,0.557901606219,0.0186775779413,1.06963254039
+371,6.183333333,pose2_to_pose3_retreat,0.587135453438,0.0100051684182,1.070021043,0.55770679539,0.0186775718693,1.06963241959
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+377,6.283333333,pose2_to_pose3_retreat,0.586299068218,0.0100050177927,1.07002101403,0.556870413873,0.0186774331363,1.0696323757
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+379,6.316666667,pose2_to_pose3_retreat,0.586119002732,0.0100050991382,1.0700209951,0.556690346895,0.0186775100643,1.06963237164
+380,6.333333333,pose2_to_pose3_retreat,0.586045245616,0.0100050650441,1.07002102732,0.556616589859,0.0186774758579,1.06963239524
+381,6.350000000,pose2_to_pose3_retreat,0.585982463376,0.0100051125096,1.07002102817,0.556553807644,0.0186775233918,1.0696323957
+382,6.366666667,pose2_to_pose3_retreat,0.585930224428,0.010005140604,1.0700210233,0.556501567421,0.0186775471753,1.06963239117
+383,6.383333333,pose2_to_pose3_retreat,0.585887463258,0.0100051807285,1.07002092812,0.556458806232,0.0186775874831,1.06963230144
+384,6.400000000,pose2_to_pose3_retreat,0.585852888479,0.0100052463174,1.07002086957,0.556424230734,0.018677650754,1.06963224559
+385,6.416666667,pose2_to_pose3_retreat,0.585825712191,0.0100052669466,1.07002093952,0.556397054009,0.0186776699562,1.06963231685
+386,6.433333333,pose2_to_pose3_retreat,0.585804415422,0.0100051680946,1.07002107926,0.556375758892,0.018677576853,1.06963245971
+387,6.450000000,pose2_to_pose3_retreat,0.585788786962,0.0100049514817,1.070021021,0.55636013158,0.0186773637695,1.0696323933
+388,6.466666667,pose2_to_pose3_retreat,0.585776845392,0.0100050214913,1.07002119992,0.556348189635,0.0186774322717,1.06963256704
+389,6.483333333,pose2_to_pose3_retreat,0.585768009097,0.0100051646024,1.07002114186,0.556339352642,0.0186775731856,1.06963251281
+390,6.500000000,pose2_to_pose3_retreat,0.58576199959,0.010005246784,1.07002101708,0.556333342855,0.0186776546702,1.06963239372
+391,6.516666667,pose2_to_pose3_retreat,0.58575797481,0.010005124755,1.07002110144,0.556329319086,0.0186775360139,1.06963247676
+392,6.533333333,pose2_to_pose3_retreat,0.585755326845,0.0100050748554,1.07002099475,0.556326671532,0.018677487582,1.06963237173
+393,6.550000000,pose2_to_pose3_retreat,0.585754024897,0.0100050589073,1.07002089646,0.556325369714,0.0186774721432,1.06963227496
+394,6.566666667,pose2_to_pose3_retreat,0.585753972717,0.0100050582682,1.07002089252,0.556325317539,0.0186774715245,1.06963227108
+395,6.583333333,pose2_to_pose3_retreat,0.585753826141,0.0100050564727,1.07002088146,0.556325170978,0.0186774697863,1.06963226019
+396,6.600000000,pose2_to_pose3_retreat,0.58575368937,0.0100050547973,1.07002087113,0.556325034221,0.0186774681645,1.06963225002
+397,6.616666667,pose2_to_pose3_retreat,0.585753610095,0.0100050538263,1.07002086515,0.556324954954,0.0186774672244,1.06963224413
+398,6.633333333,pose2_to_pose3_retreat,0.585753370606,0.0100050587264,1.07002086721,0.556324715286,0.0186774714971,1.06963224572
+399,6.650000000,pose2_to_pose3_retreat,0.585753094493,0.01000507338,1.07002089273,0.556324438734,0.0186774845984,1.06963226983
+400,6.666666667,pose2_to_pose3_retreat,0.585753019507,0.0100050773596,1.07002089966,0.556324363629,0.0186774881564,1.06963227638
+401,6.683333333,pose2_to_pose3_retreat,0.585752665557,0.0100050961441,1.07002093238,0.556324009116,0.018677504951,1.06963230729
+402,6.700000000,pose2_to_pose3_retreat,0.585752401045,0.0100051101819,1.07002095683,0.556323744184,0.0186775175018,1.06963233039
+403,6.716666667,pose2_to_pose3_retreat,0.585752389633,0.0100051107876,1.07002095789,0.556323732753,0.0186775180433,1.06963233139
+404,6.733333333,pose2_to_pose3_retreat,0.585752084117,0.0100051270016,1.07002098613,0.556323426751,0.0186775325398,1.06963235807
+405,6.750000000,pose2_to_pose3_retreat,0.585751840445,0.0100051399335,1.07002100865,0.556323182692,0.0186775441018,1.06963237935
+406,6.766666667,pose2_to_pose3_retreat,0.585751829407,0.0100051405193,1.07002100967,0.556323171636,0.0186775446255,1.06963238032
+407,6.783333333,pose2_to_pose3_retreat,0.585751787668,0.0100051427345,1.07002101353,0.556323129831,0.018677546606,1.06963238396
+408,6.800000000,pose2_to_pose3_retreat,0.58575170877,0.0100051469216,1.07002102083,0.556323050808,0.0186775503496,1.06963239085
+409,6.816666667,pose2_to_pose3_retreat,0.585751426286,0.0100052139575,1.07002095289,0.556322767438,0.0186776145813,1.06963232746
+410,6.833333333,pose2_to_pose3_retreat,0.585751192031,0.0100052697684,1.07002089615,0.556322532447,0.0186776680618,1.06963227451
+411,6.850000000,pose2_to_pose3_retreat,0.58575114079,0.0100052819766,1.07002088374,0.556322481045,0.0186776797602,1.06963226293
+412,6.866666667,pose2_to_pose3_retreat,0.585750947164,0.0100053011221,1.0700208838,0.55632228712,0.018677697929,1.06963226385
+413,6.883333333,pose2_to_pose3_retreat,0.585750812456,0.0100053063881,1.07002087057,0.556322154543,0.0186777102312,1.06963224626
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b520ab1e4b4037e945694d8269bc25c6b76085d0
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a79d1731493e76654905766b7ce697b2d4537de3cebc6d593ab3b9ca21495698
+size 26413885
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f659f2b5615402dd5b07a12f770b5d673a7c2cd5
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_03/franka_data.csv
@@ -0,0 +1,417 @@
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+18,0.300000000,BASELINE,770,749,727,703.550098304,671,642,894,793,823,653,634,654,0.400969027299,0.00450719092899,0.079828616919,0.99999994702,0.000143868878723,-0.000287941890373,4.84874020979e-05,1793252996596000256
+19,0.316666667,BASELINE,770,749,727,703,670.97042501,642,894,792.97042501,823.02957499,653,634.02957499,654.02957499,0.400969299299,0.00450833433211,0.0798277952882,0.999999946909,0.000145247902816,-0.000287744467019,4.78353338521e-05,1793252996612667136
+20,0.333333333,BASELINE,770,749,727,703,670.394398911,642,894,792.394398911,823.605601089,653,634.605601089,654.605601089,0.400969414865,0.00450842885633,0.0798283118409,0.999999946622,0.000147895320856,-0.000287315527038,4.83056447496e-05,1793252996629333760
+21,0.350000000,BASELINE,770,749,727,703.185668728,670,642,894,792.185668728,823.814331272,653,634.814331272,654.814331272,0.400969572234,0.00450801091991,0.0798286939728,0.999999946656,0.000148473676656,-0.000286844133879,4.8628239771e-05,1793252996646000384
+22,0.366666667,BASELINE,770,749,727,703.774512392,670,642,894,792.774512392,823.225487608,653,634.225487608,654.225487608,0.400969820378,0.00450648018819,0.0798287842134,0.999999947391,0.000144559115895,-0.000286280554778,4.86300734504e-05,1793252996662667008
+23,0.383333333,BASELINE,770,749,727,704,670.357263545,642,894,793,823,653,634,654,0.400969046621,0.00450691501931,0.0798289483465,0.999999947373,0.000144117251322,-0.000286564204634,4.86409089367e-05,1793252996679333888
+24,0.400000000,BASELINE,770,749,727,704,670.936233929,642,894,793,823,653,634,654,0.400967638705,0.00450856961851,0.0798291583352,0.999999946891,0.000145830435499,-0.000287373618839,4.86573306698e-05,1793252996696000512
+25,0.416666667,BASELINE,770.512379055,749,727,703.487620945,671,641.487620945,894,792.487620945,823,653,634,654,0.400970092769,0.00450898159584,0.079830181849,0.999999947133,0.000148299606177,-0.000285260954951,4.86566923822e-05,1793252996712667136
+26,0.433333333,BASELINE,770.912035103,749,727,703.087964897,671,641.087964897,894,792.087964897,823,653,634,654,0.400972340214,0.00450905026907,0.079830974174,0.999999947386,0.000150121102962,-0.000283421250502,4.86303871232e-05,1793252996729334016
+27,0.450000000,BASELINE,770.337608195,749,727,703.662391805,671,641.662391805,894,792.662391805,823,653,634,654,0.400970801636,0.00450807093596,0.0798299311555,0.999999947258,0.000147843400911,-0.000285091113921,4.84738157538e-05,1793252996746000640
+28,0.466666667,BASELINE,770,749,727,703.757483821,671,641.757483821,894,792.757483821,823,653,634.242516179,654,0.400970042156,0.0045075102578,0.0798295025922,0.999999947246,0.000146508053332,-0.000285806512734,4.85676097901e-05,1793252996762667008
+29,0.483333333,BASELINE,770,749,727,703.169237187,671,641.169237187,894,792.169237187,823,653,634.830762813,654,0.400970393357,0.00450754641314,0.0798299499945,0.999999947407,0.000146516124059,-0.000285161229102,4.90183241291e-05,1793252996779333632
+30,0.500000000,BASELINE,770,749,727,703,671,641.413544201,894,792,823,653,634.586455799,654,0.400969946695,0.00450784774433,0.0798296111409,0.999999947285,0.000146568621856,-0.000285600921216,4.87752083678e-05,1793252996796000512
+31,0.516666667,BASELINE,770,749,727,703,671,641.99411817,894,792,823,653,634.00588183,654,0.400969177776,0.00450825617959,0.0798289547198,0.999999947049,0.000146639063669,-0.000286478833126,4.82518558485e-05,1793252996812667136
+32,0.533333333,BASELINE,770,749,727,703.568891958,671,642,894,792,823,653,634,654,0.400970786826,0.00450788447246,0.0798301866402,0.999999947298,0.000148691055189,-0.000284473433004,4.8685850527e-05,1793252996829334016
+33,0.550000000,BASELINE,770,749,727,704,671,642,894,792.146045269,823,653,634,654,0.40097180751,0.0045076249039,0.079830981318,0.999999947502,0.000149657049797,-0.000283205318287,4.89301304428e-05,1793252996846000640
+34,0.566666667,BASELINE,770,749,727,704,671,642,894,792.730520044,823,653,634,654,0.400970988848,0.00450772594632,0.0798304053693,0.999999947575,0.000147301986571,-0.000284239132114,4.8575470145e-05,1793252996862667264
+35,0.583333333,BASELINE,770,749,727,703.685424895,670.685424895,641.685424895,893.685424895,792.685424895,823,653,634,654,0.400970784531,0.00450820937485,0.0798300829743,0.999999947514,0.000146943926725,-0.000284704965592,4.81907246265e-05,1793252996879333888
+36,0.600000000,BASELINE,770,749,727,703.101728835,670.101728835,641.101728835,893.101728835,792.101728835,823,653,634,654,0.400971105787,0.00450901993707,0.0798299774959,0.99999994734,0.000148294315403,-0.000284684888477,4.77802409755e-05,1793252996896000512
+37,0.616666667,BASELINE,770,749,727,703,670.476309265,641.476309265,893.95261853,792.476309265,823,653,634,654,0.400970307298,0.00450936993076,0.0798297197352,0.999999947253,0.000147735386868,-0.000285260744721,4.78946317912e-05,1793252996912667392
+38,0.633333333,BASELINE,770,749,727,703.053019133,670.946980867,641.946980867,894.946980867,793,823,653,634,654,0.400969518018,0.0045095216806,0.0798295681247,0.999999947224,0.000146949206578,-0.000285722889577,4.81627011728e-05,1793252996929334016
+39,0.650000000,BASELINE,770,749,727,703.628409082,670.371590918,641.371590918,894.371590918,793,823,653,634,654,0.400971148063,0.0045086780168,0.0798307790407,0.999999947592,0.000147894581009,-0.000283825410715,4.88533767614e-05,1793252996946000640
+40,0.666666667,BASELINE,770,749,727,703.792387894,670,641.207612106,894,793,823,653,634,654,0.400972127783,0.00450849231961,0.0798316423975,0.999999947856,0.000148566724183,-0.000282510928992,4.90312830133e-05,1793252996962667264
+41,0.683333333,BASELINE,770,749,727,703.206232448,670,641.793767552,894,793,823,653,634,654,0.400971921754,0.00450950630624,0.079831872043,0.999999947938,0.000148740679235,-0.000282259437829,4.82742465481e-05,1793252996979333888
+42,0.700000000,BASELINE,770,749,727,703.376595392,670.376595392,642,894,792.623404608,823,653,634,654,0.40097140822,0.00450963267802,0.0798313196615,0.999999947692,0.000148924540529,-0.000283071301566,4.8037263007e-05,1793252996996000512
+43,0.716666667,BASELINE,770,749,727,703.957616899,670.957616899,642,894,792.042383101,823,653,634,654,0.400970727764,0.00450927722853,0.0798303427748,0.999999947268,0.000149113779191,-0.000284460382972,4.80825782151e-05,1793252997012667136
+44,0.733333333,BASELINE,770,749,726.470602092,703.470602092,670.470602092,641.470602092,894,792.529397908,823,653,634,654,0.400970122434,0.00450983997571,0.0798301617083,0.999999947154,0.000148801908057,-0.000285023818798,4.80676538936e-05,1793252997029333760
+45,0.750000000,BASELINE,770.10141668,749,726.10141668,703,670.10141668,641,894,793,823,653,634,654,0.400969848903,0.00451028164139,0.0798301338223,0.99999994711,0.000148689672862,-0.000285238822423,4.80699776346e-05,1793252997046000640
+46,0.766666667,BASELINE,770.677955492,749,726.677955492,703,670.677955492,641,894,793,823,653,634,654,0.400971102109,0.00450981758264,0.0798305302002,0.999999947271,0.000149697426958,-0.000284125830779,4.81753121298e-05,1793252997062667520
+47,0.783333333,BASELINE,770.738386434,749,727,703,671,641.261613566,894,792.738386434,823,653,634,654,0.400971569307,0.00450886954692,0.0798307054126,0.999999947521,0.000148884551331,-0.000283646481795,4.83270844027e-05,1793252997079334144
+48,0.800000000,BASELINE,770.145719359,749,727,703,671,641.854280641,894,792.145719359,823,653,634,654,0.400971041868,0.00450730907244,0.0798306007558,0.999999947879,0.000145767797389,-0.000283968962742,4.8537620421e-05,1793252997096000768
+49,0.816666667,BASELINE,770,749,727,703.436238753,671,641.563761247,894,792.436238753,823,653,634,654,0.400970690321,0.004508056683,0.07983026171,0.999999947723,0.000145892919608,-0.000284502966623,4.82466118189e-05,1793252997112667392
+50,0.833333333,BASELINE,770,749,727,704,671,641.014576338,894,793,823.014576338,653,634,654,0.400970431901,0.00450949377041,0.0798298852771,0.999999947422,0.000147027091385,-0.000285050858033,4.78117629138e-05,1793252997129334016
+51,0.850000000,BASELINE,770,749,727,704,671,641.587967524,894,793,823.587967524,653,634,654,0.400971545179,0.00450851434762,0.0798310051943,0.999999947954,0.000146324666761,-0.000283487304535,4.81313647545e-05,1793252997146000896
+52,0.866666667,BASELINE,770,749,727,703.837244633,670.837244633,642,894,792.837244633,823.837244633,653,634,654,0.400972300329,0.00450803795006,0.0798318022604,0.999999948226,0.000146362240417,-0.000282467491595,4.83617575964e-05,1793252997162667520
+53,0.883333333,BASELINE,770,749,727,703.258890435,670.258890435,642,894,792.258890435,823.258890435,653,634,654,0.400972140992,0.00450884603676,0.0798317749202,0.999999947837,0.000148289413367,-0.000282836130289,4.83643535956e-05,1793252997179334144
+54,0.900000000,BASELINE,770,749,727,703,670.328017529,642,894,792.328017529,823,653,634,654,0.400971328118,0.00450839277469,0.0798308854507,0.999999947623,0.000147719193505,-0.000283896841739,4.83383578857e-05,1793252997196000512
+55,0.916666667,BASELINE,770,749,727,703,670.921857355,642,894,792.921857355,823,653,634,654,0.400969985623,0.00450691732749,0.0798292973197,0.999999947543,0.000145125110077,-0.000285518402372,4.82891917249e-05,1793252997212667136
+56,0.933333333,BASELINE,770.500183004,749,727,703.500183004,671,642,894,792.499816996,823,653,634,654,0.400969652102,0.00450777606569,0.0798295420086,0.999999947356,0.00014630326147,-0.000285563984018,4.83430551045e-05,1793252997229334016
+57,0.950000000,BASELINE,771,749,727,703.924300504,671,642,894,792,823.075699496,653,634.075699496,654,0.400969734817,0.00450887910374,0.0798301482049,0.999999947271,0.000147762776762,-0.000285103612309,4.83789438134e-05,1793252997246000640
+58,0.966666667,BASELINE,771,749,727,703.351792203,671,642,894,792,823.648207797,653,634.648207797,654,0.400971545861,0.00450926419221,0.0798313042653,0.999999947974,0.000147317499843,-0.000282889971987,4.81944070825e-05,1793252997262668288
+59,0.983333333,BASELINE,770.771176183,749,726.771176183,703.228823817,670.771176183,642,894.228823817,792,823.771176183,653,634.771176183,654,0.400972182471,0.0045097670468,0.0798316845178,0.999999948114,0.000147591207872,-0.000282282544697,4.80042895835e-05,1793252997279335680
+60,1.000000000,BASELINE,770.177637441,749,726.177637441,703.822362559,670.177637441,642,894.822362559,792,823.177637441,653,634.177637441,654,0.400970947189,0.0045104576051,0.0798308282349,0.99999994736,0.000149010882826,-0.000284235208372,4.7805277049e-05,1793252997296001792
+61,1.016666667,BASELINE,770.405439325,749,726.405439325,704,670.405439325,642,894.594560675,792.405439325,823,653,634,654,0.400970188198,0.00450970294301,0.0798307799407,0.999999947269,0.000148755002353,-0.000284664868935,4.7956212294e-05,1793252997312668160
+62,1.033333333,BASELINE,770.984047596,749,726.984047596,704,670.984047596,642,894.015952404,792.984047596,823,653,634,654,0.400969632639,0.00450833100654,0.0798310767501,0.999999947461,0.000147783468064,-0.00028444403293,4.82566152618e-05,1793252997329334272
+63,1.050000000,BASELINE,770.440914263,749,726.440914263,703.440914263,671,641.440914263,894.559085737,793,823,653,634,654,0.400970518742,0.00450851145715,0.0798312259441,0.999999947617,0.000147774606908,-0.00028393581791,4.80587067675e-05,1793252997346000896
+64,1.066666667,BASELINE,770.13703374,749,726.13703374,703.13703374,670.86296626,641,894.86296626,793,823,653,634,654,0.40097118925,0.00450827941132,0.0798313846199,0.999999947807,0.000147454695133,-0.00028344118023,4.80089113613e-05,1793252997362667264
+65,1.083333333,BASELINE,770.724887715,749,726.724887715,703.724887715,670.275112285,641,894.275112285,793,823,653,634,654,0.400971016012,0.00450654551785,0.079831588258,0.999999948113,0.000146021681888,-0.00028301801487,4.84928649278e-05,1793252997379333888
+66,1.100000000,BASELINE,771,749,727,704,670.308235935,641.308235935,894.308235935,793,823,653,634.308235935,654,0.400970187687,0.00450620892791,0.0798309178431,0.999999947948,0.000145457995584,-0.000283876270901,4.85908994568e-05,1793252997396000768
+67,1.116666667,BASELINE,771,749,727,704,670.887620508,641.887620508,894.887620508,793,823,653,634.887620508,654,0.400968783096,0.00450710151644,0.0798294785422,0.999999947364,0.000145659037893,-0.000285861766265,4.83494491399e-05,1793252997412668416
+68,1.133333333,BASELINE,771,749,727,703.535673686,670.535673686,642,894.535673686,792.535673686,823,653,634.535673686,654,0.400970401769,0.00450891747484,0.0798304971592,0.999999947593,0.000147586058276,-0.000284118736781,4.80420014768e-05,1793252997429335296
+69,1.150000000,BASELINE,771,749,727,703,670,641.959673994,894,792.040326006,823,653,634,654,0.400972488411,0.00451076067648,0.0798319300204,0.999999947952,0.000149658010748,-0.000281813847299,4.77474042867e-05,1793252997446001920
+70,1.166666667,BASELINE,771,749,727,703,670,641.384490561,894,792.615509439,823,653,634,654,0.40097113261,0.00451001811834,0.079831012271,0.999999947567,0.000148143487941,-0.000283957050737,4.78338894769e-05,1793252997462668032
+71,1.183333333,BASELINE,770.804272362,749,727,703.195727638,670.195727638,641.195727638,894.195727638,793,823,653,634.195727638,654,0.400970420357,0.00450914639821,0.0798305608346,0.99999994753,0.000146905729283,-0.000284708346591,4.79562096104e-05,1793252997479334144
+72,1.200000000,BASELINE,770.21390255,749,727,703.78609745,670.78609745,641.78609745,894.78609745,793,823,653,634.78609745,654,0.400971005679,0.00450801425088,0.0798310496164,0.999999948203,0.00014622600501,-0.00028265316419,4.81507831225e-05,1793252997496000768
+73,1.216666667,BASELINE,770,749,727,703.630938341,670.630938341,642,894.630938341,792.630938341,823,653,634.630938341,654,0.40097191288,0.00450740355872,0.0798314267402,0.999999948549,0.000145137555758,-0.000281980164012,4.82160013794e-05,1793252997512667392
+74,1.233333333,BASELINE,770,749,727,703.052181909,670.052181909,642,894.052181909,792.052181909,823,653,634.052181909,654,0.400973002967,0.0045070891489,0.0798317404217,0.999999948708,0.000143816875729,-0.000282092497192,4.82077220933e-05,1793252997529334016
+75,1.250000000,BASELINE,770,749,727,703,670.523248953,641.476751047,894,792.523248953,823,653,634,654,0.400971012823,0.00450873536198,0.0798310855444,0.999999947855,0.000147135885482,-0.00028343418811,4.80192692993e-05,1793252997546001408
+76,1.266666667,BASELINE,770,749,727,703,671,641.098169639,894,793,823,653,634,654,0.400969338473,0.00451017263549,0.0798305652648,0.999999947123,0.00015025211906,-0.000284406181339,4.78666207996e-05,1793252997562668800
+77,1.283333333,BASELINE,770,749,727,703,671,641.672214744,894,793,823,653,634,654,0.400970674581,0.0045096552531,0.0798311627122,0.999999947533,0.000150156629198,-0.00028299552492,4.79740829707e-05,1793252997579335424
+78,1.300000000,BASELINE,770,749,727,703.25444523,670.74555477,642,894.25444523,792.74555477,823,653,634,654,0.400971217165,0.00450965375032,0.0798313389101,0.999999947575,0.000150476697138,-0.000282655219374,4.80885644876e-05,1793252997596001792
+79,1.316666667,BASELINE,770,749,727,703.847570857,670.152429143,642,894.847570857,792.152429143,823,653,634,654,0.400970703525,0.00451033891133,0.0798309544018,0.99999994713,0.000151349895052,-0.00028373960898,4.82123891255e-05,1793252997612667392
+80,1.333333333,BASELINE,770.428767308,749.428767308,727,704,670.428767308,642,895,792.428767308,823,653,634,654,0.400970502861,0.00450965132955,0.0798311237968,0.999999947306,0.000149945177499,-0.000283877170585,4.81501191437e-05,1793252997629334016
+81,1.350000000,BASELINE,770.994182369,749.994182369,727,703.994182369,671,642,894.994182369,793,823,653,634,654,0.40097043352,0.00450849641623,0.0798314884868,0.999999947697,0.00014776957876,-0.000283662203523,4.80235293925e-05,1793252997646000640
+82,1.366666667,BASELINE,770.419097158,749.419097158,727,703.419097158,671,642,894.419097158,793,823,653,634,654,0.400972621742,0.00450807305325,0.0798322161665,0.99999994853,0.000147258423766,-0.000280997259655,4.79015473468e-05,1793252997662667264
+83,1.383333333,BASELINE,770,749,727,703,671,642,894,792.841182278,823,653,634.158817722,654,0.400973892068,0.00450829439935,0.0798324398231,0.99999994889,0.000147577227007,-0.000279571777815,4.77620623373e-05,1793252997679334144
+84,1.400000000,BASELINE,770,749,727,703,671,642,894,792.255664724,823,653,634.744335276,654,0.400972696258,0.00451024790248,0.0798313093073,0.999999947985,0.000150125901172,-0.000281476391246,4.75755516187e-05,1793252997696001280
+85,1.416666667,BASELINE,770.328276563,749.328276563,727,703.328276563,671,642,894,792.328276563,823,653,635,654,0.400971561412,0.00451007209843,0.0798308020443,0.99999994784,0.000149306982193,-0.000282400646483,4.77137783096e-05,1793252997712668160
+86,1.433333333,BASELINE,770.910996071,749.910996071,727,703.910996071,671,642,894,792.910996071,823,653,635,654,0.400970473819,0.00450824589564,0.0798307778567,0.999999948281,0.000145877884896,-0.000282565038569,4.81037048042e-05,1793252997729335040
+87,1.450000000,BASELINE,771,749.512032338,727,704,671,642,894,793,823,653,635,654,0.400970518909,0.00450820559449,0.0798309348023,0.999999948006,0.000146533471931,-0.000283193284682,4.81481299097e-05,1793252997746001408
+88,1.466666667,BASELINE,770.936209214,749,726.936209214,703.936209214,671.063790786,641.936209214,894.063790786,793,823,653,634.936209214,654,0.400970762723,0.00450849377148,0.0798310501853,0.999999947652,0.000147841154895,-0.000283766042975,4.81207129892e-05,1793252997762667520
+89,1.483333333,BASELINE,770.361285636,749,726.361285636,703.361285636,671.638714364,641.361285636,894.638714364,793,823,653,634.361285636,654,0.400970962709,0.00450883424744,0.0798305709005,0.999999947717,0.000148473651077,-0.000283224174568,4.80167175096e-05,1793252997779333888
+90,1.500000000,BASELINE,770.219395755,749,726.219395755,703.219395755,671.780604245,641,894.780604245,793,823,653,634,654,0.400970504198,0.00450898439541,0.0798302062232,0.999999947784,0.000148029052276,-0.000283222670136,4.80048621708e-05,1793252997796000512
+91,1.516666667,BASELINE,770.809814192,749,726.809814192,703.809814192,671.190185808,641,894.190185808,793,823,653,634,654,0.400968932094,0.00450881267748,0.0798300353602,0.999999947851,0.000145762965712,-0.000284134981481,4.81488260928e-05,1793252997812667392
+92,1.533333333,BASELINE,770.607283283,749.392716717,727,703.607283283,671,641.392716717,894,793,823,653,634,654,0.400967825102,0.0045090354127,0.0798296459568,0.9999999473,0.000147595808727,-0.00028514969491,4.80183795989e-05,1793252997829334528
+93,1.550000000,BASELINE,770.027952181,749.972047819,727,703.027952181,671,641.972047819,894,793,823,653,634,654,0.400966939125,0.00450944558743,0.0798291527057,0.999999946443,0.000151376414888,-0.000286213068689,4.77575365005e-05,1793252997846001664
+94,1.566666667,BASELINE,770,749.453509059,727,703,670.453509059,641.453509059,894,792.453509059,823,653,634,654,0.40096989784,0.00451027703692,0.0798309440519,0.999999947543,0.000149840178432,-0.000283218711655,4.74157792564e-05,1793252997862668288
+95,1.583333333,BASELINE,770,749,727,703,670,641,894,792,823,653,634,654,0.400972104804,0.00451067687778,0.0798321851585,0.999999948377,0.00014845221955,-0.000281023797562,4.72508000468e-05,1793252997879334912
+96,1.600000000,BASELINE,770,749,727,703,670,641,894,792,823,653,634,654,0.400970754463,0.0045093745875,0.0798309233856,0.99999994788,0.000148634306497,-0.000282605987599,4.77655230994e-05,1793252997896001024
+97,1.616666667,BASELINE,770.295616408,749,727,703.295616408,670.295616408,641.295616408,894,792,823.295616408,653,634,654,0.400970031486,0.00450943326878,0.0798302575931,0.999999947574,0.000148901914577,-0.000283522657047,4.79153110273e-05,1793252997912667392
+98,1.633333333,BASELINE,770.874584524,749,727,703.874584524,670.874584524,641.874584524,894,792,823.874584524,653,634,654,0.400969909844,0.00451079645694,0.0798301630547,0.999999947452,0.00014925149563,-0.000283801417299,4.77153044323e-05,1793252997929333760
+99,1.650000000,BASELINE,770.547958759,749,727,704,671,642,894,792,823.547958759,653,634,654,0.400970142699,0.0045100480372,0.0798304809614,0.999999947643,0.000148867848774,-0.000283324067322,4.77475477443e-05,1793252997946000384
+100,1.666666667,BASELINE,770,749,726.971150877,703.971150877,671,642,894.028849123,792,823,653,634,654,0.400970463388,0.00450880605926,0.0798309001334,0.999999947896,0.000148400863183,-0.000282660019664,4.78455352598e-05,1793252997962667264
+101,1.683333333,BASELINE,770,749,726.398693836,703.398693836,671,642,894.601306164,792,823,653,634,654,0.400970592041,0.00450926635896,0.0798310784305,0.999999947692,0.00015018397371,-0.000282417689098,4.79722193858e-05,1793252997979334400
+102,1.700000000,BASELINE,770.179817629,749,726.179817629,703.179817629,671,642,894.820182371,792.179817629,823,653,634,654,0.400970211516,0.00450964201565,0.0798309341095,0.999999947572,0.000150327944516,-0.000282776466986,4.79025935339e-05,1793252997996001280
+103,1.716666667,BASELINE,770.772220686,749,726.772220686,703.772220686,671,642,894.227779314,792.772220686,823,653,634,654,0.400968662695,0.00450982346173,0.0798300495522,0.999999947641,0.000146710964797,-0.000284514467785,4.73825411045e-05,1793252998012667904
+104,1.733333333,BASELINE,771,749,727,704,671,642,894.356310764,792.643689236,823,653,634,654,0.400968238693,0.00450984584475,0.0798298307071,0.999999947618,0.000146333591901,-0.000284781858904,4.74368043571e-05,1793252998029334784
+105,1.750000000,BASELINE,771,749,727,704,671,642,894.935207807,792.064792193,823,653,634,654,0.400968517361,0.00450976886157,0.0798300277303,0.999999947541,0.000147979991442,-0.000284130564682,4.7849840865e-05,1793252998046001664
+106,1.766666667,BASELINE,770.490382873,749.509617127,727,703.490382873,670.490382873,641.490382873,894.490382873,792.509617127,823,653,634,654,0.40097099908,0.00450943875192,0.0798311895675,0.999999948382,0.000147346476418,-0.000281497655222,4.77981882023e-05,1793252998062668032
+107,1.783333333,POSE1_TO_POSE2_PRESS,771,749,727,703,671,642,894,792,823,653,634,654,0.400972089921,0.00450740134099,0.0798322767159,0.999999948741,0.000146714495317,-0.000280503318121,4.80743546221e-05,1793252998105238784
+108,1.800000000,POSE1_TO_POSE2_PRESS,770.420334201,749,727,703.579665799,671,642,894,792.579665799,823,653,634,654,0.400971559719,0.00450800059402,0.0798316494061,0.999999948459,0.000147465077249,-0.000281122395333,4.80196055235e-05,1793252998121905408
+109,1.816666667,POSE1_TO_POSE2_PRESS,770,749,727,703.841302608,671,641.841302608,894,792.841302608,823,653,634,654,0.400971113021,0.00450848035981,0.0798312625361,0.999999948232,0.000147935657067,-0.000281684281484,4.80176084041e-05,1793252998138572032
+110,1.833333333,POSE1_TO_POSE2_PRESS,770,749,727,703.263943998,671,641.263943998,894,792.263943998,823,653,634,654,0.400970886611,0.00450864490523,0.0798315099733,0.999999948149,0.000147667560596,-0.000282095291444,4.8154776811e-05,1793252998155239168
+111,1.850000000,POSE1_TO_POSE2_PRESS,770.311943693,749,727,703,671,641,894,792.311943693,823,653,634.311943693,654,0.400970754516,0.00450932680825,0.0798312805436,0.999999948079,0.000147470186774,-0.000282485476751,4.79320116466e-05,1793252998171905792
+112,1.866666667,POSE1_TO_POSE2_PRESS,770.886592607,749,727,703,671,641,894,792.886592607,823,653,634.886592607,654,0.400970701848,0.004510444407,0.0798306495177,0.999999948019,0.000147332372465,-0.000282858124427,4.7406126294e-05,1793252998188571648
+113,1.883333333,POSE1_TO_POSE2_PRESS,771,749,727,703.472741026,671,641,894,792.527258974,823,653.472741026,634.527258974,654,0.400971655609,0.00450973511324,0.0798314319114,0.999999948195,0.000148042910526,-0.000281808937616,4.77121232728e-05,1793252998205238016
+114,1.900000000,POSE1_TO_POSE2_PRESS,771,749,727,703.939304215,670.939304215,641,894,792.060695785,823,653.939304215,634,654,0.400972605658,0.00450864296148,0.0798323908889,0.999999948375,0.000148769764591,-0.000280707174046,4.81715245503e-05,1793252998221904640
+115,1.916666667,POSE1_TO_POSE2_PRESS,771,749,727,703.360072811,670.360072811,641,894,792.639927189,823,653.360072811,634,654,0.400971409949,0.00450811746026,0.0798318894955,0.999999948106,0.00014785400282,-0.000282142871678,4.81940774524e-05,1793252998238571264
+116,1.933333333,POSE1_TO_POSE2_PRESS,770.782091414,749,727,703.217908586,670.217908586,641,894,792.782091414,823,653,634,654,0.400974589254,0.00450839284464,0.079833417248,0.999999948686,0.000147839956289,-0.000280109196476,4.80715244766e-05,1793252998255237888
+117,1.950000000,POSE1_TO_POSE2_PRESS,770.20616381,749,727,703.79383619,670.79383619,641,894,792.20616381,823,653,634,654,0.400984956612,0.00450998406652,0.0798382788425,0.999999950621,0.000149307408168,-0.000272375417797,4.7710565728e-05,1793252998271905024
+118,1.966666667,POSE1_TO_POSE2_PRESS,770.366519726,749,727,703.633480274,670.633480274,641.366519726,894,792.366519726,823,653,634.366519726,653.633480274,0.401011328816,0.00450991029467,0.0798488475818,0.99999995585,0.000148074622249,-0.000253215050953,4.75080210787e-05,1793252998288572160
+119,1.983333333,POSE1_TO_POSE2_PRESS,770.937394567,749,727,703.062605433,670.062605433,641.937394567,894,792.937394567,823,653,634.937394567,653.062605433,0.401046624612,0.00450890819644,0.0798625983718,0.999999962396,0.000145336303761,-0.000227683725366,4.73938010348e-05,1793252998305238784
+120,2.000000000,POSE1_TO_POSE2_PRESS,770.470072055,749,727,703.529927945,670,642,894,793,823,653,634.470072055,653.529927945,0.4011057529,0.00450849894252,0.0798820319929,0.999999970311,0.000144762888791,-0.000190362193767,4.67294802796e-05,1793252998321904896
+121,2.016666667,POSE1_TO_POSE2_PRESS,770,749,727,704,670,642,894,793,823,653,634,654,0.401169946218,0.00450859015974,0.0799005738378,0.9999999762,0.00014504333426,-0.000156409316654,4.58183727696e-05,1793252998338571264
+122,2.033333333,POSE1_TO_POSE2_PRESS,770,749,727,704,670,642,894,793,823,653,634,654,0.401242139421,0.00451028717115,0.0799131359575,0.99999997826,0.000147529718114,-0.000140567088746,4.42347080513e-05,1793252998355237632
+123,2.050000000,POSE1_TO_POSE2_PRESS,770,749,727,704,670,641.721997728,894.278002272,793,823,653,634,654.278002272,0.40132177153,0.00451139506911,0.0799225450067,0.99999998033,0.000146593954696,-0.000126806661496,4.20807443108e-05,1793252998371904000
+124,2.066666667,POSE1_TO_POSE2_PRESS,770,749,727,704,670,641.148043736,894.851956264,793,823,653,634,654.851956264,0.401409322839,0.00451187581691,0.0799285974041,0.9999999825,0.00014201509009,-0.000115262449056,3.93196598173e-05,1793252998388570880
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,749,727,703.563720781,670,641,894.563720781,793,823,653,634,654.563720781,0.401513323629,0.00451362295261,0.0799321505857,0.999999983653,0.000139627727829,-0.000109080390047,3.60568418642e-05,1793252998405237760
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,749.023860164,726.976139836,703.023860164,670.023860164,641,894.023860164,792.976139836,823,653,634.023860164,654,0.401624224777,0.00451578381282,0.0799349805268,0.999999984488,0.000137973236958,-0.000104524453628,3.25809460848e-05,1793252998421904896
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,749.603379115,726.396620885,703.603379115,670.603379115,641,894.603379115,792.396620885,823,653,634.603379115,654,0.401762667013,0.00451732837701,0.0799411982213,0.999999985944,0.000135646158549,-9.44322650632e-05,2.82043004435e-05,1793252998438571776
+128,2.133333333,POSE1_TO_POSE2_PRESS,770,750,726.182371863,704,671,641,895,792,823,653,634.817628137,654,0.401910155484,0.00451884963206,0.079947291894,0.99999998739,0.000132654686793,-8.40750342784e-05,2.35470579342e-05,1793252998455238656
+129,2.150000000,POSE1_TO_POSE2_PRESS,770,750,726.760223448,704,671,641,895,792,823,653,634.239776552,654,0.402077261012,0.00452032034022,0.0799531166205,0.999999988937,0.000128222455299,-7.31430515567e-05,1.82813319421e-05,1793252998471905024
+130,2.166666667,POSE1_TO_POSE2_PRESS,770,749.666139342,727,704,670.666139342,641,894.666139342,792,823,653,634,654,0.402258424837,0.00452245398157,0.0799576466619,0.999999990276,0.000122872572672,-6.47764573872e-05,1.24543949659e-05,1793252998488571136
+131,2.183333333,POSE1_TO_POSE2_PRESS,770,749.09549108,727,704,670.09549108,641,894.09549108,792,823,653,634,654,0.402449559397,0.00452505780234,0.0799612584604,0.999999991456,0.000116871853951,-5.82293403563e-05,6.22942371586e-06,1793252998505237504
+132,2.200000000,POSE1_TO_POSE2_PRESS,770.493812322,749,726.506187678,704,670.493812322,641.493812322,894.493812322,792,823,653,634,654,0.402659846091,0.00452812999208,0.0799569932661,0.999999991734,0.000109262014971,-6.77719409716e-05,-8.1838542674e-07,1793252998521904384
+133,2.216666667,POSE1_TO_POSE2_PRESS,771,749,726.084820866,704,670.915179134,641.915179134,894.915179134,792,823,653,634.084820866,654,0.402879422413,0.00453127652409,0.0799514655903,0.99999999164,0.000101370742829,-7.98621472921e-05,-8.15650267826e-06,1793252998538570752
+134,2.233333333,POSE1_TO_POSE2_PRESS,771,749,726.663919031,704,670.336080969,641.336080969,894.336080969,792,823,653,634.663919031,654,0.403130703308,0.00453430776648,0.0799478057789,0.999999991608,9.37239084034e-05,-8.79553955158e-05,-1.62227132937e-05,1793252998555237376
+135,2.250000000,POSE1_TO_POSE2_PRESS,771,749.241102036,727,703.758897964,670,641.241102036,894,792,823,653,635,654,0.403404549672,0.00453384315998,0.0799463731699,0.999999992024,8.43246666021e-05,-9.10743595541e-05,-2.3382822644e-05,1793252998571904512
+136,2.266666667,POSE1_TO_POSE2_PRESS,771,749.815636432,727,703.184363568,670,641.815636432,894,792,823,653,635,654,0.403709602964,0.00452854396474,0.0799480206733,0.999999993131,7.25019313116e-05,-8.73141306232e-05,-2.92898376415e-05,1793252998588571648
+137,2.283333333,POSE1_TO_POSE2_PRESS,770.610459299,749.610459299,727,703.389540701,670.389540701,641.610459299,894.389540701,792.389540701,823,653,634.610459299,654,0.404044423314,0.00451262904335,0.0799536304968,0.999999992862,8.82737696875e-05,-7.78810531379e-05,-2.04651235652e-05,1793252998605238272
+138,2.300000000,POSE1_TO_POSE2_PRESS,770.036852795,749.036852795,727,703.963147205,670.963147205,641.036852795,894.963147205,792.963147205,823,653,634.036852795,654,0.404393309189,0.00449169797831,0.0799611125961,0.999999990972,0.000117084598501,-6.57674408244e-05,-4.67937148404e-06,1793252998621904640
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,749,727,703.444442679,671,641,895,792.444442679,823.555557321,653,634,654,0.404788063979,0.00450742610006,0.0799601490679,0.999999996658,5.052262167e-05,-6.2836255777e-05,-1.3535100934e-05,1793252998638571008
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.145799057,749,727,703.145799057,671,641,895.145799057,792,824,653,634,654,0.405194655921,0.00452266188952,0.079958892059,0.999999997909,-3.23036681946e-06,-6.06470455222e-05,-2.22324173171e-05,1793252998655237632
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.725739697,749,727,703.725739697,671,641,895.725739697,792,824,653,634,654,0.405627117357,0.00452893696151,0.0799584878101,0.999999997949,6.55902067821e-07,-5.87899110705e-05,-2.54202538817e-05,1793252998671904512
+142,2.366666667,POSE1_TO_POSE2_PRESS,771,749,727,704,671,641.300858878,895.699141122,792,824,653,634,654,0.406074407735,0.00453540601048,0.0799531719019,0.999999997031,2.82834507539e-05,-6.72512361066e-05,-2.47968059449e-05,1793252998688571136
+143,2.383333333,POSE1_TO_POSE2_PRESS,771,749,727,704,671,641.87165225,895.12834775,792,824,653,634,654,0.406535002881,0.00454204909884,0.079943449189,0.999999993194,7.72119844001e-05,-8.49704166552e-05,-2.07538243678e-05,1793252998705237760
+144,2.400000000,POSE1_TO_POSE2_PRESS,770.541942252,749,727,703.541942252,671,641.541942252,895,792,824,653,634,654,0.40701712995,0.0045562511621,0.079936359116,0.99999998958,0.000103452742087,-9.77720666189e-05,-2.4030923323e-05,1793252998721904128
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,749,727,703.048079617,671,641,895,792,824,653,634.048079617,654,0.407510586233,0.00457143963416,0.0799298173277,0.999999986242,0.000120860267565,-0.000109832969246,-2.90716282285e-05,1793252998738571008
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,749,727,703.628007927,671,641,895,792,824,653,634.628007927,654,0.408060271052,0.00457328365347,0.0799208927037,0.999999984738,0.000113358749987,-0.000129479694272,-3.01316844271e-05,1793252998755237888
+147,2.450000000,POSE1_TO_POSE2_PRESS,770,749,727,704,671,641.206976427,895,792,824.206976427,653,634.793023573,654,0.408632049464,0.00457977762158,0.0799175591544,0.999999983687,0.000112508708866,-0.000137772005058,-3.14020355266e-05,1793252998771904512
+148,2.466666667,POSE1_TO_POSE2_PRESS,770,749,727,704,671,641.78422782,895,792,824.78422782,653,634.21577218,654,0.409243352655,0.00459459021623,0.07992422788,0.999999983914,0.000123557971184,-0.000125751589327,-3.30485981964e-05,1793252998788570880
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,749,727,703.640921117,671,642,895,792,825,653,634,654,0.409903174646,0.00460397342083,0.0799506061537,0.999999985812,0.000142674361916,-8.30797441413e-05,-3.34444615654e-05,1793252998805237760
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,749,727,703.067502864,671,642,895,792,825,653,634,654,0.410591958185,0.0046101157436,0.079988749341,0.999999985329,0.000166606137181,-2.21116183722e-05,-3.30937642952e-05,1793252998821904640
+151,2.516666667,POSE1_TO_POSE2_PRESS,770.520401349,749,727,703,671,642,895.520401349,792,825,653,634.520401349,654,0.411259093836,0.0046051206268,0.0799952568393,0.9999999898,0.000137870551122,-1.45147449049e-05,-3.4379006449e-05,1793252998838571264
+152,2.533333333,POSE1_TO_POSE2_PRESS,770.89219938,749,726.89219938,703,671,642,895.89219938,792,825.10780062,653,635,654,0.41192946823,0.00459678890022,0.0799901113338,0.999999993199,0.000108130085932,-2.46836939756e-05,-3.60515854603e-05,1793252998855238144
+153,2.550000000,POSE1_TO_POSE2_PRESS,770.315405912,749,726.315405912,703,671,642,895.315405912,792,825.684594088,653,635,654,0.412626498994,0.00458040615217,0.0799526327294,0.999999990497,0.000104590337883,-8.11627960796e-05,-3.84596610158e-05,1793252998871904768
+154,2.566666667,POSE1_TO_POSE2_PRESS,770.261756366,749,726.261756366,703,671,642,895.261756366,792,826,653,635,654,0.41334986542,0.00457582604002,0.0799262600931,0.999999987038,0.00010466472616,-0.000115173814406,-4.12942030521e-05,1793252998888571392
+155,2.583333333,POSE1_TO_POSE2_PRESS,770.839363751,749,726.839363751,703,671,642,895.839363751,792,826,653,635,654,0.414105010137,0.004585487698,0.0799132885827,0.999999985601,0.000109100149132,-0.000122073495551,-4.46433456972e-05,1793252998905238016
+156,2.600000000,POSE1_TO_POSE2_PRESS,770.588955314,749,727,703,671,641.588955314,896.411044686,792,826,653,635,654,0.414894819459,0.00459479905419,0.0799292985797,0.999999987323,0.000120946208165,-9.30126187954e-05,-4.55523760905e-05,1793252998921904640
+157,2.616666667,POSE1_TO_POSE2_PRESS,770.01955755,749,727,703,671,641.01955755,896.98044245,792,826,653,635,654,0.415697983116,0.00460397545764,0.0799564735701,0.999999988509,0.000135647180226,-5.00981016949e-05,-4.55213641653e-05,1793252998938571264
+158,2.633333333,POSE1_TO_POSE2_PRESS,770,749,727,703.576676198,671,641.576676198,897,792,826,653,635,654,0.416477105688,0.00460847069097,0.0799484646707,0.999999985752,0.000141883960938,-7.94474818244e-05,-4.531115018e-05,1793252998955237632
+159,2.650000000,POSE1_TO_POSE2_PRESS,770.168424033,749,726.831575967,703.831575967,671,641.831575967,897.168424033,792,826,653,635,654,0.41729379409,0.00461162135752,0.0799453001622,0.999999984571,0.000143628558019,-9.02304131083e-05,-4.56786803258e-05,1793252998971904512
+160,2.666666667,POSE1_TO_POSE2_PRESS,770.746925459,749,726.253074541,703.253074541,671,641.253074541,897.746925459,792,826,653,635,654,0.418204029475,0.00461190369386,0.0799569778136,0.999999988511,0.000135168660433,-4.95495439462e-05,-4.74684166712e-05,1793252998988571136
+161,2.683333333,POSE1_TO_POSE2_PRESS,771,749,726,703.322964659,671,641.322964659,898.322964659,792,826.322964659,653,635,654,0.419105906376,0.00460745318237,0.079972360524,0.999999990162,0.000130596672812,-1.3967594159e-05,-4.92399724241e-05,1793252999005238016
+162,2.700000000,POSE1_TO_POSE2_PRESS,771,749,726,703.897089034,671,641.897089034,898.897089034,792,826.897089034,653,635,654,0.420001283098,0.00459932208018,0.0799906245447,0.999999990217,0.000129048194034,1.76490803838e-05,-5.09973896119e-05,1793252999021904640
+163,2.716666667,POSE1_TO_POSE2_PRESS,771,749,726,703.516210678,671,642,899,792,827,653,635,654,0.420865180231,0.00460037018421,0.0799795160725,0.999999990967,0.000124204141634,-1.56464222998e-06,-5.13436832133e-05,1793252999038571264
+164,2.733333333,POSE1_TO_POSE2_PRESS,770.92804587,749.07195413,726,703.07195413,671,642,899.07195413,792,827,653,635,654,0.421733899628,0.00460412485078,0.0799669091873,0.999999991062,0.000121152138947,-2.37933078349e-05,-5.1310147322e-05,1793252999055237632
+165,2.750000000,POSE1_TO_POSE2_PRESS,770.348917662,749.651082338,726,703.651082338,671,642,899.651082338,792,827,653,635,654,0.422685067677,0.00461282665465,0.0799889560099,0.999999989429,0.000135804670468,1.09741958556e-05,-5.07716078626e-05,1793252999071904256
+166,2.766666667,POSE1_TO_POSE2_PRESS,770.22886296,749.77113704,726.22886296,703.77113704,671,642,900.22886296,792,827,653,635,654,0.423627971131,0.00462003682002,0.0800003416859,0.999999987679,0.000146786700074,2.38338320594e-05,-5.02769463658e-05,1793252999088571136
+167,2.783333333,POSE1_TO_POSE2_PRESS,770.804601203,749.195398797,726.804601203,703.195398797,671,642,900.804601203,792,827,653,635,654,0.424558348527,0.00462498619043,0.0799955688384,0.999999987168,0.000152205549664,3.4888965984e-06,-4.98487883283e-05,1793252999105239040
+168,2.800000000,POSE1_TO_POSE2_PRESS,770.620844464,749,726.620844464,703,671,642,900.620844464,792,827.379155536,653,635,654,0.425464499377,0.00462529039144,0.0799613043916,0.999999986071,0.000147991005718,-5.79976088683e-05,-5.09297891675e-05,1793252999121905408
+169,2.816666667,POSE1_TO_POSE2_PRESS,770.046898398,749,726.046898398,703,671,642,900.046898398,792,827.953101602,653,635,654,0.426358203823,0.00462320814404,0.0799118886846,0.999999979083,0.000138827320606,-0.000140620526423,-5.27861176273e-05,1793252999138571264
+170,2.833333333,POSE1_TO_POSE2_PRESS,770.54286323,749,726,703,671,642,900,791.45713677,828,653,635,654,0.427303550679,0.00461626199212,0.0799034094357,0.99999998059,0.000133501378906,-0.000134297435615,-5.44158332254e-05,1793252999155238144
+171,2.850000000,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,900.131319119,791.131319119,828,653,635,654,0.4282586583,0.00461097133215,0.0799044768375,0.999999982924,0.000129118758201,-0.000120017150872,-5.54582565373e-05,1793252999171905024
+172,2.866666667,POSE1_TO_POSE2_PRESS,771,749,726,703,671,642,900.710521698,791.710521698,828,653,635,654,0.429231383441,0.00461280312399,0.0799256806889,0.999999984899,0.00012678875585,-0.000105591941694,-5.45664065965e-05,1793252999188571392
+173,2.883333333,POSE1_TO_POSE2_PRESS,770.71199675,749,726,703,671,642,901,792,828,653,635,654,0.430241443761,0.00461595827768,0.0799638976333,0.999999988401,0.000130978210735,-5.65225963387e-05,-5.33575203685e-05,1793252999205238016
+174,2.900000000,POSE1_TO_POSE2_PRESS,770.136234798,749,726,703,671,642,901,792,828,653,635,654,0.4312888075,0.00462043566941,0.0800191132232,0.999999988251,0.000141681586531,2.7161467714e-05,-5.18318668303e-05,1793252999221904640
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,749,726,703,671,642,901,791.562866555,828,653,635,654,0.432238117124,0.00462505971033,0.080024270088,0.999999987865,0.000143386844143,3.24333762718e-05,-5.15499713379e-05,1793252999238571008
+176,2.933333333,POSE1_TO_POSE2_PRESS,770.010172009,749,726,703,671,642,901,791.010172009,827.989827991,653,635,654,0.433156278694,0.00462965567976,0.08001283269,0.999999988455,0.000142382942821,1.20276947134e-05,-5.17044236387e-05,1793252999255237632
+177,2.950000000,POSE1_TO_POSE2_PRESS,770.606984294,749,726,703,671,642,901,791.606984294,827.393015706,653,635,654,0.434030868832,0.00463001120524,0.0799392146068,0.999999984009,0.000145985677048,-8.75698717854e-05,-5.47906573393e-05,1793252999271904256
+178,2.966666667,POSE1_TO_POSE2_PRESS,770.803963739,749,725.803963739,703,671.196036261,642,901,791.803963739,827,652.803963739,635,654,0.434932760377,0.00462828179723,0.0798973605336,0.999999977873,0.000143339121634,-0.000143033453106,-5.69995525357e-05,1793252999288570880
+179,2.983333333,POSE1_TO_POSE2_PRESS,770.229877214,749,725.229877214,703,671.770122786,642,901,791.229877214,827,652.229877214,635,654,0.435887302053,0.00462253165531,0.0799167624231,0.999999983643,0.000128640994605,-0.000113385938326,-5.75165271546e-05,1793252999305237760
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,749,725.350671585,703,672,642,901,791,827.350671585,652.350671585,635.350671585,654,0.43684681329,0.00461905158557,0.0799525799333,0.999999988551,0.000124012555505,-6.60252333687e-05,-5.62024957453e-05,1793252999321904384
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,749,725.935536123,703,672,642,901,791,827.935536123,652.935536123,635.935536123,654,0.437809643346,0.00461708756404,0.0799993604713,0.999999990585,0.000126109070081,-6.83493078191e-06,-5.36656428016e-05,1793252999338571264
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,749,726,703,672,642,901.518248636,791,828,653,635.481751364,654,0.438729166053,0.00461745732599,0.0800296238942,0.999999990324,0.000118531367349,4.67077695465e-05,-5.58720931795e-05,1793252999355237632
+183,3.050000000,POSE1_TO_POSE2_PRESS,770.099866253,749,725.900133747,702.900133747,672.099866253,642,902,791,828,653,635,654,0.43963293385,0.00461910397164,0.0800438598072,0.999999989012,0.000113173001767,7.61244111358e-05,-5.80839459391e-05,1793252999371904000
+184,3.066666667,POSE1_TO_POSE2_PRESS,770.677520949,749,725.322479051,702.322479051,672.677520949,642,902,791,828,653,635,654,0.440486991611,0.0046254764828,0.0799912043773,0.999999990616,0.00012416596241,-6.53781742516e-06,-5.7510545068e-05,1793252999388570880
+185,3.083333333,POSE1_TO_POSE2_PRESS,770.74547483,749,725,702,672.74547483,642,902,791,828,652.74547483,635,654,0.441299559773,0.00463066158806,0.0799214632899,0.999999983396,0.000130027078798,-0.000113388217482,-5.86830409776e-05,1793252999405237760
+186,3.100000000,POSE1_TO_POSE2_PRESS,770.169292692,749,725,702,672.169292692,642,902,791,828,652.169292692,635,654,0.44205969526,0.00463434610498,0.0798301301542,0.99999995825,0.000129402809457,-0.000250806486666,-6.20619189733e-05,1793252999421904640
+187,3.116666667,POSE1_TO_POSE2_PRESS,770,749,725,702,672.414826372,641.585173628,902,791,828,652.414826372,635,654,0.442916922038,0.00463510849288,0.0798435258225,0.999999965072,0.000124304390743,-0.00022449403233,-6.32941355225e-05,1793252999438571264
+188,3.133333333,POSE1_TO_POSE2_PRESS,770,749,725.002212259,702,673,641,902,791,828,652.997787741,635,654,0.443814406528,0.0046346233922,0.0799005419101,0.999999982634,0.000117372851952,-0.000130032983412,-6.36207974317e-05,1793252999455238400
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,749,725.580353812,702,673,641,902,791,828,652.419646188,635,654,0.444675780418,0.0046258879374,0.0799696283099,0.999999990798,0.000117840133187,-2.88373743229e-05,-6.07186281261e-05,1793252999471904768
+190,3.166666667,POSE1_TO_POSE2_PRESS,770.157837022,749,725.842162978,702,673,641,902,791,828,652,635,654,0.445514913853,0.00461727845384,0.0800244669703,0.999999990633,0.00011259606522,5.09910159608e-05,-5.87847977766e-05,1793252999488571136
+191,3.183333333,POSE1_TO_POSE2_PRESS,770.733577274,749,725.266422726,702,673,641,902,791,828,652,635,654,0.446295161685,0.00460900250092,0.0800415820734,0.999999991226,9.22301278335e-05,7.4245693414e-05,-5.94148278593e-05,1793252999505237504
+192,3.200000000,POSE1_TO_POSE2_PRESS,771,749,725,702,672.69087282,641.30912718,902.30912718,791,828,652.30912718,635.30912718,654,0.447040765688,0.00460740778598,0.080037101353,0.999999991384,9.0187679128e-05,7.37200519431e-05,-6.05295285062e-05,1793252999521904384
+193,3.216666667,POSE1_TO_POSE2_PRESS,771,749,725,702,672.115486898,641.884513102,902.884513102,791,828,652.884513102,635.884513102,654,0.447756530073,0.00461156778392,0.0800140196247,0.999999991284,0.000103927697053,5.2711843398e-05,-6.20616876391e-05,1793252999538571008
+194,3.233333333,POSE1_TO_POSE2_PRESS,770.527873035,749,725,702,672.472126965,642,903,791.472126965,828,652.527873035,635.527873035,654.472126965,0.448394637755,0.00461314418721,0.0799659587135,0.999999992578,0.000101680765495,-2.29254861761e-05,-6.30867351773e-05,1793252999555237888
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641.93838577,902.93838577,791.93838577,828,652.06161423,635,654.93838577,0.449011852084,0.00461461118709,0.079913763269,0.999999987482,9.66804379249e-05,-0.000107720188975,-6.39222517503e-05,1793252999571904512
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641.358959859,902.358959859,791.358959859,828,652.641040141,635,654.358959859,0.44961736209,0.004620611122,0.0798795364357,0.99999998082,0.000102278889426,-0.000154186002945,-6.42351352321e-05,1793252999588571136
+197,3.283333333,POSE1_TO_POSE2_PRESS,770.21844542,749,725,702,673,641,902.21844542,791,828,653,635,654,0.450233958635,0.00462627437075,0.0798701547618,0.999999978155,0.000110453373903,-0.000165400430706,-6.42922013196e-05,1793252999605238016
+198,3.300000000,POSE1_TO_POSE2_PRESS,770.792560679,749,725,702,673,641,902.792560679,791,828,653,635,654,0.450868606069,0.00463138943114,0.0799012256393,0.999999983307,0.000122822119532,-0.000119219030434,-6.39327490868e-05,1793252999621904640
+199,3.316666667,POSE1_TO_POSE2_PRESS,770.624286157,749,725,702,672.624286157,641,903,791,828,653,635,654,0.451473187558,0.00463547146728,0.0799291989295,0.99999998753,0.000119333664861,-8.16889974511e-05,-6.344961094e-05,1793252999638571264
+200,3.333333333,POSE1_TO_POSE2_PRESS,770.036019929,749,725,702,672.036019929,641,903,791,828,653,635,654,0.452060759915,0.00463896909168,0.0799554198263,0.999999991108,0.000106874326204,-4.90532933593e-05,-6.28964999887e-05,1793252999655237888
+201,3.350000000,POSE1_TO_POSE2_PRESS,770,749,725,702,671.456453486,641,902.456453486,791,828,652.456453486,635,654,0.452533645372,0.00464268008045,0.0799222235161,0.999999985601,0.000115425322282,-0.000107288340634,-6.2955171099e-05,1793252999671904512
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+212,3.533333333,POSE1_TO_POSE2_PRESS,770,749,724.099831941,702,669,639.900168059,903.900168059,791,829,653.099831941,635,654.900168059,0.456536321004,0.00468753585205,0.0797583357567,0.999999920249,0.00012813439946,-0.000372324000962,-6.67725416652e-05,1793252999855237632
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+214,3.566666667,POSE1_TO_POSE2_PRESS,770,749,724.084350573,702,668.915649427,639.084350573,903.915649427,791,828.084350573,652.084350573,635,654,0.456982355649,0.0046874562954,0.0797349032126,0.999999904675,0.000129964533089,-0.000411072168138,-6.91325324488e-05,1793252999888570624
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+218,3.633333333,POSE1_TO_POSE2_PRESS,770,749,724.607902013,702,667.607902013,639,904,790.392097987,829,652.607902013,635,654.392097987,0.4577024256,0.0046940088372,0.0797593871275,0.999999909951,0.000187026865452,-0.000376473927221,-5.81884817773e-05,1793252999955237376
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+258,4.300000000,HOLD_POSE2,770,748.238689225,724.238689225,701.761310775,666,638,904,790.238689225,829,653,634.761310775,654,0.458496752502,0.00467763461591,0.0797293873078,0.999999894444,0.000159740180207,-0.000425813500472,-6.54119732656e-05,1793253000639847936
+259,4.316666667,HOLD_POSE2,770,748.814890128,724.814890128,701.185109872,666,638,904,790.814890128,829,653,634.185109872,654,0.458498805105,0.00467758377387,0.0797307395268,0.999999895388,0.000160473956358,-0.000423391763084,-6.48890813286e-05,1793253000656514304
+260,4.333333333,HOLD_POSE2,770,749,725,701.390786839,666,638,904.390786839,790.609213161,829,653,634.390786839,654,0.45850095715,0.00467803406855,0.0797321068627,0.999999896206,0.000160554556726,-0.000421373638545,-6.52236888284e-05,1793253000673181184
+261,4.350000000,HOLD_POSE2,770,749,725,701.966539621,666,638,904.966539621,790.033460379,829,653,634.966539621,654,0.458503156263,0.00467872155961,0.0797334813537,0.999999896962,0.000160325998144,-0.000419546550497,-6.59641651003e-05,1793253000689847552
+262,4.366666667,HOLD_POSE2,770.552830373,749,725,702,666,638,904.447169627,790.552830373,829,653,635,654.552830373,0.458501260344,0.00467699498442,0.0797323630639,0.999999896483,0.00015878835609,-0.00042136639587,-6.53476852781e-05,1793253000706514432
+263,4.383333333,HOLD_POSE2,771,749,724.861574515,702,666,638.138425485,904,790.861574515,828.861574515,653,635,655,0.458499663625,0.00467567634561,0.0797314654123,0.999999896062,0.000157595378802,-0.000422882295744,-6.48820432902e-05,1793253000723181312
+264,4.400000000,HOLD_POSE2,771,749,724.28028503,702,666,638.71971497,904,790.28028503,828.28028503,653,635,655,0.458499832506,0.0046761393569,0.0797317657275,0.999999896092,0.000157763501234,-0.000422705872604,-6.51668418127e-05,1793253000739847936
+265,4.416666667,HOLD_POSE2,770.702370517,749,724,702,666,638.702370517,904,790,828.297629483,653,635,655,0.458500496479,0.00467659686502,0.0797318103598,0.999999896233,0.000157583752935,-0.000422430427236,-6.52261868109e-05,1793253000756514816
+266,4.433333333,HOLD_POSE2,770.127598694,749,724,702,666,638.127598694,904,790,828.872401306,653,635,655,0.458501621464,0.00467704924876,0.079731616909,0.999999896477,0.000157080079367,-0.000422062775786,-6.50755972239e-05,1793253000773181440
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,666,639,904,791,829,653,635,654,0.458502798166,0.00468040059527,0.079731441802,0.999999895993,0.000162076306302,-0.000421177253385,-6.598759849e-05,1793253000805993216
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770,749,724,702,666.592533235,638.407466765,904,790.407466765,829,652.407466765,635,654,0.45849981718,0.00467869741048,0.0797302949949,0.999999895478,0.000159376448135,-0.000423498404216,-6.55094996984e-05,1793253000822659328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,666.818079558,638,904,790,829,652,635,654,0.458498305027,0.0046773238827,0.0797299260865,0.999999895352,0.00015750059049,-0.000424545663463,-6.52032701856e-05,1793253000839325440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,666.235618952,638,904,790,829,652,635,654,0.45850002685,0.00467667617117,0.079731269903,0.999999896101,0.000157438961132,-0.000422788154558,-6.52754507739e-05,1793253000855992064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.340381222,748.659618778,724,701.659618778,666,638.340381222,904,790,828.659618778,652.340381222,634.659618778,654,0.458501118123,0.00467710153591,0.0797316546802,0.999999896128,0.000159060214211,-0.000422141469902,-6.51132212002e-05,1793253000872658688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770.911992614,748.088007386,724,701.088007386,666,638.911992614,904,790,828.088007386,652.911992614,634.088007386,654,0.458501781045,0.00467825587042,0.079731387956,0.99999989566,0.00016182469485,-0.000422249398307,-6.47917504587e-05,1793253000889325312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770.514463795,748.485536205,724,701,666,639,904,790,828.485536205,652.514463795,634.485536205,654,0.458504250128,0.00467707796751,0.0797336761184,0.999999897592,0.000159166799293,-0.000418675886644,-6.47476395869e-05,1793253000905992192
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770,748.93884419,724.06115581,701,666,639,904,790,828.93884419,652,635,654.06115581,0.458506146244,0.00467571195715,0.079735722407,0.999999899422,0.000155932441021,-0.000415504232207,-6.47812995323e-05,1793253000922659072
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770,748.348297527,724.651702473,701,666,639,904,790,828.348297527,652,635,654.651702473,0.458500237231,0.00467639162128,0.0797316501756,0.999999896799,0.000156249935783,-0.000421610660602,-6.5051247255e-05,1793253000939325184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,748.23892271,724.76107729,701.23892271,666,638.76107729,904,790,828.23892271,652.23892271,635,654.76107729,0.458490384571,0.00467722798951,0.0797260365835,0.999999893163,0.000157247877766,-0.00042976421791,-6.51876328317e-05,1793253000955992064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,748.821360275,724.178639725,701.821360275,666,638.178639725,904,790,828.821360275,652.821360275,635,654.178639725,0.458474861871,0.00467828966146,0.0797182068763,0.999999888024,0.00015922414332,-0.000440861066206,-6.5131987323e-05,1793253000972658944
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770,748.603053938,724.396946062,702,666,638,904,790,829,653,635,654,0.458440477714,0.00467756910424,0.0797034733379,0.999999877124,0.000159119087794,-0.000465034694573,-6.46217343901e-05,1793253000989325312
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770,748.03049932,724.96950068,702,666,638,904,790,829,653,635,654,0.458397749264,0.00467606009066,0.0796856855506,0.999999862952,0.000158093257884,-0.000494993478464,-6.39103635192e-05,1793253001005991936
+280,4.666666667,POSE2_TO_POSE3_RETREAT,770,748.557731294,725,702,666,638,904,790,829,653,635,654,0.458331881064,0.00467694021873,0.0796629669009,0.999999844489,0.000160725458713,-0.000530232273478,-6.35804161564e-05,1793253001022658304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770,749,725,701.854831232,666,638,904,790.145168768,828.854831232,653,635,654,0.458262506513,0.00467763938033,0.07964291302,0.99999982793,0.000163174672263,-0.000559947209436,-6.30281348515e-05,1793253001039325184
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770,749,725,701.272438931,666,638,904,790.727561069,828.272438931,653,635,654,0.458186492762,0.00467738862908,0.0796317205646,0.999999820905,0.000164452856833,-0.000572130464921,-6.17415843386e-05,1793253001055992320
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770,748.695065704,724.695065704,701.304934296,666,638,904,790.695065704,828,652.695065704,635,654,0.458105012459,0.00467724986152,0.0796259744726,0.999999816996,0.000165860930494,-0.000578699460722,-6.00459867085e-05,1793253001072658688
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770,748.122104113,724.122104113,701.877895887,666,638,904,790.122104113,828,652.122104113,635,654,0.458018727239,0.004677209524,0.0796250155569,0.999999815916,0.000167383172365,-0.000580333704805,-5.79908500944e-05,1793253001089325056
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,748.452061414,724.452061414,702,666.452061414,638,904,790,828.452061414,652.452061414,635,654,0.457914920327,0.00467697200085,0.0796260179349,0.999999815815,0.000169437133245,-0.000580168393784,-5.53740964635e-05,1793253001105991680
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,749,725,701.972530301,667,638,903.972530301,790,829,653,635,654,0.457804897326,0.00467663150117,0.0796274649414,0.999999815934,0.000171600871323,-0.000579586257636,-5.25789012806e-05,1793253001122658304
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,749,725,701.378205113,667,638,903.378205113,790,829,653,635,654,0.45766452434,0.00467526801999,0.0796271261021,0.999999815346,0.000173058326532,-0.000580459800903,-4.92401448185e-05,1793253001139325184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770,749,724.791072483,701.208927517,666.791072483,638,903.208927517,790.208927517,828.791072483,653,635,654,0.457513126093,0.00467386277824,0.0796262495448,0.999999813837,0.000176068866775,-0.000582465191202,-4.53883017678e-05,1793253001155991808
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770,749,724.216526723,701.783473277,666.216526723,638,903.783473277,790.783473277,828.216526723,653,635,654,0.45734243391,0.0046723844566,0.0796244319937,0.999999810687,0.000181797269151,-0.000586451287087,-4.06385696004e-05,1793253001172658432
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,749,724.356856725,702,666.713713449,638.356856725,904,791,828.356856725,653,635,654.356856725,0.457154696177,0.00467224592868,0.0796241029143,0.999999808216,0.00018660551622,-0.000589455128065,-3.58985580555e-05,1793253001189325056
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,749,724.929537272,702,667.859074545,638.929537272,904,791,828.929537272,653,635,654.929537272,0.456956649429,0.00467291769613,0.0796246740493,0.999999806149,0.000190857261965,-0.000591864910253,-3.11644250005e-05,1793253001205991936
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,749.518699224,725,702,668,638.481300776,904,790.481300776,829,653,635,654.481300776,0.456722353348,0.00466986596091,0.0796259661147,0.999999807605,0.000195377227081,-0.000588208863421,-2.50495975089e-05,1793253001222658816
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770.107980814,749.892019186,725,702,668,638.107980814,904,790.107980814,829,653,635,654,0.456476486327,0.00466650989921,0.0796265646783,0.999999808637,0.000200191957475,-0.000585067895078,-1.8592278881e-05,1793253001239325440
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770.687683389,749.312316611,725,702,668,638.687683389,904,790.687683389,829,653,635,654,0.45620228886,0.00466410658897,0.0796236917558,0.999999805879,0.000206129994091,-0.000587894974305,-1.1485022466e-05,1793253001255991552
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770.732983081,749,725,701.732983081,668,638.732983081,903.732983081,791,829,653,635,654.267016919,0.455914840045,0.00466251998576,0.0796245154975,0.999999805991,0.000213087502457,-0.000585312880517,-4.45685890371e-06,1793253001272658176
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770.154080644,749,725,701.154080644,668,638.154080644,903.154080644,791,829,653,635,654.845919356,0.455611913189,0.00466188732633,0.0796296570784,0.999999809398,0.000221235790712,-0.000576412674789,2.47892088999e-06,1793253001289325056
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,749,725,701,668,638.419790875,903,791,828.580209125,653,635,654.580209125,0.455298411897,0.00465884958668,0.0796437319629,0.999999823284,0.000226917263217,-0.000549414320874,9.20104692896e-06,1793253001305991680
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,749,725,701,668,638.991837693,903,791,828.008162307,653,635,654.008162307,0.45498107532,0.00465493953709,0.0796610469096,0.999999839979,0.000231704034213,-0.000515851863383,1.58456817139e-05,1793253001322658304
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,749,725,701.582018534,668.582018534,638.417981466,903,790.417981466,828.582018534,653,635,654,0.45459145891,0.00465085225274,0.0796707512731,0.999999848401,0.000230837805102,-0.000499468642994,2.10697934507e-05,1793253001339325184
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,669.169275787,638.169275787,903,790.169275787,828.830724213,653,635,654,0.454184412714,0.00464709984855,0.0796751599427,0.999999856162,0.00021467628777,-0.000491091389981,2.04553503011e-05,1793253001355991808
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,669.748811115,638.748811115,903,790.748811115,828.251188885,653,635,654,0.4537376592,0.00464416528374,0.0796670008775,0.999999861161,0.000161643181285,-0.000501514845839,5.74032510415e-06,1793253001372658688
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770,749,725,701.675691252,670,639,902.675691252,791,828,653,635,654,0.453274952818,0.00463883904138,0.079666600086,0.999999865247,0.000139498489711,-0.000500028020619,4.19886944101e-06,1793253001389325056
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770,749,725,701.103282444,670,639,902.103282444,791,828,653,635,654,0.452800042256,0.00463168313686,0.0796721344656,0.99999987021,0.000140983798633,-0.000489429690192,1.27353500649e-05,1793253001405991680
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770,749,725,701,670,639,902,791,828,653,635,654,0.452298499037,0.00462907225207,0.079686146777,0.99999988008,0.000137244278185,-0.000469779779963,1.76238340664e-05,1793253001422658304
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,749,725,701.049230565,670.049230565,639,902,791,828,653,635,654,0.451787757991,0.00462715348831,0.0797025260575,0.999999890359,0.000138659480256,-0.00044675467664,2.157019075e-05,1793253001439324928
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,749,725,701.643160055,670.643160055,639,902,791,828,653,635,654,0.451240123916,0.00462182133276,0.0797244427283,0.999999894288,0.000209834910554,-0.000408434290013,2.39787576217e-05,1793253001455991552
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770,748.769851977,725,702,671,639.230148023,901.769851977,790.769851977,827.769851977,653,635,654,0.450686023246,0.00461564593471,0.0797503752964,0.999999905251,0.000240479884439,-0.000362032500789,2.44762101981e-05,1793253001472658432
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770,748.193311624,725,702,671,639.806688376,901.193311624,790.193311624,827.193311624,653,635,654,0.450122189837,0.00460820138537,0.07978235213,0.999999931634,0.000210123074135,-0.000303467518293,2.20972733382e-05,1793253001489325568
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770,748.381274781,725,702,671.381274781,639.618725219,900.618725219,790.762549561,827,653,635,654,0.449501472131,0.00460213740897,0.0797967136737,0.999999941955,0.000185048752306,-0.000285058723385,2.42756226484e-05,1793253001505992448
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770,748.95487554,725,702,671.95487554,639.04512446,900.04512446,791.909751081,827,653,635,654,0.448852060366,0.00459676983355,0.0798021895569,0.999999945203,0.000162639070915,-0.000286905867958,2.87527984344e-05,1793253001522659328
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,639,900,791.455349423,827,653,635,654,0.448125465705,0.00459392306423,0.079761678355,0.999999926293,0.000148962231734,-0.000352580495466,3.02031349798e-05,1793253001539325696
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,639,900,791,827,653,635,654,0.44739148256,0.00459050960198,0.079726982212,0.999999907677,0.000135583346442,-0.000406563771565,3.11305365774e-05,1793253001555992064
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,639,900,791,827,653,635,654,0.446654823452,0.00458447437454,0.0797249492833,0.999999910995,0.0001207033348,-0.000403073504155,3.11711393608e-05,1793253001572658688
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,639,899.708312913,791.291687087,827,653,635,654,0.445922407596,0.00457805690463,0.0797476535736,0.999999924205,0.000125464853312,-0.000367137165223,3.25496312221e-05,1793253001589325312
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,639,899.132942272,791.867057728,827,653,635,654,0.445194118474,0.0045712676798,0.0797944163242,0.999999943336,0.000149328960534,-0.000299645032923,3.52293020304e-05,1793253001605992192
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,639.441613011,898.558386989,791.558386989,827,653,635,654,0.44442662524,0.00456440058367,0.0798240545556,0.999999954713,0.000137779938607,-0.000264769662309,3.85781313473e-05,1793253001622659072
+317,5.283333333,POSE2_TO_POSE3_RETREAT,769.983599908,749,725,702,671.983599908,640,897.983599908,791,826.983599908,653,635,654,0.443645984325,0.00455756008167,0.0798473759572,0.999999963264,0.000116561876396,-0.000241071305665,4.20601135418e-05,1793253001639326208
+318,5.300000000,POSE2_TO_POSE3_RETREAT,769.392091473,749,725,702,671.392091473,640,897.392091473,791,826.392091473,653,635,654,0.442817386888,0.0045524726931,0.0798296264852,0.999999955412,0.000129429563254,-0.000265633560925,4.31603973998e-05,1793253001655992832
+319,5.316666667,POSE2_TO_POSE3_RETREAT,769.389869062,749,725,702,671.194934531,640,896.805065469,791.194934531,826,653,635,654,0.441961845002,0.00454694394842,0.0798097867995,0.999999948025,0.000131814336279,-0.000291012463179,4.3444444686e-05,1793253001672659200
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770.546294385,749,725,702,671.773147192,640,896.226852808,791.773147192,826,653,635,654,0.441053325287,0.00454054741451,0.0797858373595,0.999999942101,0.000113587718694,-0.000317997046436,4.21236165577e-05,1793253001689325568
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770.650389748,749,725,702,672,640,895.650389748,792,825.650389748,652.650389748,634.650389748,654,0.440107272628,0.00453507544505,0.079730090726,0.999999910819,0.000108425195227,-0.000405971482605,4.23565297178e-05,1793253001705991936
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770.075056328,749,725,702,672,640,895.075056328,792,825.075056328,652.075056328,634.075056328,654,0.439136987147,0.00453020041377,0.0796538144801,0.999999850595,0.000111697402924,-0.000533323541902,4.3592603502e-05,1793253001722658560
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770.497804045,749,725,702,671.502195955,639.502195955,895,791.502195955,825.497804045,652.497804045,634.497804045,654,0.438276821629,0.00451929091731,0.0796806736612,0.999999876114,9.68819094739e-05,-0.000486276427672,4.38399775684e-05,1793253001739325184
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770.926915571,749,725,702,671,639,895.073084429,791,825.926915571,653,635,654,0.437434623493,0.0045083560016,0.0797282185953,0.999999913036,8.18563608503e-05,-0.000406533939266,4.42516013914e-05,1793253001755991808
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770.33169549,749,725,702,671,639,895.66830451,791,825.33169549,653,635,654,0.436602757384,0.00450370754847,0.0798130023221,0.999999956074,8.47174841694e-05,-0.000280136833794,4.68964128505e-05,1793253001772658688
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770,749,725.254570543,702.254570543,671,639.254570543,895.745429457,791.254570543,825.254570543,653,635,654,0.435718437866,0.00449672233462,0.0798624640751,0.99999997394,7.90501796641e-05,-0.000208534826491,4.88324227215e-05,1793253001789325824
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770,749,725.829566295,702.829566295,671,639.829566295,895.170433705,791.829566295,825.829566295,653,635,654,0.434768095693,0.00448679586454,0.0798674664506,0.999999975596,6.26482363862e-05,-0.000205902807535,4.98762727376e-05,1793253001805992960
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770,749,725.596780391,702.596780391,671,640,895,791.596780391,825.596780391,653,635,653.596780391,0.433794941171,0.00447668635011,0.0798373466067,0.999999965634,5.68531415949e-05,-0.000250961343545,5.01767272151e-05,1793253001822659072
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,749,725.023692652,702.023692652,671,640,895,791.023692652,825.023692652,653,635,653.023692652,0.432812176331,0.00446649972346,0.0797924304937,0.999999947237,5.5526494738e-05,-0.000316110928948,5.0164004199e-05,1793253001839324928
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,749,725,702.569115096,670.430884904,640,895,791.569115096,825,653,635,653.569115096,0.431762459443,0.00445893631194,0.0797229805418,0.999999896651,4.65644703831e-05,-0.000449330742437,5.13068448204e-05,1793253001855991552
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.158868045,639.841131955,894.841131955,791.841131955,824.841131955,653,635,653.841131955,0.430754239624,0.0044509604622,0.079685223509,0.999999861872,3.81977602072e-05,-0.0005216191494,5.20676628057e-05,1793253001872658432
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.738283259,639.261716741,894.261716741,791.261716741,824.261716741,653,635,653.261716741,0.429863511851,0.00444159336654,0.0797341630543,0.999999907898,3.22785775722e-05,-0.000424842361403,5.16852951636e-05,1793253001889325056
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,639.31509109,894.31509109,791,824,653,635,653.31509109,0.428962782376,0.00443470708247,0.0797916174343,0.999999944886,2.29722078506e-05,-0.000326865347789,5.34693990896e-05,1793253001905992192
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,671,639.889750955,894.889750955,791,824,653,635,653.889750955,0.428053813646,0.00442986446577,0.0798560862445,0.999999972345,1.08755087581e-05,-0.0002278996051,5.70382197573e-05,1793253001922659584
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.524644016,640,895,791.475355984,824,653,635,654,0.427098553215,0.00445943542359,0.0798375385253,0.999999964259,5.28423622679e-05,-0.000256207152038,5.5196139246e-05,1793253001939326208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,749,725.062582716,703,670.062582716,640,895,792,824.062582716,653,635,654,0.426130670299,0.00449374369379,0.0798001097275,0.999999944245,0.000102333962801,-0.000313506020634,5.24487156766e-05,1793253001955992832
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,749,725.641747611,703,670.641747611,640,895,792,824.641747611,653,635,654,0.425149308196,0.0044997202658,0.0797695046346,0.999999927716,0.000107997212848,-0.000360711508337,5.28312005348e-05,1793253001972658944
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770.220320371,749,726,703,670.779679629,640,895,792,824.779679629,653,635,654,0.424165989599,0.00449930666305,0.0797410250253,0.999999909786,0.000109308062929,-0.0004069423353,5.36363688203e-05,1793253001989325056
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770.79793296,749,726,703,670.20206704,640,895,792,824.20206704,653,635,654,0.423179498012,0.00448853015338,0.0797159922952,0.99999989115,0.000103560653278,-0.000451592568786,5.51270004146e-05,1793253002005991680
+340,5.666666667,POSE2_TO_POSE3_RETREAT,771,749,726,703,670.373450842,640,894.626549158,792,823.626549158,653,634.626549158,654,0.422284467281,0.00447838868596,0.0797427422487,0.999999915402,8.54841657148e-05,-0.000398723008719,5.39352937666e-05,1793253002022658560
+341,5.683333333,POSE2_TO_POSE3_RETREAT,771,749,726,703,670.947841606,640,894.052158394,792,823.052158394,653,634.052158394,654,0.421438648274,0.00446858891165,0.0797973545278,0.999999953801,6.07738623211e-05,-0.000293381691192,5.13003207264e-05,1793253002039325184
+342,5.700000000,POSE2_TO_POSE3_RETREAT,771,749,726,703,670.464624117,640.535375883,894.535375883,792,824.070751767,653,634,654,0.420609474439,0.00447292515059,0.0798417428518,0.999999971406,7.28980188889e-05,-0.000221874119576,5.14419340913e-05,1793253002055991808
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770.877806512,749,726,703,670,641,895,792,824.877806512,653,634.122193488,654,0.419761691927,0.00447904769117,0.0798668028396,0.999999977855,8.70638463775e-05,-0.000184440265972,5.18849748068e-05,1793253002072658944
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770.298579355,749,726,703,670,641,895,792,824.298579355,653,634.701420645,654,0.41883809045,0.00448657078713,0.0798233893622,0.999999959831,9.51061380111e-05,-0.00026181155532,5.24182062815e-05,1793253002089326336
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770.279392598,749,726,703,670.279392598,640.720607402,895,792,823.720607402,653,635,654,0.417943902279,0.00448874167317,0.0797981314181,0.999999945969,9.85900805314e-05,-0.000309185427952,5.24076345994e-05,1793253002105993216
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770.856029112,749,726,703,670.856029112,640.143970888,895,792,823.143970888,653,635,654,0.417081006786,0.00448521837842,0.0797921890272,0.999999941234,9.72244258846e-05,-0.000324645246105,5.18185145916e-05,1793253002122658816
+347,5.783333333,POSE2_TO_POSE3_RETREAT,771,749,726,703,670.560412644,640.439587356,895,792.439587356,823,653,634.560412644,654,0.41623006345,0.00448400770781,0.0797843027895,0.999999934651,9.38568114539e-05,-0.000345303647873,5.15207548094e-05,1793253002139325184
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770.974860046,749,726,703,670,641,895,792.974860046,823,653,634.025139954,654,0.415386008152,0.00448354210005,0.0797756354156,0.999999927197,8.98477387257e-05,-0.000367280365155,5.13692108654e-05,1793253002155991808
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770.396110232,749,726,703,670,641,895,792.396110232,823,653,634.603889768,654,0.41460605607,0.00448253762908,0.0797640102939,0.999999922627,8.63826022114e-05,-0.000380194695268,5.23025331752e-05,1793253002172658432
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,749.182269277,726,703,670.182269277,640.817730723,895,792,823,653,634.817730723,654,0.413848834631,0.00448243811535,0.0797627225608,0.999999924105,8.7010771811e-05,-0.000376084959663,5.27225272511e-05,1793253002189325056
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,749.759845776,726,703,670.759845776,640.240154224,895,792,823,653,634.240154224,654,0.41314091146,0.00448430128068,0.0797838546455,0.999999937858,9.6516539187e-05,-0.000335053281879,5.20292106456e-05,1793253002205991936
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770.336458043,749.663541957,726,703.336458043,670.663541957,640.336458043,895,792,823,653,634,654,0.412418529326,0.00448497895183,0.0797904798625,0.999999939903,0.000102719883042,-0.000326960559737,5.23392798162e-05,1793253002222658816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770.912384,749.087616,726,703.912384,670.087616,640.912384,895,792,823,653,634,654,0.41168585633,0.00448481286887,0.0797867800779,0.999999934309,0.000106572786298,-0.000342311545062,5.33634907076e-05,1793253002239325696
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770.501238384,749,726,704,670,640.501238384,894.501238384,792.498761616,823,653,634,654,0.410984061471,0.00448097598055,0.0797767482751,0.999999929057,9.94079139231e-05,-0.000359273828329,5.40893107107e-05,1793253002255992064
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770,749,726,704,670.085705381,640.085705381,894,792.914294619,822.914294619,653,634.085705381,654,0.410301052913,0.00447762980939,0.0797704028361,0.999999926313,9.27236338355e-05,-0.000368504425033,5.45967296714e-05,1793253002272658432
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770,749,726,704,670.665107865,640.665107865,894,792.334892135,822.334892135,653,634.665107865,654,0.409694346169,0.00448090440242,0.0797918369107,0.999999938557,0.000100195410353,-0.000331532039659,5.41544799389e-05,1793253002289325312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770.243525371,749,726,704,670.756474629,641,894,792,822.243525371,653,635,654,0.409102137956,0.00448484779646,0.0798116901889,0.999999948783,0.000102693632405,-0.000298246523297,5.41927327456e-05,1793253002305991936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770.820593758,749,726,704,670.179406242,641,894,792,822.820593758,653,635,654,0.408529787616,0.00448970720938,0.0798293783374,0.999999957201,9.83798558421e-05,-0.000270010707622,5.48891029696e-05,1793253002322658560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770.602973371,749,726,704,670.397026629,641,894,792.397026629,823,653,634.602973371,654,0.407942322659,0.00449087879882,0.0798146970481,0.999999947552,0.000111380894798,-0.000299073388873,5.51919948864e-05,1793253002339325440
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770.026827164,749,726,704,670.973172836,641,894,792.973172836,823,653,634.026827164,654,0.407348038655,0.0044903866177,0.0797854122059,0.999999927079,0.000132193556286,-0.000353986429963,5.53173679741e-05,1793253002355992320
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770,749,726.560835444,704,670.439164556,641,894,792.439164556,823,653,634.560835444,654,0.406827570941,0.0044839746421,0.0797660238601,0.99999991984,0.000113733941335,-0.000380031411295,5.44085544494e-05,1793253002372659456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.146732865,641,894,792.146732865,823,653,634.853267135,654,0.406331412541,0.00447934549835,0.0797566509575,0.99999991845,9.72444133545e-05,-0.000388315444727,5.34228601856e-05,1793253002389326592
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.725772766,641,894,792.725772766,823,653,634.274227234,654,0.405896253518,0.00448082073325,0.0797753617754,0.999999933678,9.22098717377e-05,-0.000348425532893,5.23594621037e-05,1793253002405993728
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770,749,727,704,671,641,894,792.696603837,823.303396163,653,634.303396163,654,0.405481251216,0.00448430131527,0.0797951623188,0.999999944191,0.000102161400991,-0.000313759812566,5.23032287997e-05,1793253002422660352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,671,641,894,792.120254842,823.879745158,653,634.879745158,654,0.405084383098,0.0044895860241,0.0798159432414,0.999999950431,0.000125595271373,-0.00028379408112,5.31530995614e-05,1793253002439326720
+366,6.100000000,POSE2_TO_POSE3_RETREAT,770,749,727,703.536505262,670.536505262,641,894,792.463494738,823.536505262,653,634.536505262,654,0.404698986718,0.00449312356856,0.0798245873133,0.999999952458,0.000129378763607,-0.000274586066218,5.43011588933e-05,1793253002455993088
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,641,894,792.951315483,823,653,634,654.048684517,0.404318802516,0.00449583617369,0.0798293487025,0.999999953134,0.000128207721195,-0.000272391537417,5.56627685488e-05,1793253002472658944
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770,749,727,703,670,641,894,792.371699007,823,653,634,654.628300993,0.403962474313,0.0044945761242,0.079826665385,0.99999994872,0.000129507111004,-0.000286996570375,5.84958571694e-05,1793253002489325568
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,749.207433903,727,703.207433903,670,641,894.207433903,792.207433903,823,653,634,654.792566097,0.403627513974,0.00449340433765,0.0798256042133,0.999999946959,0.000124394932553,-0.000295356886799,5.80668077863e-05,1793253002505992448
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,749.785702271,727,703.785702271,670,641,894.785702271,792.785702271,823,653,634,654.214297729,0.403330753508,0.00449239034098,0.07982744299,0.999999950052,0.000107820642717,-0.000292553375175,5.18059573312e-05,1793253002522659072
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,749.640905545,726.640905545,703.640905545,670,641,894.640905545,793,823,653,634,654,0.403061283136,0.00448811561198,0.0798296694132,0.999999951785,9.7921896059e-05,-0.000290265357245,5.08671009512e-05,1793253002539325696
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,749.070384293,726.070384293,703.070384293,670,641,894.070384293,793,823,653,634,654,0.402807880533,0.00448192103649,0.0798321240742,0.999999952812,9.19535585825e-05,-0.00028828085025,5.3061715246e-05,1793253002555992320
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,749,726.5195268,703.5195268,670,641.5195268,894,792.4804732,823,653,634,654,0.402580590683,0.00447904619576,0.0798313353359,0.99999995304,8.63471791894e-05,-0.000289020084078,5.41398371565e-05,1793253002572658688
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,749,727,703.89043632,670,641.89043632,894,792,823,653,634,654,0.402364492585,0.00447632116771,0.0798302344841,0.999999953221,8.07457521898e-05,-0.000289787533404,5.53245240093e-05,1793253002589325056
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,749,727,703.31154915,670,641.31154915,894,792,823,653,634,654,0.40218059358,0.0044722366469,0.0798297518804,0.99999995376,7.49473393531e-05,-0.000289033902419,5.76387407737e-05,1793253002605991680
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770.265719277,749,727,703.265719277,670.265719277,641,894.265719277,792.265719277,823,653,634,654,0.402012491913,0.00446636752331,0.0798313729057,0.999999955125,6.71834464622e-05,-0.000285749839164,5.98691889501e-05,1793253002622658560
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,770,749.076580578,727,703.076580578,670.076580578,641,894,792.923419422,823,653,634,654,0.400970264168,0.00447876546518,0.0798266587231,0.999999949076,0.000117189692841,-0.000292004188233,5.33625498624e-05,1793253003072658432
+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,749,726.490292805,703.509707195,670.509707195,641.509707195,894,792.490292805,823,653,634,654,0.400970829867,0.00447754013338,0.0798269724728,0.999999949572,0.00011616704245,-0.00029066194403,5.36349918356e-05,1793253003089325824
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,749,726.096499142,704,671,642,894.096499142,792.096499142,823,653,634,654,0.400971308739,0.00447674493665,0.0798272466425,0.999999949917,0.00011622192653,-0.00028939506938,5.39365041948e-05,1793253003105992960
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,749,726.677846535,704,671,642,894.677846535,792.677846535,823,653,634,654,0.400971766572,0.00447855168538,0.079827990772,0.999999949797,0.000119601598761,-0.000288429848144,5.39337534555e-05,1793253003122659584
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,671,642,894.743326322,792.743326322,823,653,634,654,0.400971631358,0.00447926178261,0.0798283651732,0.999999949709,0.000120342377062,-0.000288447515128,5.38222532716e-05,1793253003139326208
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,770,749,727,704,671,641.595818848,894.404181152,792,823,653,634,654,0.400970810666,0.0044785867422,0.0798281857528,0.99999994972,0.000117041866698,-0.000289837690543,5.34417790677e-05,1793253003172658688
+410,6.833333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,671,641.025600959,894.974399041,792,823,653,634,654,0.400971241841,0.00447882378324,0.0798280877104,0.999999949814,0.000117010758245,-0.0002895414362,5.33543316321e-05,1793253003189325056
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diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90865ffce1389ebca0cbcf2288409a8c5dfe9087
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,417 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.585753513979,0.0100051758062,1.07002089449,0.556324856142,0.0186775797486,1.06963226657
+397,6.616666667,pose2_to_pose3_retreat,0.585753425484,0.0100051817676,1.07002089538,0.556324767582,0.0186775854837,1.06963226737
+398,6.633333333,pose2_to_pose3_retreat,0.585753170365,0.0100051989537,1.07002089793,0.556324512274,0.0186776020172,1.0696322697
+399,6.650000000,pose2_to_pose3_retreat,0.585753094332,0.0100052040757,1.07002089869,0.556324436184,0.0186776069447,1.06963227039
+400,6.666666667,pose2_to_pose3_retreat,0.585752931861,0.0100052150206,1.07002090031,0.556324273592,0.018677617474,1.06963227187
+401,6.683333333,pose2_to_pose3_retreat,0.58575263151,0.0100052352538,1.07002090331,0.556323973018,0.0186776369389,1.06963227461
+402,6.700000000,pose2_to_pose3_retreat,0.585752377459,0.0100052523679,1.07002090584,0.556323718779,0.0186776534032,1.06963227693
+403,6.716666667,pose2_to_pose3_retreat,0.585752278445,0.010005259038,1.07002090683,0.556323619692,0.01867765982,1.06963227783
+404,6.733333333,pose2_to_pose3_retreat,0.585751987932,0.0100052786084,1.07002090973,0.556323328963,0.0186776786473,1.06963228048
+405,6.750000000,pose2_to_pose3_retreat,0.585751711546,0.0100052806724,1.07002087835,0.556323052629,0.0186776809199,1.06963224984
+406,6.766666667,pose2_to_pose3_retreat,0.585751660059,0.0100052793088,1.07002086889,0.556323001179,0.0186776796919,1.06963224063
+407,6.783333333,pose2_to_pose3_retreat,0.585751658062,0.0100052792559,1.07002086853,0.556322999183,0.0186776796442,1.06963224028
+408,6.800000000,pose2_to_pose3_retreat,0.585751651102,0.0100052790715,1.07002086725,0.556322992227,0.0186776794782,1.06963223903
+409,6.816666667,pose2_to_pose3_retreat,0.585751434032,0.0100052733226,1.0700208274,0.556322775312,0.0186776743008,1.06963220021
+410,6.833333333,pose2_to_pose3_retreat,0.585751155107,0.0100052659355,1.07002077618,0.556322496586,0.018677667648,1.06963215032
+411,6.850000000,pose2_to_pose3_retreat,0.585751150814,0.0100052658218,1.0700207754,0.556322492296,0.0186776675456,1.06963214955
+412,6.866666667,pose2_to_pose3_retreat,0.585751069953,0.0100052636802,1.07002076055,0.556322411493,0.018677665617,1.06963213508
+413,6.883333333,pose2_to_pose3_retreat,0.585751031957,0.010005262309,1.07002077619,0.556322373415,0.018677663976,1.06963215091
+414,6.900000000,pose2_to_pose3_retreat,0.585750895974,0.0100052562003,1.07002090664,0.556322236781,0.0186776556844,1.06963228201
+415,6.916666667,pose2_to_pose3_retreat,0.585750812456,0.0100053063881,1.07002087057,0.556322154543,0.0186777102312,1.06963224626
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2221097f676d9dd8a0674f0030de5c9985570277
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e1a1248bcb6efd2e60ba20985a21663ca12aa91382d47119b22280587fcc741
+size 26419822
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2fe003e41ca00460e0d01fcf67dc9e7955ba1af2
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_04/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,771,750,727,704,670,642,894,793,823,653,635,654,0.400969443896,0.00447678934822,0.0798274319817,0.999999950469,0.000114474107013,-0.000288396420127,5.27809382114e-05,1793253003390967808
+1,0.016666667,BASELINE,771,749.410194945,727,704,670,642,894,793,823,653,634.410194945,654.589805055,0.400971074235,0.00447743937089,0.07982924187,0.999999950739,0.000116295191067,-0.000286716474146,5.28218094176e-05,1793253003407634432
+2,0.033333333,BASELINE,770.823504888,749,727,704,670,642,894,793,823,653,634.176495112,654.823504888,0.400971700911,0.00447807074934,0.0798300959416,0.999999950791,0.000117290110979,-0.000286119500634,5.28757722198e-05,1793253003424301056
+3,0.050000000,BASELINE,770.243928769,749,727,704,670,642,894,793,823,653,634.756071231,654.243928769,0.400970035413,0.00447865954809,0.0798287671117,0.999999950353,0.000116398230716,-0.000287995828324,5.29596337264e-05,1793253003440967424
+4,0.066666667,BASELINE,770,749,726.664944252,703.664944252,670,641.664944252,894,793,823,653,635,654,0.400969621599,0.00447932481496,0.0798283733758,0.999999950255,0.000116965087969,-0.00028812575589,5.28554216934e-05,1793253003457633792
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+6,0.100000000,BASELINE,770,749.488254616,726.488254616,703.488254616,670,641.488254616,894,793,823,653,634.511745384,654,0.400971056752,0.00447984355736,0.0798295849719,0.999999950739,0.000117932119738,-0.000286073172022,5.26901201802e-05,1793253003490966528
+7,0.116666667,BASELINE,770,749.936175512,727,703.936175512,670.063824488,642,894,793,823,653,634,654,0.40097194172,0.00447954198051,0.0798304706866,0.999999951039,0.000117255059663,-0.0002852781512,5.28204412614e-05,1793253003507632896
+8,0.133333333,BASELINE,770,749.347346487,727,703.347346487,670.652653513,642,894,793,823,653,634,654,0.400971739297,0.0044797547036,0.0798301030259,0.99999995078,0.000119739282337,-0.000285130114268,5.29439951076e-05,1793253003524300288
+9,0.150000000,BASELINE,770,749,727,703,671,642,894.23819627,792.76180373,823,653,634,654,0.400971635588,0.00447895606931,0.0798300062752,0.999999950805,0.000119932010728,-0.000284945366224,5.3028605327e-05,1793253003540967424
+10,0.166666667,BASELINE,770,749,727,703,671,642,894.819012037,792.180987963,823,653,634,654,0.400971673865,0.0044767027071,0.0798302991991,0.999999951239,0.000116828672943,-0.00028470781324,5.30571993528e-05,1793253003557633792
+11,0.183333333,BASELINE,770,749,727,703.394525287,671,641.605474713,895,792,823,653,634,654,0.400971362757,0.00447673556145,0.0798302199971,0.999999951364,0.0001155966135,-0.000284788979937,5.29578024935e-05,1793253003574300416
+12,0.200000000,BASELINE,770,749,727,703.967638325,671,641.032361675,895,792,823,653,634,654,0.400970893495,0.00447780330559,0.0798299723469,0.999999951353,0.00011521161581,-0.000285014419824,5.28004686555e-05,1793253003590966272
+13,0.216666667,BASELINE,770,749,727,704,670.456498738,641.543501262,894.456498738,792.543501262,823,653,634,654,0.400971070629,0.00447892705742,0.0798301627327,0.999999951127,0.000116443030526,-0.000285323321941,5.27080871001e-05,1793253003607632896
+14,0.233333333,BASELINE,770,749,727,704,670.123294115,641.876705885,894,792.876705885,823,653,634,654,0.400971270633,0.00447975638485,0.0798304050139,0.999999950933,0.000117677287798,-0.000285501481335,5.26836133159e-05,1793253003624299520
+15,0.250000000,BASELINE,770,749,727,704,670.717467569,641.282532431,894,792.282532431,823,653,634,654,0.400971410237,0.00447944845898,0.0798307453744,0.999999950915,0.000118552954021,-0.000285161237942,5.29036443058e-05,1793253003640966144
+16,0.266666667,BASELINE,770.302030379,749.302030379,727,704,670.697969621,641.302030379,894.302030379,792.302030379,823,653,634,654,0.400970864548,0.0044790730824,0.0798303433446,0.999999950753,0.000119226731469,-0.000285415413506,5.30666591752e-05,1793253003657633024
+17,0.283333333,BASELINE,770.877880183,749.877880183,727,704,670.122119817,641.877880183,894.877880183,792.877880183,823,653,634,654,0.400969697575,0.00447863655532,0.0798292682669,0.999999950462,0.00011971747738,-0.000286208486729,5.31779834649e-05,1793253003674299904
+18,0.300000000,BASELINE,770.547531454,749.547531454,727,703.547531454,670.452468546,641.547531454,894.095062908,793,823,653,634,654,0.400969875027,0.00447692299006,0.0798296306681,0.999999950969,0.000116202197669,-0.000285882106619,5.31943811766e-05,1793253003690966784
+19,0.316666667,BASELINE,770.027559041,749,727,703,670.972440959,641,893.027559041,793,823,653,634.027559041,654,0.400970385755,0.00447505094284,0.0798303216758,0.999999951636,0.000111919668037,-0.000285262322831,5.31676073411e-05,1793253003707632896
+20,0.333333333,BASELINE,770.61989791,749,727,703,670.38010209,641,893.61989791,793,823,653,634.61989791,654,0.400970310935,0.00447697486264,0.0798298182059,0.999999951551,0.000114009732519,-0.000284804298169,5.27796898369e-05,1793253003724299520
+21,0.350000000,BASELINE,771,749.206839959,727,703,670,641,894,792.793160041,823,653,635,654,0.400970746545,0.00447809566614,0.0798297292312,0.999999951507,0.000115714130594,-0.000284307351433,5.25844034804e-05,1793253003740966144
+22,0.366666667,BASELINE,771,749.784116598,727,703,670,641,894,792.215883402,823,653,635,654,0.400972096303,0.00447777814128,0.07983038259,0.999999951542,0.000116727825428,-0.000283740697887,5.2734106805e-05,1793253003757632768
+23,0.383333333,BASELINE,770.640498578,749.640498578,727,703.359501422,670,641.359501422,894,792.359501422,823,653.359501422,634.640498578,654,0.400972358966,0.00447870811089,0.0798308974665,0.999999951506,0.00011774873647,-0.000283442919855,5.27667875687e-05,1793253003774299392
+24,0.400000000,BASELINE,770.066243802,749.066243802,727,703.933756198,670,641.933756198,894,792.933756198,823,653.933756198,634.066243802,654,0.400971972239,0.00448038328927,0.0798313296188,0.999999951425,0.000118773958311,-0.000283305758428,5.2729563234e-05,1793253003790966016
+25,0.416666667,BASELINE,770,749.51024567,727,704,670.51024567,642,894,793,823.51024567,653.48975433,634,654,0.400972368697,0.00447915249314,0.0798309415423,0.999999951558,0.000117030479477,-0.000283570894531,5.26841653611e-05,1793253003807632640
+26,0.433333333,BASELINE,770,749.910643165,727,704,671,641.910643165,894,792.910643165,823.910643165,653,634,654,0.400972691219,0.00447781905264,0.0798305833611,0.999999951676,0.000115480055262,-0.000283794147209,5.26591377784e-05,1793253003824299264
+27,0.450000000,BASELINE,770,749.318417709,727,704,671,641.318417709,894,792.318417709,823.318417709,653,634,654,0.400972022923,0.00447804047356,0.079830995333,0.999999951576,0.00011704784501,-0.000283486474603,5.27547449927e-05,1793253003840965888
+28,0.466666667,BASELINE,770,749,727,704,670.733839506,641.266160494,894,792.266160494,823,653,634,654,0.400971486382,0.00447836533483,0.0798310097327,0.999999951386,0.000118218485019,-0.000283666800873,5.27804992712e-05,1793253003857632512
+29,0.483333333,BASELINE,770,749,727,704,670.158154513,641.841845487,894,792.841845487,823,653,634,654,0.400971103062,0.00447881048938,0.0798305617858,0.999999951092,0.000118927269864,-0.000284414632897,5.27250198699e-05,1793253003874299136
+30,0.500000000,BASELINE,770,749,727,704,670.41406326,641.58593674,894,793,823,653,634,654,0.400970605691,0.00447896443284,0.0798305614879,0.999999950996,0.000118423338225,-0.000284959929569,5.27412160286e-05,1793253003890966016
+31,0.516666667,BASELINE,770,749,727,704,670.984967687,641.015032313,894,793,823,653,634,654,0.400970065119,0.00447900806974,0.0798307307528,0.999999950974,0.000117460047125,-0.000285428508766,5.27845618529e-05,1793253003907632896
+32,0.533333333,BASELINE,770,749,727,704,671,641,894.575945629,793,823,653,634,654,0.400969915375,0.00447897291882,0.0798301829867,0.999999950796,0.000118575588745,-0.000285590324608,5.27861242694e-05,1793253003924299264
+33,0.550000000,BASELINE,770.163070739,749,727,704,671,641,894.836929261,792.836929261,823,653,634,654,0.400969897148,0.00447882724949,0.0798299021219,0.999999950766,0.000119026443745,-0.000285510561336,5.27769577607e-05,1793253003940966144
+34,0.566666667,BASELINE,770.739065141,749,727,704,671,641,894.260934859,792.260934859,823,653,634,654,0.400970185183,0.00447840712332,0.0798303461981,0.999999951121,0.000117651843462,-0.000284840083654,5.27434849367e-05,1793253003957632512
+35,0.583333333,BASELINE,770.68284222,749,727,703.68284222,671,641,894.31715778,792,823,653,634,654,0.400970882612,0.00447845205325,0.0798305314847,0.999999951304,0.000117388202407,-0.000284320111172,5.26607918479e-05,1793253003974299136
+36,0.600000000,BASELINE,770.103011741,749,727,703.103011741,671,641,894.896988259,792,823,653,634,654,0.400971919103,0.00447888214645,0.0798305024397,0.999999951346,0.000118044666832,-0.000283924788269,5.25373341246e-05,1793253003990965760
+37,0.616666667,BASELINE,770,749,727,703.471393601,671,641.471393601,894.528606399,792,823,653,634,654,0.400972593245,0.0044787301798,0.0798309694089,0.999999951472,0.000118386239548,-0.000283307786163,5.2704944434e-05,1793253004007632640
+38,0.633333333,BASELINE,770,749.046081457,727,704,671,642,894,792.046081457,823,653,634,654,0.400973011027,0.00447850307791,0.0798314552963,0.999999951581,0.000118607629323,-0.000282790867586,5.29111049678e-05,1793253004024299264
+39,0.650000000,BASELINE,770,749.637999034,727,704,671,642,894,792.637999034,823,653,634,654,0.400971319463,0.00447887548517,0.0798308959727,0.999999951282,0.000118211255499,-0.000284026716657,5.28290524216e-05,1793253004040965888
+40,0.666666667,BASELINE,770,749.776082769,727,704,671,642,894,793,823,653,634,654,0.400970946011,0.0044791971348,0.0798308857909,0.999999951425,0.000117728861707,-0.000283750257114,5.26759212199e-05,1793253004057632768
+41,0.683333333,BASELINE,770,749.199610556,727,704,671,642,894,793,823,653,634,654,0.400972647911,0.00447943886712,0.079831740226,0.999999952263,0.000117111030536,-0.000281092685812,5.24108775365e-05,1793253004074299904
+42,0.700000000,BASELINE,770,749,727,703.623817485,670.623817485,642,894,793,823,653,634,654,0.400973298857,0.00447917883797,0.0798320626855,0.999999952305,0.00011699969796,-0.000280957734935,5.25649472362e-05,1793253004090966528
+43,0.716666667,BASELINE,770,749,727,703.048384149,670.048384149,642,894,793,823,653,634,654,0.400973393149,0.00447865304318,0.079832103376,0.999999951929,0.000117156640125,-0.000282158928616,5.29410067551e-05,1793253004107633408
+44,0.733333333,BASELINE,770.52570853,749.52570853,727,703,670.52570853,641.47429147,894,793,823,653,634.52570853,654,0.400971371308,0.0044796261613,0.0798311267777,0.999999951092,0.000118749195653,-0.000284449563958,5.29457561158e-05,1793253004124300032
+45,0.750000000,BASELINE,770.89646252,750,727,703,670.89646252,641,894,793,823,653,634.89646252,654,0.400969832005,0.00448034593537,0.0798303998693,0.999999950536,0.000119692490015,-0.000286019542252,5.28697723762e-05,1793253004140966144
+46,0.766666667,BASELINE,770.3002701,750,727,703,670.3002701,641,894,793,823,653,634.3002701,654,0.400971513088,0.00447920549325,0.0798313054091,0.999999951545,0.000116919354215,-0.000283684585161,5.25718358677e-05,1793253004157632768
+47,0.783333333,BASELINE,770.285142813,749.714857187,727,703,670,641.285142813,894,793,823,653,634,654,0.40097218923,0.00447871951991,0.0798316194945,0.999999952049,0.000115224804539,-0.000282650839084,5.228152407e-05,1793253004174299392
+48,0.800000000,BASELINE,770.859617912,749.140382088,727,703,670,641.859617912,894,793,823,653,634,654,0.400971845666,0.00447889763104,0.0798313334356,0.999999952052,0.000114624687831,-0.000282937421844,5.1998948974e-05,1793253004190966272
+49,0.816666667,BASELINE,770.566640899,749,727,703.433359101,670,641.566640899,894,793,823,653,634,654,0.400971118669,0.0044789512339,0.0798309489142,0.999999951794,0.000115033019877,-0.000283680073948,5.2012333541e-05,1793253004207633152
+50,0.833333333,BASELINE,770,749.007087188,727,704,670.007087188,641,894,793,823,653,634,654,0.400970280126,0.00447897613115,0.0798305409197,0.999999951452,0.000115793548355,-0.000284554894583,5.21253195007e-05,1793253004224299776
+51,0.850000000,BASELINE,770,749.599332658,727,704,670.599332658,641,894,793,823,653,634,654,0.400970469828,0.00447995543132,0.0798308238957,0.999999951198,0.000118706769556,-0.000284164770922,5.25595266197e-05,1793253004240966144
+52,0.866666667,BASELINE,770,749.813059273,727,704,670.813059273,641,894,793,823,653,634,654,0.400970962279,0.00448030960789,0.0798310846223,0.999999951224,0.00011968266389,-0.000283626534299,5.27674840367e-05,1793253004257632768
+53,0.883333333,BASELINE,770,749.235149916,727,704,670.235149916,641,894,793,823,653,634,654,0.400972087902,0.00447935639829,0.0798312988163,0.999999951841,0.00011660682444,-0.000282778533631,5.25022618436e-05,1793253004274299392
+54,0.900000000,BASELINE,770,749,727,703.658579413,670,641.341420587,894,792.658579413,823,653,634,654,0.400972514526,0.00447788932092,0.0798314587818,0.999999952156,0.000114331411538,-0.000282588042875,5.25464144331e-05,1793253004290966016
+55,0.916666667,BASELINE,770,749,727,703.082927453,670,641.917072547,894,792.082927453,823,653,634,654,0.400972461602,0.00447606970494,0.0798315815439,0.999999952264,0.00011260513088,-0.000282848636408,5.28028134038e-05,1793253004307632640
+56,0.933333333,BASELINE,770.506297031,749,727,703.506297031,670.506297031,641.493702969,894,792.506297031,823,653,634,654,0.400971324234,0.00447776063174,0.0798313137873,0.99999995183,0.000115444037798,-0.000283247236271,5.27666561508e-05,1793253004324299520
+57,0.950000000,BASELINE,770.904254936,749,726.904254936,703.904254936,670.904254936,641.095745064,894,792.904254936,823,653,634,654,0.400970257718,0.00447967597736,0.0798310020668,0.999999951381,0.000118357648259,-0.00028363994022,5.27037338093e-05,1793253004340966144
+58,0.966666667,BASELINE,770.325209382,749,726.325209382,703.325209382,670.325209382,641.674790618,894,792.325209382,823,653,634,654,0.400970470153,0.00447974171698,0.0798308001956,0.999999951378,0.000117769935687,-0.000283885637808,5.27542516973e-05,1793253004357632768
+59,0.983333333,BASELINE,770,749,726.252821792,703,670.252821792,641.747178208,894,792,823,653,634,654,0.400970894067,0.00447959505792,0.0798307152325,0.999999951474,0.000117406929458,-0.000283691805805,5.2785902606e-05,1793253004374299136
+60,1.000000000,BASELINE,770,749,726.829553446,703,670.829553446,641.170446554,894,792,823,653,634,654,0.400971588924,0.00447917627824,0.0798307800498,0.999999951697,0.000117331812102,-0.000282934857947,5.2793381552e-05,1793253004390966016
+61,1.016666667,BASELINE,770,749,727,703.40419644,671,641,894,792,823,653,634,654,0.400970786932,0.00447848152157,0.0798299921071,0.999999951434,0.000116476127028,-0.000284250808083,5.26001292549e-05,1793253004407632896
+62,1.033333333,BASELINE,770,749,727,703.977963157,671,641,894,792,823,653,634,654,0.400969356975,0.00447767098584,0.0798288464108,0.999999950962,0.000115292974739,-0.000286436389587,5.2322665299e-05,1793253004424299264
+63,1.050000000,BASELINE,770,749,727,703.431238764,671,641,894,792.568761236,823,653,634,654,0.400969376435,0.00447748839895,0.0798292894441,0.999999951177,0.000114291641466,-0.000286083279638,5.23382233611e-05,1793253004440965888
+64,1.066666667,BASELINE,770,749,727,703,671,641,894,793.156570082,823,653,634,654,0.400969542248,0.00447774989417,0.0798298481722,0.999999951367,0.000114031346789,-0.000285521020254,5.23520569562e-05,1793253004457632768
+65,1.083333333,BASELINE,770,749,727,703,671,641,894,793.734503526,823,653,634,654,0.400969946127,0.00447913901007,0.0798305474858,0.999999951414,0.000115745800643,-0.000284668781024,5.23297525036e-05,1793253004474299136
+66,1.100000000,BASELINE,770.310594828,749,727,703,671,641,894,793.378810343,823,653,634,654,0.400971073572,0.00447924837892,0.0798313996785,0.999999951719,0.000116240162395,-0.000283372989272,5.24345239004e-05,1793253004490966016
+67,1.116666667,BASELINE,770.885120723,749,727,703,671,641,894,792.229758554,823,653,634,654,0.400972815873,0.00447827026985,0.0798323817818,0.999999952244,0.000115697738575,-0.000281700284363,5.26472792743e-05,1793253004507632640
+68,1.133333333,BASELINE,770.528465106,749,726.528465106,703.471534894,670.528465106,641,894,792,823,653,634,654,0.400973405463,0.00447813883733,0.0798324706949,0.999999952429,0.000116477634358,-0.000280721583943,5.26389869557e-05,1793253004524299008
+69,1.150000000,BASELINE,770,749,726.059853415,703.940146585,670.059853415,641,894,792,823,653,634,654,0.400973587032,0.00447826147903,0.0798322670055,0.999999952498,0.000117401767057,-0.000280107087497,5.25432870191e-05,1793253004540965888
+70,1.166666667,BASELINE,770,749,726.638916693,703.361083307,670.638916693,641,894,792,823,653,634,654,0.400972728295,0.00447875248905,0.0798314615728,0.999999952307,0.000116710239275,-0.00028114730388,5.21685980962e-05,1793253004557632768
+71,1.183333333,BASELINE,770.216389462,749,727,703,670.783610538,641,894,792.216389462,823.216389462,653,634,654,0.400971340498,0.00447905739705,0.0798308446981,0.999999951866,0.000116682662356,-0.000282707234441,5.22402076658e-05,1793253004574299136
+72,1.200000000,BASELINE,770.79122765,749,727,703,670.20877235,641,894,792.79122765,823.79122765,653,634,654,0.400969076313,0.00447905402749,0.0798305401694,0.999999951011,0.000117754918652,-0.000285128070702,5.30511097671e-05,1793253004590966016
+73,1.216666667,BASELINE,770.633422029,749,727,703.366577971,670.366577971,641,894,793,823.633422029,653,634,654,0.400969131926,0.00447953196183,0.0798306639794,0.999999950953,0.000118079129304,-0.000285215182679,5.29435517813e-05,1793253004607632640
+74,1.233333333,BASELINE,770.057779667,749,727,703.942220333,670.942220333,641,894,793,823.057779667,653,634,654,0.400970510551,0.00448028439031,0.0798310320767,0.999999951353,0.000117976719309,-0.000283971339876,5.23121834934e-05,1793253004624299520
+75,1.250000000,BASELINE,770,749,727,704,670.468598058,641,894,793,823,653,634,654,0.400970575814,0.00447991025748,0.0798308005651,0.999999951494,0.0001167128191,-0.000284015596118,5.22053602495e-05,1793253004640966144
+76,1.266666667,BASELINE,770.119546059,749,727,704,670,641,894,792.880453941,823,653,634,654,0.40097058928,0.00447939188207,0.0798307162731,0.999999951648,0.000115406637973,-0.00028401497153,5.21689682893e-05,1793253004657632512
+77,1.283333333,BASELINE,770.697910493,749,727,704,670,641,894,792.302089507,823,653,634,654,0.400970966354,0.00447880231794,0.0798314537749,0.999999951964,0.000114435554709,-0.000283290505585,5.21782717914e-05,1793253004674299136
+78,1.300000000,BASELINE,771,749,727,704,670.274492057,641,894,792,823,653,634,654,0.400971057167,0.00447905578817,0.0798315154545,0.999999951929,0.000115791450486,-0.000282878539128,5.20969805078e-05,1793253004690965760
+79,1.316666667,BASELINE,771,749,727,704,670.849124125,641,894,792,823,653,634,654,0.400970834972,0.00448023106414,0.0798308381645,0.999999951499,0.000119691753348,-0.000282808271492,5.19166294533e-05,1793253004707632640
+80,1.333333333,BASELINE,771,749,727,703.57304356,670.57304356,641,894,792,823,653,634,654,0.400970901146,0.00448021700096,0.0798311576509,0.999999951495,0.000119317614935,-0.000282975807135,5.19329636738e-05,1793253004724299264
+81,1.350000000,BASELINE,770.99396843,749,727,703.00603157,670.00603157,641,894,792.00603157,823.00603157,653,634,654,0.400971083218,0.00447978370883,0.0798318293266,0.999999951647,0.000117443095719,-0.000283207995019,5.20186302573e-05,1793253004740965888
+82,1.366666667,BASELINE,770.404904179,749,727,703.595095821,670.595095821,641,894,792.595095821,823.595095821,653,634,654,0.400972543564,0.00447975913326,0.0798322393331,0.999999952103,0.00011764769057,-0.000281505344467,5.20369931314e-05,1793253004757632512
+83,1.383333333,BASELINE,770.18111796,749,727,704,671,641.18111796,894,793,823.81888204,653,634.18111796,654,0.400972990205,0.00447944383273,0.0798323382225,0.999999952262,0.000117567170188,-0.000280957512888,5.21321474325e-05,1793253004774299392
+84,1.400000000,BASELINE,770.760451661,749,727,704,671,641.760451661,894,793,823.239548339,653,634.760451661,654,0.400971208057,0.00447848932859,0.0798317530728,0.999999951769,0.000116859780086,-0.000282948728416,5.23961395212e-05,1793253004790965760
+85,1.416666667,BASELINE,770.662861444,749,726.662861444,703.662861444,670.662861444,641.662861444,894,793,823,653,634.662861444,654,0.40097119045,0.00447794734461,0.0798321785854,0.999999952131,0.000115618425498,-0.000282163511139,5.24735499973e-05,1793253004807632640
+86,1.433333333,BASELINE,770.088040579,749,726.088040579,703.088040579,670.088040579,641.088040579,894,793,823,653,634.088040579,654,0.400972416842,0.00447769618695,0.0798333166139,0.99999995309,0.000114000626578,-0.000279420911677,5.24194206264e-05,1793253004824299264
+87,1.450000000,BASELINE,770,749,726.486288993,703.486288993,670.486288993,641.486288993,894.486288993,793,823,653,634,654,0.400972602385,0.0044794591509,0.0798333096469,0.999999952648,0.000116850652035,-0.000279864653037,5.22072431065e-05,1793253004840966144
+88,1.466666667,BASELINE,770,749,727,704,671,642,894.937491307,792.937491307,823,653,634,654,0.400972372854,0.00448129974524,0.079832927937,0.999999951959,0.000119932527325,-0.000281058041958,5.19960265194e-05,1793253004857632512
+89,1.483333333,BASELINE,770,749,727,704,671,642,894.34447609,792.34447609,823,653,634,654,0.40097021829,0.00448070756429,0.0798311233475,0.99999995142,0.000118124113094,-0.000283722691525,5.2035564643e-05,1793253004874299136
+90,1.500000000,BASELINE,770,749,727,703.757767981,671,641.757767981,894.242232019,792,823,653,634,654.242232019,0.400969008084,0.00447961366435,0.0798302461621,0.999999951324,0.000116076288017,-0.000284893961442,5.21014682207e-05,1793253004890965760
+91,1.516666667,BASELINE,770,749,727,703.179801594,671,641.179801594,894.820198406,792,823,653,634,654.820198406,0.40096910676,0.00447782438033,0.079830654362,0.999999951847,0.000113696638881,-0.000283995402079,5.22039144006e-05,1793253004907632384
+92,1.533333333,BASELINE,770.395126856,749,727,703,670.604873144,641.395126856,894.604873144,792,823,653,634,655,0.400969604609,0.00447726087784,0.0798312725262,0.999999952129,0.000112788722225,-0.000283357518195,5.22349638646e-05,1793253004924299264
+93,1.550000000,BASELINE,770.968683498,749,727,703,670.031316502,641.968683498,894.031316502,792,823,653,634,655,0.400970282715,0.00447725090866,0.0798319855054,0.999999952304,0.000112545404353,-0.000282837349011,5.22337722978e-05,1793253004940966400
+94,1.566666667,BASELINE,770.442242984,749,727,703.557757016,670.557757016,642,894,792.557757016,823,653,634.557757016,654.442242984,0.400970667224,0.00447816290649,0.0798321783367,0.999999952134,0.000114126481451,-0.000282773547026,5.23992490974e-05,1793253004957632768
+95,1.583333333,BASELINE,770,749,727,703.854965194,670.854965194,641.854965194,894.145034806,793,823,653,634.854965194,654,0.400970974047,0.00447888394687,0.0798323731662,0.99999995207,0.000115428695401,-0.000282448165042,5.25280543853e-05,1793253004974299392
+96,1.600000000,BASELINE,770,749,727,703.275745853,670.275745853,641.275745853,894.724254147,793,823,653,634.275745853,654,0.400971099064,0.00447887392231,0.0798326639091,0.999999952388,0.000115580659315,-0.00028126079828,5.25182615576e-05,1793253004990966016
+97,1.616666667,BASELINE,770,749,727,703.301892856,670.301892856,641.301892856,894.698107144,792.698107144,823,653,634,654,0.400970727772,0.00447911414909,0.0798322967924,0.999999952331,0.000115363183219,-0.000281609419616,5.22154595111e-05,1793253005007632384
+98,1.633333333,BASELINE,770,749,727,703.878095318,670.878095318,641.878095318,894.121904682,792.121904682,823,653,634,654,0.400969905517,0.00447958176232,0.0798313319234,0.999999951931,0.000114810021984,-0.000283353689443,5.16464198196e-05,1793253005024299264
+99,1.650000000,BASELINE,770,749,727,703.538067991,670.538067991,641.538067991,894,792.461932009,823,653,634,654,0.400970382505,0.00447921002541,0.0798314339005,0.999999952034,0.000114818903977,-0.0002829671814,5.17590699431e-05,1793253005040965888
+100,1.666666667,BASELINE,770.04726337,749,727,703,670,641,894,793,823,653,634.04726337,654,0.400971199498,0.00447870458,0.079831795545,0.999999952247,0.000114993309992,-0.000282092149942,5.20315678662e-05,1793253005057632512
+101,1.683333333,BASELINE,770.626362306,749,727,703,670,641,894,793,823,653,634.626362306,654,0.4009719194,0.00447922896969,0.079831857799,0.999999952189,0.000115333211348,-0.000282153807898,5.20444181767e-05,1793253005074299136
+102,1.700000000,BASELINE,770.794760149,749,727,703,670,641,894,793,823,653,634.794760149,654.205239851,0.400972374837,0.00447937244619,0.0798319909469,0.999999952178,0.000116151313669,-0.000281837428279,5.21576957105e-05,1793253005090965760
+103,1.716666667,BASELINE,770.216285273,749,727,703,670,641,894,793,823,653,634.216285273,654.783714727,0.400972349332,0.00447882322024,0.0798322530175,0.999999952248,0.000117839039217,-0.000280833575612,5.24536032587e-05,1793253005107632640
+104,1.733333333,BASELINE,770,749,727,703.359938097,670,641.359938097,894,792.640061903,823,653,634,654.640061903,0.400972426601,0.00447906758304,0.0798320235581,0.999999952217,0.000118227963441,-0.00028079892105,5.23483932749e-05,1793253005124299520
+105,1.750000000,BASELINE,770,749,727,703.934817011,670,641.934817011,894,792.065182989,823,653,634,654.065182989,0.400972565242,0.00447978584566,0.0798315005765,0.999999952128,0.000117841294964,-0.000281343033226,5.20036517693e-05,1793253005140966400
+106,1.766666667,BASELINE,770.52141576,749,727,703.47858424,670,642,894,792,823,653,634.52141576,654,0.400971387349,0.0044798309584,0.0798311934292,0.999999951735,0.000117924963656,-0.000282709126339,5.1959089946e-05,1793253005157632768
+107,1.783333333,POSE1_TO_POSE2_PRESS,770,750,727,704,670,642,895,793,823,653,634,654,0.400972298632,0.00448041950911,0.0798333823005,0.999999952525,0.000118456187435,-0.000279664871202,5.2024387158e-05,1793253005199979008
+108,1.800000000,POSE1_TO_POSE2_PRESS,770.577202528,749.422797472,727,704,670.577202528,641.422797472,894.422797472,792.422797472,823,653,634,654.577202528,0.40097224147,0.00447848444458,0.0798324724444,0.999999952597,0.000116146183456,-0.000280375200642,5.20094584761e-05,1793253005216645632
+109,1.816666667,POSE1_TO_POSE2_PRESS,771,749,726.84806892,704,671,641.15193108,894,792.15193108,823,653,634,655,0.400971983433,0.00447747486567,0.0798318579236,0.999999952572,0.000114907416256,-0.00028097932739,5.19970324958e-05,1793253005233312512
+110,1.833333333,POSE1_TO_POSE2_PRESS,771,749,726.280114569,704,671,641.719885431,894,792.719885431,823,653,634,655,0.40097117535,0.00447899948511,0.0798320521009,0.999999952288,0.000116601948488,-0.000281292646182,5.19914595022e-05,1793253005249980160
+111,1.850000000,POSE1_TO_POSE2_PRESS,771,749,726.30247987,704,671,642,894,792.69752013,823,653,634,654.69752013,0.400970688828,0.00447898582983,0.0798317111045,0.999999952138,0.000116375394056,-0.000281900618398,5.20782531271e-05,1793253005266647040
+112,1.866666667,POSE1_TO_POSE2_PRESS,771,749,726.899321441,704,671,642,894,792.100678559,823,653,634,654.100678559,0.400970515236,0.00447747518502,0.0798308492977,0.999999952118,0.000114279312336,-0.000282795335903,5.22549343702e-05,1793253005283313152
+113,1.883333333,POSE1_TO_POSE2_PRESS,771,749,727,704,671,642,894.481334733,792,823,653,634.481334733,654,0.400971176258,0.00447846949138,0.0798317669433,0.999999952096,0.000115976653224,-0.000282223229854,5.20406714181e-05,1793253005299979520
+114,1.900000000,POSE1_TO_POSE2_PRESS,770.93994261,749,727,703.93994261,671,642,894.93994261,792.06005739,823,653,634.93994261,654,0.400971906389,0.00447975933591,0.0798328575521,0.99999995208,0.000117944673579,-0.000281511732744,5.17625592266e-05,1793253005316646400
+115,1.916666667,POSE1_TO_POSE2_PRESS,770.363641943,749,727,703.363641943,671,642,894.363641943,792.636358057,823,653,634.363641943,654,0.400971774834,0.00447922039838,0.0798323311724,0.999999952176,0.000115622856598,-0.000282160512179,5.16175012225e-05,1793253005333312512
+116,1.933333333,POSE1_TO_POSE2_PRESS,770,749,726.783501779,703,670.783501779,641.783501779,894,792.783501779,823,653,634,654,0.400975538656,0.00447914936948,0.079833735473,0.99999995301,0.00011458650698,-0.000279624965125,5.15687204072e-05,1793253005349978624
+117,1.950000000,POSE1_TO_POSE2_PRESS,770,749,726.196796215,703,670.196796215,641.196796215,894,792.196796215,823,653,634,654,0.40098596349,0.0044798784544,0.0798384411955,0.99999995507,0.000115748279385,-0.000271644287575,5.16845715455e-05,1793253005366645248
+118,1.966666667,POSE1_TO_POSE2_PRESS,770,749,726.384745017,703.384745017,670.384745017,641.384745017,894,792.384745017,823,653,634,654,0.401013623898,0.00448058706457,0.0798499322243,0.999999960321,0.00011632824462,-0.00025134743083,5.14804931759e-05,1793253005383312128
+119,1.983333333,POSE1_TO_POSE2_PRESS,770,749,726.963679743,703.963679743,670.963679743,641.963679743,894,792.963679743,823,653,634,654,0.401049983501,0.00448128534073,0.0798648479546,0.999999966619,0.000116614558356,-0.000224834312704,5.1114938965e-05,1793253005399978752
+120,2.000000000,POSE1_TO_POSE2_PRESS,770,749,727,704,671,641.458427458,894,792.458427458,823.541572542,653,634,654,0.401107896848,0.00448108422321,0.0798825376848,0.999999974175,0.000114522002829,-0.000189811035038,5.00600116391e-05,1793253005416645632
+121,2.016666667,POSE1_TO_POSE2_PRESS,770.118587306,749,727,703.881412694,670.881412694,641,894,792,823.881412694,653,634,654,0.401169915591,0.00448086957768,0.0798994377894,0.999999979913,0.000112645115887,-0.000158376601356,4.90039587875e-05,1793253005433312512
+122,2.033333333,POSE1_TO_POSE2_PRESS,770.692498741,749,727,703.307501259,670.307501259,641,894,792,823.307501259,653,634,654,0.401242157904,0.0044808341382,0.0799125931477,0.999999982335,0.000112207682217,-0.000142908917394,4.81207559785e-05,1793253005449979648
+123,2.050000000,POSE1_TO_POSE2_PRESS,770.726120808,749,727,703,670.273879192,641,894,792,823,653,634,654,0.401321420453,0.00448168198884,0.0799228649155,0.999999984283,0.000112796033254,-0.00012864986325,4.64846354683e-05,1793253005466646272
+124,2.066666667,POSE1_TO_POSE2_PRESS,770.136119358,749,727,703,670.863880642,641,894,792,823,653,634,654,0.401408786032,0.00448354936808,0.0799298083277,0.999999985767,0.000114568385848,-0.000115785858666,4.39794674509e-05,1793253005483312384
+125,2.083333333,POSE1_TO_POSE2_PRESS,770,749,727,703.445442512,671,641.445442512,894,792,823,653,634,654,0.401513792231,0.00448447980611,0.079931727274,0.999999986549,0.000112802730081,-0.000111955137567,4.05522218772e-05,1793253005499979008
+126,2.100000000,POSE1_TO_POSE2_PRESS,770.024406015,749,727,704,671,642,894.024406015,792,823.024406015,653,634,654,0.401625219194,0.00448520925551,0.0799323871753,0.999999987173,0.000109970088218,-0.000110476467875,3.68184356532e-05,1793253005516645376
+127,2.116666667,POSE1_TO_POSE2_PRESS,770.601843923,749,727,704,671,642,894.601843923,792,823.601843923,653,634,654,0.401762259264,0.00448775148414,0.0799386619937,0.999999988659,0.000107002927082,-0.000100907560341,3.24046465713e-05,1793253005533312256
+128,2.133333333,POSE1_TO_POSE2_PRESS,771,749,726.819495004,703.819495004,670.819495004,642,894.819495004,792,823.819495004,653,634,654,0.401907325764,0.00449001267491,0.0799452638853,0.999999990252,0.000103408172819,-8.96152862288e-05,2.77642802293e-05,1793253005549978880
+129,2.150000000,POSE1_TO_POSE2_PRESS,771,749,726.238117558,703.238117558,670.238117558,642,894.238117558,792,823.238117558,653,634,654,0.402070217651,0.00449164972563,0.0799525921526,0.999999992126,9.84196359553e-05,-7.44956944994e-05,2.26207229687e-05,1793253005566645760
+130,2.166666667,POSE1_TO_POSE2_PRESS,771,749.343602814,726.343602814,703,670.343602814,642,894.343602814,792.343602814,823,653,634,654,0.402250170322,0.00449447210136,0.0799566880451,0.999999993218,9.428166123e-05,-6.62501686122e-05,1.6903803591e-05,1793253005583312384
+131,2.183333333,POSE1_TO_POSE2_PRESS,771,749.925561131,726.925561131,703,670.925561131,642,894.925561131,792.925561131,823,653,634,654,0.402441957987,0.00449811673113,0.0799585416566,0.999999993855,9.07337165831e-05,-6.27731452809e-05,1.07891453437e-05,1793253005599979264
+132,2.200000000,POSE1_TO_POSE2_PRESS,771,749.497713974,727,703,670.497713974,641.497713974,895,792.497713974,823,653,634.502286026,654,0.402657598058,0.00449968820372,0.079955025029,0.999999994258,8.03542018227e-05,-7.08154817307e-05,3.39884384613e-06,1793253005616645888
+133,2.216666667,POSE1_TO_POSE2_PRESS,771,749,727,703.07812433,670,641.07812433,895,792,823,653,635,654,0.402880414037,0.0045016253543,0.0799505813016,0.999999994306,6.97613952547e-05,-8.06370513176e-05,-4.31896774891e-06,1793253005633312000
+134,2.233333333,POSE1_TO_POSE2_PRESS,771,749,727,703.65320595,670,641.65320595,895,792,823,653,635,654,0.403126622644,0.0045078228702,0.0799452506025,0.999999993713,6.41856399242e-05,-9.10290012697e-05,-1.29299395393e-05,1793253005649978624
+135,2.250000000,POSE1_TO_POSE2_PRESS,771,749,726.765330654,703.765330654,670,641.765330654,895,792,823,653,634.765330654,654,0.403394780343,0.00451286858084,0.0799438350042,0.999999993555,6.03332171632e-05,-9.38763499309e-05,-2.09069183332e-05,1793253005666645248
+136,2.266666667,POSE1_TO_POSE2_PRESS,771,749,726.174172671,703.174172671,670,641.174172671,895,792,823,653,634.174172671,654,0.403696281121,0.00451616457179,0.0799483668765,0.999999994229,5.9098727134e-05,-8.52626158869e-05,-2.79207912739e-05,1793253005683312128
+137,2.283333333,POSE1_TO_POSE2_PRESS,770.591665465,749,726.408334535,703.408334535,670.408334535,641.408334535,895,792.408334535,823,653,634,654,0.404033168844,0.00452068997603,0.0799529071295,0.9999999911,0.000107091687266,-7.71015215348e-05,-1.96587400211e-05,1793253005699978752
+138,2.300000000,POSE1_TO_POSE2_PRESS,770.012771659,749,726.987228341,703.987228341,670.987228341,641.987228341,895,792.987228341,823,653,634,654,0.404384837506,0.00452572889992,0.0799574508829,0.999999982172,0.000175646703927,-6.91294923832e-05,-5.01601223801e-06,1793253005716645376
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,749,727,703.435228293,671,641.435228293,895,792.435228293,823.564771707,653,634.564771707,654,0.404789069965,0.00453265266453,0.0799597724611,0.999999992677,0.000103830910651,-6.03645318303e-05,-1.48855318764e-05,1793253005733312256
+140,2.333333333,POSE1_TO_POSE2_PRESS,770,749,727,703,671,641,895,792,824,653,635,654,0.40519817476,0.00453878376207,0.0799606989778,0.999999997355,4.12189110296e-05,-5.50744281464e-05,-2.36341649521e-05,1793253005749978880
+141,2.350000000,POSE1_TO_POSE2_PRESS,770,749,727,703,671,641,895,792,824,653,635,654,0.405618555965,0.00454236013536,0.0799575115475,0.999999997665,1.64466483356e-05,-6.04681334616e-05,-2.72626364339e-05,1793253005766645504
+142,2.366666667,POSE1_TO_POSE2_PRESS,770,749,727,703.296398303,670.703601697,641,895,792,824,653,634.703601697,654,0.406057961068,0.00454723877209,0.0799518303604,0.999999996711,3.17602703494e-05,-6.98334008043e-05,-2.63243244135e-05,1793253005783312128
+143,2.383333333,POSE1_TO_POSE2_PRESS,770,749,727,703.887355768,670.112644232,641,895,792,824,653,634.112644232,654,0.406516272076,0.00455341159216,0.0799436708898,0.999999992549,8.6911042383e-05,-8.31455872659e-05,-2.08475660227e-05,1793253005799979008
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,749,727,703.530155174,670.469844826,641.469844826,895,792,824.469844826,653,634,654,0.407007463393,0.00455873976664,0.0799352075701,0.999999989469,0.000102432642815,-9.98670945006e-05,-2.43985937321e-05,1793253005816645632
+145,2.416666667,POSE1_TO_POSE2_PRESS,770.049827294,749,727,703.049827294,671,642,895,792,825,653,634,654,0.407510490859,0.00456417250056,0.0799267769074,0.999999986772,0.000108909846649,-0.000117138975706,-2.95603072659e-05,1793253005833312256
+146,2.433333333,POSE1_TO_POSE2_PRESS,770.624415304,749,727,703.624415304,671,642,895,792,825,653,634,654,0.408056621699,0.00457280132401,0.0799194437828,0.99999998388,0.000118424310346,-0.000131751310104,-2.92941954579e-05,1793253005849979136
+147,2.450000000,POSE1_TO_POSE2_PRESS,770.796990263,749,727,703.796990263,670.796990263,642,895.203009737,792,825,653,634.203009737,654,0.408618689247,0.00458186258194,0.0799165523778,0.999999982358,0.000123299061138,-0.000138562141167,-2.96961559202e-05,1793253005866646272
+148,2.466666667,POSE1_TO_POSE2_PRESS,770.210834425,749,727,703.210834425,670.210834425,642,895.789165575,792,825,653,634.789165575,654,0.409210834568,0.00459173998538,0.0799220439583,0.999999983844,0.000119417148115,-0.000130648970321,-3.13589883748e-05,1793253005883313664
+149,2.483333333,POSE1_TO_POSE2_PRESS,770,749.369642272,727,703.369642272,670.369642272,642,896,792,825.369642272,653,635,654,0.409866089313,0.00459878388284,0.0799485383847,0.999999986568,0.000135305115269,-8.66714086268e-05,-3.23095400169e-05,1793253005899980544
+150,2.500000000,POSE1_TO_POSE2_PRESS,770,749.946928729,727,703.946928729,670.946928729,642,896,792,825.946928729,653,635,654,0.410556795353,0.0046042360761,0.0799868310253,0.999999986038,0.000162298685896,-2.24349057087e-05,-3.28599722799e-05,1793253005916646912
+151,2.516666667,POSE1_TO_POSE2_PRESS,770,750,727,704,671,642,896,792,825.472892125,653,634.472892125,654,0.41124168069,0.00459822119993,0.0799939321687,0.999999990843,0.000129956904693,-1.58872750052e-05,-3.4243033453e-05,1793253005933313024
+152,2.533333333,POSE1_TO_POSE2_PRESS,770,749.893206336,726.893206336,703.893206336,671,641.893206336,896,792,825.106793664,653,634,654,0.411927847031,0.00458907334705,0.0799897219434,0.999999994219,9.79347632258e-05,-2.6251481037e-05,-3.5796983338e-05,1793253005949979136
+153,2.550000000,POSE1_TO_POSE2_PRESS,770,749.316976686,726.316976686,703.316976686,671,641.316976686,896,792,825.683023314,653,634,654,0.412622234452,0.00457125687028,0.0799496708883,0.99999999126,9.37231768989e-05,-8.52827592885e-05,-3.77315757257e-05,1793253005966645504
+154,2.566666667,POSE1_TO_POSE2_PRESS,770,749,726.264160989,703.264160989,671,641.264160989,896,792,826,653,634.264160989,654,0.413337997264,0.00456527441926,0.0799232240362,0.999999987918,9.27932856448e-05,-0.000118092212423,-4.01008352113e-05,1793253005983312128
+155,2.583333333,POSE1_TO_POSE2_PRESS,770,749,726.851299562,703.851299562,671,641.851299562,896,792,826,653,634.851299562,654,0.414079894885,0.00457376088892,0.0799134104169,0.999999987418,9.58757728949e-05,-0.000118841445185,-4.30015426992e-05,1793253005999978752
+156,2.600000000,POSE1_TO_POSE2_PRESS,770.432573033,749.432573033,726.567426967,703.567426967,671,642,896.432573033,792,826,653,635,654,0.414868492327,0.00458407975141,0.0799293381004,0.999999988759,0.000111463027562,-9.058695376e-05,-4.30388494233e-05,1793253006016645632
+157,2.616666667,POSE1_TO_POSE2_PRESS,770.988740226,749.988740226,726.011259774,703,671,642,897,792,826,653,635,654,0.415672483114,0.00459491039625,0.0799533544184,0.999999989079,0.000131041216638,-5.3812821139e-05,-4.21270908818e-05,1793253006033312768
+158,2.633333333,POSE1_TO_POSE2_PRESS,770.438646286,749.438646286,726.561353714,703,671,642,897,792,826,653,635,654,0.416455164589,0.00460049183279,0.0799466589562,0.999999986289,0.000138647366483,-8.00751244369e-05,-4.22721664421e-05,1793253006049979392
+159,2.650000000,POSE1_TO_POSE2_PRESS,770.12259435,749,727,703,671,642,897.12259435,792,826.12259435,653,635,654,0.417266778296,0.00460420770506,0.0799441274005,0.999999984918,0.000140823352644,-9.21010365165e-05,-4.30100369269e-05,1793253006066646016
+160,2.666666667,POSE1_TO_POSE2_PRESS,770.727707171,749,727,703,671,642,897.727707171,792,826.727707171,653,635,654,0.418192266178,0.00460058091216,0.0799579845438,0.999999990385,0.000121626785146,-4.80940079805e-05,-4.60810859564e-05,1793253006083312384
+161,2.683333333,POSE1_TO_POSE2_PRESS,771,749,726.676170437,703.323829563,671,642,898.323829563,792.323829563,827,653,635,654,0.419093061678,0.0045946122508,0.0799727227935,0.999999992258,0.000114061097946,-1.18343865698e-05,-4.83155910743e-05,1793253006099979264
+162,2.700000000,POSE1_TO_POSE2_PRESS,771,749,726.087403488,703.912596512,671,642,898.912596512,792.912596512,827,653,635,654,0.419973655347,0.00458672761722,0.0799881819094,0.999999991864,0.000116011081006,1.80867817446e-05,-4.98656874151e-05,1793253006116645888
+163,2.716666667,POSE1_TO_POSE2_PRESS,770.507519791,749,726,703.507519791,671,642,899,792.507519791,827,653,635,654,0.420852344005,0.00458818706715,0.0799767815836,0.999999992469,0.000112431465516,-3.47109646678e-06,-4.90896780705e-05,1793253006133312512
+164,2.733333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,642,899.070505488,791.929494512,827,653,635.070505488,654,0.421739393696,0.00459195938012,0.0799655958288,0.999999992466,0.000109943405137,-2.57773093827e-05,-4.81333836289e-05,1793253006149979136
+165,2.750000000,POSE1_TO_POSE2_PRESS,770,749,726,703,671,642,899.646310286,791.353689714,827,653,635.646310286,654,0.42268874499,0.0046006330296,0.0799895060852,0.999999991286,0.000122186999913,1.08712966239e-05,-4.87912601756e-05,1793253006166645760
+166,2.766666667,POSE1_TO_POSE2_PRESS,770.226580115,749.226580115,726,703,671,642,900,791.226580115,827.226580115,653,635.773419885,654.226580115,0.423623886934,0.00460774349444,0.0800025108216,0.999999989685,0.000132467640335,2.63672618316e-05,-4.88555619828e-05,1793253006183312384
+167,2.783333333,POSE1_TO_POSE2_PRESS,770.813960023,749.813960023,726,703,671,642,900,791.813960023,827.813960023,653,635.186039977,654.813960023,0.424536402454,0.00461236478944,0.0799981499188,0.999999989069,0.000139622529642,8.18036338063e-06,-4.7974672278e-05,1793253006199979008
+168,2.800000000,POSE1_TO_POSE2_PRESS,770.603981971,749.603981971,726,703,671,641.603981971,900,791.603981971,827.603981971,652.603981971,635,654.603981971,0.425442371536,0.00461235376826,0.079960665504,0.999999987903,0.000135159795806,-5.95381395138e-05,-4.87907211282e-05,1793253006216645632
+169,2.816666667,POSE1_TO_POSE2_PRESS,770.024390953,749.024390953,726,703,671,641.024390953,900,791.024390953,827.024390953,652.024390953,635,654.024390953,0.42634530598,0.0046101954503,0.0799078267831,0.999999979596,0.000125311745653,-0.000150216870128,-5.03933805595e-05,1793253006233312256
+170,2.833333333,POSE1_TO_POSE2_PRESS,770,749,726,703,671,641.552408561,900,791.552408561,827.552408561,652.552408561,635.552408561,654,0.427311952922,0.00460305267984,0.0799017962562,0.999999981929,0.000120595277568,-0.000137375154744,-5.22218600767e-05,1793253006249978624
+171,2.850000000,POSE1_TO_POSE2_PRESS,770.128678039,749.128678039,726,703,671,642,900,792,828,653,635.871321961,654,0.4282813993,0.00459764174529,0.0799035689292,0.999999984534,0.00011649913525,-0.000120521655366,-5.32318655209e-05,1793253006266645504
+172,2.866666667,POSE1_TO_POSE2_PRESS,770.70353487,749.70353487,726,703,671,642,900,792,828,653,635.29646513,654,0.429250847118,0.00459899506515,0.0799252681875,0.999999986641,0.000113772222594,-0.00010552688768,-5.13694912863e-05,1793253006283312128
+173,2.883333333,POSE1_TO_POSE2_PRESS,770.714397,749.714397,726,703,671.285603,642,900.285603,791.714397,827.714397,653,635,654,0.430252096486,0.00460224002252,0.0799630334304,0.999999990189,0.000117954567358,-5.6635292797e-05,-5.00091379504e-05,1793253006299979008
+174,2.900000000,POSE1_TO_POSE2_PRESS,770.124649442,749.124649442,726,703,671.875350558,642,900.875350558,791.124649442,827.124649442,653,635,654,0.431287211921,0.00460749942384,0.0800179076721,0.999999990004,0.000129494723176,2.83537356456e-05,-4.91833969337e-05,1793253006316645632
+175,2.916666667,POSE1_TO_POSE2_PRESS,770.45698954,749,726,703,672,642,901,791.45698954,827.45698954,653.45698954,635.45698954,654,0.432244989554,0.00461171126623,0.0800214254151,0.999999989803,0.000130747674899,2.97346297841e-05,-4.91411294848e-05,1793253006333312256
+176,2.933333333,POSE1_TO_POSE2_PRESS,771,749,726,703,672,642,901,791.963815167,828,653.927630334,635.963815167,654,0.433178697728,0.00461540449127,0.0800073519861,0.999999990385,0.000129484318598,3.9459308038e-06,-4.94831926424e-05,1793253006349979136
+177,2.950000000,POSE1_TO_POSE2_PRESS,771,749,726,703,672,642,901,791.388650234,828,652.777300468,635.388650234,654,0.434062619089,0.00461555467441,0.0799362704487,0.999999985636,0.000131806715794,-9.27743635195e-05,-5.24222971827e-05,1793253006366645504
+178,2.966666667,POSE1_TO_POSE2_PRESS,770.809629728,749,726,702.809629728,672,642,901,791.190370272,828,652.190370272,635,654,0.434974696876,0.00461389978751,0.0798947224281,0.999999979466,0.000127474080817,-0.000147687838149,-5.48385816483e-05,1793253006383312128
+179,2.983333333,POSE1_TO_POSE2_PRESS,770.222575058,749,726,702.222575058,672,642,901,791.777424942,828,652.777424942,635,654,0.435945445831,0.0046084835827,0.0799147149131,0.999999985784,0.00010927401305,-0.000115486296424,-5.61654401982e-05,1793253006399978752
+180,3.000000000,POSE1_TO_POSE2_PRESS,770,749,726,702.359597038,672.359597038,642,901,791.640402962,828,653,635,654,0.436918390004,0.00460574310597,0.0799521423977,0.99999999069,0.00010650196178,-6.56252376025e-05,-5.45049722774e-05,1793253006416645120
+181,3.016666667,POSE1_TO_POSE2_PRESS,770,749,726,702.93878748,672.93878748,642,901,791.06121252,828,653,635,654,0.437892674662,0.00460463660364,0.0800002168291,0.999999992284,0.00011315126443,-4.98012766612e-06,-5.10202477675e-05,1793253006433311744
+182,3.033333333,POSE1_TO_POSE2_PRESS,770,749,726,703,672.48355869,642,901,791.51644131,828,653,635.51644131,654,0.438851261103,0.00460823660153,0.0800315671415,0.999999991382,0.00010979700785,4.91932503521e-05,-5.25460036196e-05,1793253006449978880
+183,3.050000000,POSE1_TO_POSE2_PRESS,770,749,726,702.906616121,672,642,901,791.906616121,828,653,635.906616121,654,0.439783003574,0.00461258023177,0.0800462485741,0.999999989635,0.000107921628999,7.8255570436e-05,-5.43941931649e-05,1793253006466645760
+184,3.066666667,POSE1_TO_POSE2_PRESS,770,749,726,702.332400831,672,642,901,791.332400831,828,653,635.332400831,654,0.440586079179,0.00461788897238,0.0799852787091,0.999999991163,0.000119747974487,-1.8040410115e-05,-5.48537839699e-05,1793253006483312384
+185,3.083333333,POSE1_TO_POSE2_PRESS,770.248675125,749,725.751324875,702,672.248675125,642,901,791,828,653,635,654,0.441382023977,0.00462212693462,0.0799132905784,0.999999982517,0.00012468921873,-0.000127418997179,-5.64191366188e-05,1793253006499979008
+186,3.100000000,POSE1_TO_POSE2_PRESS,770.839181776,749,725.160818224,702,672.839181776,642,901,791,828,653,635,654,0.442168166626,0.00462489299285,0.079826156625,0.999999958553,0.000120166126842,-0.000254781068571,-5.95044813886e-05,1793253006516645632
+187,3.116666667,POSE1_TO_POSE2_PRESS,770.578954056,749,725,702,673,641.578954056,901.421045944,791.421045944,828,653,635,654,0.443041408446,0.00462277531124,0.0798468890623,0.999999967569,0.00011762910833,-0.000217809412229,-5.98747606535e-05,1793253006533312256
+188,3.133333333,POSE1_TO_POSE2_PRESS,770.000324438,749,725,702,673,641.000324438,901.999675562,791.999675562,828,653,635,654,0.443947248691,0.00461882980637,0.0799079923414,0.999999984417,0.000115835410982,-0.000119333046206,-5.92288800179e-05,1793253006549978880
+189,3.150000000,POSE1_TO_POSE2_PRESS,770,749,725.577167465,702,673,641,901.422832535,791.422832535,828,653,635,654,0.444810337608,0.00460950637451,0.0799701813046,0.99999999273,0.000102334358381,-2.76887902839e-05,-5.74606215579e-05,1793253006566645504
+190,3.166666667,POSE1_TO_POSE2_PRESS,770.152993431,749,726,702,672.847006569,641.152993431,901.152993431,791.152993431,828,652.847006569,635,654,0.445652875394,0.00460193857022,0.0800204649502,0.999999993171,9.15570922682e-05,4.59708061078e-05,-5.62384910853e-05,1793253006583312384
+191,3.183333333,POSE1_TO_POSE2_PRESS,770.724266647,749,726,702,672.275733353,641.724266647,901.724266647,791.724266647,828,652.275733353,635,654,0.446439292722,0.00459917884945,0.0800381981373,0.999999992027,8.82445383906e-05,7.04713426009e-05,-5.65111815904e-05,1793253006599979264
+192,3.200000000,POSE1_TO_POSE2_PRESS,770.693200629,749,726,702,672.306799371,641.693200629,902,791.693200629,828,652,635,654,0.447200373457,0.00459898629387,0.0800348721124,0.99999999165,9.1217275583e-05,7.13629255015e-05,-5.73227977867e-05,1793253006616645632
+193,3.216666667,POSE1_TO_POSE2_PRESS,770.100163024,749,726,702,672.899836976,641.100163024,902,791.100163024,828,652,635,654,0.447937815566,0.00460118885691,0.0800118982245,0.999999992014,0.000100054075257,5.02277825213e-05,-5.86372218382e-05,1793253006633312256
+194,3.233333333,POSE1_TO_POSE2_PRESS,770.48134646,749.48134646,726,702.48134646,673,641,902.48134646,791,828.48134646,652.48134646,635,654,0.448572819305,0.00460232550736,0.0799586562967,0.999999993858,8.61220265275e-05,-3.50394135214e-05,-6.03234710948e-05,1793253006649979136
+195,3.250000000,POSE1_TO_POSE2_PRESS,770.940002472,749.940002472,725.940002472,702.940002472,672.940002472,641,902.940002472,791,828.940002472,653,635,654.059997528,0.449188202675,0.00460354824452,0.0799027290493,0.999999987566,7.16367555783e-05,-0.00012615519924,-6.18148537034e-05,1793253006666645760
+196,3.266666667,POSE1_TO_POSE2_PRESS,770.365770939,749.365770939,725.365770939,702.365770939,672.365770939,641,902.365770939,791,828.365770939,653,635,654.634229061,0.449813848683,0.00460736543128,0.0798765070312,0.999999981782,9.20686612338e-05,-0.00015569353529,-6.09884089666e-05,1793253006683312384
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,749,725,702,672,641,902,791,828.213535549,653,635,654.786464451,0.450446120017,0.00461149916944,0.0798731556213,0.999999980389,0.000106654650111,-0.000155479266924,-6.05996337637e-05,1793253006699979008
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,749,725,702,672,641,902,791,828.801746634,653,635,654.198253366,0.451090016267,0.00461618833727,0.0799099336329,0.999999986671,0.000110983225236,-0.000103060230869,-6.09788060385e-05,1793253006716645632
+199,3.316666667,POSE1_TO_POSE2_PRESS,770.383937743,749,725,702,672,641,902.383937743,791,829,653,635,654,0.451697050361,0.00462299040144,0.0799310682563,0.999999989923,0.00010071264298,-7.90381534914e-05,-6.13526607279e-05,1793253006733312512
+200,3.333333333,POSE1_TO_POSE2_PRESS,770.963068366,749,725,702,672,641,902.963068366,791,829,653,635,654,0.452285343895,0.00463086665666,0.079944249828,0.999999992237,8.30198902059e-05,-6.94530061824e-05,-6.17238120426e-05,1793253006749979648
+201,3.350000000,POSE1_TO_POSE2_PRESS,770.461907498,749,725,702,671.461907498,640.461907498,903,791,828.461907498,653,635,654,0.452771384895,0.00463463119419,0.0799087097887,0.999999984824,0.000100024450001,-0.000128529194771,-6.18677866422e-05,1793253006766646272
+202,3.366666667,POSE1_TO_POSE2_PRESS,770,749,725,702,671,640,902.886891781,791,828,653,635,654,0.453244601455,0.00463850242701,0.0798697645824,0.999999972838,0.000117775813565,-0.000191221170534,-6.23460654826e-05,1793253006783312896
+203,3.383333333,POSE1_TO_POSE2_PRESS,770,749,725,702,671,640,902.310765332,791,828,653,635,654,0.453693831573,0.00464395690869,0.0798304651989,0.999999958484,0.000128909543605,-0.000249569675982,-6.42561926994e-05,1793253006799979520
+204,3.400000000,POSE1_TO_POSE2_PRESS,770,749,725,702,671,640,902,791,828.27225556,653,635,654,0.454128624778,0.00464951290623,0.0798013846262,0.999999945468,0.000138452049039,-0.000292477026394,-6.59656117761e-05,1793253006816645888
+205,3.416666667,POSE1_TO_POSE2_PRESS,770,749,725,702,671,640,902,791,828.86335052,653,635,654,0.454546510839,0.00465518778902,0.0797842713396,0.999999936709,0.00014613106567,-0.000317301185451,-6.74399809344e-05,1793253006833312512
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,749,725,702,670.554469098,640,902.445530902,791,829,653,635,654,0.454967269043,0.00465855618908,0.0797823840712,0.999999934085,0.000165692105467,-0.000316825451867,-6.32265387314e-05,1793253006849979392
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,749,725,702,670,640,903,790.975188489,829,652.975188489,635,654.024811511,0.455385759697,0.00466130127971,0.0797849696687,0.999999932878,0.000187737276961,-0.000309307183703,-5.76924664698e-05,1793253006866646528
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,749,725,702,670,640,903,790.400763418,829,652.400763418,635,654.599236582,0.455734889766,0.00466560226052,0.0797852177971,0.999999931523,0.000185665324526,-0.000314304909071,-6.07901083112e-05,1793253006883312896
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,749,724.826162189,702,669.826162189,640,903,790.173837811,828.826162189,652.173837811,635,654.826162189,0.456068379154,0.00466918587441,0.0797833505408,0.999999929347,0.000181939289272,-0.000322857260987,-6.29834365751e-05,1793253006899979264
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,749,724.251154515,702,669.251154515,640,903,790.748845485,828.251154515,652.748845485,635,654.251154515,0.456365774104,0.00467111400215,0.0797766015587,0.999999925134,0.00017439608602,-0.000339612712687,-6.3089857357e-05,1793253006916645888
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,749,724,702,668.666287992,639.666287992,903,790.666287992,828.333712008,653,634.666287992,654.333712008,0.456635230902,0.00467346467379,0.0797609341034,0.99999991882,0.000149514172866,-0.000368648077035,-6.40619208594e-05,1793253006933312256
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,749,724,702,668.073775674,639.073775674,903,790.073775674,828.926224326,653,634.073775674,654.926224326,0.45688302114,0.00467614303683,0.0797383501937,0.999999908752,0.000111185743664,-0.000407206759268,-6.57053074108e-05,1793253006949978880
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,748.494331739,724.505668261,701.494331739,668,639,903.505668261,790,828.494331739,653,634.505668261,654.494331739,0.457133840863,0.00468055170994,0.0797367187778,0.999999906935,0.000115528194546,-0.000410124330472,-6.76908768234e-05,1793253006966645504
+214,3.566666667,POSE1_TO_POSE2_PRESS,770,748.082658776,725,701,668,639,903.917341224,790,828,653,635,654,0.457380413951,0.00468701074284,0.0797396594624,0.999999907021,0.000128654254856,-0.000405631440057,-6.97825499403e-05,1793253006983312128
+215,3.583333333,POSE1_TO_POSE2_PRESS,770,748.656117751,725,701,668,639,903.343882249,790,828,653,635,654,0.457599213747,0.00470418294158,0.0797520540911,0.999999909951,0.000157900362677,-0.000387235398813,-7.22152704602e-05,1793253006999978752
+216,3.600000000,POSE1_TO_POSE2_PRESS,770,749,725,701.236274128,667.763725872,639,903.236274128,790,828.236274128,652.763725872,634.763725872,654,0.457799160591,0.00471873855418,0.0797602206768,0.999999908874,0.00019040655526,-0.000375466527878,-7.08607607937e-05,1793253007016645632
+217,3.616666667,POSE1_TO_POSE2_PRESS,770,749,725,701.826462484,667.173537516,639,903.826462484,790,828.826462484,652.173537516,634.173537516,654,0.457970867647,0.00472937479007,0.0797620540904,0.99999990222,0.000227796016256,-0.000373624474559,-6.38333715232e-05,1793253007033312512
+218,3.633333333,POSE1_TO_POSE2_PRESS,770.409355397,748.590644603,725,702,667,639,904,790,829,652.409355397,634.409355397,654,0.458118671963,0.0047264664165,0.0797584438706,0.999999899177,0.000229196574186,-0.00038106881214,-6.24675147702e-05,1793253007049979136
+219,3.650000000,POSE1_TO_POSE2_PRESS,770.9892097,748.0107903,725,702,667,639,904,790,829,652.9892097,634.9892097,654,0.458256520645,0.00471791663395,0.0797525663459,0.999999897762,0.000215607543546,-0.000392380985688,-6.34597194575e-05,1793253007066645760
+220,3.666666667,POSE1_TO_POSE2_PRESS,770.435105908,748.564894092,725,702,667,639,904,790,829,653,635,654,0.458371329794,0.00471659911269,0.0797477156958,0.999999895693,0.000213262212836,-0.00039851242346,-6.57322780684e-05,1793253007083312128
+221,3.683333333,POSE1_TO_POSE2_PRESS,770,749,725,701.860235255,667,639,904,790,829,653,635,654,0.458479978625,0.00470972922406,0.0797436970862,0.999999895066,0.000205307587931,-0.000403964537356,-6.72942878063e-05,1793253007099978496
+222,3.700000000,POSE1_TO_POSE2_PRESS,770,749,725,701.28763988,667,639,904,790,829,653,635,654,0.458570902754,0.0046852397947,0.079742194884,0.99999989863,0.000179321573193,-0.000407617102467,-6.65806493572e-05,1793253007116645120
+223,3.716666667,POSE1_TO_POSE2_PRESS,770.295235197,749,725,701.295235197,667,639,904,790.295235197,829,653,635,654.295235197,0.458652814775,0.0046671992991,0.0797420494726,0.999999901897,0.00015918984675,-0.000408046256343,-6.60557119331e-05,1793253007133311744
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+225,3.750000000,POSE1_TO_POSE2_PRESS,771,749,725,702,667,638.530274525,904,790.530274525,829,653,635,654.530274525,0.458782714641,0.00466256176743,0.0797421602563,0.99999990388,0.000150339297969,-0.00040626442878,-6.7729592779e-05,1793253007166645248
+226,3.766666667,POSE1_TO_POSE2_PRESS,770.952266967,749,725,702,667,638.047733033,904,790,829,652.952266967,635,654,0.45883435672,0.00467230129119,0.0797402225739,0.999999901376,0.000158904762442,-0.000408787635918,-6.9926050321e-05,1793253007183312384
+227,3.783333333,POSE1_TO_POSE2_PRESS,770.379213972,749,725,702,667,638.620786028,904,790,829,652.379213972,635,654,0.458866172301,0.00466642886492,0.0797351680554,0.999999898756,0.000152701961511,-0.000417750961131,-6.8224467591e-05,1793253007199979008
+228,3.800000000,POSE1_TO_POSE2_PRESS,770,749,725,702,666.800253757,639,904.199746243,790,829,652.199746243,635,654.199746243,0.458895528877,0.00466393414139,0.079731178418,0.999999896612,0.000149320824464,-0.000424198690303,-6.73385372232e-05,1793253007216645632
+229,3.816666667,POSE1_TO_POSE2_PRESS,770,749,725,702,666.209737077,639,904.790262923,790,829,652.790262923,635,654.790262923,0.458920074819,0.00466804733412,0.0797292720443,0.999999895594,0.000151459805795,-0.00042572507207,-6.80482957036e-05,1793253007233312000
+230,3.833333333,POSE1_TO_POSE2_PRESS,770.373351154,749,725,702,666,639,904.626648846,790,829,653,635,655,0.458939121015,0.00467067101889,0.0797285434952,0.999999895251,0.000153279971314,-0.000425845225751,-6.82587304595e-05,1793253007249978880
+231,3.850000000,POSE1_TO_POSE2_PRESS,770.952347705,749,725,702,666,639,904.047652295,790,829,653,635,655,0.458955137898,0.00467247426827,0.0797284637032,0.99999989528,0.000154924529954,-0.000425190815459,-6.81941328948e-05,1793253007266645504
+232,3.866666667,POSE1_TO_POSE2_PRESS,770.472138093,749,725,702,666,639,904,790,829,653,635,654.472138093,0.458963663559,0.00466894141513,0.0797285281109,0.999999895527,0.000150654865525,-0.000426309661169,-6.71431963732e-05,1793253007283312128
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,749,725,702,666,639,904,790,829,653,635,654.102937124,0.458970568676,0.00466651807344,0.0797282889043,0.999999895303,0.000147740530029,-0.000427981695461,-6.63170995395e-05,1793253007299978752
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,749,725,702,666,639,904,790,829,653,635,654.677431847,0.458973127709,0.00467136970669,0.0797265995901,0.999999892906,0.000153464779814,-0.000431459379595,-6.69262248951e-05,1793253007316645632
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,749,725,702,666,639,904.259568346,790.259568346,829,653,635,654.740431654,0.458975415306,0.00467222743289,0.0797248430057,0.999999891775,0.000153726377389,-0.000433971566765,-6.69784672254e-05,1793253007333312256
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,749,725,702,666,639,904.851489496,790.851489496,829,653,635,654.148510504,0.458977355355,0.00466797133819,0.0797230002879,0.999999892277,0.000146993564422,-0.000435247526546,-6.63176734091e-05,1793253007349979136
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,749,724.566276048,702,666.433723952,639,904.566276048,790.566276048,829,653,635,654,0.4589782739,0.00466805068614,0.0797219667615,0.999999891829,0.000146575690428,-0.000436414452761,-6.6327269237e-05,1793253007366645504
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,749,724.012574173,702,666.974851654,638.987425827,904,790.012574173,829,653,635,654,0.458978884201,0.00466957804579,0.0797212451212,0.999999891087,0.000148268777519,-0.000437506253177,-6.65621702232e-05,1793253007383312128
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,749,724.585195182,702,665.829609636,638.414804818,904,790.585195182,829,653,635,654,0.458981003742,0.00467092510936,0.0797223436009,0.999999891118,0.000149779843464,-0.000436878502194,-6.68315054196e-05,1793253007399978752
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,749,725,702,665.158505358,638.158505358,903.841494642,791,829,653,635,654,0.458982400939,0.00467126189225,0.0797228574974,0.999999891201,0.000150064238973,-0.000436596770141,-6.67970902318e-05,1793253007416645376
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,749,725,702,665.73362691,638.73362691,903.26637309,791,829,653,635,654,0.458981899524,0.00466894324876,0.0797218348727,0.999999891419,0.000147124448319,-0.000437224515835,-6.59642961553e-05,1793253007433312000
+242,4.033333333,POSE1_TO_POSE2_PRESS,770,749,725,701.680998751,666,639,903.319001249,791,829,653,635,654.319001249,0.458981906916,0.004669081969,0.0797210221957,0.999999891078,0.000147740617867,-0.000437812954781,-6.58527460102e-05,1793253007449978880
+243,4.050000000,POSE1_TO_POSE2_PRESS,770,749,725,701.08677884,666,639,903.91322116,791,829,653,635,654.91322116,0.45898235328,0.00467134078251,0.0797203906511,0.99999989025,0.000151424695973,-0.000438367481755,-6.63634498692e-05,1793253007466645504
+244,4.066666667,POSE1_TO_POSE2_PRESS,770.492106148,749,725,701,666,638.507893852,904,790.507893852,829,653,635,655,0.45898367276,0.00467038105794,0.0797214009603,0.999999890725,0.000151158545375,-0.000437477889085,-6.56802113151e-05,1793253007483312128
+245,4.083333333,POSE1_TO_POSE2_PRESS,770.931579715,749,725,701.068420285,666,638.068420285,903.931579715,790.068420285,829,653,635,654.931579715,0.4589847768,0.00466904522908,0.0797223875941,0.999999891282,0.00015001935422,-0.000436707531292,-6.49334155721e-05,1793253007499978752
+246,4.100000000,POSE1_TO_POSE2_PRESS,770.354882445,749,725,701.645117555,666,638.645117555,903.354882445,790.645117555,829,653,635,654.354882445,0.458983171173,0.00466900427932,0.0797211125216,0.999999890797,0.000147412974939,-0.000438657563373,-6.52312660027e-05,1793253007516645376
+247,4.116666667,POSE1_TO_POSE2_PRESS,770,749,725,702,666,639,903.226123572,791,829,653,635,654,0.458982167996,0.00466957296528,0.0797197832329,0.999999890154,0.000146791864723,-0.00044029731108,-6.54416949387e-05,1793253007533312000
+248,4.133333333,POSE1_TO_POSE2_PRESS,770,749,725,702,666,639,903.814023263,791,829,653,635,654,0.458982128681,0.00467111701019,0.0797183672032,0.999999889267,0.000149346995014,-0.000441440633725,-6.5512257879e-05,1793253007549978880
+249,4.150000000,HOLD_POSE2,771,749,724,701,666,638,904,790,828,653,635,655,0.458986952167,0.00466801464279,0.0797229018713,0.999999892365,0.000145293776303,-0.000435788779212,-6.51773746069e-05,1793253007585009920
+250,4.166666667,HOLD_POSE2,770.40470517,749,724.59529483,701.59529483,666,638,904,790,828.59529483,652.40470517,635,655,0.45898593395,0.00466822917845,0.0797214798125,0.999999891466,0.000146126599329,-0.000437574863693,-6.51387345772e-05,1793253007601677056
+251,4.183333333,HOLD_POSE2,770,748.81544506,725,701.81544506,666,638.18455494,903.81544506,790.18455494,829,652.18455494,635,654.81544506,0.458985246893,0.00466828496128,0.0797204293112,0.999999890976,0.000145888574586,-0.000438765018221,-6.51838625255e-05,1793253007618343936
+252,4.200000000,HOLD_POSE2,770,748.238999191,725,701.238999191,666,638.761000809,903.238999191,790.761000809,829,652.761000809,635,654.238999191,0.458985263038,0.0046680036424,0.0797201677889,0.999999891358,0.00014337667141,-0.000438689752919,-6.5406866554e-05,1793253007635010560
+253,4.216666667,HOLD_POSE2,770,748.345519898,725,701,666,638.654480102,903.345519898,790.654480102,829,653,635,654.345519898,0.458985279369,0.00466859493951,0.0797201078039,0.999999891366,0.000143585018558,-0.000438605309025,-6.5394875406e-05,1793253007651676928
+254,4.233333333,HOLD_POSE2,770,748.93575687,725,701,666,638.06424313,903.93575687,790.06424313,829,653,635,654.93575687,0.458985295832,0.00466980427348,0.0797201905592,0.999999891109,0.000145720003679,-0.000438514364329,-6.52164471375e-05,1793253007668343296
+255,4.250000000,HOLD_POSE2,770,749,724.484195121,701.515804879,665.484195121,638,904,790.515804879,829,653,635,654.484195121,0.458985706526,0.00466918544735,0.0797205947389,0.999999890917,0.000146182475713,-0.00043882906465,-6.50123334456e-05,1793253007685009920
+256,4.266666667,HOLD_POSE2,770.094089289,749,724.094089289,701.905910711,665.094089289,638,904,790.905910711,829,653,634.905910711,654,0.458986418932,0.00466856376918,0.0797211090246,0.999999890927,0.000146407407966,-0.000438756913849,-6.48304230829e-05,1793253007701676800
+257,4.283333333,HOLD_POSE2,770.669716721,749,724.669716721,701.330283279,665.669716721,638,904,790.330283279,829,653,634.330283279,654,0.458988429039,0.00466907024342,0.079721985903,0.999999891931,0.000146462095698,-0.000436451342448,-6.47782022861e-05,1793253007718343424
+258,4.300000000,HOLD_POSE2,770.751081709,749,725,701.248918291,665.751081709,638.248918291,904,790,829,653,634.248918291,654,0.458989490917,0.00466926846798,0.0797224994135,0.999999892492,0.000146316241592,-0.000435210373025,-6.4805937316e-05,1793253007735010048
+259,4.316666667,HOLD_POSE2,770.167068666,749,725,701.832931334,665.167068666,638.832931334,904,790,829,653,634.832931334,654,0.458989276284,0.0046690517256,0.0797225237569,0.99999989246,0.000145900417297,-0.000435402575031,-6.49413091888e-05,1793253007751676928
+260,4.333333333,HOLD_POSE2,770,748.584800742,725,702,665.415199258,638.584800742,904,790,828.584800742,653,635,654,0.458988568926,0.00467000508559,0.0797218829634,0.999999891924,0.000146153126655,-0.000436573772426,-6.47720244226e-05,1793253007768343552
+261,4.350000000,HOLD_POSE2,770,748.003232033,725,702,665.996767967,638.003232033,904,790,828.003232033,653,635,654,0.458987664135,0.00467142730305,0.079720975651,0.999999891182,0.000146673715977,-0.000438137251186,-6.44806644073e-05,1793253007785010176
+262,4.366666667,HOLD_POSE2,770,748.574236447,724.425763553,702,666,638,904,790.574236447,828.574236447,653,635,654.574236447,0.458987465049,0.0046690390098,0.0797204959292,0.999999890933,0.000146040422152,-0.000438951145645,-6.42542401475e-05,1793253007801676800
+263,4.383333333,HOLD_POSE2,770,749,724.151130665,702,665.848869335,638.151130665,904,791,829,653,634.848869335,654.848869335,0.458987264283,0.00466734326499,0.0797201105467,0.999999890735,0.000145280105186,-0.000439676563102,-6.40976482105e-05,1793253007818343424
+264,4.400000000,HOLD_POSE2,770,749,724.726477412,702,665.273522588,638.726477412,904,791,829,653,634.273522588,654.273522588,0.45898704773,0.00466765124195,0.0797199832624,0.999999890676,0.000144181341122,-0.000440165388753,-6.41360533728e-05,1793253007835010048
+265,4.416666667,HOLD_POSE2,770.308540976,749,725,702,665.308540976,639,904,791,829,652.691459024,634.308540976,654,0.458986663848,0.00466901863052,0.0797197445759,0.999999890291,0.000145411425502,-0.000440599251708,-6.43894345196e-05,1793253007851676672
+266,4.433333333,HOLD_POSE2,770.896691498,749,725,702,665.896691498,639,904,791,829,652.103308502,634.896691498,654,0.458986128326,0.00467134609124,0.0797194049333,0.999999889601,0.000148751985715,-0.000440983305708,-6.48376336681e-05,1793253007868343296
+267,4.450000000,POSE2_TO_POSE3_RETREAT,771,749,724,702,666,638,904,790,829,652,634,654,0.458988702493,0.00466814740527,0.0797206600786,0.99999989113,0.000142515704746,-0.00043958351215,-6.47669552803e-05,1793253007901307904
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770.400080226,749,724.599919774,701.400080226,666,638,903.400080226,790,829,652.599919774,634.599919774,654,0.458988108581,0.00466920088016,0.0797210616924,0.99999989066,0.000145615436054,-0.000439635519817,-6.47781663066e-05,1793253007917974528
+269,4.483333333,POSE2_TO_POSE3_RETREAT,770.190038408,749,725,701.190038408,666,638.190038408,903.190038408,790.190038408,829,652.809961592,635,654,0.458987894383,0.00466992069472,0.0797213496542,0.999999890577,0.000146955615277,-0.000439372785172,-6.48227159521e-05,1793253007934641152
+270,4.500000000,POSE2_TO_POSE3_RETREAT,770.76053519,749,725,701.76053519,666,638.76053519,903.76053519,790.76053519,829,652.23946481,635,654,0.458988440375,0.00466997251887,0.0797214100837,0.99999989128,0.00014477315806,-0.000438479933981,-6.49340097762e-05,1793253007951307520
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.651160088,749,725,702,666,639,904,790.651160088,829,652.348839912,635,654.348839912,0.458988154425,0.00466953089327,0.079721098762,0.999999891352,0.000143542000004,-0.000438740936679,-6.47957069185e-05,1793253007967974144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770.049973338,749,725,702,666,639,904,790.049973338,829,652.950026662,635,654.950026662,0.458987266658,0.00466873231171,0.0797205185197,0.999999890969,0.000142999001109,-0.000439836624257,-6.44768486443e-05,1793253007984640512
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770.525458101,749,725,702,666,639,904,790,829,653,635,654.474541899,0.458987937454,0.0046687798241,0.0797203967885,0.999999891145,0.000143787581957,-0.000439183513443,-6.44487618857e-05,1793253008001307392
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770.901519419,749,724.901519419,702,665.901519419,639,904,790.098480581,829,653,635,654,0.458988486726,0.00466897388178,0.079720236012,0.999999891249,0.000144765422349,-0.000438622112347,-6.4463067291e-05,1793253008017974272
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770.328853113,749,724.328853113,702,665.328853113,639,904,790.671146887,829,653,635,654,0.458987770494,0.00466950421022,0.0797196870767,0.99999989077,0.000146073273068,-0.000439265702286,-6.45545605304e-05,1793253008034640896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,749,724.250433627,702,665,639,904,790.749566373,829,653,635,654.250433627,0.458984059966,0.00466933917713,0.0797180129894,0.999999889599,0.000146442699817,-0.000441800733097,-6.45592165786e-05,1793253008051307520
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,749,724.838649903,702,665,639,904,790.161350097,829,653,635,654.838649903,0.458976310756,0.00466823624656,0.0797148213073,0.999999887477,0.000145546388556,-0.00044688692247,-6.44467473879e-05,1793253008067974400
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770.426030688,749,725,702,665.426030688,639,904,790,829,653,635,655,0.458950624739,0.0046695534171,0.0797023816352,0.999999878556,0.000146283238638,-0.000466191061519,-6.4454667987e-05,1793253008084641024
+279,4.650000000,POSE2_TO_POSE3_RETREAT,771,749,725,702,666,638.987198509,904.012801491,790.012801491,829,653,635,654.987198509,0.458917628504,0.0046717014933,0.0796863445761,0.999999866443,0.000147583385365,-0.000491095367929,-6.44850409893e-05,1793253008101307392
+280,4.666666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,666,638.413323316,904.586676684,790.586676684,829,653,635,654.413323316,0.458861388727,0.00467017397393,0.0796658474689,0.999999848963,0.000146515987719,-0.000525903124076,-6.35050112183e-05,1793253008117974272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,770.838969295,749,724.838969295,702,666,638,904.677938591,791,829,653,634.838969295,654,0.458801354037,0.00466949364095,0.079646807688,0.999999832698,0.000146428425098,-0.000556089139507,-6.26664534331e-05,1793253008134640896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,770.263382463,749,724.263382463,702,666,638,903.526764925,791,829,653,634.263382463,654,0.458731549746,0.00467099429733,0.0796315196313,0.999999822031,0.000148863341876,-0.000574376992236,-6.21920999169e-05,1793253008151307776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770.319076154,749,724.319076154,702,666,638.319076154,903.319076154,791,829,653,634.319076154,654.319076154,0.458656818067,0.00467032585863,0.0796224351202,0.999999815179,0.000151031644501,-0.000585796195812,-6.06176185254e-05,1793253008167974400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770.907331924,749,724.907331924,702,666,638.907331924,903.907331924,791,829,653,634.907331924,654.907331924,0.45857792954,0.00466782752383,0.0796185840567,0.999999811721,0.000152975025482,-0.00059142085589,-5.811504526e-05,1793253008184640768
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770.51018398,749,725,702,666,639,904,791,829,653,635,655,0.458480608473,0.00466785334799,0.0796205294072,0.999999813567,0.000154684517811,-0.00058808367073,-5.56494705453e-05,1793253008201307648
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,666.070494161,638.929505839,904.070494161,791,829,653,635,654.929505839,0.45837697565,0.0046681032315,0.079623445794,0.999999816022,0.000156430466906,-0.000583665510922,-5.31004522965e-05,1793253008217974272
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,666.645966444,638.354033556,904.645966444,791,829,653,635,654.354033556,0.458252818775,0.00466657713798,0.079625554053,0.999999815913,0.000158750854595,-0.000583507907454,-4.99041362957e-05,1793253008234640896
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770.220196369,749,725,702,666.779803631,638.220196369,904.779803631,790.779803631,829,653,635,654,0.458119082617,0.0046659981039,0.0796278664664,0.9999998167,0.000162429931712,-0.000581418336297,-4.65746867396e-05,1793253008251307776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770.792439971,749,725,702,666.207560029,638.792439971,904.207560029,790.207560029,829,653,635,654,0.457970031231,0.0046669332169,0.0796305052795,0.999999818889,0.000168281264459,-0.000576239959086,-4.30323852067e-05,1793253008267974400
+290,4.833333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,666.376903934,638.623096066,904,790.376903934,828.623096066,653,635,654,0.457796508188,0.00466549948197,0.0796285047646,0.999999816103,0.000171766188735,-0.000580348552831,-3.85448636365e-05,1793253008284640768
+291,4.850000000,POSE2_TO_POSE3_RETREAT,771,749,725,702,666.968323183,638.031676817,904,790.968323183,828.031676817,653,635,654,0.457609057058,0.00466271751455,0.0796238637712,0.999999810419,0.000173904269393,-0.000589742836458,-3.35193686376e-05,1793253008301307392
+292,4.866666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,667,638,903.449833262,790.449833262,828.550166738,652.449833262,635,654,0.45738306824,0.00465926782694,0.0796232550331,0.99999980819,0.000176493552388,-0.000593044319108,-2.77088507969e-05,1793253008317974528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770.870336561,749,725,702,667,638.129663439,903,790,829,652.129663439,635,654,0.457150316412,0.00465642983797,0.0796239638499,0.999999807136,0.000180094321857,-0.000593988474709,-2.17166693084e-05,1793253008334641152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770.297015534,749,725,702,667,638.702984466,903,790,829,652.702984466,635,654,0.456901886391,0.00465581413559,0.0796284000393,0.999999809487,0.000187068634714,-0.000588046558745,-1.52549121322e-05,1793253008351307776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,667.565984532,638.717007734,903,790.282992266,829,653,635,654,0.456632225193,0.00465485727953,0.0796274397839,0.999999807898,0.000194095702534,-0.000588607260214,-8.55349223974e-06,1793253008367974400
+296,4.933333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,668.740376,638.129812,903,790.870188,829,653,635,654,0.456339741488,0.00465353369923,0.0796206786022,0.99999980206,0.000201179479054,-0.000596157972049,-1.59444650933e-06,1793253008384641024
+297,4.950000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,668.54933944,638.45066056,903.45066056,791,829,653,634.54933944,654.45066056,0.456017414646,0.00465192851287,0.0796173794382,0.99999980046,0.000208589658112,-0.000596273583377,5.29970282571e-06,1793253008401307648
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,668,639,903.970723908,791,828.970723908,653,634,654.970723908,0.455685560005,0.00465004398818,0.0796162887325,0.999999801166,0.000215813681658,-0.000592406422091,1.21646652353e-05,1793253008417974272
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,668,639,903.391147623,791,828.391147623,653,634,654.391147623,0.455333820181,0.00464441108537,0.0796382409457,0.999999823012,0.000217797255498,-0.000553340431248,1.88272166146e-05,1793253008434640640
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770.186749122,749,725,702,668.186749122,639,903,791,828,653,634.186749122,654,0.454966583398,0.00464085253943,0.079656920078,0.999999841356,0.000213685321521,-0.000520700034822,2.2337088491e-05,1793253008451307520
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770.76115934,749,725,702,668.76115934,639,903,791,828,653,634.76115934,654,0.454567177468,0.00464160002495,0.0796688048189,0.999999854725,0.000196920095378,-0.000501398143571,1.93025047371e-05,1793253008467974400
+302,5.033333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,669,639,902.656505396,791,828,653,635,654.343494604,0.454137681678,0.0046364742283,0.0796725194357,0.999999863285,0.000167029373622,-0.000495288083153,1.48464067256e-05,1793253008484641024
+303,5.050000000,POSE2_TO_POSE3_RETREAT,771,749,725,702,669,639,902.068529443,791,828,653,635,654.931470557,0.453686769472,0.00462716813914,0.07967041899,0.999999867505,0.000127796614239,-0.000498567269961,9.37854948807e-06,1793253008501308160
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770.486501385,749,725,701.486501385,669.513498615,639,902,791,828,653,635,655,0.453184208066,0.00462278668318,0.0796713484791,0.999999871419,0.000123207641077,-0.000491703766836,1.44633023787e-05,1793253008517974784
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770.093514778,749,725,701.093514778,670.093514778,639,902,791,828,653,635,654.906485222,0.45266910994,0.00461916995294,0.0796751830615,0.999999876411,0.000122232105429,-0.000481478847628,2.03767213477e-05,1793253008534641408
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770.667229446,749,725,701.667229446,670.667229446,639,902,791,828,653,635,654.332770554,0.45212462519,0.00461614390026,0.0796918827116,0.999999886761,0.00011634214635,-0.000460864179464,2.33964753183e-05,1793253008551308032
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770.752707564,749,725,702,671,639,901.752707564,791,828,652.752707564,634.752707564,654,0.451578519019,0.00461155134566,0.0797097929958,0.999999894596,0.000146072779264,-0.000434479926421,2.64054676844e-05,1793253008567974400
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770.163876875,749,725,702,671,639,901.163876875,791,828,652.163876875,634.163876875,654,0.451030173519,0.00460479527855,0.0797293752989,0.999999894205,0.00022499939623,-0.000400127236529,2.93995967786e-05,1793253008584641280
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770.418008074,749,725,702,671,639.418008074,901,791,828,652.418008074,634.418008074,654,0.450458321592,0.00459857672163,0.0797600001251,0.999999916716,0.000218653811174,-0.00034345994391,2.8175452838e-05,1793253008601308416
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770.997214492,749,725,702,671,639.997214492,901,791,828,652.997214492,634.997214492,654,0.449877404787,0.00459256544736,0.0797948833289,0.999999944889,0.000179424318714,-0.000278187369893,2.53245970334e-05,1793253008617975296
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770.425243929,749,725,702,671,639.425243929,900.425243929,791,827.425243929,653,635,654,0.449198816222,0.00458830615791,0.0798007191922,0.999999946313,0.000162032611718,-0.000283219307556,3.00925266605e-05,1793253008634642176
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770.151347835,749,725.151347835,702,671.151347835,639.151347835,900,791.151347835,827,653,635,654,0.448494012913,0.00458340115255,0.079791934004,0.999999942185,0.000143909019669,-0.000306212270759,3.39604205241e-05,1793253008651308544
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770.725309768,749,725.725309768,702,671.725309768,639.725309768,900,791.725309768,827,653,635,654,0.447717327287,0.00457666945092,0.0797427138751,0.999999920163,0.000123447087242,-0.000378409790006,3.52123047646e-05,1793253008667974912
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770.692200907,749,725.692200907,702,672,639.692200907,899.692200907,791.692200907,827,653,635,654,0.446970786997,0.00457017483871,0.0797221058835,0.999999910789,0.000107488034404,-0.000406893178822,3.61548391757e-05,1793253008684641024
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770.101884541,749,725.101884541,702,672,639.101884541,899.101884541,791.101884541,827,653,635,654,0.446251915892,0.00456389784123,0.0797277598968,0.999999916634,9.56620043513e-05,-0.00039525301248,3.68134332239e-05,1793253008701307392
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770.478843738,749,725,702,672,639.478843738,898.521156262,791.478843738,827,652.521156262,635,654,0.445516203197,0.00455710763969,0.0797743720775,0.999999938793,0.000115493320222,-0.000327947178105,3.90629162108e-05,1793253008717974272
+317,5.283333333,POSE2_TO_POSE3_RETREAT,770.942684927,749,725,702,672,639.942684927,898,791.942684927,827,652.057315073,634.942684927,654,0.444769420899,0.00455032436101,0.0798253286087,0.999999956947,0.0001369529167,-0.000256143887798,4.17216735604e-05,1793253008734640896
+318,5.300000000,POSE2_TO_POSE3_RETREAT,770.36653892,749,725,702,672,639.36653892,898,791.36653892,827,652.63346108,634.36653892,654,0.443954234506,0.00454457280735,0.0798382717713,0.999999961621,0.000113374914826,-0.000248739575823,4.50812835413e-05,1793253008751307776
+319,5.316666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.791559746,639.208440254,897.791559746,791.208440254,826.791559746,653,634.208440254,654,0.443119618371,0.00453728399389,0.079840476976,0.999999962379,0.000101436887302,-0.000250418711877,4.73562307218e-05,1793253008767974912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.218621043,639.781378957,897.218621043,791.781378957,826.218621043,653,634.781378957,654,0.44225102559,0.00452730698207,0.0798239047656,0.99999995692,0.000109853627355,-0.000267982029576,4.77344332071e-05,1793253008784641792
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,671,639.633559707,896.633559707,792,826,653,634.633559707,654,0.441358173536,0.00451963475398,0.0797946719292,0.999999946124,0.000102548530329,-0.000308113781611,4.79737070686e-05,1793253008801308672
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,671,639.041018487,896.041018487,792,826,653,634.041018487,654,0.440450353062,0.00451338462351,0.0797576272362,0.999999929599,8.55427475687e-05,-0.000362170703666,4.81272590842e-05,1793253008817975040
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770.538513623,749,725,702,671,639.538513623,896,791.461486377,826,653,634.538513623,654,0.439484098312,0.00450623537798,0.0796902650686,0.999999885381,8.06580552893e-05,-0.00046943054718,4.86439434265e-05,1793253008834641152
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770.883662975,749.116337025,725,702,671,640,895.883662975,791,826,653,635,654,0.438538909737,0.00449819573259,0.0796477546978,0.999999851389,7.47822309948e-05,-0.000537781747709,4.91911656506e-05,1793253008851307264
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770.308761216,749.691238784,725,702,671,640,895.308761216,791,826,653,635,654,0.437693888143,0.004486909988,0.0797120902278,0.999999901316,6.14463018756e-05,-0.000437170285407,4.97523059364e-05,1793253008867973888
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770.272037576,749.727962424,725,702.272037576,671,640,895,791,826,653,634.727962424,654,0.436843551491,0.00447688993409,0.0797830515374,0.999999944001,5.33983323235e-05,-0.000326309497987,5.16639776547e-05,1793253008884640768
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770.859677852,749.140322148,725,702.859677852,671,640,895,791,826,653,634.140322148,654,0.435987048497,0.00446833826186,0.079861699712,0.999999976436,5.14851543205e-05,-0.000203558006784,5.51424599661e-05,1793253008901307648
+328,5.466666667,POSE2_TO_POSE3_RETREAT,770.559349591,749,725,702.559349591,671,640,895,791,826,653,634.440650409,654,0.435056282617,0.00445839001726,0.0798713476269,0.999999979649,3.73912239233e-05,-0.000190261677429,5.57180351906e-05,1793253008917974528
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770,749,725,702.01948933,671,640,895,791.01948933,826,653,635,654,0.434100053274,0.00444797830464,0.0798579295152,0.999999975452,1.99875147196e-05,-0.000213599433997,5.54298478197e-05,1793253008934641920
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770,749,725,702.597126583,671,640,895,791.597126583,826,653,635,654,0.433081749338,0.00443684006514,0.0798038191992,0.999999952425,1.72261646373e-05,-0.00030275970922,5.64839292836e-05,1793253008951308288
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.825632748,640,895,792,825.825632748,653,635,654,0.432053497734,0.00442651168341,0.0797501409759,0.999999919638,1.24085076798e-05,-0.000396503862576,5.79151025323e-05,1793253008967974656
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,749,725,703,670.249306334,640,895,792,825.249306334,653,635,654,0.43100231438,0.00441805022257,0.0796974588352,0.999999872775,2.85056077711e-06,-0.000500814973008,6.02155649799e-05,1793253008984641024
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770.333437486,749,725,703,670.333437486,640,895,792,825,653,634.666562514,653.666562514,0.430059470119,0.00440794399859,0.0797155329801,0.999999888036,-7.07853003907e-06,-0.00046930321184,6.02733712136e-05,1793253009001307648
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770.921073638,749,725,703,670.921073638,640,895,792,825,653,634.078926362,653.078926362,0.429199219057,0.004396583877,0.079787548733,0.999999942272,-1.72905647913e-05,-0.000334245817372,5.86214703945e-05,1793253009017974272
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770.498508156,749,725.501491844,703,671,640,894.498508156,792,824.498508156,653,634,653.501491844,0.428289877212,0.00440048379127,0.0798354364109,0.99999996516,-1.74516700659e-05,-0.00025623628077,6.0984270805e-05,1793253009034641152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,640,894,792,824.080220033,653,634,654,0.427362285942,0.00441069657054,0.0798663020194,0.999999976331,-8.40322221745e-06,-0.000208016686975,6.32165246938e-05,1793253009051307776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,640,894,792,824.655429907,653,634,654,0.426369085269,0.00444525324415,0.0798152333307,0.999999955247,4.78497290259e-05,-0.000288998944768,6.07998261301e-05,1793253009067974656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770.23073349,749,725.76926651,703,671,640,894.23073349,792,824.76926651,653,634.23073349,654,0.425374321475,0.00447160158442,0.0797736747499,0.999999932096,8.47722893545e-05,-0.000353927655729,5.79375204488e-05,1793253009084641536
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770.806177157,749,725.193822843,703,671,640,894.806177157,792,824.193822843,653,634.806177157,654,0.424377222269,0.00448568688112,0.0797463240296,0.99999991625,9.28157286377e-05,-0.000394872776576,5.44094889297e-05,1793253009101308160
+340,5.666666667,POSE2_TO_POSE3_RETREAT,771,749,725.391902654,703,671,640,894.608097346,792,824,653,634.608097346,654,0.423408399643,0.00449048010944,0.0797275059431,0.999999902876,0.000100713621264,-0.000425647046949,5.41214764274e-05,1793253009117974528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,771,749,725.982850194,703,671,640,894.017149806,792,824,653,634.017149806,654,0.422453938574,0.00449055395403,0.079713021529,0.999999890755,0.000108537591175,-0.000451255604099,5.54790493436e-05,1793253009134640896
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770.438286583,749,726,703,671,640,894,792,824,653,634,654,0.421632846278,0.00448060598491,0.0797812351373,0.999999940463,8.59524497911e-05,-0.0003299329894,5.32106797018e-05,1793253009151307776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770,749,726,703.139532439,670.860467561,640.139532439,894.139532439,792,824.139532439,653,634.139532439,654,0.420805918729,0.00447387279768,0.0798400152767,0.999999970583,7.07661616743e-05,-0.000226205553949,5.15415649765e-05,1793253009167974400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770,749,726,703.715216437,670.284783563,640.715216437,894.715216437,792,824.715216437,653,634.715216437,654,0.419948291385,0.00447812468762,0.0798615821486,0.999999977039,8.15482384793e-05,-0.000191204314573,5.20843615764e-05,1793253009184641024
+345,5.750000000,POSE2_TO_POSE3_RETREAT,770.29010634,749,726,703.70989366,670,640.70989366,894.70989366,792,824.70989366,653,634.70989366,654,0.419054275095,0.00448167496049,0.0798478981546,0.999999970875,8.86644017807e-05,-0.000218349687101,5.20780818095e-05,1793253009201307904
+346,5.766666667,POSE2_TO_POSE3_RETREAT,770.86421881,749,726,703.13578119,670,640.13578119,894.13578119,792,824.13578119,653,634.13578119,654,0.418124635077,0.00448453836928,0.0797997045308,0.999999947502,9.2191735485e-05,-0.000306334885183,5.15342710896e-05,1793253009217974784
+347,5.783333333,POSE2_TO_POSE3_RETREAT,771,749,726,703.452390204,670,640.452390204,894,792,823.547609796,653,634,654,0.417255783884,0.00448487618129,0.0797933795893,0.999999941493,9.51795992764e-05,-0.000324378334364,5.22910739284e-05,1793253009234641408
+348,5.800000000,POSE2_TO_POSE3_RETREAT,770.956242396,749,726,703.956242396,670,641,894,792,823,653,634,654,0.416406466999,0.0044842190341,0.0797981082133,0.999999941441,9.75928314891e-05,-0.000323649012072,5.33349129086e-05,1793253009251307520
+349,5.816666667,POSE2_TO_POSE3_RETREAT,770.379005804,749,726,703.379005804,670,641,894,792,823,653,634,654,0.41556573204,0.00448096982437,0.0797794771895,0.999999929931,9.50376929957e-05,-0.000358189918559,5.29663079161e-05,1793253009267974144
+350,5.833333333,POSE2_TO_POSE3_RETREAT,770,749,726,703.196546306,670,641,894,792,823,653,634.196546306,654,0.414760004542,0.00448000684386,0.0797673953858,0.999999923457,9.03674342643e-05,-0.000377058606637,5.240529132e-05,1793253009284641024
+351,5.850000000,POSE2_TO_POSE3_RETREAT,770,749,726,703.768877885,670,641,894,792,823,653,634.768877885,654,0.414021209155,0.00448341500202,0.0797678353125,0.999999928377,8.16531865967e-05,-0.000365962918104,5.14763947956e-05,1793253009301307392
+352,5.866666667,POSE2_TO_POSE3_RETREAT,770,749,726,703.647128177,670,641,894,792.352871823,823,653,635,654,0.413290762955,0.00448534196606,0.0797804848518,0.999999936555,9.16509719763e-05,-0.000340422692133,5.10146038111e-05,1793253009317974016
+353,5.883333333,POSE2_TO_POSE3_RETREAT,770,749,726,703.055234643,670,641,894,792.944765357,823,653,635,654,0.412565972213,0.00448626562635,0.0798014047101,0.999999945629,0.000114323564563,-0.000305098295896,5.08692120252e-05,1793253009334640640
+354,5.900000000,POSE2_TO_POSE3_RETREAT,770.525144936,748.474855064,726,703,670,640.474855064,894,792.474855064,823,653,634.474855064,654,0.4118349257,0.00448435899911,0.0797912657685,0.999999939567,0.000105433371104,-0.000327216530826,5.17525241369e-05,1793253009351307520
+355,5.916666667,POSE2_TO_POSE3_RETREAT,770.896305109,748.103694891,726,703.103694891,670,640.103694891,894,792,823,653,634,654,0.411114449044,0.00448216301173,0.0797798426332,0.999999932263,9.53260546328e-05,-0.000351581175487,5.27072514145e-05,1793253009367974400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,770.320688651,748.679311349,726,703.679311349,670,640.679311349,894,792,823,653,634,654,0.410445006722,0.00447997586292,0.0797771232931,0.999999929572,9.4463848701e-05,-0.000359262690081,5.35051387929e-05,1793253009384641024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770.259687096,749,726.259687096,703.740312904,670,641,894.259687096,792.259687096,823,653,634,654,0.409819739128,0.00448064922612,0.0797873131002,0.99999993545,9.59432804052e-05,-0.000342043663108,5.38597525998e-05,1793253009401307392
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770.846049787,749,726.846049787,703.153950213,670,641,894.846049787,792.846049787,823,653,634,654,0.409250041562,0.00448492099496,0.0798137420793,0.999999950452,0.000100368395044,-0.000293500786436,5.36567464894e-05,1793253009417974016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,771,749,727,703.429486119,670,641,894.570513881,792.570513881,823,653,634,654,0.408656894759,0.00448939951044,0.0798260731866,0.999999955517,9.97242645794e-05,-0.000275785412885,5.44368283427e-05,1793253009434640896
+360,6.000000000,POSE2_TO_POSE3_RETREAT,771,749,727,703.988239848,670,641,894,792.011760152,823,653,634,654,0.408055805981,0.00449382627589,0.079832474533,0.999999957091,9.77803064997e-05,-0.000270504542054,5.55278106848e-05,1793253009451307520
+361,6.016666667,POSE2_TO_POSE3_RETREAT,771,749,727,703.411751609,670,641,894,792.588248391,823,653,634,654,0.407474243279,0.00449223330836,0.0797951509149,0.999999935082,0.000120084627326,-0.000335290408507,5.47409620274e-05,1793253009467974400
+362,6.033333333,POSE2_TO_POSE3_RETREAT,771,749,727,703.163412348,670,640.836587652,894,792.836587652,823,653,634,654,0.406920633886,0.00448990352483,0.0797661502783,0.999999917085,0.000129029193404,-0.00038250614362,5.35808367577e-05,1793253009484641024
+363,6.050000000,POSE2_TO_POSE3_RETREAT,771,749,727,703.735266443,670,640.264733557,894,792.264733557,823,653,634,654,0.406436892398,0.00448573210278,0.0797579525479,0.999999918783,0.000104581664725,-0.000385806149786,5.14877239024e-05,1793253009501307648
+364,6.066666667,POSE2_TO_POSE3_RETREAT,771,749,727,704,670.309454054,640.309454054,894,792,823,653.309454054,634.309454054,654,0.405989382593,0.00448384980636,0.0797671095769,0.999999928217,9.43933107495e-05,-0.000363444305107,5.06404466573e-05,1793253009517974016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,771,749,727,704,670.885653089,640.885653089,894,792,823,653.885653089,634.885653089,654,0.405573104011,0.00448394070383,0.0797912261615,0.999999943182,9.6496163375e-05,-0.000318962310356,5.0867062009e-05,1793253009534640640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,771,749,726.52264792,703.52264792,671,641,894.47735208,792.47735208,823,653.52264792,634.52264792,654,0.405165449592,0.00449017801068,0.0798095341164,0.999999948617,0.000116313601316,-0.000294269420257,5.14091124785e-05,1793253009551307264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770.929638652,749,726,703.070361348,671,641,894.929638652,793,823,653,634.070361348,654,0.40476398562,0.00449745742898,0.0798245357966,0.999999950677,0.000137740846121,-0.00027739501716,5.22089822705e-05,1793253009567973888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770.354751048,749,726,703.645248952,671,641,894.354751048,793,823,653,634.645248952,654,0.404391599799,0.00450129760651,0.0798261418703,0.999999949221,0.000139262560536,-0.000281451553315,5.4297555382e-05,1793253009584640512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770,749,726.220992412,704,670.779007588,641,894,792.779007588,823,653,634.779007588,654,0.404032939948,0.00450251800189,0.0798274266051,0.999999948018,0.000138649085004,-0.000285604341919,5.63052209201e-05,1793253009601307136
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770,749,726.798115032,704,670.201884968,641,894,792.201884968,823,653,634.201884968,654,0.403696399589,0.00449951660688,0.0798281935006,0.999999947225,0.000134594741694,-0.000289912241356,5.81825033596e-05,1793253009617973760
+371,6.183333333,POSE2_TO_POSE3_RETREAT,770,749,727,703.618573234,670,641.381426766,894,792.381426766,823,653,634,654,0.403399492104,0.00449681045457,0.0798299130958,0.999999949874,0.000118671055188,-0.000288400694148,5.47214474203e-05,1793253009634640384
+372,6.200000000,POSE2_TO_POSE3_RETREAT,770,749,727,703.031931585,670,641.968068415,894,792.968068415,823,653,634,654,0.403123907831,0.00449426314819,0.0798321452616,0.999999953927,9.63614349939e-05,-0.000283758173803,4.83882636573e-05,1793253009651307008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,770,749,727,703.549903233,670.549903233,641.450096767,894,793,823,653,634,654,0.402860952207,0.00448987498609,0.0798297319392,0.99999995153,9.65915781534e-05,-0.000291603051474,5.07624747621e-05,1793253009667973888
+374,6.233333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.870342726,641,894,793,823,653,634,654,0.402611489552,0.00448652722348,0.0798271719736,0.999999949424,9.69861724955e-05,-0.00029820133709,5.31171707924e-05,1793253009684640512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.296765319,641,894,793,823,653,634,654,0.402405735044,0.00448710438835,0.0798250255059,0.999999949764,9.3501475242e-05,-0.000298070418594,5.36889202022e-05,1793253009701307136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,770,749,727,704,670,641,894.277533031,793,823,653,634.277533031,654,0.402217059985,0.0044871977532,0.0798257934397,0.999999951012,8.9618318229e-05,-0.00029497714993,5.41622536603e-05,1793253009717974016
+377,6.283333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,670,641,894.852604258,793,823,653,634.852604258,654,0.402046695511,0.00448677244469,0.0798296858515,0.999999953198,8.53079798449e-05,-0.000288707998665,5.45300771018e-05,1793253009734640896
+378,6.300000000,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.439277858,641,894.121444284,793,823,653,634.560722142,654,0.401899194053,0.00448722054402,0.0798350701481,0.999999955245,8.55616601694e-05,-0.000281165116178,5.59944764987e-05,1793253009751307264
+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,749,727,703.970570071,670.970570071,641,893.029429929,793,823,653,634.029429929,654,0.401760299208,0.00448791469197,0.0798405684331,0.999999956987,8.80221999158e-05,-0.00027373000787,5.78747609056e-05,1793253009767973888
+380,6.333333333,POSE2_TO_POSE3_RETREAT,770,749,727,703.390157196,670.390157196,641,893.609842804,793,823,653,634.609842804,654,0.401635015405,0.00448757977395,0.0798385745978,0.999999954699,0.000102350493772,-0.000276531220103,6.04656679715e-05,1793253009784640768
+381,6.350000000,POSE2_TO_POSE3_RETREAT,770,749,727,703.18781866,670.18781866,641,894,793,823.18781866,653,634.81218134,654,0.401517258743,0.00448530250786,0.0798358827235,0.999999952244,0.000115313095089,-0.000280483093654,5.9526543337e-05,1793253009801307392
+382,6.366666667,POSE2_TO_POSE3_RETREAT,770,749,727,703.760796851,670.760796851,641,894,793,823.760796851,653,634.239203149,654,0.401414937996,0.00447904207069,0.0798317593815,0.999999949684,0.000125475070403,-0.000286794626887,5.13483860794e-05,1793253009817974016
+383,6.383333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,671,641,894.342479391,793,823.657520609,653,634,654,0.401327136611,0.00447595840335,0.0798271800428,0.999999947418,0.000128352352567,-0.00029378313384,4.88013829428e-05,1793253009834640896
+384,6.400000000,POSE2_TO_POSE3_RETREAT,770,749,727,704,671,641,894.930400049,793,823.069599951,653,634,654,0.401249740661,0.0044751513991,0.0798222739092,0.999999945418,0.000126008987897,-0.000301256801416,5.02900016424e-05,1793253009851307520
+385,6.416666667,POSE2_TO_POSE3_RETREAT,770.510625115,749,727,703.489374885,670.489374885,641.510625115,894.489374885,792.489374885,823,653,634,654,0.401191098486,0.00447696415515,0.0798199886225,0.999999944469,0.000128757439879,-0.000303052540117,5.14121334092e-05,1793253009867974144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,770.910435868,749,727,703,670.089564132,641.910435868,894,792.089564132,823,653,634,654,0.401137058675,0.00447838167632,0.0798183812498,0.999999943796,0.000130718811284,-0.00030425941354,5.24121106156e-05,1793253009884640768
+387,6.450000000,POSE2_TO_POSE3_RETREAT,770.33287342,749,727,703,670.66712658,641.33287342,894,792.66712658,823,653,634,654,0.401094374323,0.00447572901629,0.0798185500484,0.99999994388,0.000124666351761,-0.000306411973844,5.30146527387e-05,1793253009901307392
+388,6.466666667,POSE2_TO_POSE3_RETREAT,770,749,727,703.235339518,670.764660482,641,894.235339518,793,823,653,634,654,0.401058777192,0.00447545045858,0.0798180303716,0.999999943577,0.000123139591277,-0.0003079394423,5.34473074987e-05,1793253009917974016
+389,6.483333333,POSE2_TO_POSE3_RETREAT,770,749,727,703.790833411,670.209166589,641,894.790833411,793,823,653,634,654,0.401032821471,0.00447840161461,0.0798165740974,0.999999942776,0.000127769563143,-0.000308616539691,5.36488485435e-05,1793253009934640640
+390,6.500000000,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.380644742,641,895,793,823,653,634,654,0.401015034993,0.00447893467268,0.07981810123,0.999999943838,0.000127010949182,-0.000305436759194,5.38483036529e-05,1793253009951307520
+391,6.516666667,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.991182287,641,895,793,823,653,634,654,0.401002182381,0.00447800730504,0.07982143021,0.999999945997,0.000122997864486,-0.00029992759282,5.40464989394e-05,1793253009967973888
+392,6.533333333,POSE2_TO_POSE3_RETREAT,770.572953803,749,727,704,671,641.572953803,894.427046197,793,823,653,634,654,0.400993877028,0.00447899445095,0.0798224258565,0.999999946394,0.000124557375528,-0.000297995649326,5.3817826652e-05,1793253009984640768
+393,6.550000000,POSE2_TO_POSE3_RETREAT,770.847656893,749,726.847656893,704,671,641.847656893,894,793,823,653,634,654,0.400985910891,0.00447947028484,0.0798229879158,0.999999946582,0.000125297638329,-0.000297065640717,5.37424255279e-05,1793253010001307136
+394,6.566666667,POSE2_TO_POSE3_RETREAT,770.273693972,749,726.273693972,704,671,641.273693972,894,793,823,653,634,654,0.400978699139,0.00447845338222,0.0798224446249,0.999999946275,0.000123544571489,-0.000298763475326,5.41085249467e-05,1793253010017973760
+395,6.583333333,POSE2_TO_POSE3_RETREAT,770,749,726.306718446,703.693281554,670.693281554,641.306718446,894,793,823.306718446,653,634,654,0.400974446502,0.00447788888996,0.0798225711892,0.99999994635,0.000122419827974,-0.000298970488796,5.4137616251e-05,1793253010034640640
+396,6.600000000,POSE2_TO_POSE3_RETREAT,770,749,726.893009625,703.106990375,670.106990375,641.893009625,894,793,823.893009625,653,634,654,0.400972891087,0.00447773676796,0.0798233083241,0.999999946776,0.00012186779865,-0.000297818624499,5.38595259449e-05,1793253010051307264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,770,749,727,703.476180243,670,641.523819757,894,793,823.523819757,653,634,654,0.400972349188,0.00447841910005,0.0798242279709,0.999999947251,0.000122264385347,-0.000296072684678,5.37635533792e-05,1793253010067973632
+398,6.633333333,POSE2_TO_POSE3_RETREAT,770.057898173,749.057898173,727,704,670,641,894,793,823,653,634,654,0.400971918861,0.00447919290812,0.0798251153271,0.999999947671,0.000122803751277,-0.000294434009017,5.37204129808e-05,1793253010084640512
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diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..360f027a0417eedb7d412c91c43ad8098e625759
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_04/simulation_data.csv
@@ -0,0 +1,417 @@
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+395,6.583333333,pose2_to_pose3_retreat,0.585756070283,0.0100051215116,1.07002088908,0.556327413617,0.0186775299871,1.06963227363
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diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..236cd05f2dd294185e13eba984eb4d6ffc4d0fa0
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db7e09ce2c8802421b26ba18fbd17d46a619f9b124a6e66eae984978a3c397f
+size 26483137
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e05f532ddd2ffaf66dee04ad1d5757f4df39a81
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
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+11,0.183333333,BASELINE,771,749,727,703.391948773,670.608051227,642,894.608051227,793,822.391948773,653,634.608051227,654,0.400970856996,0.00448001017956,0.0798298382504,0.999999950311,0.000121080489397,-0.000286332503165,5.2266953007e-05,1793253010697422592
+12,0.200000000,BASELINE,771,749,727,703.970115235,670.029884765,642,894.029884765,793,822.970115235,653,634.029884765,654,0.400971392022,0.0044803458375,0.0798298193271,0.999999950435,0.000121449039061,-0.000285769316207,5.21141828584e-05,1793253010714089216
+13,0.216666667,BASELINE,770.454452459,749,727,704,670.545547541,642,894,793,823,653,634,654,0.400970979754,0.00448059208693,0.0798293634762,0.999999950484,0.000120946597694,-0.000285818401831,5.20700390817e-05,1793253010730755584
+14,0.233333333,BASELINE,770,749.123600336,727,703.876399664,670.876399664,641.876399664,894,792.876399664,823,653,634,654,0.400970914318,0.00448069908499,0.0798293921073,0.999999950571,0.000120625304354,-0.000285650954933,5.2071659519e-05,1793253010747422208
+15,0.250000000,BASELINE,770,749.712069638,727,703.287930362,670.287930362,641.287930362,894,792.287930362,823,653,634,654,0.400972347538,0.00448030067847,0.0798313324781,0.999999950813,0.000121163874911,-0.000284543598272,5.22231335872e-05,1793253010764088832
+16,0.266666667,BASELINE,770.295853175,749.704146825,727,703,670.295853175,641,894,792,823,653,634,654,0.400972515505,0.00448002121328,0.0798317789804,0.999999950859,0.000121546252944,-0.000284193098185,5.23781520093e-05,1793253010780755456
+17,0.283333333,BASELINE,770.875147494,749.124852506,727,703,670.875147494,641,894,792,823,653,634,654,0.400971471298,0.00447985569946,0.0798307942869,0.999999950716,0.000121778991221,-0.000284567702077,5.25365660789e-05,1793253010797422336
+18,0.300000000,BASELINE,771,749,727,703.448814214,670.551185786,641.448814214,894,792,823,653,634,654,0.400972016532,0.00448011399907,0.0798311750289,0.999999951043,0.000121321583065,-0.000283673611232,5.21910503358e-05,1793253010814088960
+19,0.316666667,BASELINE,771,749,727,704,670,642,894,792,823,653,634.021181655,654,0.400972938828,0.00448048242908,0.0798318885813,0.999999951475,0.00012071248979,-0.000282493244152,5.17367631154e-05,1793253010830755584
+20,0.333333333,BASELINE,771,749,727,704,670,642,894,792,823,653,634.600048222,654,0.400972291507,0.00448068479568,0.0798314877265,0.999999951281,0.000121101896549,-0.000282952695434,5.20638389262e-05,1793253010847422208
+21,0.350000000,BASELINE,770.817230258,749,727,704,670.182769742,642,894,792.182769742,823,653,634.817230258,654,0.400972035567,0.00448077157511,0.0798313328113,0.99999995118,0.000121380603451,-0.000283168323749,5.21846085258e-05,1793253010864088832
+22,0.366666667,BASELINE,770.225891334,749,727,704,670.774108666,642,894,792.774108666,823,653,634.225891334,654,0.400972654529,0.00448059996732,0.079831727677,0.999999951287,0.000121411848385,-0.000282838902539,5.18441947414e-05,1793253010880755456
+23,0.383333333,BASELINE,770.355642493,749,727,704,671,641.644357507,894,793,823,653.355642493,634,654,0.400973353181,0.00448048786723,0.0798322621828,0.999999951463,0.000121532359999,-0.000282165251561,5.18420053325e-05,1793253010897422080
+24,0.400000000,BASELINE,770.931115626,749,727,704,671,641.068884374,894,793,823,653.931115626,634,654,0.400974101091,0.00448041255016,0.0798328830032,0.99999995168,0.000121708049362,-0.000281278824375,5.20488800001e-05,1793253010914088704
+25,0.416666667,BASELINE,770.494435247,749,727,704,671,641,894,793,823,653.494435247,634,654,0.400972697218,0.00448010969189,0.0798317911483,0.999999951268,0.000121040916417,-0.000283032270885,5.20243717911e-05,1793253010930755584
+26,0.433333333,BASELINE,770,749,727,703.919814933,670.919814933,641,894,792.919814933,823,653,634,654,0.400971337279,0.00447982708644,0.0798307874611,0.999999950883,0.000120236455798,-0.000284737528204,5.1985329902e-05,1793253010947422208
+27,0.450000000,BASELINE,770,749,727,703.34327277,670.34327277,641,894,792.34327277,823,653,634,654,0.400972060486,0.00447986137386,0.0798317711323,0.999999951224,0.000119291334349,-0.000283922462845,5.2051081235e-05,1793253010964089088
+28,0.466666667,BASELINE,770.240672509,749,727,703.240672509,670,641,894,792.240672509,823,653,634,654.240672509,0.400972471281,0.00447964615997,0.0798323249311,0.999999951471,0.000119010933694,-0.000283159712259,5.21094769355e-05,1793253010980755712
+29,0.483333333,BASELINE,770.835511975,749,727,703.835511975,670,641,894,792.835511975,823,653,634,654.835511975,0.400972422337,0.00447906378692,0.0798322461416,0.999999951579,0.000119708717687,-0.000282473946685,5.21570482882e-05,1793253010997422592
+30,0.500000000,BASELINE,770.583486697,749,727,704,670,641,894,792.583486697,823,653,634,654.583486697,0.40097319073,0.00447933029529,0.0798321588881,0.999999951827,0.000119004807928,-0.000281928744572,5.19682688567e-05,1793253011014089216
+31,0.516666667,BASELINE,770.007774566,749,727,704,670,641,894,792.007774566,823,653,634,654.007774566,0.400974271523,0.00447992126133,0.0798320683995,0.999999952126,0.000117765145751,-0.000281437268341,5.16891519302e-05,1793253011030755840
+32,0.533333333,BASELINE,770.567340806,749,727,704,670.567340806,641.567340806,894,792,823,653,634,654,0.400973417749,0.00448016904253,0.0798316392865,0.999999951695,0.00011956472881,-0.000282204664319,5.1724654911e-05,1793253011047422208
+33,0.550000000,BASELINE,771,749,727,704,671,642,894,792.285039287,823,653,634,654,0.400972635847,0.0044805000835,0.0798313389674,0.999999951322,0.000121109791992,-0.000282852283639,5.17894296248e-05,1793253011064088832
+34,0.566666667,BASELINE,771,749,727,704,671,642,894,793.435831897,823,653,634,654,0.40097215268,0.00448109827933,0.0798314439156,0.999999951171,0.000121755432338,-0.000283083762144,5.19300304164e-05,1793253011080755712
+35,0.583333333,BASELINE,770.697163179,749,727,704,670.697163179,641.697163179,894,793.697163179,823,653,634,654.302836821,0.400972087624,0.00448088269319,0.0798314693321,0.999999951116,0.000122109130304,-0.000283111734085,5.20031835321e-05,1793253011097422592
+36,0.600000000,BASELINE,770.103082278,749,727,704,670.103082278,641.103082278,894,793.103082278,823,653,634,654.896917722,0.400972424674,0.0044798844771,0.0798314182613,0.999999951155,0.000122182061665,-0.000282943989819,5.20114709183e-05,1793253011114089472
+37,0.616666667,BASELINE,770,749,727,704,670,641,894,792.524729472,823,653,634.475270528,654.524729472,0.400972848477,0.00448008536269,0.0798322060498,0.999999951534,0.000120886335535,-0.000282182284457,5.1872183432e-05,1793253011130755840
+38,0.633333333,BASELINE,770,749.050165692,727,704,670.050165692,641,894,792,823,653,635,654,0.400973187736,0.00448050295555,0.0798330175373,0.999999951906,0.000119533874983,-0.000281466671096,5.1727772246e-05,1793253011147422464
+39,0.650000000,BASELINE,770,749.623438504,727,704,670.623438504,641,894,792,823,653,635,654,0.400972455483,0.00448055519649,0.0798322397092,0.999999951473,0.000120586089768,-0.000282531991451,5.18530056016e-05,1793253011164088832
+40,0.666666667,BASELINE,770.202855097,750,727,704,671,641,894,792.202855097,823,653,634.797144903,654,0.400972063698,0.00448035530614,0.0798319181534,0.999999951361,0.000120492035806,-0.000282951577141,5.19480913107e-05,1793253011180755456
+41,0.683333333,BASELINE,770.794032602,750,727,704,671,641,894,792.794032602,823,653,634.205967398,654,0.400972323665,0.00447967276473,0.0798324700327,0.999999951863,0.000118203697051,-0.000282135042771,5.19854658335e-05,1793253011197422080
+42,0.700000000,BASELINE,771,749.622031573,727,704,670.622031573,641,894,793,823,653,634.377968427,654,0.400972407919,0.00447941488691,0.0798326527031,0.999999951952,0.000118104395799,-0.000281863011316,5.19762285906e-05,1793253011214088704
+43,0.716666667,BASELINE,771,749.04196781,727,704,670.04196781,641,894,793,823,653,634.95803219,654,0.400972398222,0.00447938407181,0.0798326379617,0.999999951821,0.000119175547599,-0.000281882119283,5.19420685759e-05,1793253011230755584
+44,0.733333333,BASELINE,770.467845749,749.532154251,727,704,670,641,894,793,823,653,635,654,0.400971675257,0.00448027797393,0.0798321636572,0.999999951547,0.000119775563338,-0.000282623376087,5.18001394414e-05,1793253011247422464
+45,0.750000000,BASELINE,770.106177551,749.893822449,727,704,670,641.106177551,894.106177551,793,823,653,634.893822449,654,0.400971383069,0.00448095763543,0.0798318469317,0.999999951379,0.000120446949021,-0.00028295449987,5.16825773204e-05,1793253011264089088
+46,0.766666667,BASELINE,770.68181297,749.31818703,727,704,670,641.68181297,894.68181297,793,823,653,634.31818703,654,0.400973241501,0.00448037116265,0.0798323854096,0.999999951727,0.000121596360238,-0.000281223216679,5.1709915923e-05,1793253011280755712
+47,0.783333333,BASELINE,770.735456528,749,727,703.735456528,670,641.735456528,894.735456528,792.735456528,823,653,634,654,0.400973452775,0.00448046177764,0.0798323070014,0.999999951651,0.000122424606605,-0.000281116574979,5.17960566938e-05,1793253011297422592
+48,0.800000000,BASELINE,770.143956952,749,727,703.143956952,670,641.143956952,894.143956952,792.143956952,823,653,634,654,0.400971628283,0.00448138922281,0.0798314661678,0.999999951054,0.000122855917198,-0.000283017869399,5.19548725854e-05,1793253011314089216
+49,0.816666667,BASELINE,770.438413663,749.438413663,727,703.438413663,670,641.438413663,894.438413663,792.438413663,823,653,634,653.561586337,0.400971490834,0.00448149788658,0.0798316986934,0.999999951008,0.000122665486203,-0.000283263387112,5.19466709167e-05,1793253011330755584
+50,0.833333333,BASELINE,770.982255204,749.982255204,727,704,670.017744796,641.982255204,894.982255204,793,823,653,634.017744796,653.017744796,0.400971891681,0.00448132310488,0.0798322615883,0.999999951144,0.000122261138916,-0.000282969855949,5.18826219948e-05,1793253011347422208
+51,0.850000000,BASELINE,770.406165476,749.406165476,727,704,670.593834524,641.406165476,894.406165476,793,823,653,634.593834524,653.593834524,0.400972155327,0.00448051664057,0.0798323560184,0.999999951394,0.00012141859443,-0.00028247336393,5.17517331822e-05,1793253011364089088
+52,0.866666667,BASELINE,770,749,727,703.827209761,670.827209761,641,894,793,823,653,634.827209761,654,0.400972049865,0.00448008490103,0.0798322038443,0.999999951449,0.00012103779014,-0.000282457547109,5.16776391307e-05,1793253011380755712
+53,0.883333333,BASELINE,770,749,727,703.241403587,670.241403587,641,894,793,823,653,634.241403587,654,0.400971062132,0.00448054885623,0.079831462219,0.999999951037,0.000121760671271,-0.000283590675521,5.17393001008e-05,1793253011397422848
+54,0.900000000,BASELINE,770,749,727,703.341676018,670.341676018,641,894,792.658323982,823,653,634,654,0.400971137901,0.00448096692435,0.0798313102256,0.999999950915,0.000122474043245,-0.000283707155896,5.17731218358e-05,1793253011414089728
+55,0.916666667,BASELINE,770,749,727,703.922844452,670.922844452,641,894,792.077155548,823,653,634,654,0.400971959115,0.00448135282863,0.0798315715256,0.999999950996,0.000123180749897,-0.000283111032814,5.17874300955e-05,1793253011430756352
+56,0.933333333,BASELINE,770,749,727,703.499201352,671,641,894.500798648,792,823,653,634,654,0.400973568375,0.00447982602617,0.0798328488959,0.999999951705,0.000122126822199,-0.000281008168492,5.2047807211e-05,1793253011447422720
+57,0.950000000,BASELINE,770,749,727,703.077638329,671,641.077638329,894.922361671,792.077638329,823,653,634,654.077638329,0.40097495282,0.00447853721301,0.0798339385808,0.999999952327,0.000121255706464,-0.000279126379943,5.22715094484e-05,1793253011464089088
+58,0.966666667,BASELINE,770,749,727,703.650507216,671,641.650507216,894.349492784,792.650507216,823,653,634,654.650507216,0.400974133747,0.00448063415132,0.0798328389212,0.999999951814,0.000123269889686,-0.000280126045851,5.20209963325e-05,1793253011480755712
+59,0.983333333,BASELINE,770.231150387,749,727,704,671,641.768849613,894,793,823,653,634,654.768849613,0.40097346594,0.0044814680256,0.0798324239972,0.999999951647,0.000123244685544,-0.000280748436903,5.1933820741e-05,1793253011497422336
+60,1.000000000,BASELINE,770.823957245,749,727,704,671,641.176042755,894,793,823,653,634,654.176042755,0.400973034804,0.00448032571801,0.079833080406,0.99999995202,0.000120028668818,-0.000280780546194,5.2102201994e-05,1793253011514088704
+61,1.016666667,BASELINE,770.59493069,749.40506931,727,704,670.59493069,641.40506931,894,792.59493069,823,653,634.40506931,654,0.400973772774,0.00448023879617,0.0798337102545,0.999999952321,0.000119438601331,-0.000280013537207,5.1813461507e-05,1793253011530755328
+62,1.033333333,BASELINE,770.018758586,749.981241414,727,704,670.018758586,641.981241414,894,792.018758586,823,653,634.981241414,654,0.40097500458,0.00448059767329,0.0798343288837,0.999999952592,0.000119957744837,-0.000278908977665,5.13316310739e-05,1793253011547421952
+63,1.050000000,BASELINE,770.557575198,749.442424802,727,704,670.557575198,642,894.557575198,792.557575198,823.557575198,653,635,654,0.400974810621,0.00448087098434,0.0798341495971,0.999999952468,0.000122071353842,-0.000278340207682,5.18516231462e-05,1793253011564088576
+64,1.066666667,BASELINE,770.863142689,749,727,704,671,641.863142689,894.863142689,792.863142689,823.863142689,653,635,654,0.400974472887,0.00448068649276,0.0798339953257,0.999999952376,0.000123089900129,-0.000278143124393,5.22717507283e-05,1793253011580755200
+65,1.083333333,BASELINE,770.274137928,749,727,704,671,641.274137928,894.274137928,792.274137928,823.274137928,653,635,654,0.400973818673,0.00447899903209,0.0798340124136,0.999999952445,0.000120313316044,-0.000279114444738,5.22505625657e-05,1793253011597421824
+66,1.100000000,BASELINE,770,749,727,704,671,641,894,792,823,653,634.690621758,654,0.400973937747,0.00447891818821,0.0798340997347,0.99999995251,0.000119058076051,-0.000279471337123,5.19781389047e-05,1793253011614088448
+67,1.116666667,BASELINE,770,749,727,704,671,641,894,792,823,653,634.111884243,654,0.400974730083,0.00448023614068,0.079834248204,0.999999952577,0.000119127390046,-0.00027929327953,5.1486977784e-05,1793253011630755072
+68,1.133333333,BASELINE,770.463994414,749,727,704,671,641,894,792,823,653,634.463994414,654,0.400973348315,0.00448092090638,0.0798332445664,0.999999952034,0.000120704458726,-0.00028053823205,5.15897001307e-05,1793253011647421952
+69,1.150000000,BASELINE,770.960754248,749,727,704,671,641.039245752,894,792.039245752,823,653,634.960754248,654,0.400971616445,0.00448135867073,0.0798320738445,0.999999951408,0.000122358113099,-0.000282008946618,5.17965685377e-05,1793253011664088832
+70,1.166666667,BASELINE,770.384712585,749,727,704,671,641.615287415,894,792.615287415,823,653,634.384712585,654,0.400972222592,0.00448049356473,0.0798323943495,0.999999951726,0.000120116914403,-0.00028190300444,5.14811940664e-05,1793253011680755456
+71,1.183333333,BASELINE,770,749.196046233,727,704,671,641.803953767,894,793,823,653,634,654,0.400972648497,0.00448013194044,0.0798325274266,0.999999951867,0.000119038722668,-0.000281903164126,5.12518772271e-05,1793253011697422080
+72,1.200000000,BASELINE,770,749.786290118,727,704,671,641.213709882,894,793,823,653,634,654,0.400972711986,0.00448078268591,0.0798322836353,0.999999951659,0.000120299033071,-0.000282116666871,5.11955997007e-05,1793253011714088704
+73,1.216666667,BASELINE,770,749.630617226,727,704,670.630617226,641,894.369382774,793,823,653,634,654,0.400972385743,0.00448063717587,0.0798319403588,0.999999951454,0.000121017386567,-0.000282493451674,5.14156080173e-05,1793253011730755328
+74,1.233333333,BASELINE,770,749.051583436,727,704,670.051583436,641,894.948416564,793,823,653,634,654,0.400971838299,0.00448003973413,0.0798315406173,0.999999951252,0.000121428140868,-0.000282962910652,5.17924282184e-05,1793253011747421952
+75,1.250000000,BASELINE,770.523097264,749,727,704,670.523097264,641.523097264,894.476902736,793,823,653,634,654,0.400973685742,0.00448036538494,0.0798328067367,0.999999951887,0.00012063725928,-0.00028107572638,5.16660304207e-05,1793253011764088576
+76,1.266666667,BASELINE,771,749,727,704,671,642,894,792.900368723,823,653,634,654,0.400975225876,0.00448072261141,0.0798339120275,0.999999952403,0.000120181403311,-0.0002794465967,5.15690808132e-05,1793253011780755712
+77,1.283333333,BASELINE,771,749,727,704,671,642,894,792.312670339,823,653,634,654,0.400974113236,0.00448079227896,0.0798334313728,0.999999951961,0.000121942434363,-0.000280210640138,5.18574742237e-05,1793253011797423104
+78,1.300000000,BASELINE,770.72903833,749,727,704,671,641.72903833,894,792.27096167,823,653,634,654,0.400973860501,0.00448082448895,0.0798333113845,0.999999951828,0.00012256324983,-0.000280420239297,5.18395291413e-05,1793253011814089728
+79,1.316666667,BASELINE,770.150029288,749,727,704,671,641.150029288,894,792.849970712,823,653,634,654,0.400974585363,0.00448081411466,0.079833601426,0.999999952047,0.000121887791742,-0.000279999509017,5.14733179256e-05,1793253011830756096
+80,1.333333333,BASELINE,770,749,727,704,671,641,894,792.574252389,823,653,634,654,0.400973602482,0.00448138595495,0.079833326965,0.99999995171,0.00012323585132,-0.000280605403256,5.15188103655e-05,1793253011847422720
+81,1.350000000,BASELINE,770.000395258,749,727,704,670.999604742,641.000395258,894,792.000395258,823,653,634,654,0.400972023086,0.00448215990884,0.079832855129,0.999999951174,0.000125287817764,-0.000281570300482,5.17080739102e-05,1793253011864089088
+82,1.366666667,BASELINE,770.576640248,749,727,704,670.423359752,641.576640248,894,792.576640248,823,653,634,654,0.400971527442,0.00448073781777,0.0798324583909,0.999999951354,0.000121820328412,-0.000282471466232,5.15824437904e-05,1793253011880755456
+83,1.383333333,BASELINE,770.843214901,749,727,703.843214901,670,641.843214901,894,792.843214901,823,653,634,654,0.400971242748,0.00447991213913,0.0798320870227,0.999999951397,0.000119930275713,-0.000283132507962,5.15571964266e-05,1793253011897422080
+84,1.400000000,BASELINE,770.252270679,749,727,703.252270679,670,641.252270679,894,792.252270679,823,653,634,654,0.400971542204,0.00448073800678,0.0798317859073,0.999999951085,0.000122408357482,-0.00028312861404,5.18099224522e-05,1793253011914088704
+85,1.416666667,BASELINE,770,749,727,703,670,641.331074941,894,792.331074941,823,653,634.331074941,654,0.4009724177,0.00448104151177,0.0798323649824,0.999999951363,0.000122664617672,-0.000282028858108,5.18360708529e-05,1793253011930755328
+86,1.433333333,BASELINE,770,749,727,703,670,641.908760491,894,792.908760491,823,653,634.908760491,654,0.400973722276,0.00448095591998,0.0798335996924,0.99999995208,0.000121265890564,-0.000280112818113,5.16934464344e-05,1793253011947421952
+87,1.450000000,BASELINE,770,749,727,703.483307357,670,641.516692643,894,792.516692643,823,653,634.516692643,654,0.400974171096,0.00448087247303,0.079833893143,0.999999952405,0.000120704485724,-0.00027923902074,5.14429398596e-05,1793253011964088832
+88,1.466666667,BASELINE,770,749,727,704,670.056932581,641,894,792,823,653,634,654,0.400974364803,0.0044808008462,0.0798339331105,0.99999995261,0.000120370248662,-0.000278690473513,5.12032676155e-05,1793253011980755456
+89,1.483333333,BASELINE,770,749,727,704,670.627553788,641,894,792,823,653,634,654,0.400973704915,0.00448083223951,0.0798332788925,0.999999952399,0.000120668657314,-0.0002793127503,5.1243924028e-05,1793253011997422080
+90,1.500000000,BASELINE,770,749,727,704,670.791978953,641,894,792,823,653,634.208021047,654,0.400972886896,0.00448055320235,0.0798326647913,0.999999952133,0.00012063930225,-0.000280260324502,5.1331350985e-05,1793253012014088704
+91,1.516666667,BASELINE,770,749,727,704,670.193007284,641,894,792,823,653,634.806992716,654,0.400971771688,0.00447969074834,0.0798321260848,0.999999951763,0.00011999395454,-0.000281819256127,5.1506677569e-05,1793253012030755072
+92,1.533333333,BASELINE,770.390701671,749,727,704,670,641,894,792.390701671,823,653,634.609298329,654,0.400972503936,0.00447997362279,0.0798329154767,0.99999995183,0.000120895113261,-0.00028114575844,5.17880056825e-05,1793253012047421952
+93,1.550000000,BASELINE,770.967154339,749,727,704,670,641,894,792.967154339,823,653,634.032845661,654,0.400974114518,0.00448080101979,0.0798343362854,0.9999999521,0.000122531526292,-0.000279410898729,5.21197300374e-05,1793253012064088576
+94,1.566666667,BASELINE,770.456417115,749,727,704,670,641,894,792.456417115,823,653,634,654,0.400972168367,0.00448046789748,0.0798328276561,0.999999951781,0.000120692988794,-0.000281423656474,5.16811703621e-05,1793253012080755200
+95,1.583333333,BASELINE,770,749,726.877539664,704,670.122460336,641.122460336,894,792,823,653,634,654,0.400970526393,0.00448013395551,0.0798315403951,0.999999951513,0.000118831821014,-0.000283230399774,5.13106555567e-05,1793253012097421568
+96,1.600000000,BASELINE,770,749,726.289342923,704,670.710657077,641.710657077,894,792,823,653,634,654,0.400970858562,0.00448006357591,0.0798317681988,0.9999999516,0.000117683107024,-0.00028339245951,5.1375932476e-05,1793253012114088192
+97,1.616666667,BASELINE,770.294307276,749,726.294307276,703.705692724,671.294307276,641.705692724,894,792.294307276,823,653,634,654,0.400971417116,0.00448017017888,0.0798322141236,0.9999999518,0.000117825382411,-0.000282622520582,5.1394577285e-05,1793253012130755072
+98,1.633333333,BASELINE,770.873555591,749,726.873555591,703.126444409,671.873555591,641.126444409,894,792.873555591,823,653,634,654,0.400972194848,0.00448044813203,0.079832871228,0.999999952108,0.000119217561913,-0.000280950243546,5.13680740317e-05,1793253012147421696
+99,1.650000000,BASELINE,771,749,727,703.451832591,671.548167409,641,894,793,823,653,634,654,0.400972808773,0.0044814022253,0.0798329963904,0.999999951961,0.000120957160916,-0.000280757747743,5.12065178307e-05,1793253012164088064
+100,1.666666667,BASELINE,771,749,727,704,671,641,894,792.970333612,823,653,634.029666388,654,0.400973329605,0.00448239589347,0.0798329805749,0.999999951712,0.000122592880191,-0.000280966097569,5.10451231369e-05,1793253012180754944
+101,1.683333333,BASELINE,771,749,727,704,671,641,894,792.3956589,823,653,634.6043411,654,0.40097298056,0.00448064791869,0.0798331037496,0.999999951939,0.000120537895133,-0.000280947016182,5.15795339664e-05,1793253012197422848
+102,1.700000000,BASELINE,770.816643779,749,727,704,670.816643779,641.183356221,894,792,823.183356221,653,634.816643779,654,0.400972498553,0.00447985478864,0.0798329761376,0.999999951933,0.000119594695798,-0.000281335344243,5.17848520081e-05,1793253012214090240
+103,1.716666667,BASELINE,770.228035607,749,727,704,670.228035607,641.771964393,894,792,823.771964393,653,634.228035607,654,0.400971722676,0.00448117204635,0.0798322942392,0.999999951414,0.000121108753592,-0.000282624124294,5.12628126358e-05,1793253012230756096
+104,1.733333333,BASELINE,770,749,727,704,670,641.645794108,894,792,823.645794108,653,634.354205892,654,0.400972019963,0.00448109909633,0.0798322163667,0.999999951473,0.000120907297,-0.000282519656116,5.11668716786e-05,1793253012247422208
+105,1.750000000,BASELINE,770,749,727,704,670,641.067579005,894,792,823.067579005,653,634.932420995,654,0.400972995946,0.00448014694216,0.079832520496,0.999999951897,0.000119620903706,-0.000281534060889,5.13404066225e-05,1793253012264088832
+106,1.766666667,BASELINE,770.507912182,749,727,703.492087818,670,641,894,792,823,653,634.492087818,654,0.400972653347,0.00448043489382,0.0798331253247,0.999999951783,0.00012137322145,-0.000281140200654,5.16078908496e-05,1793253012280755968
+107,1.783333333,POSE1_TO_POSE2_PRESS,771,749,727,704,670,641,894,793,823,653,634,654,0.400974093688,0.00448100933471,0.0798340614762,0.999999952127,0.000122565011611,-0.000279366677372,5.17537419507e-05,1793253012324092160
+108,1.800000000,POSE1_TO_POSE2_PRESS,771,749,727,703.403016633,670.596983367,641,894,793,823,653,634,654,0.400974660805,0.00447970604687,0.0798335555995,0.99999995256,0.000120244229999,-0.000278881171754,5.14355732423e-05,1793253012340758272
+109,1.816666667,POSE1_TO_POSE2_PRESS,770.82094071,749,727,703,671,641,894,792.82094071,823,653,634,654,0.40097481475,0.00447897077636,0.0798334851999,0.999999952761,0.00011907748364,-0.00027866877209,5.1402110607e-05,1793253012357424640
+110,1.833333333,POSE1_TO_POSE2_PRESS,770.2698388,749,727,703,671,641,894,792.2698388,823,653,634,654,0.400974110221,0.00447941571054,0.079834319618,0.999999952486,0.000120308547659,-0.000279023821567,5.19601994256e-05,1793253012374091264
+111,1.850000000,POSE1_TO_POSE2_PRESS,770,749,727,703,670.693158246,641,894,792.306841754,823,653,634,654,0.400973102992,0.00448030784603,0.0798340937579,0.99999995204,0.000121527837656,-0.000280098575217,5.19161346005e-05,1793253012390758144
+112,1.866666667,POSE1_TO_POSE2_PRESS,770,749,727,703,670.091938033,641,894,792.908061967,823,653,634,654,0.400971805358,0.00448162901839,0.0798328506858,0.999999951429,0.000122735831794,-0.000281863800082,5.12943743688e-05,1793253012407425024
+113,1.883333333,POSE1_TO_POSE2_PRESS,770,749,727,703.498133817,670,641,894,792.501866183,823,653,634,654,0.400972798291,0.00448149908922,0.0798333183029,0.999999951624,0.000123071426625,-0.000281025705436,5.12920804147e-05,1793253012424091648
+114,1.900000000,POSE1_TO_POSE2_PRESS,770.085071584,749,727,704,670,641.085071584,894.085071584,792.085071584,823,653,634.085071584,654,0.400973903676,0.00448109840273,0.0798339157569,0.999999951884,0.00012300276929,-0.000280109897202,5.13869921081e-05,1793253012440758528
+115,1.916666667,POSE1_TO_POSE2_PRESS,770.665479164,749,727,704,670,641.665479164,894.665479164,792.665479164,823,653,634.665479164,654,0.400973256162,0.00448064649161,0.0798334710582,0.999999951683,0.000121497317847,-0.000281477995422,5.13967582435e-05,1793253012457425152
+116,1.933333333,POSE1_TO_POSE2_PRESS,770.755370629,749,727,704,670,642,894.755370629,793,823,653,634.755370629,654,0.400978778971,0.00448075242536,0.0798356869485,0.9999999528,0.00012069586335,-0.000277831211196,5.14030279263e-05,1793253012474091520
+117,1.950000000,POSE1_TO_POSE2_PRESS,770.177931086,749,727,704,670,642,894.177931086,793,823,653,634.177931086,654,0.4009926963,0.00448161728869,0.0798415224825,0.999999955635,0.000120852173545,-0.000267361845024,5.14045407965e-05,1793253012490757888
+118,1.966666667,POSE1_TO_POSE2_PRESS,770.397448369,749,727,704,670.397448369,641.602551631,894,792.602551631,823,653,634,654,0.401024799717,0.00448157569997,0.0798545465223,0.999999961591,0.000121052950278,-0.000244015296329,5.12003641976e-05,1793253012507424512
+119,1.983333333,POSE1_TO_POSE2_PRESS,770.97191036,749,727,704,670.97191036,641.02808964,894,792.02808964,823,653,634,654,0.401065002765,0.00448113040013,0.0798707721445,0.999999968253,0.000121273531234,-0.000214933569579,5.09045785875e-05,1793253012524091136
+120,2.000000000,POSE1_TO_POSE2_PRESS,771,749,727,704,670.440181284,641.559818716,894,792,823,653,634,654,0.401126998127,0.00448072988266,0.0798889534615,0.999999975858,0.000118072913898,-0.00017856219302,4.95807229443e-05,1793253012540757760
+121,2.016666667,POSE1_TO_POSE2_PRESS,770.85384203,749,727,704,670,641.85384203,894,792,823,653,634,654,0.401192092935,0.00448076028379,0.0799051402783,0.999999981064,0.000115457475907,-0.000149064964517,4.81782414457e-05,1793253012557424640
+122,2.033333333,POSE1_TO_POSE2_PRESS,770.274206551,749,727,704,670,641.274206551,894,792,823,653,634,654,0.401263057337,0.00448206188145,0.079915113584,0.999999982336,0.000115099221894,-0.000141066676496,4.66993260559e-05,1793253012574091520
+123,2.050000000,POSE1_TO_POSE2_PRESS,770.302762132,749,727,703.697237868,670,641,894,792.302762132,823,653,634,654,0.401347706949,0.00448309218203,0.0799236457886,0.999999984215,0.000114386072358,-0.000128473833748,4.4510322408e-05,1793253012590758144
+124,2.066666667,POSE1_TO_POSE2_PRESS,770.877336598,749,727,703.122663402,670,641,894,792.877336598,823,653,634,654,0.401444642799,0.00448387891874,0.0799308842078,0.999999986462,0.000113354306428,-0.00011175611418,4.16838192159e-05,1793253012607424768
+125,2.083333333,POSE1_TO_POSE2_PRESS,770.538077629,749,727,703.461922371,670.461922371,641,894,793,823,653,634,654,0.401551220558,0.00448665566179,0.0799344431429,0.999999987239,0.000113176879004,-0.000106091325156,3.81889107181e-05,1793253012624091392
+126,2.100000000,POSE1_TO_POSE2_PRESS,770,749,727,704,671,641,894,793,823,653,634,654,0.401663097996,0.00448956549384,0.0799372789649,0.999999987757,0.000112843836825,-0.000102773383925,3.44914576547e-05,1793253012640758272
+127,2.116666667,POSE1_TO_POSE2_PRESS,770,749,727,704,671,641,894,793,823,653,634,654,0.401804298046,0.00448802576902,0.079943127539,0.99999998941,0.000108274974326,-9.23145483477e-05,3.0563170909e-05,1793253012657424896
+128,2.133333333,POSE1_TO_POSE2_PRESS,770.206465896,749,727,704,671,641,894.206465896,792.793534104,823,653,634,654,0.401956245448,0.0044889331363,0.0799486081899,0.999999990822,0.000104534275298,-8.21719611949e-05,2.59972478617e-05,1793253012674091520
+129,2.150000000,POSE1_TO_POSE2_PRESS,770.784662886,749,727,704,671,641,894.784662886,792.215337114,823,653,634,654,0.402127542883,0.00449424636566,0.0799534264137,0.999999991928,0.000102284641981,-7.25987640033e-05,2.02832942861e-05,1793253012690758144
+130,2.166666667,POSE1_TO_POSE2_PRESS,771,749,727,704,670.639999681,641,894.639999681,792,823,653,634,654,0.402318317484,0.00449831007929,0.0799575155212,0.999999993092,9.69776799828e-05,-6.49639800144e-05,1.37980920047e-05,1793253012707425024
+131,2.183333333,POSE1_TO_POSE2_PRESS,771,749,727,704,670.066359179,641,894.066359179,792,823,653,634,654,0.402520650717,0.00450163227528,0.079961171939,0.999999994229,8.98563631064e-05,-5.84795356113e-05,6.85519593304e-06,1793253012724091904
+132,2.200000000,POSE1_TO_POSE2_PRESS,771.521475907,749,727,704,670.521475907,641,894.521475907,792,823,653,634.521475907,654,0.402730349984,0.00450410607342,0.0799558248974,0.999999994238,8.21407908832e-05,-6.9108334338e-05,-3.59142707934e-07,1793253012740758528
+133,2.216666667,POSE1_TO_POSE2_PRESS,771.780392885,749,727,704,671,641,895,792,823,653,634.890196443,654,0.402949034679,0.00450705034365,0.0799492321471,0.99999999379,7.49650312985e-05,-8.20902412274e-05,-7.7777850545e-06,1793253012757424896
+134,2.233333333,POSE1_TO_POSE2_PRESS,770.615482339,749,727,704,671,641,895,792,823,653,634.307741169,654,0.403202249674,0.00451249749509,0.079942346963,0.999999992825,7.04475227153e-05,-9.55648785432e-05,-1.59230129987e-05,1793253012774091520
+135,2.250000000,POSE1_TO_POSE2_PRESS,770,749,727,704,671,641,895,792,823,653,634,654,0.403483826342,0.00451716627668,0.079940702089,0.999999992611,6.67363938217e-05,-9.87619102987e-05,-2.38822075791e-05,1793253012790758144
+136,2.266666667,POSE1_TO_POSE2_PRESS,770,749,727,704,671,641,895,792,823,653,634,654,0.403797174401,0.0045209631099,0.0799449275328,0.999999993366,6.39285905089e-05,-9.04457282478e-05,-3.16330027675e-05,1793253012807424768
+137,2.283333333,POSE1_TO_POSE2_PRESS,770,749,727.417955389,704,670.582044611,641.417955389,895,792,823,653,634,654,0.404149848093,0.00452695032974,0.0799529794455,0.999999990364,0.000113566122572,-7.64152684561e-05,-2.31337546387e-05,1793253012824091648
+138,2.300000000,POSE1_TO_POSE2_PRESS,770,749,727.989874358,704,670.010125642,641.989874358,895,792,823,653,634,654,0.404517008289,0.00453374442929,0.0799624409268,0.999999981488,0.000182523112242,-6.02798215052e-05,-8.64842514666e-06,1793253012840758528
+139,2.316666667,POSE1_TO_POSE2_PRESS,770,749.582160975,727.417839025,704,670.582160975,641.417839025,895,792.582160975,823,653,634,654,0.404908841659,0.00454540750835,0.079961402083,0.999999995188,7.7543145932e-05,-5.73863070467e-05,-1.78278903471e-05,1793253012857424896
+140,2.333333333,POSE1_TO_POSE2_PRESS,770.170968899,749.829031101,727,704,671,641,895,793,823.170968899,653,634,654,0.405312553919,0.00455482208499,0.0799594393318,0.999999998011,5.94080706206e-06,-5.71673743027e-05,-2.59598824086e-05,1793253012874091776
+141,2.350000000,POSE1_TO_POSE2_PRESS,770.750584583,749.249415417,727,704,671,641,895,793,823.750584583,653,634,654,0.405743595906,0.0045586525736,0.0799557206294,0.999999997329,2.16103163781e-05,-6.27707162544e-05,-3.05687396884e-05,1793253012890758400
+142,2.366666667,POSE1_TO_POSE2_PRESS,770.673244775,749,727,704,671,641,895,792.673244775,824,653,634,654,0.40619428945,0.00456775599548,0.0799476498061,0.999999994505,6.50369442416e-05,-7.66500146348e-05,-2.97373449925e-05,1793253012907425024
+143,2.383333333,POSE1_TO_POSE2_PRESS,770.09967627,749,727,704,671,641,895,792.09967627,824,653,634,654,0.406659826765,0.00458084230723,0.0799362916249,0.999999986633,0.000129429804307,-9.67805246155e-05,-2.47966776629e-05,1793253012924091904
+144,2.400000000,POSE1_TO_POSE2_PRESS,770,749,727,704,671,641,895,792,824.485787829,653,634.485787829,654,0.407160988075,0.00459109755482,0.0799318876391,0.999999982812,0.000150147558988,-0.000104845156835,-2.89750752386e-05,1793253012940758528
+145,2.416666667,POSE1_TO_POSE2_PRESS,770,749.073136247,727,704,671,641.073136247,895,792,825,653,634.926863753,654,0.407673835347,0.00460021110162,0.0799279695659,0.999999980367,0.000159335426605,-0.000112672168235,-3.43894503107e-05,1793253012957425152
+146,2.433333333,POSE1_TO_POSE2_PRESS,770,749.656178037,727,704,671,641.656178037,895,792,825,653,634.343821963,654,0.408215916285,0.00460551635389,0.0799172412446,0.999999978485,0.000152184636633,-0.000136536578061,-3.50483431808e-05,1793253012974091520
+147,2.450000000,POSE1_TO_POSE2_PRESS,770.23540569,749.76459431,727,704,671,642,895,792,825,653,634,654,0.408787644889,0.0046128251217,0.0799150166723,0.999999977599,0.000151104167651,-0.0001438053753,-3.58970126193e-05,1793253012990758400
+148,2.466666667,POSE1_TO_POSE2_PRESS,770.809151391,749.190848609,727,704,671,642,895,792,825,653,634,654,0.40940198497,0.00462301346897,0.0799250142289,0.999999978622,0.000158748350073,-0.000127221902636,-3.70184409732e-05,1793253013007425280
+149,2.483333333,POSE1_TO_POSE2_PRESS,771,749,727,704,671,642,895,792,825,653,634,654,0.410074982898,0.00463124009158,0.0799544046778,0.999999980535,0.000177401747835,-7.7499060401e-05,-3.81203716355e-05,1793253013024091392
+150,2.500000000,POSE1_TO_POSE2_PRESS,771,749,727,704,671,642,895,792,825,653,634,654,0.410777217821,0.00463848892533,0.0799934611864,0.999999978858,0.000201542502194,-1.12584590155e-05,-3.92125838155e-05,1793253013040757760
+151,2.516666667,POSE1_TO_POSE2_PRESS,771,749.551551593,727,703.448448407,671,641.448448407,895.551551593,792,825.551551593,653,634.551551593,654,0.411457448472,0.00463153667177,0.0799914740446,0.999999985222,0.000165933971804,-1.95693717516e-05,-4.04843746465e-05,1793253013057424640
+152,2.533333333,POSE1_TO_POSE2_PRESS,771,749.860492731,727,703.139507269,670.860492731,641,896.139507269,792,826,653,635,654,0.412137585635,0.00461964833255,0.0799782464228,0.999999989247,0.000133712509655,-4.36041588888e-05,-4.15479832699e-05,1793253013074091264
+153,2.550000000,POSE1_TO_POSE2_PRESS,771,749.284007922,727,703.715992078,670.284007922,641,896.715992078,792,826,653,635,654,0.412822436641,0.00459553001967,0.0799391493253,0.999999986229,0.000125695579589,-9.99274072622e-05,-4.19186432211e-05,1793253013090757888
+154,2.566666667,POSE1_TO_POSE2_PRESS,770.708967706,749,726.708967706,703.708967706,670.291032294,641,896.708967706,792,826,653,635,654,0.413544137298,0.00457952607451,0.0799169437263,0.999999984973,0.0001111749142,-0.000126205050312,-4.20347870319e-05,1793253013107424768
+155,2.583333333,POSE1_TO_POSE2_PRESS,770.135330186,749,726.135330186,703.135330186,670.864669814,641,896.135330186,792,826,653,635,654,0.414301620676,0.00457140153637,0.0799111405147,0.999999987439,9.03388335358e-05,-0.000123307088923,-4.19037845447e-05,1793253013124091648
+156,2.600000000,POSE1_TO_POSE2_PRESS,770.440322694,749,726.440322694,703.440322694,671,641,896.440322694,792,826,653,635,654,0.4151082491,0.00457638178611,0.0799320385553,0.999999990058,0.000102155024548,-8.77058305289e-05,-4.1895048283e-05,1793253013140758272
+157,2.616666667,POSE1_TO_POSE2_PRESS,771,749,726.982892909,703.982892909,671,641,897,792,826.017107091,653,634.982892909,654,0.415929335385,0.00458542981723,0.0799599327827,0.999999990496,0.000123611916187,-4.43707893005e-05,-4.19349496431e-05,1793253013157424640
+158,2.633333333,POSE1_TO_POSE2_PRESS,771,749,726.388935035,703.388935035,671,641,897,792,826.611064965,653,634.388935035,654,0.416726280375,0.00459520603339,0.0799457446993,0.999999987368,0.000130201835813,-8.07351530149e-05,-4.23419683608e-05,1793253013174091264
+159,2.650000000,POSE1_TO_POSE2_PRESS,771,749,726.199175561,703.199175561,671,641.199175561,897.398351122,792,827,653,634.199175561,654,0.417561604152,0.00460072264882,0.0799441960835,0.999999986804,0.000131234197331,-8.53154515357e-05,-4.34898635122e-05,1793253013190757888
+160,2.666666667,POSE1_TO_POSE2_PRESS,771,749,726.776193648,703.776193648,671,641.776193648,898.552387295,792,827,653,634.776193648,654,0.418469733692,0.00459815866238,0.0799666249501,0.999999991094,0.000121723689737,-2.96003411424e-05,-4.60432253587e-05,1793253013207424512
+161,2.683333333,POSE1_TO_POSE2_PRESS,771,749,727,704,671,642,899,792,827,653,635,654,0.419360179943,0.00459303981206,0.079979275576,0.999999991944,0.000117596424241,-5.94883310037e-07,-4.77761304039e-05,1793253013224091392
+162,2.700000000,POSE1_TO_POSE2_PRESS,771,749,727,704,671,642,899,792,827,653,635,654,0.420239421458,0.0045863021178,0.0799857303927,0.999999991904,0.000116880154827,1.14864763071e-05,-4.8989167559e-05,1793253013240758528
+163,2.716666667,POSE1_TO_POSE2_PRESS,771,749,727,703.489279867,671,642,899,792,827,653,635,654,0.421135752273,0.00458941467076,0.0799732681747,0.999999992164,0.000114553296786,-1.08268387203e-05,-4.93179424842e-05,1793253013257425152
+164,2.733333333,POSE1_TO_POSE2_PRESS,770.902856417,749,726.902856417,703,671,642,899.097143583,792,827,653,635,654,0.422044326279,0.0045945846305,0.079964898022,0.999999991871,0.000114445853997,-2.69689335936e-05,-4.93293943066e-05,1793253013274091520
+165,2.750000000,POSE1_TO_POSE2_PRESS,770.320462712,749,726.320462712,703,671,642,899.679537288,792,827,653,635,654,0.423001268724,0.00460266058813,0.0799911244722,0.99999999072,0.000126630035183,1.34535528926e-05,-4.84174689279e-05,1793253013290758400
+166,2.766666667,POSE1_TO_POSE2_PRESS,770.258552874,749,726,703,671,642,900,792,827,653,635,654,0.423931092701,0.00460931118466,0.0799984958144,0.9999999893,0.000137522828769,1.54051092717e-05,-4.74269559566e-05,1793253013307425280
+167,2.783333333,POSE1_TO_POSE2_PRESS,770.833435536,749,726,703,671,642,900,792,827,653,635,654,0.424827738371,0.00461421790619,0.0799827986393,0.999999987705,0.000146835659478,-2.97110755387e-05,-4.63402938865e-05,1793253013324091904
+168,2.800000000,POSE1_TO_POSE2_PRESS,770.594352063,749,726,703,671,642,900,792,827,652.594352063,635,654,0.425734700185,0.00461464230024,0.0799470941933,0.999999985413,0.000140721592893,-8.40335557086e-05,-4.80594870418e-05,1793253013340758528
+169,2.816666667,POSE1_TO_POSE2_PRESS,770.023228971,749,726,703,671,642,900,792,827,652.023228971,635,654,0.42664587019,0.00461323822707,0.0799032282222,0.999999980373,0.000128314461907,-0.00014211153869,-5.09232670789e-05,1793253013357425152
+170,2.833333333,POSE1_TO_POSE2_PRESS,770.57130026,749,726,703,671,641.42869974,900,792,827.57130026,652.57130026,635,654,0.427636088941,0.00460387518547,0.0799015691759,0.999999982102,0.000121029313964,-0.000135783045623,-5.20706864494e-05,1793253013374091776
+171,2.850000000,POSE1_TO_POSE2_PRESS,770.838295353,749.161704647,726,703,671,641,900,792,828,653,635,654,0.428626499496,0.00459855325913,0.079909082465,0.999999984412,0.000116850045147,-0.000121500586712,-5.25300983674e-05,1793253013390758400
+172,2.866666667,POSE1_TO_POSE2_PRESS,770.261041181,749.738958819,726,703,671,641,900,792,828,653,635,654,0.429608790414,0.00460448335668,0.0799355683618,0.999999987069,0.000120094234288,-9.37951700805e-05,-5.1408464976e-05,1793253013407425024
+173,2.883333333,POSE1_TO_POSE2_PRESS,770,749.685334012,726.314665988,703,671,641.314665988,900.314665988,791.685334012,827.685334012,653,635,654,0.430613132325,0.00460989824416,0.0799755881051,0.999999989971,0.000126749592483,-3.76264402008e-05,-5.07549099497e-05,1793253013424091904
+174,2.900000000,POSE1_TO_POSE2_PRESS,770,749.110903956,726.889096044,703,671,641.889096044,900.889096044,791.110903956,827.110903956,653,635,654,0.431635677792,0.0046148878135,0.0800267803513,0.999999988564,0.000136220949075,4.20394133798e-05,-5.048776429e-05,1793253013440759040
+175,2.916666667,POSE1_TO_POSE2_PRESS,770,749,726.523868345,703,671.476131655,642,901,791,827.476131655,653,635,654,0.432558219994,0.00461619370932,0.0800150912446,0.999999989426,0.000135269651208,1.88861111636e-05,-4.99290030371e-05,1793253013457425408
+176,2.933333333,POSE1_TO_POSE2_PRESS,770,749,726,703,672,642,901,791,828,653,635,654,0.43346185729,0.00461677653879,0.0799842362128,0.99999998941,0.000132811607056,-3.26746407802e-05,-4.97290718735e-05,1793253013474092032
+177,2.950000000,POSE1_TO_POSE2_PRESS,770,749,726,703,672,642,901,791,828,653,635,654,0.434405245465,0.00461861233777,0.0799207630709,0.999999982515,0.000138166027923,-0.000114367618807,-5.29217064235e-05,1793253013490758400
+178,2.966666667,POSE1_TO_POSE2_PRESS,770.221870995,749,726,703,672,642,901,791,828,653,635,654,0.435357619561,0.00461764501305,0.0798950816618,0.99999997857,0.000134886769541,-0.00014710137041,-5.50135558842e-05,1793253013507425024
+179,2.983333333,POSE1_TO_POSE2_PRESS,770.79856146,749,726,703,672,642,901,791,828,653,635,654,0.436324364226,0.00461219489056,0.0799298373569,0.999999986375,0.000117800401759,-0.000101538795806,-5.53450139525e-05,1793253013524091392
+180,3.000000000,POSE1_TO_POSE2_PRESS,770.618856606,749.381143394,726,703,672.381143394,641.618856606,901,791,828,653,635,654,0.437284896153,0.00460941584736,0.0799718241139,0.999999991076,0.000115451937916,-3.98538392381e-05,-5.41396708606e-05,1793253013540758016
+181,3.016666667,POSE1_TO_POSE2_PRESS,770.033112114,749.966887886,726,703,672.966887886,641.033112114,901,791,828,653,635,654,0.43824209297,0.00460807066315,0.0800176925659,0.999999990855,0.000121014910097,3.04857499593e-05,-5.21093593066e-05,1793253013557424896
+182,3.033333333,POSE1_TO_POSE2_PRESS,770.546527074,750,726,703,672.453472926,641,901,791.546527074,827.453472926,653,635,654,0.439188616005,0.00461129850353,0.0800349096076,0.999999990422,0.000115030178523,5.5143384164e-05,-5.36960611816e-05,1793253013574091776
+183,3.050000000,POSE1_TO_POSE2_PRESS,771,750,726,703,672,641,901,791.874489583,827.125510417,653,635,654,0.440106838194,0.00461528760431,0.0800292455982,0.999999991089,0.000112832064612,4.52566360846e-05,-5.51576523145e-05,1793253013590758912
+184,3.066666667,POSE1_TO_POSE2_PRESS,771,750,726,703,672,641,901,791.29655175,827.70344825,653,635,654,0.440925349632,0.00462103312438,0.0799472904805,0.999999987287,0.000126777679814,-7.92857234588e-05,-5.5387042502e-05,1793253013607425792
+185,3.083333333,POSE1_TO_POSE2_PRESS,771,749.719694943,726,702.719694943,672.280305057,641.280305057,901,791.280305057,828,653,635,654,0.441740992223,0.00462295554213,0.079878265737,0.999999973906,0.000128211944398,-0.00018029875462,-5.69380312016e-05,1793253013624092160
+186,3.100000000,POSE1_TO_POSE2_PRESS,771,749.143977463,726,702.143977463,672.856022537,641.856022537,901,791.856022537,828,653,635,654,0.442553611296,0.00462084880663,0.0798228682707,0.999999958526,0.000116460544709,-0.000256514309578,-5.98818479355e-05,1793253013640758784
+187,3.116666667,POSE1_TO_POSE2_PRESS,771,749.441006543,726,702,673,641.558993457,901,791.558993457,828,653,635,654,0.443427912703,0.00461602728407,0.079863640343,0.999999974026,0.000112334944289,-0.000189059199742,-5.98819087521e-05,1793253013657425152
+188,3.133333333,POSE1_TO_POSE2_PRESS,770.971354838,749.971354838,725.971354838,702,673,641,901.028645162,791,828,652.971354838,635,654,0.444321556391,0.00461036624219,0.0799356060721,0.999999989364,0.000109938910815,-7.55988463414e-05,-5.89154115458e-05,1793253013674091264
+189,3.150000000,POSE1_TO_POSE2_PRESS,770.392090343,749.392090343,725.392090343,702,673,641,901.607909657,791,828,652.392090343,635,654,0.445191600562,0.00460597026972,0.0799907112509,0.99999999408,9.19057703527e-05,1.21794539341e-06,-5.8239779565e-05,1793253013690758144
+190,3.166666667,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641,902,791,828,652.186469087,635,654,0.446046415817,0.00460300628623,0.0800318062327,0.999999992915,8.46387589319e-05,6.08735718256e-05,-5.74451512514e-05,1793253013707425024
+191,3.183333333,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641,902,791,828,652.763551662,635,654,0.446869329858,0.00460304201739,0.0800435528112,0.99999998984,9.9924519199e-05,8.45801836473e-05,-5.64012511501e-05,1793253013724091648
+192,3.200000000,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641,902,791,828,652.663657341,634.663657341,654,0.447617950637,0.00460401813254,0.080029068405,0.999999990872,9.99186385008e-05,7.03660227407e-05,-5.76210746931e-05,1793253013740758528
+193,3.216666667,POSE1_TO_POSE2_PRESS,770,749,725,702,673,641,902,791,828,652.09384534,634.09384534,654,0.44831500134,0.0046056470071,0.0799963759873,0.999999993743,8.92981966771e-05,2.98294844526e-05,-6.04122423976e-05,1793253013757425408
+194,3.233333333,POSE1_TO_POSE2_PRESS,770,749,725.49761372,702,673,641,902,791,828.49761372,652.49761372,634.49761372,654,0.448927995572,0.00460648296926,0.0799351092136,0.999999991851,8.79272683806e-05,-6.95960477901e-05,-6.1017591538e-05,1793253013774091776
+195,3.250000000,POSE1_TO_POSE2_PRESS,770,749,725.9094696,702,672.9094696,641,902,791,828.9094696,652.9094696,635,654,0.449535134776,0.00460754590362,0.0798777414918,0.999999980704,9.09410659411e-05,-0.000163069264458,-6.10803596618e-05,1793253013790758144
+196,3.266666667,POSE1_TO_POSE2_PRESS,770,749,725.33167971,702,672.33167971,641,902,791,828.33167971,652.33167971,635,654,0.450199962331,0.00461067191261,0.0798716829804,0.99999997924,0.00010773897548,-0.000162011796197,-6.05424272791e-05,1793253013807424768
+197,3.283333333,POSE1_TO_POSE2_PRESS,770,749,725,702,672,641,902,791,828.245592432,652,635,654,0.450872589435,0.00461352511825,0.0798886712658,0.999999982618,0.000115180747974,-0.000133716622395,-6.01368044234e-05,1793253013824091392
+198,3.300000000,POSE1_TO_POSE2_PRESS,770,749,725,702,672,641,902,791,828.822166767,652,635,654,0.451555727841,0.00461601066991,0.0799367194364,0.999999989793,0.000110013367917,-6.87135273606e-05,-5.99094933694e-05,1793253013840758016
+199,3.316666667,POSE1_TO_POSE2_PRESS,770,749,725,702,672,640.602568245,902,790.602568245,829,652.397431755,635,654,0.452139080078,0.00462148073415,0.0799414321403,0.999999990725,9.94913425823e-05,-7.10546417225e-05,-6.00190484822e-05,1793253013857425152
+200,3.333333333,POSE1_TO_POSE2_PRESS,770,749,725,702,672,640.027887158,902,790.027887158,829,652.972112842,635,654,0.452677929057,0.00462828185193,0.0799268178004,0.999999989086,8.65812155034e-05,-0.000103430381567,-6.0278841465e-05,1793253013874092288
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+202,3.366666667,POSE1_TO_POSE2_PRESS,770.150440153,749,725,702,671,640,902,790.849559847,828,653,635,654.150440153,0.453630404944,0.00463644868525,0.0798399834271,0.999999964227,0.000121381243744,-0.000229891018113,-6.29528301353e-05,1793253013907425536
+203,3.383333333,POSE1_TO_POSE2_PRESS,770.727088438,749,725,702,671,640,902,790.272911562,828,653,635,654.727088438,0.454091582146,0.00464277551106,0.0798079131332,0.999999950596,0.000128388453002,-0.000279064748531,-6.66910467318e-05,1793253013924091904
+204,3.400000000,POSE1_TO_POSE2_PRESS,770.697326016,749,725,702,670.697326016,640,902,790.302673984,828,653,635,655,0.454548030214,0.00464740686894,0.0797896049462,0.999999940186,0.000143971426673,-0.00030776293442,-6.46684751295e-05,1793253013940758784
+205,3.416666667,POSE1_TO_POSE2_PRESS,770.122695389,749,725,702,670.122695389,640,902,790.877304611,828,653,635,655,0.455000229063,0.00465051482572,0.079783662199,0.999999933778,0.000167259839655,-0.000318063565701,-5.74697577505e-05,1793253013957425152
+206,3.433333333,POSE1_TO_POSE2_PRESS,770,749,725,702,670,640,902,791,828.450660009,653,635,654.549339991,0.455409861751,0.00465378517077,0.0797821933572,0.999999932417,0.000171332885401,-0.000320054731894,-5.81058946687e-05,1793253013974091520
+207,3.450000000,POSE1_TO_POSE2_PRESS,770,749,725,702,670,640,902.024613931,791,829,653,635,654.024613931,0.455805762509,0.00465701175161,0.0797819297644,0.999999932423,0.000170303985521,-0.000320093191033,-6.07553639283e-05,1793253013990758400
+208,3.466666667,POSE1_TO_POSE2_PRESS,770,749,725,702,670,640,902.620494468,791,829,653,635,654.620494468,0.456151167623,0.00465819939703,0.0797814487834,0.999999929852,0.000171939783962,-0.000327169111769,-6.07649538222e-05,1793253014007425280
+209,3.483333333,POSE1_TO_POSE2_PRESS,770,749,725,702,669.790167181,639.790167181,903,791,829,652.790167181,635,654.790167181,0.456476968819,0.00466036824076,0.0797726115824,0.999999923305,0.000169924636227,-0.000347516483015,-6.12219013796e-05,1793253014024092160
+210,3.500000000,POSE1_TO_POSE2_PRESS,770,749,725,702,669.212303395,639.212303395,903,791,829,652.212303395,635,654.212303395,0.456768386185,0.00466425803234,0.0797491182003,0.999999908511,0.000161506003373,-0.000391140978142,-6.2463480521e-05,1793253014040758784
+211,3.516666667,POSE1_TO_POSE2_PRESS,770,749,725,702,668.637312187,639.362687813,903,791,829,652.362687813,635,654,0.4570575188,0.00466641598249,0.0797383235473,0.999999904964,0.000135519425783,-0.000409413882224,-6.39213703751e-05,1793253014057425408
+212,3.533333333,POSE1_TO_POSE2_PRESS,770,749,725,702,668.063989207,639.936010793,903,791,829,652.936010793,635,654,0.457345324546,0.00466756814596,0.0797349038268,0.999999907652,9.93300591161e-05,-0.000412963558938,-6.55048852898e-05,1793253014074091776
+213,3.550000000,POSE1_TO_POSE2_PRESS,770,749,725,702,668,639.477359784,903,791,829,652.477359784,635,654,0.457598556165,0.00466983363782,0.0797413986039,0.999999911091,0.000109795487049,-0.000402027907784,-6.43148872699e-05,1793253014090758400
+214,3.566666667,POSE1_TO_POSE2_PRESS,770.109412504,749,724.890587496,702,667.890587496,639,903,791,829,652.109412504,635,654,0.457841713679,0.0046722447983,0.079749074629,0.999999914025,0.000127505915895,-0.000389681699522,-6.19645813478e-05,1793253014107424768
+215,3.583333333,POSE1_TO_POSE2_PRESS,770.689606553,749,724.310393447,702,667.310393447,639,903,791,829,652.689606553,635,654,0.458060214222,0.00467468090579,0.0797564738062,0.999999915142,0.000151169773823,-0.000379096544041,-5.61209814782e-05,1793253014124091648
+216,3.600000000,POSE1_TO_POSE2_PRESS,770.732536098,749,724.267463902,702,667,638.732536098,903,791,829,653,635,654,0.458259205337,0.00467871198813,0.0797603577241,0.9999999137,0.000170738903784,-0.000375053147318,-5.27576296085e-05,1793253014140758528
+217,3.616666667,POSE1_TO_POSE2_PRESS,770.157367051,749,724.842632949,702,667,638.157367051,903,791,829,653,635,654,0.458435751724,0.00468457801688,0.0797601974943,0.999999909767,0.000185597232705,-0.000378535749557,-5.22476914798e-05,1793253014157425152
+218,3.633333333,POSE1_TO_POSE2_PRESS,770.418830498,749,725,702,667,638.418830498,903,790.581169502,829,653,635,654,0.458587158122,0.00470046025727,0.0797534185771,0.999999902468,0.000199785390194,-0.000389605000507,-5.79471527946e-05,1793253014174091776
+219,3.650000000,POSE1_TO_POSE2_PRESS,770.995415423,749,725,702,667,638.995415423,903,790.004584577,829,653,635,654,0.458729095424,0.00472011514958,0.079744146701,0.999999893566,0.000213721124136,-0.000403531797288,-6.59854128864e-05,1793253014190758656
+220,3.666666667,POSE1_TO_POSE2_PRESS,771,749,725,702,667,639,903,790,829,653,635,654,0.458844511618,0.00471919503649,0.0797416784613,0.999999891696,0.000211957232094,-0.00040850069333,-6.93455328622e-05,1793253014207425280
+221,3.683333333,POSE1_TO_POSE2_PRESS,771,749,724.824909299,702,666.824909299,639,903,790,829,653,635,654,0.458952650863,0.00470785585118,0.0797391511412,0.999999892178,0.000198767412035,-0.000413655462845,-7.08805659498e-05,1793253014224091904
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+223,3.716666667,POSE1_TO_POSE2_PRESS,770.673776989,749,724,702,666,639,903,790,829,653,635,654,0.459125208602,0.0046626774835,0.0797334723829,0.999999897183,0.000146298310952,-0.000423705778045,-6.85938199124e-05,1793253014257424896
+224,3.733333333,POSE1_TO_POSE2_PRESS,770.100908122,749,724,702,666,639,903,790,829,653,635,654,0.459197271181,0.00467090378571,0.0797305036152,0.999999894735,0.000152396536464,-0.000426920826702,-7.10207315837e-05,1793253014274091520
+225,3.750000000,POSE1_TO_POSE2_PRESS,770,749,724,702,666,638.514732028,903.485267972,790.485267972,829,653,635,654.485267972,0.459252365682,0.00467624973029,0.0797289324892,0.999999892712,0.000160044623322,-0.000428823341603,-7.12172939004e-05,1793253014290758400
+226,3.766666667,POSE1_TO_POSE2_PRESS,770.073316267,749,724.073316267,702,666,638,903.926683733,791,829,653,635,654.926683733,0.459301724347,0.00467951955814,0.079727373487,0.999999890853,0.000165904366303,-0.000430995549464,-7.08008833851e-05,1793253014307424768
+227,3.783333333,POSE1_TO_POSE2_PRESS,770.65462339,749,724.65462339,702,666,638,903.34537661,791,829,653,635,654.34537661,0.459336477513,0.00467267146822,0.0797238280052,0.999999889776,0.000157077123719,-0.000436980799149,-6.94413966221e-05,1793253014324091648
+228,3.800000000,POSE1_TO_POSE2_PRESS,770.766564552,749,725,702,666,638,903,790.766564552,829,653,635,654,0.459366013244,0.00467164227975,0.079719964623,0.999999887573,0.000153511387172,-0.000443283303105,-6.92022523746e-05,1793253014340758528
+229,3.816666667,POSE1_TO_POSE2_PRESS,770.191405032,749,725,702,666,638,903,790.191405032,829,653,635,654,0.459387911216,0.00467913132964,0.0797156358695,0.999999883809,0.000157647922939,-0.00045005023244,-7.06031676338e-05,1793253014357425408
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+231,3.850000000,POSE1_TO_POSE2_PRESS,770.959556684,749,725,702,666,638,903,790,829,653,635,654,0.459420483105,0.00466959517349,0.0797097258817,0.999999883367,0.000145871442772,-0.000455293893522,-6.85236974715e-05,1793253014390758400
+232,3.866666667,POSE1_TO_POSE2_PRESS,770.448980437,748.448980437,724.448980437,702,665.448980437,638,903,790,829,653,634.448980437,654,0.459430227226,0.00467325803194,0.0797089013376,0.9999998823,0.000148426665712,-0.000456762287785,-6.88381929457e-05,1793253014407425024
+233,3.883333333,POSE1_TO_POSE2_PRESS,770,748.139699571,724.139699571,702,665.139699571,638,903,790,828.860300429,653,634.139699571,654,0.459438208497,0.00467721192664,0.0797083065215,0.999999881068,0.000151848221723,-0.000458275089604,-6.92033616602e-05,1793253014424091648
+234,3.900000000,POSE1_TO_POSE2_PRESS,770,748.715924379,724.715924379,702,665.715924379,638,903,790,828.284075621,653,634.715924379,654,0.459441961741,0.00467950628686,0.0797079911588,0.999999879706,0.000155510174976,-0.000460003656441,-6.92919879094e-05,1793253014440758272
+235,3.916666667,POSE1_TO_POSE2_PRESS,770,749,724.709274797,702,666,638,903,790,828.290725203,652.709274797,634.709274797,654,0.459445474677,0.00467868831658,0.0797076873672,0.99999987977,0.000154005795478,-0.000460415744284,-6.89879508716e-05,1793253014457425408
+236,3.933333333,POSE1_TO_POSE2_PRESS,770,749,724.135858537,702,666,638,903,790,828.864141463,652.135858537,634.135858537,654,0.459448753946,0.00467484402484,0.0797073948269,0.9999998812,0.000147477854475,-0.000459547734028,-6.83021017456e-05,1793253014474092288
+237,3.950000000,POSE1_TO_POSE2_PRESS,770,749,724,702,666,638.436741311,903.436741311,790,829,652.436741311,634.436741311,654,0.459448157663,0.00467539794268,0.0797055507501,0.999999879621,0.000147999198082,-0.000462816849243,-6.82246105614e-05,1793253014490758912
+238,3.966666667,POSE1_TO_POSE2_PRESS,770,749,724,702,666,638.990532947,903.990532947,790,829,653,634.990532947,654,0.459446431406,0.00467730578636,0.0797032828873,0.999999877147,0.000150668627485,-0.000467262918181,-6.83383122988e-05,1793253014507425536
+239,3.983333333,POSE1_TO_POSE2_PRESS,770,749,724,702,666,638.394290555,903.394290555,790,829,653,634.394290555,654,0.459449251956,0.00467848928562,0.0797046071069,0.999999878143,0.000150817522595,-0.000465040239338,-6.85947030157e-05,1793253014524091904
+240,4.000000000,POSE1_TO_POSE2_PRESS,770,748.803736788,724.196263212,702,666,638,903,790,829,653,634.196263212,654,0.459450783971,0.004679066742,0.0797048247617,0.999999878462,0.000151037069212,-0.000464282487666,-6.85961534683e-05,1793253014540758272
+241,4.016666667,POSE1_TO_POSE2_PRESS,770,748.224289524,724.775710476,702,666,638,903,790,829,653,634.775710476,654,0.45944980025,0.00467846096094,0.0797028819608,0.999999877464,0.00015139455574,-0.000466384858131,-6.80998588477e-05,1793253014557424640
+242,4.033333333,POSE1_TO_POSE2_PRESS,770.350449492,748.350449492,725,702,666,638,903.350449492,790,829,653,635,654,0.459449311062,0.0046775742337,0.0797016339826,0.999999876833,0.000150399409777,-0.000468091650795,-6.78486977746e-05,1793253014574091520
+243,4.050000000,POSE1_TO_POSE2_PRESS,770.922215129,748.922215129,725,702,666,638,903.922215129,790,829,653,635,654,0.459449134182,0.00467651008312,0.0797008247996,0.999999876433,0.000148550048241,-0.000469548627766,-6.77523436554e-05,1793253014590758400
+244,4.066666667,POSE1_TO_POSE2_PRESS,770.489204487,748.489204487,725,702,665.489204487,638,903.489204487,790,829,653,635,654,0.459449849366,0.00467681013063,0.0797015361501,0.99999987658,0.000149707688982,-0.000468918372136,-6.74075245717e-05,1793253014607425280
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+247,4.116666667,POSE1_TO_POSE2_PRESS,770.743553966,748.256446034,725,702,666,638,903.256446034,790.256446034,829,653,635,654,0.459451870972,0.00467848834769,0.0797020069941,0.999999876888,0.000151237981807,-0.000467741502575,-6.75919443207e-05,1793253014657425152
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+249,4.150000000,HOLD_POSE2,769,749,725,702,665,638,903,791,829,653,635,654,0.459451618054,0.00467468493857,0.0796999504471,0.999999876444,0.000148238116104,-0.00046974565172,-6.6901292573e-05,1793253014709147136
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+256,4.266666667,HOLD_POSE2,770.875951471,749,725,702,665,638,903.124048529,790,829,652.875951471,635,654,0.459454483135,0.0046778861151,0.0797009793623,0.999999876475,0.000151594463116,-0.000468686253413,-6.63544621244e-05,1793253014825814272
+257,4.283333333,HOLD_POSE2,770.297073825,749,725,702,665,638,903.702926175,790,829,652.297073825,635,654,0.459455150258,0.00467693594161,0.079701720907,0.999999876964,0.000150813227403,-0.00046792630605,-6.61227617534e-05,1793253014842480896
+258,4.300000000,HOLD_POSE2,770,749,725,702,665.280332475,638.280332475,904,790,829,652.280332475,635,654.280332475,0.459454837526,0.00467614363068,0.0797013566675,0.999999876896,0.000149303372571,-0.000468560288242,-6.60955483406e-05,1793253014859147520
+259,4.316666667,HOLD_POSE2,770,749,725,702,665.856187666,638.856187666,904,790,829,652.856187666,635,654.856187666,0.459453491843,0.00467551773639,0.0796998267252,0.999999876233,0.000147025417334,-0.000470663732229,-6.62839023371e-05,1793253014875813888
+260,4.333333333,HOLD_POSE2,770,749,725,702,665.568435227,638.568435227,904,790,829,653,635,654.568435227,0.459454853516,0.00467583324553,0.0797012038509,0.999999877209,0.000146793505662,-0.000468663702724,-6.62383001681e-05,1793253014892481024
+261,4.350000000,HOLD_POSE2,770,749,725,702,665.006973298,638,904,790,828.993026702,653,635,654,0.459457063988,0.00467646226262,0.0797035000493,0.999999878689,0.000147240724376,-0.000465369985294,-6.61214537611e-05,1793253014909148160
+262,4.366666667,HOLD_POSE2,770,749,725,702,665.598347766,638,904,790,828.401652234,653,635,654,0.45945488409,0.0046771035817,0.0797017240185,0.999999877331,0.000147526384832,-0.000468128599343,-6.65603891795e-05,1793253014925814784
+263,4.383333333,HOLD_POSE2,770,749,725,702,665.814322895,638,903.814322895,790,828.185677105,652.814322895,634.814322895,654,0.459453717781,0.00467733832845,0.0797003351928,0.999999876369,0.000148125062237,-0.000469975603843,-6.66645861435e-05,1793253014942481152
+264,4.400000000,HOLD_POSE2,770,749,725,702,665.235557203,638,903.235557203,790,828.764442797,652.235557203,634.235557203,654,0.459454697296,0.00467671233946,0.0796997661013,0.99999987626,0.000149386413702,-0.000469892681593,-6.6060123576e-05,1793253014959147520
+265,4.416666667,HOLD_POSE2,770,749,725,702,665.34047156,638,903,790,828.65952844,652.34047156,634.34047156,654,0.459455445326,0.00467535436782,0.0796999593606,0.999999876761,0.000147778312978,-0.000469372689207,-6.5790596929e-05,1793253014975814144
+266,4.433333333,HOLD_POSE2,770,749,725,702,665.91462183,638,903,790,828.08537817,652.91462183,634.91462183,654,0.459456034479,0.00467349400841,0.0797006758506,0.999999877671,0.000144200796916,-0.000468552718799,-6.57509497055e-05,1793253014992480768
+267,4.450000000,POSE2_TO_POSE3_RETREAT,770,748,725,702,665,638,903,790,829,652,635,654,0.459456549788,0.00467649677704,0.0797018304772,0.999999877607,0.000147132080244,-0.000467792727312,-6.56409540196e-05,1793253015024037632
+268,4.466666667,POSE2_TO_POSE3_RETREAT,770.594903516,748.594903516,725,702,665.594903516,638,903,790.594903516,829,652.594903516,634.405096484,654,0.459456927107,0.00467511243836,0.0797022672862,0.999999878018,0.000146922605332,-0.000467015589412,-6.53843980225e-05,1793253015040704768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,666,638.18388097,903,790.81611903,829,653,634.18388097,654,0.459457108037,0.00467439405482,0.0797025231045,0.999999878305,0.000146555832287,-0.000466531170846,-6.52742107818e-05,1793253015057371904
+270,4.500000000,POSE2_TO_POSE3_RETREAT,771,749,725,702,666,638.760210807,903,790.239789193,829,653,634.760210807,654,0.459456869822,0.00467509698909,0.0797023926421,0.999999878329,0.000145853344887,-0.000466671489813,-6.54764117326e-05,1793253015074038784
+271,4.516666667,POSE2_TO_POSE3_RETREAT,770.665034384,749,725,702,665.665034384,638.665034384,903.334965616,790,829,653,635,654,0.459456867249,0.00467539182075,0.0797022222886,0.999999878256,0.000145601337861,-0.000466908012392,-6.54575201916e-05,1793253015090705152
+272,4.533333333,POSE2_TO_POSE3_RETREAT,770.091401834,749,725,702,665.091401834,638.091401834,903.908598166,790,829,653,635,654,0.459457032573,0.00467539587447,0.0797020235123,0.999999878115,0.000145670303431,-0.000467213081166,-6.52810976433e-05,1793253015107371008
+273,4.550000000,POSE2_TO_POSE3_RETREAT,770.498112661,749,725,702,665.498112661,638,903.501887339,790,829,653,635,654,0.459456271903,0.00467571666088,0.0797014627119,0.999999877606,0.000146924427039,-0.00046788149461,-6.54812985172e-05,1793253015124037376
+274,4.566666667,POSE2_TO_POSE3_RETREAT,770.911461682,749,725,702,665.911461682,637.911461682,903,790,829,653,635,654,0.459455574827,0.00467587453311,0.0797009878333,0.999999877269,0.00014781197527,-0.000468283394272,-6.57648581525e-05,1793253015140704000
+275,4.583333333,POSE2_TO_POSE3_RETREAT,770.332659364,749,725,702,665.332659364,637.332659364,903,790,829,653,635,654,0.459456201747,0.00467479787572,0.0797013686894,0.999999878276,0.00014542581231,-0.00046682818027,-6.61147198358e-05,1793253015157370624
+276,4.600000000,POSE2_TO_POSE3_RETREAT,770,748.755835269,724.755835269,701.755835269,665,637.244164731,903,790,829,653,634.755835269,654,0.459451763141,0.00467492226966,0.0796984014386,0.999999876501,0.000144934707337,-0.000470747805109,-6.62405813254e-05,1793253015174037504
+277,4.616666667,POSE2_TO_POSE3_RETREAT,770,748.181684767,724.181684767,701.181684767,665,637.818315233,903,790,829,653,634.181684767,654,0.459440478533,0.0046766698705,0.0796909092609,0.999999870884,0.000147004751209,-0.000481931461728,-6.60637091443e-05,1793253015190705152
+278,4.633333333,POSE2_TO_POSE3_RETREAT,770.393408701,748.393408701,724.393408701,701.393408701,665,638,903.393408701,790,829,653,634.393408701,654,0.459415791202,0.00467677283769,0.0796792283733,0.999999861349,0.000147855348801,-0.000501113668242,-6.57701008749e-05,1793253015207372288
+279,4.650000000,POSE2_TO_POSE3_RETREAT,770.968938748,748.968938748,724.968938748,701.968938748,665,638,903.968938748,790,829,653,634.968938748,654,0.459384899326,0.00467611445203,0.0796656083988,0.9999998496,0.000148141426218,-0.000523998657577,-6.54224517317e-05,1793253015224038912
+280,4.666666667,POSE2_TO_POSE3_RETREAT,771,749,725,702,665,638,904,790,829,653,635,654,0.459334539197,0.00467703389454,0.0796484123875,0.99999983382,0.000148717850015,-0.000553171839768,-6.51478523857e-05,1793253015240705280
+281,4.683333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,665,638,903.855651077,790,829,653,635,654,0.459279778972,0.00467738454309,0.0796322170633,0.999999819099,0.000149216525462,-0.00057909741463,-6.46729333927e-05,1793253015257371648
+282,4.700000000,POSE2_TO_POSE3_RETREAT,771,749,725,702,665,638,903.274879513,790,829,653,635,654,0.459215073439,0.00467574336332,0.0796196639949,0.999999810325,0.000149430058958,-0.000594119634406,-6.3579771015e-05,1793253015274037760
+283,4.716666667,POSE2_TO_POSE3_RETREAT,770.696970343,749,725,702,665.303029657,638,903,790,828.696970343,653,635,654,0.45914262737,0.00467455359578,0.0796123469012,0.999999804767,0.000150288126972,-0.000603339295055,-6.21361481931e-05,1793253015290703872
+284,4.733333333,POSE2_TO_POSE3_RETREAT,770.121633403,749,725,702,665.878366597,638,903,790,828.121633403,653,635,654,0.459063225536,0.0046737694746,0.0796097349385,0.999999802233,0.000151725383996,-0.000607344682674,-6.03775960986e-05,1793253015307370496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,665.538591357,638,903.461408643,790.461408643,828.461408643,653,635,654,0.458975044003,0.00467399002691,0.0796133441582,0.999999805404,0.000154017873772,-0.000601784794582,-5.7674923799e-05,1793253015324037632
+286,4.766666667,POSE2_TO_POSE3_RETREAT,770.046346966,748.953653034,725,702,665.046346966,638,903.953653034,790.953653034,829,653,635,654.046346966,0.458881839441,0.00467438834289,0.0796182912188,0.999999809683,0.000156667448747,-0.000594218687318,-5.47200419446e-05,1793253015340704768
+287,4.783333333,POSE2_TO_POSE3_RETREAT,770.629324133,748.370675867,725,702,665.629324133,638,903.370675867,790.370675867,829,653,635,654.629324133,0.45875772851,0.00467372630439,0.079619417408,0.999999809839,0.000160796828798,-0.000593114979908,-5.17755766881e-05,1793253015357371648
+288,4.800000000,POSE2_TO_POSE3_RETREAT,770.79064621,748.20935379,724.79064621,702,666,638,903,790.20935379,829,653,635,654.79064621,0.458622558028,0.00467213368213,0.0796200856426,0.999999810017,0.000163487597476,-0.000592365365792,-4.83792112663e-05,1793253015374038016
+289,4.816666667,POSE2_TO_POSE3_RETREAT,770.215762934,748.784237066,724.215762934,702,666,638,903,790.784237066,829,653,635,654.215762934,0.458468077701,0.00466891627061,0.0796199542933,0.99999981026,0.000163666565597,-0.000592233994928,-4.41938332804e-05,1793253015390704128
+290,4.833333333,POSE2_TO_POSE3_RETREAT,770,749,724,702,666.358896662,638,903,790.641103338,828.641103338,653,634.641103338,654,0.458293533049,0.00466781730893,0.0796220603262,0.999999810704,0.000167492793614,-0.000590743830707,-3.94861437174e-05,1793253015407370496
+291,4.850000000,POSE2_TO_POSE3_RETREAT,770,749,724,702,666.933421923,638,903,790.066578077,828.066578077,653,634.066578077,654,0.458106933541,0.00466799113217,0.0796255106,0.999999811224,0.000173510330797,-0.000588437290206,-3.44646438843e-05,1793253015424037376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,770,748.479480134,724.520519866,702,666.479480134,638,903.520519866,790,828.520519866,653,634,654,0.457895706046,0.00466563565292,0.0796260843334,0.999999810594,0.000176547454255,-0.000588880891399,-2.93807039063e-05,1793253015440704000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,770.107777284,748.107777284,724.892222716,701.892222716,666.107777284,638,903.892222716,790,829,653,634,654,0.45767362772,0.0046633569774,0.0796259659296,0.999999809237,0.000179973373427,-0.000590387714874,-2.40314911314e-05,1793253015457370880
+294,4.900000000,POSE2_TO_POSE3_RETREAT,770.688503216,748.688503216,724.311496784,701.311496784,666.688503216,638,903.311496784,790,829,653,634,654,0.457418099058,0.00466287012111,0.0796244647988,0.999999805395,0.000186819665427,-0.000594978363602,-1.75541196717e-05,1793253015474037760
+295,4.916666667,POSE2_TO_POSE3_RETREAT,771,749,724,701.266338015,667,638,903,790,829,653,634.266338015,654,0.457144931581,0.00466129795607,0.0796236960033,0.999999802791,0.000193477135829,-0.000597388967885,-1.05187687924e-05,1793253015490704640
+296,4.933333333,POSE2_TO_POSE3_RETREAT,771,749,724,701.840827753,667,638,903,790,829,653,634.840827753,654,0.4568513561,0.00465847009438,0.0796237745162,0.999999801643,0.000199916140198,-0.000597277271611,-2.83783896245e-06,1793253015507371520
+297,4.950000000,POSE2_TO_POSE3_RETREAT,771,749,724.423971969,701.576028031,667.423971969,638,903,790,828.576028031,653,635,654,0.456528893388,0.00465654281417,0.0796207789119,0.999999800648,0.000207617989255,-0.000596306786677,4.15405346196e-06,1793253015524038144
+298,4.966666667,POSE2_TO_POSE3_RETREAT,770.98969717,749,725,701.01030283,668,638,903,790.01030283,828.01030283,653,635.01030283,654,0.456194752265,0.00465492841785,0.0796167092358,0.999999799705,0.000215670338282,-0.000594944041645,1.08666015381e-05,1793253015540704256
+299,4.983333333,POSE2_TO_POSE3_RETREAT,770.410555313,749,725,701.589444687,668,638,903,790.589444687,828.589444687,653,635.589444687,654,0.455827083126,0.00465153244632,0.079618386949,0.999999802349,0.00021635241537,-0.000590096012643,1.67361961533e-05,1793253015557371392
+300,5.000000000,POSE2_TO_POSE3_RETREAT,770,749,725,701.831380198,668.168619802,638.168619802,902.831380198,791,828.831380198,653,635.662760396,654,0.455456848757,0.00464773698203,0.0796270268739,0.999999812822,0.000211433220717,-0.000573788803186,2.04378237622e-05,1793253015574038016
+301,5.016666667,POSE2_TO_POSE3_RETREAT,770,749,725,701.252124178,668.747875822,638.747875822,902.252124178,791,828.252124178,653,634.504248356,654,0.455080367391,0.00464296864204,0.0796526217249,0.999999840997,0.000192873367722,-0.000529575295181,1.88598465428e-05,1793253015590704384
+302,5.033333333,POSE2_TO_POSE3_RETREAT,770.325058519,749,725,701.325058519,669,638.674941481,902,791,828.325058519,653,634,654,0.45466435777,0.00463858899692,0.0796679053614,0.999999860271,0.000166848048857,-0.000501387145315,1.51616097876e-05,1793253015607370752
+303,5.050000000,POSE2_TO_POSE3_RETREAT,770.900643344,749,725,701.900643344,669,638.099356656,902,791,828.900643344,653,634,654,0.454217883232,0.00463450892287,0.0796752420301,0.999999872951,0.000135069008435,-0.000485549917108,9.82926467697e-06,1793253015624037120
+304,5.066666667,POSE2_TO_POSE3_RETREAT,770.514716919,749,725,702,669,638.485283081,901.514716919,791,828.514716919,653,634.485283081,654,0.453719930371,0.00462942997168,0.0796733218448,0.99999987326,0.00012583123143,-0.000487309747109,1.32189565382e-05,1793253015640704000
+305,5.083333333,POSE2_TO_POSE3_RETREAT,770,749,724.928635823,702,669.071364177,639,901,790.928635823,828,653,634.928635823,654,0.453206376871,0.00462468749083,0.0796709732798,0.999999872122,0.000121017173619,-0.000490696172339,1.81301993161e-05,1793253015657370624
+306,5.100000000,POSE2_TO_POSE3_RETREAT,770,749,724.345764007,702,669.654235993,639,901,790.345764007,828,653,634.345764007,654,0.452657984503,0.00462385038992,0.0796793968563,0.999999878335,0.000114202500829,-0.00047942691192,2.09044401805e-05,1793253015674037248
+307,5.116666667,POSE2_TO_POSE3_RETREAT,770.232638671,749,724.232638671,701.767361329,670,639,901,790.232638671,828,652.767361329,634.232638671,654,0.452105803443,0.0046200617694,0.0796925117319,0.999999882602,0.000146639446947,-0.000461182257626,2.4587558258e-05,1793253015690704128
+308,5.133333333,POSE2_TO_POSE3_RETREAT,770.804524166,749,724.804524166,701.195475834,670,639,901,790.804524166,828,652.195475834,634.804524166,654,0.451548097531,0.00461196907666,0.0797124677238,0.999999877996,0.000236315316135,-0.000432765688609,2.95960520174e-05,1793253015707371776
+309,5.150000000,POSE2_TO_POSE3_RETREAT,770.619494744,749,725,701.380505256,670.380505256,639,901,791,827.619494744,652.380505256,635,654.380505256,0.450968684128,0.00460550543398,0.0797366664681,0.999999895657,0.000237295607316,-0.000389358454342,2.78713144197e-05,1793253015724038656
+310,5.166666667,POSE2_TO_POSE3_RETREAT,770.041386761,749,725,701.958613239,670.958613239,639,901,791,827.041386761,652.958613239,635,654.958613239,0.45037799768,0.00459988778443,0.0797630685439,0.999999924092,0.000192214802238,-0.000338166318182,2.26498972794e-05,1793253015740704768
+311,5.183333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,671,639,900.451931016,791,827.548068984,653,635,654.451931016,0.449733883277,0.00459275681142,0.079789144228,0.999999940346,0.000171531240034,-0.000298520666483,2.77522060848e-05,1793253015757371904
+312,5.200000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.135512469,639.135512469,900,791,827.864487531,653,635,654,0.449060888311,0.00458646131253,0.079802503344,0.99999994826,0.000152967678305,-0.000281099724883,3.26159942685e-05,1793253015774039040
+313,5.216666667,POSE2_TO_POSE3_RETREAT,770,749,725,702,671.713527664,639.713527664,900,791,827.286472336,653,635,654,0.448307039784,0.00458327502347,0.0797744199278,0.999999934722,0.000135183639625,-0.000333344049216,3.41014393708e-05,1793253015790705664
+314,5.233333333,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,640,900,791,827,653,635,654,0.447551607325,0.00457847144565,0.0797445054427,0.999999920402,0.00011840125243,-0.000379378527392,3.53326105264e-05,1793253015807371776
+315,5.250000000,POSE2_TO_POSE3_RETREAT,770,749,725,702,672,640,900,791,827,653,635,654,0.446794618391,0.00457207870625,0.0797127917308,0.999999906166,0.000102603094209,-0.000419311166263,3.63139302206e-05,1793253015824037376
+316,5.266666667,POSE2_TO_POSE3_RETREAT,770.45064889,749,725,702,672,640,899.54935111,791,827,653,635,654,0.446035090923,0.00456419303632,0.0797372872474,0.999999917771,0.000129219413496,-0.00038250421436,3.80955898838e-05,1793253015840703744
+317,5.283333333,POSE2_TO_POSE3_RETREAT,771,749,725,702,672,639.961138086,899,791,827,653,635,654.038861914,0.445272868679,0.0045559642069,0.0797789607691,0.999999933588,0.000163953411691,-0.000322996850899,4.01947103181e-05,1793253015857370112
+318,5.300000000,POSE2_TO_POSE3_RETREAT,771,749,725,702,672,639.38249117,899,791,827,653,635,654.61750883,0.444484033006,0.00454933063094,0.0798197146299,0.999999952657,0.000130703728625,-0.00027518802157,4.32928942301e-05,1793253015874036736
+319,5.316666667,POSE2_TO_POSE3_RETREAT,771,749,725.195668551,702,672,639,898.804331449,791,827,653,635,654.804331449,0.443672648332,0.00454202367827,0.0798425761391,0.999999962612,0.000103002714212,-0.000249058974095,4.62154284587e-05,1793253015890703616
+320,5.333333333,POSE2_TO_POSE3_RETREAT,771,749,725.772878241,702,672,639,898.227121759,791,827,653,635,654.227121759,0.442817294599,0.00453340368455,0.0798305487066,0.999999959934,8.61212508142e-05,-0.000265204116428,4.87954570962e-05,1793253015907370240
+321,5.350000000,POSE2_TO_POSE3_RETREAT,770.651145736,749,726,702,672,639,897.651145736,791.348854264,826.651145736,653,635,654,0.441945634149,0.00452448363064,0.0798131183744,0.999999954108,8.7666618401e-05,-0.000285834421218,4.89656314743e-05,1793253015924037120
+322,5.366666667,POSE2_TO_POSE3_RETREAT,770.075970084,749,726,702,672,639,897.075970084,791.924029916,826.075970084,653,635,654,0.441063394648,0.00451536891113,0.0797921828775,0.999999945895,0.000101166508581,-0.000309374502504,4.75723976972e-05,1793253015940704000
+323,5.383333333,POSE2_TO_POSE3_RETREAT,770,749,725.48844215,702,672,639.51155785,896.48844215,791.48844215,826,653,635,654,0.440072235556,0.00450972043406,0.0797214486585,0.999999904577,8.78073946649e-05,-0.000425052294799,4.96663785712e-05,1793253015957370368
+324,5.400000000,POSE2_TO_POSE3_RETREAT,770,749.099104082,725.099104082,702,671.900895918,640,896.099104082,791.099104082,826,653,635,654,0.439086099095,0.00450330614381,0.079660367807,0.99999985832,7.29564308971e-05,-0.000524758714571,5.16360805628e-05,1793253015974036736
+325,5.416666667,POSE2_TO_POSE3_RETREAT,770,749.677644742,725.677644742,702,671.322355258,640,896.677644742,791.677644742,826,653,635,654,0.438204448882,0.00449063518619,0.0796826495609,0.999999881335,7.06622628598e-05,-0.000479367413828,5.04372314181e-05,1793253015990703616
+326,5.433333333,POSE2_TO_POSE3_RETREAT,770.254674168,749.745325832,726,702.254674168,671.254674168,640,896.490651664,792,825.745325832,653,635,654,0.437338370447,0.00447987330897,0.0797345223502,0.999999918445,6.25824224999e-05,-0.000395695341853,5.1168061706e-05,1793253016007370496
+327,5.450000000,POSE2_TO_POSE3_RETREAT,770.829802105,749.170197895,726,702.829802105,671.829802105,640,895.340395789,792,825.170197895,653,635,654,0.436491885692,0.00447151360538,0.0798236292245,0.9999999626,4.72225318084e-05,-0.000263854976087,5.43269861876e-05,1793253016024037376
+328,5.466666667,POSE2_TO_POSE3_RETREAT,771,749.413324059,726,703,671.586675941,640,895,792,825.413324059,653,635,654,0.435601194329,0.00446466209764,0.079861523975,0.999999975122,3.97867406451e-05,-0.000212312229992,5.5646372085e-05,1793253016040704000
+329,5.483333333,POSE2_TO_POSE3_RETREAT,770.999630666,749.999630666,726,703,671,640,895,792,825.999630666,653,635,654,0.434691850144,0.00445843964627,0.079877855638,0.999999978856,3.56796240292e-05,-0.000194567639567,5.61934103881e-05,1793253016057370624
+330,5.500000000,POSE2_TO_POSE3_RETREAT,770.420064262,749.420064262,726,703,671,640,895,792,825.420064262,653,635,654,0.433669271486,0.00444459516886,0.079834755468,0.999999966165,2.85327211196e-05,-0.000251963348439,5.80524074818e-05,1793253016074037248
+331,5.516666667,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,640,895,792,825,653,635,654,0.432631201377,0.0044328683959,0.0797835712008,0.999999942592,2.11747982923e-05,-0.0003329280843,5.93887823887e-05,1793253016090703872
+332,5.533333333,POSE2_TO_POSE3_RETREAT,770,749,726,703,671,640,895,792,825,653,635,654,0.431552333102,0.00442671880205,0.0797110966889,0.99999988488,1.3261134544e-05,-0.000475964113745,5.93487810724e-05,1793253016107370496
+333,5.550000000,POSE2_TO_POSE3_RETREAT,770.306702213,749.306702213,726,703,670.693297787,640,894.693297787,792,825,653,634.693297787,654,0.430577489788,0.00441650049422,0.079701442481,0.999999876811,2.9923901879e-06,-0.000492798879663,5.93197315415e-05,1793253016124037120
+334,5.566666667,POSE2_TO_POSE3_RETREAT,770.878467457,749.878467457,726,703,670.121532543,640,894.121532543,792,825,653,634.121532543,654,0.429692548625,0.00440276585844,0.0797460798327,0.999999917972,-9.31169862478e-06,-0.000400565991479,5.93001473134e-05,1793253016140704000
+335,5.583333333,POSE2_TO_POSE3_RETREAT,770.533160663,749.533160663,726,703,670.466839337,640,894,792,825,653,634,654,0.428811707793,0.00439494012279,0.0798082343946,0.999999953055,-1.96620016625e-05,-0.000299615505936,6.11053743136e-05,1793253016157370368
+336,5.600000000,POSE2_TO_POSE3_RETREAT,770,749,726,703.058465242,671,640,894,792,824.941534758,653,634,654,0.42791786849,0.00439250844133,0.0798650727384,0.999999975256,-2.41648578376e-05,-0.00021196900101,6.30297091994e-05,1793253016174036992
+337,5.616666667,POSE2_TO_POSE3_RETREAT,770,749,726,703.639116983,671,640,894,792,824.360883017,653,634,654,0.426898047432,0.0044240082392,0.0798321961989,0.999999963032,1.88487540614e-05,-0.000264165502772,6.16183868604e-05,1793253016190703616
+338,5.633333333,POSE2_TO_POSE3_RETREAT,770,749,726,703.781747545,671,640,894.218252455,792,824,653,634.218252455,654.218252455,0.425889699371,0.00445203724491,0.0797994624805,0.999999946903,5.39521524066e-05,-0.000315829659704,5.94542863029e-05,1793253016207370496
+339,5.650000000,POSE2_TO_POSE3_RETREAT,770,749,726,703.205101854,671,640,894.794898146,792,824,653,634.794898146,654.794898146,0.424900191002,0.00447436685382,0.0797669632838,0.999999928331,7.60661640592e-05,-0.000366619660331,5.60540456212e-05,1793253016224037376
+340,5.666666667,POSE2_TO_POSE3_RETREAT,770.370283878,749,726,703,671,640,895,792,824,653,635,654.629716122,0.42391046912,0.0044859051471,0.0797355489895,0.999999906066,9.42809248864e-05,-0.000419442641835,5.52027422941e-05,1793253016240704000
+341,5.683333333,POSE2_TO_POSE3_RETREAT,770.944974046,749,726,703,671,640,895,792,824,653,635,654.055025954,0.422920629431,0.00449148635336,0.0797047335912,0.99999988031,0.000110343196809,-0.000473387877748,5.57585185195e-05,1793253016257370624
+342,5.700000000,POSE2_TO_POSE3_RETREAT,770.466041882,749,726,703,670.466041882,640,894.466041882,792,824,653,634.466041882,654,0.422092037635,0.00448614429383,0.0797533894493,0.999999921903,9.2876449641e-05,-0.000380378995971,5.36555729286e-05,1793253016274037248
+343,5.716666667,POSE2_TO_POSE3_RETREAT,770.122104136,749,726,703.122104136,670.122104136,640.122104136,894.122104136,791.877895864,824,653,634,654,0.421268639366,0.00448066970573,0.0798087370704,0.999999957022,7.72960580689e-05,-0.000278013893409,5.18545773469e-05,1793253016290704128
+344,5.733333333,POSE2_TO_POSE3_RETREAT,770.701444246,749,726,703.701444246,670.701444246,640.701444246,894.701444246,791.298555754,824,653,634,654,0.420400752519,0.00447903003665,0.0798576317362,0.99999997549,8.20740030362e-05,-0.000198881996641,5.22384889646e-05,1793253016307370496
+345,5.750000000,POSE2_TO_POSE3_RETREAT,771,749,726,704,671,640.721496582,895,791.278503418,824,653,634,654.278503418,0.41950630159,0.00447826319785,0.0798624472224,0.999999976074,8.39994441774e-05,-0.000195031533118,5.25244655987e-05,1793253016324037376
+346,5.766666667,POSE2_TO_POSE3_RETREAT,771,749,726,704,671,640.146862751,895,791.853137249,824,653,634,654.853137249,0.418583605344,0.00447842443248,0.0798203936734,0.999999958393,8.28918410078e-05,-0.000271227209049,5.27063087775e-05,1793253016340704000
+347,5.783333333,POSE2_TO_POSE3_RETREAT,771,749,726,704,671,640,894.562455135,792,823.562455135,653,634,654.562455135,0.41772470917,0.00448040638603,0.0798056097516,0.999999949414,8.7733905482e-05,-0.000301069575149,5.32196931488e-05,1793253016357370624
+348,5.800000000,POSE2_TO_POSE3_RETREAT,771,749,726,704,671,640,894,792,823,653,634,654,0.416886798328,0.00448299476076,0.0798000175606,0.999999944315,9.44635173964e-05,-0.000315515162933,5.38141595655e-05,1793253016374037248
+349,5.816666667,POSE2_TO_POSE3_RETREAT,771,749,726,704,671,640,894,792,823,653,634,654,0.41602847443,0.00448516820974,0.0797906360815,0.999999935486,9.77461693828e-05,-0.000341456959247,5.36809327099e-05,1793253016390704128
+350,5.833333333,POSE2_TO_POSE3_RETREAT,771,749,726,704,671,640,894.182516759,792,823,653,634.182516759,654,0.415190589459,0.00448640490099,0.0797803532158,0.999999927942,9.84061816587e-05,-0.000362727821544,5.34945058696e-05,1793253016407370496
+351,5.850000000,POSE2_TO_POSE3_RETREAT,771,749,726,704,671,640,894.758532062,792,823,653,634.758532062,654,0.414396769806,0.00448562198189,0.0797681269966,0.999999924311,9.34118924576e-05,-0.000373928349542,5.31933821095e-05,1793253016424037120
+352,5.866666667,POSE2_TO_POSE3_RETREAT,771,749.332435328,726,704,670.667564672,640.332435328,894.667564672,792,823,653,634.667564672,654,0.413654374766,0.00448328333806,0.0797765137899,0.99999993226,8.95837202052e-05,-0.000353132185775,5.24702073855e-05,1793253016440703744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,771,749.904814143,726,704,670.095185857,640.904814143,894.095185857,792,823,653,634.095185857,654,0.41294909677,0.00447982181115,0.0797997785399,0.999999947112,8.6597222105e-05,-0.000309241610731,5.14424067967e-05,1793253016457370368
+354,5.900000000,POSE2_TO_POSE3_RETREAT,771,750,726.494684139,704,670.494684139,641,894,792.494684139,823,653,634.494684139,654,0.412231877463,0.00448034117401,0.0797978821787,0.999999943857,9.2801309863e-05,-0.000317717613347,5.2245565675e-05,1793253016474036992
+355,5.916666667,POSE2_TO_POSE3_RETREAT,771,750,726.914233476,704,670.914233476,640.914233476,894,792.914233476,823,653,635,654,0.4115151071,0.00448119906376,0.0797904485711,0.999999937118,9.85176686419e-05,-0.000336476818605,5.33104993423e-05,1793253016490703616
+356,5.933333333,POSE2_TO_POSE3_RETREAT,771,750,726.336217333,704,670.336217333,640.336217333,894,792.336217333,823,653,635,654,0.410814584339,0.0044794424054,0.0797800399373,0.999999931655,9.09129699667e-05,-0.0003543040693,5.37817056963e-05,1793253016507370240
+357,5.950000000,POSE2_TO_POSE3_RETREAT,770.755622683,749.755622683,726,704,670,640.244377317,894,792,823,653,634.755622683,654,0.410155071781,0.00447990229896,0.0797820341373,0.999999932971,9.17692231776e-05,-0.000350361690989,5.36961866266e-05,1793253016524037120
+358,5.966666667,POSE2_TO_POSE3_RETREAT,770.171442706,749.171442706,726,704,670,640.828557294,894,792,823,653,634.171442706,654,0.409552583297,0.00448344427182,0.0798012742753,0.99999994318,0.000104390292055,-0.000316148998276,5.28365499015e-05,1793253016540703744
+359,5.983333333,POSE2_TO_POSE3_RETREAT,770.40927359,749,726.40927359,704,670.40927359,641,894,792,823,653,634.40927359,654,0.408967257284,0.00448693410013,0.0798209280439,0.999999953065,9.97487759122e-05,-0.000284708049699,5.34922691222e-05,1793253016557370368
+360,6.000000000,POSE2_TO_POSE3_RETREAT,770.988551192,749,726.988551192,704,670.988551192,641,894,792,823,653,634.988551192,654,0.408389060166,0.00449040226895,0.079840753628,0.999999962269,8.79367303997e-05,-0.000254418424798,5.47774366021e-05,1793253016574036992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,770.432100207,749,726.432100207,704,670.432100207,641,894,792,823,653,634.432100207,654,0.407803167463,0.00449102956379,0.0798163585743,0.999999946903,0.000111664943128,-0.000301179050821,5.4913374246e-05,1793253016590703616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,770,749,726.147024495,704,670,641,894,792,823,653,634,654,0.407231154623,0.00449060436608,0.0797906496849,0.999999930336,0.000126730549834,-0.000346802315022,5.47222549974e-05,1793253016607370240
+363,6.050000000,POSE2_TO_POSE3_RETREAT,770,749,726.725488108,704,670,641,894,792,823,653,634,654,0.406700327021,0.00448725874297,0.079763701738,0.999999918101,0.000114273219781,-0.000384529277335,5.3639392566e-05,1793253016624037376
+364,6.066666667,POSE2_TO_POSE3_RETREAT,770.301042454,749,727,704,670,641.301042454,894,792,823,653,634,654,0.406219507483,0.00448436997465,0.0797625324,0.999999921858,0.000100431686095,-0.000378744835984,5.24299270011e-05,1793253016640703744
+365,6.083333333,POSE2_TO_POSE3_RETREAT,770.873969282,749,727,704,670,641.873969282,894,792,823,653,634,654,0.405783852408,0.00448189381172,0.0797846448328,0.999999939387,8.53400193258e-05,-0.000333663374181,5.11061207375e-05,1793253016657370368
+366,6.100000000,POSE2_TO_POSE3_RETREAT,771,749,727,704,670,641.539843378,894.460156622,792,823,653,634,654,0.405380338275,0.00448584823623,0.0798040438005,0.999999947068,0.000107937648889,-0.000302585759241,5.1535921e-05,1793253016674037248
+367,6.116666667,POSE2_TO_POSE3_RETREAT,770.950825462,749.049174538,727,704,670,641,894.950825462,792,823.049174538,653,634,654,0.404987082285,0.00449168877712,0.0798216248536,0.999999950523,0.000138523389144,-0.000277500173799,5.2529224695e-05,1793253016690703872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,770.371606176,749.628393824,727,704,670,641,894.371606176,792,823.628393824,653,634,654,0.40460669581,0.00449831190787,0.0798278592251,0.99999995098,0.000140644594574,-0.000274433142238,5.42658683936e-05,1793253016707370496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,770.206522424,749.793477576,727,703.793477576,670,641,894,792.206522424,823.793477576,653,634.206522424,654,0.404235174859,0.00450237389588,0.0798313577187,0.999999950471,0.000139076553288,-0.000276781014505,5.57530439308e-05,1793253016724037120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,770.782698746,749.217301254,727,703.217301254,670,641,894,792.782698746,823.217301254,653,634.782698746,654,0.403879522321,0.00450185170107,0.0798299592716,0.99999994811,0.000130905139593,-0.000288821007981,5.67936969247e-05,1793253016740703744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,771,749,727,703.357323548,670,641,894,793,823,653,634.642676452,654,0.403558261182,0.00449976048974,0.079830977216,0.999999949381,0.000117855949281,-0.000290510067908,5.4338228731e-05,1793253016757370368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,771,749,727,703.931008951,670,641,894,793,823,653,634.068991049,654,0.403257824235,0.00449671922812,0.0798334583019,0.999999952696,0.000101853231042,-0.000285931567854,4.9765835325e-05,1793253016774036992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,771,749,727,704,670,641,894.520585899,793,823,653,634,654,0.402995241163,0.00449357896875,0.079832374165,0.999999951784,0.000101060552267,-0.000289128270426,5.1213658258e-05,1793253016790703616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,771,749.109900847,727,704,670.109900847,641.109900847,895,793,823,653,634,654,0.402744949843,0.00449057206387,0.0798307881236,0.999999950596,0.000100475387317,-0.000293075597995,5.30942835152e-05,1793253016807370496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,771,749.688826866,727,704,670.688826866,641.688826866,895,793,823,653,634,654,0.4025250325,0.0044881920309,0.0798291400149,0.99999995064,9.19024381683e-05,-0.000295690398243,5.33098476501e-05,1793253016824037120
+376,6.266666667,POSE2_TO_POSE3_RETREAT,771,749.734100528,727,704,671,642,895,793,823,653,634,654,0.402323760715,0.00448590439377,0.079830169501,0.999999951864,8.64720816556e-05,-0.000293049931683,5.39980797685e-05,1793253016840704000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,771,749.159181928,727,704,671,642,895,793,823,653,634,654,0.402144158161,0.00448372413601,0.079834310795,0.999999954474,8.46939376298e-05,-0.000284301976481,5.52356301823e-05,1793253016857370624
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,770,749,727,704.012940148,670.987059852,641.012940148,894,793,823,653,634,654,0.401837490728,0.00448599282809,0.0798451540878,0.999999958768,9.08667526324e-05,-0.00026616549091,5.79884356559e-05,1793253016890703872
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,670,641.50891074,894,792.50891074,823.50891074,653,634.50891074,654,0.400969372206,0.0044797213631,0.0798266939754,0.999999948369,0.000122319503035,-0.000292513143478,5.23138134349e-05,1793253017307370496
+405,6.750000000,POSE2_TO_POSE3_RETREAT,770,749.100700544,727,704,670,642,894.100700544,793,823.899299456,653,634.899299456,654,0.400968801631,0.00447931755269,0.0798264247339,0.99999994814,0.000122743665041,-0.000293064018231,5.25992668582e-05,1793253017324037120
+406,6.766666667,POSE2_TO_POSE3_RETREAT,770,749.678138087,727,704,670,642,894.678138087,793,823.321861913,653,634.321861913,654,0.400970339986,0.00447980033714,0.0798277842388,0.999999948891,0.000122163377147,-0.00029074813422,5.25261574655e-05,1793253017340703744
+407,6.783333333,POSE2_TO_POSE3_RETREAT,770,749.7456996,727,704,670,641.7456996,895,792.7456996,823,653,634,654,0.400970969276,0.00448020100106,0.0798283560239,0.999999949329,0.000121214202963,-0.000289664078096,5.23855372513e-05,1793253017357370624
+408,6.800000000,POSE2_TO_POSE3_RETREAT,770,749.171143185,727,704,670,641.171143185,895,792.171143185,823,653,634,654,0.400970453727,0.00448049824565,0.0798279357858,0.999999949375,0.000119800467679,-0.000290131337708,5.21598965291e-05,1793253017374037760
+409,6.816666667,POSE2_TO_POSE3_RETREAT,770.40776454,749,727,704,670,641.40776454,895,792.40776454,823,653,634,654,0.400971034739,0.00448062507532,0.0798282892782,0.999999949532,0.000120541491998,-0.000289267152394,5.22605670209e-05,1793253017390704896
+410,6.833333333,POSE2_TO_POSE3_RETREAT,770.988518221,749,727,704,670,641.988518221,895,792.988518221,823,653,634,654,0.400972080955,0.00448067960852,0.0798289710165,0.99999994973,0.000122196646925,-0.000287838117756,5.2499671085e-05,1793253017407371776
+411,6.850000000,POSE2_TO_POSE3_RETREAT,770.42696245,749,727,704,670.57303755,642,894.42696245,793,823,653,634,654,0.400971617432,0.00448171226394,0.0798292314503,0.999999949816,0.00012208135867,-0.000287654191498,5.21378277766e-05,1793253017424038144
+412,6.866666667,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.843564084,641.843564084,894.156435916,793,823,653,634,654,0.400971236116,0.00448230461937,0.0798295297436,0.999999949779,0.000122541202541,-0.000287621404278,5.19507287763e-05,1793253017440704256
+413,6.883333333,POSE2_TO_POSE3_RETREAT,770,749,727,704,670.263407696,641.263407696,894.736592304,793,823,653,634,654,0.400971159939,0.00448165094845,0.0798299535986,0.999999949413,0.000124655562079,-0.000287929970016,5.22697700123e-05,1793253017457370624
+414,6.900000000,POSE2_TO_POSE3_RETREAT,770.313501796,749.313501796,727,704,670,641.313501796,894.686498204,793,823,653,634,654,0.400971262395,0.00448128518766,0.0798303112955,0.999999949473,0.000125485202965,-0.000287331360286,5.24268355688e-05,1793253017474037248
+415,6.916666667,POSE2_TO_POSE3_RETREAT,770.887711147,749.887711147,727,704,670,641.887711147,894.112288853,793,823,653,634,654,0.400971513401,0.00448115885247,0.0798306139753,0.999999949889,0.000125246473925,-0.000285978344985,5.24492024134e-05,1793253017490703872
+416,6.933333333,POSE2_TO_POSE3_RETREAT,771,749.538342626,727,704,670.461657374,642,894,792.538342626,823,653,634,654,0.400971196064,0.00448119132263,0.0798303467354,0.999999950021,0.000123295594188,-0.000286399103299,5.22749577252e-05,1793253017507371008
diff --git a/Obstacle_avoidance/ball_0050_10/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_10/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4bf7a9623684836b84cfa51df6156f8f8bb5e83a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_10/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
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+396,6.600000000,pose2_to_pose3_retreat,0.585755208377,0.0100052750185,1.07002104242,0.556326550775,0.0186776797727,1.06963241486
+397,6.616666667,pose2_to_pose3_retreat,0.585753850805,0.0100052457055,1.0700210894,0.556325193165,0.0186776504893,1.06963246536
+398,6.633333333,pose2_to_pose3_retreat,0.585752958632,0.0100052306768,1.07002115781,0.556324300881,0.0186776352071,1.06963253636
+399,6.650000000,pose2_to_pose3_retreat,0.5857527113,0.0100052265105,1.07002117678,0.556324053519,0.0186776309705,1.06963255605
+400,6.666666667,pose2_to_pose3_retreat,0.585752552545,0.0100052238363,1.07002118895,0.556323894745,0.0186776282511,1.06963256868
+401,6.683333333,pose2_to_pose3_retreat,0.585752269507,0.0100052344279,1.07002113839,0.556323611573,0.0186776384425,1.0696325193
+402,6.700000000,pose2_to_pose3_retreat,0.585752003789,0.0100052634906,1.07002100099,0.556323345607,0.0186776667313,1.06963238344
+403,6.716666667,pose2_to_pose3_retreat,0.585751716637,0.0100052948975,1.0700208525,0.556323058188,0.0186776973019,1.06963223661
+404,6.733333333,pose2_to_pose3_retreat,0.585751512761,0.0100053171964,1.07002074707,0.556322854121,0.0186777190069,1.06963213237
+405,6.750000000,pose2_to_pose3_retreat,0.585751433526,0.0100053258626,1.0700207061,0.556322774813,0.0186777274424,1.06963209186
+406,6.766666667,pose2_to_pose3_retreat,0.585751428552,0.0100053264066,1.07002070353,0.556322769834,0.0186777279719,1.06963208931
+407,6.783333333,pose2_to_pose3_retreat,0.585751221753,0.0100053490251,1.07002059659,0.556322562842,0.018677749988,1.06963198358
+408,6.800000000,pose2_to_pose3_retreat,0.585750973536,0.0100052819881,1.07002087652,0.556322314048,0.0186776805112,1.0696322527
+409,6.816666667,pose2_to_pose3_retreat,0.585750880296,0.0100052534602,1.07002099618,0.55632222058,0.0186776510058,1.06963236787
+410,6.833333333,pose2_to_pose3_retreat,0.585750868065,0.0100052522797,1.07002100117,0.556322208351,0.0186776498447,1.06963237307
+411,6.850000000,pose2_to_pose3_retreat,0.58575084324,0.0100052541321,1.07002099353,0.556322183587,0.0186776519815,1.06963236722
+412,6.866666667,pose2_to_pose3_retreat,0.585750835237,0.0100052547293,1.07002099106,0.556322175603,0.0186776526703,1.06963236534
+413,6.883333333,pose2_to_pose3_retreat,0.585750815286,0.010005256218,1.07002098492,0.556322155701,0.0186776543876,1.06963236063
+414,6.900000000,pose2_to_pose3_retreat,0.585750812797,0.010005298398,1.07002088877,0.556322154618,0.0186777013379,1.06963226446
+415,6.916666667,pose2_to_pose3_retreat,0.585750812618,0.010005302599,1.0700208792,0.556322154579,0.0186777060137,1.06963225489
+416,6.933333333,pose2_to_pose3_retreat,0.585750812456,0.0100053063881,1.07002087057,0.556322154543,0.0186777102311,1.06963224626
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..85eca0aeeb0f7e65149eebbe4754d864cb2ea60f
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f5401a683d6d55892f328fc581168aa6757c21bdda8af5ce7c3baf77b41e2b
+size 25843231
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09492e25c05a5a879d2c2d0991cf97bf75af07bd
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
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+1,0.016666667,BASELINE,765,745,715,680,658.424199638,634,877,785,808,652,628.575800362,651.424199638,0.400822028815,-0.00540616614468,0.059891526762,0.999999950848,-4.86640611174e-05,-0.000306604714497,-4.39301816104e-05,1793247440290861056
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+17,0.283333333,BASELINE,765,745,715,679.864366018,658,634,877.135633982,785,807,652,629,652,0.400782325194,-0.00540537739189,0.0598737350466,0.99999993724,-4.79789510401e-05,-0.000348248340313,-4.40531132719e-05,1793247440557527808
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+27,0.450000000,BASELINE,765,745,715,679,658.346076464,634,877.653923536,785,807.346076464,652,629,652,0.400783751039,-0.00540653905222,0.0598732467652,0.999999937857,-4.90826300722e-05,-0.00034632864119,-4.3971409112e-05,1793247440724194304
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+30,0.500000000,BASELINE,764.39535315,745,715,679.60464685,658,634,877.60464685,785,807.39535315,652,629,652,0.400782990393,-0.00540602078347,0.0598731366536,0.999999937415,-4.77407204498e-05,-0.000347760302965,-4.42018268133e-05,1793247440774193664
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+47,0.783333333,BASELINE,765.260794487,745,715,679.739205513,658.739205513,634,878,785,807.260794487,652,629,652,0.400783727815,-0.00540793314287,0.0598742383195,0.999999937871,-5.07597355525e-05,-0.000346064114878,-4.38302738916e-05,1793247441057527296
+48,0.800000000,BASELINE,765.852718728,745,715,679.147281272,658.147281272,634,878,785,807.852718728,652,629,652,0.400782901197,-0.00540574733483,0.0598729583738,0.999999937486,-4.70709438621e-05,-0.00034762618758,-4.43563308242e-05,1793247441074193920
+49,0.816666667,BASELINE,765.56628336,745,715,679.43371664,658,634,878,785,807.56628336,652,629,652,0.400783326343,-0.00540467605702,0.0598734526486,0.999999937813,-4.59774078771e-05,-0.000346823520863,-4.44276273132e-05,1793247441090860544
+50,0.833333333,BASELINE,765,745,715,679.988964483,658,634,878,785,807.011035517,652.011035517,629,652,0.400784146405,-0.00540401393477,0.0598745171642,0.999999938364,-4.57794166656e-05,-0.000345268218886,-4.43449642444e-05,1793247441107526912
+51,0.850000000,BASELINE,765,745,715,679.414698666,658,634,878,785,807.585301334,652.585301334,629,652,0.400783960346,-0.00540539252358,0.0598746914292,0.999999938296,-4.74139677808e-05,-0.000345277173718,-4.40924963856e-05,1793247441124193792
+52,0.866666667,BASELINE,765,745,715,679.163637641,658,634,878,785,808,652.672724718,629,652,0.400784019228,-0.00540631296371,0.0598749167053,0.999999938255,-4.8687977203e-05,-0.00034523109494,-4.39844072724e-05,1793247441140860416
+53,0.883333333,BASELINE,765,745,715,679.7525527,658,634,878,785,808,651.494894601,629,652,0.400784714688,-0.00540604272242,0.0598752745539,0.999999938292,-4.90249757064e-05,-0.000345041989468,-4.42515437027e-05,1793247441157527296
+54,0.900000000,BASELINE,765.335907718,745,715,680,658,634,878,785,808,651.335907718,629,652,0.400784705779,-0.00540572029749,0.0598752867092,0.999999938283,-4.83426346274e-05,-0.000345172757042,-4.41894804339e-05,1793247441174194176
+55,0.916666667,BASELINE,765.915233585,745,715,680,658,634,878,785,808,651.915233585,629,652,0.400784186443,-0.00540536005728,0.0598750483551,0.999999938239,-4.69216211531e-05,-0.000345535323122,-4.38888600231e-05,1793247441190861056
+56,0.933333333,BASELINE,765.506388683,745,715,679.506388683,658,634,878,785,808,652,629,652,0.400784348529,-0.00540602174751,0.0598743624969,0.99999993803,-4.65238403867e-05,-0.000346201723575,-4.38204283958e-05,1793247441207527424
+57,0.950000000,BASELINE,765,745,715,679,658,634,878,785,808,652,629,652,0.400784490355,-0.00540672807682,0.059873723874,0.999999937804,-4.64354559049e-05,-0.000346868188602,-4.37972657596e-05,1793247441224194048
+58,0.966666667,BASELINE,765,745,715,679,658,634,878,785,808,652,629,652,0.400783665941,-0.00540651423636,0.0598739590224,0.999999937659,-4.72919083818e-05,-0.000347167960666,-4.38126839851e-05,1793247441240860672
+59,0.983333333,BASELINE,765,745.224063267,715,679.224063267,658.224063267,634,878,785,808,652,629,652,0.40078292372,-0.00540583241303,0.0598737053856,0.999999937428,-4.74072285078e-05,-0.000347806749884,-4.3905218094e-05,1793247441257527296
+60,1.000000000,BASELINE,765,745.814397907,715,679.814397907,658.814397907,634,878,785,808,652,629,652,0.400782315861,-0.00540438558818,0.0598726527424,0.999999937054,-4.63110357589e-05,-0.000348999723155,-4.41238118705e-05,1793247441274193920
+61,1.016666667,BASELINE,765.396434001,745.603565999,715,680,658.603565999,634,877.603565999,785,808,652,629,652,0.400782237015,-0.00540420645732,0.0598725457653,0.999999937072,-4.68433707548e-05,-0.000348859675905,-4.4262535634e-05,1793247441290860800
+62,1.033333333,BASELINE,765.974664517,745.025335483,715,680,658.025335483,634,877.025335483,785,808,652,629,652,0.400782400764,-0.00540460866504,0.0598728724514,0.999999937268,-4.81225152873e-05,-0.00034810833267,-4.4364632632e-05,1793247441307527424
+63,1.050000000,BASELINE,765.449746871,745,715,679.449746871,658,634,877.550253129,785,807.449746871,651.449746871,629,651.449746871,0.4007834116,-0.00540601816795,0.0598736249848,0.999999937517,-5.06149967428e-05,-0.000347055742337,-4.42384012895e-05,1793247441324194048
+64,1.066666667,BASELINE,765,745,715,679.128515565,658,634,878,785,807.128515565,651.128515565,629,651,0.400784158131,-0.00540701273761,0.0598740386165,0.999999937645,-5.16321423736e-05,-0.000346549478218,-4.41360847603e-05,1793247441340860928
+65,1.083333333,BASELINE,765,745,715,679.716776256,658,634,878,785,807.716776256,651.716776256,629,651,0.400783820291,-0.0054063578239,0.0598731700707,0.999999937344,-4.71725981307e-05,-0.000348046996346,-4.4156748847e-05,1793247441357527552
+66,1.100000000,BASELINE,765,745,715,680,658,634,878.300433094,785,808,652,629,651.300433094,0.400783559108,-0.00540588716157,0.0598730036853,0.999999937241,-4.51477143165e-05,-0.000348616846002,-4.41145573812e-05,1793247441374193920
+67,1.116666667,BASELINE,765,745,715,680,658,634,878.87981527,785,808,652,629,651.87981527,0.4007833691,-0.00540558757481,0.0598734892488,0.999999937336,-4.53833882761e-05,-0.000348325364806,-4.40140051714e-05,1793247441390860544
+68,1.133333333,BASELINE,765,745,715,680,658,634,878.54233643,785,808,652,629,652,0.400783559786,-0.00540518943541,0.0598741562569,0.99999993756,-4.57057542556e-05,-0.000347633128225,-4.40755006001e-05,1793247441407527424
+69,1.150000000,BASELINE,765,745,715,680,658,634,877.965109004,785,807.965109004,652,629,652,0.400783873717,-0.00540491110205,0.0598748229255,0.999999937801,-4.62288115139e-05,-0.000346860029358,-4.41528769155e-05,1793247441424194304
+70,1.166666667,BASELINE,765,745,715,680,658,634,877.391271491,785,807.391271491,652,629,652,0.400784552294,-0.0054068817909,0.059874750808,0.999999937798,-4.95013836388e-05,-0.000346458059158,-4.3820432468e-05,1793247441440860928
+71,1.183333333,BASELINE,765,745,715,679.813361167,658.186638833,634,877,785,807.186638833,652,629,652,0.400784883311,-0.00540758812435,0.0598746857308,0.999999937857,-5.10404456402e-05,-0.000346073649438,-4.37522393699e-05,1793247441457527552
+72,1.200000000,BASELINE,765,745,715,679.226721975,658.773278025,634,877,785,807.773278025,652,629,652,0.40078446944,-0.00540558471868,0.0598746357424,0.999999938064,-4.88642863975e-05,-0.000345726874894,-4.42503840556e-05,1793247441474194176
+73,1.216666667,BASELINE,765,745,714.642457905,679.357542095,659,634,877.357542095,785,808,652,629,652,0.400782761308,-0.00540499275796,0.0598736413688,0.999999937617,-4.6760169063e-05,-0.000347317627076,-4.4154997182e-05,1793247441490860800
+74,1.233333333,BASELINE,765,745,714.059690026,679.940309974,659,634,877.940309974,785,808,652,629,652,0.400780237883,-0.0054052899061,0.0598720521005,0.999999936752,-4.47014330753e-05,-0.000350128881654,-4.3685728117e-05,1793247441507527168
+75,1.250000000,BASELINE,765,745,714.514624551,679.485375449,659,634,877.485375449,785,808,652,629,652,0.400781205947,-0.0054052724814,0.0598726046772,0.999999936979,-4.6386067104e-05,-0.000349233685607,-4.38867251025e-05,1793247441524194048
+76,1.266666667,BASELINE,765,745,715,679,659,634,877,785,807.911813187,652,629,652,0.400782025995,-0.00540531987973,0.0598731159334,0.999999937147,-4.83190660651e-05,-0.000348460508388,-4.41184902302e-05,1793247441540860672
+77,1.283333333,BASELINE,765,745,715,679,659,634,877,785,807.337079539,652,629,652,0.400779831202,-0.00540592297288,0.0598720507352,0.999999936321,-4.92655703468e-05,-0.000350694073845,-4.40980187772e-05,1793247441557527552
+78,1.300000000,BASELINE,765,744.754522709,715,679.245477291,658.754522709,634,877,785,807,652.245477291,629,651.754522709,0.400779682183,-0.00540566937947,0.0598721967264,0.999999936285,-4.94743989335e-05,-0.000350762066427,-4.41341360146e-05,1793247441574194432
+79,1.316666667,BASELINE,765,744.160869824,715,679.839130176,658.160869824,634,877,785,807,652.839130176,629,651.160869824,0.400782434812,-0.00540420069458,0.0598740606226,0.99999993737,-4.86369364716e-05,-0.000347758493148,-4.42505164862e-05,1793247441590861056
+80,1.333333333,BASELINE,765,744.421195952,715,679.578804048,658.421195952,634,877.421195952,785,807.421195952,652.578804048,629,651.421195952,0.400783031866,-0.00540465849928,0.0598743053649,0.999999937546,-4.93447600881e-05,-0.00034715116845,-4.42628446604e-05,1793247441607527680
+81,1.350000000,BASELINE,765,744.99895473,715,679.00104527,658.99895473,634,877.99895473,785,807.99895473,652.00104527,629,651.99895473,0.400782827671,-0.00540583239966,0.0598739482513,0.999999937385,-5.06269822172e-05,-0.00034743455352,-4.42364955451e-05,1793247441624194304
+82,1.366666667,BASELINE,765,745,715,679,658.428123958,634,878,785,808,652,629,652,0.400781277844,-0.0054049760522,0.0598726068433,0.99999993665,-4.87975668082e-05,-0.000349820502225,-4.40993437901e-05,1793247441640860672
+83,1.383333333,BASELINE,765,745,715.148645638,679.148645638,658,634,878,785,808,652,629,652,0.400780818034,-0.00540438450364,0.0598718901537,0.999999936315,-4.73750584749e-05,-0.000350980286947,-4.40324235119e-05,1793247441657527296
+84,1.400000000,BASELINE,765,745,715.736820251,679.736820251,658,634,878,785,808,652,629,652,0.400783588498,-0.00540458681697,0.059873025963,0.999999937184,-4.7172405673e-05,-0.000348503170629,-4.4173763854e-05,1793247441674193920
+85,1.416666667,BASELINE,765,744.679129791,715.679129791,679.679129791,658,634,878,785,808,652,629.320870209,652,0.400783734027,-0.00540416822377,0.0598731906445,0.99999993733,-4.54903407189e-05,-0.000348296568519,-4.42677863522e-05,1793247441690860800
+86,1.433333333,BASELINE,765,744.09842,715.09842,679.09842,658,634,878,785,808,652,629.90158,652,0.400781753891,-0.00540324682261,0.0598725689101,0.999999936885,-4.26102529488e-05,-0.000349928621086,-4.43234910156e-05,1793247441707527936
+87,1.450000000,BASELINE,765,744.478207522,715,679,658,634,877.521792478,785,808,652,629.521792478,652,0.400781199268,-0.00540376838097,0.0598724042136,0.999999936744,-4.51255893985e-05,-0.000350012466875,-4.43486260989e-05,1793247441724194560
+88,1.466666667,BASELINE,765,745,715,679.053949444,658,634,877.053949444,785,808,652,629,652,0.40078079904,-0.00540451376318,0.0598722771758,0.999999936613,-4.83104861686e-05,-0.00034996033866,-4.43506889919e-05,1793247441740861440
+89,1.483333333,BASELINE,765,745,715,679.629183742,658,634,877.629183742,785,808,652,629,652,0.400779079827,-0.00540457660543,0.0598716128254,0.999999936076,-4.73262779867e-05,-0.000351647123889,-4.41900947302e-05,1793247441757527808
+90,1.500000000,BASELINE,765,745,715,680,658,634,878,785,807.789451023,652.210548977,629,652,0.400778782127,-0.00540479483273,0.0598714991059,0.999999935845,-4.70146303973e-05,-0.000352355223207,-4.41174131498e-05,1793247441774194176
+91,1.516666667,BASELINE,765,745,715,680,658,634,878,785,807.196964276,652.803035724,629,652,0.400781063065,-0.0054052949299,0.0598723842363,0.999999936173,-4.79230139769e-05,-0.000351287977155,-4.42042059941e-05,1793247441790860800
+92,1.533333333,BASELINE,765,745,715,679.614864827,658,634,878,785,807,652.614864827,629,652,0.400781619983,-0.00540524648937,0.0598724201172,0.999999936413,-4.76883981202e-05,-0.000350635416454,-4.4212296557e-05,1793247441807527168
+93,1.550000000,BASELINE,765,745,715,679.037938047,658,634,878,785,807,652.037938047,629,652,0.400781318365,-0.00540492488523,0.0598720330846,0.999999936609,-4.6884585565e-05,-0.000350189362816,-4.41811945579e-05,1793247441824194048
+94,1.566666667,BASELINE,765,745,715,679.533590528,658.533590528,634,878,785,807.533590528,652,629,652,0.400781593987,-0.00540625364619,0.0598730060866,0.999999936885,-4.9215881277e-05,-0.000349107073726,-4.39663679184e-05,1793247441840861184
+95,1.583333333,BASELINE,765,745,715,679.893734013,658.893734013,634,878,785.106265987,808,652,629,652,0.400781797555,-0.00540713999528,0.0598738184642,0.999999937101,-5.06322147459e-05,-0.000348306080431,-4.37934102358e-05,1793247441857528064
+96,1.600000000,BASELINE,765,745,715,679.314259214,658.314259214,634,878,785.685740786,808,652,629,652,0.40078149933,-0.00540553896855,0.0598734892835,0.999999937048,-4.69915003467e-05,-0.000348957135179,-4.3864484026e-05,1793247441874194176
+97,1.616666667,BASELINE,765,745,715,679,658,634,878,785.72875439,807.72875439,652,629,652,0.400780737445,-0.00540494553656,0.0598731554662,0.999999936872,-4.56555450035e-05,-0.00034963924424,-4.38630927667e-05,1793247441890860800
+98,1.633333333,BASELINE,765,745,715,679,658,634,878,785.136104505,807.136104505,652,629,652,0.400779426162,-0.00540554602354,0.0598728161549,0.99999993656,-4.70505443508e-05,-0.000350358150139,-4.37758362369e-05,1793247441907527424
+99,1.650000000,BASELINE,765,745,715,679.445383616,658.445383616,634,878,785,807.445383616,652,629,652,0.400779817698,-0.00540712733955,0.0598725871536,0.999999936405,-4.97639161472e-05,-0.000350443542978,-4.36192207907e-05,1793247441924194304
+100,1.666666667,BASELINE,765,745,715,680.023255686,658.976744314,634,878,785,808,652,629,652,0.400780653328,-0.00540880675617,0.0598723894897,0.999999936295,-5.25494982271e-05,-0.000350371313433,-4.34654471579e-05,1793247441940860672
+101,1.683333333,BASELINE,765,745,715,680.594331323,658.405668677,634,878,785,808,652,629,652,0.400779992015,-0.00540590911036,0.0598721553565,0.999999936284,-4.7777707173e-05,-0.000351034971722,-4.38656954855e-05,1793247441957527296
+102,1.700000000,BASELINE,765,745,715,680.829017791,658,634,878,785,807.829017791,652,629,652,0.400779722851,-0.00540403980987,0.05987210317,0.999999936292,-4.49290696104e-05,-0.000351355661222,-4.41098776938e-05,1793247441974194176
+103,1.716666667,BASELINE,765,745,715,680.238693417,658,634,878,785,807.238693417,652,629,652,0.40078041545,-0.00540469257665,0.0598724972165,0.999999936396,-4.67970599998e-05,-0.000350835203044,-4.39713001148e-05,1793247441990860800
+104,1.733333333,BASELINE,765.34462377,745,715,679.65537623,658.34462377,634,877.65537623,785,807.34462377,652,629,652,0.400780730104,-0.00540480207167,0.059872523307,0.999999936534,-4.65564110891e-05,-0.000350471261673,-4.39750198668e-05,1793247442007527424
+105,1.750000000,BASELINE,765.923184413,745,715,679.076815587,658.923184413,634,877.076815587,785,807.923184413,652,629,652,0.400780788202,-0.00540454278402,0.0598722996222,0.999999936697,-4.488437973e-05,-0.000350213566699,-4.40753336163e-05,1793247442024193792
+106,1.766666667,BASELINE,766,745,715,679.480875926,658.519124074,634,877,785,808,652,629,652,0.400780512286,-0.005405335977,0.059872321847,0.99999993667,-4.6611202386e-05,-0.000350079036776,-4.39659837629e-05,1793247442040861184
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,785,808,652,629,652,0.400780606575,-0.00540474157667,0.0598724960936,0.999999936346,-4.92223506301e-05,-0.000350583766996,-4.44642364064e-05,1793247442085166080
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.390456717,634.609543283,878,785,808,652,629,652,0.400780281753,-0.00540518986434,0.0598718271319,0.999999936139,-4.92074967073e-05,-0.00035118679467,-4.43612978128e-05,1793247442101832704
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.792029078,715,679.792029078,658,634.792029078,877.792029078,785,807.792029078,652,629,652,0.400779752507,-0.00540528017841,0.0598713552472,0.999999935915,-4.88967924553e-05,-0.000351875509469,-4.42954815822e-05,1793247442118499328
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.213411673,715,679.213411673,658,634.213411673,877.213411673,785,807.213411673,652,629,652,0.400778858936,-0.00540473251077,0.0598712345938,0.999999935659,-4.80588227404e-05,-0.000352716936249,-4.42958249353e-05,1793247442135166208
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.362557193,715,679.362557193,658,634,877.362557193,785,807,652,629,652,0.400780221585,-0.0054045887344,0.0598722435273,0.999999936264,-4.76382488875e-05,-0.000351064867657,-4.42352002164e-05,1793247442151832832
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.936978325,715,679.936978325,658,634,877.936978325,785,807,652,629,652,0.400782902679,-0.00540468097597,0.0598739125463,0.999999937363,-4.74615845495e-05,-0.000347955699943,-4.41389481918e-05,1793247442168499456
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.476301866,658,634,878,785,807.523698134,652,629,652,0.400784327061,-0.00540501540168,0.0598744116791,0.999999937559,-4.59384637254e-05,-0.000347602684637,-4.40891932149e-05,1793247442185166336
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,878,785,808,652,629,652,0.400787069522,-0.00540530571947,0.0598751921445,0.999999937792,-4.49018309646e-05,-0.00034707788788,-4.40175979241e-05,1793247442201832960
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,878,785,808,652,629,652,0.400796079698,-0.00540528135028,0.0598777832149,0.999999938654,-4.66413756081e-05,-0.000344376833738,-4.38286848718e-05,1793247442218499584
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.266349075,658,634,877.733650925,784.733650925,808,652,629,651.733650925,0.400810466452,-0.00540591801929,0.0598805071498,0.99999993922,-4.77543014012e-05,-0.000342591479422,-4.36999055312e-05,1793247442235166208
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.837409718,658,634,877.162590282,784.162590282,808,652,629,651.162590282,0.400831004176,-0.00540731093641,0.0598833830855,0.999999939457,-4.81503557543e-05,-0.000341853714185,-4.36399210275e-05,1793247442251833088
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.588121799,715,680,658.411878201,634,877,784.411878201,808,652,629,651.411878201,0.400862896904,-0.00540765835761,0.0598851818321,0.999999940025,-4.85218268388e-05,-0.000340118273258,-4.37703095957e-05,1793247442268499712
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.012296789,715,680,658.987703211,634,877,784.987703211,808,652,629,651.987703211,0.400899309456,-0.00540758962261,0.0598865518074,0.999999940721,-4.88835126644e-05,-0.00033798571063,-4.39764755549e-05,1793247442285166592
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.582423848,715,680,659,634,877,785,807.417576152,652,629,652.582423848,0.400949273273,-0.0054086452827,0.0598847989394,0.999999940824,-4.95015756658e-05,-0.000337493457891,-4.47196461123e-05,1793247442301833216
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.827706235,634,877.172293765,785,807,652,629,652.827706235,0.401005405684,-0.00540973508083,0.0598833703778,0.999999940866,-5.0018156035e-05,-0.000337193951318,-4.54532583277e-05,1793247442318499840
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.25021377,634,877.74978623,785,807,652,629,652.25021377,0.401075349908,-0.00541084746231,0.0598828647758,0.999999940798,-5.02829138113e-05,-0.000337263564742,-4.61368331777e-05,1793247442335166464
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,807.326821672,652,629,652,0.401162035309,-0.00541398494725,0.0598834278523,0.999999941805,-5.23168435976e-05,-0.000333852088093,-4.68512091066e-05,1793247442351833088
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,807.903507672,652,629,652,0.401261519804,-0.00541867068048,0.0598848079635,0.999999943597,-5.57033549584e-05,-0.00032777922049,-4.75891332808e-05,1793247442368499968
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,808,652,629.460223024,652,0.401383219243,-0.00542091334419,0.0598887804866,0.999999947014,-5.62896493012e-05,-0.000316910654224,-4.8686531136e-05,1793247442385166592
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.98604943,658,634,878,785,808,652,629.98604943,652,0.401510089959,-0.00542273458922,0.0598932431928,0.999999950615,-5.64176825344e-05,-0.000305124779833,-4.98535900292e-05,1793247442401833216
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.389508727,658,634,878,785,808,652,629.389508727,652,0.401666498506,-0.00542745834955,0.0598964218267,0.999999953255,-6.09067112504e-05,-0.000295275011945,-5.09131877566e-05,1793247442418499840
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.207025766,658,634,878,785,808,652,629,652,0.401829841554,-0.00543096817983,0.0598980126996,0.999999955007,-6.49594123211e-05,-0.000288123769843,-5.24566160132e-05,1793247442435166464
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.803548506,658,634,878,785,808,652,629,652,0.402006231113,-0.00543219412919,0.0598966163687,0.999999955255,-6.81912088072e-05,-0.000286049518351,-5.49103198743e-05,1793247442451832832
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.616350391,658,634,877.616350391,785,807.616350391,652,629,652,0.402209564431,-0.00543419304805,0.059897158545,0.99999995653,-7.11110431383e-05,-0.000280355020872,-5.73061242427e-05,1793247442468499456
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.044312938,658,634,877.044312938,785,807.044312938,652,629,652,0.402426128266,-0.00543657152706,0.0598986526085,0.999999958258,-7.38776914199e-05,-0.000272882832515,-5.96734977796e-05,1793247442485166080
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.547626318,658.547626318,634,877.547626318,785,807.547626318,652.547626318,629,652,0.402679384198,-0.00543978272654,0.0598971691747,0.999999958803,-8.03682643347e-05,-0.000268417809671,-6.23424095798e-05,1793247442501832704
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.863048006,634,878,785,808,652.863048006,629.136951994,652,0.402943667322,-0.00544327328958,0.0598960241401,0.999999959142,-8.75828830231e-05,-0.000264228310305,-6.50260318947e-05,1793247442518499072
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.287445947,634,878,785,808,652.287445947,629.712554053,652,0.403233401657,-0.00544743467933,0.0598967637811,0.999999959262,-9.61150310079e-05,-0.00026011251711,-6.76756728969e-05,1793247442535165952
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,808,652,629.71060535,652,0.403536610174,-0.00544893062994,0.0598923499054,0.999999957192,-0.000103783897299,-0.000264156407832,-7.11718006946e-05,1793247442551832576
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,808,652,629.132529304,652,0.403853259645,-0.0054477677105,0.0598827952146,0.999999952852,-0.000110591609052,-0.000276339872018,-7.5512328838e-05,1793247442568499200
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.561011255,658.438988745,634,877.561011255,785,808,652,629,652,0.404185672744,-0.00544348575003,0.0598702746591,0.999999942589,-0.000140753705628,-0.000297763832522,-7.96640880165e-05,1793247442585165824
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.008969221,659,634,877.008969221,784.991030779,808.008969221,652,629.008969221,652,0.404523891885,-0.00543823547426,0.0598569416344,0.999999929024,-0.0001771463893,-0.000321796594728,-8.37732930125e-05,1793247442601832448
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.606038354,659,634,877.606038354,784.393961646,808.606038354,652,629.606038354,652,0.404935358215,-0.00543032660755,0.0598481811384,0.999999925515,-0.000166575608868,-0.000336662032561,-8.87739667261e-05,1793247442618499328
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.802998726,745,715,680,659,634,878,784.197001274,808.802998726,652,629.802998726,652,0.40537038177,-0.00542732966441,0.059848151779,0.999999926046,-0.000161176455724,-0.000336704399511,-9.25208945755e-05,1793247442635165952
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.223879915,745,715,680,659,634,878,784.776120085,808.223879915,652,629.223879915,652,0.405851098529,-0.00543386023483,0.0598650579478,0.999999934421,-0.000165808556089,-0.000307994893183,-9.38359681242e-05,1793247442651832320
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.352440387,745,715,679.647559613,659,634,878,785,808,652,629,652,0.406366941516,-0.00544159600266,0.05989226574,0.999999947477,-0.000170381734895,-0.000259469865184,-9.3228418761e-05,1793247442668499200
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.92699706,745,715,679.07300294,659,634,878,785,808,652,629,652,0.406904921932,-0.00545009131509,0.0599259658612,0.999999960832,-0.000174917779941,-0.000198456622269,-9.14091867509e-05,1793247442685165568
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.512632641,659,634,878,785,808.512632641,652.512632641,629,652,0.407460859469,-0.00545271739491,0.0599450107456,0.999999965617,-0.000176487841463,-0.000171867699305,-8.98865295863e-05,1793247442701832448
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,785,808.901498812,652.901498812,629,652,0.408017766315,-0.00545398522224,0.0599562737022,0.999999967521,-0.000176681663072,-0.000160882457934,-8.8650243676e-05,1793247442718498816
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,785,808.32236185,652.32236185,629,652,0.408566649452,-0.0054527939584,0.0599399733617,0.999999960919,-0.000172266656272,-0.000201586151108,-8.86006678672e-05,1793247442735165440
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.744241348,785,808.255758652,652,629,652,0.40914551869,-0.00545145074104,0.0599278037494,0.999999955672,-0.000166938199553,-0.000229994450527,-8.88267093023e-05,1793247442751832320
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.167396969,785,808.832603031,652,629,652,0.409762033185,-0.00544991675755,0.0599208199563,0.999999953613,-0.000160462975774,-0.000242966806903,-8.93987675657e-05,1793247442768498944
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.409205656,785,809,652,629,652,0.410426779914,-0.00545030514702,0.0599250243902,0.999999958648,-0.000155629447948,-0.00022454438834,-8.97948691914e-05,1793247442785165568
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.985709429,785,809,652,629,652,0.411111245713,-0.00545147947232,0.0599338029774,0.999999965788,-0.000151467105021,-0.000193286646367,-9.01190332748e-05,1793247442801832192
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,785,809,652,629.57381207,652,0.411817995475,-0.00545418349106,0.059931959689,0.999999965991,-0.000143565347857,-0.00019803233099,-9.04967761891e-05,1793247442818499072
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.159649674,634,878,784.840350326,809.159649674,652,629.840350326,652,0.412516664457,-0.00545586902494,0.0599205933536,0.999999961457,-0.00014080369992,-0.000221339164339,-9.09345199601e-05,1793247442835165696
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.738761422,634,878,784.261238578,809.738761422,652,629.261238578,652,0.413192613742,-0.00545477644149,0.059884915626,0.999999941947,-0.000151796861702,-0.000291008929142,-9.15263308776e-05,1793247442851832576
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.313037462,809.686962538,652,629.313037462,652,0.413921118225,-0.00545381070965,0.059869400804,0.999999933148,-0.000154232707079,-0.000318428139778,-9.22994815944e-05,1793247442868499456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.883339421,809.116660579,652,629.883339421,652,0.414692814375,-0.00545294922852,0.0598704565181,0.99999993606,-0.000149635869605,-0.000311124461773,-9.3221663663e-05,1793247442885166336
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.466648096,633.533351904,878,784.533351904,809,652,630,652,0.415534222794,-0.0054584761602,0.0599165016587,0.999999960222,-0.00014372671986,-0.000225056419416,-9.08248983848e-05,1793247442901833984
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.894070639,633.052964681,878.052964681,784.052964681,809.052964681,651.947035319,630,652.052964681,0.416393469574,-0.00546539077255,0.0599695624539,0.999999978419,-0.000138204927276,-0.00012799057414,-8.7639493321e-05,1793247442918501376
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.7281801,633.63590995,878.63590995,784.63590995,809.63590995,651.36409005,630,652.63590995,0.41725182456,-0.00546975184132,0.0599770541799,0.999999978954,-0.000139936088756,-0.000123559184416,-8.51032690052e-05,1793247442935168512
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.782176997,659.217823003,633.782176997,879,784.782176997,810,651.217823003,629.782176997,653,0.418105475245,-0.00547245229698,0.0599730080497,0.999999978181,-0.000138875782548,-0.000131296736472,-8.433331205e-05,1793247442951835136
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679.201981185,659.798018815,633.201981185,879,784.201981185,810,651.798018815,629.201981185,653,0.418951299747,-0.00547239013767,0.0599497674111,0.999999974707,-0.000133171558995,-0.000159278677681,-8.65017375274e-05,1793247442968501248
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.372504945,660,633.372504945,879,784.372504945,810,651.627495055,629.372504945,653,0.419791487104,-0.00547325700201,0.0599231097186,0.999999968242,-0.000133318352653,-0.000194825786016,-8.82324943159e-05,1793247442985167360
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.943941868,660,633.943941868,879,784.943941868,810,651.056058132,629.943941868,653,0.420628663981,-0.00547462000074,0.0598946271885,0.999999959171,-0.000136589814743,-0.000234412983667,-8.9729519021e-05,1793247443001833472
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+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.852932863,633,879,784,810,651.852932863,630,652,0.425246748102,-0.0054855460319,0.0599887247899,0.999999984508,-0.000127653594746,-8.87992392718e-05,-8.24845811275e-05,1793247443085166080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.425815847,715,680,660,633,879,784,810,652,630,652.425815847,0.426185950348,-0.00548791395551,0.0600039970011,0.999999987129,-0.000126179808691,-5.68777140851e-05,-8.1150324121e-05,1793247443101832960
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+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879,784.76074386,810.23925614,652,630.76074386,652.76074386,0.429778378579,-0.00549279325722,0.0599075801627,0.999999970359,-0.000128341600113,-0.000188056597688,-8.6283588812e-05,1793247443168499200
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.336438835,660,633,879,784.663561165,810.336438835,652,631,652.663561165,0.430687889837,-0.00549130337873,0.0598957506945,0.999999967905,-0.000127042491734,-0.000201184087087,-8.70306696708e-05,1793247443185165824
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.911996548,660,633,879,784.088003452,810.911996548,652,631,652.088003452,0.431624326684,-0.00549131769374,0.059903075907,0.99999997225,-0.000127508663219,-0.000177956444645,-8.70243713276e-05,1793247443201832704
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.487550017,633,879,784,811,651.512449983,631,652.487550017,0.432589023333,-0.00549789326608,0.0599482483592,0.99999998284,-0.000128675641932,-0.000103039307228,-8.45271353269e-05,1793247443218499584
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+182,3.033333333,POSE1_TO_POSE2_PRESS,765.440289768,745,715,681,660,633,879,784,812,651.559710232,631,653,0.43858222331,-0.00551047625773,0.0598807035304,0.999999962369,-0.000121163268474,-0.000231905659335,-8.2464891402e-05,1793247443335165952
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+185,3.083333333,POSE1_TO_POSE2_PRESS,765.698306937,744.301693063,715,681,660,633,879,784,812,651,631,652.698306937,0.441143616038,-0.00552288981875,0.0599871918235,0.999999986874,-0.000129969930185,-5.92557141395e-05,-7.64694770891e-05,1793247443385165824
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,812.451731514,651.451731514,631,652,0.442672692594,-0.00552946325802,0.0599873119343,0.999999987163,-0.000130147028613,-5.48768599971e-05,-7.56525804623e-05,1793247443418499840
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.024437838,745,715,681,660.024437838,633,879.024437838,784,812.975562162,652,631,652,0.443376539964,-0.00553281088732,0.0599597439015,0.9999999842,-0.000132619471947,-8.94835893272e-05,-7.74940461652e-05,1793247443435166976
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765.794834829,745,715,681,660.794834829,633,880,784,812.205165171,651.794834829,631,652.205165171,0.4447356256,-0.00553810229162,0.0599474411787,0.999999982428,-0.000134298613729,-0.000106228931591,-7.63068072008e-05,1793247443468499968
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765.361118564,745,715,681,660,633,880,784,813,651,631,652.638881436,0.44603105963,-0.00554087187222,0.0599444791382,0.999999980488,-0.000134940936503,-0.000123852957905,-7.39990418328e-05,1793247443501832960
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715.830543828,682,659,631,879.830543828,783,813.830543828,651.830543828,630,653,0.454632247704,-0.00557585506061,0.0598413299722,0.999999959055,-0.000125360702531,-0.000249761237425,-6.15890527194e-05,1793247444118500096
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715.593337904,682,659,631,880,783,813.593337904,652,630.406662096,653,0.454633738343,-0.00557586303638,0.059840152624,0.999999958526,-0.000125909435723,-0.000251593547655,-6.16052184042e-05,1793247444135166976
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715.018630619,682,659,631,880,783,813.018630619,652,630.981369381,653,0.454633786212,-0.00557495427634,0.0598384559032,0.99999995768,-0.000126590114271,-0.00025443768024,-6.22577278649e-05,1793247444151834112
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.44637208,745.55362792,715,681.44637208,659,631,880.55362792,783.55362792,813,652,631,652.44637208,0.454633798393,-0.0055744048231,0.0598376787498,0.999999957467,-0.000126018864555,-0.000255604841077,-6.20570591907e-05,1793247444168500480
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.130928124,745.869071876,715,681.130928124,659,631,880.869071876,783.869071876,813,651.869071876,631,652.130928124,0.454634166013,-0.00557373127195,0.0598372477094,0.999999957365,-0.000125332530713,-0.000256368841028,-6.1940673154e-05,1793247444185166848
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.726407847,745.273592153,715,681.726407847,659,631,880.273592153,783.273592153,813,651.273592153,631,652.726407847,0.454635799021,-0.00557257469098,0.0598379354128,0.999999957585,-0.000124386686193,-0.000255901720026,-6.22247562238e-05,1793247444201833216
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,880,783,813.311995503,651.311995503,631,653,0.454637404352,-0.00557245313513,0.0598383072867,0.999999957941,-0.000122979045161,-0.00025521220313,-6.21370111157e-05,1793247444218499840
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,880,783,813.889175343,651.889175343,631,653,0.45463898616,-0.00557321131121,0.0598384107176,0.99999995841,-0.000121178894514,-0.000254333658112,-6.17332261989e-05,1793247444235166208
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.539001688,659,631,880,783,813.539001688,651.539001688,631,653,0.454637523973,-0.00557208155525,0.0598366529883,0.999999957823,-0.000120527162998,-0.000256934451756,-6.17376246249e-05,1793247444251832832
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,744.967114744,715,681.032885256,659,631,879.967114744,783,813.032885256,651.032885256,631,653,0.454635485937,-0.0055706664683,0.0598346347814,0.999999957029,-0.000120270814939,-0.000260103331985,-6.18348628844e-05,1793247444268499456
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,744.372384855,715,681.627615145,659,631,879.372384855,783,813.627615145,651.627615145,631,653,0.454635968401,-0.00557204165463,0.0598357227706,0.999999957129,-0.000122106919668,-0.000258851582301,-6.18610128686e-05,1793247444285166080
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,744.216516887,715,682,659,631,879.216516887,783,813.783483113,652,631,652.783483113,0.454636521023,-0.00557266273561,0.0598362392923,0.999999957141,-0.000123300190348,-0.000258230087031,-6.18981669971e-05,1793247444301832704
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,744.795657577,715,682,659,631,879.795657577,783,813.204342423,652,631,652.204342423,0.454637191144,-0.00557202083627,0.0598357987166,0.999999957011,-0.000123416838529,-0.000258664145777,-6.19537509326e-05,1793247444318499328
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681.628164236,658.628164236,631,879.628164236,783,813,651.628164236,630.628164236,652.371835764,0.454637018505,-0.00557159676143,0.059835255233,0.999999956978,-0.000122405266896,-0.000259348447326,-6.16362266624e-05,1793247444335165952
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681.053601245,658.053601245,631,879.053601245,783,813,651.053601245,630.053601245,652.946398755,0.454636386387,-0.00557129144593,0.0598346556435,0.999999956995,-0.000120778582627,-0.00026016918283,-6.11152814192e-05,1793247444351832576
+244,4.066666667,HOLD_POSE2,766,745,715,681,659,631,879,783,813,651,631,653,0.454634840008,-0.00557071344164,0.0598327076227,0.999999956374,-0.000118511247058,-0.000263487524844,-6.1498843602e-05,1793247444382476544
+245,4.083333333,HOLD_POSE2,765.408073636,745,715,681,659,631,879.591926364,783,813,651,631,653,0.454637077979,-0.00556902173523,0.0598345629403,0.999999957054,-0.000118421518807,-0.000260885599971,-6.17007728039e-05,1793247444399143168
+246,4.100000000,HOLD_POSE2,765.180255445,745,715,681.180255445,659,631,880,783,813.180255445,651,631,653,0.45463856633,-0.00556820807532,0.0598355879129,0.999999957436,-0.000118647261147,-0.000259297818192,-6.17648596389e-05,1793247444415809792
+247,4.116666667,HOLD_POSE2,765.760600226,745,715,681.760600226,659,631,880,783,813.760600226,651,631,653,0.45463839085,-0.00556934329959,0.0598347698781,0.999999957169,-0.000119573212105,-0.000259960996134,-6.15229959169e-05,1793247444432476672
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+256,4.266666667,HOLD_POSE2,766,745,714.965259292,682,658.034740708,631,880.034740708,783.965259292,813.034740708,651.965259292,631,652.965259292,0.454637390259,-0.00557065172484,0.0598341600502,0.9999999565,-0.000121291597655,-0.000261842243495,-6.10420745357e-05,1793247444582478592
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+260,4.333333333,HOLD_POSE2,765.301466755,745,714.698533245,681.301466755,658.698533245,631,879.301466755,783,813.698533245,651.301466755,630,653,0.454638481467,-0.00556962141093,0.0598335576317,0.999999956769,-0.000119238423818,-0.000261778183479,-6.09641742871e-05,1793247444649143552
+261,4.350000000,HOLD_POSE2,765.875289021,745,714.124710979,681.875289021,658.124710979,631,879.875289021,783,813.124710979,651.875289021,630,653,0.454638713116,-0.00557034236021,0.0598339803594,0.999999956958,-0.000118395302915,-0.000261580531315,-6.03471728437e-05,1793247444665810432
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,631,879,783,813,651,630,652,0.454640640574,-0.00556493747707,0.0598350707563,0.999999958245,-0.000111625480639,-0.00025952668965,-6.0793633481e-05,1793247444697785600
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.309350492,682,659,631,879.690649508,783,813.690649508,651,630.309350492,652.690649508,0.45463876658,-0.00556873925253,0.0598332991524,0.999999957153,-0.000116266351092,-0.000261852348049,-6.00756256623e-05,1793247444764452096
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.879170618,682,659,631,879.120829382,783,813.120829382,651,630.879170618,652.120829382,0.454639929702,-0.00556826108699,0.0598342975588,0.999999957405,-0.000116952262159,-0.000260489029082,-6.04786310045e-05,1793247444781118720
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.530794917,659,631,879.469205083,783,812.530794917,651,630.530794917,652.469205083,0.45463941552,-0.00556847234807,0.0598334640709,0.999999957255,-0.0001166134254,-0.000261196128658,-6.0561949008e-05,1793247444797785600
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,631,879.937074276,783,812.125851447,651,630.062925724,653,0.45463804181,-0.00556873771377,0.0598320766969,0.999999956955,-0.000115838998318,-0.000262695971164,-6.05094695277e-05,1793247444814451968
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.494237044,745,715,682,659.494237044,631.505762956,880,783,813.494237044,651.505762956,631,652.494237044,0.452799955182,-0.00551163200041,0.0597211998878,0.99999990954,-7.23177256816e-05,-0.000415453458264,-5.55748429326e-05,1793247445114451456
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.918434069,631.081565931,880,783,813.918434069,651,631,653,0.452569644708,-0.00550301236164,0.0597299066438,0.99999991642,-6.48774313581e-05,-0.000400030140255,-5.41015385579e-05,1793247445131118080
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659.340726157,631.659273843,880,783,813.340726157,651,631,653,0.452298392329,-0.00549768972225,0.0597349991136,0.999999919475,-6.15809791535e-05,-0.000393220971982,-5.13254567002e-05,1793247445147785216
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,714.960249961,682,659,632,880,783,812.039750039,651.039750039,631,653,0.45094939839,-0.00546046834324,0.0597409886048,0.999999924344,-2.54206893325e-05,-0.000385763973519,-4.30283519451e-05,1793247445214452736
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.994679172,745,714.005320828,680,659,633.994679172,877.005320828,784.005320828,809,652,629.005320828,652,0.412348157222,-0.00540447060006,0.0597904024486,0.999999910703,0.000206147719315,-0.000366984812032,3.76719249033e-05,1793247446047784448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.425819259,745,714.574180741,680,659,634,877,784.574180741,809,652,629.574180741,652,0.411612208176,-0.0054021710523,0.0597517349095,0.99999989075,0.000202190687956,-0.000420098083752,3.37042634095e-05,1793247446064451584
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.729002055,744.270997945,714.270997945,680,659,634,877,785,809,652,629.270997945,652,0.410276333166,-0.00540164468967,0.0597669054938,0.999999906677,0.000194347624581,-0.000384449272577,3.27541380405e-05,1793247446097785088
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.695790688,744.304209312,714.304209312,680,659,634,877,785,808.695790688,652,629.304209312,652,0.409673902232,-0.00540487467127,0.0598040447726,0.999999929528,0.000186624847656,-0.000323855422071,3.5099354011e-05,1793247446114451456
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.533342159,715,680.466657841,659,634,877,784.533342159,808,652,630,652,0.408520296583,-0.00540766842237,0.0598508455943,0.999999947684,0.000199494193972,-0.0002517297776,3.83003802182e-05,1793247446147784960
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.057270184,715,680.942729816,659,634,877.057270184,784.057270184,808,652,630,652,0.407948516191,-0.00540313114687,0.059848028098,0.99999993984,0.000229192870138,-0.00025762512738,3.76723003374e-05,1793247446164451840
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784.786367968,808,652,629.786367968,652,0.406852782034,-0.00539643927099,0.0598201564468,0.999999931211,0.000218691706681,-0.000297398535023,3.61404960583e-05,1793247446197784832
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784.212843872,808,652,629.212843872,652,0.406354405324,-0.00539594910902,0.0598166872973,0.99999993285,0.000212016894158,-0.00029675178356,3.58799111888e-05,1793247446214451456
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.041097358,715,680,658.041097358,634,878,784.958902642,808,652,629,652,0.405457042445,-0.00538797887509,0.0598224284061,0.999999934381,0.000221730745742,-0.000284331872175,3.50609334313e-05,1793247446247784704
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.538771113,744.538771113,715,679.461228887,658.538771113,634,877.461228887,785,808,652,629.538771113,652,0.405034028109,-0.00538867835122,0.0598121783232,0.999999931207,0.000220049229047,-0.000296712552102,3.35652096921e-05,1793247446264451328
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.302512821,745,715,679.697487179,658.302512821,634,877,785,808.697487179,652,629.302512821,652,0.404209459089,-0.00539913401943,0.0597705914544,0.999999912014,0.000202846096,-0.000365940341891,3.02268969682e-05,1793247446297784320
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.273733618,745,715,679.726266382,658,634,877,784.726266382,808.726266382,652,629,652,0.403847145503,-0.00540161398789,0.0597582487444,0.999999905599,0.000200055351801,-0.000384620901011,2.90863808442e-05,1793247446314450944
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714.979585292,679,658.020414708,634,877.979585292,784,808,652,629,652,0.4030194557,-0.00539267792446,0.059801910771,0.999999929478,0.000218843213797,-0.000303676889014,3.05312537565e-05,1793247446364451328
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.822751126,745,714.177248874,679,658.822751126,634,877,784.177248874,808,652,629,652,0.402578874823,-0.00539265282298,0.0598353546831,0.999999945943,0.000210903379379,-0.000250197335567,3.21849001719e-05,1793247446397784832
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.245386036,745,714.754613964,679,658.245386036,634,877,784.754613964,808,652,629,652,0.40236211029,-0.0053891317897,0.0598355142549,0.999999943948,0.00021388042787,-0.000255603015925,3.20421085148e-05,1793247446414451200
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.508992842,745,715,680,658,634,877,785,808,652,629,652,0.401812514945,-0.00538440721082,0.059823064828,0.999999934243,0.000216072296112,-0.000289483337519,3.202108464e-05,1793247446464451328
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.079019246,745,715,680,658.079019246,634,877,785,808,652,629,652,0.401675972054,-0.00538485551783,0.0598247132321,0.999999934845,0.000215190200733,-0.000288033095282,3.22467046197e-05,1793247446481117952
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.655031225,745,715,680,658.655031225,634,877,785,808,652,629,652,0.401562604297,-0.00538315396092,0.0598279355681,0.999999936019,0.000214739043456,-0.000284327407462,3.17354428114e-05,1793247446497784576
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.769014154,745,715,679.769014154,658.769014154,634,877,784.769014154,808,652,629,652,0.40145954941,-0.00538106361133,0.0598315045921,0.999999937308,0.000216390250036,-0.000278527826459,3.13201943637e-05,1793247446514451200
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.859222431,745,715,679.140777569,658.140777569,634,877,785,808,652,629,652,0.40110428621,-0.00537865943487,0.0598251009482,0.999999932427,0.000224033976207,-0.000289898953214,3.02292452026e-05,1793247446597784320
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.280833275,745,715,679.719166725,658.719166725,634,877,785,808,652,629,652,0.401064714251,-0.00537879807011,0.0598237883745,0.99999993095,0.000227799459285,-0.000292060826488,3.01279783606e-05,1793247446614451200
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.294947117,745,715,680,658.705052883,634,877,785,808,652.294947117,629,652,0.401033755548,-0.00537829860286,0.0598232746297,0.9999999293,0.000234198247984,-0.000292682880982,2.98068380981e-05,1793247446631118080
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.868265422,745,715,680,658.131734578,634,877,785,808,652.868265422,629,652,0.401010926034,-0.00537719689427,0.0598235148198,0.999999927438,0.000243082351853,-0.000291851654226,2.92781812132e-05,1793247446647784704
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.546109186,745,715,679.546109186,658.453890814,634,877,785.453890814,808,652.546109186,629,652,0.400995855535,-0.0053788613162,0.0598252444619,0.99999992607,0.000250646895121,-0.000290111391085,2.951194553e-05,1793247446664451328
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.042439723,659,634,877,785.957560277,808,652,629,652,0.400983649109,-0.00538112783288,0.0598274348012,0.999999925002,0.000257299391209,-0.000287922159944,2.99012747321e-05,1793247446681118208
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.621531007,659,634,877,785.378468993,808,652,629,652,0.400978389598,-0.00538057317487,0.0598298320064,0.99999992626,0.000257396812065,-0.000283484874328,2.9381643076e-05,1793247446697784832
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.800688498,659,634,877,785,808,652,629,652,0.400973716287,-0.00538048757511,0.0598316762801,0.999999927212,0.000257477145834,-0.000280064913882,2.90652262856e-05,1793247446714451456
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.225380811,659,634,877,785,808,652,629,652,0.400970148828,-0.00538128684207,0.0598324774619,0.999999927617,0.000257525245237,-0.000278564112321,2.91321693115e-05,1793247446731118080
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.652424544,634,877,785,808,651.652424544,629,652,0.400968007239,-0.00538165104973,0.0598327699989,0.999999927911,0.000257028957989,-0.00027797069318,2.90926859932e-05,1793247446747784448
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.080982802,634,877,785,808,651.080982802,629,652,0.400966784022,-0.00538173504451,0.0598327349282,0.999999928134,0.000256182042361,-0.000277961700672,2.89846556272e-05,1793247446764451072
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.107989484,744.892010516,714.107989484,679.107989484,658,634,877,784.892010516,808,652,629,652,0.400964954699,-0.00538428225954,0.0598338410897,0.999999929168,0.000252742297376,-0.000277391162523,2.89857683607e-05,1793247446797784576
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.685061149,744.314938851,714.685061149,679.685061149,658,634,877,784.314938851,808,652,629,652,0.400965772376,-0.0053837952733,0.0598346828698,0.999999929121,0.000255231134007,-0.000275225374415,2.94292449433e-05,1793247446814451456
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.739234501,744.260765499,715,680,658,634,877,784.260765499,808,652,629,652,0.400965573385,-0.00538272876487,0.0598349966456,0.999999929019,0.000256423617298,-0.000274491343802,2.93869381797e-05,1793247446831118336
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.165172832,744.834827168,715,680,658,634,877,784.834827168,808,652,629,652,0.400964152921,-0.00538096599064,0.0598346760518,0.999999928859,0.000256058599876,-0.000275477494997,2.87609880761e-05,1793247446847785216
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+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.009683693,658,634,877.009683693,784.990316307,807.009683693,652,629,652,0.400965008442,-0.00538271208405,0.0598355064305,0.999999929274,0.000255390656971,-0.000274550117257,2.91476076185e-05,1793247446881117952
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.257743541,784.742256459,808,652,628.257743541,652,0.400966641186,-0.00538424782186,0.059837220246,0.999999930793,0.000253187229392,-0.000271103012647,2.85254203599e-05,1793247446931117824
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.684902215,658,634,877,784.684902215,808,652,628.315097785,652,0.400966365235,-0.00538472829522,0.0598371447057,0.999999930914,0.000252409470119,-0.000271368812607,2.8650153737e-05,1793247446947784448
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+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784.475716985,808,652,629,652,0.400965292639,-0.00538559092531,0.0598367493672,0.99999993086,0.000252008520795,-0.000271896973792,2.90438728448e-05,1793247446981117952
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e08d508ba9945cc01d275732ea848728416005c0
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39d24da1584bb65d929787258d819277ebc716c0
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22bd8504dfe77dccff81f6cc27845b8a536ee5d955cba683d928849e16d54bd1
+size 25898850
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dadc4d79bde19b5de4417cd3f7ca54ea6c60355b
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+18,0.300000000,BASELINE,764.553356277,744.553356277,715,679,658.553356277,633.553356277,877,784.553356277,807,651.553356277,629,652,0.400966135944,-0.00538593003468,0.0598398383371,0.999999932801,0.000250203001525,-0.0002665131653,2.768674597e-05,1793247447525691392
+19,0.316666667,BASELINE,764.02352043,744.02352043,715,679.02352043,658,633.02352043,876.97647957,784,807,651.02352043,629,652,0.400967244478,-0.00538687853953,0.0598401359533,0.9999999332,0.00024972809576,-0.000265453657722,2.77386713898e-05,1793247447542358016
+20,0.333333333,BASELINE,764.597929446,744.597929446,715,679.597929446,658,633.597929446,876.402070554,784,807,651.597929446,629,652,0.40096596642,-0.00538549466534,0.0598396781746,0.999999932238,0.000252195588966,-0.000266727700475,2.78702079194e-05,1793247447559024640
+21,0.350000000,BASELINE,765.176900534,745,715,680,658.176900534,634,876.353801067,784.176900534,807.176900534,652,629,652,0.400965493246,-0.00538435933233,0.0598396125569,0.99999993176,0.000253828314627,-0.000266974392522,2.78400448739e-05,1793247447575691264
+22,0.366666667,BASELINE,765.766514982,745,715,680,658.766514982,634,877.533029965,784.766514982,807.766514982,652,629,652,0.400966897887,-0.00538380385305,0.0598404618617,0.999999932423,0.000253513503819,-0.000264824246338,2.74326321588e-05,1793247447592358144
+23,0.383333333,BASELINE,765.649974595,745,715,680,659,634,877.649974595,785,808,652,629,652,0.400967088599,-0.00538509015931,0.0598407260331,0.999999932516,0.000253144070856,-0.000264801012562,2.76677045741e-05,1793247447609024512
+24,0.400000000,BASELINE,765.070466027,745,715,680,659,634,877.070466027,785,808,652,629,652,0.400966483435,-0.00538758397436,0.0598406065804,0.999999932237,0.000252738826561,-0.000266172221894,2.83240021454e-05,1793247447625691136
+25,0.416666667,BASELINE,765,745,715,679.493324019,658.493324019,634,877,785,807.493324019,652,629,652,0.400968321567,-0.00538834509415,0.059841741059,0.999999933519,0.000250311812201,-0.000263623177474,2.84454237735e-05,1793247447642357760
+26,0.433333333,BASELINE,765,744.916903346,714.916903346,679.083096654,658,634,877,784.916903346,807.083096654,652,629,652,0.400969853128,-0.00538860063518,0.0598425168887,0.999999934552,0.000248363624567,-0.000261539315738,2.84440998782e-05,1793247447659024384
+27,0.450000000,BASELINE,765,744.342808911,714.342808911,679.657191089,658,634,877,784.342808911,807.657191089,652,629,652,0.400967574761,-0.00538728607696,0.0598401479094,0.999999932907,0.000250898393263,-0.000265410637498,2.81549994458e-05,1793247447675691264
+28,0.466666667,BASELINE,765,744.237736441,714.237736441,679.762263559,658,634,877,784.237736441,807.762263559,652,629,652,0.400966258124,-0.00538624123037,0.0598389136075,0.999999931757,0.000253116336974,-0.000267654768476,2.79051492961e-05,1793247447692357888
+29,0.483333333,BASELINE,765,744.827843239,714.827843239,679.172156761,658,634,877,784.827843239,807.172156761,652,629,652,0.400966366953,-0.00538559614746,0.0598393611122,0.999999931363,0.00025486468601,-0.000267487094828,2.77134755048e-05,1793247447709024768
+30,0.500000000,BASELINE,765,744.587931914,715,679,658,634,877,784.587931914,807,652,629,652,0.400965834898,-0.00538656717459,0.059839829585,0.999999931824,0.000253459276821,-0.00026706787449,2.80364640498e-05,1793247447725691392
+31,0.516666667,BASELINE,765,744.006129901,715,679,658,634,877,784.006129901,807,652,629,652,0.400965038857,-0.00538820388957,0.0598403066947,0.99999993263,0.000250754810986,-0.000266545040194,2.85714458652e-05,1793247447742357760
+32,0.533333333,BASELINE,765,744.567868527,715,679,658,634,877,784.567868527,807,651.432131473,629,652,0.400966484866,-0.00538705120387,0.0598399331212,0.999999932905,0.000250889506619,-0.00026545680247,2.78750828068e-05,1793247447759024384
+33,0.550000000,BASELINE,765,745,715,679.139062825,658,634,877,784.860937175,807.139062825,651,629,652,0.400967295411,-0.00538607989395,0.0598395241876,0.999999932949,0.000251181272117,-0.000265069192524,2.73588269623e-05,1793247447775691264
+34,0.566666667,BASELINE,765,745,715,679.701963799,658,634,877,784.298036201,807.701963799,651,629,652,0.400966096417,-0.00538575191158,0.0598390350906,0.999999932307,0.000251859615975,-0.000266835318135,2.7431467191e-05,1793247447792357888
+35,0.583333333,BASELINE,765.283445494,745,715,679.716554506,658,634,877,784,808,651.283445494,629,652,0.400966024967,-0.00538583167677,0.0598394390047,0.999999932356,0.000251514322673,-0.000266965495826,2.75492977591e-05,1793247447809024512
+36,0.600000000,BASELINE,765.885835019,745,715,679.114164981,658,634,877,784,808,651.885835019,629,652,0.400967222273,-0.00538637025554,0.05984084777,0.999999933181,0.000250017192615,-0.000265254840722,2.77179782859e-05,1793247447825691392
+37,0.616666667,BASELINE,765.532933923,745,715,679.467066077,658,634,877,784.467066077,808,652,628.532933923,652,0.400965974721,-0.00538639688595,0.0598399474291,0.999999932889,0.000250163123688,-0.000266225770307,2.76433640497e-05,1793247447842358272
+38,0.633333333,BASELINE,765,745,715,679.956603233,658,634,877,785,808,652,628.043396767,652,0.400964449841,-0.00538636151663,0.0598387660772,0.999999932454,0.000250578838476,-0.000267475433303,2.75494637469e-05,1793247447859024896
+39,0.650000000,BASELINE,765,745,715,679.37969101,658,634,877,785,808,652,628.62030899,652,0.400966543928,-0.00538703566199,0.0598407681483,0.999999933498,0.000249587826443,-0.0002644428818,2.79178785919e-05,1793247447875691520
+40,0.666666667,BASELINE,765,745,714.799003131,679.200996869,658,634,877,785,808,652,628.799003131,652,0.400967827305,-0.00538774549764,0.0598418917498,0.999999934093,0.00024878554316,-0.000262919876984,2.8156153222e-05,1793247447892358144
+41,0.683333333,BASELINE,765,745,714.211046379,679.788953621,658,634,877,785,808,652,628.211046379,652,0.4009675499,-0.00538852404429,0.0598413241183,0.999999933838,0.000248346601197,-0.000264303056975,2.81438814286e-05,1793247447909024512
+42,0.700000000,BASELINE,765,745,714,679.626585298,658,634,877,785.373414702,808,652,628.373414702,652,0.400965927638,-0.00538878016386,0.0598404028946,0.99999993336,0.000248120148022,-0.000266315196833,2.81639360166e-05,1793247447925691136
+43,0.716666667,BASELINE,765,745,714,679.044081596,658,634,877,785.955918404,808,652,628.955918404,652,0.40096355234,-0.00538874375674,0.0598392836813,0.999999932753,0.000248012675363,-0.000268679515039,2.82020913672e-05,1793247447942357760
+44,0.733333333,BASELINE,765,745,714.530075092,679.530075092,658,634,876.469924908,784.939849816,808,651.469924908,628.469924908,652,0.400965678394,-0.00538750106498,0.0598400372339,0.999999932831,0.000249390147234,-0.000267150014225,2.78129959275e-05,1793247447959024384
+45,0.750000000,BASELINE,765,745,715,680,658,634,876.10370224,784.10370224,808,651.10370224,628.10370224,652,0.400967720945,-0.00538648553706,0.0598408825146,0.999999933036,0.000250524944306,-0.000265345533012,2.74980215875e-05,1793247447975691264
+46,0.766666667,BASELINE,765,745,715,680,658,634,876.678027404,784.678027404,808,651.678027404,628.678027404,652,0.40096771206,-0.00538694912475,0.0598414482463,0.999999933586,0.000250006697046,-0.000263739888002,2.76781705605e-05,1793247447992358144
+47,0.783333333,BASELINE,765.260762724,744.739237276,715,679.739237276,658,634,877,784.739237276,808,652,629,652,0.40096733951,-0.00538776328592,0.0598414788976,0.999999933885,0.000248910484084,-0.000263632191758,2.77635287523e-05,1793247448009024768
+48,0.800000000,BASELINE,765.85422851,744.14577149,715,679.14577149,658,634,877,784.14577149,808,652,629,652,0.400966502964,-0.00538902473835,0.0598408268483,0.999999933864,0.000247076853697,-0.00026543570458,2.77279449014e-05,1793247448025691392
+49,0.816666667,BASELINE,765.564873327,744,715,679,658,634,877,784,808,652,628.564873327,652,0.40096757498,-0.00538824448857,0.0598415266171,0.999999933933,0.000248548327739,-0.000263789351791,2.78028240954e-05,1793247448042358016
+50,0.833333333,BASELINE,765,744.011929003,715,679,658,634,877,784,808,652,628.011929003,652,0.400969206838,-0.00538684275926,0.0598426149767,0.999999934014,0.000251009870699,-0.000261128266973,2.7908241082e-05,1793247448059024640
+51,0.850000000,BASELINE,765,744.588555322,715,679,658,634,877,784,808,652,628.588555322,652,0.400967922897,-0.00538749118877,0.0598412622059,0.999999933771,0.000249396099199,-0.000263606272888,2.77566345687e-05,1793247448075691264
+52,0.866666667,BASELINE,765,745,715,679.168507458,658,634,877,784.168507458,807.831492542,652,629,652,0.400967232807,-0.0053878792384,0.0598404955571,0.99999993349,0.000248822714721,-0.000265215971305,2.77136370612e-05,1793247448092357888
+53,0.883333333,BASELINE,765,745,715,679.756743711,658,634,877,784.756743711,807.243256289,652,629,652,0.400968021919,-0.00538761871771,0.0598411888576,0.999999933126,0.000250840790667,-0.000264662835576,2.79411695903e-05,1793247448109024512
+54,0.900000000,BASELINE,765,744.660547746,715,680,658,634,877,785,807.339452254,652,629,652,0.400965882612,-0.00538743789232,0.0598402393878,0.999999932425,0.000251453137306,-0.000266716551031,2.79906527665e-05,1793247448125691392
+55,0.916666667,BASELINE,765,744.081736991,715,680,658,634,877,785,807.918263009,652,629,652,0.400961678383,-0.00538731326262,0.0598381315489,0.999999931477,0.000251074259747,-0.000270608439572,2.79145877133e-05,1793247448142358016
+56,0.933333333,BASELINE,765,744,715,679.505324721,658,634,877,784.505324721,807.505324721,652,629,652,0.400964832621,-0.00538723128852,0.0598399270131,0.999999932196,0.000251553831102,-0.000267501956387,2.77799774209e-05,1793247448159024896
+57,0.950000000,BASELINE,765,744,715,679.070242878,658,634,877,784,807,652,629,652,0.400968422856,-0.00538719228767,0.0598418997354,0.999999933032,0.000251950398512,-0.000263994048042,2.763539521e-05,1793247448175691264
+58,0.966666667,BASELINE,765,744,715,679.642591575,658,634,877,784,807,652,629,652,0.400966480414,-0.00538741032761,0.0598405515256,0.99999993285,0.000250744609289,-0.000265842681484,2.7488347298e-05,1793247448192358400
+59,0.983333333,BASELINE,765,744.223168266,714.776831734,680,658,633.776831734,877,784.223168266,807.223168266,651.776831734,629,652,0.400965582613,-0.00538751701131,0.0598398390672,0.999999932612,0.000250712117842,-0.000266765103098,2.74946205497e-05,1793247448209025024
+60,1.000000000,BASELINE,765,744.81742678,714.18257322,680,658,633.18257322,877,784.81742678,807.81742678,651.18257322,629,652,0.400966421869,-0.00538743852889,0.0598401837531,0.999999932286,0.000252630617584,-0.000266147394845,2.77558403695e-05,1793247448225691392
+61,1.016666667,BASELINE,765,744.599676473,714.400323527,680,658.400323527,633.400323527,877,784.599676473,808,651.400323527,629,652,0.400966562089,-0.00538762496542,0.0598403485388,0.999999932602,0.000251743755344,-0.000265796488119,2.78120421824e-05,1793247448242357760
+62,1.033333333,BASELINE,765,744.021818452,714.978181548,680,658.978181548,633.978181548,877,784.021818452,808,651.978181548,629,652,0.400966392302,-0.00538792888756,0.0598404335427,0.999999933199,0.000249612777943,-0.000265563901914,2.77773230971e-05,1793247448259024384
+63,1.050000000,BASELINE,765,744.553108424,715,679.446891576,658.446891576,634,877.553108424,784,808,652,629,652,0.400966330151,-0.00538700877862,0.0598405211747,0.999999932474,0.000252277139033,-0.000265769517475,2.78279830141e-05,1793247448275691008
+64,1.066666667,BASELINE,765,744.868972703,715,679.131027297,658,634,877.868972703,784.131027297,808,652,629,652,0.400966266285,-0.00538661533114,0.0598405822778,0.999999931991,0.000253962501364,-0.000265978517105,2.7867050048e-05,1793247448292357888
+65,1.083333333,BASELINE,765,744.280199467,715,679.719800533,658,634,877.280199467,784.719800533,808,652,629,652,0.400966181672,-0.00538822957666,0.0598405503414,0.999999932553,0.000251570360482,-0.000266139269377,2.78539132194e-05,1793247448309024512
+66,1.100000000,BASELINE,765,744.303400103,715,679.696599897,658.303400103,634,877,784.696599897,808,652,629,652,0.400965995047,-0.00538870654994,0.0598403307648,0.999999932649,0.000250801954816,-0.000266502683094,2.78602943732e-05,1793247448325691392
+67,1.116666667,BASELINE,765,744.88230171,715,679.11769829,658.88230171,634,877,784.11769829,808,652,629,652,0.400965715793,-0.00538815082669,0.059839940802,0.999999932325,0.000251507976907,-0.000267050122886,2.78843987699e-05,1793247448342358016
+68,1.133333333,BASELINE,765,744.541154824,715,679,658.541154824,634,877.458845176,784,808,652,628.541154824,652,0.400966560344,-0.00538802341151,0.0598409622263,0.999999932898,0.000250752129341,-0.00026560865793,2.79134087787e-05,1793247448359024640
+69,1.150000000,BASELINE,765.034771732,744.034771732,715,679.034771732,658,634,877.965228268,784.034771732,808,652,628.034771732,651.965228268,0.400967541918,-0.00538793113066,0.0598421862457,0.999999933597,0.000249790352626,-0.000263875911122,2.79374527367e-05,1793247448375691264
+70,1.166666667,BASELINE,765.610462486,744.610462486,715,679.610462486,658,634,877.389537514,784.610462486,808,652,628.610462486,651.389537514,0.40096619361,-0.00538668505342,0.0598409587734,0.999999932756,0.000251428615411,-0.000265507730047,2.78647683826e-05,1793247448392357888
+71,1.183333333,BASELINE,765.809309239,745,715,679.809309239,658,634,877,785,808,652,629,651.190690761,0.400964770908,-0.00538599020491,0.0598398982196,0.999999932112,0.000252367490167,-0.000267057795477,2.7673138505e-05,1793247448409024512
+72,1.200000000,BASELINE,765.219585805,745,715,679.219585805,658,634,877,785,808,652,629,651.780414195,0.400963192532,-0.00538644883773,0.0598391869532,0.999999931888,0.000251842850817,-0.000268436786766,2.72326074604e-05,1793247448425691392
+73,1.216666667,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400964203925,-0.00538682365495,0.0598397162367,0.999999932014,0.000252505877912,-0.00026734272557,2.72108341581e-05,1793247448442357760
+74,1.233333333,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400966751709,-0.00538714874816,0.0598409814819,0.999999932343,0.000253873493355,-0.000264781515076,2.74374907455e-05,1793247448459024640
+75,1.250000000,BASELINE,765,745,715,679,658,634,877.517539047,785,808,652,629,652,0.400965124519,-0.00538774243517,0.0598399295268,0.999999932051,0.000252878869248,-0.00026681209635,2.75879952513e-05,1793247448475691264
+76,1.266666667,BASELINE,765,745,715,679.093756843,658,634,877.906243157,784.906243157,808,652,628.906243157,652,0.400963840012,-0.00538818866308,0.0598392152773,0.999999931893,0.000251946580246,-0.000268269046973,2.77414667707e-05,1793247448492357888
+77,1.283333333,BASELINE,765,745,715,679.681761886,658,634,877.318238114,784.318238114,808,652,628.318238114,652,0.400966762271,-0.00538770312629,0.0598416134794,0.999999932816,0.00025270099488,-0.000264062136872,2.79543605175e-05,1793247448509024768
+78,1.300000000,BASELINE,765,745,715,680,658,634,876.734316823,784,808,652,628,652,0.400967463462,-0.005387584327,0.0598420234106,0.999999933166,0.000252124647911,-0.000263288445838,2.79439287125e-05,1793247448525691392
+79,1.316666667,BASELINE,765,745,715,680,658,634,876.155213084,784,808,652,628,652,0.40096554451,-0.00538789815987,0.0598400878223,0.999999932844,0.000249978430889,-0.000266564847625,2.76700446833e-05,1793247448542357760
+80,1.333333333,BASELINE,765,744.578622918,714.578622918,680,658,634,876.421377082,784.421377082,808,652,628.421377082,652,0.400966449705,-0.00538810253795,0.0598404843921,0.999999933358,0.000249302039844,-0.000265279030653,2.75636994526e-05,1793247448559024384
+81,1.350000000,BASELINE,765,744.002953083,714.002953083,680,658,634,876.997046917,784.997046917,808,652,628.997046917,652,0.400968388999,-0.00538826683775,0.0598417349122,0.999999934173,0.000249163844709,-0.000262322697627,2.7518700731e-05,1793247448575691008
+82,1.366666667,BASELINE,765,744.567055497,714.567055497,680,658,634,877,785,807.432944503,652,629,652,0.400968274686,-0.00538723918425,0.0598416386288,0.999999933648,0.000250318165046,-0.000263233500704,2.74548107556e-05,1793247448592358144
+83,1.383333333,BASELINE,765,745,715,680,658,634,877,784.856725114,807.143274886,652,629,652,0.400967924037,-0.00538679921212,0.0598414327059,0.999999933232,0.000250976422266,-0.000264184667826,2.74390528015e-05,1793247448609025024
+84,1.400000000,BASELINE,765,745,715,680,658,634,877,784.260791084,807.739208916,652,629,652,0.400966860169,-0.00538823536337,0.0598409023304,0.999999933193,0.000250046374333,-0.000265200362411,2.75756697041e-05,1793247448625691392
+85,1.416666667,BASELINE,765,745,715,679.674326994,658,634,876.674326994,784,808,652,629,652,0.400966359271,-0.00538832571301,0.0598408181596,0.999999933126,0.000250309668554,-0.000265193677418,2.76690719288e-05,1793247448642357760
+86,1.433333333,BASELINE,765,745,715,679.095231962,658,634,876.095231962,784,808,652,629,652,0.400966296446,-0.00538736882881,0.0598410812023,0.999999933038,0.000251501560474,-0.000264391429025,2.77288466999e-05,1793247448659024384
+87,1.450000000,BASELINE,765,745,715,679,658,634,876.481252485,784.481252485,808,652,629,652,0.400966289272,-0.00538819103857,0.0598411730509,0.999999933197,0.00025097671789,-0.000264257330623,2.80131056204e-05,1793247448675691264
+88,1.466666667,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400966390879,-0.00538909847774,0.059841296218,0.999999933396,0.000250216647016,-0.000264200197791,2.82622299694e-05,1793247448692357888
+89,1.483333333,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400967379321,-0.00538760428289,0.0598420087446,0.999999933512,0.000250387155951,-0.000263648668159,2.77923215038e-05,1793247448709024512
+90,1.500000000,BASELINE,765,745,715,679.205832167,658,634,877,784.794167833,807.794167833,652,629,652,0.400967641113,-0.0053871370804,0.0598422546536,0.999999933522,0.000250418887715,-0.000263599799467,2.75779358291e-05,1793247448725691392
+91,1.516666667,BASELINE,765,745,715,679.801309018,658,634,877,784.198690982,807.198690982,652,629,652,0.400966527343,-0.00538861399653,0.0598416172454,0.999999933334,0.000250187911311,-0.000264502478723,2.78472603033e-05,1793247448742358016
+92,1.533333333,BASELINE,765,744.616094693,715,680,658,634,876.616094693,784,807.383905307,652,629,652,0.400965683028,-0.00538806797411,0.0598407871826,0.999999932964,0.000250929637509,-0.000265203806967,2.78180232492e-05,1793247448759024640
+93,1.550000000,BASELINE,765,744.039948307,715,680,658,634,876.039948307,784,807.960051693,652,629,652,0.400964973643,-0.00538650896274,0.0598398606477,0.9999999325,0.000252158445768,-0.000265804308514,2.76392811484e-05,1793247448775691520
+94,1.566666667,BASELINE,765.535728813,744.535728813,715,679.464271187,658,634,876.535728813,784,807.464271187,652,629,652,0.400964492142,-0.00538776582752,0.0598395953786,0.999999932427,0.000251577086691,-0.000266619693971,2.77200798883e-05,1793247448792358144
+95,1.583333333,BASELINE,765.88829736,745,715,679,658,634,877,784.11170264,807,652,628.88829736,652,0.400964310811,-0.00538890094815,0.0598396249774,0.99999993259,0.000250627986729,-0.000266898373986,2.7747016006e-05,1793247448809024768
+96,1.600000000,BASELINE,765.31094073,745,715,679,658,634,877,784.68905927,807,652,628.31094073,652,0.40096531002,-0.00538865400142,0.0598406784142,0.999999933616,0.000248708088939,-0.000264872955578,2.74688073214e-05,1793247448825691392
+97,1.616666667,BASELINE,765,744.726442494,715,679,658,634,877,784.726442494,807,651.726442494,628.273557506,652,0.400965790799,-0.0053890777867,0.0598411599837,0.9999999339,0.000248113167441,-0.000264356238394,2.75004184397e-05,1793247448842358016
+98,1.633333333,BASELINE,765,744.133609146,715,679,658,634,877,784.133609146,807,651.133609146,628.866390854,652,0.400965666508,-0.00539028440021,0.0598409741127,0.999999933323,0.000249064659202,-0.000265600364468,2.78936280566e-05,1793247448859024640
+99,1.650000000,BASELINE,765,744.445705573,715,679,658,634,877,784.445705573,807.445705573,651.445705573,629,652,0.400966500172,-0.00538959029818,0.0598416780141,0.999999933382,0.000250429399748,-0.000264091440795,2.7868619754e-05,1793247448875691264
+100,1.666666667,BASELINE,765,745,715,679.021082045,658,634,877,784.978917955,808,652,629,652,0.400967588949,-0.00538834263061,0.059842579551,0.999999933606,0.00025187061127,-0.000261876879404,2.77257949883e-05,1793247448892358144
+101,1.683333333,BASELINE,765,745,715,679.596325615,658,634,877,784.403674385,808,652,629,652,0.400968057407,-0.00538708021117,0.0598418713416,0.999999933458,0.000252161502071,-0.000262168663829,2.76844889947e-05,1793247448909024768
+102,1.700000000,BASELINE,765,744.823350682,714.823350682,680,658,634,877,784,808,652,629,652,0.400968139954,-0.00538651510787,0.0598413644101,0.999999933284,0.000252259991819,-0.000262738951046,2.76697027675e-05,1793247448925691648
+103,1.716666667,BASELINE,765,744.231074337,714.231074337,680,658,634,877,784,808,652,629,652,0.400967314511,-0.00538759067586,0.0598413310527,0.999999933049,0.00025190579324,-0.000263964509857,2.77173132307e-05,1793247448942358016
+104,1.733333333,BASELINE,765,744.352122559,714.352122559,680,658,634,877,784.352122559,808,652,629,652,0.400966509057,-0.00538698317649,0.0598409934623,0.999999932803,0.000251841507896,-0.000264977072166,2.75288902347e-05,1793247448959024640
+105,1.750000000,BASELINE,765,744.929511052,714.929511052,680,658,634,877,784.929511052,808,652,629,652,0.400965716392,-0.00538529895627,0.0598404612425,0.999999932549,0.000251962690826,-0.000265853372789,2.71894678368e-05,1793247448975691264
+106,1.766666667,BASELINE,765,744.496993279,715,679.496993279,658,634,877.503006721,784.496993279,807.496993279,652,629,652,0.400965691261,-0.00538631413818,0.0598408042325,0.999999932932,0.000251132143369,-0.000265164304454,2.7509873294e-05,1793247448992358144
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658,634,877,785,808,652,629,652,0.400968013351,-0.00538900079035,0.0598427952875,0.999999934158,0.000249656258961,-0.000261883419528,2.77998233514e-05,1793247449036007680
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,714.400303729,679.599696271,658,634,877,784.400303729,807.400303729,652,629,652,0.40096885138,-0.0053876765707,0.0598430997057,0.999999934125,0.000250518154948,-0.000261196084912,2.76846999536e-05,1793247449052674560
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,714.191842663,680,658,634,877,784.191842663,807,652,629,652,0.4009685058,-0.00538695370277,0.0598424995687,0.999999933801,0.000251084547115,-0.000261903211507,2.75793435869e-05,1793247449069341184
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,714.768831898,680,658,634,877,784.768831898,807,652,629,652,0.400965783989,-0.00538743811845,0.0598400834314,0.999999932886,0.000251057680971,-0.000265409881887,2.7493595656e-05,1793247449086008064
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,714.655189891,679.655189891,658,634,877,784.655189891,807.344810109,652,629,652,0.40096564093,-0.00538820111302,0.0598399847876,0.999999933053,0.000250402153658,-0.000265401444903,2.74699542322e-05,1793247449102674432
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,714.079887545,679.079887545,658,634,877,784.079887545,807.920112455,652,629,652,0.400967221668,-0.00538915032677,0.059841435299,0.999999933944,0.000249326390645,-0.000263043294246,2.74878286141e-05,1793247449119341056
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,714.506925308,679,658,634,877,784.506925308,808,652,629,651.493074692,0.400967291715,-0.00539020090887,0.0598420171216,0.999999934583,0.00024656689201,-0.000263178446761,2.78721507988e-05,1793247449136007680
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.09331084,715,679,658,634,877,784.90668916,808,652,629,651.09331084,0.400967577844,-0.00539085271654,0.0598425656168,0.999999935041,0.000244448240971,-0.000263384129875,2.81544790508e-05,1793247449152674304
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.667918426,715,679,658,634,877,784.332081574,808,652,629,651.667918426,0.400970235038,-0.0053893633353,0.0598436647383,0.999999934815,0.000247035519028,-0.000261879813462,2.76059315742e-05,1793247449169341184
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.757474287,679,658,634,877,784.242525713,808,652,629,652,0.400978674818,-0.00538868915737,0.0598470434499,0.999999935614,0.000249248212842,-0.000256687091618,2.75487347956e-05,1793247449186007808
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.182867459,679,658,634,877,784.817132541,808,652,629,652,0.40099503247,-0.00538913120604,0.0598535435164,0.999999937749,0.000250948002656,-0.00024644397841,2.81643256428e-05,1793247449202674944
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.604844864,714.395155136,679,658,634,876.604844864,784.604844864,808,652,629,652,0.40103440191,-0.00538997597566,0.0598684968737,0.999999944056,0.000251028114038,-0.000219149319381,2.90947592456e-05,1793247449219341568
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.025227709,714.974772291,679,658,634,876.025227709,784.025227709,808,652,629,652,0.401084513464,-0.00539100873913,0.0598873963048,0.999999951298,0.000250352144658,-0.000183894842174,3.01721643419e-05,1793247449236007680
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,714.43431863,679,658.56568137,634,877.131362741,784.56568137,808,651.43431863,629,652,0.401150981586,-0.00539433314089,0.0599037649025,0.999999955736,0.00024791494942,-0.000161544044322,3.11454001994e-05,1793247449252674048
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,714.153309528,679.153309528,659,634,877.846690472,785,808,651.153309528,629,652,0.401222505779,-0.00539718910329,0.0599184920142,0.999999959332,0.000246073450114,-0.000140619273712,3.1788524859e-05,1793247449269340672
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,714.730447096,679.730447096,659,634,877.269552904,785,808,651.730447096,629,652,0.401305949951,-0.00539846176417,0.0599289995815,0.999999961777,0.000246100330428,-0.000122013493303,3.15321536381e-05,1793247449286007552
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,714.694085452,679.694085452,658.694085452,634,877,784.694085452,808,652,629,652,0.401396358029,-0.00540043937456,0.0599355827607,0.999999963485,0.000244546229062,-0.000110664415515,3.13075424023e-05,1793247449302674176
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,714.120081647,679.120081647,658.120081647,634,877,784.120081647,808,652,629,652,0.401492868946,-0.00540303476976,0.0599387267883,0.999999964746,0.000241606629059,-0.000105674774945,3.11107641594e-05,1793247449319341056
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.466781251,714,679,658,634,877,784,808,652,629,652,0.401615458616,-0.00540702032411,0.0599446601714,0.999999966212,0.000239834481549,-9.54830492208e-05,3.06220338047e-05,1793247449336007936
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.055995625,679.055995625,658,634,877,784,808,652,629,651.944004375,0.401746568371,-0.00541111387525,0.059950569672,0.999999967565,0.000238309033819,-8.47617709815e-05,2.99079934052e-05,1793247449352675072
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.635392711,679.635392711,658,634,877,784,808,652,629,651.364607289,0.40189283131,-0.00541277940944,0.059949358625,0.999999968359,0.000236202743938,-8.19540004158e-05,2.78098560646e-05,1793247449369341440
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.787338972,715,679.787338972,658,634,877,784,808,652,629,651.212661028,0.402051990863,-0.00541595112934,0.0599493326391,0.999999969494,0.000233251487069,-7.70507205261e-05,2.58632594477e-05,1793247449386007808
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.213684314,715,679.213684314,658,634,877,784,808,652,629,651.786315686,0.402233042496,-0.0054216796102,0.0599513183031,0.999999971166,0.000228865892849,-6.85902987286e-05,2.41739045145e-05,1793247449402674432
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.640065444,744,715,679,658,634,877,784,808,652,629,652,0.402433518576,-0.00542735426761,0.059951400959,0.999999972345,0.000225267279537,-6.37582839868e-05,2.23541105137e-05,1793247449419341056
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.066467764,744,715,679,658,634,877,784,808,652,629,652,0.402645525346,-0.00543299697506,0.0599503539578,0.999999973253,0.000222135830738,-6.10801510624e-05,2.04568855573e-05,1793247449436007424
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.524936651,744,714.475063349,679,658,634,876.475063349,784.524936651,808,652,629,652,0.40290049875,-0.00543936033117,0.0599509941274,0.999999975585,0.000213337133805,-5.47530199605e-05,1.7872704096e-05,1793247449452674048
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.115336819,714,679,658,634,876.230673639,784.884663181,808,652,629,652,0.403166944376,-0.00544579375707,0.0599521132163,0.999999977861,0.000204290001246,-4.81029180288e-05,1.51782159815e-05,1793247449469340928
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.692374479,714,679,658,634,877.384748957,784.307625521,808,652,629,652,0.403456770927,-0.00545212957761,0.0599542642465,0.99999997959,0.000197221785253,-4.20744530663e-05,1.24025863723e-05,1793247449486007808
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.730777919,714,679,658,634,877.730777919,784.269222081,808,652,629,652,0.403756856822,-0.00545931011466,0.0599492167509,0.999999981097,0.000187888121379,-4.91814279183e-05,9.18811893833e-06,1793247449502674688
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.154147365,714,679,658,634,877.154147365,784.845852635,808,652,629,652,0.404068657226,-0.00546745518221,0.0599359496923,0.999999981962,0.000175967679426,-7.12869703563e-05,5.47256919713e-06,1793247449519341312
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.420092333,714.420092333,679,658,634,877,784.579907667,808,652,629,652,0.40440369346,-0.00547627738025,0.0599233428381,0.999999982338,0.000163104741703,-9.33681383647e-05,1.50828661466e-06,1793247449536007936
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.99345969,714.99345969,679,658,634,877,784.00654031,808,652,629,652,0.404747207519,-0.00548534663616,0.0599109768666,0.999999982099,0.000149897924859,-0.000115440412585,-2.54674863166e-06,1793247449552674560
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.587107019,658,633.412892981,877,784.587107019,808,652,629,652,0.405153139221,-0.0054907478999,0.0599016794589,0.999999986175,9.87002858647e-05,-0.000133649444795,-6.77400037088e-06,1793247449569341184
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.825812384,715,679.825812384,658.174187616,633.174187616,877.174187616,785,808,652,629,652,0.405581968727,-0.00549674386707,0.0599019837975,0.999999989454,5.1940765605e-05,-0.000135206815612,-1.06052366411e-05,1793247449586007808
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.254246534,715,679.254246534,658.745753466,633.745753466,877.745753466,785,808,652,629,652,0.406061392454,-0.0055041930965,0.0599241120495,0.999999994887,1.63060662838e-05,-9.88780562903e-05,-1.35284998598e-05,1793247449602674688
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.320969939,715,679.320969939,658.679030061,634,878,784.679030061,808,652,629,652,0.406577554067,-0.00551295200411,0.0599526613259,0.999999998599,-1.86150779194e-06,-5.04534599606e-05,-1.59204113168e-05,1793247449619341312
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.899111472,715,679.899111472,658.100888528,634,878,784.100888528,808,652,629,652,0.407123151326,-0.00552276026942,0.059986355339,0.999999999792,-6.0338546885e-06,7.66271984287e-06,-1.7886586691e-05,1793247449636008192
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.980903811,634,877.509548095,784.490451905,808,652,629,652,0.407660620161,-0.00552084650231,0.0599998514124,0.999999999485,-6.85274305913e-06,2.3817974417e-05,-2.0397335349e-05,1793247449652674816
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.921100927,634,877,785,808.078899073,652,629,652,0.408198803677,-0.0055148965558,0.0600056168034,0.999999999408,-5.7192303366e-06,2.45587935871e-05,-2.34098944353e-05,1793247449669341440
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.366892107,634,877,785,808.633107893,652,629,652,0.408751644385,-0.00549955952445,0.0599905324548,0.999999999483,2.90546489455e-06,-1.41240755255e-05,-2.87519863601e-05,1793247449686008320
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.202814269,633.797185731,877,785,808.797185731,652,629,652,0.409332619755,-0.00549145875134,0.0599792588638,0.999999998522,2.38307547034e-06,-4.29698567442e-05,-3.32128293464e-05,1793247449702674944
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.802875245,633.197124755,877,785,808.197124755,652,629,652,0.409968701678,-0.00549753143827,0.0599754492994,0.999999997844,-1.60554564894e-05,-5.25480033734e-05,-3.59475941284e-05,1793247449719341568
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.384524316,744.615475684,715,679.615475684,659.615475684,633.384524316,877.384524316,784.615475684,808.384524316,652,629,652,0.410639876971,-0.00550663863778,0.0599807076002,0.99999999896,-1.70537231165e-06,-3.46499201843e-05,-2.96173190865e-05,1793247449736008448
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.957165885,744.042834115,715,679.042834115,659.042834115,633.957165885,877.957165885,784.042834115,808.957165885,652,629,652,0.411328220648,-0.00551723038346,0.0599904020882,0.999999999405,2.86855819271e-05,-3.30989646117e-06,-1.88522388517e-05,1793247449752675072
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.452337665,744.547662335,715,679.547662335,659,634,878,784,809,652,629,652.547662335,0.412010607217,-0.00551729160229,0.0599858211188,0.999999999298,2.57521766338e-05,-1.44892059502e-05,-2.30232906073e-05,1793247449769341184
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.136462018,745,715,680,659,634,878,784.136462018,809,651.863537982,629.136462018,652.863537982,0.412694962764,-0.00551489494511,0.0599719947367,0.999999998544,1.32536714479e-05,-4.39454967589e-05,-2.83725952442e-05,1793247449786007808
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.715086393,745,715,680,659,634,878,784.715086393,809,651.284913607,629.715086393,652.284913607,0.413387258571,-0.00550729293156,0.0599319511536,0.999999991824,-2.15077535259e-05,-0.00012148407134,-3.36269276567e-05,1793247449802674688
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680.291789553,659,634,878.291789553,785,809,651.291789553,629.708210447,652,0.414131089317,-0.00550325034243,0.0599172244654,0.999999987981,-2.763721809e-05,-0.000148118755818,-3.65440774533e-05,1793247449819341312
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680.866629109,659,634,878.866629109,785,809,651.866629109,629.133370891,652,0.414924911532,-0.00550266056656,0.059927056387,0.999999991431,-5.99229814122e-06,-0.000125374210501,-3.71940476578e-05,1793247449836007936
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680.565226378,659.434773622,634,878.565226378,784.565226378,809.434773622,652,629,652,0.415767076239,-0.00550840417131,0.059970668405,0.999999998238,3.36373873875e-07,-4.73459763695e-05,-3.57967615747e-05,1793247449852674304
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.999043257,745,715,680,659.999043257,633.999043257,878.000956743,784,810,652,629.000956743,652,0.416623797079,-0.00551605583513,0.0600243943301,0.999999998313,2.00707713334e-06,4.72103518074e-05,-3.37849170321e-05,1793247449869341184
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.394191133,745,715,680,659.394191133,633.394191133,878.605808867,784,810,652,629.605808867,652,0.417449946844,-0.00552036166077,0.0600204902836,0.999999998769,-1.57750679322e-05,3.22506823999e-05,-3.42553862139e-05,1793247449886007552
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.200290148,745,715,680,659.200290148,633.200290148,879,784,809.799709852,652,630,652.200290148,0.418289762679,-0.00552220823361,0.0600107584075,0.999999998976,-2.4393433459e-05,1.33933331828e-05,-3.56740656672e-05,1793247449902674176
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.775365364,745,715,680,659.775365364,633.775365364,879,784,809.224634636,652,630,652.775365364,0.41915515056,-0.00551945302607,0.0599901214347,0.999999999037,-1.58644356769e-05,-1.27573952509e-05,-3.88670463003e-05,1793247449919340800
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.647935466,745,715,680,659.647935466,634,879,784.352064534,809.352064534,652,630,652.647935466,0.420006773807,-0.00551849854757,0.059963977615,0.999999997701,-1.7041692129e-05,-5.06825374044e-05,-4.17021447331e-05,1793247449936007424
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.070195353,745,715,680,659.070195353,634,879,784.929804647,809.929804647,652,630,652.070195353,0.420849573805,-0.00551869834781,0.0599343038728,0.999999994097,-2.44407188512e-05,-9.61551516755e-05,-4.43078382462e-05,1793247449952674048
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.517302797,745,715,680,659.517302797,634,878.482697203,784.482697203,809.482697203,651.482697203,630,652,0.421658356395,-0.00551811319556,0.0598981943773,0.999999984696,-2.21959948805e-05,-0.000167449846587,-4.55546148364e-05,1793247449969340928
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.895552253,633.895552253,878.104447747,784.104447747,809,651.104447747,630,652,0.422496729978,-0.00551816656156,0.0598762718018,0.999999976064,-2.07775963285e-05,-0.000212824517634,-4.6331512862e-05,1793247449986007552
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.316150479,633.316150479,878.683849521,784.683849521,809,651.683849521,630,652,0.423491055877,-0.00552161711652,0.059922908745,0.999999990825,-2.91817626679e-05,-0.000124093654713,-4.58263704912e-05,1793247450002674176
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.738286496,680.261713504,659.261713504,633,879,784.738286496,809.261713504,652,630,652.261713504,0.424486326659,-0.00552422580738,0.0599736157098,0.999999997678,-3.40974239398e-05,-3.8273814812e-05,-4.49150005659e-05,1793247450019340800
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.162269242,680.837730758,659.837730758,633,879,784.162269242,809.837730758,652,630,652.837730758,0.425482732325,-0.00552582346547,0.0600292105566,0.999999997477,-3.48235806288e-05,4.40500552405e-05,-4.35157733839e-05,1793247450036007424
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714.420758478,680.579241522,659.579241522,633,878.579241522,784,810,652,630,652.579241522,0.426419050804,-0.00552799713913,0.0600411531003,0.999999995841,-3.87105429371e-05,6.98920011575e-05,-4.39727710597e-05,1793247450052674048
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.006463117,633,878.006463117,784,810,652,630,652.006463117,0.427331663277,-0.00553036447872,0.0600357017358,0.999999995353,-4.379830699e-05,7.30396323982e-05,-4.51757292003e-05,1793247450069340416
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.585741867,633,878.585741867,784,810,652,630,652.585741867,0.428231854341,-0.00552987413507,0.0600059871709,0.999999997422,-4.54432910059e-05,2.81084465182e-05,-4.79705701032e-05,1793247450086007552
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.164254465,660,633,879,784,810,652,630,653,0.429119699937,-0.00552889792114,0.0599736780816,0.999999997431,-4.52521235503e-05,-2.31265648302e-05,-5.05434664675e-05,1793247450102674688
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.740843725,660,633,879,784,810,652,630,653,0.42997655414,-0.00552670200697,0.059934855852,0.999999993734,-4.04515888796e-05,-9.01863278526e-05,-5.25592061503e-05,1793247450119342336
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.682854452,745,715,681,660,633,879,784,810.317145548,652,630.317145548,652.682854452,0.430906484793,-0.00552555831939,0.0599281023261,0.999999993074,-4.27595338835e-05,-9.56276185929e-05,-5.36567038525e-05,1793247450136009472
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.106787324,745,715,681,660,633,879,784,810.893212676,652,630.893212676,652.106787324,0.43189607593,-0.00552527368284,0.0599475300917,0.999999995959,-5.08709306142e-05,-5.07628169802e-05,-5.40045373077e-05,1793247450152675840
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.478637379,745,715,680.521362621,660.478637379,633,879,784,811,652,630.521362621,652.478637379,0.432845236946,-0.00552837314145,0.0599877446243,0.999999997242,-5.11178931789e-05,1.22044694514e-05,-5.24877872612e-05,1793247450169342464
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680.065674973,660.934325027,633,879,784,811,652,630,653,0.433779667901,-0.00553185948723,0.0600257016954,0.9999999951,-5.04373732021e-05,6.82268847902e-05,-5.10093269771e-05,1793247450186009344
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.64864414,660.35135586,633,879,784,811,652,630,653,0.434670541186,-0.00553232765757,0.0600086202687,0.999999996299,-5.65473717384e-05,3.71012355262e-05,-5.31744688109e-05,1793247450202675968
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,784,811,651.772446054,630.227553946,652.772446054,0.435540928514,-0.00553284002405,0.0599840363866,0.999999996496,-6.23654846826e-05,-8.38649174734e-06,-5.52093825859e-05,1793247450219342592
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,784,811,651.199694185,630.800305815,652.199694185,0.436380238908,-0.00553341943586,0.0599480713234,0.999999993216,-6.77408097979e-05,-7.56614068117e-05,-5.70467414238e-05,1793247450236008960
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680.624060637,660,633,879,784,811.375939363,651,631,652,0.437215154145,-0.00553259405719,0.0599225144653,0.999999988503,-6.45122677105e-05,-0.000124237898661,-5.82843917123e-05,1793247450252675584
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680.046884589,660,633,879,784,811.953115411,651,631,652,0.438047716646,-0.0055310167078,0.0599025290204,0.999999983389,-5.66781588845e-05,-0.000162805302368,-5.92010237563e-05,1793247450269342464
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.081790576,633,879,784,811.459104712,651.540895288,630.459104712,652.540895288,0.438878190593,-0.00553124704348,0.0599076775245,0.999999984362,-6.08333972385e-05,-0.000155083953853,-5.93721781166e-05,1793247450286009088
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.872466683,745,715,680.127533317,661.744933366,633,879,784,811.127533317,651.872466683,630.127533317,652.872466683,0.439721063483,-0.00553261947061,0.059926820939,0.99999998827,-6.78992069696e-05,-0.000123983823983,-5.89646861128e-05,1793247450302675456
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.293194048,745,715,680.706805952,660.586388096,633,879,784,811.706805952,651.293194048,630.706805952,652.293194048,0.440608509056,-0.00553747121947,0.0599876649246,0.999999994766,-8.15199320068e-05,-2.45692945792e-05,-5.67410153481e-05,1793247450319341824
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.284022822,745,715,681,660,633,879,784,812,651.284022822,631,652.284022822,0.441441526628,-0.00553993349977,0.0600196990173,0.999999994473,-8.50373116693e-05,2.57543583886e-05,-5.62043953147e-05,1793247450336008448
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.859132759,745,715,681,660,633,879,784,812,651.859132759,631,652.859132759,0.442218762399,-0.00553994687971,0.0600222066457,0.999999994963,-7.82000525879e-05,2.57661270022e-05,-5.73967873748e-05,1793247450352675328
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.557138679,745,715,681,660,633,879,784,812,651.557138679,631,652.557138679,0.442948002251,-0.00554185577864,0.0599971184109,0.999999995594,-7.26781549987e-05,-9.58442502333e-06,-5.86309485368e-05,1793247450369341440
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.029036772,745.029036772,715,681,660,633,879,784,812,651.029036772,630.970963228,652,0.443661689524,-0.00554439646839,0.0599647343399,0.999999994367,-6.89985382043e-05,-5.41345650005e-05,-5.97817294847e-05,1793247450386008064
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.608595034,745.608595034,715,681,660,633,879,784,812,651.608595034,630.391404966,652,0.444375701357,-0.00554725736444,0.0599637508352,0.999999992461,-9.21575779498e-05,-5.5611396038e-05,-5.90947701772e-05,1793247450402674432
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.187432828,745.812567172,714.812567172,681.187432828,660.187432828,633,879,784,812,651.812567172,630.187432828,652.187432828,0.445068201867,-0.00554980581412,0.0599630309492,0.999999990775,-0.000106255770146,-6.12417472736e-05,-5.83940167193e-05,1793247450419340800
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.764771978,745.235228022,714.235228022,681.764771978,660.764771978,633,879,784,812,651.235228022,630.764771978,652.764771978,0.445715953675,-0.00555170429912,0.0599628594546,0.999999990335,-0.000101505178143,-7.55124410825e-05,-5.76645679601e-05,1793247450436007424
+192,3.200000000,POSE1_TO_POSE2_PRESS,766.345738336,745,714.327130832,681.672869168,660.672869168,633,879,784,812,651.327130832,631,652.672869168,0.446341031035,-0.0055519705312,0.0599534297334,0.999999989025,-9.78631619759e-05,-9.43089031358e-05,-5.89856804924e-05,1793247450452673792
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.241620933,745,714.879189534,681.120810466,660.120810466,633,879,784,812,651.879189534,631,652.120810466,0.446950517912,-0.00555111446244,0.059937634262,0.999999986831,-9.49833781043e-05,-0.000116217181685,-6.17167132947e-05,1793247450469340672
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.480224227,744.519775773,715,681,660,633,879,784,812.480224227,652,631,652,0.447578560847,-0.00555042838465,0.0599500770102,0.999999989545,-9.54575694076e-05,-8.82533418271e-05,-6.33200427941e-05,1793247450486007296
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,744.089345277,715,681,660.089345277,633,879.089345277,784,813,651.910654723,631,652,0.448201491643,-0.00555064290762,0.0599698305559,0.99999999195,-9.76603672319e-05,-4.91057052433e-05,-6.44288796073e-05,1793247450502674432
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.667634978,715,681,660.667634978,633,879.667634978,784,813,651.332365022,631,652,0.448767998198,-0.00555552538235,0.0599863011574,0.999999992171,-0.000104181095398,-2.52124424484e-05,-6.4560453032e-05,1793247450519341056
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.756163344,633,879.756163344,784,813,651,631,652.243836656,0.449281259299,-0.00555861951128,0.0599794698513,0.999999991189,-0.000108637997861,-3.88426828443e-05,-6.5651183503e-05,1793247450536007680
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.182783658,633,879.182783658,784,813,651,631,652.817216342,0.449722559604,-0.00555929670666,0.0599411462271,0.999999986278,-0.000110305657818,-0.000103185599534,-6.80382058672e-05,1793247450552674304
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.610177592,745,715,681.389822408,660,632.610177592,879,784,813,651,631,653,0.450143929593,-0.00556010963427,0.0599005409762,0.999999977733,-0.000109977751818,-0.000165581444075,-7.08610660325e-05,1793247450569341184
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714.849895082,681.849895082,659.849895082,632,879,784,813.849895082,651.150104918,631,652,0.451384507854,-0.00556714330231,0.0598497162117,0.999999966458,-9.5523390526e-05,-0.000229660476238,-7.22214867779e-05,1793247450619341312
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,714.27251885,681.27251885,659.27251885,632,879,784,813.27251885,651.72748115,631,652,0.451769772261,-0.00557208193593,0.0598613262293,0.999999974784,-5.6572319234e-05,-0.000209260890359,-5.86641765873e-05,1793247450636007936
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714.303171883,681.303171883,659,632,879.303171883,783.696828117,813,652,631,652,0.452131553184,-0.00557496187225,0.0598738234668,0.999999980002,-3.8049684067e-05,-0.000189372794592,-5.18377551148e-05,1793247450652674816
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,714.877355878,681.877355878,659,632,879.877355878,783.122644122,813,652,631,652,0.452472341672,-0.00557600149282,0.059887113809,0.999999983544,-3.77884862223e-05,-0.000169941932703,-5.10282261484e-05,1793247450669341696
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.632721978,745,714.632721978,682,659,632,879.632721978,783.367278022,813,651,630.367278022,653,0.453284782249,-0.00555768617029,0.0598650885498,0.999999968372,-0.000137435070371,-0.000202759769032,-5.70620619592e-05,1793247450719341312
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.789251148,745,714.789251148,682,658.789251148,632,880.210748852,783,813,651,630,653,0.453501133237,-0.00554863537601,0.0598516224409,0.999999964371,-0.000125087474379,-0.000228186796735,-5.95107152236e-05,1793247450736007936
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+211,3.516666667,POSE1_TO_POSE2_PRESS,765.359692564,745,714.359692564,682,658.359692564,631.640307436,880.280614871,783,813.359692564,651.359692564,630,653,0.453884407165,-0.00555484859598,0.0598359128353,0.999999957148,-0.000124174793411,-0.00025806897262,-6.07101839935e-05,1793247450769341184
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,880.88762182,783,813.11237818,651.88762182,631,652.88762182,0.454379171575,-0.00556933527104,0.059844489253,0.999999960544,-0.000126864562576,-0.000243268956776,-6.03161636888e-05,1793247450819341568
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,880.307175132,783,813.692824868,651.307175132,631,652.307175132,0.454511640706,-0.00556913308434,0.0598508887329,0.99999996366,-0.00012387110798,-0.000231726990694,-6.03284780749e-05,1793247450836008192
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,880,783,814,651,630.729495262,652.270504738,0.454626745635,-0.00556949441549,0.0598541434695,0.999999965117,-0.000121740331446,-0.000226441610543,-6.05801924682e-05,1793247450852674816
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,880,783,814,651,630.154925511,652.845074489,0.454722332058,-0.00557048917756,0.0598538633086,0.999999964829,-0.00012057926166,-0.000228189042818,-6.11010081303e-05,1793247450869341440
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,879.580618353,783,813.580618353,651,630,653,0.454796888237,-0.00557141294468,0.0598502022153,0.999999963379,-0.000120264619832,-0.000234627272,-6.1068813814e-05,1793247450886007808
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+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658.416445618,631,879.583554382,783,813,651.583554382,630,652.416445618,0.454919406578,-0.00557300228492,0.0598415336634,0.999999960717,-0.000120129334864,-0.000245777298251,-6.1068732099e-05,1793247450919341056
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658.17016056,631,879.82983944,783.17016056,813,652,630,652.17016056,0.45497050222,-0.00557323947888,0.0598387138789,0.999999960231,-0.000119944561801,-0.000247791573465,-6.12358626901e-05,1793247450936007680
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,879.324031745,783.675968255,813,652,630.324031745,653,0.455041092481,-0.00557114481667,0.0598364362998,0.999999959902,-0.000118759499459,-0.000249710863628,-6.11290814446e-05,1793247450969341184
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,879.92388409,783,813,652,630.07611591,653,0.455094531815,-0.00556941996262,0.0598308313602,0.999999957792,-0.000117461296175,-0.000258727356338,-6.06499005224e-05,1793247451019341056
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.455384034,745.544615966,715,682,658,631,880,783,813,651.544615966,631,653,0.455114526831,-0.00556774427903,0.059821006874,0.999999954465,-0.000115094863652,-0.000272399343267,-6.01823315607e-05,1793247451119341056
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.136628748,746,715,681.863371252,658.136628748,631,880,783,813.136628748,652,630.863371252,653,0.455116169771,-0.00556663302842,0.0598206980721,0.999999954736,-0.000112953559598,-0.000272265428541,-6.03383432899e-05,1793247451136007680
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.134387102,714.134387102,681.865612898,659,631,880,783,813.134387102,651.134387102,630.865612898,653,0.455115551165,-0.00556625556425,0.0598182726648,0.999999953332,-0.000115399821048,-0.000276394846615,-6.02024400364e-05,1793247451186007552
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.040067514,745,715,682,658,631,879.040067514,783,813,652,630.040067514,653,0.455119229385,-0.00556614435684,0.0598201750186,0.999999954622,-0.000113443111362,-0.000272734243764,-5.91763143481e-05,1793247451219340800
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.619283413,745,715,682,658,631,879.619283413,783,813,652,630.619283413,653,0.455120152877,-0.00556530032763,0.0598199461795,0.999999954905,-0.000111673607135,-0.000272371246296,-5.94441598717e-05,1793247451236007424
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.801667965,745,714.801667965,682,658.198332035,631,879.801667965,783,813,652,631,653,0.455120910014,-0.00556492071464,0.0598199791985,0.999999955038,-0.000111065124063,-0.000272101095253,-5.95700588353e-05,1793247451252674304
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+244,4.066666667,HOLD_POSE2,766,745,715,682,659,631,879,783,813,651,631,653,0.455120375101,-0.00556660802755,0.0598186147619,0.999999954263,-0.000113827321005,-0.000274156951376,-5.79314289429e-05,1793247451333102592
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+260,4.333333333,HOLD_POSE2,766,745,715,682,658.272414446,631,880,783,813,652,631,653,0.45512128103,-0.00556452967514,0.0598173972326,0.999999953707,-0.000112078037995,-0.000276740235552,-5.86392366213e-05,1793247451599769856
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659,631,880,783,813,652,630,652,0.455119524187,-0.00556232403313,0.0598150931154,0.999999953152,-0.000110362911299,-0.000279324687861,-5.91024929593e-05,1793247451649095680
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.422256923,631,880,783,813,652,630,652.577743077,0.455120221427,-0.0055611378588,0.059815728749,0.999999953583,-0.000109422466026,-0.000278147368991,-5.91156574014e-05,1793247451665762304
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.272925955,745,715,681.272925955,658,631,879.272925955,783,813,652,630,653,0.45512136018,-0.00556095544363,0.0598162402202,0.999999953723,-0.000108621149398,-0.000277994562112,-5.89416669231e-05,1793247451699094784
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.309486493,745,714.690513507,681.309486493,658,631,879.309486493,783,813,652,630,653,0.45512162969,-0.00556164751094,0.0598162656115,0.999999953675,-0.00010891752734,-0.000278094121007,-5.87424969764e-05,1793247451715761152
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.481377269,682,658,631,879.518622731,783,813,652,630.481377269,652.518622731,0.455120734569,-0.00556174636233,0.0598162274193,0.999999953827,-0.000108708504797,-0.000277705627751,-5.83815780174e-05,1793247451749094144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.940080233,745,715,682,658,631,879,783,813,652,631,652.059919767,0.455119378887,-0.005560883757,0.0598160109937,0.999999953857,-0.00010784150934,-0.000277940299152,-5.8352670365e-05,1793247451765761024
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.211981223,745,715,682.211981223,658,631,879,783,813.211981223,651.788018777,631,653,0.455107868136,-0.00556157509463,0.0598103378263,0.999999951032,-0.000110175018265,-0.00028685520752,-5.92518142695e-05,1793247451799094528
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.784558304,745,715,682.784558304,658,631,879,783,813.784558304,651.215441696,631,653,0.455089963032,-0.00556018733614,0.0598016489587,0.999999947213,-0.000109126918641,-0.000300171264004,-5.96950366713e-05,1793247451815760896
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.037426557,682.037426557,658.962573443,631,879.962573443,783,813.037426557,651,630.037426557,653,0.455013404743,-0.00555912213043,0.0597702749114,0.99999993061,-0.000107304450386,-0.000351557695116,-6.06103329923e-05,1793247451849094656
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.696036199,631,879.303963801,783,813,651.303963801,630.303963801,653,0.454809103192,-0.00555083508179,0.059722455367,0.99999990618,-0.000105101007001,-0.000415512145714,-6.27933674676e-05,1793247451899094528
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.976668302,745,714.023331698,682,658.023331698,631,879,783,813,651.023331698,630.023331698,653,0.454413979064,-0.0055392122335,0.0597133210608,0.999999900087,-9.40979685929e-05,-0.000432784596976,-6.05690314232e-05,1793247451965761280
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.075528572,631,879,783,813,652,630.075528572,652.924471428,0.453545177081,-0.00551428723186,0.0596999744902,0.999999892093,-6.94705363733e-05,-0.000456059745032,-5.47555949621e-05,1793247452049094656
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,744.494835948,715,682,658.505164052,631,879.505164052,783,813,651.494835948,630,653,0.453311471451,-0.00550732218146,0.0596973197051,0.999999891157,-6.61688369911e-05,-0.000458733580436,-5.3585378672e-05,1793247452065761280
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,744.082622908,714.917377092,682,659,631.082622908,880,783,813,651,630.082622908,652.917377092,0.453072314867,-0.00550012980974,0.059697256364,0.999999892208,-6.24203765914e-05,-0.000457128802558,-5.21593557529e-05,1793247452082427904
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,744.649326325,714.350673675,682,659,631.649326325,880,783,813,651,630.649326325,652.350673675,0.452817909154,-0.00549220824267,0.0597079260075,0.999999901669,-5.3765423983e-05,-0.000437414006682,-4.94056861093e-05,1793247452099094784
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.806006121,682,659,632,880,783,813,651.806006121,631,652.806006121,0.452252249679,-0.00547972961139,0.0597351573203,0.999999920874,-3.92014661238e-05,-0.000393404946264,-4.4142912554e-05,1793247452132427776
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.605375267,744.605375267,715,682,659,632,879.605375267,783,813,652,631,652.605375267,0.451915814524,-0.00547200465749,0.0597461500686,0.999999927707,-3.00292335437e-05,-0.0003768105213,-4.12079693577e-05,1793247452149094656
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.014234169,744.014234169,715,682,659,632,879.014234169,783,813,652,631,652.014234169,0.451559026258,-0.00546316456726,0.0597551793913,0.999999933045,-1.96093736767e-05,-0.000363421081426,-3.80945787338e-05,1793247452165761792
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.718371752,744.718371752,714,682,659,632,879.281628248,784,812,651,630.718371752,653,0.450279372445,-0.00543519565351,0.0597291115191,0.999999918955,9.27469678557e-06,-0.000401228499952,-3.19360628383e-05,1793247452215761408
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,714.867200064,682,659,632,879,784,811.132799936,651,630.132799936,653,0.449323264998,-0.00542267318364,0.0597189449443,0.99999991501,2.25356224827e-05,-0.000410826154666,-2.63380273741e-05,1793247452249095168
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.507929339,659.492070661,633,879,784,810.507929339,651,630.492070661,652.492070661,0.434818602234,-0.00542592281464,0.0597347532944,0.999999914098,0.000101645468029,-0.000401721633815,9.5425193307e-06,1793247452582428416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.929069775,633,879,784,810,651,630.929069775,652.929069775,0.433942955674,-0.00543203196219,0.0597513456844,0.999999931582,0.000105728005323,-0.000354097236068,1.64911011575e-05,1793247452599095296
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.353388069,633,879,784,810,651,630.353388069,652.353388069,0.433020708616,-0.0054234510306,0.0597720028049,0.999999933081,0.000145792105269,-0.000334801397699,2.21705518258e-05,1793247452615761920
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.777028337,681.222971663,659,633,879,784,810,651.222971663,630,652,0.432108294935,-0.00541779658726,0.0597900910581,0.999999936399,0.000170034819285,-0.000312389048626,2.65197317173e-05,1793247452632428288
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.199590634,681.800409366,659,633,879,784,810,651.800409366,630,652,0.431211513586,-0.0054167944858,0.059804095494,0.999999944666,0.000169125715884,-0.000285022268538,2.87541334317e-05,1793247452649094656
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.615067055,659.384932945,633,879,784.384932945,810,651.615067055,630,652,0.430316426839,-0.00541834667809,0.0598194630085,0.999999952279,0.000158269396536,-0.00026361127354,3.00268363974e-05,1793247452665761280
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.02680053,659.97319947,633,879,784.97319947,810,651.02680053,630,652,0.429422235286,-0.00542124812802,0.0598355505429,0.999999959324,0.000142158647708,-0.000245346311441,3.07915399684e-05,1793247452682427904
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.446955015,633,879,784.446955015,810,651,630,652,0.428417988716,-0.00541621027396,0.0597846621664,0.999999927926,0.00016115410274,-0.000342557687406,2.884936546e-05,1793247452699094528
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744.868518713,714.131481287,681,659,633,878.868518713,784,810,651,630,652.131481287,0.427429311109,-0.00541229025299,0.05974396384,0.999999898484,0.000174603058742,-0.000414499769238,2.7121093107e-05,1793247452715761152
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.287642102,744,715,681,659.287642102,633.287642102,878,784,809.712357898,651.287642102,630.287642102,652.712357898,0.425607123601,-0.00541512380474,0.0597666405561,0.999999925413,0.000158406994809,-0.000351154909135,2.77852070866e-05,1793247452749094912
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.875106523,744,715,681,659.875106523,633.875106523,878,784,809.124893477,651.875106523,630.875106523,652.124893477,0.424718669135,-0.00541742676031,0.0597991863895,0.999999935623,0.000158999959104,-0.000320184173936,3.09022282172e-05,1793247452765761536
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.03497028,714.96502972,681,659.96502972,633.03497028,878.96502972,784,810,651.03497028,630,652,0.422930445351,-0.00541621804305,0.0598300436808,0.999999947479,0.000171500969187,-0.000272821258161,3.46020471188e-05,1793247452799094528
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.613426484,714.386573516,681,659.386573516,633.613426484,878.386573516,784,810,651.613426484,630,652,0.422034240189,-0.00541480635581,0.0598352591959,0.999999950509,0.000174536484324,-0.000259434792274,3.4829749287e-05,1793247452815761152
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.811091223,714.188908777,681,659,634,878,784.188908777,810,651.811091223,630,652,0.421109742243,-0.00541284101512,0.0598183434399,0.999999942152,0.000177116845442,-0.000288358359286,3.42667450161e-05,1793247452832427520
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.241600172,714.758399828,681,659,634,878,784.758399828,810,651.241600172,630,652,0.420128244495,-0.00540976026449,0.0597568412469,0.999999902492,0.000178780236323,-0.000402521203872,3.21107554594e-05,1793247452849094400
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.341773073,744.341773073,715,680.658226927,659,634,878.341773073,784.658226927,809.658226927,651.341773073,630,652,0.419226850133,-0.00540985256883,0.0597224589667,0.999999883494,0.000176879939363,-0.000448157386061,2.96716332814e-05,1793247452865761280
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.935375113,744.935375113,715,680.064624887,659,634,878.935375113,784.064624887,809.064624887,651.935375113,630,652,0.418384478482,-0.00541228287838,0.0597080594803,0.999999886524,0.000172353808128,-0.000443301000568,2.70238905759e-05,1793247452882427904
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.483638115,680,659.516361885,634,878.483638115,784.516361885,809.516361885,652,630,652,0.417579804941,-0.00541116967122,0.0597473688975,0.999999907435,0.00017599853539,-0.000391454781028,3.02772430235e-05,1793247452899094784
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.746947918,714.746947918,681,658.746947918,634,877,784.253052082,809,652,629,652,0.415206078567,-0.00540808067961,0.0598334305292,0.999999940856,0.000190805117163,-0.000283809987132,3.65159642842e-05,1793247452949094656
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.99790035,744.99790035,714.99790035,680.00209965,658,634,877.99790035,785,808.00209965,652,629.99790035,652,0.412890656705,-0.00540712180142,0.059817842931,0.999999929283,0.000204201087903,-0.000313564846786,3.75849223044e-05,1793247452999094528
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.426586225,745,715,680,658.573413775,634,878,785,808.573413775,651.426586225,630,652,0.412121012966,-0.00540146970408,0.0597678581332,0.999999900606,0.000203579831046,-0.000395196967067,3.41001067632e-05,1793247453015761408
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.14885718,745,715,680,659,634,877.85114282,784.85114282,809,651,630,651.85114282,0.411381653179,-0.00539744092859,0.05973251283,0.999999877871,0.000202757822231,-0.000449632213731,3.12746562911e-05,1793247453032428032
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.724138769,745,715,680,659,634,877.275861231,784.275861231,809,651,630,651.275861231,0.410728970466,-0.00539807198312,0.0597395048819,0.999999888702,0.000201517204868,-0.000425517222718,3.03770674088e-05,1793247453049094912
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877,784,809,651.30761345,629.69238655,651.30761345,0.41010851657,-0.00539959513955,0.0597688051243,0.999999909334,0.000195376540454,-0.000377040237565,3.1638267372e-05,1793247453065761536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877,784,809,651.898636535,629.101363465,651.898636535,0.409517755686,-0.00540194020498,0.0598186582912,0.999999935476,0.000184721376635,-0.000306118122506,3.48883970844e-05,1793247453082428160
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.519789862,745,715,679.519789862,658.519789862,634,877,784.480210138,808.519789862,651.519789862,629,652,0.408922463149,-0.0054048887277,0.0598376641593,0.999999943005,0.00018641289427,-0.000279110374626,3.65652116511e-05,1793247453099094528
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.635780608,745,715,679.635780608,658,634,877,785,808,651.635780608,629,652,0.407769836842,-0.0054003026522,0.0598378422591,0.999999938045,0.000217215760758,-0.000274600377835,3.63555927618e-05,1793247453132427776
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.789496752,658,634,877,785,808,652,629,652,0.407225964567,-0.00539533142142,0.0598273063591,0.999999932062,0.000229092692426,-0.00028661124162,3.53044914974e-05,1793247453149094400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.217475987,658,634,877,785,808,652,629,652,0.406710000789,-0.00539325244642,0.0598160171263,0.999999929965,0.000219345250243,-0.0003012574339,3.46607629778e-05,1793247453165761280
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.960118155,658,634,877,784.039881845,808.960118155,652,629,652,0.405768627371,-0.00538762864044,0.0598225786324,0.999999934206,0.000219543176363,-0.000286823910911,3.34811317785e-05,1793247453199095040
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744.459689794,715,680,658,634,877,784.540310206,808.459689794,652,629,652,0.405332715373,-0.00538562253696,0.0598195671141,0.99999993229,0.000227149889853,-0.000287629816997,3.3040908951e-05,1793247453215761664
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.881473555,744,715,680,658,634,877,784.881473555,808,651.881473555,629.118526445,652,0.404903129987,-0.00538394608158,0.0598117991813,0.999999927847,0.000234187294831,-0.000297323423541,3.25705579691e-05,1793247453232428032
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.307373722,744,715,680,658,634,877,784.307373722,808,651.307373722,629.692626278,652,0.404491166204,-0.00538326554973,0.0597884421749,0.9999999143,0.000237595579569,-0.00033753087713,3.19464354212e-05,1793247453249094400
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.273255614,715,680,658,634,877,784.273255614,808,651.273255614,629.726744386,652,0.404104801859,-0.00538433893725,0.0597689475306,0.999999903435,0.00023711993675,-0.000368682157916,3.12742031694e-05,1793247453265761280
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.978928839,658,634,877,784.978928839,808,651.978928839,629,652,0.403189396406,-0.00539827672506,0.05978533804,0.999999918615,0.000225019147864,-0.000333140923503,3.39756687437e-05,1793247453315761408
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.401241427,658,634,877,784.401241427,808,651.401241427,629,652,0.402952770732,-0.00539704448645,0.0598059814716,0.999999929409,0.000224221362335,-0.000299417602178,3.54270907412e-05,1793247453332428288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.175421321,745,715,679,658,634,877.175421321,784,808.175421321,651.175421321,629,652,0.402723070059,-0.00539542435157,0.0598231517508,0.999999939001,0.000216129312335,-0.000272202012305,3.45401590432e-05,1793247453349095168
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.749753887,745,715,679,658,634,877.749753887,784,808.749753887,651.749753887,629,652,0.402509116992,-0.00539292213376,0.059832424016,0.999999947528,0.000191449973998,-0.000259785126103,2.83357687747e-05,1793247453365761536
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.800125799,745,715,680,658,634,877,784.800125799,807.800125799,652,629,652,0.401426744316,-0.00538357858828,0.0598279890675,0.999999944914,0.000172873608504,-0.000282112839038,2.64275203028e-05,1793247453482428416
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57d7fa452766ee2b1159fd419784e439b991aae6
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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+399,6.650000000,pose2_to_pose3_retreat,0.583245959949,-7.2134297039e-05,1.05004264294,0.553817752031,0.00860232593885,1.04966602354
+400,6.666666667,pose2_to_pose3_retreat,0.583245921935,-7.21384685374e-05,1.05004265968,0.553817714045,0.00860232184301,1.04966603979
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+402,6.700000000,pose2_to_pose3_retreat,0.583245809417,-7.21508157784e-05,1.05004270925,0.553817601612,0.00860230971968,1.04966608786
+403,6.716666667,pose2_to_pose3_retreat,0.583245804871,-7.21513146397e-05,1.05004271126,0.55381759707,0.00860230922987,1.04966608981
+404,6.733333333,pose2_to_pose3_retreat,0.583245666644,-7.21615358514e-05,1.05004275256,0.553817458937,0.00860229929374,1.04966613036
+405,6.750000000,pose2_to_pose3_retreat,0.583245495739,-7.21260406053e-05,1.05004261306,0.553817288043,0.00860233523882,1.04966600039
+406,6.766666667,pose2_to_pose3_retreat,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120185,1.04966610706
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04f6260e67e5d11c878f3e2f98ed2179150b7130
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23ae74d1e1e965f4b1082e47f676c751fd6464ba73413e49c42441077cf3e6c3
+size 25968672
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..45a59d15b340be1a618a4cdf2052dfaf7249821f
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+53,0.883333333,BASELINE,765.193228323,745,715,679,658.806771677,634,877.806771677,784.806771677,808,652,629,652,0.400962894494,-0.00538595995337,0.059837076037,0.999999927837,0.000265800786656,-0.00027014604206,2.64131636537e-05,1793247455061652736
+54,0.900000000,BASELINE,765.383486458,745,715,679,658.616513542,633.616513542,877.616513542,784.616513542,808,652,628.616513542,652,0.400962296523,-0.0053853166196,0.0598368261572,0.999999927395,0.000266886131391,-0.000270709501575,2.64060135733e-05,1793247455078319360
+55,0.916666667,BASELINE,765.958897364,745,715,679,658.041102636,633.041102636,877.041102636,784.041102636,808,652,628.041102636,652,0.400961147776,-0.00538467580706,0.0598360372857,0.999999926563,0.000268709206186,-0.000271963876778,2.65595803403e-05,1793247455094985984
+56,0.933333333,BASELINE,765.484704059,744.484704059,715,679.515295941,658,633.515295941,877,784.515295941,808,652,628.515295941,652,0.400961257971,-0.005385775347,0.0598363289333,0.999999926652,0.000268611978532,-0.000271721714716,2.66662626581e-05,1793247455111652864
+57,0.950000000,BASELINE,765,744.077661401,715,680,658,634,877,785,808,652,629,652,0.40096136827,-0.00538670625797,0.0598365437117,0.999999926757,0.000268358611223,-0.000271579359029,2.67110899467e-05,1793247455128319488
+58,0.966666667,BASELINE,765,744.691300688,715,680,658,634,877,785,808,652,629,652,0.400960810903,-0.00538554941309,0.0598356543231,0.999999926485,0.00026804715507,-0.000272920338172,2.63539178554e-05,1793247455144986112
+59,0.983333333,BASELINE,765,745,715,679.713225455,658,634,877,785,808,652,629,652,0.400961123722,-0.00538500464037,0.0598357548801,0.999999926812,0.000267449863904,-0.000272338988261,2.60224251128e-05,1793247455161652736
+60,1.000000000,BASELINE,765,745,715,679.136140903,658,634,877,785,808,652,629,652,0.400962317456,-0.00538507948552,0.0598368575871,0.999999927742,0.000266563213807,-0.000269811610276,2.57169282603e-05,1793247455178319360
+61,1.016666667,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400962336207,-0.00538562509366,0.0598368377207,0.999999927798,0.0002659708358,-0.000270175798452,2.5845401798e-05,1793247455194985984
+62,1.033333333,BASELINE,765,745,715,679.014911963,658.014911963,634,877,785,808,652,629,652,0.40096200833,-0.00538628873084,0.0598364895583,0.999999927598,0.000265481511363,-0.000271371838825,2.61051809738e-05,1793247455211652608
+63,1.050000000,BASELINE,765,745,715,679.592435705,658.592435705,634,877,785,808,652,629,652,0.40096228969,-0.00538592167118,0.0598368317343,0.9999999279,0.000265452378639,-0.000270269592512,2.6263761394e-05,1793247455228319232
+64,1.066666667,BASELINE,764.826908485,745,715,679.826908485,658.826908485,634,876.826908485,784.826908485,807.826908485,652,629,652,0.400962339324,-0.00538576953247,0.0598371033751,0.999999928045,0.000265552019308,-0.000269624011165,2.63659105962e-05,1793247455244985856
+65,1.083333333,BASELINE,764.238741981,745,715,679.238741981,658.238741981,634,876.238741981,784.238741981,807.238741981,652,629,652,0.400961833279,-0.00538613277612,0.0598372058718,0.999999927816,0.00026596045972,-0.000270073516516,2.63327372287e-05,1793247455261652736
+66,1.100000000,BASELINE,764.343609497,745,715,679,657.656390503,634,876,784,807.343609497,651.656390503,629,652,0.400963014254,-0.00538573219675,0.059838302794,0.99999992815,0.00026647056314,-0.000268335788689,2.62733061573e-05,1793247455278319360
+67,1.116666667,BASELINE,764.921987875,745,715,679,657.078012125,634,876,784,807.921987875,651.078012125,629,652,0.400965347874,-0.00538480974041,0.0598400791508,0.999999928859,0.000267050127107,-0.000265103648472,2.61959346873e-05,1793247455294985984
+68,1.133333333,BASELINE,765,744.501576179,715,679,657.498423821,633.501576179,876.498423821,784.498423821,808,651.498423821,629,652,0.400963578776,-0.00538651742908,0.0598384907368,0.999999928875,0.00026470275951,-0.000267385468836,2.62056993879e-05,1793247455311652864
+69,1.150000000,BASELINE,765.076241464,744,715,679,658,633.076241464,877,785,808,652,629,652,0.40096149643,-0.00538814459888,0.0598366712462,0.999999928645,0.000262797907477,-0.000270112072185,2.6209280668e-05,1793247455328319232
+70,1.166666667,BASELINE,765.665391463,744,715,679,658,633.665391463,877,785,808,652,629,652,0.400961609959,-0.00538647139575,0.0598368264237,0.999999927569,0.000266940024637,-0.000270047474201,2.60798687028e-05,1793247455344985856
+71,1.183333333,BASELINE,765.74977677,744.25022323,715,679.25022323,658,634,877,785,808,652,629,652,0.400961862412,-0.00538657215853,0.0598370489191,0.999999927568,0.000267035856524,-0.000269937665112,2.6243186363e-05,1793247455361652480
+72,1.200000000,BASELINE,765.170621475,744.829378525,715,679.829378525,658,634,877,785,808,652,629,652,0.400962297489,-0.00538900489592,0.0598373599078,0.999999928981,0.000261812626576,-0.000269768423555,2.67913130438e-05,1793247455378319104
+73,1.216666667,BASELINE,765,745,715,680,658,633.592835898,877,785,808,652,629,652,0.400962281272,-0.00538898449138,0.0598370283244,0.999999928956,0.000261777402529,-0.000269902476403,2.67145217032e-05,1793247455394985984
+74,1.233333333,BASELINE,765,745,715,680,658,633.015622411,877,785,808,652,629,652,0.400962076574,-0.00538793954823,0.059836428375,0.999999928334,0.000263908915046,-0.00027016319816,2.6376737464e-05,1793247455411652608
+75,1.250000000,BASELINE,765,745,715,680,658,633.560329193,877,785,808,652,629,652,0.400961822123,-0.00538685516319,0.0598369364197,0.999999927895,0.0002650238995,-0.000270688503443,2.64544739412e-05,1793247455428319232
+76,1.266666667,BASELINE,765,745,715,680,658,634,877,784.86084512,808,652,629,652,0.40096167989,-0.00538611118269,0.0598372130797,0.999999927645,0.000265652928084,-0.000270991538544,2.65012536663e-05,1793247455444985856
+77,1.283333333,BASELINE,765,745,715,680,658,634,877,784.272631392,808,652,629,652,0.400961904253,-0.00538646924326,0.0598366435861,0.999999927991,0.000264805009917,-0.000270553546336,2.64108331827e-05,1793247455461652224
+78,1.300000000,BASELINE,765,744.689343574,714.689343574,679.689343574,658,634,877,784.310656426,808,652,629,652,0.400962690474,-0.00538675050442,0.0598371115285,0.999999928135,0.000265338354807,-0.000269495545016,2.6395912506e-05,1793247455478318848
+79,1.316666667,BASELINE,765,744.110311278,714.110311278,679.110311278,658,634,877,784.889688722,808,652,629,652,0.400963962083,-0.00538696541861,0.059838475711,0.999999928103,0.000267064971934,-0.000267901918278,2.64462160644e-05,1793247455494985728
+80,1.333333333,BASELINE,765,744.465700736,714,679,658,634,877,784.534299264,808,652,629,652,0.400964113671,-0.00538718647166,0.0598384316295,0.999999928539,0.000265697630856,-0.000267645109747,2.63393501551e-05,1793247455511652608
+81,1.350000000,BASELINE,765,745,714.041053339,679.082106678,658,634,877,784,808,652,629,652,0.400963930011,-0.00538734750213,0.0598380319377,0.999999928987,0.00026388012602,-0.000267780420417,2.62141611443e-05,1793247455528319232
+82,1.366666667,BASELINE,765,745,714.617075153,680.234150305,658,634,877,784,808,652,629,652,0.400962812601,-0.00538670754819,0.0598373171291,0.999999928199,0.000265685058169,-0.000268925707781,2.63322098926e-05,1793247455544986112
+83,1.383333333,BASELINE,765,745,715,680.802272043,658,634,877,784.197727957,808,652,629,652,0.400962139811,-0.00538639048712,0.0598370464847,0.999999927767,0.000266456797855,-0.000269760909948,2.63705313812e-05,1793247455561652480
+84,1.400000000,BASELINE,765,745,715,680.212435553,658,634,877,784.787564447,808,652,629,652,0.400962348733,-0.00538671374533,0.059837656649,0.99999992805,0.000265179644088,-0.00026998119143,2.62507480921e-05,1793247455578319104
+85,1.416666667,BASELINE,765,745,715,679.628810407,658,634,877,784.628810407,808,651.628810407,629,652,0.400961842402,-0.00538703179512,0.0598371552095,0.999999927971,0.000264941577279,-0.000270518123346,2.6150628056e-05,1793247455594985728
+86,1.433333333,BASELINE,765,745,715,679.048681603,658,634,877,784.048681603,808,651.048681603,629,652,0.400960933462,-0.0053873469131,0.0598360280583,0.999999927688,0.000265288403042,-0.000271233294867,2.60615762914e-05,1793247455611652608
+87,1.450000000,BASELINE,765,744.473169302,714.473169302,679,658,634,877,784,808,651.526830698,628.473169302,652,0.40096253417,-0.00538684375316,0.0598374495051,0.999999928186,0.000266123116638,-0.000268536718866,2.63564170618e-05,1793247455628319232
+88,1.466666667,BASELINE,765,744.103778982,714.103778982,679.103778982,658,634,877,784,808,651.896221018,628.103778982,652,0.40096408084,-0.00538646259019,0.0598388082248,0.999999928737,0.000266413870908,-0.000266161885213,2.65876437685e-05,1793247455644985856
+89,1.483333333,BASELINE,765,744.689357105,714.689357105,679.689357105,658,634,877,784,808,651.310642895,628.689357105,652,0.40096430937,-0.00538699579058,0.0598387918971,0.999999929239,0.000263971784189,-0.000266731659276,2.63602822669e-05,1793247455661652480
+90,1.500000000,BASELINE,765,744.726466468,715,680,658,634,877,784,808,651.273533532,629,652,0.400964351477,-0.00538704598006,0.0598390440814,0.999999929355,0.000263520272065,-0.000266747581554,2.6321910494e-05,1793247455678319104
+91,1.516666667,BASELINE,765,744.143873825,715,680,658,634,877,784,808,651.856126175,629,652,0.40096418295,-0.00538655042684,0.0598395996514,0.999999929038,0.000265317863564,-0.000266137719678,2.64970737898e-05,1793247455694985728
+92,1.533333333,BASELINE,765,744.432554227,715,680,658,634,877,784,808,652,629,652,0.400963650342,-0.0053863383016,0.0598388650344,0.999999928929,0.000264852887522,-0.000267029390489,2.62652765263e-05,1793247455711652352
+93,1.550000000,BASELINE,765,745,715,679.993008752,658,634,877,784.006991248,808,652,629,652,0.400962992585,-0.00538621906479,0.0598377134162,0.999999928877,0.00026368756569,-0.000268410370138,2.59064437623e-05,1793247455728319232
+94,1.566666667,BASELINE,765,745,715,679.416081712,658,634,877,784.583918288,808,652,629,652,0.400961865892,-0.00538609500474,0.0598370593937,0.999999927979,0.000265917007903,-0.000269538210741,2.60712651596e-05,1793247455744985856
+95,1.583333333,BASELINE,765,745,715,679.164446791,658.164446791,634,877,784.835553209,808,652,629.164446791,652,0.400961380331,-0.00538631201066,0.0598368162931,0.99999992756,0.000266976256222,-0.00027002631829,2.62554894079e-05,1793247455761652480
+96,1.600000000,BASELINE,765,745,715,679.754291839,658.754291839,634,877,784.245708161,808,652,629.754291839,652,0.400962553275,-0.00538741130118,0.0598376361833,0.999999928392,0.000265008395511,-0.000268859536222,2.64899058483e-05,1793247455778319104
+97,1.616666667,BASELINE,765.337967394,744.662032606,715,679.662032606,658.662032606,634,877,784.337967394,808,652,629.662032606,652,0.400962793495,-0.00538729768702,0.0598379528011,0.999999928399,0.000265067001737,-0.000268775752094,2.64899244202e-05,1793247455794985728
+98,1.633333333,BASELINE,765.917237995,744.082762005,715,679.082762005,658.082762005,634,877,784.917237995,808,652,629.082762005,652,0.400962367764,-0.00538631807861,0.0598379100904,0.999999927817,0.000266572472426,-0.000269465210903,2.63225867228e-05,1793247455811652352
+99,1.650000000,BASELINE,765.509086575,744.490913425,715,679,658,634,877.490913425,785,808,652,628.509086575,652,0.40096246853,-0.00538576723103,0.0598379705522,0.999999927815,0.00026687459445,-0.000269184008871,2.62282410407e-05,1793247455828318976
+100,1.666666667,BASELINE,765,745,715,679.065438675,658.065438675,634,877.934561325,785,808,652,628.065438675,652,0.400962679888,-0.00538530756164,0.0598380589554,0.999999927916,0.000266968827899,-0.000268724206807,2.61413844298e-05,1793247455844985856
+101,1.683333333,BASELINE,765,745,715,679.654219129,658.654219129,634,877.345780871,785,808,652,628.654219129,652,0.400963073837,-0.00538500551317,0.0598382332823,0.999999928069,0.000267004641324,-0.000268130027308,2.60171172478e-05,1793247455861652480
+102,1.700000000,BASELINE,765,745,715,680,658.760744793,634,877,785,808,652,629,652,0.400963377161,-0.0053850655759,0.0598384985429,0.999999928329,0.000266553436229,-0.000267604780995,2.60478428741e-05,1793247455878319104
+103,1.716666667,BASELINE,765,745,715,680,658.181036895,634,877,785,808,652,629,652,0.400963551531,-0.00538564091159,0.0598388931993,0.999999928741,0.000265409218979,-0.000267177624501,2.62991184386e-05,1793247455894985728
+104,1.733333333,BASELINE,765,745,714.603046501,680,658,634,877,785,808,652,629,652,0.400964019606,-0.00538678415646,0.0598389835993,0.999999929033,0.000264740970885,-0.000266730502579,2.64735535565e-05,1793247455911652352
+105,1.750000000,BASELINE,765,745,714.025835977,680,658,634,877,785,808,652,629,652,0.400964621054,-0.00538818528959,0.0598389358361,0.999999929271,0.000264288860814,-0.000266274314296,2.66130953641e-05,1793247455928319232
+106,1.766666667,BASELINE,765,745,714.548489168,680,658,633.451510832,877,785,808,652,629,652,0.40096401731,-0.00538645690597,0.0598384007433,0.999999928312,0.000266873838368,-0.000267307772236,2.64840016022e-05,1793247455944985600
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,785,808,652,629,652,0.400963609831,-0.00538867358817,0.0598379923064,0.999999929129,0.000263475408809,-0.000267603038139,2.66725261548e-05,1793247455986359040
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.421581176,745,715,679.421581176,658,634,877,785,808,652,629,652,0.400964563095,-0.0053876093723,0.0598387117048,0.999999929334,0.000263790787438,-0.000266547857984,2.6413736094e-05,1793247456003025664
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.156533685,658,634,877,784.843466315,808,652,629,652,0.400964723378,-0.00538711909064,0.0598389882679,0.999999929487,0.00026363259803,-0.000266150167538,2.62216037673e-05,1793247456019692288
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.73383162,658,634,877,784.26616838,808,652,629,652,0.40096275212,-0.00538817155015,0.0598380744855,0.999999929498,0.000262201452656,-0.000267519816354,2.62086480976e-05,1793247456036359168
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.315327841,784.315327841,808,652,629,652,0.400961933396,-0.00538823138854,0.0598377009651,0.999999928932,0.000263346160789,-0.000268492194448,2.64029977699e-05,1793247456053025792
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.900415622,784.900415622,808,652,629,652,0.400962100654,-0.00538744204903,0.0598377896338,0.999999927865,0.00026669448694,-0.00026912471117,2.67746951716e-05,1793247456069692672
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.519417289,785,808,652,629,652,0.400962099925,-0.0053874089309,0.0598376402023,0.99999992816,0.000265707959426,-0.000269040620486,2.63862569366e-05,1793247456086359296
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.940450163,715,679.940450163,658,634,877,785,808,652,629,652,0.400962111111,-0.00538740933717,0.0598375450731,0.999999928627,0.000264301083849,-0.000268737214624,2.59253101232e-05,1793247456103026176
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.363140645,715,679.363140645,658,634,877,785,808,652,629,652,0.400962525485,-0.00538635258486,0.059838346704,0.999999928161,0.000266970205706,-0.000267804950855,2.61895521467e-05,1793247456119692544
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.213802276,744.213802276,715,679.213802276,658,634,876.786197724,785,808,652,629,652,0.40096530613,-0.00538610623487,0.0598396536936,0.999999928351,0.000267926622613,-0.00026610980403,2.64355057837e-05,1793247456136359168
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.790123543,744.790123543,715,679.790123543,658,634,876.209876457,785,808,652,629,652,0.40097209898,-0.00538723398747,0.0598418175595,0.999999929656,0.000265979009973,-0.000263121127597,2.66504499608e-05,1793247456153026048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.62655094,658,634,876.37344906,785,808,652,629,652,0.400995487681,-0.00538834757126,0.0598517442948,0.999999934376,0.000264032621864,-0.000246578307185,2.70923340568e-05,1793247456169692672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.039213776,658,634,876.960786224,785,808,652,629,652,0.401028381441,-0.00538945304015,0.0598661171132,0.99999994057,0.000262086934779,-0.000222272526265,2.76641950543e-05,1793247456186359552
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.456440616,745,715,679,658,634,877,785,808,652,629,651.456440616,0.401089726856,-0.00539137598407,0.0598864375019,0.999999948175,0.000261267153271,-0.000185896216323,2.88408724398e-05,1793247456203025920
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.124151883,658,634,877,785,808,652,629,651.124151883,0.401155294493,-0.00539329272635,0.0599058184978,0.99999995391,0.000260549491151,-0.000152967460265,2.99160111357e-05,1793247456219692800
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.698028143,658,634,877,785,808,652,629,651.698028143,0.401228783329,-0.00539497515483,0.0599202553479,0.999999956558,0.000259909964413,-0.000135655113097,3.04666003439e-05,1793247456236359424
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,808,652,629,652,0.40130986061,-0.00539660698536,0.0599311941427,0.99999995854,0.000260096646229,-0.000119713609611,3.06356486764e-05,1793247456253025792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,808,652,629,652,0.401399365467,-0.00539818262268,0.0599382480635,0.999999959882,0.000261200899508,-0.00010529453992,3.03809649893e-05,1793247456269692416
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,808,652,629,652,0.401503176576,-0.00540154642237,0.0599428144649,0.999999961602,0.000258016150662,-9.66518780415e-05,2.97094640696e-05,1793247456286359296
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.026477145,784.973522855,808,652,629,652,0.401613589654,-0.00540550731432,0.0599464974773,0.999999963409,0.000253474116835,-8.99899108722e-05,2.88793624193e-05,1793247456303025920
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.605245173,784.394754827,808,652,629,652,0.40175327327,-0.0054083688276,0.0599506090704,0.999999964304,0.000253130778468,-8.08585509271e-05,2.79004460811e-05,1793247456319692800
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.817780703,658,634,877.817780703,784,808,652,629,652,0.401897464815,-0.00541149516507,0.0599523549292,0.99999996513,0.000251612849084,-7.56376148102e-05,2.66272563015e-05,1793247456336359168
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.244655033,658,634,877.244655033,784,808,652,629,652,0.402051326985,-0.0054151896169,0.0599490256908,0.999999965943,0.000247575125651,-7.88055257565e-05,2.47227758623e-05,1793247456353025792
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.337616037,745,715,679.337616037,658,634,877.337616037,784.337616037,808,652.337616037,629,652,0.402227648306,-0.00541947502785,0.0599490457466,0.999999967329,0.000243493104392,-7.43399934395e-05,2.29419631226e-05,1793247456369692672
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.926698943,745,715,679.926698943,658,634,877.926698943,784.926698943,808,652.926698943,629,652,0.402420697914,-0.00542420060382,0.05995156046,0.999999969063,0.0002393780883,-6.41888367388e-05,2.12532617103e-05,1793247456386359296
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877.492818041,785,808,652.492818041,629,652,0.402652411284,-0.00542874625359,0.0599523166568,0.999999970759,0.000234348359804,-5.66283440292e-05,1.88736392079e-05,1793247456403025920
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913802514,745,715,679.913802514,658,634,877,785,808,652,629,652,0.402895212495,-0.0054339317513,0.059952833692,0.999999972555,0.000228311331998,-4.99324488788e-05,1.64345455594e-05,1793247456419692544
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.336185261,745,715,679.336185261,658,634,877,785,808,652,629,652,0.403169900502,-0.00544291086211,0.0599534120279,0.999999975234,0.00021727271349,-4.60666966361e-05,1.42161975806e-05,1793247456436359168
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.239878263,745,715,679,658,634,877,784.760121737,808,652,629,652,0.403453081996,-0.00545087972173,0.0599514699271,0.999999977374,0.000207079695849,-4.73131664647e-05,1.1466083575e-05,1793247456453026048
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.813778242,745,715,679,658,634,877,784.186221758,808,652,629,652,0.403748090346,-0.00545744184295,0.05994601821,0.999999978803,0.000198064147183,-5.56782189236e-05,7.97550494556e-06,1793247456469692672
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,877,784,808,652,629,652,0.404062731765,-0.00546430566434,0.0599372890541,0.999999979697,0.000189202184682,-6.92267122883e-05,4.04208193602e-06,1793247456486359040
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,877,784,808,652,629,652,0.404386803947,-0.00547131440763,0.0599269855764,0.99999998009,0.000180413997715,-8.52650780355e-05,-1.04061852887e-07,1793247456503025920
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.431821762,745,715,679,658,634,877,784,808,652,629,652,0.404748497312,-0.00548041234167,0.0599109254614,0.999999978944,0.000170279745915,-0.000114470579477,-3.76584675407e-06,1793247456519692544
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.146905795,658,634,877,784,808,652,629,652,0.405133072144,-0.00548901655151,0.059900120977,0.999999978156,0.00015944376812,-0.00013493756557,-7.5492908592e-06,1793247456536359168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.721436938,658,634,877,784,808,652,629,652,0.405581941018,-0.00549605524472,0.0599049686524,0.999999980838,0.000146647842354,-0.000129158885905,-1.17166248015e-05,1793247456553025792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.301872419,745,715,679.698127581,658.301872419,634,877,784,808,652,629,652,0.40605805041,-0.00550469418672,0.0599234727694,0.999999991875,7.82100311387e-05,-9.95736144082e-05,-1.47440446772e-05,1793247456569692416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.887865089,745,715,679.112134911,658.887865089,634,877,784,808,652,629,652,0.406559798445,-0.00551483927274,0.0599548302362,0.999999997821,-4.25975441218e-05,-4.75817397454e-05,-1.66985855445e-05,1793247456586359296
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.529565793,744.529565793,715,679.470434207,658.529565793,633.529565793,877,784.470434207,808.470434207,652,629,652,0.407104202789,-0.00551959496322,0.0599839444242,0.999999998006,-6.04227233148e-05,6.93928528761e-08,-1.83705737539e-05,1793247456603026432
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.051634188,744.051634188,715,679.948365812,658.051634188,633.051634188,877,785,808.948365812,652,629,652,0.407656958148,-0.0055213410094,0.0600092854314,0.999999997638,-5.18738851824e-05,4.02768002832e-05,-2.02894211342e-05,1793247456619694080
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.627163003,744.627163003,715,679.372836997,658.627163003,633.627163003,877,785,808.372836997,652,629,652,0.408192026051,-0.00550549053738,0.0600017289338,0.999999999295,-2.29919069482e-05,1.53804596765e-05,-2.53913906043e-05,1793247456636360192
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.201810361,659,634,877.201810361,785,808.201810361,652,629,652.201810361,0.408746014573,-0.00549308421526,0.05999178844,0.999999999455,-2.74617840517e-06,-1.22517741341e-05,-3.05236147711e-05,1793247456653026304
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.774836309,659,634,877.774836309,785,808.774836309,652,629,652.774836309,0.409334806175,-0.00548701315917,0.0599774627578,0.999999998352,1.61379062519e-06,-4.49164844284e-05,-3.57114899986e-05,1793247456669692672
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,784.641735618,809,652,629,653,0.409959508153,-0.00549429555437,0.0599760241502,0.999999997841,-2.16628936675e-05,-4.7570017594e-05,-3.9823221275e-05,1793247456686359552
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,784.051574498,809,652,629,653,0.410607454112,-0.00551022134818,0.059982927066,0.999999996617,-6.28281822881e-05,-3.07979676735e-05,-4.3238387748e-05,1793247456703026432
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.47055393,745,715,680,659,634,878.52944607,784,809,651.47055393,629,653,0.411300960829,-0.00551794307108,0.0599885625446,0.999999995844,-7.62875656846e-05,-1.54208950905e-05,-4.74759957347e-05,1793247456719693568
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.108732256,745,715,680,659.108732256,633.891267744,878.891267744,784,809,651.108732256,629.108732256,652.891267744,0.411995720841,-0.00552217429279,0.0599884253948,0.999999996514,-6.77373195241e-05,-1.14690460201e-05,-4.74634567681e-05,1793247456736360704
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.684329584,745,715,680,659.684329584,633.315670416,878.315670416,784,809,651.684329584,629.684329584,652.315670416,0.412677129117,-0.00551479150109,0.0599640233568,0.999999997729,2.39243561403e-05,-5.60002682825e-05,-2.88638498054e-05,1793247456753027072
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.740418395,745,715,680,659.740418395,633,878,784.259581605,809,652,629.740418395,652,0.413378135556,-0.00550527540176,0.0599376194415,0.999999992514,5.69663682065e-05,-0.000105978795683,-2.22463043194e-05,1793247456769693440
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.165585659,745,715,680,659.165585659,633,878,784.834414341,809,652,629.165585659,652,0.414102943245,-0.00549316848751,0.0599087843258,0.999999986153,1.88172339556e-05,-0.000162572856295,-3.01804749925e-05,1793247456786360064
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.422204968,745,715,680,659.422204968,633.422204968,878,784.577795032,809,652,629.422204968,652.422204968,0.41491602917,-0.00549610792905,0.059931995884,0.999999992331,1.04361304138e-05,-0.00011893591502,-3.29281995202e-05,1793247456803026688
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.985185464,745,715,679.985185464,659.985185464,634,878,784,809,652,630,652.985185464,0.415764648327,-0.00550512923742,0.0599759598265,0.999999998708,1.3851620382e-05,-3.55905985033e-05,-3.35497074273e-05,1793247456819693312
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.408649683,745,715,679.408649683,659.408649683,634,878,784,809,652,630,652.408649683,0.416606252237,-0.00551392130148,0.0600083119828,0.999999999298,7.86889068887e-06,1.5671919098e-05,-3.3119934426e-05,1793247456836360192
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.167344889,659,634,878,784.167344889,809.167344889,652,630,652,0.417445704315,-0.00552060202242,0.0600266055741,0.999999998416,-1.08658735699e-06,4.52761821997e-05,-3.34061304319e-05,1793247456853027328
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679.742022078,659,634,878,784.742022078,809.742022078,652,630,652,0.418279918595,-0.00552214354642,0.0600106793697,0.999999998977,-1.7277998103e-05,2.21623302952e-05,-3.54350586823e-05,1793247456869694464
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.676515129,715,680.323484871,659.323484871,634,878.323484871,784.676515129,810,652,630,652.323484871,0.41912018557,-0.00552035685807,0.0599895634597,0.999999999032,-1.84901136255e-05,-1.3370059315e-05,-3.76099732206e-05,1793247456886360832
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.089524926,715,680.910475074,659.910475074,634,878.910475074,784.089524926,810,652,630,652.910475074,0.41996538293,-0.00551585906386,0.0599642201038,0.999999997434,-7.50034649668e-06,-5.90183796279e-05,-3.99038055865e-05,1793247456903026432
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.490821064,744.490821064,715,680.509178936,659.509178936,634,879,784.490821064,810,651.509178936,630,653,0.420799073318,-0.00551350815137,0.0599278056226,0.999999992413,-8.34150311167e-06,-0.0001152348319,-4.2724087164e-05,1793247456919692800
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.069858117,634,878.930141883,784.930141883,810,651.069858117,630,653,0.421637018934,-0.0055120821058,0.059892769103,0.999999984562,-1.15064117215e-05,-0.000169371423378,-4.53514928102e-05,1793247456936359424
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.648070893,634,878.351929107,784.351929107,810,651.648070893,630,653,0.422520998505,-0.00551457477255,0.0598822584685,0.999999979896,-1.60876581689e-05,-0.000194533139524,-4.58859215777e-05,1793247456953026048
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680.224547725,660,633.775452275,878.224547725,784,810,651.775452275,630,653,0.423455553985,-0.00551908162587,0.0599043496531,0.999999985601,-2.27751808323e-05,-0.000161951662998,-4.52984135855e-05,1793247456969692928
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680.798324807,660,633.201675193,878.798324807,784,810,651.201675193,630,653,0.424468768124,-0.00552672105673,0.0599771450338,0.999999997758,-3.27385042268e-05,-3.95647004983e-05,-4.29660055555e-05,1793247456986359552
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680.61556106,660,633,879,784,810,651,630.38443894,653,0.425447419623,-0.00552718674529,0.0600182568135,0.999999998064,-3.45896558563e-05,2.92406754228e-05,-4.26598557496e-05,1793247457003026176
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.022760416,660,633,879,784,810,651,630.977239584,653,0.426407338488,-0.00552376434343,0.0600421964233,0.999999996162,-3.20440985863e-05,6.90054095459e-05,-4.34519160778e-05,1793247457019692800
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633,879,784,810,651.556613497,630.443386503,653,0.427350393143,-0.00552472107844,0.0600265963279,0.999999996623,-3.48006022835e-05,5.90912240701e-05,-4.52925856743e-05,1793247457036359168
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.865705953,744.865705953,715,680,660,633,879,784,810.134294047,652,630,653,0.428275652672,-0.00552592288101,0.0600058505999,0.999999997463,-3.77144548067e-05,3.75490817733e-05,-4.73419009505e-05,1793247457053026048
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.291813622,744.291813622,715,680,660,633,879,784,810.708186378,652,630,653,0.429144865709,-0.00552735453696,0.0599734289732,0.999999997814,-4.04503962563e-05,-1.5563017001e-05,-4.99371443589e-05,1793247457069692672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.282321173,715,680.282321173,660,633,879,784,810.717678827,651.717678827,630,652.717678827,0.430021325583,-0.00552678856987,0.0599423337069,0.999999995321,-4.19601002152e-05,-7.01560034114e-05,-5.17181336532e-05,1793247457086359296
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.856706766,715,680.856706766,660,633,879,784,810.143293234,651.143293234,630,652.143293234,0.430905282335,-0.00552415603926,0.0599126105775,0.99999998975,-4.22012475669e-05,-0.000126280981314,-5.2656767769e-05,1793247457103025920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.554350512,680.554350512,660,633,879,784,810,651.445649488,630,652,0.43189316319,-0.00552666634813,0.0599468528237,0.999999995625,-4.78837107534e-05,-6.09221755233e-05,-5.24041710169e-05,1793247457119692544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.038327501,745,714.038327501,680.038327501,660,633,879,784,810.038327501,652,630,652.038327501,0.43290860348,-0.00553063866955,0.0599993341058,0.999999996448,-5.44540381501e-05,3.82094093151e-05,-5.17576141243e-05,1793247457136359168
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.615491891,745,714.615491891,680.615491891,660,633,879,784,810.615491891,652,630,652.615491891,0.433825849455,-0.00553113221726,0.0600093188296,0.999999996549,-4.80789837037e-05,4.44419605866e-05,-5.11391797774e-05,1793247457153025792
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,744.808874318,715,681,660,633,879.191125682,784.191125682,811.191125682,652,630,652.808874318,0.4347249507,-0.00553183622797,0.0600057474904,0.999999996948,-4.95973717304e-05,3.13070614118e-05,-5.16205915264e-05,1793247457169692672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,744.236295231,715,681,660,633,879.763704769,784.763704769,811.763704769,652,630,652.236295231,0.435587838407,-0.00553296028607,0.0599751206242,0.99999999608,-6.68696880297e-05,-2.04818777249e-05,-5.42971033595e-05,1793247457186359296
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.652371917,744.347628083,715,680.652371917,660,633,879.652371917,784.652371917,811.652371917,651.652371917,630.347628083,652,0.436447235376,-0.00553330612511,0.0599494411241,0.999999993831,-6.95519319443e-05,-6.59529401869e-05,-5.61355173323e-05,1793247457203026176
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.060477437,744.939522563,715,680.060477437,660,633,879.060477437,784.060477437,811.060477437,651.060477437,630.939522563,652,0.437304179472,-0.00553310513607,0.0599272379713,0.99999999071,-6.19822285665e-05,-0.000106984643046,-5.73850283656e-05,1793247457219692800
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.519566089,745,715,680.519566089,660,633,879,784,811,651.519566089,630.480433911,652.519566089,0.438118311015,-0.00553028679626,0.0599040355897,0.999999984754,-5.08347636925e-05,-0.000156757860885,-5.7749310153e-05,1793247457236359424
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.902307301,745,715,681,660,633,879,784,811.097692699,652,630.097692699,653,0.438943325623,-0.00552834782107,0.059892277986,0.999999980042,-4.58132422151e-05,-0.000185634947798,-5.79314277656e-05,1793247457253026048
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+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.819875356,660,633,879,784,812,652,630.180124644,653,0.441550970222,-0.00553690155465,0.0600215719518,0.999999995503,-7.36853802887e-05,2.33731793028e-05,-5.49360944668e-05,1793247457303025920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.407391663,745,715,681.592608337,660.407391663,633,879,784,812,651.592608337,630,653,0.442335969006,-0.00553926217583,0.060014937708,0.99999999611,-6.70076339261e-05,1.46655152107e-05,-5.54562587649e-05,1793247457319692800
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998320822,745,715,681,661,633,879,784,812,651,630.001679178,653,0.443098723731,-0.00554188074425,0.0599863568436,0.999999996126,-6.19129638461e-05,-2.5679203085e-05,-5.70619223183e-05,1793247457336359168
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+190,3.166666667,POSE1_TO_POSE2_PRESS,765.155061863,745,715,681,660.844938137,633,879,784,812.155061863,651.155061863,631,653,0.444546636497,-0.00554569346381,0.059963251373,0.999999993276,-8.38849046859e-05,-5.61811526687e-05,-5.70451059823e-05,1793247457369692928
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.729841629,745,715,681,660.270158371,633,879,784,812.729841629,651.729841629,631,653,0.445246680905,-0.00554813568653,0.0599701041253,0.999999993007,-9.10039160751e-05,-4.95823403786e-05,-5.69642189963e-05,1793247457386359552
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.689610575,745,715,681,660.310389425,633,879,784,812.689610575,652,631,652.689610575,0.445896424821,-0.00554979221281,0.05996269318,0.999999991573,-9.26427201043e-05,-7.0183801999e-05,-5.78436920288e-05,1793247457403026176
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.103947345,745,715,681,660.896052655,633,879,784,812.103947345,652,631,652.103947345,0.4465015589,-0.00555075193154,0.0599426322466,0.999999987625,-8.94213143742e-05,-0.000114908260127,-5.95748755616e-05,1793247457419692800
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.479719501,745,715,681,660.520280499,633,879,784,812.479719501,651.520280499,631,652.479719501,0.447159740569,-0.00555105657179,0.0599431934673,0.99999998822,-9.2191707e-05,-0.000106163972491,-6.15592651088e-05,1793247457436359424
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.362377506,715,681.637622494,660,633,879,784,813,651,631,653,0.448444129956,-0.0055518331033,0.0599812039219,0.999999992565,-9.72041489549e-05,-3.66796616643e-05,-6.38412854954e-05,1793247457469692928
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,744.212132128,715,681.787867872,660,633,879,784,813,651,631,653,0.449015685962,-0.00555360139158,0.0599904091179,0.99999999259,-0.000100085927332,-2.48772011162e-05,-6.46757387662e-05,1793247457486359296
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,744.784954725,715,681.215045275,660,633,879,784,813,651,631,653,0.449504691273,-0.00555740814541,0.0599637933261,0.999999989634,-0.000105737965743,-7.18752477623e-05,-6.62183390388e-05,1793247457503026176
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.3682938,660,632.6317062,879,784,813,651,631,653,0.449957956614,-0.00555735759191,0.059924083448,0.999999982889,-0.000107319171981,-0.000133799607927,-6.92922938855e-05,1793247457519692800
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.957953953,660,632.042046047,879,784,813,651,631,653,0.450389740167,-0.00555498856897,0.0598765032471,0.999999970698,-0.000106453567543,-0.000204695569316,-7.32866833214e-05,1793247457536359168
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714,682,659,632,880,783.405153341,813.594846659,651.594846659,631,653,0.453375944874,-0.00556273225955,0.0598634532237,0.999999974449,-7.91207243739e-05,-0.000206661287394,-4.6193357637e-05,1793247457669692672
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,714.744051386,682,659,632,879.255948614,783.744051386,813.255948614,652,631,653,0.453847623799,-0.00554030605124,0.0598328482305,0.999999959234,-9.59800353847e-05,-0.000263593924315,-5.32769739931e-05,1793247457703025920
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681.679597366,659,631.679597366,879,783.679597366,813,652,631,653,0.45406439796,-0.00554230264073,0.059826401743,0.999999956554,-9.63553701984e-05,-0.000273073455283,-5.5118582883e-05,1793247457719692800
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658.392224139,631,879.607775861,783,814,652,630.607775861,653,0.455160715355,-0.00556626780485,0.0598444108177,0.999999964951,-0.000107458636891,-0.000235011545098,-5.76156058406e-05,1793247457836359424
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+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714.831244768,682,658,631,879.831244768,783,814,652,631,652.831244768,0.455608774214,-0.00556135503271,0.0598146704969,0.999999955263,-9.80512873094e-05,-0.000276483274963,-5.84587575137e-05,1793247458136359424
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,744.581597503,715,682,658,631,879.581597503,783,813.581597503,651.581597503,631,653,0.455609319785,-0.00556280919932,0.0598146162657,0.999999955032,-0.000100292749814,-0.000276597261507,-5.8060186788e-05,1793247458153025792
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,744.010209499,715,682,658,631,879,783,813,651.010209499,630.989790501,653,0.455609982331,-0.00556533967392,0.0598146326983,0.99999995469,-0.000104406615487,-0.000276394345023,-5.76585757986e-05,1793247458169692672
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,744.586382574,715,682,658,631,879,783,813,651.586382574,630.413617426,653,0.45561011819,-0.0055624037401,0.0598147607699,0.999999955094,-9.99319594913e-05,-0.000276468337226,-5.82263914552e-05,1793247458186359296
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714.837559303,682,658.162440697,631,879,783,813.162440697,652,630.162440697,653,0.45561011225,-0.00556048006718,0.0598146596238,0.999999955331,-9.65933144406e-05,-0.000276726809004,-5.85685689086e-05,1793247458203025920
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714.261793707,682,658.738206293,631,879,783,813.738206293,652,630.738206293,653,0.455609745507,-0.00556113205834,0.0598139752413,0.999999955186,-9.6145211377e-05,-0.000277454682878,-5.83366174971e-05,1793247458219692544
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714.321070115,682,658.678929885,631,879.321070115,783,814,652,631,653,0.455609792728,-0.00556096019059,0.0598130160016,0.999999954966,-9.62103781412e-05,-0.000278194297471,-5.84847831677e-05,1793247458236359424
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714.909852497,682,658.090147503,631,879.909852497,783,814,652,631,653,0.455610185117,-0.00556010137897,0.0598118275827,0.999999954682,-9.67035157119e-05,-0.000278943701586,-5.89498952138e-05,1793247458253026048
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658,631,879.510407881,783,813.510407881,652,630.510407881,652.510407881,0.455609685479,-0.00556069757374,0.0598120320809,0.999999954526,-9.82647535095e-05,-0.000279024739708,-5.86215696867e-05,1793247458269692672
+245,4.083333333,HOLD_POSE2,766,745,715,682,658,631,879,783,813,652,630,653,0.45560879883,-0.00555782551683,0.0598107293152,0.999999954127,-9.40249286522e-05,-0.000281863192361,-5.88108187567e-05,1793247458313330688
+246,4.100000000,HOLD_POSE2,766,745,715,682.57637811,658,631,879.57637811,783,813,652,630,653,0.45561117707,-0.00555859961588,0.0598116415506,0.999999954481,-9.58398386111e-05,-0.000280042272653,-5.85516543837e-05,1793247458329997312
+247,4.116666667,HOLD_POSE2,765.843683178,745,714.843683178,682.843683178,658,631,879.843683178,783,813.156316822,652,630,653,0.455612543967,-0.00555929292596,0.0598122397808,0.999999954672,-9.72026343509e-05,-0.000278931607427,-5.83587018296e-05,1793247458346663936
+248,4.133333333,HOLD_POSE2,765.253870109,745,714.253870109,682.253870109,658,631,879.253870109,783,813.746129891,652,630,653,0.455611106222,-0.00555976219304,0.0598119672153,0.999999954422,-9.7311631869e-05,-0.000279790612428,-5.83493671728e-05,1793247458363330560
+249,4.150000000,HOLD_POSE2,765.329672273,745,714.329672273,682,658,631,879.329672273,783,813.670327727,652,630.329672273,653,0.455610211728,-0.00556143484271,0.0598116207897,0.999999954097,-9.81681441279e-05,-0.000280727706064,-5.79801018853e-05,1793247458379997440
+250,4.166666667,HOLD_POSE2,765.908475898,745,714.908475898,682,658,631,879.908475898,783,813.091524102,652,630.908475898,653,0.455609727767,-0.00556401688134,0.0598112185484,0.999999953713,-9.9589548769e-05,-0.000281723810759,-5.73388391877e-05,1793247458396664064
+251,4.183333333,HOLD_POSE2,765.515953123,745,715,682,658,631,879.515953123,783,813.484046877,652,631,653,0.455611472294,-0.00556164296898,0.0598123926359,0.99999995441,-9.87480096186e-05,-0.000279462157441,-5.7706074767e-05,1793247458413330688
+252,4.200000000,HOLD_POSE2,765.058605977,745,715,682,658,631,879,783,814,652,630.941394023,653,0.455613292006,-0.00555870308221,0.0598136087561,0.999999955167,-9.75501197563e-05,-0.000277069918473,-5.81631663731e-05,1793247458429997312
+253,4.216666667,HOLD_POSE2,765.629626634,745,715,682,658,631,879,783,814,652,630.370373366,653,0.455612109376,-0.00555895352993,0.0598126036717,0.999999954744,-9.69528177863e-05,-0.000278885943492,-5.7749706403e-05,1793247458446663936
+254,4.233333333,HOLD_POSE2,766,745,715,682,658,631,879.209043306,783,814,652,630.209043306,653,0.455611413334,-0.00555949843362,0.0598118320022,0.999999954417,-9.70228797843e-05,-0.000280073027982,-5.75396158276e-05,1793247458463330816
+255,4.250000000,HOLD_POSE2,766,745,715,682,658,631,879.803958056,783,814,652,630.803958056,653,0.455611615482,-0.00556058687134,0.0598114911915,0.999999954273,-9.83248239054e-05,-0.000280099155747,-5.77049233124e-05,1793247458479998464
+256,4.266666667,HOLD_POSE2,766,745,715,682,658,631,880,783,814,652,631,653.387493658,0.455612941368,-0.00556104222568,0.0598121037405,0.999999954536,-9.90599924807e-05,-0.000278902516843,-5.76966536836e-05,1793247458496665088
+257,4.283333333,HOLD_POSE2,766,745,715,682,658,631,880,783,814,652,631,653.965436575,0.45561481956,-0.00556118642596,0.0598131848563,0.999999954996,-9.95165966561e-05,-0.000277104900344,-5.7603072653e-05,1793247458513331200
+258,4.300000000,HOLD_POSE2,766,745,714.46185243,682,658,631,880,783,813.46185243,651.46185243,630.46185243,653.46185243,0.455614303054,-0.00556070872349,0.0598127445017,0.999999954889,-9.84449305027e-05,-0.000277864170401,-5.76351672165e-05,1793247458529997824
+259,4.316666667,HOLD_POSE2,766,745,714.114385464,682,658.114385464,631,879.885614536,783,813,651.114385464,630,653,0.455613437152,-0.00556020432321,0.0598121390759,0.999999954703,-9.74542874129e-05,-0.000278876068056,-5.76693256594e-05,1793247458546664448
+260,4.333333333,HOLD_POSE2,766,745,714.70675199,682,658.70675199,631,879.29324801,783,813,651.70675199,630,653,0.455611747743,-0.00555975366215,0.0598112482746,0.999999954338,-9.72084267427e-05,-0.000280263999739,-5.76787039715e-05,1793247458563331072
+261,4.350000000,HOLD_POSE2,766,745.292437062,714.707562938,682,659,631,879,783,813.292437062,652,630.292437062,653,0.455611256217,-0.00556037810355,0.0598106489832,0.999999953934,-9.86603775775e-05,-0.00028124760516,-5.7434386667e-05,1793247458579997696
+262,4.366666667,HOLD_POSE2,766,745.871571776,714.128428224,682,659,631,879,783,813.871571776,652,630.871571776,653,0.455611939066,-0.00556205654731,0.0598103354803,0.999999953484,-0.000101776818446,-0.000281834819597,-5.69413528106e-05,1793247458596664320
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,659,631,879,783,814,652,631,653,0.455611717048,-0.00556041048318,0.0598106953081,0.999999954142,-9.76531894918e-05,-0.000280887502544,-5.72847212307e-05,1793247458629320960
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.426537098,714.426537098,682.573462902,659,631,879,783,813.426537098,652,631,653,0.455611680638,-0.00555943883512,0.0598105557416,0.999999954106,-9.52232214781e-05,-0.000281891067571,-5.70715166287e-05,1793247458645987328
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.151934594,682.848065406,658.848065406,631,879.151934594,783,813,652,630.848065406,653,0.455612006474,-0.00555875007798,0.0598107162849,0.999999954182,-9.40293293603e-05,-0.000282033746253,-5.702246715e-05,1793247458662653696
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.744947336,682.255052664,658.255052664,631,879.744947336,783,813,652,630.255052664,653,0.455613383938,-0.00555888257537,0.0598117480711,0.999999954591,-9.64238628125e-05,-0.000279677203992,-5.74499729345e-05,1793247458679320064
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,880,783,813.330094168,652,630,653,0.455613730077,-0.00555841359986,0.0598121120842,0.999999954803,-9.65496533927e-05,-0.000278820136336,-5.77201123234e-05,1793247458695986432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,880,783,813.909304698,652,630,653,0.455613297894,-0.00555749070313,0.0598119721404,0.99999995487,-9.49632628037e-05,-0.000279094696386,-5.78714899886e-05,1793247458712652544
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.484599152,715,681.515400848,658,631,880,783,813.515400848,652,630.484599152,652.515400848,0.455613744405,-0.00555834287845,0.059811354703,0.999999954672,-9.59208183148e-05,-0.000279489363687,-5.78047481803e-05,1793247458729319424
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.939520605,715,681.060479395,658,631,879.939520605,783,813,652,631,652.060479395,0.455613667079,-0.00555929071206,0.0598104967298,0.999999954355,-9.71172665261e-05,-0.000280227068935,-5.77217767658e-05,1793247458745986048
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.352204278,715,681.647795722,658,631,879.352204278,783,813,652,631,652.647795722,0.455607605535,-0.00555820110256,0.0598083156693,0.999999953432,-9.62805320005e-05,-0.000283758740328,-5.7850181341e-05,1793247458762652928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,879,783,813.231813366,652,630.768186634,653,0.455595208555,-0.00555744538229,0.0598023310739,0.999999950791,-9.58151590638e-05,-0.000293023111958,-5.80948564216e-05,1793247458779319808
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,879,783,813.81088944,652,630.18911056,653,0.455573320919,-0.00555718983725,0.0597906486802,0.999999945367,-9.59060959103e-05,-0.000310875223571,-5.85137078474e-05,1793247458795987200
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,879,783,813.611543432,652,630,653,0.455534018458,-0.00555598710898,0.059774351936,0.999999936536,-9.51423764164e-05,-0.000338194478088,-5.91572124121e-05,1793247458812654080
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,879,783,813.034708003,652,630,653,0.455486270817,-0.00555432505186,0.0597558174988,0.999999925302,-9.39641982004e-05,-0.000370104748094,-5.9909660687e-05,1793247458829320704
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.54095648,715,682,658,631,879.54095648,783,813.54095648,652,630,653,0.455426476271,-0.00555295498528,0.0597378614864,0.999999917499,-9.26186103256e-05,-0.000390784735692,-6.09123095964e-05,1793247458845986816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.880756018,715,682.119243982,658.119243982,631,880,783,813.880756018,652,630.119243982,653,0.455363246483,-0.00555132058622,0.0597215916185,0.99999991004,-9.12479249114e-05,-0.000409606987027,-6.17809551187e-05,1793247458862652928
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.291841693,715,682.708158307,658.708158307,631,880,783,813.291841693,652,630.708158307,653,0.45528952398,-0.00554857142153,0.0597118171614,0.999999904176,-8.982060153e-05,-0.000423944000319,-6.20587054419e-05,1793247458879320064
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.707842185,745,715,682.707842185,658.707842185,631,879.707842185,783,813,652,630.707842185,653,0.455207004144,-0.00554475471267,0.0597061881294,0.999999900659,-8.72666527378e-05,-0.000432676620074,-6.21014640775e-05,1793247458895986944
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.128670984,745,715,682.128670984,658.128670984,631,879.128670984,783,813,652,630.128670984,653,0.455115841885,-0.00553988925756,0.0597046315287,0.999999899582,-8.36059166985e-05,-0.00043590352987,-6.19133688438e-05,1793247458912653824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.44726838,745,715,682,658,631,879,783,813,652,630,653,0.455007206928,-0.00553673697528,0.059703797173,0.999999899053,-8.13345258184e-05,-0.000437671066794,-6.10060075344e-05,1793247458929320192
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.022300073,631,879.044600147,783,813,652,630,653,0.454892626393,-0.00553412691221,0.0597033347701,0.999999898745,-7.94645655835e-05,-0.000438875145267,-5.98664752912e-05,1793247458945987072
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.597713945,631,880.19542789,783,813,652,630,653,0.45475435725,-0.00553282909173,0.0597069814359,0.999999900054,-7.77089132807e-05,-0.000436442196849,-5.80638141059e-05,1793247458962653696
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.822131424,631,880.644262848,783,813,652,630,653,0.454607058066,-0.00553014910503,0.0597100413573,0.999999900975,-7.48041079761e-05,-0.000435056808555,-5.63967774123e-05,1793247458979320320
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.230961076,631,879.461922151,783,813,652,630,653,0.454438776377,-0.00552425746776,0.0597117378978,0.999999900995,-6.92290899815e-05,-0.000436105568692,-5.50448828803e-05,1793247458995986688
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766.35280283,745,715,682,658,631,879,783,813,652,630.35280283,653,0.454247255706,-0.00551751279756,0.0597140557469,0.999999901807,-6.24342196768e-05,-0.000435441128363,-5.36611810971e-05,1793247459012652800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766.931817887,745,715,682,658,631,879,783,813,652,630.931817887,653,0.454040834508,-0.00551022117403,0.0597167719706,0.999999903092,-5.48571966283e-05,-0.000433678208011,-5.22570848157e-05,1793247459029319168
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766.495015884,745,715,682,658.504984116,631,879.504984116,783,813,652,630.495015884,652.495015884,0.453797920133,-0.00550303050093,0.0597092727381,0.999999898428,-5.10208728082e-05,-0.000444888287205,-5.11325230096e-05,1793247459045985536
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.859032141,745,715,682,659.140967859,632,880,784,812,651,631,653,0.451225136868,-0.00544433693003,0.0597574315376,0.999999934245,1.10035725385e-05,-0.000361169986944,-3.07314383449e-05,1793247459179319040
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.314938435,660,632.314938435,879.685061565,784,812,651.314938435,631,653,0.450305982901,-0.0054282270693,0.0597355480899,0.999999922323,2.80893834045e-05,-0.000392277272474,-2.61337290563e-05,1793247459212652800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.892910554,660,632.892910554,879.107089446,784,812,651.892910554,631,653,0.449801175436,-0.0054215576413,0.0597227830654,0.999999915449,3.33899132999e-05,-0.000409179445665,-2.36338033044e-05,1793247459229320192
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.366281703,633,879.633718297,784,811.366281703,651,631,652.633718297,0.448189085387,-0.00545984914373,0.0597441176071,0.999999930199,-1.42272283578e-05,-0.000373221101326,-1.0278643771e-05,1793247459279319296
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.283977307,744.283977307,715,681,659.283977307,633,879,784.283977307,810,652,630,652,0.426947224838,-0.00541136356056,0.0597476590587,0.999999913482,0.000165594824019,-0.000380707010994,2.59959189289e-05,1793247459712654336
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,878,785,809,652,629,652,0.407457183577,-0.00539743583386,0.0598323635258,0.999999933829,0.000233161338962,-0.000277104923445,3.45018002299e-05,1793247460129320704
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,878,785,809,652,629,652,0.406907095571,-0.00539044473188,0.0598164985677,0.999999929053,0.000224690214609,-0.000300536159371,3.29718820785e-05,1793247460145986816
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.614439395,745,715,680,658.614439395,634,877.614439395,785,809,652.385560605,629,652,0.40641473274,-0.00538691951318,0.0598157607989,0.999999930111,0.000221927261384,-0.000299103168698,3.2616203448e-05,1793247460162653184
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.037269368,745,715,680,658.037269368,634,877.037269368,785,809,652.962730632,629,652,0.405951057145,-0.0053851167102,0.0598225406846,0.999999934116,0.000222001058234,-0.000285313575256,3.28440784772e-05,1793247460179319296
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.537955866,744.462044134,715,680,658.537955866,634,877,785,809,652.462044134,629,652.537955866,0.405517033046,-0.00538280318443,0.0598255155155,0.999999933677,0.000233253778436,-0.00027776236478,3.29780837268e-05,1793247460195985664
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.884295636,744.115704364,715,680,658.884295636,634,877,785,809,652,629,653,0.405088510637,-0.00538066825123,0.059823644956,0.999999931037,0.000243444958883,-0.00027850549109,3.30838384448e-05,1793247460212652288
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.295685198,744.704314802,715,680,658.295685198,634,877,785,809,652,629,653,0.404674108715,-0.00537940735456,0.0598030439063,0.999999920677,0.000246143413313,-0.000311389079046,3.31006121629e-05,1793247460229319680
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.288141866,745,715,680,658,634.288141866,877.288141866,785,808.711858134,652,629.288141866,653,0.404271366945,-0.00537716555881,0.0597803309253,0.999999907435,0.000249534902787,-0.000349003724931,3.25453803943e-05,1793247460245986816
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.867140454,745,715,680,658,634.867140454,877.867140454,785,808.132859546,652,629.867140454,653,0.403880395216,-0.00537393362208,0.0597554861157,0.999999890749,0.000253625956743,-0.000391394002312,3.14127537201e-05,1793247460262653440
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.555226548,745,715,680,658.444773452,634.555226548,877.555226548,785,808.444773452,652,629.555226548,652.555226548,0.403577455097,-0.00537976062346,0.0597630704134,0.99999989878,0.000248734313508,-0.000373512778434,3.25441789253e-05,1793247460279320064
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.021959122,745,715,680,659,634,877.021959122,785,808.978040878,652,629,652,0.403302183185,-0.00538825864443,0.0597806018418,0.999999913363,0.000241173579796,-0.000337529177735,3.44093260274e-05,1793247460295986432
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.598118937,745,715,680,659,634,877.598118937,785,808.401881063,652,629,652,0.403063569725,-0.00539608234484,0.0598054469641,0.999999927661,0.000233762847543,-0.000297668709536,3.77758884675e-05,1793247460312652800
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.822005947,715,680,658.822005947,634,877.822005947,785,808,652,629,652,0.402830445145,-0.00539986979037,0.0598259566619,0.999999937302,0.000230656525884,-0.000265624696068,4.04690484157e-05,1793247460329319168
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.233563551,715,680,658.233563551,634,877.233563551,785,808,652,629,652,0.402609977774,-0.00539434976581,0.0598364690119,0.999999939284,0.000237476033067,-0.000251605172637,4.16093643543e-05,1793247460345986048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.650651672,744.349348328,715,679.650651672,658,634,877,785,808.349348328,652,629,652,0.402389024006,-0.00538958688467,0.0598353550381,0.999999936587,0.000242302006943,-0.000257572914944,4.20832502966e-05,1793247460362652672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.071379647,744.928620353,715,679.071379647,658,634,877,785,808.928620353,652,629,652,0.402167750094,-0.00538532231714,0.059826589197,0.99999993062,0.000245815936957,-0.000276695280235,4.21185252595e-05,1793247460379319040
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.503996704,745,715,679.503996704,658,634,877,785,808.496003296,652.503996704,629,652,0.401991433205,-0.00538724038809,0.0598227031678,0.999999941114,0.00018488578154,-0.000287718367502,2.84120255087e-05,1793247460395986176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.919452507,744.919452507,715,679.919452507,658,634,877.080547493,785,808,652.919452507,629,652,0.401826975683,-0.00539013191694,0.0598202752351,0.999999948391,0.000124517229175,-0.000295773290763,1.51909841577e-05,1793247460412653824
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.332066306,744.332066306,715,679.332066306,658,634,877.667933694,785,808,652.332066306,629,652,0.401697384818,-0.00539368128421,0.0598227068332,0.999999949357,0.000124673131366,-0.000292313824989,1.71770792887e-05,1793247460429320192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.251733724,744.251733724,715,679.251733724,658,634,878,784.748266276,808,652,629,652,0.401577193318,-0.00539411093158,0.0598250880071,0.999999950013,0.000127901084799,-0.000288558185902,1.86924749874e-05,1793247460445986304
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.830869585,744.830869585,715,679.830869585,658,634,878,784.169130415,808,652,629,652,0.401469226537,-0.00539048310506,0.0598274035995,0.999999950232,0.000135124514556,-0.000284417347233,1.95956840187e-05,1793247460462652672
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,877.592073028,784.407926972,808,652,629,652,0.401378736573,-0.00538853234476,0.059829998618,0.999999951084,0.000139426894927,-0.000279228018068,2.05910526319e-05,1793247460479319296
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,877.015873042,784.984126958,808,652,629,652,0.401295455932,-0.00538727338726,0.0598327089018,0.999999952179,0.000142524319771,-0.000273606178606,2.16244377589e-05,1793247460495985664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.441693118,745,715,679.441693118,658,634,877,785,808.558306882,652,629,652,0.401227121381,-0.00538470732663,0.0598295939634,0.999999949859,0.000147968638509,-0.000279112234142,2.20136406946e-05,1793247460512652288
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.136356499,745,715,679.136356499,658,634,877,785,809,652,629,652,0.401162869874,-0.00538252974482,0.0598261448911,0.99999994725,0.000153284141319,-0.000285490311445,2.23648415114e-05,1793247460529319424
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.727503468,745,715,679.727503468,658,634,877,785,809,652,629,652,0.401110824419,-0.00538177135796,0.0598221317661,0.999999944132,0.000157948260829,-0.00029372544778,2.26501579447e-05,1793247460545986560
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.687669396,715,680,658,634,877,785,808.687669396,652,629,652.312330604,0.401069545107,-0.00538105246783,0.059820214942,0.999999939245,0.000180932333939,-0.000297073848009,2.28260065263e-05,1793247460562653440
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,744.108246654,715,680,658,634,877,785,808.108246654,652,629,652.891753346,0.401037472547,-0.00538036735356,0.0598200907869,0.999999931749,0.000219582869577,-0.000296243315403,2.29082427618e-05,1793247460579320576
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.467049033,715,680,658,634,877,785,808,652,629,652.532950967,0.401017329905,-0.00538010906368,0.0598224198013,0.999999923883,0.000258296753473,-0.000291512602284,2.31985300463e-05,1793247460595986688
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.95762912,745,715,680,658,634,877,785,808,652,629,652,0.401000400466,-0.00538007892055,0.0598252015421,0.99999991553,0.000294123281276,-0.000286140403576,2.35509330314e-05,1793247460612652544
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.369763395,745,715,680,658,634,877,785,808,652,629,652,0.400989553565,-0.0053817235846,0.0598265560694,0.999999916565,0.000292589830314,-0.000284045106648,2.4087678973e-05,1793247460629319424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.214992698,745,715,680,658,634,877,784.785007302,808,652,629,652,0.400979923887,-0.00538215355407,0.0598275619908,0.999999916956,0.000292074835286,-0.000283168194201,2.43950573844e-05,1793247460645986048
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.794476791,745,715,680,658,634,877,784.205523209,808,652,629,652,0.400972357847,-0.00538052417107,0.0598279768975,0.999999916267,0.000293286496308,-0.000284356889981,2.43135737619e-05,1793247460662652672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.626320278,745,715,679.626320278,658,634,877,784.373679722,808,652,629,652,0.400967729249,-0.0053800569253,0.0598283145536,0.999999916091,0.000293688202851,-0.000284571103632,2.4165817189e-05,1793247460679319808
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.047271888,745,715,679.047271888,658,634,877,784.952728112,808,652,629,652,0.400964715025,-0.00538022837247,0.059828609754,0.9999999162,0.000293644770743,-0.000284249756749,2.39816380175e-05,1793247460695987200
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,785,808,652,629,652,0.400962917915,-0.0053811954179,0.059828132517,0.999999916711,0.000292407368063,-0.000283726505924,2.39650948133e-05,1793247460712653312
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.102098607,744.897901393,715,679,658,633.897901393,876.897901393,785,808,652,629,652,0.400961528956,-0.00538216693233,0.0598278419893,0.999999917268,0.000291143168961,-0.00028306150183,2.40013251534e-05,1793247460729319424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.691128611,744.308871389,715,679,658,633.308871389,876.308871389,785,808,652,629,652,0.400961570553,-0.00538282246064,0.0598287694009,0.999999917875,0.000290257364207,-0.000281806043027,2.42181740537e-05,1793247460745985536
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,744.275792584,715,679.275792584,658,633.275792584,876.275792584,785,808,652,629,652,0.400961920817,-0.00538295682953,0.0598298037358,0.999999918263,0.000290299210947,-0.000280367238001,2.43772383196e-05,1793247460762652160
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,744.855643135,715,679.855643135,658,633.855643135,876.855643135,785,808,652,629,652,0.400962611382,-0.00538251662659,0.0598309559523,0.99999991841,0.000291363782053,-0.000278726295839,2.44725957568e-05,1793247460779318784
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.568270972,744.568270972,715,679.568270972,658,634,877,785,808,652,629,652,0.400963470147,-0.00538377633848,0.0598325899995,0.999999919568,0.000289544956817,-0.000276436484954,2.47296549958e-05,1793247460795986432
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.006531737,715,679.006531737,658,634,877,784.993468263,808,651.993468263,629,652,0.400964364116,-0.00538555888409,0.0598343604985,0.999999921029,0.000286802238532,-0.000273969250161,2.50319010221e-05,1793247460812654336
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.578284448,715,679.578284448,658,634,877,784.421715552,808,651.421715552,629,652,0.40096347968,-0.00538382365561,0.0598341178094,0.999999920818,0.000286819206704,-0.000274761086787,2.460605474e-05,1793247460829320960
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.156160978,634,877,784.156160978,808,651.156160978,629,652,0.400962735658,-0.00538261329525,0.0598337560482,0.999999920502,0.00028726169392,-0.000275479447895,2.42420602908e-05,1793247460845987328
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.751249937,634,877,784.751249937,808,651.751249937,629,652,0.400962386301,-0.00538287820309,0.0598330596063,0.999999919893,0.000288900204734,-0.000275991288348,2.40519153176e-05,1793247460862654208
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.663169445,634,877,785,808,652,629,652,0.400963075226,-0.00538324028887,0.0598337256966,0.999999920175,0.000288780826176,-0.000275090171954,2.41150982084e-05,1793247460879320576
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.084418003,634,877,785,808,652,629,652,0.400964509872,-0.00538367217049,0.0598353703946,0.999999921092,0.000287398883473,-0.000273174231406,2.43602280857e-05,1793247460895986944
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.509033997,808,652,629,652,0.400964437277,-0.00538256416478,0.0598354672626,0.999999920781,0.000288562714369,-0.000273110580681,2.41013673046e-05,1793247460912653056
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.932771612,715,680,658,634,877,784,808,652,628.932771612,652,0.400963968073,-0.00538159245302,0.0598352583981,0.999999920433,0.00028945566109,-0.000273463087701,2.38212571877e-05,1793247460929319168
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.345261343,715,680,658,634,877,784,808,652,628.345261343,652,0.400962421484,-0.00538371064384,0.05983472908,0.999999921431,0.000284887726078,-0.000274588255753,2.40427738947e-05,1793247460945985792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.239474886,715,680,658.239474886,634,877,784.239474886,807.760525114,652,628.239474886,652,0.400961626138,-0.00538474189894,0.0598343335696,0.999999921942,0.00028260946272,-0.000275073397956,2.41146161539e-05,1793247460962652928
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.820257541,715,680,658.820257541,634,877,784.820257541,807.179742459,652,628.820257541,652,0.400961901491,-0.00538422401652,0.0598341287665,0.999999921784,0.000283594516787,-0.000274646353673,2.3973137321e-05,1793247460979319808
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.604079879,634,877,785,807.395920121,652,629,652,0.400961495469,-0.00538460090355,0.0598338528683,0.999999921754,0.000283194866045,-0.000275158351953,2.40931595642e-05,1793247460995986688
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.030712102,634,877,785,807.969287898,652,629,652,0.400960784062,-0.00538537881781,0.059833545106,0.99999992178,0.000282174603637,-0.000276091220258,2.43303841261e-05,1793247461012653568
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.454413936,657.454413936,634,877,784.454413936,808,652,629,652,0.400962938677,-0.00538428676106,0.0598351159825,0.99999992168,0.000285458310284,-0.000273062054552,2.43224214685e-05,1793247461029319936
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5ea37b84925c8a6be6a36ac7be403e149cf54cf
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120187,1.04966610706
+1,0.016666667,pose1_baseline,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120187,1.04966610706
+2,0.033333333,pose1_baseline,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120187,1.04966610706
+3,0.050000000,pose1_baseline,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120187,1.04966610706
+4,0.066666667,pose1_baseline,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120187,1.04966610706
+5,0.083333333,pose1_baseline,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120187,1.04966610706
+6,0.100000000,pose1_baseline,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120187,1.04966610706
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+359,5.983333333,pose2_to_pose3_retreat,0.586312008519,-7.19693072665e-05,1.05004262095,0.556883796588,0.00860247763617,1.04966600791
+360,6.000000000,pose2_to_pose3_retreat,0.585990555345,-7.2116392906e-05,1.05004233787,0.556562345358,0.00860233701199,1.04966572216
+361,6.016666667,pose2_to_pose3_retreat,0.585694624423,-7.2106176916e-05,1.05004248268,0.556266415155,0.0086023498678,1.04966587162
+362,6.033333333,pose2_to_pose3_retreat,0.585427912373,-7.20582448188e-05,1.05004256354,0.555999702773,0.0086023964141,1.0496659464
+363,6.050000000,pose2_to_pose3_retreat,0.585189370304,-7.21229230116e-05,1.05004247805,0.555761161202,0.00860233329366,1.04966585798
+364,6.066666667,pose2_to_pose3_retreat,0.584979120325,-7.22584866648e-05,1.05004237493,0.555550912332,0.0086022017104,1.04966575993
+365,6.083333333,pose2_to_pose3_retreat,0.584782504299,-7.22655226794e-05,1.05004241054,0.555354295504,0.00860219156916,1.04966578645
+366,6.100000000,pose2_to_pose3_retreat,0.584595093125,-7.21169184977e-05,1.05004246054,0.55516688351,0.0086023377902,1.04966584571
+367,6.116666667,pose2_to_pose3_retreat,0.584417990105,-7.20601634655e-05,1.05004242286,0.55498977976,0.00860239200909,1.04966580673
+368,6.133333333,pose2_to_pose3_retreat,0.584252413283,-7.20565804327e-05,1.05004233676,0.55482420231,0.00860239332699,1.04966571751
+369,6.150000000,pose2_to_pose3_retreat,0.584101979502,-7.21035484539e-05,1.05004237154,0.554673769391,0.0086023493185,1.04966575317
+370,6.166666667,pose2_to_pose3_retreat,0.583968262058,-7.21125202033e-05,1.05004250102,0.554540052957,0.00860234388737,1.04966588535
+371,6.183333333,pose2_to_pose3_retreat,0.58385340679,-7.19997330195e-05,1.05004250007,0.554425196112,0.00860245132793,1.04966588453
+372,6.200000000,pose2_to_pose3_retreat,0.583752809031,-7.21473764406e-05,1.05004250341,0.554324600107,0.00860230955479,1.04966588603
+373,6.216666667,pose2_to_pose3_retreat,0.583665763431,-7.21367218617e-05,1.05004224784,0.554237554885,0.00860232211142,1.04966564513
+374,6.233333333,pose2_to_pose3_retreat,0.583588838785,-7.2076598242e-05,1.05004238305,0.554160628722,0.00860237682377,1.04966577425
+375,6.250000000,pose2_to_pose3_retreat,0.583521266128,-7.20533013728e-05,1.05004250152,0.554093055968,0.00860239948966,1.04966588568
+376,6.266666667,pose2_to_pose3_retreat,0.583463022578,-7.2085374204e-05,1.05004250115,0.554034813992,0.00860237274646,1.04966588509
+377,6.283333333,pose2_to_pose3_retreat,0.583412961919,-7.21101372094e-05,1.05004246437,0.553984754108,0.00860235075776,1.04966585155
+378,6.300000000,pose2_to_pose3_retreat,0.583371428715,-7.20472927008e-05,1.05004234953,0.553943218965,0.00860240715281,1.04966573975
+379,6.316666667,pose2_to_pose3_retreat,0.583337738094,-7.21083511223e-05,1.0500423767,0.553909529436,0.00860234958482,1.04966576196
+380,6.333333333,pose2_to_pose3_retreat,0.583311914692,-7.21982296007e-05,1.05004236318,0.553883708168,0.00860226705977,1.04966575102
+381,6.350000000,pose2_to_pose3_retreat,0.583292743822,-7.20416628358e-05,1.05004235773,0.553864534455,0.00860241401078,1.04966574624
+382,6.366666667,pose2_to_pose3_retreat,0.583278851038,-7.20304617829e-05,1.0500424113,0.553850640947,0.00860242270326,1.04966579866
+383,6.383333333,pose2_to_pose3_retreat,0.583268984082,-7.21418555382e-05,1.050042486,0.553840775279,0.00860231555425,1.04966587051
+384,6.400000000,pose2_to_pose3_retreat,0.583261616717,-7.21299726459e-05,1.0500424522,0.553833407127,0.0086023243367,1.04966582681
+385,6.416666667,pose2_to_pose3_retreat,0.583256333752,-7.20953174215e-05,1.05004241964,0.553828124257,0.00860235935303,1.0496657952
+386,6.433333333,pose2_to_pose3_retreat,0.583252400886,-7.20540390527e-05,1.05004239047,0.553824191851,0.00860240243094,1.04966577152
+387,6.450000000,pose2_to_pose3_retreat,0.583249899295,-7.21116751125e-05,1.0500424698,0.553821691306,0.00860234833477,1.04966585065
+388,6.466666667,pose2_to_pose3_retreat,0.583248434244,-7.21462583035e-05,1.05004251723,0.553820226876,0.00860231584837,1.04966589793
+389,6.483333333,pose2_to_pose3_retreat,0.583247739028,-7.21288780013e-05,1.05004247602,0.553819531223,0.00860233173431,1.04966585638
+390,6.500000000,pose2_to_pose3_retreat,0.583247487712,-7.21224022699e-05,1.05004246076,0.553819279745,0.00860233765563,1.04966584099
+391,6.516666667,pose2_to_pose3_retreat,0.583247421738,-7.21207023113e-05,1.05004245675,0.55381921373,0.00860233921005,1.04966583695
+392,6.533333333,pose2_to_pose3_retreat,0.58324708303,-7.21119747208e-05,1.05004243618,0.553818874803,0.00860234719045,1.04966581621
+393,6.550000000,pose2_to_pose3_retreat,0.583246854952,-7.21060977761e-05,1.05004242233,0.553818646579,0.00860235256425,1.04966580225
+394,6.566666667,pose2_to_pose3_retreat,0.583246757606,-7.21035894173e-05,1.05004241642,0.553818549169,0.00860235485786,1.04966579629
+395,6.583333333,pose2_to_pose3_retreat,0.583246730716,-7.21028965412e-05,1.05004241478,0.553818522262,0.00860235549141,1.04966579464
+396,6.600000000,pose2_to_pose3_retreat,0.583246683536,-7.21016808395e-05,1.05004241192,0.553818475052,0.00860235660303,1.04966579175
+397,6.616666667,pose2_to_pose3_retreat,0.583246666123,-7.21012321528e-05,1.05004241086,0.553818457628,0.00860235701331,1.04966579069
+398,6.633333333,pose2_to_pose3_retreat,0.583246551721,-7.20982843423e-05,1.05004240391,0.553818343153,0.00860235970875,1.04966578368
+399,6.650000000,pose2_to_pose3_retreat,0.583246422891,-7.20946338318e-05,1.05004241727,0.553818214253,0.00860236312703,1.04966579706
+400,6.666666667,pose2_to_pose3_retreat,0.583246420128,-7.20945367442e-05,1.05004241876,0.55381821149,0.0086023632221,1.04966579855
+401,6.683333333,pose2_to_pose3_retreat,0.583246306349,-7.20905379836e-05,1.05004248013,0.553818097684,0.00860236713747,1.04966586013
+402,6.700000000,pose2_to_pose3_retreat,0.583246101545,-7.20833401521e-05,1.0500425906,0.55381789283,0.00860237418521,1.04966597099
+403,6.716666667,pose2_to_pose3_retreat,0.583245870561,-7.20752222282e-05,1.0500427152,0.553817661791,0.00860238213386,1.04966609601
+404,6.733333333,pose2_to_pose3_retreat,0.583245650637,-7.20785442452e-05,1.05004267991,0.55381744197,0.00860237909539,1.04966605922
+405,6.750000000,pose2_to_pose3_retreat,0.583245616735,-7.20798171619e-05,1.05004266387,0.553817408095,0.0086023778968,1.04966604282
+406,6.766666667,pose2_to_pose3_retreat,0.583245552281,-7.20702533918e-05,1.05004267174,0.553817343238,0.00860238622597,1.04966605368
+407,6.783333333,pose2_to_pose3_retreat,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120188,1.04966610706
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5459125c99ab4609e483601b26a171210de6b82b
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a3943a57515bc098b852501d6dbafed6b306f06d0885dfba610d11e58135355
+size 26043150
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..078a6fa234002b816f5aac08c843928a91c43191
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+30,0.500000000,BASELINE,765.592064036,744.592064036,715,679,658,634,877,785,808,652,629,652,0.400964253127,-0.00538496890257,0.0598382553032,0.999999923975,0.000281599226609,-0.000268647297322,2.40879564346e-05,1793247461685527552
+31,0.516666667,BASELINE,765.012819572,744.012819572,715,679,658,634,877,785,808,652,629,652,0.400965973074,-0.00538489977413,0.0598390034345,0.999999923537,0.000284223716988,-0.00026752015448,2.40153734013e-05,1793247461702194432
+32,0.533333333,BASELINE,765,744.561631151,715,679,658,634,877,785,808,652,629,652,0.400964341164,-0.00538487715003,0.0598385298248,0.999999924064,0.000281233659732,-0.000268729909726,2.37422347675e-05,1793247461718861056
+33,0.550000000,BASELINE,765.136485998,745,715,679,658,634,877,785,808,652,629,652,0.400963416706,-0.00538462274358,0.0598383271913,0.999999924413,0.000279458515853,-0.0002692985612,2.35665836064e-05,1793247461735528192
+34,0.566666667,BASELINE,765.712993381,745,715,679,658,634,877,785,808,652,629,652,0.400965017593,-0.00538361769371,0.0598390873118,0.999999924141,0.000282009836608,-0.000267629825714,2.37198589612e-05,1793247461752195072
+35,0.583333333,BASELINE,766,745,715,679,658,634,877,785,808,652,629,652,0.400964939643,-0.00538384522308,0.0598388587248,0.999999923981,0.000282429655467,-0.000267772592902,2.38541732313e-05,1793247461768861952
+36,0.600000000,BASELINE,766,745,715,679,658,634,877,785,808,652,629,652,0.40096319732,-0.00538529471281,0.0598376499484,0.999999923934,0.000280736335813,-0.000269711256309,2.39696897865e-05,1793247461785527808
+37,0.616666667,BASELINE,765.531716472,744.531716472,715,679.468283528,658,634,877.468283528,784.531716472,808,652,628.531716472,652,0.400963295156,-0.00538608707081,0.0598374735789,0.999999924543,0.000278597792057,-0.000269687296725,2.38118706273e-05,1793247461802194688
+38,0.633333333,BASELINE,765,744.046218985,715,679.953781015,658,634,877.953781015,784.046218985,808,652,628.046218985,652,0.400963905968,-0.00538663287563,0.0598376152645,0.999999925231,0.000276717907273,-0.000269084215303,2.36263904192e-05,1793247461818861312
+39,0.650000000,BASELINE,765,744.620908296,715,679.379091704,658,634,877.379091704,784.620908296,808,652,628.620908296,652,0.400965442648,-0.00538612351619,0.0598386223223,0.999999925119,0.000278990655479,-0.00026712768872,2.38583466711e-05,1793247461835527680
+40,0.666666667,BASELINE,765.199982549,745,715,679.199982549,658,634,877,785,808,652,629,652,0.400966150944,-0.0053859554418,0.0598392449465,0.999999925003,0.000280384344952,-0.000266080970235,2.40737384825e-05,1793247461852194304
+41,0.683333333,BASELINE,765.787555314,745,715,679.787555314,658,634,877,785,808,652,629,652,0.400965253736,-0.00538644881893,0.059839122492,0.999999924895,0.000280074312813,-0.000266797569313,2.4257026404e-05,1793247461868861696
+42,0.700000000,BASELINE,765.629823433,745,715,680,658,634,877,785,808,652,629,652,0.40096498941,-0.00538579777627,0.0598391061633,0.99999992464,0.000280896710248,-0.0002668892477,2.42291713065e-05,1793247461885528576
+43,0.716666667,BASELINE,765.050006368,745,715,680,658,634,877,785,808,652,629,652,0.400965083503,-0.00538449861929,0.0598391499363,0.999999924301,0.000282360431645,-0.000266627017424,2.40817404882e-05,1793247461902194944
+44,0.733333333,BASELINE,765,745,715,679.471915748,658,634,877.528084252,785,808,652,629,652,0.400964473589,-0.00538449027151,0.059838584782,0.999999923591,0.000283584399207,-0.000267971267366,2.42922400517e-05,1793247461918861312
+45,0.750000000,BASELINE,765,744.894663994,715,679,658,634,877.894663994,784.894663994,808,652,629,652,0.40096391343,-0.00538471072489,0.0598381041133,0.999999923205,0.000283910305545,-0.000269047672456,2.44535042963e-05,1793247461935527936
+46,0.766666667,BASELINE,765,744.320421268,715,679,658,634,877.320421268,784.320421268,808,652,629,652,0.400963870548,-0.00538540734845,0.0598382553817,0.99999992443,0.000280339197088,-0.000268256778918,2.424520796e-05,1793247461952194816
+47,0.783333333,BASELINE,765,744.260424177,715,679.260424177,658,634,876.739575823,784.260424177,808,652,629,652,0.400964302833,-0.00538578664539,0.0598387622299,0.999999925075,0.000279127088091,-0.000267120236889,2.41987719692e-05,1793247461968861696
+48,0.800000000,BASELINE,765,744.849604896,715,679.849604896,658,634,876.150395104,784.849604896,808,652,629,652,0.400965334962,-0.00538576535288,0.0598397179583,0.999999924995,0.000280892952915,-0.000265547352002,2.43566666238e-05,1793247461985529088
+49,0.816666667,BASELINE,765,745,715,680,658,634,876.431189044,785,807.568810956,652,629,652,0.400965318783,-0.00538572824167,0.0598391295058,0.999999924931,0.000280990783883,-0.000265718798958,2.39952091543e-05,1793247462002195968
+50,0.833333333,BASELINE,765.010038493,745,715,680,658,634,877,785,807.010038493,652,629,652,0.400964941595,-0.00538568471685,0.0598380340983,0.999999924858,0.000280567525562,-0.000266487178687,2.34758071396e-05,1793247462018862080
+51,0.850000000,BASELINE,765.581565438,745,715,680,658,634,877,785,807.581565438,652,629,652,0.400964469427,-0.00538558572265,0.0598381869916,0.999999923974,0.000282976426107,-0.000267202856558,2.4078708316e-05,1793247462035528448
+52,0.866666667,BASELINE,766,745,715,679.841682828,658,634,877,785,808,652,629,652,0.400964436123,-0.00538539238336,0.059838541361,0.999999923522,0.000284407158728,-0.000267339173,2.44426777318e-05,1793247462052195072
+53,0.883333333,BASELINE,766,745,715,679.250650647,658,634,877,785,808,652,629,652,0.400965602332,-0.00538494117853,0.0598394464078,0.999999924268,0.000283164347108,-0.000265891969549,2.41535950319e-05,1793247462068862208
+54,0.900000000,BASELINE,766,745,715,679.333678675,658,634,877,785,808,652,629,652,0.40096596989,-0.00538535382482,0.0598396890536,0.999999924994,0.000281303051337,-0.000265144146059,2.40792710797e-05,1793247462085529088
+55,0.916666667,BASELINE,766,745,715,679.91307211,658,634,877,785,808,652,629,652,0.400965749336,-0.00538640259502,0.0598394439196,0.999999925702,0.000278986315413,-0.000264911333007,2.41630914811e-05,1793247462102195968
+56,0.933333333,BASELINE,765.507773658,745,715,680,658,634,877,784.507773658,808,652,629,652,0.400964849338,-0.00538594458805,0.0598391844392,0.999999925447,0.000279033910934,-0.000265850052335,2.38581220315e-05,1793247462118862336
+57,0.950000000,BASELINE,765,745,715,679.929318112,658,634,877,784.070681888,808.070681888,652,629,652,0.400964070105,-0.00538509416074,0.059838982679,0.999999924986,0.000279844416656,-0.000266757649374,2.35761501685e-05,1793247462135528960
+58,0.966666667,BASELINE,765,745,715,679.35553544,658,634,877,784.64446456,808.64446456,652,629,652,0.400965004113,-0.0053833436818,0.0598392097859,0.999999924266,0.000283114616614,-0.000265971802274,2.39463491825e-05,1793247462152195840
+59,0.983333333,BASELINE,765,745,715,679,658,634,877,785,808.776219594,652,629,652,0.40096576886,-0.00538248425827,0.0598395605748,0.999999924057,0.000284527248902,-0.000265237024119,2.4068854565e-05,1793247462168862720
+60,1.000000000,BASELINE,765,745,715,679,658,634,877,785,808.187889844,652,629,652,0.40096625787,-0.00538307640778,0.0598401128477,0.999999924694,0.000282913812142,-0.00026458543968,2.37878548347e-05,1793247462185529600
+61,1.016666667,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400965529416,-0.00538318512915,0.059839485172,0.999999924514,0.000282543123697,-0.0002656713175,2.3679664644e-05,1793247462202196224
+62,1.033333333,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400964229718,-0.0053830670219,0.0598383038544,0.999999923947,0.000282755543426,-0.000267572427425,2.36525581756e-05,1793247462218862592
+63,1.050000000,BASELINE,765,745,715,679.547123667,658,634,877,785,808,652,629,652,0.400963389286,-0.00538492311427,0.0598379002942,0.99999992413,0.000281205313811,-0.000268488745609,2.40480750676e-05,1793247462235529728
+64,1.066666667,BASELINE,765,745,715,680,658,634,877,785,808,652,629,652,0.400962662629,-0.00538657916929,0.0598377331254,0.999999924354,0.000279637802261,-0.000269262160715,2.43471878586e-05,1793247462252196352
+65,1.083333333,BASELINE,765,745,715,680,658,634,877,785,808,652,629,652,0.400962282126,-0.00538712840158,0.059838316769,0.999999924614,0.000278320922237,-0.000269673868618,2.42076022261e-05,1793247462268862464
+66,1.100000000,BASELINE,765,745,715,680,658,634,877,784.718080302,807.718080302,652,629,652,0.400962683302,-0.00538689551276,0.0598388123092,0.999999924796,0.000278447865082,-0.000268870096598,2.41541900969e-05,1793247462285529088
+67,1.116666667,BASELINE,765,745,715,680,658,634,877,784.126683507,807.126683507,652,629,652,0.400963942564,-0.00538580405114,0.0598392111339,0.99999992489,0.000280159763276,-0.000266732032549,2.41953748628e-05,1793247462302196224
+68,1.133333333,BASELINE,765,745,715,680,658,634,877,784,807.452915427,652,629,652,0.400964402288,-0.00538522697522,0.0598389166435,0.999999924781,0.000280901360444,-0.000266381988463,2.39437510443e-05,1793247462318862592
+69,1.150000000,BASELINE,765.029213423,745,715,679.970786577,658,634,877,784.029213423,808,652,629,652,0.400964656801,-0.00538486763172,0.059838470436,0.999999924655,0.000281265798676,-0.000266496151875,2.36391584585e-05,1793247462335528704
+70,1.166666667,BASELINE,765.603927624,745,715,679.396072376,658,634,877,784.603927624,808,652,629,652,0.400965149372,-0.00538595559045,0.0598387204406,0.999999925223,0.000279526741338,-0.000266176785292,2.38359823215e-05,1793247462352195328
+71,1.183333333,BASELINE,766,745,715,679,658,634,877,785,808.177955262,652,629,652,0.40096497572,-0.00538662516583,0.0598384723078,0.999999925365,0.000278585265286,-0.000266624986794,2.39108554322e-05,1793247462368861952
+72,1.200000000,BASELINE,766,745,715,679,658,634,877,785,808.75046081,652,629,652,0.400963324966,-0.00538636713038,0.0598371197388,0.999999924563,0.000279412131799,-0.000268774987908,2.37153476802e-05,1793247462385529088
+73,1.216666667,BASELINE,765.662755687,745,715,679,658,634,877,784.662755687,808.662755687,652,629,652,0.400962506818,-0.00538580373494,0.0598368946842,0.99999992414,0.000280310414419,-0.000269425915334,2.35722395522e-05,1793247462402195712
+74,1.233333333,BASELINE,765.064940391,745,715,679,658,634,877,784.064940391,808.064940391,652,629,652,0.400962331982,-0.0053850044039,0.059837540801,0.999999924011,0.00028126387647,-0.00026891858706,2.34696178754e-05,1793247462418861824
+75,1.250000000,BASELINE,765,745,715,679,658,634,877,784.515535011,808,652,629,652,0.400964608712,-0.00538584085907,0.0598392404992,0.999999925036,0.000280218252835,-0.000266156365093,2.3804084095e-05,1793247462435528448
+76,1.266666667,BASELINE,765,745,715,679,658,634,877.09296419,785,807.90703581,652,629,652,0.400966364432,-0.0053865134972,0.0598405196789,0.999999925862,0.000279209474777,-0.00026407527497,2.41162869381e-05,1793247462452194816
+77,1.283333333,BASELINE,765,745,715,679,658,634,877.665579282,785,807.334420718,652,629,652,0.400963890491,-0.00538531236662,0.0598389667113,0.999999924985,0.000279647788888,-0.000266926334196,2.4038788928e-05,1793247462468860928
+78,1.300000000,BASELINE,765.245722163,745,715,679,658,634,877.754277837,785,807.245722163,652,629,652,0.400962987624,-0.005385602963,0.0598382714624,0.999999924881,0.000279168070356,-0.00026782722439,2.39315819522e-05,1793247462485527296
+79,1.316666667,BASELINE,765.836433879,745,715,679,658,634,877.163566121,785,807.836433879,652,629,652,0.400964290518,-0.00538798791764,0.0598387804356,0.999999925867,0.000277399450268,-0.000265990111671,2.37826641229e-05,1793247462502193920
+80,1.333333333,BASELINE,765.581427561,745,715,679.418572439,658,634,877,785,808.418572439,652,628.581427561,652,0.400964902927,-0.00538747928687,0.0598393531772,0.999999925801,0.000278274170621,-0.000265312728448,2.38853828749e-05,1793247462518860800
+81,1.350000000,BASELINE,765.002571856,745,715,679.997428144,658,634,877,785,808.997428144,652,628.002571856,652,0.400965250929,-0.00538586262032,0.0598399503376,0.999999925331,0.000280161100899,-0.000265079438408,2.4084460403e-05,1793247462535527424
+82,1.366666667,BASELINE,765.574414079,745,715,679.425585921,658,634,877,785,808.425585921,652,628.574414079,652,0.400964280614,-0.0053858968246,0.0598392498076,0.999999925637,0.000278145408662,-0.000266101560423,2.34674663999e-05,1793247462552194048
+83,1.383333333,BASELINE,765.846410423,744.846410423,714.846410423,679,658,634,876.846410423,785,808,652,628.846410423,652,0.400963576049,-0.00538564584893,0.0598387017826,0.999999925529,0.000277758749473,-0.000266937115703,2.3154750867e-05,1793247462568860672
+84,1.400000000,BASELINE,765.261056128,744.261056128,714.261056128,679,658,634,876.261056128,785,808,652,628.261056128,652,0.400963635084,-0.00538457247575,0.0598385987533,0.99999992425,0.000282000521914,-0.000267232452419,2.37076485511e-05,1793247462585527296
+85,1.416666667,BASELINE,765,744,714.32085268,679,658.32085268,634,876.32085268,785,808,652,628.32085268,652,0.400964509943,-0.00538438682877,0.0598393129956,0.999999924368,0.000282627483193,-0.000266105599811,2.39465088133e-05,1793247462602193920
+86,1.433333333,BASELINE,765,744,714.899987876,679,658.899987876,634,876.899987876,785,808,652,628.899987876,652,0.400966041532,-0.00538491579067,0.0598406851318,0.999999925613,0.000280344565064,-0.000263833902026,2.39325727258e-05,1793247462618860544
+87,1.450000000,BASELINE,765,744,715,679.47930283,658.52069717,634,877,785,808,652,629,652,0.400965415516,-0.00538638755405,0.0598406077999,0.999999926061,0.000277976665397,-0.000264629445103,2.40563522487e-05,1793247462635527168
+88,1.466666667,BASELINE,765,744.058129515,715,679.941870485,658,634,876.941870485,785,808,652,629,652.058129515,0.400964444075,-0.00538786095675,0.0598402221308,0.999999926241,0.000276080251952,-0.000265917867018,2.41963706504e-05,1793247462652193536
+89,1.483333333,BASELINE,765,744.632288646,715,679.367711354,658,634,876.367711354,785,808,652,629,652.632288646,0.400964404318,-0.00538760186865,0.0598397851928,0.999999925567,0.000278526808142,-0.000265897989457,2.42253537054e-05,1793247462668860160
+90,1.500000000,BASELINE,765,745,715,679.211334221,658,634,876.211334221,785,808,652,629,652.788665779,0.400964671341,-0.00538727668029,0.059839677946,0.999999925246,0.000279969766278,-0.000265591223229,2.42131699858e-05,1793247462685526784
+91,1.516666667,BASELINE,765,745,715,679.799083147,658,634,876.799083147,785,808,652,629,652.200916853,0.40096548478,-0.00538683375849,0.0598401579239,0.999999925561,0.000279625180871,-0.000264773469657,2.41276626941e-05,1793247462702193408
+92,1.533333333,BASELINE,765,745,715,680,658,634,877,785,808,652,629,652,0.400965205688,-0.00538708306635,0.0598400351566,0.999999925708,0.000278779923673,-0.000265109238821,2.41534554654e-05,1793247462718860288
+93,1.550000000,BASELINE,765,745,715,680,658,634,877,785,808,652,629,652,0.400964359147,-0.00538769191167,0.0598395993292,0.999999925765,0.000277674622268,-0.000266044136667,2.42370564247e-05,1793247462735527168
+94,1.566666667,BASELINE,765,745,715,680,658,634,877,784.460876435,808,652,629,652,0.400964835284,-0.00538721926022,0.0598398080606,0.999999926095,0.000277013309698,-0.000265513119575,2.40256508946e-05,1793247462752194560
+95,1.583333333,BASELINE,765,745,715,679.887329805,658,633.887329805,877,784,808,652,629,652,0.400965051565,-0.00538650316807,0.059839858876,0.999999926177,0.00027701289837,-0.000265221159599,2.38232743872e-05,1793247462768861952
+96,1.600000000,BASELINE,765,745,715,679.312751383,658,633.312751383,877,784,808,652,629,652,0.400963858825,-0.00538507008053,0.059839094803,0.999999925173,0.000279606579629,-0.000266290166565,2.37345708522e-05,1793247462785528832
+97,1.616666667,BASELINE,765.270415219,745,715,679,658,633,877,784.270415219,808,652,629,652,0.400964142932,-0.00538471190585,0.0598392313008,0.999999924836,0.000280996809683,-0.000266081729985,2.38582981908e-05,1793247462802195456
+98,1.633333333,BASELINE,765.863840335,745,715,679,658,633,877,784.863840335,808,652,629,652,0.400966191126,-0.00538563771038,0.0598404435267,0.9999999253,0.000280949521942,-0.000264347392144,2.4235773362e-05,1793247462818861824
+99,1.650000000,BASELINE,765.558465738,745,715,679,658,633.441534262,876.558465738,785,808,652,629,652,0.400965459747,-0.00538474786579,0.05984055681,0.999999924868,0.000281988988673,-0.000264894063304,2.40074871796e-05,1793247462835528448
+100,1.666666667,BASELINE,765.014653057,745,715,679,658,634,876.014653057,785,808,652,629,652,0.400963987875,-0.00538335231455,0.0598403675323,0.999999924197,0.000283317015035,-0.000266044764079,2.36121796415e-05,1793247462852195072
+101,1.683333333,BASELINE,765.591962816,745,715,679,658,634,876.591962816,785,808,652,629,652,0.400965863559,-0.00538329833694,0.0598411255725,0.99999992466,0.000283299455516,-0.000264308464106,2.37297175373e-05,1793247462868861952
+102,1.700000000,BASELINE,766,745,715,679,658,634,877,784.826635356,808,652,629,652,0.400966991706,-0.0053836110989,0.0598413421544,0.999999925055,0.000282949479435,-0.000263173118398,2.38613520696e-05,1793247462885528576
+103,1.716666667,BASELINE,766,745,715,679,658,634,877,784.235369542,808,652,629,652,0.400966317889,-0.00538480789865,0.0598402535336,0.999999925294,0.000281798202308,-0.000263486392943,2.4026966991e-05,1793247462902195456
+104,1.733333333,BASELINE,765.652352538,745,714.652352538,679,658,634,877,784.347647462,808,652,629,652,0.400965918883,-0.00538541391919,0.0598393198861,0.999999925543,0.000280280652098,-0.000264169654016,2.38894130576e-05,1793247462918861824
+105,1.750000000,BASELINE,765.07479077,745,714.07479077,679,658,634,877,784.92520923,808,652,629,652,0.400965701622,-0.00538562923201,0.0598384887291,0.999999925797,0.000278520869538,-0.000265097603212,2.35513604625e-05,1793247462935528448
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633,877,784,808,652,629,652,0.400965753206,-0.0053877484641,0.0598400778082,0.999999926463,0.000276780810807,-0.000264344893634,2.4250847789e-05,1793247462967918848
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679.57414807,658,633.57414807,877.57414807,784.57414807,808.57414807,652,629,652,0.40096394312,-0.00538747956746,0.0598395160788,0.99999992596,0.000277111801849,-0.000265922440978,2.39493988526e-05,1793247462984585984
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.83946788,658,634.16053212,878,785,808.83946788,652,629,651.83946788,0.400963056878,-0.00538721114497,0.0598394387049,0.999999925791,0.00027708214093,-0.000266606563286,2.37378600312e-05,1793247463001253120
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.217946453,658,634.782053547,878,785,808.217946453,652,629,651.217946453,0.400964823577,-0.00538694408402,0.0598407522222,0.999999926585,0.00027601682007,-0.000264725097287,2.37845099786e-05,1793247463017919488
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.375765586,745,715,679.375765586,658,634.624234414,877.624234414,785,808,652,629,651.375765586,0.400966013886,-0.00538709522545,0.0598409049773,0.999999926467,0.000277133546644,-0.000263990283935,2.39335390835e-05,1793247463034586624
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.954459421,745,715,679.954459421,658,634.045540579,877.045540579,785,808,652,629,651.954459421,0.400966892922,-0.00538747221269,0.0598404308749,0.999999925854,0.000279428665028,-0.000263874708384,2.41378569716e-05,1793247463051254016
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.471842482,745,715,679.471842482,658,634,877,784.471842482,808,652,629,652,0.400965611387,-0.00538677058843,0.0598400017143,0.999999925656,0.000279214500404,-0.000264860271439,2.40172243223e-05,1793247463067920384
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.104233789,634,877,784.104233789,808,652,629,652,0.400964498743,-0.00538625578687,0.0598397031489,0.999999925566,0.000278764687905,-0.000265683339637,2.38953156503e-05,1793247463084586752
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.693358284,634,877,784.693358284,808,652,629,652,0.400965030289,-0.00538703867055,0.0598399942479,0.999999925817,0.000278215735898,-0.000265312943242,2.38965926404e-05,1793247463101253120
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.277724833,658.722275167,634,877,785,808,652,629,652,0.400966397553,-0.00538730455981,0.0598405225629,0.999999926028,0.000277910668807,-0.000264833080296,2.39594828609e-05,1793247463117919744
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.856926481,658.143073519,634,877,785,808,652,629,652,0.400968672009,-0.00538700923945,0.0598413083815,0.999999926194,0.000277870344541,-0.000264234388866,2.40892556871e-05,1793247463134586368
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.567577112,658,634,877.432422888,784.567577112,808,652,629,652,0.400984728498,-0.0053871954064,0.0598482452165,0.9999999292,0.000277506651745,-0.000252942426823,2.46971734538e-05,1793247463151252736
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877.993299458,784.006700542,808,652,629,652,0.401005702915,-0.00538755065659,0.059857327874,0.999999933003,0.00027705107758,-0.000237884721167,2.54606711496e-05,1793247463167919616
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877.419299513,784.580700487,808,652,629,652,0.401060261848,-0.0053888481786,0.0598772439701,0.999999940872,0.000277797828217,-0.000201002690718,2.61160160762e-05,1793247463184585984
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.840141394,679,658.159858606,634,877,785,808,652,629,652,0.401117664448,-0.00539051080778,0.0598959867768,0.999999946702,0.000277963960453,-0.000169153617294,2.68155809159e-05,1793247463201252352
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.247002448,679,658.752997552,634,877,785,808,652,629,652,0.40118277453,-0.00539316302273,0.0599115495077,0.999999949984,0.000276556387114,-0.00015094584957,2.76349995142e-05,1793247463217918976
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.676330118,714.323669882,679.323669882,658.676330118,634,877,785,808,652,629,651.676330118,0.401256369274,-0.00539513489752,0.0599232205194,0.999999952676,0.000276133210132,-0.000132737618781,2.7916038536e-05,1793247463234585856
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.121689963,714.878310037,679.878310037,658.121689963,634,877,785,808,652,629,651.121689963,0.401336018656,-0.00539662128257,0.0599321144062,0.999999954853,0.000276412496762,-0.000114529058629,2.78128907626e-05,1793247463251252480
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715,679.530842465,658.469157535,634,877,785,808,652,629,651.469157535,0.401433977601,-0.00540009333381,0.059937041999,0.999999956953,0.000272017648749,-0.000106563296795,2.73053196506e-05,1793247463267919104
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.066817353,715,679,658.933182647,634,877,784.933182647,808,652,629,651.933182647,0.401540027831,-0.00540397948284,0.0599408962131,0.999999958923,0.000266838166789,-0.000101185676419,2.67093871045e-05,1793247463284585728
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.639028523,715,679,658.360971477,634,877,784.360971477,808,652,629,651.360971477,0.401668353395,-0.00540677631936,0.0599450638225,0.999999959985,0.00026566093969,-9.3608368652e-05,2.63048979181e-05,1793247463301252608
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.219480611,657.780519389,634,877,784,808,652,629,651.219480611,0.401803602407,-0.00540982587135,0.0599473718287,0.999999961206,0.000263338805414,-8.71812915148e-05,2.53072082647e-05,1793247463317919488
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.814014916,657.185985084,634,877,784,808,652,629,651.814014916,0.401950682356,-0.00541330726929,0.0599465021005,0.999999962751,0.000259060226616,-8.27197566594e-05,2.3295843566e-05,1793247463334585856
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,657.397879133,634,877,784.397879133,808,652,628.602120867,652,0.402120275102,-0.00541701201738,0.0599469078388,0.999999964456,0.000254314261041,-7.71075906556e-05,2.16157973907e-05,1793247463351252480
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,657.976886022,634,877,784.976886022,808,652,628.023113978,652,0.402300116432,-0.00542081844216,0.0599478942118,0.999999966191,0.000249355525143,-7.09716188561e-05,2.00865782024e-05,1793247463367919616
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.452365369,715,680,658,634,877.547634631,784.452365369,808,652,628.547634631,652,0.402518923641,-0.00542674187736,0.0599510518502,0.999999968302,0.000243110166252,-6.29083560351e-05,1.83208557129e-05,1793247463384586240
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.122559052,715,680,658,634,877.877440948,784,808,652,629,652.122559052,0.402746411203,-0.00543292540999,0.0599531973782,0.999999970499,0.000235782487577,-5.60750679767e-05,1.62730112046e-05,1793247463401253120
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.714802586,715,680,658,634,877.285197414,784,808,652,629,652.714802586,0.403000955546,-0.00543976837918,0.0599511182002,0.999999973238,0.000224512040186,-5.42625325543e-05,1.31816728235e-05,1793247463417919744
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.300125343,808,652,629,652.699874657,0.403274765552,-0.00544664006744,0.0599506384542,0.999999975469,0.000215238305286,-5.1290355022e-05,1.02118182196e-05,1793247463434586112
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.879019758,808,652,629,652.120980242,0.403566470304,-0.00545353843078,0.0599516443283,0.999999977263,0.000207819201807,-4.72410531238e-05,7.35480305533e-06,1793247463451252992
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,808,651.543498292,629,652,0.403874984599,-0.00545898294197,0.0599431203064,0.999999977813,0.000202073925326,-5.9389741482e-05,3.68214437026e-06,1793247463467919360
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.966435715,808,651.033564285,629,652,0.404189736488,-0.00546435945153,0.0599317609112,0.999999977801,0.000196265317747,-7.66620012615e-05,-2.04441533516e-07,1793247463484585984
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.390120162,808,651.609879838,629,652,0.404533539376,-0.00547484752062,0.0599152659404,0.999999977591,0.000182281653745,-0.000107583565409,-4.06572806414e-06,1793247463501252608
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.189760859,634,877,784,808,652,629,652,0.40489668763,-0.00548353397778,0.059902196386,0.999999976595,0.000170783903805,-0.000132578310856,-8.15118767317e-06,1793247463517919232
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.777112242,634,877,784,808,652,629,652,0.405300368619,-0.00548844566236,0.0598963038309,0.999999975855,0.000164494689931,-0.000145155070449,-1.27063384606e-05,1793247463534586112
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.639138189,634,877,784.360861811,808.360861811,652,629,652,0.405758429322,-0.00549684125735,0.0599074862195,0.999999983592,0.000128408893724,-0.000126778487397,-1.59670253576e-05,1793247463551252992
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.057591255,634,877,784.942408745,808.942408745,652,629,652,0.40624974599,-0.00550736743905,0.0599291107933,0.999999993082,7.41009896255e-05,-8.94723812509e-05,-1.84360829488e-05,1793247463567919616
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.483921332,658,634,877,784.483921332,809,652,629,652,0.406784177322,-0.00551553609997,0.0599631157729,0.999999999158,-1.52269486911e-05,-3.22730862392e-05,-2.02863877923e-05,1793247463584586240
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.089109106,745,715,679,658.089109106,634,877,784,809,651.910890894,629,652,0.407323571309,-0.00552146082559,0.0599940163717,0.999999995429,-9.11693398078e-05,1.84507095421e-05,-2.21463111942e-05,1793247463601252352
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.663371994,745,715,679,658.663371994,634,877,784,809,651.336628006,629,652,0.407864183172,-0.00551657929781,0.0600006063,0.999999996775,-7.32769407041e-05,2.20138803403e-05,-2.44288898866e-05,1793247463617918976
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714.754610572,679.245389428,659,634,877,784.245389428,809,651.245389428,629,652,0.408411046896,-0.00550483774801,0.0599965586755,0.999999998434,-4.7749710985e-05,5.44318484918e-06,-2.86932403969e-05,1793247463634585856
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714.161608268,679.838391732,659,634,877,784.838391732,809,651.838391732,629,652,0.408966766829,-0.00548337845306,0.0599774421438,0.999999998509,-1.14071612099e-05,-3.96486711111e-05,-3.57649219413e-05,1793247463651252480
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.580558668,745,714.419441332,680,659,634,877.419441332,784.580558668,809,652,629,652,0.409576106212,-0.00548617325402,0.0599735579927,0.99999999773,-1.3069170316e-05,-5.24754633619e-05,-4.01951682807e-05,1793247463667919360
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.003986787,745,714.996013213,680,659,634,877.996013213,784.003986787,809,652,629,652,0.410205532429,-0.00549805409228,0.059975380176,0.999999997212,-2.8968397031e-05,-5.32151598082e-05,-4.3635883575e-05,1793247463684585984
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.571476979,744.428523021,715,680,659,634,878,784,809,652,629,652,0.410890100256,-0.00551136413099,0.0599838939484,0.999999996068,-7.00510752296e-05,-2.54724928811e-05,-4.80322205287e-05,1793247463701252864
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.849374586,744.150625414,715,680,659,633.849374586,878,784.150625414,809,652,629,652,0.411580326844,-0.00552212312865,0.0599888852633,0.999999993752,-9.87352372271e-05,-8.28534699256e-06,-5.17550469808e-05,1793247463717919232
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.259457593,744.740542407,715,680,659,633.259457593,878,784.740542407,809,652,629,652,0.412285937069,-0.00552541311653,0.0599834676194,0.999999994199,-9.07483416745e-05,-2.24612422998e-05,-5.34942074039e-05,1793247463734585856
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.324375076,877.675624924,784.675624924,809,652,629,652,0.412971584586,-0.00551851582448,0.0599578731285,0.999999995142,-4.90310240349e-05,-7.39480454393e-05,-4.2937617082e-05,1793247463751252480
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.903430748,877.096569252,784.096569252,809,652,629,652,0.413641558611,-0.00550362006828,0.0599164369407,0.999999987587,1.91694765353e-05,-0.000154729221949,-2.27271123825e-05,1793247463767919104
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.47865223,745,715,680,659,634,877,784.47865223,809,652,629,652,0.414419686528,-0.00549302537255,0.0599184319396,0.999999988147,3.62422681182e-05,-0.000147463785356,-2.5424103903e-05,1793247463784585728
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.053334237,633.946665763,877.053334237,784.946665763,809,652,629,652,0.415226221524,-0.00548571869975,0.0599332166458,0.999999991943,4.13130550064e-05,-0.000115676347633,-3.20291146516e-05,1793247463801252608
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.630254267,633.369745733,877.630254267,784.369745733,809,652,629,652,0.41609912208,-0.00550223970512,0.0599882218035,0.999999998937,2.90190562291e-05,-1.61555875781e-05,-3.19889876428e-05,1793247463817919488
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.788052754,660,633.211947246,878.211947246,784,809,652,629,652,0.416958298392,-0.00551593948265,0.0600219650996,0.999999998569,8.83144487044e-06,4.16978502475e-05,-3.2319552888e-05,1793247463834586624
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.197841491,660,633.802158509,878.802158509,784,809,652,629,652,0.417792980879,-0.00552460419033,0.0600177621707,0.999999998804,-2.54439615796e-05,2.51872643967e-05,-3.33116961332e-05,1793247463851253248
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.616815568,745,715,679.383184432,659.616815568,633.616815568,878.616815568,784,809.383184432,651.616815568,629.383184432,652,0.418635267408,-0.00552430377565,0.0600014015788,0.999999999015,-2.64828066315e-05,7.11876535859e-07,-3.55971850402e-05,1793247463867919616
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.040421113,745,715,679.959578887,659.040421113,633.040421113,878.040421113,784,809.959578887,651.040421113,629.959578887,652,0.419481388038,-0.00551948294873,0.0599789108257,0.999999998814,-1.07630450089e-05,-2.77795392583e-05,-3.85348072451e-05,1793247463884585984
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.464890185,715,680,659.535109815,633.535109815,878.535109815,784,809.464890185,651,629.464890185,652,0.420322343022,-0.00551298754697,0.0599473645753,0.999999996199,-8.2069668202e-06,-7.6222158203e-05,-4.15302486034e-05,1793247463901253120
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.113236262,715,680,659.886763738,633.886763738,879,784,809.113236262,651.113236262,629.113236262,652.113236262,0.421157940285,-0.00550770585619,0.0599144965157,0.999999990402,-6.67194878892e-06,-0.000131149786727,-4.41738982092e-05,1793247463917920000
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744.702548623,715,680,659.297451377,633.297451377,879,784,809.702548623,651.702548623,629.702548623,652.702548623,0.42197264988,-0.00550805789731,0.0598789424502,0.999999977531,-5.25592975892e-06,-0.000207016210043,-4.53201860895e-05,1793247463934586624
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.286902304,745,715,680,659.286902304,633.286902304,879,784,810,652,630,652.713097696,0.422895779462,-0.00551406634526,0.0598885560918,0.999999980501,-1.31502158936e-05,-0.000191747530429,-4.5361140424e-05,1793247463951252992
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.866202397,745,715,680,659.866202397,633.866202397,879,784,810,652,630,652.133797603,0.423929405867,-0.005525839546,0.059944202603,0.999999995059,-3.05331416458e-05,-8.35981044322e-05,-4.42755889794e-05,1793247463967919872
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.444267512,634,879,784.444267512,810,651.555732488,630,652.444267512,0.424915462978,-0.00552733911268,0.0599961622756,0.999999998555,-3.22746454638e-05,-2.01657985876e-06,-4.29561253e-05,1793247463984586496
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.978144055,634,879,784.978144055,810,651.021855945,630,653,0.425886025714,-0.00552573763494,0.0600446945383,0.999999996338,-2.955864728e-05,6.86285096666e-05,-4.17090192975e-05,1793247464001252864
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.403231469,634,879,784.403231469,810,651.596768531,630,653,0.426826024355,-0.0055237422225,0.0600345165194,0.999999996411,-3.29177980985e-05,6.44401600578e-05,-4.40705681099e-05,1793247464017919488
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.824079421,745,715,680.175920579,660,634,879,784,810,652,630,653,0.427751029364,-0.00552289582712,0.0600190397443,0.999999997093,-3.57977686522e-05,4.88654265651e-05,-4.63023657491e-05,1793247464034586112
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.234970085,745,715,680.765029915,660,634,879,784,810,652,630,653,0.428640818426,-0.00552474815493,0.0599911176583,0.99999999811,-3.75522771304e-05,6.54722854902e-06,-4.82294135976e-05,1793247464051252736
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.651745091,660,633.651745091,878.651745091,784,810.348254909,652,630,653,0.429528531483,-0.00552559158697,0.0599548739689,0.999999996572,-3.59724888273e-05,-5.55742985716e-05,-4.97365940814e-05,1793247464067919616
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.072424359,660,633.072424359,878.072424359,784,810.927575641,652,630,653,0.430414867084,-0.00552576562038,0.059913108928,0.999999989625,-3.21804069346e-05,-0.000130835258253,-5.0965193885e-05,1793247464084586240
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.501019694,660,633,878.501019694,784.501019694,811.501019694,652,630.501019694,652.498980306,0.431384261039,-0.00552564730797,0.0599325824077,0.999999993974,-4.17705384307e-05,-8.72003951753e-05,-5.19995314956e-05,1793247464101253120
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.07404575,745,715,681,660.07404575,633,879,784.92595425,811.92595425,651.92595425,630.92595425,652.07404575,0.432362899732,-0.00552583148017,0.0599621908225,0.999999996964,-5.07390781533e-05,-2.69818203707e-05,-5.2629421204e-05,1793247464117920256
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.649929235,745,715,681,660.649929235,633,879,784.350070765,811.350070765,651.350070765,630.350070765,652.649929235,0.43332376439,-0.00552834880267,0.0600011879274,0.999999997345,-4.25362805673e-05,3.0499399476e-05,-5.07063179344e-05,1793247464134586624
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.232529842,660.767470158,633,879,784,811,651.232529842,630.232529842,653,0.43425452467,-0.00553013122724,0.0600163053842,0.999999996589,-4.11433641608e-05,5.09787151411e-05,-5.02995132307e-05,1793247464151252992
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681.825543892,660.174456108,633,879,784,811,651.825543892,630.825543892,653,0.435138615158,-0.00553077436143,0.0599944029274,0.999999997271,-5.03076061135e-05,1.40950706312e-05,-5.22433816819e-05,1793247464167919616
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681.59231584,660,633,879,784,811,652,630.59231584,653,0.43601934754,-0.00553261866972,0.0599642028795,0.999999995929,-5.96060151242e-05,-4.01347221767e-05,-5.45741115835e-05,1793247464184586240
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.01470783,660,633,879,784,811,652,630.01470783,653,0.436898680201,-0.00553496363055,0.0599305443747,0.999999990833,-6.89603445994e-05,-0.000101594433738,-5.70660860984e-05,1793247464201253120
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,784,811,651.438940484,630.561059516,653,0.437718168011,-0.00553340960858,0.0599094699405,0.999999986326,-5.45859735285e-05,-0.000145319441056,-5.70168862144e-05,1793247464217919232
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.860389541,745,715,680.860389541,660,633,879,784,811.139610459,651,631,653,0.43854477619,-0.00553207352262,0.0598969636392,0.999999982437,-4.68048464719e-05,-0.000172321744654,-5.69208901085e-05,1793247464234585856
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.272751373,745,715,680.272751373,660,633,879,784,811.727248627,651,631,653,0.439399252492,-0.00553176375158,0.0599108983901,0.999999985623,-6.21719351104e-05,-0.000147145823118,-5.68877972699e-05,1793247464251252992
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.311442323,745,715,680.311442323,660.311442323,633,879,784.311442323,812,651,631,652.688557677,0.44028367455,-0.0055332913328,0.0599502532248,0.999999992279,-7.08352139121e-05,-8.52821155245e-05,-5.61347738811e-05,1793247464267920128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.892652426,745,715,680.892652426,660.892652426,633,879,784.892652426,812,651,631,652.107347574,0.441194035236,-0.00553641040756,0.0600116266448,0.999999995751,-7.36917280105e-05,8.36013237413e-06,-5.47581545302e-05,1793247464284587264
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.526497985,633,879.473502015,784.526497985,812.473502015,651,631,652,0.441992756345,-0.00553890319478,0.0600155441184,0.999999996129,-6.73718789724e-05,1.47322731327e-05,-5.46441646302e-05,1793247464301253376
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879.946886562,784,812.946886562,651.053113438,631,652,0.442765072341,-0.0055411934592,0.0600048452649,0.999999996698,-5.99393065451e-05,-8.25653918585e-07,-5.48711040805e-05,1793247464317919744
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879.378495261,784,812.378495261,651.621504739,631,652,0.443526574757,-0.00554289537437,0.0599786201272,0.999999995841,-6.18789879896e-05,-3.73399532805e-05,-5.56306198735e-05,1793247464334586368
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879.197173852,784,812,652,631,652.197173852,0.444271528407,-0.00554427543752,0.0599628078296,0.999999994348,-6.85049088361e-05,-5.88004308516e-05,-5.61644437362e-05,1793247464351252736
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879.787348994,784,812,652,631,652.787348994,0.444983497667,-0.00554501399472,0.0599677501026,0.999999993588,-8.44713086861e-05,-5.02560674212e-05,-5.62484251372e-05,1793247464367919104
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.629139602,681,660,633,879.629139602,784,812.370860398,652,631,653,0.445661657099,-0.00554520515094,0.0599601511628,0.999999991946,-8.6643950703e-05,-7.28029421283e-05,-5.74457534807e-05,1793247464384585728
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714.049381768,681,660,633,879.049381768,784,812.950618232,652,631,653,0.446320772163,-0.0055450879683,0.0599454880358,0.99999998859,-8.10468738867e-05,-0.000112862821938,-5.92702053821e-05,1793247464401252608
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714.527014734,681,661.054029468,633,879,784,813,651.472985266,631,652.472985266,0.446992620998,-0.00554681277227,0.0599384114541,0.999999988272,-8.30866357252e-05,-0.000113057700256,-6.13991875838e-05,1793247464417919488
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.897365094,681,661.897365094,633,879,784,813,651,631,652,0.447661590574,-0.00554871541073,0.0599390717031,0.999999989187,-8.60550858398e-05,-0.00010112849845,-6.31951634777e-05,1793247464434586368
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.323870733,681,661.323870733,633,879,784,813,651,631,652,0.448311911698,-0.00555064710081,0.0599719857264,0.999999992662,-9.00220261595e-05,-5.060577829e-05,-6.33333222709e-05,1793247464451252992
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.257368302,681,660.742631698,633,879.257368302,784,813,651,631,652.257368302,0.448908109419,-0.00555106392173,0.0599843169029,0.999999993153,-9.19363543717e-05,-3.34317152797e-05,-6.42223493994e-05,1793247464467919616
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714.848655512,681,660.151344488,633,879.848655512,784,813,651,631,652.848655512,0.449434085436,-0.00554951529669,0.0599699431501,0.999999991887,-9.11875495548e-05,-5.95254057648e-05,-6.60855802864e-05,1793247464484586496
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.569834284,745,715,681.430165716,659.569834284,633,879.569834284,784,813.430165716,651.430165716,631,653,0.449915328812,-0.00555006823981,0.0599272588805,0.999999985212,-9.44971666853e-05,-0.000125699510011,-6.96097027748e-05,1793247464501253120
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.00826639,745,715,681.99173361,659.00826639,633,879.00826639,784,813.99173361,652,631,653,0.450381211167,-0.00555137903769,0.0598752746766,0.999999971381,-9.92263576865e-05,-0.000204849722363,-7.36861115368e-05,1793247464517919488
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.583200434,745,715,681.416799566,659.583200434,633,879.583200434,784,813.416799566,652,631,653,0.450848971573,-0.00555508192781,0.0598533950611,0.999999965436,-0.0001055622554,-0.000228340672993,-7.64548306277e-05,1793247464534586112
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.838339377,879.838339377,784,813.161660623,652,631,653,0.451307830541,-0.00555937324457,0.0598402734077,0.999999961736,-0.000112019322997,-0.000240456521615,-7.84910740066e-05,1793247464551252992
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.250585103,879.250585103,784,813.749414897,652,631,653,0.451743227834,-0.00556521549548,0.0598502353675,0.999999965082,-0.000118795763118,-0.000222590685121,-7.85967103265e-05,1793247464567919616
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.667330016,632,879,783.667330016,814,652,631,653,0.452164009994,-0.00557051414625,0.0598633897036,0.999999969511,-0.000120686868185,-0.000200978621017,-7.75951919824e-05,1793247464584586240
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.087418771,632,879,783.087418771,814,652,631,653,0.452573930122,-0.00557540879152,0.059878916622,0.999999974465,-0.000118947178169,-0.000176582351116,-7.57708331752e-05,1793247464601252864
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.489211121,659,632,879.489211121,783.489211121,813.510788879,652,630.510788879,653,0.452930002992,-0.00557719848718,0.0598801068973,0.999999980756,-6.77531508923e-05,-0.000174670039674,-5.81987013723e-05,1793247464617919488
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632,879.934658446,784,813.065341554,652,630.065341554,653,0.453269053828,-0.00557716273648,0.0598765709564,0.999999982721,-1.36672321718e-05,-0.00018092780719,-4.0449344898e-05,1793247464634586368
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632,879.357878427,784,813.642121573,652,630.642121573,653,0.453549682819,-0.0055671527699,0.0598559606829,0.999999974874,-5.65499739767e-06,-0.000219896155335,-4.3191859968e-05,1793247464651252992
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714.775675492,682,659,631.775675492,879,783.775675492,813.775675492,652,631,653,0.453817963967,-0.00555539076443,0.0598371139423,0.999999966433,-2.49832579274e-05,-0.000253633716775,-4.66877616001e-05,1793247464667919104
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,714.184606784,682,659,631.184606784,879,783.184606784,813.184606784,652,631,653,0.454066057814,-0.00554076438234,0.0598211503728,0.999999955847,-8.90100151613e-05,-0.000278819552679,-5.1415361374e-05,1793247464684585728
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,714.396235895,682,659,631.396235895,879.396235895,783,813,652,631,653,0.454311554723,-0.00554031459392,0.0598221461625,0.99999995468,-0.000111580100407,-0.000274502399322,-5.32723858451e-05,1793247464701252608
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714.972434168,682,659,631.972434168,879.972434168,783,813,652,631,653,0.454555872176,-0.00554630352809,0.0598308445508,0.999999958932,-0.000115321404332,-0.000256785583855,-5.38256531927e-05,1793247464717919488
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+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,682,658.873131954,631,879,783.873131954,814,651.126868046,630,653,0.454970729473,-0.00556050952392,0.0598502909248,0.999999964071,-0.000126980245825,-0.000229658267234,-5.46827581771e-05,1793247464751252736
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682,658.283832241,631,879,783.283832241,814,651.716167759,630,653,0.455146191527,-0.00555889709231,0.0598538073818,0.999999966782,-0.000122350628395,-0.000219931210521,-5.56457059168e-05,1793247464767919104
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.696483545,745,715,682,658.303516455,630,879.303516455,783,813.303516455,652,630.303516455,653,0.455862096457,-0.00554972532271,0.0597126486714,0.999999906142,-9.58462583708e-05,-0.000417988171456,-6.17759483367e-05,1793247465858999552
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.728055956,682.271944044,658,630.271944044,879,783,813,652,630.271944044,653,0.455787874455,-0.00554820393682,0.0597012868436,0.99999990036,-9.56323661779e-05,-0.000431605190843,-6.20557864967e-05,1793247465875666432
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,630.023002491,879,783,813,652,630.976997509,653,0.455519501381,-0.00553719710595,0.0596959673175,0.999999897085,-8.54110499399e-05,-0.000441412347297,-6.0738342056e-05,1793247465925667072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,630.602593973,879,783,813,652,630.397406027,653,0.455397816055,-0.0055342733356,0.0596977041372,0.999999898075,-8.39547864635e-05,-0.000439576225819,-5.979008136e-05,1793247465942333952
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,879,783,813.906788363,651.093211637,631,653,0.454757840613,-0.00551601588159,0.0597039947867,0.999999898777,-6.74849340355e-05,-0.000441482955897,-5.46290547785e-05,1793247466009000704
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.495219568,715,682,658,631,879,783.495219568,814,651.495219568,631,653,0.454544922623,-0.00551013285206,0.059704355629,0.999999896239,-6.2758337086e-05,-0.000448083345098,-5.29590178927e-05,1793247466025667584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.915535306,745.915535306,715,682,658,631,879,783.915535306,813.915535306,652,631,653,0.454322431285,-0.00550431424257,0.0597048248278,0.999999893908,-5.81357471362e-05,-0.000454073142918,-5.12003608514e-05,1793247466042333952
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.336412068,745.336412068,715,682,658,631,879,783.336412068,813.336412068,652,631,653,0.454072771231,-0.0054969695253,0.0597064148488,0.99999989518,-5.25669011253e-05,-0.000452157723185,-4.93043789525e-05,1793247466059000832
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.240212872,631,879,783,813,652,631,653,0.453803414228,-0.00548946901467,0.0597050807671,0.999999895164,-4.61308544912e-05,-0.000453065841665,-4.76960230284e-05,1793247466075667456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.813374991,631,879,783,813,652,631,653,0.453506756106,-0.00548175256568,0.0596996937062,0.999999893348,-3.84928168461e-05,-0.00045788755118,-4.6486333827e-05,1793247466092334336
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.38691924,745.38691924,715,682,659,631,879,783,813,651.61308076,631,653,0.453183248569,-0.00547196589382,0.0596956803688,0.999999892156,-2.65126977918e-05,-0.000461532779336,-4.44051172974e-05,1793247466109000960
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.855710486,658.144289514,632,879.144289514,784,813,651.855710486,631,653,0.452158529637,-0.00545121980717,0.0597312355383,0.99999991922,4.11277744609e-07,-0.000400457199014,-3.45643361462e-05,1793247466159000320
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.278102902,658.721897098,632,879.721897098,784,813,651.278102902,631,653,0.451762613533,-0.00544439348388,0.0597465053706,0.999999928272,6.10378384219e-06,-0.000377421302745,-3.11845670409e-05,1793247466175667200
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659,632,879.129801667,784,812.129801667,651,631,653,0.450874974979,-0.00542771240709,0.0597528197808,0.999999930383,2.05580020052e-05,-0.000371720847507,-2.51999120989e-05,1793247466209000448
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632.362126281,879,784,811,651.637873719,631,653,0.447580458597,-0.00545319221982,0.0597642410974,0.999999939859,-1.30377712789e-05,-0.000346564499817,-2.02267297146e-06,1793247466309000960
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.197300781,682,659.802699219,633,879,784,811,651.197300781,631,652.197300781,0.443405143914,-0.00543034364679,0.059761095982,0.999999914033,0.000218580775477,-0.000351647826705,2.23604423209e-05,1793247466409000448
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.666429161,745.333570839,715,681,659,633.333570839,877.333570839,784.666429161,809.666429161,651,630,652.333570839,0.421116574765,-0.00540848406164,0.0598127594886,0.999999937342,0.000178509414715,-0.000303862443566,3.34264921286e-05,1793247466825667328
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.092236174,680,659,633.092236174,878,784.092236174,809,651.092236174,630,652,0.418397382615,-0.00540728631453,0.0597065169077,0.999999880025,0.000180888681401,-0.000454461595375,2.63376321848e-05,1793247466875666944
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,633.991464402,878.008535598,784.008535598,809,652,629,652,0.414464493063,-0.00541035694836,0.0598379639755,0.999999942018,0.000189808423097,-0.000280482049004,3.55887340113e-05,1793247466959000064
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,634,877.427479231,784.572520769,809,652,629.572520769,652,0.413693841429,-0.00540707903336,0.0598373988441,0.999999942278,0.000191722644047,-0.000278206586729,3.58732558411e-05,1793247466975666688
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.272085803,745,715,680.272085803,659,634,877,785,809,652,629.272085803,652,0.412100668898,-0.0053955802568,0.0597689358979,0.9999999006,0.000202790125237,-0.000395713312543,3.29724040659e-05,1793247467009000192
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.303756337,745,715,680,659,634,877,784.696243663,809,652,629.303756337,652,0.411367341559,-0.00539061106605,0.0597409210673,0.999999882217,0.000210317470479,-0.000436348439268,3.05453422696e-05,1793247467025666816
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.533594304,745,715,680,658.533594304,634,877,784.466405696,809,652,629.533594304,652,0.410105448249,-0.00539063786273,0.0597715813614,0.999999908421,0.000205489868043,-0.000374185905055,3.02739142368e-05,1793247467059000320
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.055069199,658,634,877.055069199,784.944930801,809,652,629,652,0.40952299266,-0.00539556291526,0.0598157280992,0.999999933654,0.000188652254278,-0.000309810501027,3.34627395899e-05,1793247467075666688
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.211379361,745,715,680.788620639,658,634,877.788620639,784.211379361,809,652,629.211379361,652,0.408344718414,-0.00540538949817,0.0598509232113,0.999999950257,0.000184060589203,-0.000253582814617,3.60956241789e-05,1793247467109000448
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.784232299,745,715,680.215767701,658,634,877.215767701,784.784232299,809,652,629.784232299,652,0.407762148312,-0.00540020558619,0.0598387058931,0.999999939859,0.000217155300123,-0.000268211596298,3.44664417714e-05,1793247467125666816
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.536538562,658.536538562,634,877,784.463461438,809,652,630,652,0.406241066414,-0.00538384353164,0.0598178465043,0.999999929222,0.000232831647024,-0.000293747438053,3.25293963607e-05,1793247467175666944
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.730921314,658,633.269078686,877.269078686,785,808.269078686,652,629,652,0.404911926846,-0.00537815462734,0.0598113889435,0.999999924969,0.000243984266795,-0.000299020665444,3.34663010816e-05,1793247467225667072
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,876.981927166,784.981927166,808,653,629,652.018072834,0.403751291583,-0.00537255457578,0.0597522082274,0.999999889061,0.000254502115408,-0.000395078695433,3.19414370505e-05,1793247467275666944
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,876.402885732,784.402885732,808,653,629,652.597114268,0.403475059304,-0.00537966738425,0.0597704059992,0.999999902958,0.00025103815305,-0.000360401087107,3.42751596896e-05,1793247467292333568
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.246080908,745,715,680,658,634,876.753919092,784,808.753919092,652.246080908,629,652.246080908,0.40297213387,-0.00539766777759,0.0598131125039,0.999999930837,0.000235540007924,-0.000285055211711,3.98869336994e-05,1793247467325666816
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.097455336,634,877,784.902544664,809,652,629,652,0.402516441452,-0.00539384345366,0.0598395849168,0.999999939942,0.000239982028886,-0.000246350021146,4.28613457325e-05,1793247467359000064
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.510135058,657.489864942,633.510135058,877.979729884,784.510135058,809,652,629,652,0.402306157878,-0.00538935397522,0.0598353934033,0.999999935849,0.000244815080296,-0.000257834890723,4.34506987181e-05,1793247467375666944
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.658205082,877.683589836,784.658205082,809,652,629,652,0.401932201693,-0.0053838359772,0.0598237274089,0.999999927613,0.00024702188501,-0.000286033647934,4.40356152454e-05,1793247467409000448
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.763891868,877.236108132,785,808.763891868,652,629,652,0.401775468671,-0.00538301015483,0.0598206956583,0.999999932408,0.00021773867923,-0.000293995196823,3.66025910054e-05,1793247467425667072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.188409053,877.811590947,785,808.188409053,652,629,652,0.4016400176,-0.00538321455472,0.0598201750879,0.999999944976,0.000148701613261,-0.000295976714234,1.82839799218e-05,1793247467442333440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.383107108,633.383107108,877.616892892,785,808,652,629,652,0.401528367608,-0.00538721209524,0.0598232778526,0.999999950024,0.000124138756923,-0.000290415922704,1.41173893829e-05,1793247467459000064
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.952692473,633.952692473,877.047307527,785,808,652,629,652,0.401428302848,-0.0053930559556,0.0598281442838,0.999999952978,0.000121223825693,-0.000281183895513,1.68393276513e-05,1793247467475666688
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.04250407,745,715,679,658.04250407,634,877,784.95749593,808.04250407,652,629,652,0.401025264389,-0.0053867024773,0.0598210722259,0.999999946604,0.000141270869904,-0.0002940275168,1.95534012259e-05,1793247467592333568
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.621740704,745,715,679,658.621740704,634,877,784.378259296,808.621740704,652,629,652,0.401005512941,-0.00538605915321,0.0598217200384,0.999999946032,0.000146218952545,-0.000293529444044,1.98998237833e-05,1793247467608999936
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6071ad07ed2cd9649ab017bed4f33c841c2776f1
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6cf2a6eb02570fbcb6b43815081e6a779debc391
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a3115016243d1488bb3f4e0bd86626d40c1a1ec73aa9a28db84044365289fd
+size 26101929
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed3de50a33ae4433d41e27cd15f9df10d4407f59
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+5,0.083333333,BASELINE,765,745,715,680,658,634,877,785,808,652,629,652.092982001,0.400964004032,-0.00538532098481,0.0598394276294,0.999999924758,0.000279899585148,-0.000267713442708,2.16546304e-05,1793247468249212928
+6,0.100000000,BASELINE,765.481084487,745,715,680,658,634,877,785,808,652,629,652,0.40096230529,-0.00538674799629,0.059838390981,0.999999924472,0.000279155086214,-0.000269522942541,2.20638217872e-05,1793247468265879808
+7,0.116666667,BASELINE,765.944048146,745,715,680,658,634,877.055951854,784.944048146,808,652,629,652,0.400960484929,-0.00538836617283,0.0598371620543,0.999999924195,0.00027811376077,-0.000271578073376,2.25591831076e-05,1793247468282546176
+8,0.133333333,BASELINE,765.354031427,745,715,680,658,634,877.645968573,784.354031427,808,652,629,652,0.400960782564,-0.00538751203195,0.0598376166249,0.999999924355,0.000278044705358,-0.0002710832637,2.22682222301e-05,1793247468299213056
+9,0.150000000,BASELINE,765,745,715,680,658,634,877.76841678,784.23158322,808,652,628.76841678,652,0.400961719287,-0.00538719059001,0.0598384531653,0.999999924848,0.000277476343978,-0.000269853757269,2.21104075915e-05,1793247468315879680
+10,0.166666667,BASELINE,765,745,715,680,658,634,877.18940629,784.81059371,808,652,628.18940629,652,0.400963614789,-0.00538766831719,0.0598398627466,0.999999925839,0.000276158910587,-0.000267522039381,2.2152342488e-05,1793247468332546304
+11,0.183333333,BASELINE,765,744.611174869,715,680,658,634,877,785,807.611174869,651.611174869,628,652,0.400963729588,-0.00538716536527,0.0598397533078,0.999999925456,0.000277545615471,-0.000267526562882,2.20527648158e-05,1793247468349212928
+12,0.200000000,BASELINE,765,744.033322143,715,680,658,634,877,785,807.033322143,651.033322143,628,652,0.400962978696,-0.0053861856556,0.0598389053965,0.9999999244,0.000280246938861,-0.000268666851479,2.18843907178e-05,1793247468365879808
+13,0.216666667,BASELINE,765,744.540488875,715,680,658,634,876.459511125,785,807.540488875,651.540488875,628.540488875,652,0.400962744483,-0.00538596211394,0.0598389749381,0.999999924733,0.000279024683607,-0.000268711413153,2.17359168399e-05,1793247468382546432
+14,0.233333333,BASELINE,765,745,715,679.882682537,658,634,876.117317463,785,808,652,629,652,0.400962601972,-0.00538569649487,0.0598390273604,0.999999925019,0.000277991743103,-0.000268731392686,2.15876632312e-05,1793247468399213056
+15,0.250000000,BASELINE,765,745,715,679.292699681,658,634,876.707300319,785,808,652,629,652,0.400962701542,-0.00538507491634,0.0598387846137,0.999999924777,0.000278688891667,-0.00026892248163,2.14353906672e-05,1793247468415879680
+16,0.266666667,BASELINE,765.292073102,745,715,679,658,634,877,785,808.292073102,652,629,652,0.400962349369,-0.00538544956766,0.0598385561185,0.99999992483,0.000278378359387,-0.000269039125751,2.15165938704e-05,1793247468432546304
+17,0.283333333,BASELINE,765.871716106,745,715,679,658,634,877,785,808.871716106,652,629,652,0.400961552419,-0.00538680508891,0.0598383416549,0.999999925174,0.000277075682701,-0.000269082472834,2.18276731065e-05,1793247468449213184
+18,0.300000000,BASELINE,765.552660131,745,715,679,658,634,877,785,808.105320262,652,629,652,0.400961618983,-0.00538630144503,0.0598380938175,0.999999924764,0.000277873019529,-0.000269783419789,2.1791751676e-05,1793247468465879808
+19,0.316666667,BASELINE,765,745,715,679.022422376,658,634,877,785,807.022422376,652,629,652,0.400961925057,-0.00538533362203,0.0598378661616,0.999999924177,0.00027919354963,-0.00027060737361,2.16697611388e-05,1793247468482546432
+20,0.333333333,BASELINE,765,745,715,679.612728461,658,634,877,785,807.612728461,652,629,652,0.400962081289,-0.0053859924551,0.0598383898729,0.999999924539,0.000278648364926,-0.000269813103114,2.18657302525e-05,1793247468499213056
+21,0.350000000,BASELINE,765.199276205,745,715,680,658.199276205,634,877,785,808,652,629,652,0.400961857123,-0.00538652294349,0.0598384913617,0.999999924562,0.000278623668109,-0.000269736642651,2.20630164068e-05,1793247468515879680
+22,0.366666667,BASELINE,765.778655158,745,715,680,658.778655158,634,877,785,808,652,629,652,0.400960907376,-0.00538680862504,0.0598377874965,0.999999923938,0.000279591758606,-0.000271029345079,2.22628146844e-05,1793247468532546304
+23,0.383333333,BASELINE,765.644418553,745,715,680,658.644418553,634,877.355581447,785,808,652,629,652,0.400960977401,-0.00538681132137,0.0598379100415,0.999999924297,0.000278441508464,-0.000270889728381,2.22672884373e-05,1793247468549212928
+24,0.400000000,BASELINE,765.0690085,745,715,680,658.0690085,634,877.9309915,785,808,652,629,652,0.400961677872,-0.00538663906979,0.0598385434921,0.999999925258,0.000275981651655,-0.000269864619279,2.21510081095e-05,1793247468565879808
+25,0.416666667,BASELINE,765,744.495214502,715,680,658,634,877.495214502,784.495214502,808,652,629,652,0.400962394494,-0.0053861565964,0.0598388176078,0.999999924759,0.000278548891303,-0.00026909178581,2.19691293923e-05,1793247468582546432
+26,0.433333333,BASELINE,765.080927336,744.080927336,715,679.919072664,658,634,877,784.080927336,808.080927336,652,628.919072664,652,0.400962981099,-0.00538595861909,0.0598390499232,0.999999924308,0.000280821190575,-0.000268413905703,2.18389835251e-05,1793247468599213056
+27,0.450000000,BASELINE,765.673299062,744.673299062,715,679.326700938,658,634,877,784.673299062,808.673299062,652,628.326700938,652,0.40096273211,-0.00538782576631,0.0598393275336,0.999999925475,0.000276900125339,-0.000268118848175,2.20922729289e-05,1793247468615879680
+28,0.466666667,BASELINE,765.740889489,745,715,679,658.259110511,633.740889489,877,784.740889489,808.740889489,652,628.259110511,652,0.40096266521,-0.00538816828267,0.0598395663017,0.999999925757,0.000276168532299,-0.000267817619244,2.21554121149e-05,1793247468632546304
+29,0.483333333,BASELINE,765.163145386,745,715,679,658.836854614,633.163145386,877,784.163145386,808.163145386,652,628.836854614,652,0.400962822232,-0.00538663592856,0.0598397573046,0.999999924957,0.000279359099901,-0.000267508801227,2.19847196012e-05,1793247468649213184
+30,0.500000000,BASELINE,765,745,715,679.411644366,658.588355634,633.411644366,877,784.411644366,808,652,629,652,0.400962894518,-0.0053869505814,0.0598400517947,0.999999925685,0.000277437764624,-0.00026679764677,2.18599619554e-05,1793247468665879808
+31,0.516666667,BASELINE,765,745,715,679.98527156,658.01472844,633.98527156,877,784.98527156,808,652,629,652,0.400962933462,-0.00538799203497,0.0598403870073,0.999999927002,0.000273504885914,-0.000265928172175,2.17532797697e-05,1793247468682546432
+32,0.533333333,BASELINE,765,745,715,680,658,634,877,784.425249961,808,652,629,652,0.400962987985,-0.00538908241519,0.0598403242192,0.999999926394,0.000275096021581,-0.000266543976739,2.2107170489e-05,1793247468699213056
+33,0.550000000,BASELINE,765,745,715,679.838349285,658,634,877,784.161650715,808,652,629,652,0.400962596826,-0.00538923965077,0.0598400127643,0.999999925724,0.000276597470369,-0.000267489059124,2.22732696581e-05,1793247468715879680
+34,0.566666667,BASELINE,765,745,715,679.259185577,658,634,877,784.740814423,808,652,629,652,0.400961053493,-0.00538698342126,0.0598390861398,0.999999925029,0.000277491289545,-0.000269183509579,2.19229906547e-05,1793247468732546560
+35,0.583333333,BASELINE,765.317902509,745,715,679,658,634,877,785,808,652,629,652,0.400960582943,-0.00538709828084,0.0598390114901,0.999999924968,0.000277334574682,-0.000269563122499,2.20316810448e-05,1793247468749213184
+36,0.600000000,BASELINE,765.893309383,745,715,679,658,634,877,785,808,652,629,652,0.400960981357,-0.00538913374718,0.0598396269488,0.999999925421,0.000276326916335,-0.000268877703421,2.25121414156e-05,1793247468765879808
+37,0.616666667,BASELINE,765.53100113,745,715,679.46899887,658,634,877,785,808,651.53100113,629,651.53100113,0.400959880086,-0.00538857196951,0.0598387930467,0.999999925317,0.000275453209465,-0.000270189244035,2.21366146915e-05,1793247468782546432
+38,0.633333333,BASELINE,765,745,715,680,658,634,877,785,808,651,629,651.045871837,0.400958620255,-0.00538753531007,0.0598377335334,0.999999925124,0.000274652913232,-0.000271753539086,2.16243027252e-05,1793247468799213056
+39,0.650000000,BASELINE,765,745,715,680,658,634,877,785,808,651,629,651.636024243,0.40095952942,-0.00538787870563,0.0598379115271,0.999999925425,0.000274361874998,-0.000270923434025,2.18008524615e-05,1793247468815879680
+40,0.666666667,BASELINE,765,745,715,680,658,634,877,785,808,651.221923873,628.778076127,652,0.400960519871,-0.00538788789407,0.0598383014887,0.999999925564,0.000274951491667,-0.000269796702109,2.19656525661e-05,1793247468832546048
+41,0.683333333,BASELINE,765,745,715,680,658,634,877,785,808,651.800979672,628.199020328,652,0.400961641132,-0.00538735925824,0.0598390325604,0.999999925439,0.000276958305952,-0.000268192622227,2.21115445158e-05,1793247468849212928
+42,0.700000000,BASELINE,765,745,715,679.625658993,658.374341007,634,877,784.625658993,808,652,628.374341007,652,0.400961805581,-0.00538630890237,0.0598389538713,0.999999924981,0.00027843051489,-0.000268392763513,2.18852658263e-05,1793247468865879808
+43,0.716666667,BASELINE,765,745,715,679.055279804,658.944720196,634,877,784.055279804,808,652,628.944720196,652,0.400961468957,-0.00538498532758,0.0598384511195,0.99999992435,0.000279622756944,-0.000269537755218,2.14640855463e-05,1793247468882546432
+44,0.733333333,BASELINE,765,745,715,679,658.465301801,634,877,784,808,652,629,652,0.400961700036,-0.00538622439467,0.0598388209534,0.99999992486,0.000278003013696,-0.000269291052641,2.18268014424e-05,1793247468899213312
+45,0.750000000,BASELINE,764.876019285,745,715,679,658,633.876019285,877,784,808,652,629,652,0.400961923409,-0.00538747484338,0.0598391507813,0.99999992539,0.00027639119606,-0.000268955584182,2.21583934425e-05,1793247468915879680
+46,0.766666667,BASELINE,764.297008996,745,715,679,658,633.297008996,877,784,808,652,629,652,0.400961894896,-0.00538775769765,0.0598389900891,0.999999925554,0.000275916044362,-0.000268842487257,2.20669966182e-05,1793247468932546560
+47,0.783333333,BASELINE,764.281787143,744.718212857,715,679.281787143,658,633.281787143,877,784.281787143,808,652,629,652,0.400961591542,-0.00538756085705,0.0598386872349,0.999999925292,0.000276803057646,-0.000268911756673,2.19813367458e-05,1793247468949212928
+48,0.800000000,BASELINE,764.860357807,744.139642193,715,679.860357807,658,633.860357807,877,784.860357807,808,652,629,652,0.40096099872,-0.00538685879284,0.0598382346528,0.999999924578,0.000279124728659,-0.000269173097734,2.19017191277e-05,1793247468965879552
+49,0.816666667,BASELINE,765,744.434148093,714.565851907,679.565851907,658,634,877,785,808,652,629,652,0.400961754675,-0.00538709043291,0.0598390419509,0.999999925372,0.000277273487566,-0.000268136904049,2.18490538e-05,1793247468982546432
+50,0.833333333,BASELINE,765,745,714.006624904,679.006624904,658,634,876.993375096,785,808,652,629,652,0.400962914602,-0.00538761581114,0.0598402302717,0.999999926621,0.000274132580399,-0.000266710298803,2.18048472086e-05,1793247468999212800
+51,0.850000000,BASELINE,765,745,714.597389383,679.597389383,658,634,876.402610617,785,808,652,629,652,0.400961858475,-0.00538784901456,0.0598396727775,0.99999992642,0.000274335041124,-0.000267257934094,2.17504161139e-05,1793247469015879680
+52,0.866666667,BASELINE,765,745,715,679.816051378,658,634,876,784.816051378,808,652,629,652,0.400961086493,-0.00538810027102,0.0598391797578,0.999999926164,0.000274733457287,-0.000267802921704,2.17770317329e-05,1793247469032546560
+53,0.883333333,BASELINE,765,745,715,679.238490526,658,634,876,784.238490526,808,652,629,652,0.400960922524,-0.00538839015726,0.0598388247003,0.99999992579,0.000275551177786,-0.000268342243784,2.19770706583e-05,1793247469049213184
+54,0.900000000,BASELINE,765,745,715,679.339501665,658,634,876.339501665,784,808,652,629,652,0.400960586351,-0.00538805243054,0.0598385746285,0.999999925278,0.000276738940058,-0.000269027816925,2.20131626966e-05,1793247469065880064
+55,0.916666667,BASELINE,765,745,715,679.91779722,658,634,876.91779722,784,808,652,629,652,0.400960129056,-0.00538727326226,0.0598383983999,0.999999924665,0.000278186977058,-0.000269816258051,2.19339400784e-05,1793247469082546944
+56,0.933333333,BASELINE,765,745,715,680,658,634,877.500408042,784.500408042,807.499591958,652,628.499591958,652,0.400961059627,-0.00538700970052,0.0598387988729,0.999999925016,0.00027798930968,-0.000268717648908,2.1928616844e-05,1793247469099213056
+57,0.950000000,BASELINE,765,745,714.91652033,679.91652033,658,633.91652033,877.91652033,785,807,652,628.08347967,652,0.400961960699,-0.00538700503315,0.0598391365726,0.999999925413,0.000277607135422,-0.000267632968659,2.19381963542e-05,1793247469115879424
+58,0.966666667,BASELINE,765,745,714.334965827,679.334965827,658,633.334965827,877.334965827,785,807,652,628.665034173,652,0.40096131368,-0.00538803529021,0.0598385295905,0.999999925141,0.000277751122242,-0.000268497005014,2.19636321357e-05,1793247469132546304
+59,0.983333333,BASELINE,765,745,714.244233321,679.244233321,658,633.244233321,877,785,807.488466643,652,629,652,0.400961484732,-0.00538886852655,0.0598386991545,0.999999925412,0.000276984159833,-0.000268272397168,2.20478913725e-05,1793247469149212928
+60,1.000000000,BASELINE,765,745,714.820233038,679.820233038,658,633.820233038,877,785,808.640466076,652,629,652,0.400962767054,-0.0053894341302,0.0598399235781,0.999999926417,0.000274979764563,-0.000266568975822,2.22120563589e-05,1793247469165879808
+61,1.016666667,BASELINE,765.39767424,745,715,680,658,634,877,785,808.60232576,652,629,652,0.40096272505,-0.00538909598718,0.0598399790552,0.999999926679,0.000274362484447,-0.0002662338491,2.20408461599e-05,1793247469182546176
+62,1.033333333,BASELINE,765.975769395,745,715,680,658,634,877,785,808.024230605,652,629,652,0.400962082212,-0.00538834782309,0.0598395041927,0.999999926607,0.000274374525039,-0.000266519504376,2.17174795079e-05,1793247469199213056
+63,1.050000000,BASELINE,765.437369878,745,715,679.437369878,658,633.437369878,877,785,808,652,629,652,0.400960746685,-0.00538777662794,0.0598387906414,0.999999926074,0.000274958324396,-0.000267929118981,2.15211009742e-05,1793247469215879936
+64,1.066666667,BASELINE,765,745,715,679,658,633,877,784.852129957,808,652,629,652,0.400960120897,-0.00538719576511,0.0598385457952,0.999999925654,0.000275806628419,-0.000268631707273,2.14442636533e-05,1793247469232546560
+65,1.083333333,BASELINE,765,745,715,679,658,633,877,784.272739054,808,652,629,652,0.400961654736,-0.00538656409634,0.0598396992176,0.999999925623,0.000277353826221,-0.000267127526507,2.17000644369e-05,1793247469249212928
+66,1.100000000,BASELINE,765,745,715,679.305890608,658.305890608,633,877.305890608,784,808,652,629,652.305890608,0.400962136729,-0.00538672584119,0.0598398953647,0.99999992556,0.000277864481551,-0.000266815201786,2.19231553747e-05,1793247469265879808
+67,1.116666667,BASELINE,765,745,715,679.883843186,658.883843186,633,877.883843186,784,808,652,629,652.883843186,0.400961683202,-0.00538759325557,0.0598392401023,0.99999992547,0.000277453226225,-0.000267562925064,2.21171538559e-05,1793247469282546432
+68,1.133333333,BASELINE,765,744.542122616,715,679.542122616,658.542122616,633.457877384,877.542122616,784.457877384,808,652,629,652.542122616,0.400961828329,-0.00538700632928,0.0598390467053,0.999999925359,0.000278276948917,-0.000267141413004,2.1875929596e-05,1793247469299212800
+69,1.150000000,BASELINE,765.031859181,744.031859181,715,679,658,634,877,784.968140819,808,652,629,652,0.400962145387,-0.00538615227491,0.0598390419054,0.999999925308,0.000279198042842,-0.000266400568841,2.15347315238e-05,1793247469315879680
+70,1.166666667,BASELINE,765.622198881,744.622198881,715,679,658,634,877,784.377801119,808,652,629,652,0.400962836713,-0.00538702816035,0.0598403066534,0.999999926409,0.000276380649552,-0.00026521743516,2.13600483656e-05,1793247469332546304
+71,1.183333333,BASELINE,765.791463959,744.791463959,715,679,658,634,877,784,808,652,629,652,0.400962625087,-0.00538751209723,0.0598405862057,0.999999926632,0.000275385470391,-0.000265407730646,2.13793959419e-05,1793247469349212928
+72,1.200000000,BASELINE,765.212241478,744.212241478,715,679,658,634,877,784,808,652,629,652,0.400960808406,-0.00538729932007,0.0598391145086,0.999999925302,0.000277629395455,-0.000268039386036,2.17436458004e-05,1793247469365879552
+73,1.216666667,BASELINE,765,744.364374128,715,679,658,634,877.364374128,784.364374128,808,652,629,652,0.400960417489,-0.00538712632203,0.0598386493043,0.999999924841,0.000278697796398,-0.000268629414536,2.19786231895e-05,1793247469382546176
+74,1.233333333,BASELINE,765,744.939482026,715,679,658,634,877.939482026,784.939482026,808,652,629,652,0.400960851155,-0.00538697633003,0.0598387661996,0.999999924888,0.000279086339307,-0.000268038679212,2.21388365361e-05,1793247469399212800
+75,1.250000000,BASELINE,765.525150848,745,715,679.525150848,658,634,877.474849152,785,808,652,629,652,0.400961750396,-0.00538660916698,0.0598395784914,0.999999925485,0.00027799143936,-0.000266968821143,2.18837693901e-05,1793247469415879424
+76,1.266666667,BASELINE,765.889404836,744.889404836,715,680,658,634,877,785,808,652,629,652,0.400962369079,-0.00538667907453,0.0598402338459,0.999999926089,0.000276519247207,-0.000266243450665,2.1745565589e-05,1793247469432546048
+77,1.283333333,BASELINE,765.31017474,744.31017474,715,680,658,634,877,785,808,652,629,652,0.400961566915,-0.00538870924507,0.0598398776554,0.999999926459,0.000274187572455,-0.000267216572552,2.23095063778e-05,1793247469449212672
+78,1.300000000,BASELINE,765,744.268962486,715,680,658,634,877,784.731037514,808,652,629,652,0.40096081814,-0.00538915934781,0.0598395445286,0.999999926245,0.000274152359027,-0.000268047099666,2.23952762183e-05,1793247469465879296
+79,1.316666667,BASELINE,765,744.84799261,715,680,658,634,877,784.15200739,808,652,629,652,0.400960130913,-0.00538778790313,0.0598392379904,0.999999925357,0.000276764571973,-0.000268713239387,2.19297968916e-05,1793247469482546176
+80,1.333333333,BASELINE,765,745,715,679.576939776,658,634,877,784,808,652,628.576939776,652,0.400961617292,-0.00538698179019,0.0598401599511,0.999999925401,0.000278334502673,-0.000266934469899,2.1752632196e-05,1793247469499213056
+81,1.350000000,BASELINE,765,745,715,679.00328265,658,634,877,784,808,652,628.00328265,652,0.40096387741,-0.00538637691849,0.0598415192209,0.999999925772,0.000279533411994,-0.000264285385245,2.16780989264e-05,1793247469515879424
+82,1.366666667,BASELINE,765,745,715,679,658,634,877,784,808,652,628.585160053,652,0.400962753042,-0.00538637529787,0.0598406071087,0.999999925191,0.00027945058729,-0.00026654050261,2.19239299621e-05,1793247469532546048
+83,1.383333333,BASELINE,765,745,715,679,658,634,877.17098221,784,808,652,629,652,0.400961561065,-0.00538649500953,0.0598397964608,0.99999992478,0.000279263909809,-0.000268258834702,2.21093590702e-05,1793247469549212928
+84,1.400000000,BASELINE,765,745,715,679,658,634,877.750342271,784,808,652,629,652,0.400960254131,-0.00538689622171,0.0598392593751,0.999999924797,0.00027884680663,-0.000268627683876,2.21461191513e-05,1793247469565879296
+85,1.416666667,BASELINE,765,745,715,679.327358937,658,634,877.672641063,784,808,652,629,652,0.400960378478,-0.00538674093829,0.0598389970308,0.999999924882,0.000278971501123,-0.000268195967215,2.19651944215e-05,1793247469582546176
+86,1.433333333,BASELINE,765,745,715,679.902601098,658,634,877.097398902,784,808,652,629,652,0.400961586621,-0.00538616426439,0.0598389427265,0.999999925018,0.000279506456483,-0.000267158044871,2.16194340714e-05,1793247469599213056
+87,1.450000000,BASELINE,765,744.522782027,715,679.522782027,658,634,877,784.477217973,808,652,629,652,0.400961447453,-0.00538535577359,0.0598389616766,0.999999925136,0.000278988814921,-0.00026728512095,2.12535490218e-05,1793247469615879680
+88,1.466666667,BASELINE,765,744.053274809,715,679,658,634,876.946725191,784.946725191,808,652,628.946725191,652,0.400961126855,-0.00538481364028,0.0598390514032,0.999999925299,0.00027817882551,-0.000267542594812,2.09775726641e-05,1793247469632546560
+89,1.483333333,BASELINE,765,744.645178833,715,679,658,634,876.354821167,784.354821167,808,652,628.354821167,652,0.400961748478,-0.00538744221486,0.0598397057433,0.999999925948,0.000276582280163,-0.000266717608499,2.16520814726e-05,1793247469649212928
+90,1.500000000,BASELINE,765.231856517,745,715,679,658,634,876.231856517,784.231856517,808.231856517,652,628.231856517,652,0.400962001976,-0.0053884114892,0.0598400495226,0.999999926329,0.000275537709799,-0.000266346778313,2.19064623453e-05,1793247469665879808
+91,1.516666667,BASELINE,765.810712343,745,715,679,658,634,876.810712343,784.810712343,808.810712343,652,628.810712343,652,0.400961704534,-0.0053868974342,0.0598399285124,0.999999926315,0.000275319232111,-0.000266655643837,2.15320745333e-05,1793247469682546432
+92,1.533333333,BASELINE,765.615123554,745,715,679,658,634,877,784.615123554,808.615123554,652,629,652,0.400961285976,-0.005387285575,0.0598395322746,0.999999926037,0.000275630250462,-0.000267365690078,2.16468866378e-05,1793247469699212800
+93,1.550000000,BASELINE,765.043239064,745,715,679,658,634,877,784.043239064,808.043239064,652,629,652,0.400960808568,-0.00538859797568,0.0598390023062,0.999999925631,0.000276198546209,-0.000268270666491,2.1999396598e-05,1793247469715879424
+94,1.566666667,BASELINE,765,745,715,679,658,634,877,784.533568972,808,652,629,652,0.400961056822,-0.00538743150279,0.059839427527,0.99999992557,0.000276692148684,-0.000268004486947,2.17995459217e-05,1793247469732546304
+95,1.583333333,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400961441993,-0.00538627574386,0.0598399199254,0.999999925643,0.000276885042457,-0.000267550397062,2.15954896188e-05,1793247469749212928
+96,1.600000000,BASELINE,765,745,715,679,658,634,877,785,808,652,629,652,0.400962153744,-0.00538601877187,0.0598403662226,0.999999926158,0.00027583754374,-0.000266708445922,2.15639482087e-05,1793247469765879552
+97,1.616666667,BASELINE,765,745,715,679.289357792,658,634,877.289357792,785,808,652,629,652,0.40096273591,-0.00538650965292,0.0598404712915,0.999999926246,0.000275984070861,-0.00026621481704,2.16891420239e-05,1793247469782546432
+98,1.633333333,BASELINE,765,745,715,679.862934178,658,634,877.862934178,785,808,652,629,652,0.400963190792,-0.00538773510465,0.0598402411925,0.999999925915,0.00027730341714,-0.000266063324017,2.19682873382e-05,1793247469799213056
+99,1.650000000,BASELINE,765.43888307,745,715,680,658.43888307,634,878,785,808,652,629,652,0.40096266802,-0.00538656373459,0.0598401013006,0.999999925789,0.000277635246238,-0.000266196168146,2.1904967485e-05,1793247469815879680
+100,1.666666667,BASELINE,765.984021126,745,715,680,658.984021126,634,877.984021126,785,808,652,629,652,0.400961872302,-0.0053847366092,0.0598399979727,0.999999925734,0.000277648657522,-0.000266402007185,2.17412563584e-05,1793247469832546560
+101,1.683333333,BASELINE,765.392446318,745,715,680,658.392446318,634,877.392446318,785,808,652,629,652,0.400962302814,-0.00538639842242,0.0598401914245,0.999999925913,0.000277361858372,-0.000266021117205,2.18348874233e-05,1793247469849213184
+102,1.700000000,BASELINE,765,745,715,679.805161812,658,634,877,785,808.194838188,652,629,652,0.400962582026,-0.00538695534813,0.0598403261117,0.99999992599,0.000277285119639,-0.000265814364693,2.1799208569e-05,1793247469865879808
+103,1.716666667,BASELINE,765,745,715,679.226332784,658,634,877,785,808.773667216,652,629,652,0.400962563051,-0.00538533474012,0.0598403449842,0.999999925867,0.000277622372046,-0.000265950805691,2.15086832333e-05,1793247469882546432
+104,1.733333333,BASELINE,765,745,715,679.3494769,658,634,877,784.6505231,808.6505231,652,629,652,0.400962084962,-0.00538594685696,0.0598397843127,0.999999926272,0.000275239614998,-0.000266915496308,2.13385200786e-05,1793247469899213056
+105,1.750000000,BASELINE,765,745,715,679.923347963,658,634,877,784.076652037,808.076652037,652,629,652,0.400961312082,-0.00538799257463,0.0598388515242,0.999999927001,0.000271110378468,-0.000268411994275,2.12456397451e-05,1793247469915879936
+106,1.766666667,BASELINE,765,745,714.504031767,680,658,634,877,784.495968233,808,652,629,652,0.400961475045,-0.00538740311318,0.0598395304302,0.999999926264,0.000274556046694,-0.000267621146451,2.16932353659e-05,1793247469932546816
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,680,658,634,877,785,808,652,629,652,0.400961824778,-0.00538732238733,0.0598394516302,0.999999926056,0.000275538906223,-0.000267402761668,2.1510564235e-05,1793247469975028736
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,679.425203068,658,634,877,785,808.574796932,652,629,652,0.400961668683,-0.00538827703149,0.0598397073355,0.999999926566,0.000273978457695,-0.000267095905597,2.15251810669e-05,1793247469991695616
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.149258757,715,679.149258757,658,634,877,784.850741243,808.850741243,652,629,652,0.400961409932,-0.00538863439217,0.0598397083809,0.999999926767,0.000273195407423,-0.000267148715882,2.14766961268e-05,1793247470008362752
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.722768209,715,679.722768209,658,634,877,784.277231791,808.277231791,652,629,652,0.400960859391,-0.00538729404409,0.0598389855851,0.999999926094,0.000274622021113,-0.000268223835978,2.12488517254e-05,1793247470025029376
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.304270617,745,715,679.695729383,658,634,877,784.304270617,808,652,628.695729383,652,0.400960897094,-0.0053868878366,0.0598389811798,0.999999925958,0.000275135348925,-0.000268207259012,2.12082504094e-05,1793247470041695744
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.893252127,745,715,679.106747873,658,634,877,784.893252127,808,652,628.106747873,652,0.400961485228,-0.00538735571952,0.059839648984,0.999999926327,0.000274794100416,-0.000267169163539,2.13428554636e-05,1793247470058362624
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.525417657,745,715,679.474582343,658,634,877,785,808,652,628,652,0.40096207007,-0.0053862955692,0.0598404735102,0.999999926222,0.000276198475287,-0.000266109764592,2.13412896982e-05,1793247470075029248
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.946105855,658,634,877,785,808,652,628,652,0.400962584259,-0.0053851658792,0.0598412170698,0.999999926032,0.000277695475082,-0.000265266656474,2.13322077021e-05,1793247470091695872
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.369940702,658,634,877,785,808,652,628,652,0.400962420825,-0.0053866401507,0.0598408398172,0.999999926056,0.000276345463491,-0.000266565252876,2.15423940588e-05,1793247470108362496
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.205328297,658,634,876.794671703,785,808,652,628.205328297,652,0.400964638185,-0.0053882186203,0.0598415135979,0.999999926692,0.000274499870029,-0.000266063778228,2.18099207351e-05,1793247470125029120
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.778989649,658,634,876.221010351,785,808,652,628.778989649,652,0.400971126388,-0.00538998400797,0.0598440727996,0.999999928416,0.000271765265371,-0.000262333203132,2.21803086862e-05,1793247470141695744
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,876.364300524,785,808.364300524,652,629,652,0.400993698462,-0.00538991493927,0.0598532366622,0.999999932311,0.00027256390304,-0.000246107281572,2.27527712179e-05,1793247470158362368
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,876.956912345,785,808.956912345,652,629,652,0.401026350481,-0.00538869619599,0.0598665397413,0.999999937101,0.000275576863609,-0.000222050383278,2.34518762214e-05,1793247470175028736
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.46433718,678.928674361,658,634,877,784.46433718,808.46433718,652,629,652,0.401084057848,-0.00539097215625,0.0598867933884,0.999999944767,0.000274319675634,-0.000186082478432,2.42416962567e-05,1793247470191695616
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.111333551,678.222667101,658,634,877,784.111333551,808,652,629,652,0.401145328885,-0.00539326843393,0.0599060180615,0.999999950629,0.000273004143914,-0.000153584450892,2.49700210192e-05,1793247470208362240
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.678838907,679.357677814,658,634,877,784.678838907,808,652,629,652,0.401213152024,-0.0053945252209,0.0599187936809,0.999999952783,0.000272821423759,-0.00013913032619,2.54172349749e-05,1793247470225029120
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679.741575047,658,634,877,784.741575047,808,652,629,652,0.401289563284,-0.00539610193806,0.0599285440864,0.999999954814,0.000272284531347,-0.000124810625052,2.55912900783e-05,1793247470241695744
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.14623934,658,634,877,784.14623934,808,652,629,652,0.401377170941,-0.00539809575081,0.0599343504946,0.999999956756,0.000271285901659,-0.000110666173906,2.54092256972e-05,1793247470258362112
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784,808,652,629,652,0.401481358751,-0.00540206645671,0.0599399794585,0.99999995897,0.000267283685102,-0.000100009969534,2.48511428217e-05,1793247470275028992
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784.021295124,808,652,629,652,0.401591753489,-0.0054066185992,0.0599454626073,0.999999961188,0.000262366749034,-9.05735435436e-05,2.41688697377e-05,1793247470291695616
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784.593529634,808,652,629,652,0.401723050733,-0.00540955895441,0.0599486681761,0.999999962692,0.000259088496064,-8.33077393418e-05,2.34413927122e-05,1793247470308361984
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,785,808,652,629,652,0.401860220988,-0.0054125984559,0.0599501941419,0.999999963894,0.000256038157687,-7.84244861928e-05,2.24808509985e-05,1793247470325028864
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,785,808,652,629,652,0.402011792435,-0.00541588107356,0.0599476015525,0.999999964487,0.000253546689232,-7.93834879025e-05,2.09488114393e-05,1793247470341695744
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,876.680474774,784.680474774,808.319525226,652,629,652,0.402183968682,-0.0054197272802,0.0599468484967,0.999999965774,0.00024955546046,-7.62481164528e-05,1.89610891477e-05,1793247470358362624
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,876.110009196,784.110009196,808.889990804,652,629,652,0.402372327003,-0.00542401610395,0.0599475401255,0.999999967557,0.000244386388935,-6.98972135524e-05,1.66154945223e-05,1793247470375029504
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.516429305,679,658,634,876.483570695,784.483570695,808.516429305,652,629,652,0.402599736088,-0.00542961821032,0.0599498451275,0.999999969768,0.0002376110496,-6.15998189479e-05,1.45235970793e-05,1793247470391695872
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.920468378,808,652,629.079531622,652,0.402840589325,-0.00543558544832,0.0599526081098,0.999999972021,0.000230259432759,-5.27734219079e-05,1.23873288969e-05,1793247470408362240
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658,634,877,784.344129712,808,652,629.655870288,652,0.403107143936,-0.005441873585,0.0599558241253,0.999999974429,0.00022170521451,-4.35474878033e-05,9.59527046584e-06,1793247470425028864
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714.236264053,679.236264053,658,634,877,784.236264053,808,652,629.763735947,652,0.403382284425,-0.00544851929254,0.0599565702128,0.999999976299,0.000214064999278,-3.91173154352e-05,6.9050682089e-06,1793247470441695488
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714.822667372,679.822667372,658,634,877,784.822667372,808,652,629.177332628,652,0.403670149023,-0.00545569491358,0.059953655909,0.999999977531,0.00020777932136,-4.17943801032e-05,4.36581522069e-06,1793247470458362112
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.595898166,715,680,658,634,877,784.595898166,808,652,629,652,0.403983478653,-0.00546491048255,0.0599393485919,0.999999978358,0.000197850307623,-6.43274077553e-05,6.94774601118e-07,1793247470475028736
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.016617725,715,680,658,634,877,784.016617725,808,652,629,652,0.404307847398,-0.00547501037108,0.0599201023904,0.999999978075,0.000186341903615,-9.5468017961e-05,-3.46689718689e-06,1793247470491695616
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,714.439268372,680,658,633.439268372,876.439268372,784.560731628,808,652,629,652,0.404662743428,-0.00547957876489,0.0599070493913,0.999999976157,0.000181717691281,-0.000120833893635,-8.04569018486e-06,1793247470508362240
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.137459674,714.137459674,680,658,633,876.137459674,785,808.137459674,652,629,652,0.40503538319,-0.00548491430072,0.0598975338046,0.999999974517,0.000176510197523,-0.000140203112931,-1.23795477032e-05,1793247470525028864
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.712391775,714.712391775,680,658,633,876.712391775,785,808.712391775,652,629,652,0.405461623842,-0.00549321123007,0.0598986940939,0.999999975682,0.000168799311316,-0.000141030451268,-1.58946778985e-05,1793247470541695488
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.705723382,658,633.294276618,877,784.705723382,809,652,629,652,0.405921479157,-0.00550164683506,0.0599132410599,0.999999980386,0.000157995194148,-0.000117933335937,-1.8921455104e-05,1793247470558362112
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.116878843,658,633.883121157,877,784.116878843,809,652,629,652,0.406414982462,-0.00551022125396,0.059941187954,0.999999986876,0.000144094782854,-7.08880842437e-05,-2.14593962941e-05,1793247470575028992
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,876.536388624,784,808.536388624,652,629,652,0.406967678465,-0.00552087521407,0.0599718706293,0.999999999554,4.70692599695e-06,-1.82303275789e-05,-2.3182479759e-05,1793247470591695360
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,876,784,808.04165177,652,629,652,0.407532158727,-0.0055302718966,0.0600007535519,0.999999987814,-0.00015106150499,3.05857364887e-05,-2.48463552614e-05,1793247470608361984
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,876,784,808.614831387,652,629,652,0.408059958872,-0.00551705236038,0.0599980237564,0.999999992403,-0.000119297771681,1.26403331776e-05,-2.83298075425e-05,1793247470625028864
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.187998571,658,634,876.187998571,784.187998571,809,652,629,652,0.408600722875,-0.00550206182353,0.0599912014714,0.999999995624,-8.70330250997e-05,-9.95372388203e-06,-3.2823838814e-05,1793247470641695744
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.76114025,658,634,876.76114025,784.76114025,809,652,629,652,0.409168045241,-0.00548344312862,0.0599759951111,0.999999996895,-5.37418801427e-05,-4.20712402791e-05,-3.93881916631e-05,1793247470658362880
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.347451094,745,715,680,658.694902187,634,877.347451094,784.652548906,809,652,629,652,0.409777916916,-0.00548545210151,0.0599713192222,0.999999996429,-4.93848898801e-05,-5.23751208957e-05,-4.42763002283e-05,1793247470675029504
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.943171884,745,715,680,659.886343767,634,877.943171884,784.056828116,809,652,629,652,0.410418191993,-0.00550220048722,0.0599741678373,0.999999995582,-6.57026778408e-05,-4.70921598235e-05,-4.79666553474e-05,1793247470691696128
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.477452311,634,878.522547689,784,809,652,629,652,0.411131825172,-0.00551386434446,0.0599855266024,0.9999999947,-8.60974143385e-05,-2.05066218616e-05,-5.25957988349e-05,1793247470708362496
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.900412712,745,715,679.900412712,659,634,878.900412712,784,809,652,629,652,0.41184542517,-0.00552330720107,0.059992372877,0.999999994959,-8.59073656557e-05,-3.25691111864e-06,-5.18779187803e-05,1793247470725029120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.326292193,745,715,679.326292193,659,634,878.326292193,784,809,652,629,652,0.412522005439,-0.00552472189331,0.0599734409107,0.99999999873,1.44177596869e-05,-4.1196648491e-05,-2.52097525653e-05,1793247470741695744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.254454291,745,715,679,659,633.745545709,878,784,809,651.745545709,629,652,0.413194669941,-0.00551596615573,0.0599446258599,0.999999992996,6.74385110129e-05,-9.64182433846e-05,-1.27914397677e-05,1793247470758362624
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.843924642,745,715,679,659,633.156075358,878,784,809,651.156075358,629,652,0.413862179015,-0.00549381996894,0.0599027986776,0.999999982918,5.81780514458e-05,-0.000174393241951,-1.91345666666e-05,1793247470775029504
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.57378597,745,715,679.42621403,659,633.42621403,878.42621403,784,809.42621403,651.42621403,629.42621403,652.42621403,0.414664502321,-0.00548683342058,0.0599175394921,0.99999998772,5.50351320046e-05,-0.000144557276559,-2.51877427537e-05,1793247470791696128
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.99411717,715,680,659.00588283,633.99411717,878.99411717,784.00588283,810,652,630,652.99411717,0.415515655455,-0.00548550976818,0.0599527114394,0.999999995185,5.38808690271e-05,-7.59061303074e-05,-3.1081608997e-05,1793247470808362752
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.417796282,715,680,659.582203718,633.417796282,878.417796282,784.582203718,810,652,630,652.417796282,0.416393980429,-0.00550392527071,0.059993673972,0.999999998955,3.19361622383e-05,-8.2233555549e-06,-3.16528275434e-05,1793247470825029120
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.158167204,744.158167204,715,680,660,633.158167204,878,784.841832796,810,651.841832796,629.841832796,652,0.417258987276,-0.00551878296148,0.0600205154313,0.999999998786,7.99504827612e-06,3.62474062506e-05,-3.24202091122e-05,1793247470841695744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.733188711,744.733188711,715,680,660,633.733188711,878,784.266811289,810,651.266811289,629.266811289,652,0.418088893762,-0.00552426393401,0.0600101403859,0.999999999016,-2.12076536247e-05,1.95422235922e-05,-3.37045843813e-05,1793247470858362112
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.683434951,634,878,784,809.683434951,651.316565049,629,652,0.418917148123,-0.00552530277421,0.0599890000264,0.999999998938,-2.59138329844e-05,-1.27040493037e-05,-3.5930461062e-05,1793247470875028992
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.092826037,634,878,784,809.092826037,651.907173963,629,652,0.41974397223,-0.00552249615134,0.0599585403559,0.999999997491,-9.41387399999e-06,-5.84039241639e-05,-3.89713760844e-05,1793247470891695616
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.511959747,745,715,680,659.488040253,633.511959747,878,784.488040253,809,651.511959747,629,652.488040253,0.420591206246,-0.00551452387816,0.0599294771467,0.999999993875,-7.761063708e-06,-0.000101928955622,-4.24247480492e-05,1793247470908362496
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878.066642911,784.933357089,809.066642911,651.066642911,629,652.933357089,0.421446323038,-0.00550706893825,0.0599013426449,0.999999988238,-8.78589153005e-06,-0.000146191554992,-4.55526727968e-05,1793247470925028864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878.641835455,784.358164545,809.641835455,651.641835455,629,652.358164545,0.422332548951,-0.00551091254829,0.0598783079071,0.999999979083,-9.11597428712e-06,-0.000199177318863,-4.56101880211e-05,1793247470941695744
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879,784,810,652,629.21923001,652.21923001,0.423257314884,-0.00551616264229,0.0598896103413,0.999999981659,-1.44707068781e-05,-0.000185549648559,-4.5216971269e-05,1793247470958362368
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879,784,810,652,629.800258667,652.800258667,0.424245684142,-0.00552373387897,0.0599575799334,0.999999996712,-2.81176961235e-05,-6.19888131219e-05,-4.40799043197e-05,1793247470975029248
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.384148218,745,715,680.384148218,660,633,879,784,810,652,630,652.615851782,0.425221812062,-0.00552762151432,0.0600049473473,0.999999998381,-3.37469150805e-05,1.61546841437e-05,-4.28707286081e-05,1793247470991696128
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.969536442,745,715,680.969536442,660,633,879,784,810,652,630,652.030463558,0.426191527172,-0.00552957945667,0.0600415220935,0.99999999603,-3.51759416385e-05,7.05058327419e-05,-4.1623778178e-05,1793247471008362752
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.451935172,660,633.548064828,879,784,810,651.451935172,630,652.548064828,0.427141645417,-0.00552628859778,0.060025794483,0.99999999679,-3.46468198943e-05,5.74565205823e-05,-4.37945236949e-05,1793247471025028864
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.874492236,745,715,680,660,633.874492236,879,784,810.125507764,651,630,652.874492236,0.428084083482,-0.00552354733164,0.0600044539942,0.999999997781,-3.38279292698e-05,3.39649754912e-05,-4.62611547968e-05,1793247471041695232
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.299587517,745,715,680,660,633.299587517,879,784,810.700412483,651,630,652.299587517,0.429002873674,-0.00552380568478,0.0599732966735,0.999999998177,-3.23563866592e-05,-1.36677791853e-05,-4.91154434626e-05,1793247471058361856
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.281741196,745,715,680.281741196,660,633.281741196,879,784,810.718258804,651,630,652.281741196,0.429892777919,-0.00552411044433,0.0599416323906,0.99999999568,-3.40555046162e-05,-7.00570685119e-05,-5.07183981548e-05,1793247471075028736
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.870060168,745,715,680.870060168,660,633.870060168,879,784,810.129939832,651,630,652.870060168,0.43075124975,-0.00552446570118,0.059909416457,0.999999988688,-3.92047892162e-05,-0.000135974811734,-5.09597086747e-05,1793247471091695360
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633.548691981,879,784,810.451308019,651.451308019,630.451308019,652.548691981,0.431728905457,-0.00552627807137,0.0599341858864,0.999999994199,-4.46669945461e-05,-8.32436368237e-05,-5.17370489128e-05,1793247471108361984
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.969500318,745,715,681,660,633,879,784.030499682,811,652,630.969500318,652,0.432737063908,-0.0055284925546,0.0599741481932,0.999999997393,-4.95232215526e-05,-4.64072881739e-09,-5.25469127634e-05,1793247471125028864
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.391237789,745,715,681,660,633,879,784.608762211,811,652,630.391237789,652,0.433686257464,-0.0055305104715,0.059996848578,0.999999997444,-4.19031798947e-05,2.70854485043e-05,-5.12118921616e-05,1793247471141695488
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784.81401365,811,651.81401365,630,652.18598635,0.434623016674,-0.00553261140275,0.0600015678725,0.999999997274,-4.53612633908e-05,2.79943250441e-05,-5.10952267716e-05,1793247471158362368
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784.238961615,811,651.238961615,630,652.761038385,0.4355337646,-0.00553488599243,0.0599686724474,0.999999995641,-7.19937254194e-05,-2.58653903788e-05,-5.35272438474e-05,1793247471175028992
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.343671342,745,715,681.343671342,660,633.343671342,879,784,811,651.343671342,630,653,0.436406284333,-0.00553539573283,0.059944398104,0.999999993358,-7.43820065706e-05,-6.83795966403e-05,-5.54491335226e-05,1793247471191695872
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.93169433,745,715,681.93169433,660,633.93169433,879,784,811,651.93169433,630,653,0.43725162362,-0.00553465065847,0.0599262533849,0.999999991316,-5.95325804215e-05,-0.000102827099067,-5.70083205472e-05,1793247471208362496
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680.978117083,660,633.489058542,879.510941458,784,811,652,630,652.489058542,0.43806611884,-0.00553000391744,0.0598954952239,0.999999983658,-4.71868016622e-05,-0.000164643434062,-5.78782711565e-05,1793247471225029120
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.911239784,715,680,660,633,880,784,811.088760216,652,630,652.088760216,0.438895400791,-0.00552572945206,0.0598756185433,0.999999976083,-4.05135542459e-05,-0.000206806603134,-5.85062646398e-05,1793247471241696000
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.334931425,715,680,660,633,880,784,811.665068575,652,630,652.665068575,0.439828171225,-0.00552631653674,0.0599246182868,0.999999988952,-6.31913415735e-05,-0.00012125943721,-5.83027936487e-05,1793247471258362624
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.754192207,744,715,680.245807793,660.245807793,633,879.754192207,784.245807793,812,652,630.245807793,653,0.440734113906,-0.00552929759577,0.0599710670614,0.999999994688,-7.27855384602e-05,-4.53897426993e-05,-5.71509281704e-05,1793247471275029248
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.167304836,744,715,680.832695164,660.832695164,633,879.167304836,784.832695164,812,652,630.832695164,653,0.441602830682,-0.00553560050125,0.0600139761418,0.999999996297,-6.42251202447e-05,1.7051615174e-05,-5.4683083652e-05,1793247471291696128
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.414174276,744.414174276,715,681.414174276,661,633,878.585825724,784.585825724,812,651.585825724,631,653,0.442408478161,-0.00553837962574,0.0600106955396,0.99999999676,-5.75319506367e-05,1.24611282429e-05,-5.49030306586e-05,1793247471308362496
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.993496941,744.993496941,715,681.993496941,661,633,878.006503059,784.006503059,812,651.006503059,631,653,0.443188977379,-0.00553975367375,0.0599889972068,0.999999996913,-5.15833294605e-05,-1.88577184009e-05,-5.61947109537e-05,1793247471325028864
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,744.42794963,714.42794963,681.42794963,660.42794963,633,878.57205037,784,812,651,631,653,0.443935589858,-0.00553957572242,0.0599700755359,0.999999994624,-7.53364924353e-05,-4.34613175831e-05,-5.64622408096e-05,1793247471341695744
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.850472133,744.149527867,714.149527867,681,660,633,879,784,812,651,631,653,0.444675028611,-0.00554077635357,0.0599573525777,0.999999992212,-9.23611945632e-05,-6.18527756338e-05,-5.67504124976e-05,1793247471358362368
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.276027189,744.723972811,714.723972811,681,660,633,879,784,812,651,631,653,0.445395175009,-0.00554594460652,0.0599621550735,0.999999992408,-8.93072488471e-05,-6.28076852885e-05,-5.7130283243e-05,1793247471375029248
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,812,651.30556853,631,653,0.44607960473,-0.00554936680266,0.059950961799,0.999999990637,-8.67338318684e-05,-8.82671522253e-05,-5.84104532538e-05,1793247471391695872
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,812,651.893778459,631,653,0.446730997591,-0.00555117395016,0.0599249729334,0.999999985288,-8.4604889078e-05,-0.000136392573401,-6.05233719996e-05,1793247471408362240
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+250,4.166666667,HOLD_POSE2,766,745.241391733,714.241391733,682.241391733,658,630.758608267,879.241391733,782.758608267,813.241391733,651.758608267,630,653,0.456566089506,-0.00555694428467,0.0597711933842,0.9999999378,-0.000108098655556,-0.000330262706172,-6.0344855648e-05,1793247472381150976
+251,4.183333333,HOLD_POSE2,766,745,714.334786017,682,658,630.665213983,879,783,813.334786017,652,630,653,0.456565916352,-0.00555817017704,0.059771227126,0.999999937616,-0.000108946489117,-0.000330560819009,-6.02392850272e-05,1793247472397817856
+252,4.200000000,HOLD_POSE2,766,745,714.909578177,682,658,630.090421823,879,783,813.909578177,652,630,653,0.456565064314,-0.0055602508015,0.0597705257358,0.999999937168,-0.000110190493197,-0.000331533204806,-6.00642345798e-05,1793247472414484480
+253,4.216666667,HOLD_POSE2,766,745,715,682,658,630.48374402,879,783,813.51625598,651.51625598,630,653,0.456565451404,-0.00555831617918,0.059770651859,0.999999937462,-0.000107882949007,-0.000331368474105,-6.02756118973e-05,1793247472431151104
+254,4.233333333,HOLD_POSE2,765.94019138,745,715,682,657.94019138,631,879,783,813.05980862,651.05980862,630,653,0.456566071499,-0.00555601889385,0.0597709060023,0.999999937827,-0.000105412285754,-0.000331013040128,-6.05293214043e-05,1793247472447817984
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+256,4.266666667,HOLD_POSE2,765.240734044,745,715,682,657.240734044,631,879.240734044,783,814,652,630.240734044,653,0.456566734826,-0.00555755302529,0.059770536476,0.999999937385,-0.000109029113292,-0.000331174046898,-6.05572817824e-05,1793247472481151488
+257,4.283333333,HOLD_POSE2,765.817516892,745,715,682,657.817516892,631,879.817516892,783,814,652,630.817516892,653,0.456565915669,-0.00555683455985,0.0597695836723,0.999999936924,-0.000110131155641,-0.000332176854861,-6.06718283013e-05,1793247472497817856
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+259,4.316666667,HOLD_POSE2,766,745,715,682,658,630.034643687,878.069287374,782.034643687,814,651.034643687,630.034643687,653,0.456564195795,-0.00555810616473,0.0597684106058,0.999999936592,-0.000109208850354,-0.000333693252862,-5.9476996678e-05,1793247472531151360
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+262,4.366666667,HOLD_POSE2,766,745,715,682,657.277186051,630,879,782,813.277186051,652,630,653,0.456563159638,-0.00555912642917,0.0597673579525,0.999999935716,-0.000110427870687,-0.000335821933233,-5.99833625799e-05,1793247472581151232
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.841569124,745,715,682.841569124,657,630,879,782.841569124,814,651,630,653,0.456567497469,-0.00555438735392,0.0597695056687,0.999999937771,-0.000103802590933,-0.00033172277281,-6.03506895172e-05,1793247472651498752
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.251121676,745,715,682.251121676,657,630,879,782.251121676,814,651,630,653,0.456566091684,-0.00555698086498,0.0597687936765,0.999999937022,-0.000106732207247,-0.000333119562083,-5.99570454971e-05,1793247472668165120
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.090299998,682,657,630,879.909700002,782.909700002,814,651.909700002,630.909700002,653,0.456565222362,-0.00555828265349,0.0597666368823,0.99999993653,-0.000106254655269,-0.00033484769725,-5.93945723844e-05,1793247472701498368
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.484117486,682,657.484117486,630,880,782.515882514,814,651.515882514,630.515882514,653,0.456565689283,-0.00555777629147,0.0597677857159,0.999999936963,-0.000105575914124,-0.000333784191957,-5.92922498123e-05,1793247472718164992
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,630.648572404,879.351427596,782.648572404,814,651.648572404,630,653,0.456566150961,-0.0055572393167,0.0597690706865,0.999999937648,-0.000104641008832,-0.000332085576254,-5.89292425439e-05,1793247472751498240
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.233691245,745,715,682,658,630.766308755,879,783,814,652,630,653,0.456562182611,-0.0055567758315,0.059766704417,0.999999936636,-0.000104556343361,-0.000335114470324,-5.91069652529e-05,1793247472768164864
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,657.609520512,630,879,783,814,652,630,653,0.456529985212,-0.00555414428443,0.059750111836,0.999999927721,-0.000104621986386,-0.000360490631112,-6.04829987096e-05,1793247472801498368
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.874718958,658,630.874718958,879,782.874718958,813.874718958,652,630.874718958,653,0.45618205706,-0.00554264349069,0.0596677979541,0.999999881229,-9.66041991935e-05,-0.000473431980544,-6.38039599961e-05,1793247472901498368
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.55241265,658,630.55241265,879.44758735,782.55241265,814,652,630.55241265,653,0.456092075818,-0.00554077928282,0.0596693587833,0.999999881751,-9.54268263146e-05,-0.000472668014961,-6.30566418068e-05,1793247472918164992
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.018948855,658,630,880,782.018948855,814,652,630,653,0.45599770692,-0.00553875675299,0.0596728068976,0.999999883375,-9.39515146418e-05,-0.000469641491063,-6.21257434262e-05,1793247472934831616
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.595352126,658,630,880,782.595352126,814,652,630,653,0.455879752337,-0.00553512690728,0.0596794821054,0.999999887532,-8.9801200542e-05,-0.000461738035188,-6.05842246062e-05,1793247472951498240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.822970745,658,630,880,783,814,651.822970745,630.177029255,653,0.4557520413,-0.00553099189712,0.0596860322794,0.999999891168,-8.57890385584e-05,-0.00045476030246,-5.91365014704e-05,1793247472968165120
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,630.35386986,879.64613014,783,814,651.35386986,630.64613014,653,0.455433263721,-0.00552046342879,0.059697704425,0.999999896373,-7.69580766776e-05,-0.000445154443777,-5.62941449071e-05,1793247473001498624
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,630.929487764,879.070512236,783,814,651.929487764,630.070512236,653,0.455254289428,-0.00551533646271,0.0597025951902,0.999999899056,-7.09004098585e-05,-0.000440337636424,-5.4434854048e-05,1793247473018164992
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658.505930252,631,879.505930252,783,813.494069748,652,630.505930252,653,0.455043096746,-0.00550940055411,0.0597032412416,0.999999897497,-6.66893882192e-05,-0.000444693758985,-5.29738845037e-05,1793247473034831872
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.084258028,658.915741972,631,880,783,813.084258028,652,631,653,0.454821352879,-0.00550317761164,0.0597034204136,0.999999895422,-6.21024944561e-05,-0.000450173719076,-5.14152265343e-05,1793247473051498240
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.673188709,658.326811291,631,880,783,813.673188709,652,631,653,0.454563350641,-0.00549591183778,0.0597043523507,0.999999893977,-5.37202119093e-05,-0.000454715144982,-4.89383987946e-05,1793247473068164864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.742663757,658,631,879.742663757,783,813.742663757,652,630.742663757,653,0.454291209876,-0.00548906856117,0.0597053156481,0.999999893563,-4.75044318278e-05,-0.000456546249727,-4.67128350183e-05,1793247473084831744
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.1644799,658,631,879.1644799,783,813.1644799,652,630.1644799,653,0.454001441168,-0.00548275205585,0.0597063180456,0.999999894517,-4.39898541517e-05,-0.000454998117525,-4.48005480725e-05,1793247473101498624
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.278414292,714.721585708,682.278414292,659.278414292,633,879,784.278414292,811,652,630.278414292,652.721585708,0.444671003205,-0.00541867676496,0.0597805683315,0.999999934453,0.000122103563097,-0.000340322928205,1.91283374717e-05,1793247473401498368
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744.86088302,714.13911698,682.86088302,659.86088302,633,879,784.86088302,811,652,630.86088302,652.13911698,0.443888412232,-0.00542761508858,0.059754435642,0.999999902148,0.00024441600197,-0.000368040351601,2.26167878448e-05,1793247473418165248
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,744,715,681.926938721,659,633,879,784,810.926938721,651,630.926938721,652,0.436311824464,-0.00541035205598,0.0597511278233,0.999999907839,0.000111413068829,-0.00041461867149,-6.73022360991e-07,1793247473568165376
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.244504354,715,681,659.244504354,633,878.755495646,784,810.244504354,651.244504354,630.244504354,652,0.434567339818,-0.00542267492471,0.0597401756189,0.999999920233,0.000109727777884,-0.000383922128087,9.84402283054e-06,1793247473601498624
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.822712557,715,681,659.822712557,633,878.177287443,784,810.822712557,651.822712557,630.822712557,652,0.43365478724,-0.00542150173353,0.0597573216905,0.999999930805,0.000116363651789,-0.000352940881743,1.6814733263e-05,1793247473618165248
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.72041026,715,681.27958974,659,633,878.72041026,784,810,651.27958974,630,652,0.428987542039,-0.00541147140586,0.0598157855004,0.999999943831,0.00014889473454,-0.000298902310753,2.87384026496e-05,1793247473701498368
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744.683202638,714.683202638,680.683202638,659,633.683202638,878.683202638,784.683202638,809.316797362,652,629.683202638,652,0.417969854537,-0.00540425485661,0.0597383347685,0.99999990026,0.000182916865872,-0.000406528743163,2.74861693132e-05,1793247473901498624
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.151264499,680,658.848735501,634,877,784.848735501,809,651.848735501,629.151264499,652,0.413256129641,-0.00540085449351,0.0598339295602,0.99999994031,0.000200272190082,-0.000279364510415,3.50164376215e-05,1793247474001499136
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.172130382,715,679.827869618,658,634,877,784.172130382,808,652,629,652,0.40333708882,-0.00537626378865,0.0597816822024,0.999999910872,0.000255350860882,-0.000334363072037,3.53997438434e-05,1793247474318165248
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.767763181,715,679.232236819,658,634,877,784.767763181,808,652,629,652,0.403080201284,-0.00538743237146,0.0598014513503,0.999999922971,0.000243971872938,-0.000305132002955,3.78255031562e-05,1793247474334831872
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784.648138371,808,652,629,652,0.402844304212,-0.00539459545118,0.0598188698575,0.999999932993,0.000235075883258,-0.00027776583977,3.99814027949e-05,1793247474351498752
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.856878579,658.143121421,633.856878579,877,785,808,652,629,652,0.400959032395,-0.00538574678312,0.0598282780401,0.999999949046,0.000143605134683,-0.000284460280161,1.91919245264e-05,1793247474768165120
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,808,652,629,652,0.400959920763,-0.00538447587436,0.0598295568673,0.999999949437,0.000145623339928,-0.000282059218811,1.90426494877e-05,1793247474784832000
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.991824834,715,680,658,634,877,785,808,652,629,652,0.400961604171,-0.00538236722363,0.0598312066326,0.999999949741,0.000149443626013,-0.000278983187615,1.87993614247e-05,1793247474801498880
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.418061302,715,680,658,634,877,785,808,652,629,652,0.400961689911,-0.00538419704662,0.0598314186801,0.999999950175,0.000147105382694,-0.000278648983722,1.90764739041e-05,1793247474818166272
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.160593411,744.160593411,715,679.839406589,658,634,877,785,808,652,629,652,0.400961753751,-0.00538560488323,0.0598316817845,0.99999995057,0.000145198746695,-0.00027821793998,1.92690353602e-05,1793247474834833408
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.752380939,744.752380939,715,679.247619061,658,634,877,785,808,652,629,652,0.40096175879,-0.00538587968418,0.0598320819771,0.999999950871,0.000144450978664,-0.000277526880785,1.92345768784e-05,1793247474851499264
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.66350978,745,715,679.33649022,658,634,877,785,808.33649022,652,629,652,0.400961300286,-0.00538482609642,0.059832101828,0.999999950548,0.000146700370194,-0.000277508524771,1.93049595351e-05,1793247474868165888
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.084924795,745,715,679.915075205,658,634,877,785,808.915075205,652,629,652,0.400960508276,-0.00538281677226,0.0598318480342,0.999999949759,0.000151106129441,-0.000277974158831,1.94507722924e-05,1793247474884832512
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.490050635,745,715,679.509949365,658,634,876.509949365,785,808.509949365,652,629,652,0.400961049895,-0.00538507865168,0.0598324647115,0.999999950344,0.000148789048363,-0.000277092989847,1.98288917611e-05,1793247474901499136
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.933991828,745,715,679.066008172,658,634,876.066008172,785,808,652,629,652,0.400961801717,-0.00538761052696,0.0598331982692,0.999999951101,0.000145659104338,-0.000276001313723,2.01348546255e-05,1793247474918166016
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.345341828,745,715,679.654658172,658,634,876.654658172,785,808,652,629,652,0.400962401334,-0.00538646232519,0.0598336715866,0.999999951426,0.000145250309722,-0.000275077374154,1.95530653715e-05,1793247474934832640
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.759987009,658,634,877,785,808,652,629,652,0.400962487607,-0.00538522429228,0.0598339344021,0.999999951402,0.00014598934995,-0.000274792030512,1.93163177275e-05,1793247474951499264
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.17930915,658,634,877,785,808,652,629,652,0.400961845259,-0.00538385875646,0.0598338984395,0.999999950877,0.000148357581118,-0.000275413084323,1.95693082989e-05,1793247474968166144
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.398048422,745,715,679.398048422,658,634,877,784.601951578,808,652,629,652,0.400962241496,-0.00538376030582,0.0598346641216,0.999999950967,0.000149940201776,-0.000274219868445,1.9693138599e-05,1793247474984832768
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.973922641,745,715,679.973922641,658,634,877,784.026077359,808,652,629,652,0.400963101714,-0.00538422791814,0.0598357879337,0.999999951328,0.000151171855407,-0.000272216138193,1.97592672907e-05,1793247475001499136
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.453622395,658,634,877,784,808,652,629,652,0.400963608517,-0.0053843030905,0.0598360234399,0.999999951574,0.000150422958367,-0.000271740622134,1.95624281832e-05,1793247475018165760
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.876700597,745,715,679,658,634,877,784.123299403,808,652,629,652,0.400963831499,-0.00538453824998,0.0598361593863,0.999999951762,0.000149347761956,-0.000271647946387,1.94834649805e-05,1793247475034832384
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.282084239,745,715,679,658,634,877,784.717915761,808,652,629,652,0.400963033639,-0.0053854561186,0.059836075817,0.999999951747,0.000147384359813,-0.00027274161802,1.99027649797e-05,1793247475051499776
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db156351328affe4014bc05808883b1435a2b41d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+376,6.266666667,pose2_to_pose3_retreat,0.58360524639,-7.21761588604e-05,1.05004226044,0.554177036938,0.00860227928547,1.04966565045
+377,6.283333333,pose2_to_pose3_retreat,0.583536086377,-7.21700084501e-05,1.05004228181,0.554107877692,0.00860228818791,1.04966567524
+378,6.300000000,pose2_to_pose3_retreat,0.58347707972,-7.21346086059e-05,1.05004235612,0.554048871551,0.0086023251932,1.04966574615
+379,6.316666667,pose2_to_pose3_retreat,0.583425162124,-7.21167042153e-05,1.05004234401,0.553996953731,0.00860234214244,1.04966572956
+380,6.333333333,pose2_to_pose3_retreat,0.583380505365,-7.21383747688e-05,1.05004229634,0.553952295765,0.00860231661683,1.0496656874
+381,6.350000000,pose2_to_pose3_retreat,0.583344926734,-7.20506035627e-05,1.05004263088,0.553916715166,0.00860239739442,1.04966601467
+382,6.366666667,pose2_to_pose3_retreat,0.583317334949,-7.22659400682e-05,1.05004261107,0.553889127684,0.00860219669859,1.04966599574
+383,6.383333333,pose2_to_pose3_retreat,0.583297274618,-7.21399611035e-05,1.05004264316,0.553869065964,0.00860231767326,1.04966602113
+384,6.400000000,pose2_to_pose3_retreat,0.583282176645,-7.19985649033e-05,1.05004255679,0.553853967127,0.00860245637599,1.04966594032
+385,6.416666667,pose2_to_pose3_retreat,0.583271255928,-7.20018894005e-05,1.05004242283,0.553843047034,0.00860245539272,1.04966581156
+386,6.433333333,pose2_to_pose3_retreat,0.583262967553,-7.22281573223e-05,1.05004227496,0.55383476113,0.0086022373911,1.04966566102
+387,6.450000000,pose2_to_pose3_retreat,0.583257012829,-7.21503981868e-05,1.05004240477,0.553828804339,0.0086023082431,1.04966579319
+388,6.466666667,pose2_to_pose3_retreat,0.583252626833,-7.20617809234e-05,1.05004252186,0.553824416794,0.00860239165626,1.04966591151
+389,6.483333333,pose2_to_pose3_retreat,0.583249655302,-7.19966418098e-05,1.05004259624,0.553821444639,0.00860245466586,1.04966598567
+390,6.500000000,pose2_to_pose3_retreat,0.58324802738,-7.20745999188e-05,1.05004237381,0.553819817955,0.00860238096056,1.04966576444
+391,6.516666667,pose2_to_pose3_retreat,0.583247129232,-7.21215246434e-05,1.05004224203,0.553818920545,0.00860233656884,1.04966563337
+392,6.533333333,pose2_to_pose3_retreat,0.583246934709,-7.21303417791e-05,1.05004222843,0.553818726182,0.00860232829389,1.04966561974
+393,6.550000000,pose2_to_pose3_retreat,0.583246903584,-7.21305004036e-05,1.05004224016,0.553818695083,0.00860232821604,1.04966563128
+394,6.566666667,pose2_to_pose3_retreat,0.583246792775,-7.21310651318e-05,1.0500422819,0.553818584367,0.00860232793891,1.04966567239
+395,6.583333333,pose2_to_pose3_retreat,0.583246522393,-7.21324431154e-05,1.05004238376,0.553818314211,0.00860232726269,1.04966577269
+396,6.600000000,pose2_to_pose3_retreat,0.583246385582,-7.21331403585e-05,1.0500424353,0.553818177516,0.00860232692053,1.04966582345
+397,6.616666667,pose2_to_pose3_retreat,0.5832462769,-7.21336942494e-05,1.05004247624,0.553818068924,0.00860232664872,1.04966586376
+398,6.633333333,pose2_to_pose3_retreat,0.583246213428,-7.21340177284e-05,1.05004250015,0.553818005506,0.00860232648997,1.04966588731
+399,6.650000000,pose2_to_pose3_retreat,0.583246208671,-7.21340419715e-05,1.05004250195,0.553818000753,0.00860232647808,1.04966588907
+400,6.666666667,pose2_to_pose3_retreat,0.583246144949,-7.21343667282e-05,1.05004252595,0.553817937084,0.00860232631871,1.04966591271
+401,6.683333333,pose2_to_pose3_retreat,0.5832460272,-7.21349668279e-05,1.05004257031,0.553817819433,0.00860232602422,1.0496659564
+402,6.700000000,pose2_to_pose3_retreat,0.583245898314,-7.21340358609e-05,1.0500426174,0.553817690596,0.00860232708636,1.04966600271
+403,6.716666667,pose2_to_pose3_retreat,0.583245797494,-7.21271147764e-05,1.05004264856,0.553817589582,0.008602333317,1.04966603311
+404,6.733333333,pose2_to_pose3_retreat,0.583245687502,-7.21195641037e-05,1.05004268254,0.553817479379,0.00860234011441,1.04966606628
+405,6.750000000,pose2_to_pose3_retreat,0.583245585364,-7.21125525155e-05,1.0500427141,0.553817377044,0.00860234642653,1.04966609707
+406,6.766666667,pose2_to_pose3_retreat,0.583245510112,-7.20961834766e-05,1.05004273539,0.553817301391,0.00860236144931,1.04966611871
+407,6.783333333,pose2_to_pose3_retreat,0.583245529579,-7.20625545497e-05,1.05004272325,0.553817320095,0.00860239261828,1.04966610957
+408,6.800000000,pose2_to_pose3_retreat,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120188,1.04966610706
+409,6.816666667,pose2_to_pose3_retreat,0.58324553494,-7.2053293526e-05,1.05004271991,0.553817325246,0.00860240120188,1.04966610706
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2af3ae8d1c0f9480b1272a279dadd8d5ebe38972
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57efc2d4ec3897ba7b4fcda55fc9e7d0552c3c8c5cfa8e6732405c9fecea7abc
+size 25802842
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e93379ab33e5112ad5ec4b4d7bd4cc3cf418235
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+38,0.633333333,BASELINE,765.924963519,745,715,679,660,634,877,785.924963519,808,653,629,652.075036481,0.400942049512,-0.00541673015068,0.0499304949505,0.999999975071,7.54470110104e-05,-0.000207315435795,-3.44367042613e-05,1793247476928808448
+39,0.650000000,BASELINE,765.349410318,745,715,679,660,634,877,785.349410318,808,653,629,652.650589682,0.400944246372,-0.00541747224257,0.049931817667,0.999999975441,7.67399127604e-05,-0.00020511873227,-3.39943982135e-05,1793247476945475328
+40,0.666666667,BASELINE,765,745,715,678.773965054,660,634,877,785,808,652.773965054,629,652.773965054,0.400944695498,-0.00541802800626,0.0499319391215,0.999999975465,7.71370025789e-05,-0.000204925507755,-3.3547611684e-05,1793247476962142208
+41,0.683333333,BASELINE,765,745,715,678.198686598,660,634,877,785,808,652.198686598,629,652.198686598,0.400942444222,-0.00541829587673,0.0499302045226,0.999999974957,7.61499855243e-05,-0.000207827831467,-3.30939024497e-05,1793247476978809088
+42,0.700000000,BASELINE,765,745,715,678.388074951,660,634,877.388074951,785,808,652.388074951,629.388074951,652,0.400942453317,-0.00541861802571,0.0499301638821,0.999999975054,7.50924006367e-05,-0.000207732002338,-3.31726608829e-05,1793247476995475456
+43,0.716666667,BASELINE,765,745,715,678.980894861,660,634,877.980894861,785,808,652.980894861,629.980894861,652,0.400943654964,-0.00541896881156,0.0499310169594,0.999999975471,7.39975848073e-05,-0.000206054373833,-3.3532344627e-05,1793247477012141824
+44,0.733333333,BASELINE,765,745,715,679,660,634,878,785.561825133,808,653,629.438174867,652,0.400943091929,-0.00541834136591,0.0499307779601,0.999999975408,7.3430153091e-05,-0.000206555784714,-3.35748889649e-05,1793247477028808192
+45,0.750000000,BASELINE,765,745,715,679,660,634,877.85908425,785.85908425,808.14091575,653,629,652,0.400942852477,-0.00541765840612,0.0499306709572,0.999999975348,7.38836585318e-05,-0.000206672440101,-3.36524449644e-05,1793247477045474560
+46,0.766666667,BASELINE,765,745,715,679,660,634,877.284437442,785.284437442,808.715562558,653,629,652,0.400943789872,-0.00541690484368,0.0499310821678,0.999999975338,7.74254976664e-05,-0.000205381491712,-3.38702710967e-05,1793247477062141184
+47,0.783333333,BASELINE,765,745,715,678.710295884,660,634,877,785,808.710295884,653,629,652,0.400943844209,-0.00541656457582,0.0499309468638,0.99999997528,7.80436864524e-05,-0.000205409546967,-3.40104729101e-05,1793247477078808320
+48,0.800000000,BASELINE,765,745,715,678.136649459,660,634,877,785,808.136649459,653,629,652,0.400943033049,-0.00541662938261,0.0499302759146,0.999999975178,7.57963726085e-05,-0.000206730372587,-3.40745942695e-05,1793247477095475712
+49,0.816666667,BASELINE,765,745,715,678.453100505,660,634,877,785,808,652.546899495,628.546899495,652,0.400943290274,-0.0054181722533,0.0499305657068,0.999999975405,7.36798838935e-05,-0.000206413788894,-3.39740124528e-05,1793247477112142592
+50,0.833333333,BASELINE,765,745,715,678.953569773,660,634,877,785.046430227,808,652.046430227,628.046430227,652,0.400943787562,-0.00541997669813,0.0499310887782,0.999999975685,7.19401025897e-05,-0.000205691905107,-3.38374588447e-05,1793247477128808960
+51,0.850000000,BASELINE,765,745,715,678.376866537,660,634,877,785.623133463,808,652.623133463,628.623133463,652,0.400943211036,-0.00541948991293,0.0499308449898,0.999999975429,7.40354236568e-05,-0.000206188851217,-3.38782834162e-05,1793247477145475584
+52,0.866666667,BASELINE,765,745,714.801375834,678,660,634,877.198624166,785.801375834,808.198624166,652.801375834,629,652,0.400943403742,-0.00541949768343,0.049931141805,0.999999975395,7.52416822798e-05,-0.000205938274322,-3.37341003318e-05,1793247477162141952
+53,0.883333333,BASELINE,765,745,714.228171847,678,660,634,877.771828153,785.228171847,808.771828153,652.228171847,629,652,0.400945047124,-0.00542043812289,0.0499324581296,0.999999975787,7.47712825018e-05,-0.000204277964442,-3.32410164231e-05,1793247477178808320
+54,0.900000000,BASELINE,765,745,714.356135426,678.356135426,660,634,877.643864574,785,809,652.356135426,629,652,0.400944595183,-0.00541935991894,0.0499321218149,0.999999975689,7.49953732127e-05,-0.000204649957232,-3.34032761874e-05,1793247477195474688
+55,0.916666667,BASELINE,765,745,714.947785346,678.947785346,660,634,877.052214654,785,809,652.947785346,629,652,0.400942757591,-0.00541694677397,0.0499306925998,0.999999975265,7.56787346677e-05,-0.000206365924032,-3.39989186728e-05,1793247477212141312
+56,0.933333333,BASELINE,765,745,715,679,660,634,877,785,809,653,629,652,0.40094148517,-0.00541792199011,0.0499300932733,0.999999975068,7.49944804704e-05,-0.000207584816062,-3.39010597903e-05,1793247477228808448
+57,0.950000000,BASELINE,765,745.105030819,715,679,660,634,877.105030819,785,808.894969181,653,628.894969181,652,0.400940768658,-0.00541894014375,0.0499297311473,0.999999974969,7.4135580661e-05,-0.000208379956244,-3.3812156321e-05,1793247477245475584
+58,0.966666667,BASELINE,765,745.679741354,715,679,660,634,877.679741354,785,808.320258646,653,628.320258646,652,0.400942293443,-0.00541868365165,0.0499300705232,0.999999975222,7.30876694194e-05,-0.000207495310041,-3.40634825176e-05,1793247477262142208
+59,0.983333333,BASELINE,765,745.745995455,715,679,660,634,878,785,808,653,628.254004545,652,0.400943605929,-0.00541902811939,0.0499305728126,0.999999975503,7.25833596156e-05,-0.00020634255259,-3.3874764003e-05,1793247477278808832
+60,1.000000000,BASELINE,765,745.172295222,715,679,660,634,878,785,808,653,628.827704778,652,0.400944651209,-0.00542012896833,0.0499312801482,0.999999975822,7.2763238353e-05,-0.000204852344329,-3.31321956047e-05,1793247477295475712
+61,1.016666667,BASELINE,765,745,715,679,660,634,877.584536696,785,808.415463304,653,629,652,0.400944406333,-0.00541928686741,0.0499310653052,0.99999997561,7.47458635736e-05,-0.000205109367665,-3.3518606929e-05,1793247477312142080
+62,1.033333333,BASELINE,765,745,715,679,660.008999915,634,877.008999915,785,808.991000085,653,629,652,0.400943609982,-0.00541767224151,0.0499304597043,0.999999975172,7.74246133516e-05,-0.000206105988648,-3.43643741483e-05,1793247477328808448
+63,1.050000000,BASELINE,765,745,715,679,660.586361685,634,877.586361685,785,808.413638315,653,629,652,0.400942958889,-0.00541993817526,0.0499301742317,0.999999975297,7.51984285814e-05,-0.000206447903526,-3.36164119507e-05,1793247477345475072
+64,1.066666667,BASELINE,765,745,715,679,660.837474714,634,877.837474714,785,808,653,629,652,0.400942770545,-0.00542093381308,0.0499302592555,0.999999975415,7.38048567662e-05,-0.000206439714658,-3.32554767219e-05,1793247477362141184
+65,1.083333333,BASELINE,765,745,715,679,660.264338258,634,877.264338258,785,808,653,629,652,0.40094375131,-0.00541872011812,0.0499312803182,0.999999975525,7.45148357949e-05,-0.000205547007971,-3.38723438289e-05,1793247477378807808
+66,1.100000000,BASELINE,765,745,715,679,660.317807327,634,877,785,808.317807327,652.682192673,629,652,0.400944582169,-0.00541818502233,0.0499317587902,0.999999975676,7.41384354225e-05,-0.000204951532302,-3.3844638483e-05,1793247477395475200
+67,1.116666667,BASELINE,765,745,715,679,660.907664901,634,877,785,808.907664901,652.092335099,629,652,0.400945284705,-0.00541908684544,0.0499317727921,0.999999975862,7.28320697183e-05,-0.000204610493144,-3.32651645328e-05,1793247477412143104
+68,1.133333333,BASELINE,765,745,715,679,660.511998453,634,877,785,808.511998453,652.488001547,629,652,0.400945650609,-0.00541919431431,0.04993188515,0.999999976027,7.34344658688e-05,-0.000203538770647,-3.3545643146e-05,1793247477428809728
+69,1.150000000,BASELINE,765,745,715,679,660,634,877,785,808,653,629,652,0.400945613123,-0.00541908506665,0.0499318322823,0.999999976083,7.44379586973e-05,-0.000202838614811,-3.39097606102e-05,1793247477445475840
+70,1.166666667,BASELINE,765,745,715,679,660,634,877,785,808,653,629,652,0.400942953677,-0.00541844289162,0.0499303682773,0.999999975333,7.58017731529e-05,-0.00020603912753,-3.36896738633e-05,1793247477462141952
+71,1.183333333,BASELINE,765,745,715,679,660,634,877,785.220421261,808,653,629,652,0.400941864397,-0.0054186537719,0.0499296988747,0.999999975071,7.51202773621e-05,-0.000207555759524,-3.36950596402e-05,1793247477478808320
+72,1.200000000,BASELINE,765,745,715,679,660,634,877,785.797057316,808,653,629,652,0.400943312606,-0.00542024324379,0.0499303136,0.999999975599,7.1133430188e-05,-0.000206351133544,-3.40648233386e-05,1793247477495474944
+73,1.216666667,BASELINE,765,745,715,679,660,634,877,785.619087709,808,653,629,652,0.4009428398,-0.00541891178735,0.0499301024964,0.999999975365,7.30381839028e-05,-0.000206804816585,-3.41695024064e-05,1793247477512141568
+74,1.233333333,BASELINE,765,745,715,679,660,634,877,785.031312369,808,653,629,652,0.400941323742,-0.00541599405452,0.0499294429077,0.999999974699,7.81425051795e-05,-0.000208159081974,-3.41302212382e-05,1793247477528808448
+75,1.250000000,BASELINE,765,745,715,679,660,634,877,785.549657455,808,652.450342545,629,652,0.4009416638,-0.00541655515764,0.0499296058944,0.999999974666,7.88945836882e-05,-0.000208092697723,-3.37934052671e-05,1793247477545475584
+76,1.266666667,BASELINE,765.128839185,745,715,679.128839185,660,634,877,785.871160815,808,652,629,652,0.40094197828,-0.00541722724474,0.0499298861911,0.999999974717,7.87980708431e-05,-0.000207925200011,-3.35253136917e-05,1793247477562142464
+77,1.283333333,BASELINE,765.703162356,745,715,679.703162356,660,634,877,785.296837644,808,652,629,652,0.40094184319,-0.00541760622005,0.0499304120632,0.999999974936,7.66141974484e-05,-0.000207684492949,-3.35527384671e-05,1793247477578809088
+78,1.300000000,BASELINE,765.722303993,745,715,679.722303993,660,634,877.277696007,785.277696007,808,652,629,652,0.400942738731,-0.00541886547039,0.0499308192613,0.999999975267,7.4550323067e-05,-0.000206864751254,-3.33961707816e-05,1793247477595475456
+79,1.316666667,BASELINE,765.147545219,745,715,679.147545219,660,634,877.852454781,785.852454781,808,652,629,652,0.400944736779,-0.00542106638686,0.0499310995088,0.999999975718,7.26148166745e-05,-0.000205425592566,-3.30427788394e-05,1793247477612141568
+80,1.333333333,BASELINE,765,745,715,679,660,634,877.55846641,785.55846641,808,652.44153359,629,652,0.400943501608,-0.00542050900726,0.0499303990086,0.999999975394,7.41652079594e-05,-0.000206423883791,-3.31704730182e-05,1793247477628808448
+81,1.350000000,BASELINE,765.034441352,745,715,679,660,634,877,785,808,653,629,652,0.400941375334,-0.00541910961042,0.0499294324969,0.999999974853,7.65942907201e-05,-0.000208105894702,-3.34501734727e-05,1793247477645475328
+82,1.366666667,BASELINE,765.609809689,745,715,679,660,634,877,785,808,653,629,652,0.40094279138,-0.00541944735883,0.0499296078856,0.999999975219,7.39155401435e-05,-0.000207304924859,-3.35077202704e-05,1793247477662141952
+83,1.383333333,BASELINE,765.815275546,745,715,679,660.184724454,634,877,785,808,653,629,652,0.400944257976,-0.00541933823559,0.049930280756,0.999999975561,7.30424802821e-05,-0.00020595127103,-3.35780882699e-05,1793247477678808576
+84,1.400000000,BASELINE,765.2413164,745,715,679,660.7586836,634,877,785,808,653,629,652,0.400945831082,-0.00541828750479,0.0499320018752,0.999999975854,7.59742083663e-05,-0.000203433051255,-3.36754719591e-05,1793247477695475456
+85,1.416666667,BASELINE,765,745,715,679,660.656623215,634,877,785,808,653,629,652,0.400945527721,-0.00541762653471,0.0499321482605,0.999999975779,7.7851612051e-05,-0.000203105181281,-3.36179656178e-05,1793247477712142080
+86,1.433333333,BASELINE,765,745,715,679,660.064143033,634,877,785,808,653,629,652,0.400943863073,-0.0054172483174,0.0499311522517,0.99999997544,7.89641537511e-05,-0.000204366305237,-3.34480939787e-05,1793247477728808704
+87,1.450000000,BASELINE,765,745,715,679,660,634,877,785.515417777,808,652.484582223,629,652,0.400943341703,-0.00541954290639,0.0499306127313,0.999999975366,7.62453134425e-05,-0.000205819479212,-3.30495321156e-05,1793247477745475328
+88,1.466666667,BASELINE,765,745,715,679,660,634,877,786,808.093122087,652,629,652,0.400942878245,-0.00542149853561,0.0499301946277,0.999999975291,7.3773443101e-05,-0.000207128845318,-3.27575581395e-05,1793247477762141952
+89,1.483333333,BASELINE,765,745,715,679,660,634,877,786,808.669332238,652,629,652,0.400941995164,-0.00542001237875,0.0499301188939,0.999999975095,7.49958312801e-05,-0.000207571225769,-3.31625607557e-05,1793247477778808576
+90,1.500000000,BASELINE,765,745,715,679,660,634,877,785.755874627,809,652.244125373,628.755874627,652.244125373,0.400942224742,-0.00541996585103,0.0499302574254,0.999999975223,7.42437994125e-05,-0.000207206468514,-3.32808506507e-05,1793247477795475200
+91,1.516666667,BASELINE,765,745,715,679,660,634,877,785.18298981,809,652.81701019,628.18298981,652.81701019,0.400943952719,-0.00542185804724,0.0499306845042,0.999999975779,7.08328499013e-05,-0.000205754752746,-3.30130294184e-05,1793247477812141568
+92,1.533333333,BASELINE,765,745,715,679,660,634,877,785,808.596607414,653,628.403392586,652.596607414,0.400944373024,-0.00542124011207,0.0499304956808,0.999999975925,7.06106321612e-05,-0.0002050550142,-3.34259565581e-05,1793247477828807936
+93,1.550000000,BASELINE,765,745,715,679,660,634,877,785,808.003890134,653,628.996109866,652.003890134,0.400944179597,-0.0054194440943,0.0499300177954,0.99999997588,7.18849851813e-05,-0.000204708201837,-3.41583800716e-05,1793247477845474560
+94,1.566666667,BASELINE,765,745,715,679,660,634,877,785,808,652.42691431,629,652,0.400942017971,-0.00541956667142,0.0499294799048,0.999999975188,7.41391621865e-05,-0.000207369092052,-3.35615803408e-05,1793247477862142208
+95,1.583333333,BASELINE,765.14971076,745,715,678.85028924,660,634,877,785,808.14971076,652.14971076,629,652,0.400941018184,-0.0054198670557,0.0499294977569,0.999999974908,7.51697615058e-05,-0.000208404455763,-3.31798570173e-05,1793247477878810624
+96,1.600000000,BASELINE,765.725633468,745,715,678.274366532,660,634,877,785,808.725633468,652.725633468,629,652,0.400943363057,-0.00542063755421,0.049931098883,0.999999975836,7.26985260522e-05,-0.000204755534739,-3.34354355531e-05,1793247477895482368
+97,1.616666667,BASELINE,765.691726494,745,715,678,660,634,877.308273506,785,808.691726494,653,629,652,0.400944521324,-0.00542045778346,0.0499316968182,0.999999976204,7.16250424521e-05,-0.000203301145933,-3.36374836821e-05,1793247477912148480
+98,1.633333333,BASELINE,765.102974826,745,715,678,660,634,877.897025174,785,808.102974826,653,629,652,0.400944599976,-0.00541941342402,0.0499313820145,0.999999976074,7.18232831777e-05,-0.000203843420541,-3.3790827935e-05,1793247477928809728
+99,1.650000000,BASELINE,765,745,715,678.478082462,660,634,877.521917538,785,808,652.521917538,629,652,0.400944589668,-0.00541961868368,0.0499311822415,0.999999975959,7.20017793084e-05,-0.000204378033069,-3.35756147949e-05,1793247477945475584
+100,1.666666667,BASELINE,765,745,715,679,660,634,877,785,808,652.057062081,629,652,0.400944372045,-0.00541994353908,0.0499308565759,0.999999975797,7.23013185355e-05,-0.000205105229617,-3.33203490793e-05,1793247477962142208
+101,1.683333333,BASELINE,765,745,715,679,660,634,877,785,808,652.631988495,629,652,0.400942444072,-0.00541894974793,0.0499291670811,0.999999975175,7.3737363799e-05,-0.000207594954149,-3.34106231831e-05,1793247477978808320
+102,1.700000000,BASELINE,765,745,715,679,660,634,877,785,808,653,629,652,0.400941434649,-0.00541845475374,0.0499282997032,0.999999974792,7.49080735266e-05,-0.000209002876924,-3.35181466377e-05,1793247477995474688
+103,1.716666667,BASELINE,765,745,715,679,660,634,877,785,808,653,629,652,0.400942058929,-0.00541884690205,0.0499288945133,0.999999974842,7.56068668254e-05,-0.000208486745595,-3.36563491604e-05,1793247478012141312
+104,1.733333333,BASELINE,765.369720822,745,715,679,660.369720822,634,877,785,808,652.630279178,629,652,0.400942512963,-0.00541961568384,0.0499294262039,0.999999975192,7.40768579219e-05,-0.000207352544212,-3.36786275576e-05,1793247478028807936
+105,1.750000000,BASELINE,765.959345972,745,715,679,660.959345972,634,877,785,808,652.040654028,629,652,0.400942865736,-0.00542060848154,0.049929920352,0.999999975711,7.12211914016e-05,-0.000205850724102,-3.36319560593e-05,1793247478045474560
+106,1.766666667,BASELINE,766,745,715,679,660.461451064,634,877,785,808,652.538548936,629,652,0.400943863555,-0.00541991329583,0.0499303011874,0.999999975717,7.27617779402e-05,-0.000205300370426,-3.35265283522e-05,1793247478062141184
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660,634,878,786,808,653,629,652,0.400943204491,-0.00541961525826,0.0499315139262,0.999999975967,7.22698937457e-05,-0.000204269715456,-3.34092830762e-05,1793247478104475136
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.425787365,745,715,679,660,634,878,785.425787365,808,652.425787365,629,652,0.400943912748,-0.00541897371338,0.0499309227258,0.999999975984,7.25740383802e-05,-0.000204063098051,-3.35151750877e-05,1793247478121142272
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.84677885,785,808,652,629,652,0.400944177665,-0.00541889121837,0.0499303721422,0.999999975946,7.25417831699e-05,-0.000204246515583,-3.36019261608e-05,1793247478137809152
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.254012262,785,808,652,629,652,0.40094317077,-0.00542041246931,0.0499299380758,0.99999997575,7.1544497959e-05,-0.000205548826096,-3.3633767658e-05,1793247478154475776
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,652.329797207,629,652,0.400943796192,-0.00541996531151,0.0499305214271,0.999999975736,7.35129968486e-05,-0.000204944426301,-3.35053951223e-05,1793247478171142656
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,652.906890217,629,652,0.400945645593,-0.00541804215804,0.0499318676808,0.999999975842,7.77053653244e-05,-0.000202910294925,-3.32568873708e-05,1793247478187809280
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.483421242,634,877,785,808,653,629,652,0.40094877839,-0.00541976063707,0.0499326388022,0.999999976378,7.59224764802e-05,-0.000200979574317,-3.29551976951e-05,1793247478204475648
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.061079181,745,715,679,661,634,877,785,808,653,629,652,0.400953129991,-0.00542197648952,0.0499335499887,0.999999977113,7.31441394653e-05,-0.000198385959021,-3.26746955186e-05,1793247478221142016
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.649398014,745,715,679,661,634,877,785,808,653,629,652,0.400965871108,-0.005422438202,0.0499366253238,0.999999978866,7.16958769913e-05,-0.000189898461791,-3.26654021856e-05,1793247478237808640
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.765999586,745,715,679,660.765999586,634,877,785,808,653,629,652,0.400984345504,-0.00542217995578,0.0499408195786,0.999999981148,7.1793023964e-05,-0.000177422249093,-3.27166718873e-05,1793247478254475264
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.186878502,745,715,679,660.186878502,634,877,785,808,653,629,652,0.401011275752,-0.00542085986256,0.0499466640966,0.999999984059,7.41694522608e-05,-0.000159063192136,-3.28572643119e-05,1793247478271142144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.391231478,785,808,653,629,652,0.401048429901,-0.00542198050497,0.0499528044134,0.999999987261,7.44273550138e-05,-0.000137336780595,-3.28300675113e-05,1793247478287808512
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.968859782,785,808,653,629,652,0.40109045509,-0.00542426400199,0.04995908566,0.999999990252,7.367591576e-05,-0.000114006037868,-3.27229298562e-05,1793247478304475136
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.539716678,715,679,660,634,877.460283322,785,808,653,629,652,0.401140810126,-0.00542480951083,0.0499634439689,0.999999992528,7.22828931417e-05,-9.28137113027e-05,-3.3228174104e-05,1793247478321141760
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.88538208,715,679,660.11461792,634,877.11461792,785,808,653,629,652,0.401193807398,-0.0054257277442,0.0499670591927,0.999999994058,7.08112565895e-05,-7.58283247191e-05,-3.34674137356e-05,1793247478337808384
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.29197455,715,679,660.70802545,634,877.70802545,785,808,653,629,652,0.401255859256,-0.00542861664217,0.0499680280719,0.999999994201,6.91639449457e-05,-7.59074327114e-05,-3.2449715635e-05,1793247478354475008
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.705880217,634,877.705880217,785.294119783,808.294119783,653,629,652,0.401328076553,-0.00543122110211,0.0499693304537,0.999999994447,6.8147956251e-05,-7.3800087812e-05,-3.18501095079e-05,1793247478371141632
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.126869641,634,877.126869641,785.873130359,808.873130359,653,629,652,0.40141014031,-0.00543355004902,0.0499709558734,0.999999994784,6.77434807407e-05,-6.95748972657e-05,-3.16554763852e-05,1793247478387808256
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.44926417,786,808.55073583,652.55073583,629,652,0.401509040642,-0.00543779346646,0.049970412535,0.999999994885,6.49741384307e-05,-7.1089108899e-05,-3.09074155813e-05,1793247478404475136
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.025044338,634,878,785.974955662,808,652.025044338,629,652,0.401613649032,-0.00544252599146,0.0499692775828,0.999999994908,6.15874865354e-05,-7.40970447725e-05,-3.00094501351e-05,1793247478421142016
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.610982875,634,878,785.389017125,808,652.610982875,629,652,0.401740289698,-0.00544618153275,0.0499685218974,0.999999995044,5.92370148943e-05,-7.44905122387e-05,-2.9232105321e-05,1793247478437809408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.803894157,634,878,785.196105843,808,653,629,652,0.401882512805,-0.00545087072491,0.0499699798483,0.999999995391,5.68112746815e-05,-7.21080931788e-05,-2.81337239779e-05,1793247478454476288
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.220382406,634,878,785.779617594,808,653,629,652,0.402055518916,-0.00545760188764,0.0499758108246,0.999999996117,5.42368421369e-05,-6.42419270279e-05,-2.64011370044e-05,1793247478471142400
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.642655706,785.642655706,808,652.642655706,629,652,0.402235987723,-0.00546318959208,0.0499739074405,0.999999995991,5.26876101507e-05,-6.78404188753e-05,-2.52842988966e-05,1793247478487808768
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.068439886,785.068439886,808,652.068439886,629,652,0.402420985643,-0.00546808333463,0.0499673100894,0.999999995286,5.17605700499e-05,-7.83967876184e-05,-2.45411573563e-05,1793247478504475392
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.505128831,745,715,679,660,634,877.505128831,785.505128831,808.505128831,652.505128831,629,652,0.402641736148,-0.00547503404266,0.0499654952793,0.999999995271,4.84839632183e-05,-8.09971426713e-05,-2.33639280882e-05,1793247478521142016
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.918763088,745,715,679,660,634,877.918763088,786,809,653,629,652,0.402873991198,-0.00548272233818,0.0499651899942,0.999999995498,4.42262365336e-05,-8.10143407723e-05,-2.20190705445e-05,1793247478537808384
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.32611753,745,715,679,660,634,877.32611753,786,809,653,629,652,0.403148214575,-0.00549330171566,0.0499703135509,0.9999999966,3.57935802923e-05,-7.15472295442e-05,-1.99887263677e-05,1793247478554475776
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.259986813,660,634,877,786,808.740013187,652.740013187,629,652,0.403448571779,-0.00550375347817,0.049977840311,0.999999997829,3.01212627925e-05,-5.59178853594e-05,-1.75495539979e-05,1793247478571142656
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.838087442,660,634,877,786,808.161912558,652.161912558,629,652,0.403780905706,-0.00551404909334,0.0499883075746,0.99999999897,2.78264320605e-05,-3.27485768396e-05,-1.46101490795e-05,1793247478587809536
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.586439227,660,634,877,786,808,652.413560773,629,652,0.404135864202,-0.00552538206834,0.0499976190817,0.999999999565,2.38679920138e-05,-1.30059052385e-05,-1.14889654265e-05,1793247478604476160
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.011988027,660,634,877,786,808,652.988011973,629,652,0.404499624485,-0.00553711861441,0.0500064809565,0.999999999765,1.92623464982e-05,5.40367739624e-06,-8.29706319301e-06,1793247478621142272
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.577545201,745,715,679,660,634,877,786,808.577545201,652.422454799,629,652,0.404892739476,-0.00554430848669,0.0500115421553,0.999999999625,1.93959555571e-05,1.8511579257e-05,-5.50763989067e-06,1793247478637808640
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.164161348,715,678.835838652,660.164161348,634,877,785.835838652,808.835838652,652,629.164161348,652,0.405292791594,-0.00554749880112,0.0500110214278,0.999999999466,2.54252990646e-05,2.03283644825e-05,-2.8269752726e-06,1793247478654475264
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.742604563,715,678.257395437,660.742604563,634,877,785.257395437,808.257395437,652,629.742604563,652,0.40570877146,-0.00554084027842,0.049996618432,0.99999999892,4.60783609603e-05,-6.06424687523e-06,-3.99129141759e-07,1793247478671142144
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.680081648,715,678.319918352,660.360163297,634,877,785.319918352,808,652,629.680081648,652,0.406145987208,-0.00553217092626,0.0499770173912,0.999999996765,6.79601462033e-05,-4.30164355535e-05,1.24295953835e-06,1793247478687809024
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.103673299,715,678.896326701,659.207346599,634,877,785.896326701,808,652,629.103673299,652,0.406600228569,-0.00552188941938,0.04995324889,0.999999991962,9.08270450887e-05,-8.84346182646e-05,2.25507859539e-06,1793247478704476160
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.52946321,745,715,679,659.47053679,634,877.47053679,785.52946321,808.47053679,652.47053679,629,652.47053679,0.407096095257,-0.00552511107276,0.0499411191762,0.999999989298,9.7233318199e-05,-0.000109198899168,4.97754452026e-06,1793247478721142784
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.954338788,785,809,653,629,652.954338788,0.407607219893,-0.00553127452741,0.0499339451711,0.999999987712,0.000100501985568,-0.000120030926144,8.26354664771e-06,1793247478737809664
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.36251092,785,809,653,629,652.36251092,0.408191659124,-0.00553720458307,0.0499555172433,0.999999990974,0.000109419928442,-7.67319085721e-05,1.38036319054e-05,1793247478754476288
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.223961843,660.223961843,634,877.223961843,785,809,652.776038157,629.223961843,652.223961843,0.408799201466,-0.00554025682057,0.0499795867183,0.999999991953,0.000121143703482,-3.24546518421e-05,1.90765824846e-05,1793247478771142912
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.801969065,660.801969065,634,877.801969065,785,809,652.198030935,629.801969065,652.801969065,0.409443265842,-0.00553875971927,0.0500076041588,0.999999990198,0.000137303018971,1.33690310259e-05,2.39272384886e-05,1793247478787809280
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.378112334,745,715,680,661,634,878,785,809.378112334,652,630,652.621887666,0.410084779675,-0.00553794091038,0.0500126765956,0.99999998949,0.000141477702133,1.89458376632e-05,2.53929932216e-05,1793247478804475904
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.953284155,745,715,680,661,634,878,785,809.953284155,652,630,652.046715845,0.410724964231,-0.00553747560483,0.0500057908639,0.999999989962,0.000139406395824,3.54731868777e-06,2.50946506222e-05,1793247478821142528
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.460383586,745,715,679.460383586,660.460383586,634,878,785,809.460383586,652,630,652.539616414,0.411334801873,-0.00553886414054,0.0499717843201,0.999999988829,0.000130691621334,-6.87645366685e-05,2.31004770056e-05,1793247478837809664
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.12494009,745,715,679.12494009,660,634,878.12494009,785,809.12494009,652,629.87505991,652.87505991,0.411971443296,-0.00554100244546,0.049944431519,0.999999984692,0.00012214922067,-0.00012342652527,2.1490142875e-05,1793247478854476800
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.703027299,745,715,679.703027299,660,634,878.703027299,785,809.703027299,652,629.296972701,652.296972701,0.412715029495,-0.00554526571782,0.0499499068067,0.999999988401,0.000116362049408,-9.58262792737e-05,2.18156830612e-05,1793247478871143680
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.718346588,745,715,679.718346588,660.281653412,634,878.718346588,785,810,652.281653412,629.281653412,652.281653412,0.413484218103,-0.00554771574566,0.0499642563315,0.999999991157,0.000114528866555,-6.34649460956e-05,2.32568650089e-05,1793247478887810304
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.139151099,745,715,679.139151099,660.860848901,634,878.139151099,785,810,652.860848901,629.860848901,652.860848901,0.414280453499,-0.00554825024058,0.0499879807084,0.999999992496,0.000116872724191,-2.60739393242e-05,2.58766244574e-05,1793247478904476672
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.435441268,745,715,679,660.564558732,634,878,785,810,652.564558732,629.564558732,653,0.415051699817,-0.00554385797148,0.0499715488129,0.999999990568,0.00012304423425,-5.52855878659e-05,2.58278265031e-05,1793247478921143040
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.991157928,745,715,679.008842072,660,634,878.008842072,785.008842072,810,652,629.008842072,653,0.41581556744,-0.00553804220068,0.0499427218263,0.999999985703,0.000130230798692,-0.000104938172675,2.49389345309e-05,1793247478937809408
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.400377261,745,715,679.599622739,660,634,878.599622739,785.599622739,810,652,629.599622739,653,0.416613883298,-0.00554107470662,0.0499338464203,0.999999985475,0.000124561939446,-0.000113772991092,2.42974265245e-05,1793247478954476288
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.813561568,660.186438432,634,879,785.813561568,810.186438432,652,630,653,0.417435160799,-0.00554467479728,0.0499375847292,0.999999987233,0.000119333550948,-0.000103357025619,2.47281030075e-05,1793247478971142656
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679.235083393,660.764916607,634,879,785.235083393,810.764916607,652,630,653,0.418304721624,-0.00554946839579,0.0499678469554,0.999999991632,0.000115031377428,-5.24608201875e-05,2.74133518197e-05,1793247478987809280
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.659349989,633.659349989,879,785,810.318699979,652,630,653,0.419153120903,-0.00555109367381,0.0499750510169,0.999999992034,0.000113393225634,-4.73278617951e-05,2.88677120649e-05,1793247479004476160
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.085495642,633.085495642,879,785,809.170991285,652,630,653,0.419987033242,-0.00555054996278,0.049966469773,0.999999990413,0.000113578826925,-7.35237983279e-05,2.9479422747e-05,1793247479021143040
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.501020173,633.501020173,879,784.498979827,809.501020173,652,630,653,0.420894947756,-0.00554869800701,0.0499703393067,0.999999991822,0.000115108688674,-4.76974197289e-05,2.88413245585e-05,1793247479037809408
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.088299593,745,715,679.088299593,661.088299593,633.911700407,879,784.088299593,810,652,630,653,0.421817225206,-0.0055473908312,0.0499783062608,0.999999992766,0.000116142857807,-1.3123193583e-05,2.83986744426e-05,1793247479054475776
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.667500797,745,715,679.667500797,661.667500797,633.332499203,879,784.667500797,810,652,630,653,0.422747327706,-0.00555038565778,0.0499969346463,0.999999992956,0.000113112872667,1.94520505052e-05,3.02590408158e-05,1793247479071142656
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.754677063,745,715,680,661.509354126,633,879,784.754677063,810,652,630,653,0.423657984844,-0.00555288438478,0.0500000761653,0.999999993202,0.000110044466306,2.25367282605e-05,3.12685061127e-05,1793247479087809280
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.178713514,745,715,680,660.357427029,633,879,784.178713514,810,652,630,653,0.424542434101,-0.00555471448058,0.0499823448446,0.999999993699,0.000106924276301,-1.41252963617e-05,3.11311467779e-05,1793247479104475648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,744.601454877,715,679.601454877,660.398545123,633,879,784,810.398545123,652,630,653,0.425471739027,-0.00555662551396,0.0499872726739,0.99999999405,0.000103837034729,-9.40877294961e-06,3.2089473203e-05,1793247479121142016
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,744.023613645,715,679.023613645,660.976386355,633,879,784,810.976386355,652,630,653,0.426421223415,-0.00555857295916,0.0500023943247,0.999999994264,0.000100764616067,1.39229915794e-05,3.35407229763e-05,1793247479137808640
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.563213204,744.563213204,715,679,661,633,879.563213204,784,811,652,630,653,0.427311204834,-0.00555569696986,0.0499947396848,0.99999999359,0.000105016100349,-2.33932688326e-05,3.52651312579e-05,1793247479154475520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.703576545,745,715,679.148211727,660.851788273,633,879.851788273,784,811,652,630,653,0.428203755857,-0.00555334425323,0.0499812483636,0.999999991592,0.000108462266791,-6.11880959047e-05,3.61628662547e-05,1793247479171141888
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.546420825,745,715,679.726789587,660.273210413,633,879.273210413,784,811,652,630,653,0.429111129802,-0.00555310771908,0.0499536267445,0.999999989184,0.000108663918175,-9.28693376604e-05,3.46263747703e-05,1793247479187808512
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.610641501,744.694679249,715,680,660.610641501,633,879,784,811,652,630,653,0.43004150178,-0.00555466410948,0.0499476120005,0.999999989523,0.000106483004159,-9.20197211298e-05,3.3874614356e-05,1793247479204475136
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.767620207,744.116189897,715,680,661.767620207,633,879,784,811,652,630,653,0.430992449908,-0.00555782461849,0.0499609287964,0.999999992283,0.000102170423483,-6.20649435823e-05,3.38249480968e-05,1793247479221142016
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.541769321,744.458230679,715,680,661.541769321,633,879,784.458230679,811,652,630,653,0.431885465064,-0.00555911078857,0.0499451766383,0.999999990539,9.93908612344e-05,-8.89550634037e-05,3.3624685987e-05,1793247479237808640
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.967461128,660.967461128,633,879,785,811.032538872,652,630,653,0.432766941766,-0.00555984033152,0.0499244317781,0.999999986809,9.73014284191e-05,-0.000125678855794,3.34496465076e-05,1793247479254475264
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.377562405,660.377562405,633,879,785,811.622437595,652,630,653,0.433700178944,-0.00555910450358,0.0499433100155,0.999999990658,0.000100433539517,-8.61239226905e-05,3.4354970318e-05,1793247479271141888
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.208537516,660,633,879,784.791462484,812,652,630.208537516,653,0.434619611435,-0.00555813214029,0.0499619282331,0.99999999265,0.000102971447163,-5.32725378884e-05,3.54826631101e-05,1793247479287808512
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.787882756,660,633,879,784.212117244,812,652,630.787882756,653,0.435514497494,-0.00555673918525,0.0499800841039,0.999999993337,0.000104452781956,-3.23409562391e-05,3.70057580488e-05,1793247479304475136
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.636503415,745,715,680,660,633,879,784,812,652,630.636503415,652.636503415,0.436351221173,-0.00555680852398,0.0499676520984,0.999999991425,0.000104067296851,-7.0068774531e-05,3.75639160137e-05,1793247479321141760
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.063044948,745,715,680,660,633,879,784,812,652,630.063044948,652.063044948,0.437154349207,-0.00555772250883,0.0499375520082,0.999999983994,0.000102603503939,-0.000141679272632,3.75647095357e-05,1793247479337808640
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.524131133,744.475868867,715,680,660,633,879.524131133,784,812.524131133,652,630,652,0.438058093561,-0.00556112994915,0.0499604607576,0.99999999129,9.75420767545e-05,-8.03911235686e-05,3.79731470025e-05,1793247479354475264
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.111227616,715,680,660.111227616,633,879.888772384,784.111227616,812.888772384,652,630.111227616,652.111227616,0.438952420394,-0.00556378768515,0.0499833643604,0.999999994739,9.29368265656e-05,-2.06439584107e-05,3.81943912101e-05,1793247479371141632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.690853626,715,680,660.690853626,633,879.309146374,784.690853626,812.309146374,652,630.690853626,652.690853626,0.439754752568,-0.00556199131097,0.0499786735956,0.99999999439,9.21239366863e-05,-3.65137380097e-05,3.74152964233e-05,1793247479387808512
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.732087037,633,879,784.732087037,812,652,630.732087037,653,0.440538447223,-0.0055626314501,0.049967788829,0.999999993699,8.92567407333e-05,-5.72015621144e-05,3.69266811121e-05,1793247479404475392
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.157961337,633,879,784.157961337,812,652,630.157961337,653,0.441300839959,-0.00556605641695,0.0499498245909,0.999999992315,8.40415632799e-05,-8.33961981688e-05,3.67700711137e-05,1793247479421142016
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879,784,812.418630037,652,630.418630037,653,0.442077219464,-0.00556916622335,0.0499625870645,0.999999994173,8.28366312493e-05,-5.79107092028e-05,3.79255453487e-05,1793247479437808640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879,784,812.996157341,652,630.996157341,653,0.442858907918,-0.00557215640618,0.0499870123178,0.999999995677,8.31538470477e-05,-1.28092609693e-05,3.95790406278e-05,1793247479454475264
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879,784,813,652,631,653,0.443573874776,-0.0055726524762,0.0499911596964,0.999999995718,8.22713801007e-05,-1.27543910991e-05,4.04047804664e-05,1793247479471141632
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.828598222,715,680.171401778,660,633,879,784,813,652,631,653,0.44426457819,-0.0055714603313,0.0499826624821,0.999999995218,8.33774131112e-05,-3.13222593028e-05,4.03875987335e-05,1793247479487808256
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.250422132,715,680.749577868,660,633,879,784,813,652,631,653,0.444898759859,-0.00556630132652,0.0499444791983,0.999999990924,8.92216662707e-05,-9.33699266929e-05,3.83831361037e-05,1793247479504475136
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,744.327721033,715,680.672278967,660,633,879.327721033,784,813,652,631.327721033,653,0.445558240715,-0.00556685783026,0.0499358425887,0.999999990874,8.80276378313e-05,-9.51851168313e-05,3.79985731622e-05,1793247479521141760
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,744.905839008,715,680.094160992,660,633,879.905839008,784,813,652,631.905839008,653,0.446237051508,-0.005571781298,0.0499497812699,0.999999994628,8.14559738263e-05,-5.0979369171e-05,3.88517030536e-05,1793247479537808384
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.479975356,744.520024644,715,680,660,633,879.520024644,784,813,652,631.520024644,653,0.446857918348,-0.00556770595198,0.0499656602004,0.999999995184,8.66944623662e-05,-2.40879991994e-05,3.91920526589e-05,1793247479554475008
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,744.054966971,715,680,660.054966971,633,879,784.054966971,813,652,631,653,0.447460547747,-0.00556192177825,0.0499778302561,0.999999994802,9.38738764219e-05,-6.53692740589e-06,3.92454670726e-05,1793247479571141632
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.645850295,715,680,660.645850295,633,879,784.645850295,813,652,631,653,0.447995283677,-0.00555654733572,0.0499501589814,0.999999993423,9.75734509241e-05,-4.72070085973e-05,3.74740506721e-05,1793247479587808256
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.768450393,633,879.231549607,784.768450393,813.231549607,652,631,653,0.448516375137,-0.00555605797777,0.0499281031336,0.999999991459,9.70478564445e-05,-7.96753557067e-05,3.62841058491e-05,1793247479604474880
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.190506333,633,879.809493667,784.190506333,813.809493667,652,631,653,0.449017054644,-0.00556287662752,0.049914447876,0.999999990298,9.02014776059e-05,-9.98740382328e-05,3.5964033287e-05,1793247479621141504
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680.386023529,660.386023529,633,880,784,813.613976471,652,631,652.613976471,0.449505833504,-0.00556813886994,0.0499219400258,0.999999991635,8.39697095413e-05,-9.10569532007e-05,3.72516355323e-05,1793247479637808384
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680.961858068,660.961858068,633,880,784,813.038141932,652,631,652.038141932,0.449988760761,-0.00557263581442,0.0499398305322,0.999999993871,7.80401501162e-05,-6.79725733451e-05,3.93297449418e-05,1793247479654475264
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.462376249,633,880,784,813.537623751,652,631,652.537623751,0.450439340296,-0.0055667001032,0.0499584675901,0.999999994758,8.42118826917e-05,-4.24654429837e-05,3.98701600952e-05,1793247479671141888
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.883648601,745,715,680.883648601,660,633,880,784,814,652,631,653,0.450872291898,-0.00556110860418,0.0499720530303,0.999999994789,9.01539028164e-05,-2.59670702577e-05,4.02366300829e-05,1793247479687808512
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.292822111,745,715,680.292822111,660,633,880,784,814,652,631,653,0.451242715193,-0.00555993868614,0.049964822278,0.999999993886,9.16585721722e-05,-4.6906785807e-05,4.03385767633e-05,1793247479704474880
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.291446928,745,715,680.291446928,660,632.708553072,880,784,814,652,631,653,0.451579220415,-0.00556143809203,0.0499500309624,0.999999991844,9.09771485813e-05,-7.99762950462e-05,4.0479365958e-05,1793247479721141760
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.869272515,745,715,680.869272515,660,632.130727485,880,784,814,652,631,653,0.451882397378,-0.0055655604023,0.0499278105624,0.99999998748,8.81476480605e-05,-0.000124964659178,4.06583221398e-05,1793247479737808384
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.443859034,632,879.556140966,784,814,652,631,653,0.452158542753,-0.00556697976067,0.0499064613189,0.999999982362,8.42005914172e-05,-0.000163205645172,3.93662281229e-05,1793247479754475008
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.982010975,745,715,681,660.982010975,632,879.017989025,784,814.017989025,652,631,653,0.452426861351,-0.0055676841303,0.0498861116981,0.999999976495,7.99393360033e-05,-0.000197985426801,3.76925995474e-05,1793247479771141632
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.392290038,745,715,681,660.392290038,632,879.607709962,784,814.607709962,652,631,653,0.452697627903,-0.00557078266486,0.0498894368094,0.999999979202,7.60774133522e-05,-0.00018546269355,3.756318735e-05,1793247479787808256
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.194558117,745,715,681,660.194558117,632,880,784,814.805441883,652,630.805441883,653,0.452960762745,-0.00557349703798,0.0498948112428,0.999999982067,7.27709236336e-05,-0.000170731382952,3.76901612707e-05,1793247479804475136
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.77569806,745,715,681,660.77569806,632,880,784,814.22430194,652,630.22430194,653,0.453208733547,-0.00557544809212,0.0499042576244,0.999999985283,7.05680649025e-05,-0.000151611689173,3.83265676333e-05,1793247479821141760
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.646288708,632,880,784,814,652,630.353711292,653,0.453418271538,-0.0055735374652,0.0499057012196,0.999999985584,7.13192128847e-05,-0.000149270657019,3.82682506471e-05,1793247479837808384
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.070240813,632,880,784,814,652,630.929759187,653,0.453603651375,-0.00556919945471,0.049902114407,0.999999984155,7.39271965313e-05,-0.000157476390105,3.77732430353e-05,1793247479854475008
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,880,784,814,652,631,653,0.453756665962,-0.00556544865836,0.0498935677455,0.999999981835,7.77104512836e-05,-0.00017002292885,3.71895393187e-05,1793247479871141632
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.922977362,744.922977362,715,681,660,632,880,784,814,652,631,653,0.453901588018,-0.00556226827799,0.0498843584707,0.999999979288,8.11573697684e-05,-0.00018302247423,3.66130213765e-05,1793247479887808000
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.332021364,744.332021364,715,681,660,632,880,784,814,652,631,653,0.454022502443,-0.00556234988164,0.0498753237096,0.999999977027,8.12710791755e-05,-0.000195022513988,3.61666362111e-05,1793247479904474624
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.253883315,744.253883315,715,681,660,631.746116685,880,784,814,651.746116685,631,653,0.454135593344,-0.00556138844522,0.0498686590092,0.999999975349,8.1965228782e-05,-0.000203292113184,3.54429291306e-05,1793247479921142016
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.833310857,744.833310857,715,681,660,631.166689143,880,784,814,651.166689143,631,653,0.454238652451,-0.00555908956101,0.0498650333414,0.999999974553,8.34036532047e-05,-0.000206778319784,3.43636234923e-05,1793247479937809920
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.590194627,745,715,681,659.590194627,631.409805373,880,783.590194627,814,651.409805373,630.590194627,653,0.454324647724,-0.00556011298347,0.049864765764,0.999999974499,8.15262837791e-05,-0.000207780181592,3.43990246248e-05,1793247479954476288
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.014884661,745,715,681,659.014884661,631.985115339,880,783.014884661,814,651.985115339,630.014884661,653,0.45440375157,-0.00556247815758,0.04986585439,0.999999974739,7.83097930065e-05,-0.000207778712224,3.4884612876e-05,1793247479971142400
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.571265513,745,715,681,659.571265513,631.428734487,879.428734487,783.571265513,814,652,630.571265513,653,0.454458645607,-0.00556467881206,0.0498622366838,0.999999973502,7.61744649428e-05,-0.000214462868713,3.46189049584e-05,1793247479987808768
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.843612724,745,715,680.843612724,659.843612724,631.156387276,879.156387276,784,814,652,631,653,0.45451026588,-0.00556589238295,0.0498591479929,0.999999972496,7.45039336868e-05,-0.000219724378066,3.43353197575e-05,1793247480004475648
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.262069624,745,715,680.262069624,659.262069624,631.737930376,879.737930376,784,814,652,631,653,0.454554734135,-0.00556443433851,0.049857837309,0.999999972341,7.40189380085e-05,-0.000220635528959,3.40573806907e-05,1793247480021143040
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.316053428,745,715,680,659.316053428,631.683946572,880,784,814,652,631,653,0.454587801354,-0.00556315041569,0.0498550033111,0.999999971414,7.48688733921e-05,-0.000224553998854,3.37978311787e-05,1793247480037810176
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.89137102,745,715,680,659.89137102,631.10862898,880,784,814,652,631,653,0.45461151611,-0.00556200932774,0.0498509197121,0.99999996982,7.68138760546e-05,-0.000230939425298,3.35533669092e-05,1793247480054476288
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,631,879.533345442,784,814,652,631,653,0.454629399764,-0.00556215534259,0.0498491686314,0.999999969176,7.631230262e-05,-0.000233922594783,3.32292295478e-05,1793247480071142656
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680.042843796,659.957156204,631,879.085687592,784,814,652,631,653,0.454645380446,-0.00556258547559,0.0498479155904,0.999999968758,7.52228431657e-05,-0.000236096357568,3.29156484828e-05,1793247480087808768
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680.630654703,659.369345297,631,880.261309405,784,814,652,631,653,0.454654419988,-0.0055628187703,0.0498460915538,0.999999968392,7.38992399925e-05,-0.000238047793477,3.29722333749e-05,1793247480104475648
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.216557598,715,681,659.216557598,631,880.566884804,784,814,652,631,653,0.454661940161,-0.00556269095584,0.0498448873813,0.99999996797,7.34858536826e-05,-0.000239939216615,3.29944989262e-05,1793247480121142272
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.799234712,715,681,659.799234712,631,879.401530576,784,814,652,631,653,0.454666891639,-0.00556195263813,0.0498447311716,0.999999967457,7.46113105107e-05,-0.00024172918004,3.29587430489e-05,1793247480137808896
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745.624158257,715,681,659.624158257,631,879.375841743,783.624158257,814,652,630.624158257,652.624158257,0.45466981567,-0.00556241964424,0.0498433118414,0.999999967045,7.33853207479e-05,-0.000243830353287,3.27329400041e-05,1793247480154475776
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.050742194,715,681,659.050742194,631,879.949257806,783.050742194,814,652,630.050742194,652.050742194,0.454671673902,-0.00556352027088,0.0498412285079,0.999999966678,7.09232110443e-05,-0.000246095124772,3.2407232039e-05,1793247480171143168
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.475262607,745,715,681,659.524737393,631,879.475262607,783,814,652,630.524737393,652.524737393,0.45467146836,-0.00556253428582,0.0498401129419,0.999999966182,7.13210484774e-05,-0.000248022844139,3.21633821548e-05,1793247480187809792
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.102755936,745,715,681,660,631,879,783.102755936,814,652,631,653,0.454671464991,-0.0055613888164,0.0498394026769,0.999999965785,7.2221852812e-05,-0.000249391687577,3.19143850118e-05,1793247480204476416
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.691842715,745,715,681,660,631,879,783.691842715,814,652,631,653,0.454673366733,-0.00556044727725,0.0498401659845,0.99999996593,7.41890569966e-05,-0.000248270308924,3.16034147496e-05,1793247480221142784
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,879.276855167,784,814,652,631,653,0.454674697338,-0.00555940607805,0.0498402949063,0.999999966036,7.49796477663e-05,-0.000247637538141,3.13424841972e-05,1793247480237809408
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,879.857398479,784,814,652,631,653,0.454675401449,-0.00555825555958,0.0498397279575,0.999999966103,7.44795872504e-05,-0.000247540731271,3.11364431959e-05,1793247480254476032
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.433097031,660,631.433097031,880,784,814,652,630.566902969,653,0.454674638015,-0.00555854746374,0.0498387456084,0.999999965612,7.53187340873e-05,-0.00024926844758,3.11291962732e-05,1793247480271142400
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,744.992785859,715,681.992785859,660,631.992785859,880,784,814,652,630.007214141,653,0.454673420086,-0.00555931887905,0.0498376490098,0.999999964944,7.65387362003e-05,-0.000251559239112,3.11872786098e-05,1793247480287809024
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,744.418972607,715,681.418972607,660,631.418972607,880,784,814,652,630.581027393,653,0.454674037085,-0.00556086258801,0.0498382027055,0.999999965211,7.34222247625e-05,-0.000251413611392,3.12923614866e-05,1793247480304476416
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,744.160558884,715,681,660,631,879.839441116,784,814,652,631,653,0.454674475687,-0.00556119406019,0.0498383747911,0.999999965295,7.18646658991e-05,-0.000251536627333,3.12089884238e-05,1793247480321143552
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,744.755562928,715,681,660,631,879.244437072,784,814,652,631,653,0.454674431575,-0.00555824542477,0.0498375143043,0.999999964905,7.45253689634e-05,-0.000252386547557,3.06156854877e-05,1793247480337809920
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715.339030546,681,660,631,879.339030546,783.660969454,814,652,630.660969454,653,0.454674717046,-0.00555863280028,0.0498370938797,0.999999964894,7.38314782269e-05,-0.000252612707666,3.07702410395e-05,1793247480354476544
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715.914454226,681,660,631,879.914454226,783.085545774,814,652,630.085545774,653,0.454675232323,-0.00556134624974,0.0498369802938,0.999999965145,7.07985564119e-05,-0.000252403943477,3.14462499623e-05,1793247480371142912
+244,4.066666667,HOLD_POSE2,765,744,715,681,659,631,879,783,814,652,630,653,0.454672407427,-0.00555869353657,0.0498352549077,0.999999964381,7.38937898838e-05,-0.000254646797638,3.05340722148e-05,1793247480402838784
+245,4.083333333,HOLD_POSE2,765.595997323,744.595997323,715,681,659.595997323,631,879.595997323,783.595997323,814,652,630.595997323,653,0.454675327189,-0.00555784979904,0.0498367131103,0.999999965124,7.35567947639e-05,-0.000251829470179,3.03850445281e-05,1793247480419505664
+246,4.100000000,HOLD_POSE2,766,745,715.185962053,681,660,631,880,784,814,652,630.814037947,653,0.454677020325,-0.0055579606072,0.0498376878295,0.999999965602,7.27999956451e-05,-0.000250147721046,3.03754546363e-05,1793247480436172544
+247,4.116666667,HOLD_POSE2,766,745,715.763232874,681,660,631,880,784,814,652,630.236767126,653,0.454676132348,-0.0055600800083,0.0498376451841,0.999999965534,7.11598281494e-05,-0.000250855500583,3.06592752858e-05,1793247480452839168
+248,4.133333333,HOLD_POSE2,766,745,715.66146988,681,660,631,879.66146988,784,814,652,630.33853012,653,0.454675093421,-0.00556003231867,0.0498369962237,0.999999965253,7.14771054337e-05,-0.000251876736535,3.07206021173e-05,1793247480469506048
+249,4.150000000,HOLD_POSE2,766,745,715.087544981,681,660,631,879.087544981,784,814,652,630.912455019,653,0.454673949532,-0.00555847775608,0.049835925666,0.999999964821,7.3155479668e-05,-0.000253115932382,3.06272192622e-05,1793247480486172672
+250,4.166666667,HOLD_POSE2,766,744.499979963,715,680.499979963,660,631,879.500020037,784,813.499979963,652,630.499979963,653,0.454674773972,-0.00555826820349,0.0498358704991,0.999999964877,7.15736502315e-05,-0.00025339868221,3.02068722638e-05,1793247480502839040
+251,4.183333333,HOLD_POSE2,766,744.088281911,715,680.088281911,659.911718089,631,880,784,813.088281911,652,630.088281911,653,0.454675605746,-0.00555833200352,0.0498358624677,0.99999996496,6.99117908101e-05,-0.000253577989942,2.98287912541e-05,1793247480519505664
+252,4.200000000,HOLD_POSE2,766,744.666780365,715,680.666780365,659.333219635,631,880,784,813.666780365,652,630.666780365,653,0.454674510952,-0.00555856938717,0.0498351013157,0.999999964731,7.10640280623e-05,-0.000254138842552,3.00121995304e-05,1793247480536171776
+253,4.216666667,HOLD_POSE2,765.756126671,745,715,681,659,631,879.756126671,784,814,652,630.756126671,653,0.454674249383,-0.00555824885116,0.0498348170438,0.999999964576,7.22197904094e-05,-0.00025440229064,3.01978847345e-05,1793247480552838144
+254,4.233333333,HOLD_POSE2,765.180943158,745,715,681,659,631,879.180943158,784,814,652,630.180943158,653,0.454675119778,-0.00555717036239,0.0498351806296,0.999999964521,7.33803416239e-05,-0.000254261704561,3.03866632073e-05,1793247480569505024
+255,4.250000000,HOLD_POSE2,765.393850414,745,715,681,659.393850414,631,879,784,814,652,630,653,0.454675341974,-0.00555722499344,0.0498351779978,0.999999964596,7.23198875606e-05,-0.0002542969566,3.01766338271e-05,1793247480586171904
+256,4.266666667,HOLD_POSE2,765.968465068,745,715,681,659.968465068,631,879,784,814,652,630,653,0.454675266667,-0.00555779968869,0.0498350072842,0.999999964727,7.02400660547e-05,-0.000254412912475,2.97835649244e-05,1793247480602838528
+257,4.283333333,HOLD_POSE2,765.44062076,745,715,681,659.44062076,631.55937924,879,783.44062076,813.44062076,651.44062076,630,653,0.454675979304,-0.00555735630481,0.0498353998023,0.99999996451,7.25343983656e-05,-0.000254623262826,2.97754666866e-05,1793247480619505152
+258,4.300000000,HOLD_POSE2,765.148043102,745,715,681,659,631.851956898,879,783.148043102,813.148043102,651.148043102,630.148043102,653,0.454676663725,-0.00555718529814,0.049835597051,0.999999964389,7.41157159859e-05,-0.000254636451729,2.98148389487e-05,1793247480636171520
+259,4.316666667,HOLD_POSE2,765.727393658,745,715,681,659,631.272606342,879,783.727393658,813.727393658,651.727393658,630.727393658,653,0.454677132646,-0.0055579800626,0.0498351301209,0.999999964623,7.28797615584e-05,-0.000254059263424,2.99273852969e-05,1793247480652838144
+260,4.333333333,HOLD_POSE2,765.696171114,745,715,681,659.303828886,631,879,784,814,652,631,653,0.454676648283,-0.00555818135733,0.0498349692645,0.99999996462,7.32366789327e-05,-0.000253942622802,3.01723312902e-05,1793247480669504768
+261,4.350000000,HOLD_POSE2,765.122326799,745,715,681,659.877673201,631,879,784,814,652,631,653,0.454675316727,-0.00555785523018,0.0498350804183,0.999999964403,7.50091957002e-05,-0.000254235275028,3.05349420174e-05,1793247480686171648
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631,880,784,814,652,631,653,0.454675954043,-0.00555869361007,0.0498351652725,0.999999964825,7.01493803661e-05,-0.000253957150482,3.0574076529e-05,1793247480718813952
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.405382376,631,879.405382376,784,814,652,630.405382376,653,0.454675407608,-0.00555792790776,0.0498344208481,0.999999964564,7.12969018618e-05,-0.000254734531618,2.99934319849e-05,1793247480735480576
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,744.81583945,715,680.81583945,659,631,879.18416055,784,814,652,630.18416055,653,0.45467554895,-0.00555727990558,0.0498342982296,0.999999964467,7.22079504404e-05,-0.000254886259252,2.9743660072e-05,1793247480752147200
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,744.237167501,715,680.237167501,659,631,879.762832499,784,814,652,630.762832499,653,0.454677163655,-0.00555688404217,0.0498355076525,0.999999964726,7.26124235263e-05,-0.000253697703034,3.0202688194e-05,1793247480768814080
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,744.337960783,715,680,659.675921565,631.337960783,879.662039217,783.662039217,814,652,631,653,0.45467650146,-0.00555801563515,0.049835412347,0.999999964701,7.14859987311e-05,-0.00025408808849,3.0457743341e-05,1793247480785480960
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,744.910628033,715,680,660.821256067,631.910628033,879.089371967,783.089371967,814,652,631,653,0.454674258006,-0.00556020801364,0.0498344109356,0.999999964472,6.92963983801e-05,-0.000255575014925,3.0571143632e-05,1793247480802147840
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.502601581,745,715,680,660.005203162,631.502601581,879.497398419,783.497398419,814,652,631,653,0.45467506897,-0.00555875044063,0.0498349387544,0.999999964749,7.02518195902e-05,-0.000254314388691,2.9837300307e-05,1793247480818814464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.085243754,745,715.085243754,680,659.085243754,631,880,783.914756246,814,652,630.914756246,653,0.454676047599,-0.00555693386073,0.0498354963404,0.999999965014,7.1641613894e-05,-0.000252968968296,2.90781793278e-05,1793247480835481088
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.664209939,745,715.664209939,680,659.664209939,631,880,783.335790061,814,652,630.335790061,653,0.454674725892,-0.00555694722678,0.0498345884552,0.999999964695,7.2178779368e-05,-0.000254075191038,2.90800917776e-05,1793247480852147712
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.757014299,680.242985701,659.757014299,631,880,783.242985701,814,652,630,653,0.454668680467,-0.00555656385934,0.0498314991838,0.999999963608,7.23585813293e-05,-0.000258278026847,2.9011747512e-05,1793247480868814336
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.178501533,680.821498467,659.178501533,631,880,783.821498467,814,652,630,653,0.45465611229,-0.00555563266206,0.0498253977428,0.999999961409,7.20449174532e-05,-0.000266756824026,2.8846389184e-05,1793247480885480960
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.602012687,659,631,880,783.602012687,814,652,630.397987313,653,0.454625385482,-0.00555469253236,0.0498114885109,0.999999954933,7.28779786529e-05,-0.000289873957809,2.82087519112e-05,1793247480902147328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.026426948,659,631,880,783.026426948,814,652,630.973573052,653,0.454586555538,-0.00555374841658,0.0497940951186,0.999999945824,7.42227560085e-05,-0.000319523324351,2.73603641727e-05,1793247480918814208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.560012698,659,631,880,783.560012698,814,652,631,653,0.454525039931,-0.00555255078898,0.0497725144348,0.999999935556,7.31430171509e-05,-0.000350524554567,2.58879123171e-05,1793247480935480832
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.145469855,745,715,681,659.145469855,631,879.854530145,784,814,652,630.854530145,653,0.454460052288,-0.00555034898675,0.0497524549618,0.999999925622,7.33980221335e-05,-0.000377862004176,2.42745417528e-05,1793247480952147456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.726422321,745,715,681,659.726422321,631,879.273577679,784,814,652,630.273577679,653,0.454387938766,-0.00554517758032,0.049737552649,0.999999919076,7.79980319192e-05,-0.000394036715316,2.23292161106e-05,1793247480968814080
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766.69598235,745,715,680.69598235,659.69598235,631,879,784,814,652,630.30401765,653,0.454307534035,-0.0055410494777,0.0497295405,0.999999914951,8.08470534223e-05,-0.000403867699684,2.1290849612e-05,1793247480985481216
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766.121375061,745,715,680.121375061,659.121375061,631,879,784,814,652,630.878624939,653,0.454219749751,-0.0055378499636,0.0497276609134,0.999999913152,8.21376148545e-05,-0.000408052475628,2.1059718432e-05,1793247481002148864
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.974808528,660,631,879.025191472,784,813.025191472,652,630.025191472,653,0.454015087962,-0.00553288073538,0.0497307179471,0.999999914148,8.76823396101e-05,-0.000404478059468,2.03431514936e-05,1793247481035481600
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.380615684,660,631,879.619384316,784,813.619384316,652,630.619384316,653,0.45387988547,-0.00552997357542,0.049735052351,0.999999915258,9.03144590183e-05,-0.000401114222238,2.08319076712e-05,1793247481052148736
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.207715904,660,631.207715904,880.207715904,784,813.792284096,652,631,653,0.453733716958,-0.00552528874888,0.0497380805749,0.999999915717,9.36271364957e-05,-0.000399216691065,2.06297805562e-05,1793247481068815616
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.785602091,660,631.785602091,880.785602091,784,813.214397909,652,631,653,0.453568005929,-0.005517435945,0.0497387810561,0.999999915026,9.81526354764e-05,-0.000399932262664,1.91964310358e-05,1793247481085481984
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.064672353,660,631.064672353,880.064672353,783.064672353,813.935327647,652,631,653,0.453188841969,-0.00550354917908,0.049746234476,0.999999915416,0.000108833626186,-0.000396219741652,1.82285411135e-05,1793247481118814976
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,631,880,783.52352144,813.47647856,652,631,653,0.452966474933,-0.00549505178927,0.0497495448521,0.999999915676,0.000115306393112,-0.000393754210218,1.76125450676e-05,1793247481135481344
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.888647947,745,715,680.111352053,660,631,880,784,813,651.888647947,631,653,0.452731089156,-0.0054860433143,0.0497530382605,0.999999915863,0.000122061802474,-0.000391273006061,1.6758200087e-05,1793247481152147968
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.420996897,745,715,680.579003103,660,632,879.579003103,784,813,652,631,653,0.451516258179,-0.00544490601562,0.0497621277103,0.999999917586,0.00014898079641,-0.000377525152002,1.03205245435e-05,1793247481218815744
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.901457651,744.098542349,715,680.901457651,660,632,879.901457651,784,812.901457651,651.098542349,630.098542349,652,0.449078293583,-0.00542427699238,0.0498188058583,0.999999956593,0.000134857969741,-0.000261961976722,-1.72396374603e-06,1793247481318814464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.513336798,744.486663202,715,681,660,632,879.513336798,784,812.026673596,651.486663202,630.486663202,652,0.448560512454,-0.0054346301962,0.0498076147041,0.999999955071,0.000117317612609,-0.000275830313028,-3.37288215879e-06,1793247481335481600
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.287744654,632.287744654,879,785,811.287744654,652,631,653,0.442806467026,-0.00541309952936,0.049767310167,0.9999999348,5.21955646794e-05,-0.000355822677845,-3.26335914712e-05,1793247481485482240
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.965109442,633,879,784.034890558,811,652,631,653,0.439807839216,-0.00540982569151,0.0498274366106,0.999999967313,1.50235745856e-05,-0.000251608080449,-4.2906892594e-05,1793247481552148736
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.385886316,633,879,784.614113684,811,652,631,653,0.438954677687,-0.00540898941444,0.0497971725253,0.999999953915,7.21241430611e-06,-0.000299754268517,-4.75880918815e-05,1793247481568814848
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.229086432,659.229086432,633,879,785,811,652,631,652.229086432,0.437233167595,-0.00540540203548,0.0497670460654,0.999999934673,-8.48257898465e-06,-0.000357333054638,-5.38141750851e-05,1793247481602148096
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.694876428,633,879,785,811,652,631,652.347438214,0.436357757686,-0.00539916888349,0.0497786775725,0.999999940034,2.79645123311e-05,-0.000342206002775,-4.52291465766e-05,1793247481618814976
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.673293928,745,715,680.673293928,660.673293928,633,879.673293928,784.673293928,811,652,630.673293928,653,0.432835434832,-0.00538402766695,0.0497856869219,0.999999939256,7.28314996548e-05,-0.000338616368021,-3.90231598153e-05,1793247481685481984
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.17163402,633,879.17163402,785,811,652,630.17163402,652.17163402,0.431038011055,-0.00539235436196,0.04980749912,0.999999952606,4.37983710115e-05,-0.000301666543724,-4.32149085817e-05,1793247481718814976
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.845020474,745,714.845020474,681,660,633,878.845020474,785,810.845020474,652,630.154979526,652.845020474,0.427290571285,-0.00537659757866,0.0497823618688,0.999999934211,6.68154021068e-05,-0.000353704374498,-4.48012669527e-05,1793247481785481728
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.31137977,745,714.31137977,681,660,633,878.31137977,785,810,652,630.68862023,652,0.425431359583,-0.00537346216319,0.0497694066275,0.99999993118,6.84441939186e-05,-0.00036157798908,-4.70924628896e-05,1793247481818815488
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.696714097,633.696714097,878,785,809.696714097,652.696714097,630,652,0.41584473469,-0.00537485743815,0.0497988355622,0.999999945513,6.69200358333e-05,-0.000319363768807,-5.00294925884e-05,1793247482002147584
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634,878,785,809.724873706,652.724873706,630,652,0.415064933979,-0.00537541738176,0.0498091182512,0.999999952044,6.70930839819e-05,-0.000298133598293,-5.02685548381e-05,1793247482018814208
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634,878,785,809.146941871,652.146941871,630,652,0.414274156317,-0.0053718024062,0.0497992873648,0.999999946821,7.14127300294e-05,-0.000313957603709,-5.18528052369e-05,1793247482035480832
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.99310763,659.00689237,633.99310763,878,785,809.00689237,652,629.99310763,652,0.412711871003,-0.00536613679055,0.049754560731,0.999999919264,8.25194514374e-05,-0.000389424261153,-5.48767145211e-05,1793247482068813824
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.406093321,659.593906679,633.406093321,878,785,809.593906679,652,629.406093321,652,0.41202896312,-0.00536882147955,0.0497815103771,0.999999932514,8.15269207811e-05,-0.000354291381725,-5.2945531741e-05,1793247482085480704
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.178989377,745,715,679,660,633,877.821010623,785,809.821010623,652,629.178989377,652,0.411344934539,-0.0053707234508,0.049801515376,0.999999941413,8.15958500024e-05,-0.000328426739829,-5.1494187837e-05,1793247482102147584
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.759736516,745,715,679,660,633,877.240263484,785,809.240263484,652,629.759736516,652,0.410658390317,-0.00537086854216,0.049805932495,0.999999942879,8.40473214156e-05,-0.000323365484932,-5.11198852092e-05,1793247482118814976
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,744.663367124,715,679,659.663367124,633.336632876,877,785,809.336632876,652,629.663367124,652,0.409998971496,-0.00536958567431,0.049796120139,0.999999937614,8.65419315683e-05,-0.000338496329615,-5.1979171532e-05,1793247482135482112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,744.089188113,715,679,659.089188113,633.910811887,877,785,809.910811887,652,629.089188113,652,0.409358693846,-0.00536729516218,0.0497762667055,0.999999926925,8.90669825138e-05,-0.00036787579814,-5.37089440817e-05,1793247482152148736
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.513114006,744.486885994,715,679.486885994,659.486885994,634,877,785,809.513114006,652.486885994,629,652.486885994,0.40878268922,-0.00537088366622,0.0497887614353,0.999999935538,8.67872610973e-05,-0.000344370176132,-5.29254592641e-05,1793247482168815360
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,659.758821105,633.758821105,877,785,809,652.241178895,630,652,0.407134921011,-0.00538044038516,0.049816354071,0.99999994594,8.04521559473e-05,-0.000314678851824,-5.12228488994e-05,1793247482218815488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,659.183013264,633.183013264,877,785,809,652.816986736,630,652,0.406599879162,-0.00538242060555,0.0498004696419,0.999999935507,8.07154522907e-05,-0.000346138851951,-5.15715864299e-05,1793247482235482368
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.606202311,745,715,679,659,633.393797689,877,785,809,652.606202311,629.606202311,652,0.406097491261,-0.00538153520273,0.0497809486028,0.999999924551,8.29354085659e-05,-0.00037583696067,-5.25980119214e-05,1793247482252148992
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.028923932,745,715,679,659,633.971076068,877,785,809,652.028923932,629.028923932,652,0.405610317647,-0.00537931463095,0.0497597331701,0.999999912945,8.60670241019e-05,-0.0004047141605,-5.39401900487e-05,1793247482268815360
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.559012076,745,715,679.559012076,659,634,876.440987924,785,809,652.559012076,629,652,0.405182618141,-0.00537676531851,0.049763240885,0.999999913688,8.90515978921e-05,-0.00040211579919,-5.47502269461e-05,1793247482285481472
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.855054658,659.144945342,634,876.144945342,785,809,652.855054658,629,652.144945342,0.404778483082,-0.00537580939525,0.0497738841769,0.999999919261,9.04461144088e-05,-0.000387676566785,-5.48144791137e-05,1793247482302147840
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.276789119,659.723210881,634,876.723210881,785,809,652.276789119,629,652.723210881,0.404435416426,-0.00537966881402,0.0498019610155,0.999999936059,8.71102752583e-05,-0.000342801891742,-5.2733089255e-05,1793247482318814464
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.299969786,660,634,876.700030214,785.299969786,809,652.299969786,629,652.700030214,0.40410868699,-0.00538464672093,0.0498290324506,0.999999949607,8.27375882682e-05,-0.000302307526582,-5.0495472083e-05,1793247482335481344
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.20416661,659.20416661,634,877.79583339,785.20416661,808.20416661,653,629.79583339,652,0.402613440487,-0.00539363723694,0.0498115582961,0.999999934368,8.21695465786e-05,-0.000349445309136,-4.89952475417e-05,1793247482418815232
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.782000464,659.782000464,634,877.217999536,785.782000464,808.782000464,653,629.217999536,652,0.402377808617,-0.00539164595534,0.0498017274485,0.999999927634,8.89169447149e-05,-0.000366709687528,-4.8475088939e-05,1793247482435481600
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660,634,877,786,809,652.064168881,629.935831119,652.935831119,0.401997143602,-0.00538662242416,0.0498020048767,0.999999928323,0.000109169580279,-0.000359556609903,-4.64174587491e-05,1793247482468815872
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.478272043,745,715,679,659.478272043,634,877,785.478272043,809,652.521727957,628.956544086,653,0.401851066151,-0.00538590663376,0.0498083164689,0.999999932707,0.000110890868776,-0.000346654673139,-4.60508557692e-05,1793247482485481984
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,634,877.158452457,785,809,653,629,652,0.401399499632,-0.00539341136093,0.0498355132382,0.99999995038,0.000100338817669,-0.000295151282229,-4.53655475708e-05,1793247482552148736
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.583128159,634,877,785.416871841,809,653,629,652,0.401318033447,-0.00540008867416,0.0498354541533,0.999999951471,9.22738805913e-05,-0.000294083751707,-4.53669152567e-05,1793247482568815104
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.009126455,634,877,785.990873545,809,653,629,652,0.401240655095,-0.00540715883724,0.0498334969508,0.999999951699,8.35836039143e-05,-0.000295861789887,-4.56249048942e-05,1793247482585481216
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.580008965,745,715,679,659.580008965,634,877,786,808.419991035,653,629,652,0.401184493645,-0.00540834089597,0.0498329172889,0.999999952016,8.16537600298e-05,-0.000295313269188,-4.57166653795e-05,1793247482602147840
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.833561845,745,715,679,660,634,877,786,808.166438155,653,629,652,0.401134300059,-0.00540845642067,0.0498330809658,0.999999952648,8.10882080576e-05,-0.000293303485338,-4.58375754885e-05,1793247482618814464
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.254448951,745,715,679,660,634,877,786,808.745551049,653,629,652,0.401098053555,-0.00540616340358,0.0498350325293,0.999999954039,8.36345281862e-05,-0.000287763776234,-4.6037419599e-05,1793247482635481088
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,634,877.899219008,786,809,653,629,652,0.401042693293,-0.00540747111609,0.0498380227143,0.999999955703,8.42158290849e-05,-0.000281791411214,-4.57651410078e-05,1793247482668815616
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.644437544,634,877,785.644437544,808.644437544,653,629,652,0.400999972916,-0.00540818014086,0.0498401479123,0.999999957137,8.28691157932e-05,-0.00027707734267,-4.56753867731e-05,1793247482718814464
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.231158659,745,715,679,659.768841341,634,877.231158659,785.768841341,808.768841341,652.768841341,629,652.231158659,0.400992630964,-0.00540814043849,0.0498404218625,0.999999957558,8.09060396276e-05,-0.000276110778552,-4.58367022932e-05,1793247482735481088
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.236871113,745,715,678.236871113,659.236871113,634,877.236871113,786,809,653,629,652,0.400981850145,-0.00540872392927,0.0498458381444,0.999999959955,8.41359569866e-05,-0.000266500716559,-4.46021001431e-05,1793247482952147456
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebb45562364782cbeb96616d5a74a2aadf247e2b
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7bd33c10b0796a887bcca6e55bdeec0ced269b03
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c5236b4558350a68913449b26f76bebd1aaf4ad39c83f93517fa7f517627d4
+size 25796999
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce61354e9e6ae09964c79969ae750d166670aaa8
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+9,0.150000000,BASELINE,765,745,715,679,660,634,877.782522813,785.782522813,809,652.782522813,629.217477187,652.217477187,0.400982394114,-0.00541507637684,0.0498485634106,0.999999961937,8.12572608643e-05,-0.000260081904429,-4.33636973472e-05,1793247483395959040
+10,0.166666667,BASELINE,765,745,715,679,660,634,877.194301576,785.194301576,809,652.194301576,629.805698424,652.805698424,0.400983045032,-0.00541196479986,0.0498488355557,0.99999996174,8.51562748978e-05,-0.000259537336098,-4.36846292372e-05,1793247483412626432
+11,0.183333333,BASELINE,765.38682089,745,715,679,660,634,877,785,808.61317911,652.38682089,629.61317911,653,0.400983124168,-0.0054124250687,0.0498491602332,0.999999961812,8.34774793176e-05,-0.000259816248851,-4.36324377661e-05,1793247483429293312
+12,0.200000000,BASELINE,765.964441927,745,715,679,660,634,877,785,808.035558073,652.964441927,629.035558073,653,0.400982921273,-0.00541464715707,0.0498495108226,0.999999962004,7.90474187844e-05,-0.000260501345179,-4.3396202509e-05,1793247483445959936
+13,0.216666667,BASELINE,766,745,715,679,660,634,877,785,808.542543947,652.457456053,629,652.457456053,0.400983575468,-0.00541257592801,0.0498496682424,0.999999962055,8.32940418948e-05,-0.000258922450992,-4.3723529211e-05,1793247483462626304
+14,0.233333333,BASELINE,765.879822193,745,715,679,659.879822193,634,877,785.120177807,808.879822193,652.120177807,629,652.120177807,0.40098403301,-0.00541120440892,0.0498496880661,0.999999962114,8.59556614246e-05,-0.000257789682189,-4.39086171604e-05,1793247483479292672
+15,0.250000000,BASELINE,765.304082438,745,715,679,659.304082438,634,877,785.695917562,808.304082438,652.695917562,629,652.695917562,0.400983531964,-0.00541355289305,0.0498492343337,0.999999962304,8.04513847889e-05,-0.000258911026309,-4.34143789566e-05,1793247483495959296
+16,0.266666667,BASELINE,765,745,715,679,659.277602343,634,877.277602343,785.722397657,808,652.722397657,629,652.722397657,0.400983704006,-0.00541420224933,0.0498493137056,0.999999962539,7.88646780873e-05,-0.000258500591333,-4.33478288741e-05,1793247483512625920
+17,0.283333333,BASELINE,765,745,715,679,659.865941715,634,877.865941715,785.134058285,808,652.134058285,629,652.134058285,0.400984629474,-0.00541294966927,0.0498499898134,0.999999962844,8.16631437978e-05,-0.000256375543654,-4.37600159066e-05,1793247483529292288
+18,0.300000000,BASELINE,765,745,715,679,660,634,877.552626183,785.447373817,808,652.447373817,628.552626183,652,0.400983407184,-0.00541304975711,0.0498490400246,0.999999962258,8.27868469825e-05,-0.000258293115506,-4.37505954255e-05,1793247483545958912
+19,0.316666667,BASELINE,765,745,715,679,660,634,877,785.973352818,808,652.973352818,628.026647182,652,0.400981659669,-0.0054135589196,0.0498477192577,0.999999961461,8.33055843242e-05,-0.00026122376892,-4.35998977747e-05,1793247483562625536
+20,0.333333333,BASELINE,765,745,715,679,660,634,877,785.396565014,808,652.396565014,628.603434986,652,0.400982153774,-0.00541427252375,0.0498486451934,0.999999961832,8.15379794295e-05,-0.000260440428748,-4.31011017744e-05,1793247483579292160
+21,0.350000000,BASELINE,765,745,715,679,660,634,877.365728395,785,808.182864197,652.182864197,629,652,0.400982678769,-0.0054148626429,0.0498494750544,0.999999962174,8.00467891327e-05,-0.000259637893474,-4.27998448124e-05,1793247483595958784
+22,0.366666667,BASELINE,765,745,715,679,660,634,878.536211052,785,808.768105526,652.768105526,629,652,0.400983271735,-0.00541518104367,0.0498500935114,0.999999962458,7.9163825909e-05,-0.000258793121117,-4.29332557878e-05,1793247483612625408
+23,0.383333333,BASELINE,765,745,715,679,660,634,878.30073012,785,809,652.65036506,629,652,0.400983635337,-0.00541465181472,0.0498503468524,0.999999962497,7.98839925267e-05,-0.000258393688069,-4.30986568624e-05,1793247483629292288
+24,0.400000000,BASELINE,765,745,715,679,660,634,877.142543286,785,809,652.071271643,629,652,0.400983848412,-0.00541356630321,0.0498503605752,0.999999962373,8.16562613765e-05,-0.000258286522292,-4.32850524177e-05,1793247483645959168
+25,0.416666667,BASELINE,765,745,715,679,660,634,877,785,808.492040826,652.507959174,629,652,0.400983428114,-0.00541355789221,0.0498500276689,0.999999962407,8.13726247649e-05,-0.000258269418071,-4.3140827341e-05,1793247483662625792
+26,0.433333333,BASELINE,765,745,715,679,660,634,877,785,808.086504507,653,629,652,0.400982815584,-0.0054138445135,0.0498495748121,0.99999996237,8.10172174088e-05,-0.000258556422609,-4.29408100702e-05,1793247483679292416
+27,0.450000000,BASELINE,765,745,715,679,660,634,877,785,808.661073718,653,629,652,0.400981620008,-0.00541494282404,0.0498487196655,0.999999961809,8.18848473011e-05,-0.000260487915387,-4.26878117857e-05,1793247483695959040
+28,0.466666667,BASELINE,765,745,715,678.75914561,660,634,877,785.24085439,808.75914561,652.75914561,629,652,0.400981525952,-0.005415273956,0.0498484864119,0.999999961621,8.28463147195e-05,-0.000260931272797,-4.25410274662e-05,1793247483712625664
+29,0.483333333,BASELINE,765,745,715,678.171869307,660,634,877,785.828130693,808.171869307,652.171869307,629,652,0.400983016216,-0.00541450165161,0.0498491476297,0.99999996197,8.3942749007e-05,-0.000259234238535,-4.25470111684e-05,1793247483729292288
+30,0.500000000,BASELINE,765,745,715,678.40897789,660,634,877,786,808.40897789,652,629,652,0.400981872225,-0.00541411176133,0.0498484680485,0.999999961848,8.17006873795e-05,-0.000260354301768,-4.29465703335e-05,1793247483745958912
+31,0.516666667,BASELINE,765,745,715,678.987165111,660,634,877,786,808.987165111,652,629,652,0.400979638345,-0.00541388008998,0.0498472337288,0.999999961516,7.807736606e-05,-0.000262639902823,-4.35089662741e-05,1793247483762625792
+32,0.533333333,BASELINE,765,745,715,678.433759262,660,634,877,786,808.433759262,652,629,652,0.400981824122,-0.00541332945876,0.0498484378873,0.999999962004,8.05768299684e-05,-0.000260060014815,-4.3231630704e-05,1793247483779292416
+33,0.550000000,BASELINE,765.143878676,745,715,678.143878676,659.856121324,634,877,786,808,652.143878676,629,652,0.400983365006,-0.00541331402447,0.0498493617277,0.999999962337,8.21004552018e-05,-0.000258324976947,-4.30584857809e-05,1793247483795959040
+34,0.566666667,BASELINE,765.717165508,745,715,678.717165508,659.282834492,634,877,786,808,652.717165508,629,652,0.400982681742,-0.00541491750525,0.0498492837331,0.999999962186,8.02968196948e-05,-0.000259441073342,-4.32531962456e-05,1793247483812625920
+35,0.583333333,BASELINE,765.701229133,745,715,678.701229133,659.298770867,634,877,786,808,652.701229133,629,652,0.400982125285,-0.00541519415999,0.0498490577903,0.999999962183,7.93588374422e-05,-0.000259716862421,-4.34058649612e-05,1793247483829292544
+36,0.600000000,BASELINE,765.111523351,745,715,678.111523351,659.888476649,634,877,786,808,652.111523351,629,652,0.400981692312,-0.00541417878793,0.0498486877795,0.999999962326,7.92638044887e-05,-0.000259174383306,-4.35175945921e-05,1793247483845959168
+37,0.616666667,BASELINE,765,745,715,678.469280677,660,634,877,785.530719323,808,652,629,652,0.400981395757,-0.00541341467091,0.04984902584,0.999999962177,8.10521330336e-05,-0.000259200992637,-4.34898251263e-05,1793247483862625792
+38,0.633333333,BASELINE,765,745,715,679,660,634,877,785.047806487,808,652,629,652,0.400981342926,-0.00541284555826,0.0498495513455,0.999999962017,8.30271887588e-05,-0.000259203044651,-4.34426320498e-05,1793247483879292416
+39,0.650000000,BASELINE,765,745,715,679,660,634,877,785.624098361,808,652,629,652,0.400983632674,-0.00541378436757,0.0498503234387,0.999999962528,8.22107531478e-05,-0.000257466393804,-4.35403751519e-05,1793247483895959040
+40,0.666666667,BASELINE,765,745,715,679,659.801031975,634,877,786,808.198968025,652.198968025,629,652,0.400984143336,-0.00541414172266,0.0498503638561,0.999999962616,8.15954744916e-05,-0.000257330878303,-4.34760209094e-05,1793247483912625664
+41,0.683333333,BASELINE,765,745,715,679,659.228830196,634,877,786,808.771169804,652.771169804,629,652,0.400981316703,-0.00541340835801,0.0498490317611,0.99999996191,8.1357535739e-05,-0.000260198849308,-4.31075966952e-05,1793247483929292288
+42,0.700000000,BASELINE,765.358043954,745,715,679,659.358043954,634,877,786,809,652.641956046,629,652.358043954,0.400981274539,-0.00541424674207,0.0498490579625,0.999999961994,8.03108549525e-05,-0.000260260053842,-4.27453732064e-05,1793247483945958912
+43,0.716666667,BASELINE,765.954696063,745,715,679,659.954696063,634,877,786,809,652.045303937,629,652.954696063,0.400983088006,-0.00541613257312,0.0498499893618,0.999999962604,7.87252111747e-05,-0.000258450769013,-4.23872820284e-05,1793247483962625536
+44,0.733333333,BASELINE,765.467592852,745,715,679,660,633.467592852,877,786,809,652,629,652.467592852,0.400983270044,-0.0054153418269,0.049849783713,0.999999962665,7.99591404283e-05,-0.000257770228517,-4.2779364225e-05,1793247483979292416
+45,0.750000000,BASELINE,765,745,715,679,660,633.108628731,877,785.891371269,808.891371269,652.108628731,629,652,0.400983450733,-0.00541435844296,0.0498497210418,0.999999962669,8.1434643356e-05,-0.000257237036199,-4.31134554482e-05,1793247483995959040
+46,0.766666667,BASELINE,765,745,715,679,660,633.685138167,877,785.314861833,808.314861833,652.685138167,629,652,0.400984203001,-0.00541349262296,0.049850676617,0.999999962629,8.2952748407e-05,-0.000256939014486,-4.29322719681e-05,1793247484012625920
+47,0.783333333,BASELINE,765.267373318,745,715,679,660,634,877,785.267373318,808.267373318,652.732626682,629,652,0.400983381965,-0.00541381813644,0.0498506875953,0.999999962422,8.29525456915e-05,-0.000257751502953,-4.28723963768e-05,1793247484029292288
+48,0.800000000,BASELINE,765.856498765,745,715,679,660,634,877,785.856498765,808.856498765,652.143501235,629,652,0.400980667643,-0.00541557727856,0.0498495618633,0.999999962013,8.112523956e-05,-0.000259900358887,-4.29585004417e-05,1793247484045958912
+49,0.816666667,BASELINE,765.562067652,745,715,678.562067652,659.562067652,634,877,785.562067652,808.562067652,652,629,652,0.400981032712,-0.00541506566014,0.0498497117117,0.999999961971,8.22303015771e-05,-0.000259730758137,-4.28417147981e-05,1793247484062625792
+50,0.833333333,BASELINE,765.016750576,745,715,678.016750576,659,634,877,785.016750576,808.016750576,652.016750576,629,652,0.400982357115,-0.00541387541215,0.049850266562,0.999999962054,8.418003407e-05,-0.000258815382744,-4.26620595016e-05,1793247484079292416
+51,0.850000000,BASELINE,765.590964042,745,715,678.590964042,659,634,877,785.590964042,808.590964042,652.590964042,629,652,0.400982606499,-0.00541443595082,0.0498506295784,0.999999962402,8.28144134562e-05,-0.000257927351228,-4.25644560653e-05,1793247484095959040
+52,0.866666667,BASELINE,765.831118549,745,715,679,659.168881451,634,877,786,809,653,629,652,0.40098225088,-0.00541442742038,0.049850591832,0.999999962454,8.2151456605e-05,-0.000257935898461,-4.25637294213e-05,1793247484112625920
+53,0.883333333,BASELINE,765.244028946,745,715,679,659.755971054,634,877,786,809,653,629,652,0.400980397069,-0.00541300968044,0.0498495616603,0.999999961778,8.32285353056e-05,-0.000260164680957,-4.28029028092e-05,1793247484129293568
+54,0.900000000,BASELINE,765,745,715,679,660,634,877.33818854,786,809,653,629,652,0.400981510188,-0.00541294976068,0.0498501078483,0.999999962123,8.24919515857e-05,-0.000259064447629,-4.28237440366e-05,1793247484145960192
+55,0.916666667,BASELINE,765,745,715,679,660,634,877.916940324,786,809,653,629,652,0.400984733768,-0.00541385569757,0.0498517753463,0.999999963187,8.04652575287e-05,-0.000255596189414,-4.26892793021e-05,1793247484162625792
+56,0.933333333,BASELINE,765,745,715,679,660,634,877.506342923,786,809,653,629,652,0.400984734431,-0.00541476783102,0.0498518005657,0.999999963297,8.03857937008e-05,-0.000255210049488,-4.2578592685e-05,1793247484179292416
+57,0.950000000,BASELINE,765,745,715,679,660,634,877,786,808.929732682,653,629,652,0.400984058018,-0.00541536441137,0.0498514226161,0.999999963163,8.09584369529e-05,-0.000255561297121,-4.25177496088e-05,1793247484195959040
+58,0.966666667,BASELINE,765,745,715,679,660,634,877,786,808.351427395,653,629,652,0.400982390845,-0.00541367201161,0.0498501193346,0.99999996241,8.38868066667e-05,-0.000257509946209,-4.27884720875e-05,1793247484212625664
+59,0.983333333,BASELINE,765,745,715,679,660,634,877,785.769610774,808,653,629,652,0.400981291187,-0.00541304455369,0.0498494245722,0.999999961978,8.46888246389e-05,-0.000258887172401,-4.29952538169e-05,1793247484229292288
+60,1.000000000,BASELINE,765,745,715,679,660,634,877,785.182355108,808,653,629,652,0.400981070593,-0.00541406666051,0.0498496723889,0.999999962054,8.21971839239e-05,-0.000259379280878,-4.31029931629e-05,1793247484245958912
+61,1.016666667,BASELINE,765,745,715,679,660,634,877,785,808,652.600593195,629,652,0.400980645175,-0.00541433870063,0.0498489898757,0.999999961901,8.20286473251e-05,-0.000260022500577,-4.30933022469e-05,1793247484262625536
+62,1.033333333,BASELINE,765,745,715,679,660,634,877,785,808,652.02130554,629,652,0.400980127509,-0.00541427293315,0.0498478883699,0.999999961646,8.29063673195e-05,-0.00026073377621,-4.30307242552e-05,1793247484279292160
+63,1.050000000,BASELINE,765,745,715,678.4451364,660,634,876.4451364,785,808,652.5548636,629,652.5548636,0.40098135442,-0.00541360537786,0.0498494885376,0.999999962021,8.24307847397e-05,-0.000259464873499,-4.29045272548e-05,1793247484295959040
+64,1.066666667,BASELINE,765.130213185,745,715,678.130213185,659.869786815,634,876.130213185,785.130213185,808.130213185,653,629,652.869786815,0.400982540163,-0.00541349061139,0.0498508222154,0.999999962396,8.18910224217e-05,-0.000258212957617,-4.27451423861e-05,1793247484312625920
+65,1.083333333,BASELINE,765.703180941,745,715,678.703180941,659.296819059,634,876.703180941,785.703180941,808.703180941,653,629,652.296819059,0.400983359428,-0.00541533358427,0.0498508990042,0.999999962697,8.1308735784e-05,-0.000257275890596,-4.24811709479e-05,1793247484329292544
+66,1.100000000,BASELINE,765.714658279,744.714658279,715,679,659,634,877,786,809,653,629,652,0.400982988217,-0.00541601341139,0.0498507324929,0.999999962762,8.07123654113e-05,-0.000257214038394,-4.24499352103e-05,1793247484345959168
+67,1.116666667,BASELINE,765.122616395,744.122616395,715,679,659,634,877,786,809,653,629,652,0.400981337419,-0.00541544302866,0.04985030447,0.999999962576,8.01008571432e-05,-0.000258092912786,-4.26688559594e-05,1793247484362625792
+68,1.133333333,BASELINE,765,744.458200891,715,679,659.458200891,634,877,785.541799109,808.541799109,653,629,652,0.400982131218,-0.0054150122067,0.0498502269698,0.99999996267,8.0764974195e-05,-0.000257505155115,-4.27601709468e-05,1793247484379292160
+69,1.150000000,BASELINE,765,744.96405586,715,679,660,634,877,785,808,652.96405586,629,652,0.400983496319,-0.00541461123824,0.0498502871224,0.999999962832,8.17042437551e-05,-0.000256566558216,-4.28188606422e-05,1793247484395958784
+70,1.166666667,BASELINE,765,744.388446942,715,679,660,634,877,785,808,652.388446942,629,652,0.400983851889,-0.00541411117025,0.0498510393342,0.99999996294,8.17719878505e-05,-0.000256112204623,-4.28881501592e-05,1793247484412625664
+71,1.183333333,BASELINE,765,744.187233285,715,679,659.812766715,634,877,785,808,652,629,652,0.400984052914,-0.00541394099562,0.0498514398666,0.999999962996,8.19548439745e-05,-0.00025583564737,-4.28935442165e-05,1793247484429292288
+72,1.200000000,BASELINE,765,744.763061617,715,679,659.236938383,634,877,785,808,652,629,652,0.400983933188,-0.00541445550115,0.0498511105029,0.999999962943,8.23766104316e-05,-0.000255928099086,-4.27663258657e-05,1793247484445958912
+73,1.216666667,BASELINE,765,745,715,679,659.347534642,634,877,785,808.347534642,652.347534642,629,652,0.400983927454,-0.00541487752416,0.0498509972314,0.999999963073,8.09395732167e-05,-0.000255867058284,-4.28334383716e-05,1793247484462625792
+74,1.233333333,BASELINE,765,745,715,679,659.938051657,634,877,785,808.938051657,652.938051657,629,652,0.400984001418,-0.00541523488707,0.049851035043,0.999999963325,7.82029345232e-05,-0.000255698701625,-4.30364192756e-05,1793247484479292416
+75,1.250000000,BASELINE,765,745,715,678.48126929,660,634,877.51873071,785.51873071,809,652.48126929,629,652,0.400983000621,-0.00541309823463,0.0498503153072,0.999999962781,8.0235547896e-05,-0.000257152132625,-4.32873797805e-05,1793247484495959040
+76,1.266666667,BASELINE,765,745,715.097345669,678.097345669,660,634,877.902654331,785.902654331,809,652,629,652,0.400982363444,-0.00541123022514,0.0498498264957,0.999999962313,8.27197303956e-05,-0.000258156963207,-4.34272293546e-05,1793247484512625664
+77,1.283333333,BASELINE,765,745,715.671498056,678.671498056,660,634,877.328501944,785.328501944,809,652,629,652,0.400984124281,-0.00541210975355,0.0498509036448,0.999999962714,8.46779176289e-05,-0.000256033517353,-4.29953059143e-05,1793247484529292288
+78,1.300000000,BASELINE,765.252565371,745,715.747434629,679,660,634.252565371,877,785,809,652.252565371,629,652,0.400984783061,-0.00541300751782,0.0498514164185,0.999999962924,8.49318338963e-05,-0.000255175020764,-4.2710378219e-05,1793247484545959168
+79,1.316666667,BASELINE,765.842879792,745,715.157120208,679,660,634.842879792,877,785,809,652.842879792,629,652,0.400983968087,-0.00541392966833,0.0498511744679,0.999999962885,8.29066731134e-05,-0.000256008107844,-4.26220241155e-05,1793247484562625792
+80,1.333333333,BASELINE,765.575779169,745,715.424220831,679,660,634.575779169,877.424220831,785.424220831,808.575779169,653,629,652,0.400983786648,-0.00541465278934,0.0498510393363,0.999999963012,8.17446893086e-05,-0.000255904099245,-4.25085765235e-05,1793247484579292416
+81,1.350000000,BASELINE,765,745,715.997704434,679,660,634,877.997704434,785.997704434,808.002295566,652.997704434,629,652,0.400983837725,-0.00541529913239,0.0498509433615,0.999999963199,8.08972485099e-05,-0.000255461692686,-4.23879233163e-05,1793247484595959040
+82,1.366666667,BASELINE,765,745,715.422547679,679,660,634,877.422547679,785.422547679,808.577452321,652.422547679,629,652,0.400984570764,-0.00541480010637,0.0498509505371,0.999999963241,8.04160131145e-05,-0.000255390648817,-4.27403797255e-05,1793247484612625664
+83,1.383333333,BASELINE,765,745,715,679,659.844201272,634,877.155798728,785.155798728,809,652,629,652.155798728,0.400984376696,-0.00541458722515,0.0498507228839,0.999999963144,7.98445682095e-05,-0.000255907950747,-4.29944105664e-05,1793247484629292288
+84,1.400000000,BASELINE,765,745,715,679,659.257023149,634,877.742976851,785.742976851,809,652,629,652.742976851,0.400981615633,-0.00541516662865,0.049849845031,0.999999962658,7.90233488611e-05,-0.000258054279153,-4.29759183245e-05,1793247484645958912
+85,1.416666667,BASELINE,765,745,715,679,659.325336693,634,877.674663307,785.674663307,808.674663307,652.325336693,628.674663307,652.674663307,0.400981112297,-0.00541492539252,0.0498497348764,0.999999962519,7.92586708332e-05,-0.000258513551737,-4.30154770318e-05,1793247484662625536
+86,1.433333333,BASELINE,765,745,715,679,659.903945506,634,877.096054494,785.096054494,808.096054494,652.903945506,628.096054494,652.096054494,0.400982366587,-0.00541404529471,0.0498502223691,0.999999962652,8.03165021674e-05,-0.000257659464179,-4.31002279585e-05,1793247484679292416
+87,1.450000000,BASELINE,765,745,715,679,660,634,877,785.482869777,808,653,628.482869777,652,0.400983216582,-0.00541539897574,0.0498506501574,0.999999963042,7.86224134428e-05,-0.000256722413349,-4.27565092916e-05,1793247484695959040
+88,1.466666667,BASELINE,765,745,715,679,660,634,877.12254182,785.93872909,808,652.93872909,629.06127091,652,0.400983883783,-0.00541690165434,0.0498509758749,0.999999963407,7.67700445634e-05,-0.000255922390542,-4.23812357337e-05,1793247484712625408
+89,1.483333333,BASELINE,765,745,715,679,660,634,878.269547236,785.365226382,808,652.365226382,629.634773618,652,0.400983695595,-0.00541593270185,0.049850547624,0.999999963171,7.81739506102e-05,-0.000256405998167,-4.24551829289e-05,1793247484729292032
+90,1.500000000,BASELINE,765.213787045,745,715,679,660,634,878.572425909,785.213787045,808,652.213787045,629.786212955,652,0.400983886069,-0.00541442288008,0.0498507519786,0.99999996304,8.06116922592e-05,-0.000256133290555,-4.2636287373e-05,1793247484745959168
+91,1.516666667,BASELINE,765.802463824,745,715,679,660,634,877.395072352,785.802463824,808,652.802463824,629.197536176,652,0.400984740552,-0.00541196460833,0.049852065649,0.999999963081,8.48623329119e-05,-0.000254534334066,-4.30052991374e-05,1793247484762626816
+92,1.533333333,BASELINE,765.613515781,745,715,678.613515781,660,634,877,786,808,653,629,652,0.400984054136,-0.00541219227961,0.0498518728654,0.999999962993,8.51506629568e-05,-0.000254761835815,-4.31238913241e-05,1793247484779293440
+93,1.550000000,BASELINE,765.031846927,745,715,678.031846927,660,634,877,786,808,653,629,652,0.400982589526,-0.0054137764221,0.0498509192831,0.999999962844,8.34379229541e-05,-0.000255911746575,-4.31160151116e-05,1793247484795959296
+94,1.566666667,BASELINE,765,745,715,678,660,634,877,785.456186216,808.543813784,653,629,652.543813784,0.400984325289,-0.00541496528102,0.0498519608973,0.999999963567,8.15026912616e-05,-0.000253761983099,-4.27614672373e-05,1793247484812626176
+95,1.583333333,BASELINE,765,745,715,678.118945117,659.881054883,634,877,785.118945117,808.881054883,653,629,652.881054883,0.400985755565,-0.00541592349241,0.0498527122593,0.999999964074,8.0069184458e-05,-0.000252261319089,-4.24799060552e-05,1793247484829292800
+96,1.600000000,BASELINE,765,745,715,678.693382063,659.306617937,634,877,785.693382063,808.306617937,653,629,652.306617937,0.400985306126,-0.0054160861334,0.0498519095684,0.999999963593,8.06063473963e-05,-0.000253978232369,-4.25547370344e-05,1793247484845959424
+97,1.616666667,BASELINE,765,745,715,678.72548913,659.27451087,634,877,786,808.27451087,653,629,652,0.400984927546,-0.00541533295696,0.0498512699378,0.999999963262,8.08758336074e-05,-0.000255152585874,-4.28161737426e-05,1793247484862626304
+98,1.633333333,BASELINE,765,745,715,678.136699046,659.863300954,634,877,786,808.863300954,653,629,652,0.400984630091,-0.00541353128877,0.0498508169901,0.999999963103,8.08388647763e-05,-0.000255705778956,-4.32912497161e-05,1793247484879293440
+99,1.650000000,BASELINE,765,745,715,678.445253179,660,634,877,785.554746821,809,653,629,652,0.400983263267,-0.00541461268209,0.0498501676072,0.999999962734,8.02521763557e-05,-0.000257402613627,-4.28365021642e-05,1793247484895959808
+100,1.666666667,BASELINE,765,745,715,678.975059332,660,634.024940668,877,785,809,653,629,652,0.400981658102,-0.00541651279562,0.04984949404,0.999999962331,7.94478921518e-05,-0.000259327634882,-4.21426367969e-05,1793247484912626432
+101,1.683333333,BASELINE,765,745,715,678.399722789,660,634.600277211,877,785,809,653,629,652,0.400981928865,-0.00541724256919,0.0498495975368,0.999999962646,7.75098152132e-05,-0.000258657059682,-4.23763752139e-05,1793247484929293056
+102,1.700000000,BASELINE,765.179602636,745,715,678.179602636,660,634.820397364,877.179602636,785,809,653,629,652,0.400982361971,-0.00541736506897,0.0498497830984,0.999999962974,7.65626720637e-05,-0.000257630384609,-4.26161285904e-05,1793247484945959680
+103,1.716666667,BASELINE,765.768007264,745,715,678.768007264,660,634.231992736,877.768007264,785,809,653,629,652,0.400983164595,-0.00541610532426,0.0498501554516,0.999999963334,7.78710400964e-05,-0.00025579317399,-4.28695728666e-05,1793247484962626304
+104,1.733333333,BASELINE,765.649177219,745,715,679,660,634,877.649177219,785.350822781,808.649177219,653,629,652,0.40098324485,-0.0054150213206,0.049850182096,0.999999963156,7.95336460966e-05,-0.000255960473007,-4.29690616765e-05,1793247484979292672
+105,1.750000000,BASELINE,765.069999664,745,715,679,660,634,877.069999664,785.930000336,808.069999664,653,629,652,0.400982854906,-0.0054140517088,0.0498499837145,0.999999962626,8.14268299866e-05,-0.00025743253131,-4.29683390438e-05,1793247484995959552
+106,1.766666667,BASELINE,765,745,715,679,660,634,876.493215808,785.493215808,808,652.493215808,629,651.493215808,0.400982776057,-0.00541390690364,0.0498503292286,0.999999962643,8.22252545467e-05,-0.000257140401161,-4.27904928881e-05,1793247485012626688
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678,659,634,877,786,808,653,629,652,0.400981130259,-0.00541571183232,0.0498492393629,0.999999962423,7.95074679019e-05,-0.000258829085662,-4.29053109107e-05,1793247485055825920
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,678.588186632,659.588186632,634,877,786,808,653,629,652,0.400982689336,-0.00541462979295,0.049850245603,0.99999996268,8.1271499967e-05,-0.000257308945975,-4.27404679072e-05,1793247485072493056
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,786,808.173401978,653,629,652,0.400983499521,-0.00541432068114,0.0498509085245,0.999999962862,8.20365521097e-05,-0.000256376889179,-4.26179279947e-05,1793247485089160192
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,786,808.751679796,653,629,652,0.400982561119,-0.00541581627574,0.0498507698323,0.999999962878,8.04690889158e-05,-0.000256817945334,-4.25941614293e-05,1793247485105826048
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,786,808.670813931,653,629,652,0.400983305081,-0.00541665610959,0.0498510459025,0.999999963209,7.93842081159e-05,-0.000255886402332,-4.24642397461e-05,1793247485122492160
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,786,808.093888343,653,629,652,0.40098531516,-0.0054170024296,0.0498516341153,0.999999963775,7.86625102463e-05,-0.000253921865847,-4.22544276308e-05,1793247485139158528
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,786,808.479872361,652.520127639,629,652,0.400983750395,-0.00541663462126,0.0498512795307,0.999999963343,7.96399281811e-05,-0.00025530116052,-4.23300825708e-05,1793247485155825920
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785.945231799,808.945231799,652,629,652,0.40098188372,-0.00541606942836,0.049850759105,0.999999962756,8.09354802593e-05,-0.000257165198178,-4.24663122585e-05,1793247485172492800
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785.353164796,808.353164796,652,629,652,0.400983871915,-0.00541492955259,0.0498504094916,0.99999996259,8.21120871968e-05,-0.000257408553326,-4.26524601293e-05,1793247485189159424
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,652.233125235,629,652,0.400991400025,-0.00541422855349,0.04985311178,0.99999996386,8.29492830049e-05,-0.000252184424007,-4.24451088955e-05,1793247485205826048
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,652.810875221,629,652,0.40100711769,-0.00541417633782,0.0498603256391,0.999999967133,8.32847334611e-05,-0.000238877812789,-4.16560551427e-05,1793247485222492928
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,652.612946626,629,652,0.401041975904,-0.0054157436164,0.0498737761093,0.999999973399,8.14946791166e-05,-0.000211849916838,-4.09810094702e-05,1793247485239159040
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,652.037533355,629,652,0.401086148885,-0.00541809902341,0.049890261633,0.999999980223,7.86702457772e-05,-0.000178144543123,-4.03614458325e-05,1793247485255825152
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.549802219,785.549802219,808,652.549802219,629,652,0.401149649173,-0.00542070437029,0.0499088500267,0.999999986367,7.80937953502e-05,-0.000140158831678,-3.90191537328e-05,1793247485272492032
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,678.863424332,660,634,877.863424332,785.863424332,808.136575668,652.863424332,629,652,0.401217131197,-0.00542335966521,0.0499261239977,0.999999990453,7.75846357082e-05,-0.000108005545057,-3.75404175009e-05,1793247485289158912
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,678.281199592,660,634,877.281199592,785.281199592,808.718800408,652.281199592,629,652,0.401293205011,-0.00542612103235,0.0499386301757,0.999999991818,7.67831950091e-05,-9.58581727548e-05,-3.57810221853e-05,1793247485305826048
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,678.296958281,660,634.296958281,877,785.296958281,809,652.296958281,629,652,0.401376110982,-0.00542915092384,0.049946092956,0.999999992804,7.52120885554e-05,-8.68672426107e-05,-3.44839723838e-05,1793247485322492928
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,678.871317096,660,634.871317096,877,785.871317096,809,652.871317096,629,652,0.401465399139,-0.00543243165444,0.0499488444973,0.99999999351,7.29220067768e-05,-8.08248713019e-05,-3.3618818015e-05,1793247485339159552
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.544032203,745,715,679,660,634.544032203,877,786,809,652.544032203,629,652,0.401566278422,-0.00543638002416,0.0499480902358,0.999999993483,7.03470442483e-05,-8.36793371808e-05,-3.289727082e-05,1793247485355825920
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.042976177,745,715,679,660,634,877,785.957023823,808.957023823,652,629,652,0.401672622771,-0.00544052009035,0.0499463734856,0.99999999323,6.7885791791e-05,-8.8855066219e-05,-3.21969995757e-05,1793247485372492032
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.622322006,745,715,679,660,634,877,785.377677994,808.377677994,652,629,652,0.401805404645,-0.00544464673666,0.0499452778286,0.999999993074,6.78703118818e-05,-9.0940861243e-05,-3.12447608097e-05,1793247485389158656
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,652,628.798486046,652,0.401950511856,-0.00544964224454,0.0499447936214,0.999999993074,6.60430988205e-05,-9.26393494204e-05,-3.01298614327e-05,1793247485405825536
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,652,628.219582348,652,0.4021187016,-0.00545626493183,0.0499454545206,0.999999993356,6.08229221467e-05,-9.36124998387e-05,-2.87103358803e-05,1793247485422492160
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.355812129,785,808.355812129,652.355812129,628.355812129,652,0.402308624506,-0.00546349642813,0.0499445156353,0.999999993379,5.63950633213e-05,-9.65069059617e-05,-2.73373705056e-05,1793247485439159296
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.929062167,785,808.929062167,652.929062167,628.929062167,652,0.402511828632,-0.00547109997017,0.0499425991168,0.999999993229,5.24513919125e-05,-0.000100575397564,-2.59928580642e-05,1793247485455826176
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.48437455,785,808.48437455,653,629,652,0.402741741184,-0.00547857851136,0.0499449018843,0.99999999364,5.03868962707e-05,-9.80267974287e-05,-2.39177380251e-05,1793247485472492544
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,678.897614465,659.897614465,634,877,785.102385535,808.102385535,653,629,652,0.402983980609,-0.00548612609107,0.0499481542004,0.999999994197,4.83881091236e-05,-9.37477753246e-05,-2.18125296976e-05,1793247485489159168
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,678.318689009,659.318689009,634,877,785.681310991,808.681310991,653,629,652,0.403266038412,-0.00549407716734,0.0499530527206,0.999999995088,4.54599670977e-05,-8.57641588784e-05,-2.00475084217e-05,1793247485505826048
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,678.259447811,659.259447811,634,877,785.740552189,809,652.740552189,629.259447811,652,0.403572867628,-0.00550311975803,0.0499612064592,0.999999996511,4.13771250561e-05,-7.0328944464e-05,-1.79083477345e-05,1793247485522492672
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,678.836618822,659.836618822,634,877,785.163381178,809,652.163381178,629.836618822,652,0.403910032226,-0.00551349903116,0.0499733465807,0.999999998192,3.58802223527e-05,-4.57684056567e-05,-1.53110111038e-05,1793247485539158784
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.416634132,745,715,679,660.416634132,634,877,785,809,652,629.583365868,652,0.40426889726,-0.00552507305721,0.0499826560444,0.999999999036,3.23481977507e-05,-2.72184605632e-05,-1.18361097838e-05,1793247485555825408
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.997772474,745,715,679,660.997772474,634,877,785,809,652,629.002227526,652,0.404636330506,-0.00553711882038,0.0499908478484,0.999999999469,2.9591987584e-05,-1.10417444947e-05,-8.01471006192e-06,1793247485572492032
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.418914191,744.418914191,715,679,660.418914191,634,877,785,809,652,629,652.581085809,0.405054511105,-0.00554345327922,0.049997765319,0.9999999995,3.11183857041e-05,3.14160230404e-06,-4.7284417488e-06,1793247485589159168
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.162953079,715,679,660,634.162953079,877,785,808.837046921,652,629,652.837046921,0.405468871613,-0.00554436153162,0.0499960862761,0.999999999217,3.95191489301e-05,4.20843007501e-07,-1.91175828472e-06,1793247485605826048
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.741114327,715,679,660,634.741114327,877,785,808.258885673,652,629,652.258885673,0.405873000837,-0.00553149968019,0.0499725156135,0.999999996833,6.5393963428e-05,-4.53524234746e-05,-2.86341680325e-07,1793247485622492416
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715.318552198,679,659.681447802,634.681447802,877,785,808.318552198,652,629,652,0.406309435223,-0.00551964199646,0.0499513579736,0.999999992357,9.07530589649e-05,-8.3956630832e-05,7.21987126155e-07,1793247485639159296
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.895403579,679,659.104596421,634.104596421,877,785,808.895403579,652,629,652,0.406772064408,-0.00550859854427,0.0499321569392,0.999999986492,0.000115693984762,-0.000116747786036,1.22994827052e-06,1793247485655825920
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.530807536,679,659.469192464,634,877.469192464,785,809,652.469192464,629,652,0.40729653896,-0.00551467221222,0.049926868591,0.999999984925,0.00012068853772,-0.000124745797541,4.69090381099e-06,1793247485672492800
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,678.956257312,660,634,878,785,809,653,629,652.043742688,0.407839722007,-0.00552417493794,0.0499268770493,0.99999998495,0.00012196069282,-0.000123069252257,8.91770480542e-06,1793247485689158912
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,678.363642499,660,634,878,785,809,653,629,652.636357501,0.408445779763,-0.00552913422755,0.0499546835789,0.999999988814,0.000131958344452,-6.89017463155e-05,1.454744182e-05,1793247485705825536
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.222949588,745,715,678.222949588,660,634,877.777050412,785.222949588,809,653,629.222949588,653,0.409062139354,-0.00553145138711,0.0499787216032,0.999999989095,0.000144178984421,-2.50401480182e-05,1.98875339163e-05,1793247485722492160
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.799976644,745,715,678.799976644,660,634,877.200023356,785.799976644,809,653,629.799976644,653,0.409694859773,-0.00552957244658,0.0499967746727,0.999999986901,0.000159930063945,2.45411586187e-06,2.47676260394e-05,1793247485739158784
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.623864989,745,715,679,659.623864989,634,877.376135011,786,809.376135011,653,630,653.376135011,0.41032566068,-0.0055279373269,0.0499979368618,0.999999984561,0.000173360969364,-2.955960417e-06,2.85674037157e-05,1793247485755825920
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.048167534,745,715,679,659.048167534,634,877.951832466,786,809.951832466,653,630,653.951832466,0.410955443149,-0.00552643156903,0.0499901374133,0.999999981945,0.000185560881109,-2.58237864497e-05,3.17940088698e-05,1793247485772492800
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,633.461195441,878,785.461195441,810,652.461195441,629.461195441,653.461195441,0.411598284845,-0.00552630313226,0.0499569653641,0.999999976721,0.000192656387983,-9.13174234585e-05,3.32110375281e-05,1793247485789158912
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659.124855219,633.124855219,878,785.124855219,810,652,629,652.875144781,0.412271689738,-0.00552755227149,0.0499334996295,0.999999973795,0.00018338908833,-0.000133461883725,3.10973076013e-05,1793247485805825536
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.703810318,633.703810318,878,785.703810318,810,652,629,652.296189682,0.413051916381,-0.00553335428002,0.0499537617951,0.999999990168,0.000116305178988,-7.65296198331e-05,1.67431048077e-05,1793247485822492160
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.281019104,745,715,679,660.281019104,634,878.281019104,785.718980896,810,652,629.281019104,652.281019104,0.413824950142,-0.00553836757931,0.0499696647171,0.999999995123,8.74469387769e-05,-4.42416324535e-05,1.22086270443e-05,1793247485839158784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.856398743,745,715,679,660.856398743,634,878.856398743,785.143601257,810,652,629.856398743,652.856398743,0.414590449633,-0.00554255472597,0.049981001442,0.999999994262,9.86291303958e-05,-3.77679063168e-05,1.79600657907e-05,1793247485855825408
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.567096466,745,715,679,660.567096466,634,879,785,810,652,630,652.567096466,0.415353468898,-0.00554137431207,0.0499603579138,0.999999991151,0.000109085990759,-7.3437674559e-05,2.01315333679e-05,1793247485872492032
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,878.990016739,785,810,652,629.990016739,652.009983261,0.416117002301,-0.00553842779598,0.0499297449749,0.999999985237,0.000119206571608,-0.000121943491997,2.11096852713e-05,1793247485889158656
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,878.401298435,785,810,652,629.401298435,652.598701565,0.416958161759,-0.00553658538249,0.0499377757524,0.999999986888,0.000123817208624,-0.000102040000273,2.19321617103e-05,1793247485905825536
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,878.184745049,785,810,652.184745049,629.184745049,653,0.4178111678,-0.00553650401386,0.0499507683001,0.999999989097,0.00012481946933,-7.54657413866e-05,2.3035647227e-05,1793247485922492160
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,878.765061243,785,810,652.765061243,629.765061243,653,0.418689539377,-0.00554019334738,0.0499743848568,0.999999992122,0.000118095571105,-3.4608215881e-05,2.47408217882e-05,1793247485939159040
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,633.658456418,878.658456418,785,810,652.658456418,630,653,0.419533976782,-0.00554214100305,0.0499734250593,0.999999991929,0.000116782444623,-4.29357735769e-05,2.57031593507e-05,1793247485955825408
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,633.084582035,878.084582035,785,810,652.084582035,630,653,0.420355330851,-0.00554290390374,0.0499557474997,0.999999988971,0.000119149928963,-8.47208779939e-05,2.61601911392e-05,1793247485972491776
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.49097193,745,715,679,660,633,878.49097193,785,810.49097193,652,630,653,0.421289469557,-0.00554407799051,0.0499729621573,0.999999992026,0.000118092153834,-3.57797907772e-05,2.68795596244e-05,1793247485989158656
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931564267,745,715,679.068435733,660.136871467,633,879,785,810.931564267,652,630,653,0.422237702035,-0.0055453337798,0.0499936536657,0.999999992611,0.000116483673486,2.10540056718e-05,2.76757643502e-05,1793247486005825280
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.341762927,745,715,679.658237073,661.316474145,633,879,785,810.341762927,652,630,653,0.423144773236,-0.00554667049339,0.049994881647,0.999999992782,0.000115190640341,1.85351615321e-05,2.87118485561e-05,1793247486022491904
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.756482172,633.243517828,879.243517828,785,810.243517828,652,630,653,0.424053637778,-0.00554751684812,0.0499894595013,0.999999993143,0.000113230699506,7.38379872849e-06,2.89577105611e-05,1793247486039158784
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.177430081,633.822569919,879.822569919,785,810.822569919,652,630,653,0.424964973428,-0.00554768755561,0.0499748743901,0.999999993393,0.000110351850848,-1.56619946146e-05,2.81147545772e-05,1793247486055825920
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.602468605,661,634,879.602468605,785,811,652,630,653,0.425890784948,-0.00555042403378,0.0499828683537,0.999999993748,0.000107265447162,-1.03397221967e-05,2.98518648023e-05,1793247486072492544
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.029314332,661,634,879.029314332,785,811,652,630,653,0.426822991616,-0.00555429402753,0.0500008373848,0.999999994019,0.000104087349211,7.51509983483e-06,3.27288061951e-05,1793247486089158912
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.560328567,745,715,679,660.439671433,633.439671433,879.560328567,785,811,652.560328567,630,653,0.427677223886,-0.00555070729444,0.0499819289215,0.999999992408,0.000109576216364,-4.5375870904e-05,3.34497143595e-05,1793247486105825536
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.851515393,745,715,679.148484607,660,633,879.851515393,785,811,652.851515393,630.148484607,652.851515393,0.428561189899,-0.00554782120932,0.0499630046356,0.999999989192,0.000113198736634,-8.76687643229e-05,3.3414818494e-05,1793247486122491904
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.270283009,745,715,679.729716991,660,633,879.270283009,785,811,652.270283009,630.729716991,652.270283009,0.429544062122,-0.00554814852727,0.0499498275066,0.999999989583,0.000110020386108,-8.79605070624e-05,3.15158880212e-05,1793247486139158528
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.30711315,633.30711315,879,784.69288685,811,652,630.69288685,652.30711315,0.430500529916,-0.00555034975665,0.0499476045575,0.99999999067,0.000106444383977,-7.97978577564e-05,3.10002157639e-05,1793247486155825152
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.88117476,633.88117476,879,784.11882524,811,652,630.11882524,652.88117476,0.431434046439,-0.00555417982467,0.0499549031859,0.999999992176,0.000102522735825,-6.42864936773e-05,3.16868973571e-05,1793247486172491776
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.456450061,745,715.456450061,680,660.543549939,634,879,784,811.456450061,652,630.456450061,653,0.432330727895,-0.00555467084873,0.0499426636271,0.99999999073,0.000102723583532,-8.35395861984e-05,3.17596914664e-05,1793247486189158400
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.967186821,745,715.967186821,680,660,633.967186821,879,784.032813179,812,652,631,653,0.433220753123,-0.00555432451593,0.0499276036428,0.99999998825,0.000103977949019,-0.000108069634245,3.17767102251e-05,1793247486205825024
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.377745157,745,715.377745157,680,660,633.377745157,879,784.622254843,812,652,631,653,0.434160962476,-0.00555455827461,0.0499512105703,0.999999991615,0.000104850107125,-6.81852541176e-05,3.35657570898e-05,1793247486222491648
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.791440599,660,633,879,784.791440599,811.791440599,651.791440599,631,652.791440599,0.435074216004,-0.00555461489399,0.0499666262059,0.999999992715,0.000104798925772,-4.86766375665e-05,3.49089074532e-05,1793247486239158272
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.210733707,660,633,879,784.210733707,811.210733707,651.210733707,631,652.210733707,0.435939370482,-0.00555435543105,0.0499674255359,0.99999999191,0.000103100163995,-6.55259501763e-05,3.54564130936e-05,1793247486255824896
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.366530634,745,715,679.366530634,660,633,879,784,811.366530634,651.366530634,631,652,0.436800324359,-0.00555434851272,0.0499592609014,0.999999990546,0.000102632668006,-8.43767109761e-05,3.54205784195e-05,1793247486272491264
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.941834091,745,715,679.941834091,660,633,879,784,811.941834091,651.941834091,631,652,0.437658885558,-0.00555448544174,0.0499459904667,0.999999988649,0.000102866490924,-0.000104367479114,3.50524778771e-05,1793247486289158144
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.484541763,745,715,680,660.515458237,633,879,784,812.515458237,652,631,652.515458237,0.438534711557,-0.00555767094741,0.0499661778659,0.999999992684,9.94007429059e-05,-5.87479500709e-05,3.60490304573e-05,1793247486305824512
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.908290838,715,680,661,633,879,784,812.908290838,652,631,653,0.439400499696,-0.00556056524344,0.0499837411658,0.99999999453,9.60234634758e-05,-1.90639309518e-05,3.68221822905e-05,1793247486322491136
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.316692281,715,680,661,633,879,784,812.316692281,652,631,653,0.440200988462,-0.00556000316101,0.049966488357,0.999999993468,9.53965778898e-05,-5.19582244435e-05,3.55409650546e-05,1793247486339157760
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.267972617,715,680,660.732027383,633,878.732027383,784,812.267972617,652,631,653,0.440996438538,-0.0055608891871,0.0499567232122,0.99999999284,9.1127398501e-05,-6.9454928814e-05,3.45146684273e-05,1793247486355824640
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.844649892,715,680,660.155350108,633,878.155350108,784,812.844649892,652,631,653,0.441786083984,-0.00556344343534,0.0499555838632,0.999999993618,8.26622940119e-05,-6.92135965879e-05,3.37820406555e-05,1793247486372491520
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.421245496,745,715,680,660,633,878.421245496,784,813,652,631,653,0.442571684775,-0.00556430500435,0.0499738266914,0.99999999559,8.0169092575e-05,-3.49087932005e-05,3.4274104371e-05,1793247486389158144
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.997811034,745,715,680,660,633,878.997811034,784,813,652,631,653,0.443355794301,-0.00556454245529,0.0499992160423,0.999999996118,7.98778277331e-05,1.19557641532e-05,3.52177315617e-05,1793247486405824768
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715.585846944,680,660.585846944,632.414153056,879,784,813,652,631,653,0.444014677813,-0.00556287163878,0.0499803698475,0.999999995082,8.71103784737e-05,-2.98154938065e-05,3.68560546378e-05,1793247486422491648
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715.829035838,680,660.829035838,632.170964162,879,784,813,652,631,653,0.444682346208,-0.00556119066356,0.0499601436515,0.999999992774,9.33747536941e-05,-6.57394919746e-05,3.75596390206e-05,1793247486439158272
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.250972568,680,660.250972568,632.749027432,879,784,813,652,631,653,0.445372069659,-0.00555950281529,0.0499370328278,0.999999990842,9.72654382588e-05,-8.69356769158e-05,3.60311239897e-05,1793247486455824896
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.673794194,745,715,680,660.326205806,633,879.326205806,784,813,651.673794194,631,653,0.446058783293,-0.00556083395205,0.0499413025726,0.999999992355,9.72802975687e-05,-6.68966982546e-05,3.67485278541e-05,1793247486472491520
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.097294823,745,715,680,660.902705177,633,879.902705177,784,813,651.097294823,631,653,0.446743187491,-0.00556448151773,0.0499665810807,0.999999994668,9.43212850554e-05,-1.52185017527e-05,3.91891967386e-05,1793247486489158400
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.478518654,745,715,680,660.521481346,633,880,784,813.478518654,651.478518654,631,653,0.447342007738,-0.00555961883731,0.0499639852345,0.99999999358,0.000104166696458,-1.99964646366e-05,3.98615256008e-05,1793247486505825024
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.944482905,744.944482905,715,680,660,633,880,784,813.944482905,651.944482905,631,653,0.447917233262,-0.00555361466215,0.0499537412072,0.999999991794,0.000115328530033,-3.88341820457e-05,4.00484149949e-05,1793247486522491648
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.354741832,744.354741832,715,680,660,633,880,784,813.354741832,651.354741832,631,653,0.448432622301,-0.00555325299042,0.049924360153,0.999999989308,0.000114141452111,-8.26642859965e-05,3.90189353449e-05,1793247486539158272
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.230686137,744.230686137,715,680,660.230686137,633,879.769313863,784,813.230686137,651.230686137,631,652.769313863,0.448957947355,-0.00555587333734,0.0499102220927,0.999999987528,0.000112359017941,-0.000103702966088,3.95569948672e-05,1793247486555824896
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.809603227,744.809603227,715,680,660.809603227,633,879.190396773,784,813.809603227,651.809603227,631,652.190396773,0.449498271216,-0.00556299517368,0.0499190940106,0.999999989004,0.000109677867467,-9.03369773025e-05,4.24613244678e-05,1793247486572491520
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.617343944,633,879.382656056,784,813.617343944,652,631,652.382656056,0.450006466229,-0.00556359863861,0.0499382139085,0.99999999077,0.000112004347673,-6.26900299376e-05,4.45474051221e-05,1793247486589158400
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.04716488,633,879.95283512,784,813.04716488,652,631,652.95283512,0.450498916347,-0.00556100773527,0.0499623558942,0.999999991719,0.000116784848435,-2.80446077602e-05,4.62324979517e-05,1793247486605825024
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.865516129,745,715,680.134483871,660,632.865516129,879.134483871,784,814,652,631,653,0.451317742905,-0.00555556817063,0.0499622737535,0.999999992192,0.000108519659931,-4.52678847889e-05,4.23063318457e-05,1793247486639158272
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.287093853,745,715,680.712906147,660,632.287093853,879.712906147,784,814,652,631,653,0.451671612444,-0.00555859486426,0.0499454652588,0.999999993999,6.51198329303e-05,-8.27923530172e-05,3.01285437758e-05,1793247486655824896
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680.711067198,660,632,880,784,813.711067198,652,631,653,0.451999161117,-0.00556173374253,0.0499204229289,0.999999989963,4.36093189574e-05,-0.000132620760307,2.41841973433e-05,1793247486672491776
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680.137401379,660,632,880,784,813.137401379,652,631,653,0.45230077149,-0.00556498317458,0.0498872664478,0.99999997982,4.36699483736e-05,-0.000194574260311,2.43826870458e-05,1793247486689158656
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.439794786,745,715,680,660,632,879.560205214,784,813.439794786,652,631,653,0.452609796454,-0.00556821552876,0.0498800299785,0.999999978674,4.39768122903e-05,-0.000200203120966,2.52318619096e-05,1793247486705825536
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.981511816,744.981511816,715,680,660,632,879,784,814,652,630.981511816,653,0.45292007386,-0.00557144667542,0.0498813265791,0.999999981046,4.43243573398e-05,-0.000187753708346,2.63145441129e-05,1793247486722492416
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.390893163,744.390893163,715,680,660,632,879,784,814,652,630.390893163,653,0.453196844002,-0.00557480690309,0.0498940597461,0.99999998507,4.35309211846e-05,-0.000164818574681,2.82814762636e-05,1793247486739159040
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.195567483,744.195567483,715,680.195567483,660,632,879,784,813.804432517,651.804432517,630,653,0.453457109655,-0.00557639304292,0.0499022333025,0.999999987172,4.46242924344e-05,-0.000150909561531,2.98583032059e-05,1793247486755825920
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.773890208,744.773890208,715,680.773890208,660,632,879,784,813.226109792,651.226109792,630,653,0.453685073486,-0.00557450702325,0.0499014830075,0.999999986348,4.94104322454e-05,-0.000154666038853,3.0671634846e-05,1793247486772492288
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879.350907869,784,813.350907869,651.350907869,630.350907869,653,0.453887154513,-0.00556754807519,0.0498940767334,0.999999984134,5.89258182851e-05,-0.000165319205707,3.04907946451e-05,1793247486789159168
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879.927087776,784,813.927087776,651.927087776,630.927087776,653,0.4540726196,-0.00555733246324,0.0498823975258,0.999999980733,7.14772351252e-05,-0.000180399835039,2.9671726829e-05,1793247486805826048
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.487751907,745,715,680.487751907,660,631.487751907,880,784,814,652,630.487751907,653,0.454226452913,-0.0055548981528,0.0498733878937,0.999999978213,7.54337954313e-05,-0.00019228834303,3.01453578978e-05,1793247486822492416
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.09745774,745,715,680,660,631,879.90254226,784,814,652,630.09745774,653,0.454371602691,-0.00555425655774,0.0498655537162,0.999999975927,7.71530229813e-05,-0.000203108621541,3.06621621446e-05,1793247486839159040
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.676482432,745,715,680,660,631,879.323517568,784,814,652,630.676482432,653,0.454496489293,-0.00555690279248,0.0498616166964,0.999999974553,7.39698475414e-05,-0.00021093565584,3.04668775444e-05,1793247486855825664
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680.254807573,660,631,879.254807573,783.745192427,814,652,630.745192427,653,0.454609876416,-0.00555909485479,0.0498573651479,0.99999997314,7.09127265949e-05,-0.000218573974217,3.02778552977e-05,1793247486872492288
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680.832246922,660,631,879.832246922,783.167753078,814,652,630.167753078,653,0.454708703145,-0.00556071185372,0.0498527153502,0.999999971702,6.80152132842e-05,-0.000225973344153,3.00967623186e-05,1793247486889158912
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.591791674,745,715,680.591791674,660,631,880,783.408208326,814,652,630.408208326,653,0.454790177094,-0.00556207710039,0.0498482219253,0.999999970041,6.70206679857e-05,-0.000233513311336,2.99719766756e-05,1793247486905825280
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.016435453,745,715,680.016435453,660,631,880,783.983564547,814,652,630.983564547,653,0.454864545647,-0.00556333926273,0.0498437925302,0.999999968255,6.68053256196e-05,-0.000241110848283,2.98702470398e-05,1793247486922491904
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.571789488,745,714.428210512,680,659.428210512,631,879.428210512,784,814,652,630.428210512,653,0.454919237416,-0.0055626833975,0.0498384503069,0.999999966432,6.77145526364e-05,-0.000248345230314,2.95841039374e-05,1793247486939159040
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714.157499981,680.157499981,659.157499981,631,879.157499981,784,814.157499981,652,630.157499981,653,0.454968948032,-0.0055620485686,0.0498334204225,0.999999964741,6.80699443956e-05,-0.00025500853772,2.92286243222e-05,1793247486955825920
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,714.735487133,680.735487133,659.735487133,631,879.735487133,784,814.735487133,652,630.735487133,653,0.455006904905,-0.00556162047871,0.0498292960715,0.999999963507,6.68584431073e-05,-0.000260175721583,2.87025104918e-05,1793247486972492544
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,880,784,814.698257879,652,630.698257879,653,0.455039021854,-0.00556099165514,0.0498262486147,0.999999962329,6.75655649663e-05,-0.000264509612086,2.84774054341e-05,1793247486989159424
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,880,784,814.141902552,652,630.141902552,653,0.455066211015,-0.0055601934503,0.0498241098524,0.999999961202,6.98916412809e-05,-0.000268140361371,2.85062947179e-05,1793247487005825792
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,880,783.557616883,814,652,630,653,0.455085441361,-0.00556065089131,0.0498220111369,0.999999960409,6.78635355113e-05,-0.000271595728765,2.84999012991e-05,1793247487022492160
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,880,783.036210204,814,652,630.036210204,653,0.455101515817,-0.00556136781578,0.0498199481895,0.999999959697,6.47381403375e-05,-0.000274962916837,2.84523439858e-05,1793247487039158784
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,880,783.629706675,814,652,630.629706675,653,0.455110958471,-0.00555946175127,0.0498182246974,0.999999958706,6.76691161525e-05,-0.000277897161441,2.79571808165e-05,1793247487055825408
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680.782177228,660,631,880,784,814.217822772,652,631,653,0.455118202574,-0.00555869410951,0.0498165830537,0.999999957776,6.84578399521e-05,-0.000281061041461,2.76968386496e-05,1793247487072492032
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.202987189,660,631,880,784,814.797012811,652,631,653,0.455121799289,-0.0055598151075,0.0498150771964,0.999999956955,6.56925744731e-05,-0.000284605885715,2.78260637895e-05,1793247487089159168
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.054360798,745,715,680.945639202,659.054360798,631,880,784,814.054360798,652,630.054360798,653,0.455126531246,-0.00555709841133,0.0498129332496,0.999999956251,6.79462840027e-05,-0.000286569311012,2.75557481872e-05,1793247487122492416
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.520169664,745,715,681,659,631,880,784,814,652,630.520169664,653,0.455127910634,-0.00555575255974,0.0498129352741,0.999999955936,7.01229266898e-05,-0.000287140006499,2.75766796132e-05,1793247487139159040
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.097989341,631,880,784,814,652,630.902010659,653,0.455128784692,-0.00555459430025,0.0498126566926,0.999999955512,7.18134494385e-05,-0.00028820073988,2.75697092488e-05,1793247487155825920
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.691787276,631,880,784,814,652,630.308212724,653,0.455127486217,-0.00555409937927,0.0498104378756,0.999999954576,7.0926167652e-05,-0.000291670184084,2.73090499122e-05,1793247487172492544
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,879.722259437,784,814,652,630.277740563,653,0.455128257531,-0.00555423920303,0.0498098218144,0.999999954486,7.10278170361e-05,-0.00029195457875,2.73152534537e-05,1793247487189159168
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,879.144772275,784,814,652,630.855227725,653,0.455131262628,-0.00555506406378,0.0498109354989,0.99999995531,7.21967528199e-05,-0.000288801565356,2.76094640132e-05,1793247487205825536
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.575002742,745,715,681,660,631,879.424997258,784,814,652,631,653,0.45513169712,-0.00555448887775,0.0498110065135,0.99999995547,7.13483451646e-05,-0.000288509288733,2.70439752781e-05,1793247487222491904
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.00781531,745,715,681,660,631,879.99218469,784,814,652,631,653,0.455131271571,-0.00555344528183,0.0498107286849,0.999999955408,6.98250003432e-05,-0.000289174121202,2.61908592756e-05,1793247487239158016
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.588894542,745,715.588894542,681,659.411105458,631,879.411105458,784,814,652,631,653,0.455131148416,-0.00555342295468,0.0498091912406,0.999999955079,6.9737994857e-05,-0.00029031631246,2.63452154747e-05,1793247487255824896
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.820178577,745,715.820178577,681,659,631,879.179821423,784,814,652,631,652.820178577,0.45513089188,-0.00555306095767,0.0498079948395,0.999999954697,7.03161760041e-05,-0.000291489146058,2.63719433041e-05,1793247487272491264
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.242943938,745,715.242943938,681,659,631,879.757056062,784,814,652,631,652.242943938,0.455130331228,-0.00555191674086,0.049807591053,0.999999954204,7.23200977362e-05,-0.000292714960712,2.60854983216e-05,1793247487289157888
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+244,4.066666667,HOLD_POSE2,766,745,715,680,659,631,879,784,814,652,631,653,0.455131093896,-0.00555183847658,0.0498081619264,0.999999954124,7.23993998552e-05,-0.000292911973678,2.6696618921e-05,1793247487354370816
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+249,4.150000000,HOLD_POSE2,766,745,715,680.923435802,659.076564198,631,880,783.076564198,814,652,630.076564198,652,0.45513136716,-0.00555347819193,0.049806808584,0.999999953716,7.20774561413e-05,-0.00029435499874,2.6966550184e-05,1793247487437703936
+250,4.166666667,HOLD_POSE2,766,744.492242937,715,681,659.507757063,631,879.492242937,783,814,652,630,652.507757063,0.455131408885,-0.00555250801753,0.0498071058434,0.999999953779,7.15389887062e-05,-0.000294340384932,2.62434183395e-05,1793247487454370560
+251,4.183333333,HOLD_POSE2,765.90771484,744.09228516,715,681,659.90771484,631,879,783,814,652,630,653,0.455131565374,-0.00555171931151,0.0498075202763,0.999999953889,7.04792669341e-05,-0.000294281684388,2.55521061579e-05,1793247487471037184
+252,4.200000000,HOLD_POSE2,765.328666143,744.671333857,715,681,659.328666143,631,879,783,814,652,630,653,0.455132049586,-0.00555226646642,0.0498080781515,0.999999954026,6.93443996946e-05,-0.00029404478503,2.60009557117e-05,1793247487487703808
+253,4.216666667,HOLD_POSE2,765.249597925,745,715,680.750402075,659.249597925,631,879.249597925,783.249597925,814,652,630.249597925,653,0.455132142814,-0.00555253697054,0.0498081046667,0.999999954026,6.92697148975e-05,-0.000294044123088,2.62221803681e-05,1793247487504370944
+254,4.233333333,HOLD_POSE2,765.826831998,745,715,680.173168002,659.826831998,631,879.826831998,783.826831998,814,652,630.826831998,653,0.455131722813,-0.00555244432738,0.0498074336893,0.999999953845,7.05866847584e-05,-0.000294353559567,2.61446118611e-05,1793247487521038080
+255,4.250000000,HOLD_POSE2,766,745,715,680.403253436,659.596746564,631,880,784,814,651.596746564,631,653,0.455131553199,-0.00555286848044,0.0498069370361,0.999999953902,6.99782884544e-05,-0.000294289144539,2.63065090973e-05,1793247487537704704
+256,4.266666667,HOLD_POSE2,766,745,715,680.979326657,659.020673343,631,880,784,814,651.020673343,631,653,0.455131490893,-0.00555351411361,0.0498065150919,0.999999954061,6.85447502116e-05,-0.000294064510355,2.65710326521e-05,1793247487554371072
+257,4.283333333,HOLD_POSE2,766,745,715,681.566716217,659,631,880,784,814,651,631,653,0.455131823768,-0.00555121902835,0.0498066632126,0.999999953811,7.14122554929e-05,-0.000294287077882,2.59423895247e-05,1793247487571037952
+258,4.300000000,HOLD_POSE2,765.847426124,745,715.152573876,681.847426124,659.152573876,631,879.847426124,784,814,651.152573876,631,653,0.455132399893,-0.0055495768178,0.0498070855117,0.999999953721,7.34695846075e-05,-0.000294121525911,2.55364790831e-05,1793247487587704320
+259,4.316666667,HOLD_POSE2,765.267044764,745,715.732955236,681.267044764,659.732955236,631,879.267044764,784,814,651.732955236,631,653,0.45513361683,-0.00555007214704,0.0498082170919,0.999999954143,7.28063344751e-05,-0.000292821037337,2.5848316095e-05,1793247487604370688
+260,4.333333333,HOLD_POSE2,765,745,715.689615857,681,659.689615857,631,879.310384143,783.689615857,814,652,630.689615857,653,0.455133295302,-0.00555074278715,0.0498077211809,0.999999954046,7.22444467904e-05,-0.00029328051193,2.59842676592e-05,1793247487621037056
+261,4.350000000,HOLD_POSE2,765,745,715.114703246,681,659.114703246,631,879.885296754,783.114703246,814,652,630.114703246,653,0.455131662597,-0.00555156283794,0.0498058382217,0.999999953504,7.17689464612e-05,-0.000295239935517,2.59703188022e-05,1793247487637703936
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,659,631,880,784,814,652,630,653,0.455134141795,-0.00555179766568,0.049808562348,0.999999954269,7.17880773124e-05,-0.000292616019167,2.61597219133e-05,1793247487670110720
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.405195399,744.405195399,715,681.405195399,660.189609202,631,879.405195399,783.405195399,813.405195399,652,630.594804601,653,0.455133824787,-0.00555343345165,0.049807638339,0.999999954111,6.92136368261e-05,-0.000293731592264,2.66140872929e-05,1793247487686777600
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.366965642,744.183482821,715,680.816517179,660.633034358,631,879,783.183482821,813.183482821,652,631,653,0.455133315541,-0.00555400658512,0.0498070733786,0.999999953966,6.72215327894e-05,-0.000294680108524,2.6706524171e-05,1793247487703444224
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766.518138115,744.759069057,715,680.240930943,659.481861885,631,879,783.759069057,813.759069057,652,631,653,0.455132395482,-0.00555230882685,0.0498072757064,0.999999953859,6.64738832495e-05,-0.000295271623969,2.60255186915e-05,1793247487720110592
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.330156309,745,715,680.334921846,659,631,879,784,814,652,630.665078154,653,0.455132640021,-0.00555119632093,0.0498072948834,0.999999953955,6.65962056442e-05,-0.000294965967905,2.55095949958e-05,1793247487736777216
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.178067,745,715,680.9109665,659,631,879,784,814,652,630.0890335,653,0.455133722997,-0.00555050516024,0.0498071822033,0.999999954195,6.73448535361e-05,-0.000294014404359,2.51125199141e-05,1793247487753443584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.496477309,745,715,681,659.496477309,631,879.496477309,783.503522691,814,652,630.496477309,653,0.455132777766,-0.00554972346579,0.049806747071,0.999999953686,7.20019569544e-05,-0.000294623742155,2.53016369029e-05,1793247487770110208
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631,880,783.082942578,814,652,630.917057422,653,0.455130960265,-0.00554898304595,0.0498060471034,0.99999995299,7.62564977644e-05,-0.000295896775823,2.54856119946e-05,1793247487786776832
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631,880,783.664739986,814,652,630.335260014,653,0.455126126619,-0.00554859041615,0.0498041088435,0.999999952131,7.37923370946e-05,-0.000299445307843,2.49941194923e-05,1793247487803443712
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.756386668,745,715,680.756386668,659.756386668,631,879.756386668,783.756386668,814,652,630.243613332,653,0.455115539271,-0.0055486038837,0.0497986446819,0.999999949694,7.20762104972e-05,-0.000307914691805,2.46004701772e-05,1793247487820110080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.181489729,745,715,680.181489729,659.181489729,631,879.181489729,783.181489729,814,652,630.818510271,653,0.455097127608,-0.0055491695928,0.049788385736,0.999999944967,7.13773167019e-05,-0.000323075817501,2.43398753736e-05,1793247487836776448
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.392558693,659.392558693,631,879,783.392558693,814,652,630.607441307,652.607441307,0.455060489885,-0.00554726227607,0.0497716820789,0.999999935848,7.27690146768e-05,-0.000349941061518,2.34701552338e-05,1793247487853443328
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,744.857199218,715.142800782,680.857199218,659.142800782,631,879.857199218,783,814,652,630.142800782,653,0.454890390775,-0.00554296155745,0.0497141636343,0.999999903258,7.11090949624e-05,-0.000433661359726,1.91290326457e-05,1793247487903443200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,744.27781527,715.72218473,680.27781527,659.72218473,631,879.27781527,783,814,652,630.72218473,653,0.454812811505,-0.00553758840103,0.0497006315224,0.999999894428,7.79206382983e-05,-0.00045250215713,1.7711586019e-05,1793247487920109824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,744.298887149,715.701112851,680.298887149,659.701112851,631.298887149,879,783.298887149,814,652,630.701112851,653,0.454733882183,-0.00553500176677,0.0496957829117,0.999999891462,8.04033091548e-05,-0.000458604082755,1.71546033783e-05,1793247487936776704
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,744.873119216,715.126880784,680.873119216,659.126880784,631.873119216,879,783.873119216,814,652,630.126880784,653,0.454653709154,-0.00553498217102,0.0496989338359,0.999999894145,7.88980763338e-05,-0.000452970529152,1.73903092639e-05,1793247487953443328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,632,879.448284329,784,813.551715671,652,630.448284329,653,0.454558266962,-0.0055306779755,0.0497067222234,0.999999899052,8.24839158424e-05,-0.000441359865529,1.7129503713e-05,1793247487970109696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.024359209,681,659.024359209,631.975640791,880,783.975640791,813.024359209,652,630.975640791,653,0.454457383902,-0.00552520217021,0.0497157929178,0.9999999044,8.73990075208e-05,-0.000428112776714,1.67546048446e-05,1793247487986776320
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.615443457,681,659.615443457,631.384556543,880,783.384556543,813.615443457,652,630.384556543,653,0.454330673392,-0.00552074113324,0.0497240958214,0.999999909212,8.96452875424e-05,-0.000416234687062,1.700160213e-05,1793247488003442944
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.220196065,681,659.220196065,631,880,783.779803935,814,652,630,653,0.454013662505,-0.00551036366517,0.0497305689918,0.999999911033,9.63003317543e-05,-0.000410360718038,1.62492350908e-05,1793247488036776960
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,744.89383359,715,681,660,631,879.89383359,784,813.89383359,652,631,653,0.453157431843,-0.00547864041867,0.0497424788194,0.999999910455,0.000122723618803,-0.000404789902277,1.32126955696e-05,1793247488103443456
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,744.315380618,715,681,660,631,879.315380618,784,813.315380618,652,631,653,0.452886332555,-0.0054682810507,0.0497507010554,0.999999913178,0.000129599990967,-0.000395855592832,1.21316478803e-05,1793247488120110336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,744.262092036,715,680.737907964,660,631.262092036,879.262092036,784,813,652,631,653,0.452593946108,-0.00545939228917,0.0497587572615,0.99999991591,0.000134731439282,-0.000387170533893,1.12311351478e-05,1793247488136777216
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.290881855,744.709118145,715,681,660,632.709118145,879.290881855,784.709118145,811,652,631,653,0.443136839141,-0.00541082184006,0.0497765873854,0.999999937273,4.85509928799e-05,-0.000349193361186,-3.40635781595e-05,1793247488436777216
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.712936614,660,633,879,785,811,652,631,653,0.442381732718,-0.00540505492792,0.0497665995322,0.999999932284,4.36091772276e-05,-0.000363409012008,-3.82592590154e-05,1793247488453443584
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.136541741,660,633,879,785,811,652,631,653,0.441635782058,-0.0053978951876,0.0497693627546,0.99999993756,3.97547404341e-05,-0.000348536410902,-4.2676688964e-05,1793247488470109952
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.438211531,660.438211531,633,879,784.561788469,811,652,631,652.561788469,0.440871395753,-0.00540042457097,0.0497986312381,0.999999954873,2.85419211924e-05,-0.000295748038802,-4.44059399509e-05,1793247488486776832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.987203694,633,879.012796306,784.012796306,811,652,631,652,0.440099885139,-0.00540588868971,0.0498349598729,0.999999971636,1.50649206096e-05,-0.000233329226638,-4.53602392589e-05,1793247488503443456
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.397232137,633,879.602767863,784.602767863,811,652,631,652,0.439265162027,-0.0054080593517,0.0498186167882,0.999999963041,2.49224325707e-06,-0.000267416217431,-4.8999562813e-05,1793247488520110080
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.092616814,744.092616814,715,680,660,633,879.092616814,785,811,652,630.092616814,653,0.433966266636,-0.00538883635668,0.0497723595654,0.999999927847,-1.98545552518e-05,-0.000374033530089,-6.33253643671e-05,1793247488620110336
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.671927398,744.671927398,715,680,660,633,879.671927398,785,811,652,630.671927398,653,0.433088386062,-0.00538703639273,0.049785206738,0.999999937805,6.88319143394e-05,-0.000343636285022,-3.95685164844e-05,1793247488636776960
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.751450722,745,715,680,660.248549278,633,879.751450722,785,811,652,630.751450722,653,0.432202288367,-0.00538458781346,0.0497971929005,0.999999942054,0.000113865067132,-0.000319618819893,-2.77593464175e-05,1793247488653443584
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.178339734,745,715,680,660.821660266,633,879.178339734,785,811,652,630.178339734,653,0.431305460434,-0.00538129225624,0.0498080547366,0.999999948124,0.000101894667272,-0.000303932225939,-3.15517424671e-05,1793247488670110208
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.396382351,660.207235297,633,879,785,811,652,630.396382351,653,0.430356625165,-0.00537852651645,0.0497869591082,0.999999937531,8.87902943804e-05,-0.000340101390609,-3.72275670986e-05,1793247488686777088
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.15344067,745,715,680,660,633.15344067,878.15344067,785,810.84655933,652,630,652.84655933,0.427523519629,-0.00537952620792,0.0497756960121,0.999999930958,6.49174894954e-05,-0.000363116169129,-4.48986339112e-05,1793247488736777472
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.68967359,745,715,680,660,633.68967359,878.68967359,785,810,652,630,652,0.425644792841,-0.0053718615197,0.0497685367576,0.999999926569,7.73695378647e-05,-0.000372584374256,-4.5355307436e-05,1793247488770110208
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.113244169,745,715,680,660,633.113244169,878.113244169,785,810,652,630,652,0.424785585552,-0.00537324744655,0.0497877116703,0.999999947471,7.05059850659e-05,-0.000312814314619,-4.7256777401e-05,1793247488786776832
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.944299653,633.944299653,878.055700347,785,810,652,630,652,0.42300363815,-0.00537335705457,0.0498400375913,0.999999969807,7.04801073478e-05,-0.000230824573762,-4.62417284826e-05,1793247488820110336
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.366611465,633.366611465,878.633388535,785,810,652,630,652,0.422060969977,-0.00537093901717,0.0498099488302,0.999999954737,7.58599897386e-05,-0.000287336185089,-4.70081018432e-05,1793247488836776960
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.115929711,745,715,680,659.231859423,634,878.884070289,786,809.884070289,652,630,652,0.416793624853,-0.00536767476353,0.0497697873968,0.999999925379,7.98117653625e-05,-0.000374557584192,-5.07853700348e-05,1793247488936777472
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.698808912,745,715,680,660.397617824,634,878.301191088,786,809.301191088,652,630,652,0.416011322331,-0.00537193322541,0.0497949522614,0.999999942483,7.38200053668e-05,-0.000327223668814,-5.00917339329e-05,1793247488953444096
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.7227149,744.7227149,715,680,660.7227149,634,877.7227149,785.7227149,809,652,629.7227149,652,0.415228053314,-0.0053731872639,0.0498069698503,0.999999949516,7.2894763735e-05,-0.000305224612747,-4.99157496554e-05,1793247488970110464
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659.575293608,634,877.424706392,785,809.424706392,652,629.424706392,652,0.413665684353,-0.00536975307547,0.0497842178398,0.999999936201,8.03077813749e-05,-0.000344229020588,-5.15258125771e-05,1793247489003443712
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659.001680983,634,877.998319017,785,809.998319017,652,629.998319017,652,0.412889804035,-0.00536844649388,0.0497569591573,0.999999919806,8.26778913203e-05,-0.000388249736902,-5.30581556525e-05,1793247489020110080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.59181416,715,680,659,634,878,785,810,652,630,652,0.41218691252,-0.00536950086315,0.0497793398835,0.999999932049,8.13861235172e-05,-0.000355719290622,-5.2367552224e-05,1793247489036776704
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.180299923,745,715,680,659.360599845,634,878,785,809.819700077,652.180299923,630,652,0.411491721339,-0.0053703482361,0.0497984572722,0.999999941309,8.18224273547e-05,-0.000328693855729,-5.14620463666e-05,1793247489053443072
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.757626294,745,715,680,660.515252587,634,878,785,809.242373706,652.757626294,630,652,0.410813014028,-0.00537072451617,0.0498100674171,0.999999945652,8.60877024551e-05,-0.000314286078459,-5.00977052131e-05,1793247489070109696
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+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.181687837,634,877.090843918,785,809,652.090843918,629.090843918,652,0.409480269847,-0.00536861876334,0.0497758721113,0.999999922281,9.27291268123e-05,-0.000379617204857,-5.22458726677e-05,1793247489103442944
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.503876695,745,715,679.503876695,659,634,877,785,809,652.496123305,629.496123305,652,0.408911092408,-0.00536970116795,0.0497858843591,0.999999930889,9.32009050222e-05,-0.000356135348309,-5.19979676761e-05,1793247489120109824
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,634,877.758831491,785,809,652,629.758831491,652,0.407255359613,-0.00537699550986,0.0498257122303,0.999999949377,9.05775086344e-05,-0.000301062352554,-4.90181174315e-05,1793247489170109952
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.203138595,745,715.796861405,678.796861405,659.203138595,634,877,785.796861405,809,652.796861405,629,652,0.402684511314,-0.00539229857706,0.0498175729459,0.999999938735,5.63313723941e-05,-0.00034105042432,-5.5142624629e-05,1793247489370109696
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.781304555,745,715.218695445,678.218695445,659.781304555,634,877,785.218695445,809,652.218695445,629,652,0.402436137051,-0.00539025567748,0.049806542463,0.9999999323,6.03235924419e-05,-0.000358679507197,-5.57738854856e-05,1793247489386776576
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.642921038,745,715,678.357078962,660,634,877,785.357078962,808.642921038,652,629,652,0.402227500542,-0.00538788382711,0.0498045933018,0.99999992968,9.27000560567e-05,-0.000360054472962,-4.90744501426e-05,1793247489403443200
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.068601554,745,715,678.931398446,660,634,877,785.931398446,808.068601554,652,629,652,0.402043039754,-0.00538531184869,0.049808169055,0.99999992736,0.000142344991347,-0.000351540722498,-3.79151489234e-05,1793247489420109824
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.518584301,660,634,877,786,808,652.518584301,629,652,0.401893928173,-0.0053805145888,0.0498143163702,0.999999931087,0.000150444513754,-0.000337279066631,-3.78804778867e-05,1793247489436776704
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.894260275,659.894260275,634,877,785.894260275,808.105739725,653,629,652,0.40175446827,-0.00537662515481,0.0498211001855,0.999999935939,0.000151522920923,-0.000321908367873,-3.92157315825e-05,1793247489453443072
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.31505595,659.31505595,634,877,785.31505595,808.68494405,653,629,652,0.401636753959,-0.00537815227465,0.0498291720549,0.999999941955,0.000146397982979,-0.000305063046363,-3.99279151664e-05,1793247489470109696
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.262640808,634,877,785,809,653,629,652,0.40152581792,-0.00538139925458,0.0498338795332,0.999999945878,0.000138331996175,-0.000295727974967,-4.06621894728e-05,1793247489486776320
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.838539422,634,877,785,809,653,629,652,0.401422966489,-0.00538669755158,0.0498345742235,0.999999947492,0.000126758152262,-0.000295350554795,-4.14228118629e-05,1793247489503442944
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.410619461,744.589380539,715,678.589380539,660,634,877,785,808.589380539,652.589380539,629,652,0.401338914429,-0.00539532585781,0.0498339675195,0.999999949118,0.000114806123804,-0.000294715429708,-4.1556687788e-05,1793247489520110080
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.981211809,744.018788191,715,678.018788191,660,634,877,785,808.018788191,652.018788191,629,652,0.401262186403,-0.00540525149939,0.0498328538063,0.999999950655,0.00010270675901,-0.000293979905564,-4.14463900664e-05,1793247489536777472
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.425821676,744.574178324,715,678,659.425821676,634,877,785,808,652.574178324,629,652,0.401201895138,-0.00540815251076,0.0498313870688,0.999999951097,9.73571758716e-05,-0.000294147261522,-4.24752954478e-05,1793247489553444096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.164078718,745,715,678.328157437,659.164078718,634,877,785.164078718,808.164078718,652.835921282,629,652,0.401148362124,-0.00540935856056,0.0498312500193,0.999999951739,9.44242157027e-05,-0.00029280571204,-4.32435592151e-05,1793247489570110720
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.744271151,745,715,679.488542302,659.744271151,634,877,785.744271151,808.744271151,652.255728849,629,652,0.401110549152,-0.00540687265644,0.0498345156237,0.999999953011,9.7037120536e-05,-0.000287559522362,-4.32524500598e-05,1793247489586777600
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.678856838,745,715,679.678856838,660,634,877.321143162,786,809,652,629,652,0.401078788796,-0.00540695726519,0.0498372419559,0.999999954801,9.57719765613e-05,-0.000281692429655,-4.33088299322e-05,1793247489603444480
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.104601785,745,715,679.104601785,660,634,877.895398215,786,809,652,629,652,0.401051798862,-0.00540906784668,0.0498395432562,0.999999956972,9.14503135838e-05,-0.00027533596603,-4.34026387117e-05,1793247489620111104
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,634,877.519095246,786,808.519095246,652,629,652,0.401031822146,-0.0054089712808,0.0498396176421,0.999999957226,9.09065983183e-05,-0.000274605126666,-4.33054098047e-05,1793247489636777216
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,634,876.932166165,786,808.067833835,652,629,652,0.401014219777,-0.00540822891651,0.0498391010984,0.999999956963,9.17344428466e-05,-0.000275300823411,-4.32160580839e-05,1793247489653443328
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,634,876.353397137,786,808.646602863,652,629,652,0.401002736179,-0.00540632494485,0.0498378693883,0.999999955943,9.6555313525e-05,-0.000277304026133,-4.3506517992e-05,1793247489670109952
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.225290535,745,715,679.225290535,660,634,876.225290535,785.774709465,808.774709465,652.225290535,629,652.225290535,0.400994799029,-0.00540568797228,0.049837879479,0.999999955843,9.89569540699e-05,-0.000276815500713,-4.35293041135e-05,1793247489686776832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.8038506,745,715,679.8038506,660,634,876.8038506,785.1961494,808.1961494,652.8038506,629,652.8038506,0.400992422929,-0.005407037733,0.0498398367904,0.999999957204,9.75650914424e-05,-0.000272419790917,-4.31323611208e-05,1793247489703443456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.621904037,660,634,877,785.378095963,808.378095963,653,629,652.621904037,0.400990099495,-0.00540826117978,0.0498411617651,0.999999957941,9.5293409949e-05,-0.000270538980773,-4.29546719078e-05,1793247489720110336
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.049871826,660,634,877,785.950128174,808.950128174,653,629,652.049871826,0.400987803073,-0.00540941983647,0.0498421623961,0.99999995836,9.25704442037e-05,-0.000269948134825,-4.28894442503e-05,1793247489736777472
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.458246974,745,715,678.458246974,660,634,877,786,808.458246974,653,629,652,0.400985928094,-0.00540964812422,0.0498421287215,0.999999958229,9.36592215522e-05,-0.000270064071092,-4.28415577238e-05,1793247489753444096
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.1316615,660,634,877,785.8683385,808.1316615,652.8683385,629,652,0.4009843816,-0.00541010238091,0.0498419371288,0.999999958185,9.41045108085e-05,-0.000270089023558,-4.27312657321e-05,1793247489770110976
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.70941417,660,634,877,785.29058583,808.70941417,652.29058583,629,652,0.400983811687,-0.00541162333087,0.0498415451899,0.999999958612,9.11360526621e-05,-0.000269576988894,-4.24039219129e-05,1793247489786777600
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.714380569,660,634,877,785.285619431,808.714380569,652,629,652,0.40098481055,-0.0054119798518,0.0498428067499,0.999999959311,9.11077779584e-05,-0.000266997797176,-4.23070188348e-05,1793247489803444224
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.139741072,660,634,877,785.860258928,808.139741072,652,629,652,0.400987396869,-0.00541115808001,0.0498457414954,0.999999960268,9.40546926877e-05,-0.000262326836395,-4.24433001263e-05,1793247489820110848
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.892932276,660,634,877,785.553533862,808.446466138,652.446466138,629,652,0.400986615906,-0.00541061436525,0.0498456238093,0.99999996013,9.46705946804e-05,-0.000262639286736,-4.24099710653e-05,1793247489836779264
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.96431509,659.96431509,634,877,785,809,653,629,652,0.400984904285,-0.00541020250325,0.049844629844,0.999999959705,9.44345849196e-05,-0.00026434774028,-4.23313848533e-05,1793247489853448448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.385825034,659.385825034,634,877,785,809,653,629,652,0.400985494299,-0.00541043722928,0.049845225808,0.999999960244,9.26331540482e-05,-0.000262933961747,-4.23933769379e-05,1793247489870113024
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,634.19230489,877,785.19230489,808.80769511,652.80769511,629,652,0.400986177172,-0.00541086654743,0.0498459581896,0.999999960708,9.14361524827e-05,-0.000261587405971,-4.23790411586e-05,1793247489886778112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,634.769713591,877,785.769713591,808.230286409,652.230286409,629,652,0.400987046005,-0.0054116855497,0.0498469637571,0.99999996103,9.14495624158e-05,-0.000260375468494,-4.22118535623e-05,1793247489903443968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745.344493577,715,679,659.344493577,634.655506423,877,786,808.344493577,652,629,652,0.400987538669,-0.00541147121123,0.0498473511062,0.999999961139,9.26764615593e-05,-0.000259517196007,-4.2239993715e-05,1793247489920109824
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.917529607,715,679,659.917529607,634.082470393,877,786,808.917529607,652,629,652,0.400987781777,-0.00541057133823,0.0498473283197,0.999999961103,9.47084085209e-05,-0.000258893550482,-4.23977173734e-05,1793247489936776448
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.495012604,715,679,659.495012604,634,877,786,808.495012604,652.504987396,629,652,0.400987459628,-0.00541043760042,0.0498468981804,0.999999961017,9.39960970568e-05,-0.000259472134975,-4.24894244912e-05,1793247489953443072
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.906714566,715,678.906714566,659.093285434,634,877.093285434,785.906714566,808.093285434,653,629,652,0.400986903658,-0.00541033864398,0.0498463906104,0.999999960867,9.32838352445e-05,-0.000260306768949,-4.24902774492e-05,1793247489970109696
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.326682981,715,678.326682981,659.673317019,634,877.673317019,785.326682981,808.673317019,653,629,652,0.400985623488,-0.00540974913047,0.0498458363441,0.999999960433,9.49790465674e-05,-0.00026142284717,-4.20749786755e-05,1793247489986776320
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.251280837,715,678,659.748719163,634,877.748719163,785,809,653,629,652,0.400984598711,-0.00540995122361,0.0498452818914,0.999999960109,9.55841938216e-05,-0.000262475882841,-4.18675687823e-05,1793247490003442688
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.826578431,715,678,659.173421569,634,877.173421569,785,809,653,629,652,0.400983903254,-0.0054111740623,0.0498447271985,0.999999959927,9.47837465601e-05,-0.000263447627779,-4.19282233682e-05,1793247490020109568
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745.410103428,715,678.410103428,659.410103428,634,877,785.410103428,808.589896572,652.589896572,629,652,0.400984374895,-0.00541055489468,0.0498452934087,0.999999960148,9.49675208273e-05,-0.000262511907767,-4.21015203277e-05,1793247490036776448
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.997178762,715,678.997178762,659.997178762,634,877,785.997178762,808.002821238,652.002821238,629,652,0.400985350174,-0.00540914084612,0.0498463433222,0.999999960541,9.55760161945e-05,-0.00026075305947,-4.23234258395e-05,1793247490053443328
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.576245426,745.423754574,715,678.423754574,660,634,877,786,808,652.576245426,629,652,0.400985323043,-0.0054100333819,0.0498464551987,0.999999960695,9.41541591369e-05,-0.000260689299677,-4.22571716493e-05,1793247490070109696
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..807210ab6749bd51891d6211ac69aead5ed328f7
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+1,0.016666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+2,0.033333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+3,0.050000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+4,0.066666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+5,0.083333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+6,0.100000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+7,0.116666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+8,0.133333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+9,0.150000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+10,0.166666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+11,0.183333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+12,0.200000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+13,0.216666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+14,0.233333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+15,0.250000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+16,0.266666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+17,0.283333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+18,0.300000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+19,0.316666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+20,0.333333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+21,0.350000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+22,0.366666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+23,0.383333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+24,0.400000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+25,0.416666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+26,0.433333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+27,0.450000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+375,6.250000000,pose2_to_pose3_retreat,0.583423149105,-7.20907900617e-05,1.04004249287,0.553994939357,0.00860236332937,1.03966587543
+376,6.266666667,pose2_to_pose3_retreat,0.583381854336,-7.21322209179e-05,1.04004224571,0.553953644963,0.00860232364034,1.03966563901
+377,6.283333333,pose2_to_pose3_retreat,0.583348637119,-7.21262600395e-05,1.04004214825,0.553920428023,0.00860233077655,1.03966554694
+378,6.300000000,pose2_to_pose3_retreat,0.583322075899,-7.21250129418e-05,1.0400423627,0.553893868549,0.00860233762445,1.03966575399
+379,6.316666667,pose2_to_pose3_retreat,0.583301276796,-7.22095301719e-05,1.04004242486,0.553873068945,0.00860225075597,1.03966580122
+380,6.333333333,pose2_to_pose3_retreat,0.583284737667,-7.22251814517e-05,1.04004240524,0.553856530393,0.00860223718151,1.03966578426
+381,6.350000000,pose2_to_pose3_retreat,0.583272094541,-7.21964930757e-05,1.04004249736,0.553843887192,0.00860226569069,1.03966587817
+382,6.366666667,pose2_to_pose3_retreat,0.583263331566,-7.21553777983e-05,1.04004263377,0.553835123402,0.00860230396653,1.03966601298
+383,6.383333333,pose2_to_pose3_retreat,0.58325721164,-7.21339249436e-05,1.04004252923,0.553829002728,0.00860232309591,1.03966591331
+384,6.400000000,pose2_to_pose3_retreat,0.583253513148,-7.21853960928e-05,1.04004256835,0.553825304881,0.00860227367768,1.03966594932
+385,6.416666667,pose2_to_pose3_retreat,0.583251241722,-7.22483238555e-05,1.04004264209,0.553823034385,0.00860221369092,1.03966601821
+386,6.433333333,pose2_to_pose3_retreat,0.58324985672,-7.22304041528e-05,1.04004267027,0.553821649251,0.00860223110223,1.03966604489
+387,6.450000000,pose2_to_pose3_retreat,0.583248746401,-7.2129320747e-05,1.04004266699,0.553820537754,0.00860232823225,1.03966604267
+388,6.466666667,pose2_to_pose3_retreat,0.583248064454,-7.20672362564e-05,1.04004266498,0.553819855083,0.00860238788861,1.03966604131
+389,6.483333333,pose2_to_pose3_retreat,0.583248012078,-7.20624680147e-05,1.04004266483,0.553819802652,0.00860239247037,1.0396660412
+390,6.500000000,pose2_to_pose3_retreat,0.583247923393,-7.20543941062e-05,1.04004266457,0.553819713873,0.0086024002285,1.03966604102
+391,6.516666667,pose2_to_pose3_retreat,0.583247855999,-7.20482585476e-05,1.04004266437,0.553819646407,0.0086024061241,1.03966604089
+392,6.533333333,pose2_to_pose3_retreat,0.583247639046,-7.20285071399e-05,1.04004266373,0.553819429224,0.00860242510303,1.03966604046
+393,6.550000000,pose2_to_pose3_retreat,0.583247462836,-7.20124649934e-05,1.04004266321,0.553819252827,0.00860244051776,1.0396660401
+394,6.566666667,pose2_to_pose3_retreat,0.583247417596,-7.20083463624e-05,1.04004266307,0.553819207539,0.00860244447531,1.03966604001
+395,6.583333333,pose2_to_pose3_retreat,0.583247310894,-7.20071753422e-05,1.0400426631,0.553819100803,0.0086024455313,1.03966604002
+396,6.600000000,pose2_to_pose3_retreat,0.583247021069,-7.20372912874e-05,1.04004266453,0.553818811198,0.00860241613532,1.03966604088
+397,6.616666667,pose2_to_pose3_retreat,0.583246823119,-7.20578604985e-05,1.0400426655,0.553818613397,0.00860239605785,1.03966604147
+398,6.633333333,pose2_to_pose3_retreat,0.583246749946,-7.20654639297e-05,1.04004266586,0.55381854028,0.00860238863619,1.03966604168
+399,6.650000000,pose2_to_pose3_retreat,0.583246606669,-7.2080352049e-05,1.04004266656,0.553818397111,0.00860237410399,1.03966604211
+400,6.666666667,pose2_to_pose3_retreat,0.583246310552,-7.21111217658e-05,1.04004266802,0.553818101219,0.00860234406987,1.03966604299
+401,6.683333333,pose2_to_pose3_retreat,0.583245927636,-7.2103244271e-05,1.04004257997,0.553817718668,0.00860235332817,1.03966595829
+402,6.700000000,pose2_to_pose3_retreat,0.583245630148,-7.20527397559e-05,1.04004242783,0.553817421531,0.00860240530544,1.03966581255
+403,6.716666667,pose2_to_pose3_retreat,0.583245497947,-7.20601797418e-05,1.04004237642,0.553817289508,0.00860239856488,1.03966576332
+404,6.733333333,pose2_to_pose3_retreat,0.583245478572,-7.20731765022e-05,1.04004237534,0.553817270168,0.00860238568853,1.0396657623
+405,6.750000000,pose2_to_pose3_retreat,0.583245431862,-7.21045099223e-05,1.04004237274,0.553817223542,0.0086023546454,1.03966575983
+406,6.766666667,pose2_to_pose3_retreat,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274891,1.03966575729
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e37535a123ff7148657ce37aac5eb2104a05e13
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76d5bcb0dc1ff90e9ab2fd4bfa88fa21ffd17188c0b053e1d5641ff9e64a2b7f
+size 25791893
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a99fe80928d7b1b1b0c8130625507b266e729942
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+39,0.650000000,BASELINE,765,745.6201791,715.6201791,678.3798209,660,634.6201791,877.3798209,785,809,653,629,652,0.400987025355,-0.0054120490656,0.0498493224788,0.999999962421,9.25699170851e-05,-0.000254656524919,-4.16996160233e-05,1793247490876194304
+40,0.666666667,BASELINE,765,745.798900782,715.798900782,678.201099218,660,634.597801563,877,785.201099218,808.798900782,653,629.201099218,652,0.4009868831,-0.00541205704164,0.0498489967879,0.99999996237,9.2707385534e-05,-0.000254818106668,-4.16318361437e-05,1793247490892861184
+41,0.683333333,BASELINE,765,745.203296712,715.203296712,678.796703288,660,633.406593423,877,785.796703288,808.203296712,653,629.796703288,652,0.400986113889,-0.00541174867099,0.049848508533,0.999999961785,9.40540832292e-05,-0.000256612674141,-4.16356755975e-05,1793247490909527552
+42,0.700000000,BASELINE,765,745,715,679,659.621672689,633.378327311,877,785.621672689,808.378327311,653,629.621672689,652,0.400985384205,-0.00541129010502,0.0498484533527,0.999999961523,9.49246659533e-05,-0.000257312842156,-4.16294015521e-05,1793247490926194176
+43,0.716666667,BASELINE,765,745,715,679,659.047293253,633.952706747,877,785.047293253,808.952706747,653,629.047293253,652,0.400984675004,-0.00541075370669,0.0498486225949,0.99999996143,9.5548522193e-05,-0.000257445883893,-4.16178866135e-05,1793247490942860800
+44,0.733333333,BASELINE,765,745,715,679,659.527420339,634,876.472579661,785,808.472579661,652.472579661,629,652,0.400985652983,-0.00541085702546,0.0498490519697,0.999999961797,9.47034798451e-05,-0.000256326432286,-4.16319414113e-05,1793247490959527936
+45,0.750000000,BASELINE,765,745,715,678.894760992,660,634,876.105239008,785.105239008,808,652.105239008,629,652,0.400986469213,-0.00541128958544,0.0498493827975,0.999999962133,9.35095684649e-05,-0.000255458295762,-4.16089642087e-05,1793247490976195072
+46,0.766666667,BASELINE,765,745,715,678.302718035,660,634,876.697281965,785.697281965,808,652.697281965,629,652,0.400985836983,-0.00541297960482,0.0498491498091,0.999999962136,9.13115529478e-05,-0.00025627250824,-4.14040755396e-05,1793247490992861440
+47,0.783333333,BASELINE,765,745,715,678,659.717075723,634,877,786,808.282924277,652.717075723,629,652,0.400985750821,-0.00541290139096,0.0498491321065,0.999999962096,9.12118695656e-05,-0.000256445488471,-4.15113047972e-05,1793247491009527808
+48,0.800000000,BASELINE,765,745,715,678,659.138130278,634,877,786,808.861869722,652.138130278,629,652,0.400986236005,-0.00541097309049,0.0498493396555,0.999999962013,9.33076522699e-05,-0.000255947553171,-4.1945100256e-05,1793247491026194432
+49,0.816666667,BASELINE,765,745,715,678.436277906,659,634.436277906,877,785.563722094,809,652.436277906,629,652,0.400986767037,-0.00541154026038,0.0498500143511,0.999999962382,9.29912243841e-05,-0.000254662122481,-4.16671444387e-05,1793247491042861568
+50,0.833333333,BASELINE,765.009524492,745,715,679,659.009524492,635,877.009524492,785.009524492,808.990475508,653,629,652,0.400987284997,-0.00541285139348,0.049850799169,0.999999962873,9.19369990708e-05,-0.000253191273103,-4.11830848953e-05,1793247491059528448
+51,0.850000000,BASELINE,765.598603713,745,715,679,659.598603713,635,877.598603713,785.598603713,808.401396287,653,629,652,0.40098613342,-0.00541185044409,0.0498493776731,0.999999962271,9.19825154372e-05,-0.000255453162884,-4.17288849448e-05,1793247491076195072
+52,0.866666667,BASELINE,765.815826038,745,715,679,659.815826038,634.815826038,877.815826038,786,808.184173962,653,629,652,0.400985461923,-0.00541137049938,0.0498486408292,0.999999961962,9.19361581565e-05,-0.000256625255459,-4.20455299839e-05,1793247491092861696
+53,0.883333333,BASELINE,765.237760437,745,715,679,659.237760437,634.237760437,877.237760437,786,808.762239563,653,629,652,0.400985817169,-0.005412004824,0.0498493682462,0.999999962288,9.16933113108e-05,-0.000255466605806,-4.18720826806e-05,1793247491109528320
+54,0.900000000,BASELINE,765,745,715,678.660414918,659.339585082,634,876.660414918,785.660414918,809,652.660414918,629,652,0.400986183984,-0.00541239242877,0.0498497719065,0.999999962559,9.14486954739e-05,-0.000254521792896,-4.16830994595e-05,1793247491126194688
+55,0.916666667,BASELINE,765,745,715,678.083572521,659.916427479,634,876.083572521,785.083572521,809,652.083572521,629,652,0.40098655888,-0.00541260765818,0.0498499493683,0.999999962792,9.12028437094e-05,-0.000253726380978,-4.14832617932e-05,1793247491142861312
+56,0.933333333,BASELINE,765,745,715,678,660,634,876.490822957,785,808.509177043,652.490822957,629,652,0.400987189684,-0.00541087420039,0.0498502213268,0.99999996252,9.52511672771e-05,-0.000253273692097,-4.17028910155e-05,1793247491159527936
+57,0.950000000,BASELINE,765.066747159,745,715.066747159,678,660,634,877,785.066747159,808,653,629,652,0.40098773031,-0.0054092763421,0.0498504764088,0.999999962229,9.90432800282e-05,-0.000252929891341,-4.19367482725e-05,1793247491176194816
+58,0.966666667,BASELINE,765.657939882,745,715.657939882,678,660,634,877,785.657939882,808,653,629,652,0.400987221724,-0.00541133802868,0.0498504730946,0.999999962606,9.51058425832e-05,-0.000252985409965,-4.17239993652e-05,1793247491192862208
+59,0.983333333,BASELINE,765.756081742,745,715.756081742,678.243918258,660,634,877,786,808.243918258,653,629,652,0.400986339218,-0.00541220849275,0.0498498768102,0.999999962557,9.29436794328e-05,-0.000253994031032,-4.16375997774e-05,1793247491209529088
+60,1.000000000,BASELINE,765.177262605,745,715.177262605,678.822737395,660,634,877,786,808.822737395,653,629,652,0.400984943317,-0.00541144340319,0.0498484663749,0.999999961937,9.32189754216e-05,-0.00025631126611,-4.17246783517e-05,1793247491226195200
+61,1.016666667,BASELINE,765.397973572,745,715,679,660,634,877,785.602026428,808.602026428,652.602026428,629,652,0.400985885278,-0.00541098875206,0.0498490382763,0.999999962051,9.44678734932e-05,-0.000255404397412,-4.17360224458e-05,1793247491242861568
+62,1.033333333,BASELINE,765.971628058,745,715,679,660,634,877,785.028371942,808.028371942,652.028371942,629,652,0.400987859262,-0.0054106711405,0.0498504852578,0.999999962485,9.61465571284e-05,-0.000253074284586,-4.17139344085e-05,1793247491259527936
+63,1.050000000,BASELINE,765.440241931,745,715,679,660,634,877,785,808.559758069,652.559758069,629.559758069,652,0.400987573698,-0.00541188035018,0.0498503850689,0.999999962814,9.29416243068e-05,-0.000253010730502,-4.14745596365e-05,1793247491276194304
+64,1.066666667,BASELINE,765,745,715,679,659.854300614,634,877,785.145699386,809,652.854300614,629.854300614,652,0.400987205466,-0.00541268510976,0.0498501856142,0.999999962984,9.06877136428e-05,-0.000253182295393,-4.1314152487e-05,1793247491292860928
+65,1.083333333,BASELINE,765,745,715,679,659.277072513,634,877,785.722927487,809,652.277072513,629.277072513,652,0.400986940601,-0.00541205668708,0.0498499305851,0.999999962728,9.20031106906e-05,-0.000253700939437,-4.14211148176e-05,1793247491309527808
+66,1.100000000,BASELINE,765,745,715,679,659.301710475,634,877,785.698289525,809,652,629,652,0.400986167397,-0.00541147233325,0.0498492980964,0.999999962371,9.26251320433e-05,-0.000254842533657,-4.16443500704e-05,1793247491326194688
+67,1.116666667,BASELINE,765,745,715,679,659.881928742,634,877,785.118071258,809,652,629,652,0.400984924948,-0.00541092865924,0.0498483171761,0.99999996192,9.26071008589e-05,-0.000256559170786,-4.19749164091e-05,1793247491342861824
+68,1.133333333,BASELINE,765,745,715,678.543570295,660,634,877,785.456429705,808.543570295,652,629,652,0.400986511091,-0.00541089741768,0.0498491761418,0.999999962231,9.36664184051e-05,-0.000254986096142,-4.17898524622e-05,1793247491359528704
+69,1.150000000,BASELINE,765,745,715,678.030301471,659.969698529,634,877,785.969698529,808.030301471,652.030301471,629,652,0.400988707836,-0.00541102562748,0.0498504758404,0.999999962719,9.49123610654e-05,-0.000252650981342,-4.14864447805e-05,1793247491376195328
+70,1.166666667,BASELINE,765,745,715,678.619509017,659.380490983,634,877,785.380490983,808.619509017,652.619509017,629,652,0.400988837682,-0.00541168012354,0.0498512345726,0.999999962982,9.45237107187e-05,-0.000251762485166,-4.1430044628e-05,1793247491392861952
+71,1.183333333,BASELINE,765,745,715,679,659.20631138,634,877,785,809,653,629,652,0.400987844187,-0.00541216803045,0.0498508001201,0.9999999628,9.42220609389e-05,-0.000252596648881,-4.14312012814e-05,1793247491409528576
+72,1.200000000,BASELINE,765,745,715,679,659.788729181,634,877,785,809,653,629,652,0.400984802836,-0.00541235224485,0.0498481904874,0.999999961797,9.40790134536e-05,-0.000256571227906,-4.15372841989e-05,1793247491426194688
+73,1.216666667,BASELINE,765,745,715,679,660,634,877,785.365632182,808.634367818,653,629,652,0.400984871767,-0.00541267823337,0.0498482163152,0.999999961953,9.27156701377e-05,-0.000256478692358,-4.14392773176e-05,1793247491442861312
+74,1.233333333,BASELINE,765,745,715,679,660,634,877,785.939395916,808.060604084,653,629,652,0.400986711187,-0.00541308492505,0.0498497423459,0.999999962765,9.0657688673e-05,-0.000254071002409,-4.12250948615e-05,1793247491459527936
+75,1.250000000,BASELINE,765,745,715,679,660,634,877,786,808.515139449,652.484860551,629,652,0.400986470991,-0.00541389689415,0.0498498183948,0.999999962819,8.92190089963e-05,-0.000254356068239,-4.12836245661e-05,1793247491476194560
+76,1.266666667,BASELINE,765,745,715,679,660,634,877.093452549,786,808.906547451,652.093452549,629,652,0.400986147274,-0.00541436673714,0.0498497750945,0.999999962794,8.83951492302e-05,-0.000254718652268,-4.14249513272e-05,1793247491492861440
+77,1.283333333,BASELINE,765,745,715,679,660,634,877.684194903,786,808.315805097,652.684194903,629,652,0.400986686047,-0.00541276132681,0.049850007935,0.999999962826,9.0453738063e-05,-0.000253801483582,-4.18354819327e-05,1793247491509528832
+78,1.300000000,BASELINE,765,745,715,679,660,634,877.732133552,785.732133552,808,653,629,652,0.400986700101,-0.0054123931157,0.0498501783531,0.999999962816,9.15249365203e-05,-0.000253473473249,-4.17359113865e-05,1793247491526195456
+79,1.316666667,BASELINE,765,745,715,679,660,634,877.156583889,785.156583889,808,653,629,652,0.40098611144,-0.00541344600629,0.0498502770699,0.999999962762,9.14619747087e-05,-0.000253822196247,-4.10504161351e-05,1793247491542861824
+80,1.333333333,BASELINE,765,745,715,678.582560781,660,634,877,785,808,652.582560781,629,652,0.400986056806,-0.00541279697334,0.0498499418728,0.999999962541,9.30978601613e-05,-0.000254075828158,-4.11919336234e-05,1793247491559528192
+81,1.350000000,BASELINE,765,745,715,678.009108159,660,634,877,785,808,652.009108159,629,652,0.400986201761,-0.00541151186493,0.0498494445051,0.999999962253,9.53686714363e-05,-0.00025429392083,-4.16425381402e-05,1793247491576194304
+82,1.366666667,BASELINE,765,745,715,678.583569885,660,634,877,785.583569885,808.583569885,652.583569885,629,652,0.400988007151,-0.00541300711131,0.0498504243707,0.999999962924,9.30935350219e-05,-0.000252527079264,-4.14244162426e-05,1793247491592861184
+83,1.383333333,BASELINE,765.172219302,745,715,678.827780698,660,634,877,785.827780698,809,653,629,652,0.400989070148,-0.00541348692111,0.049851066878,0.999999963322,9.17860995671e-05,-0.000251432135989,-4.13793315286e-05,1793247491609527808
+84,1.400000000,BASELINE,765.750635074,745,715,678.249364926,660,634,877,785.249364926,809,653,629,652,0.400988318931,-0.00541146588452,0.0498508574594,0.999999963058,9.29341306788e-05,-0.000251997490867,-4.17678282368e-05,1793247491626194432
+85,1.416666667,BASELINE,766,745,715,678.326071931,660,634,877,785.326071931,809,653,629,652,0.400988767871,-0.00541095890747,0.049851473133,0.999999963176,9.39541975932e-05,-0.000251181852692,-4.15713195681e-05,1793247491642861056
+86,1.433333333,BASELINE,766,745,715,678.899251237,660,634,877,785.899251237,809,653,629,652,0.400990126327,-0.00541159933162,0.049852714087,0.999999963581,9.48772892194e-05,-0.000249319655313,-4.09314757402e-05,1793247491659527936
+87,1.450000000,BASELINE,765.524534545,745,715,678.524534545,659.524534545,634,877,785.524534545,809,652.524534545,629,652,0.400988242746,-0.00541222452571,0.0498511479484,0.999999963117,9.2747071617e-05,-0.000251945073213,-4.10762478621e-05,1793247491676194560
+88,1.466666667,BASELINE,765,745,715,678.053621569,659.053621569,634,877,785.053621569,809,652.053621569,629,652,0.400985896768,-0.00541272277153,0.0498491613071,0.999999962489,9.04776739075e-05,-0.000255193578135,-4.13871283432e-05,1793247491692861440
+89,1.483333333,BASELINE,765,745,715,678.64475586,659.64475586,634,877,785.64475586,809,652.64475586,629,652,0.400985846198,-0.00541198102165,0.0498489602471,0.999999962238,9.33402310042e-05,-0.00025509475668,-4.16858205459e-05,1793247491709527808
+90,1.500000000,BASELINE,765,745,715,679,660,634,877,785.76949322,809,653,629,652,0.400986716017,-0.0054117060717,0.0498495488605,0.999999962426,9.4540020979e-05,-0.000253898944059,-4.17881959819e-05,1793247491726194432
+91,1.516666667,BASELINE,765,745,715,679,660,634,877,785.191849561,809,653,629,652,0.400988971915,-0.00541213410968,0.0498513267004,0.999999963275,9.32357290788e-05,-0.000251051092877,-4.15949237323e-05,1793247491742861056
+92,1.533333333,BASELINE,765,745,715,679,660,634,877,785,809,653,629,652,0.400989304212,-0.00541288044707,0.0498517333264,0.99999996354,9.16344268206e-05,-0.000250607446606,-4.14528750748e-05,1793247491759527424
+93,1.550000000,BASELINE,765,745,715,679,660,634,877,785,809,653,629,652,0.400988679932,-0.00541378507002,0.0498514580685,0.999999963515,8.98854256528e-05,-0.000251359375089,-4.13362991234e-05,1793247491776194048
+94,1.566666667,BASELINE,765.546708773,745,715,679,660,634,877,785.546708773,809,652.453291227,629,652,0.400987572507,-0.00541322595583,0.0498506674912,0.999999963208,9.00918003591e-05,-0.000252478228746,-4.14890287263e-05,1793247491792861184
+95,1.583333333,BASELINE,766,745,715,679,660,634,877,785.867340274,808.867340274,652.132659726,629,652,0.400986843876,-0.00541285840695,0.0498501361771,0.999999962975,9.03732009401e-05,-0.000253279242774,-4.16267137497e-05,1793247491809528064
+96,1.600000000,BASELINE,766,745,715,679,660,634,877,785.291910256,808.291910256,652.708089744,629,652,0.400987504566,-0.00541350907331,0.0498506035632,0.999999963061,9.03989271112e-05,-0.000252924456773,-4.16444846843e-05,1793247491826194688
+97,1.616666667,BASELINE,765.713994224,745,715,679,660,634,877.286005776,785,808,652.713994224,629,652.286005776,0.40098721296,-0.00541383452608,0.0498502075159,0.999999962858,9.13355583742e-05,-0.000253400227666,-4.15836187245e-05,1793247491842861312
+98,1.633333333,BASELINE,765.133518642,745,715,679,660,634,877.866481358,785,808,652.133518642,629,652.866481358,0.400985940875,-0.00541382514089,0.0498489224829,0.999999962353,9.3210051976e-05,-0.000254731134902,-4.14417886953e-05,1793247491859527936
+99,1.650000000,BASELINE,765.443981787,745.443981787,715,679,660,634,877.556018213,785.443981787,808.443981787,652.443981787,629,652.556018213,0.400985400833,-0.00541276790037,0.0498487529249,0.99999996224,9.28392113298e-05,-0.000255287092416,-4.15760143684e-05,1793247491876194560
+100,1.666666667,BASELINE,765.978900708,745.978900708,715,679,660,634,877,786,808.978900708,653,629,652,0.400985165024,-0.00541149085454,0.049848969353,0.999999962268,9.18548748913e-05,-0.000255504764252,-4.1771506579e-05,1793247491892861184
+101,1.683333333,BASELINE,765.388125416,745.388125416,715,679,660,634,877,786,808.388125416,653,629,652,0.400987239098,-0.00541273068969,0.0498506103549,0.999999962909,9.24162440963e-05,-0.00025283922977,-4.13946284908e-05,1793247491909527808
+102,1.700000000,BASELINE,765.197705568,745,715,678.802294432,660,634,877,785.802294432,808.197705568,653,629,652,0.40098829554,-0.00541378247645,0.0498512973065,0.999999963224,9.23919736566e-05,-0.00025164519079,-4.11213870549e-05,1793247491926194432
+103,1.716666667,BASELINE,765.774066895,745,715,678.225933105,660,634,877,785.225933105,808.774066895,653,629,652,0.400987402961,-0.00541447410325,0.0498501570121,0.999999962922,9.12460563196e-05,-0.000253269435141,-4.10466358502e-05,1793247491942861312
+104,1.733333333,BASELINE,765.649798123,745,715,678.350201877,660,634,877,785,809,652.649798123,629,652,0.400987093877,-0.00541466828609,0.049849548186,0.99999996283,9.04287356356e-05,-0.000253908758701,-4.11468834849e-05,1793247491959528448
+105,1.750000000,BASELINE,765.073809017,745,715,678.926190983,660,634,877,785,809,652.073809017,629,652,0.400987160993,-0.00541454174972,0.0498492820157,0.999999962875,8.98232724356e-05,-0.000253913070014,-4.13599589003e-05,1793247491976195584
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,808,653,629,652,0.400987081002,-0.0054131766869,0.0498497293136,0.999999962666,9.23447992357e-05,-0.000253865969531,-4.11359976768e-05,1793247492009195520
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.63353262,745,715,679,660,634,877,785.63353262,808.63353262,652.36646738,629,652,0.400986496134,-0.00541478878676,0.0498497650396,0.999999962735,9.04511775465e-05,-0.000254278224416,-4.1128421606e-05,1793247492025862400
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.755511552,745,715,679.244488448,659.755511552,634,877,786,808.755511552,652.244488448,629,652,0.400986575831,-0.00541546813025,0.0498503172164,0.999999963054,8.94043451017e-05,-0.000253378362821,-4.12171525743e-05,1793247492042529024
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.175535555,745,715,679.824464445,659.175535555,634,877,786,808.175535555,652.824464445,629,652,0.400987567443,-0.00541486754379,0.0498515780679,0.999999963715,8.95194783269e-05,-0.000250678012355,-4.14380362584e-05,1793247492059195136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.599061655,659.400938345,634,877,785.599061655,808.400938345,652.599061655,629,652,0.400987174227,-0.00541389366739,0.0498512445483,0.999999963416,9.08373029009e-05,-0.000251385103437,-4.14869950118e-05,1793247492075862272
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.024107771,659.975892229,634,877,785.024107771,808.975892229,652.024107771,629,652,0.400986179968,-0.00541275777546,0.0498502190384,0.999999962697,9.26771203976e-05,-0.000253571094815,-4.14613347745e-05,1793247492092529152
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,678.43655457,660,634,877,785.56344543,808.43655457,652,629,652,0.400986730328,-0.00541299075649,0.0498499365853,0.999999962743,9.31165769849e-05,-0.000253253266412,-4.13070002455e-05,1793247492109195264
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,678,660,634,877,785.851131639,808.148868361,652.148868361,628.851131639,652,0.400986815332,-0.00541283562611,0.0498495497065,0.999999962609,9.36880425128e-05,-0.000253582830568,-4.12271364614e-05,1793247492125861632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,678,660,634,877,785.273433575,808.726566425,652.726566425,628.273433575,652,0.400985365103,-0.00541138993046,0.0498487683427,0.999999961857,9.48163150098e-05,-0.000256092926328,-4.1378014739e-05,1793247492142528512
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715.301979809,678.301979809,660,634,877,785.301979809,808.698020191,652.698020191,628.301979809,652,0.400986459851,-0.00541192728537,0.049849320756,0.999999962151,9.31084718687e-05,-0.000255567245446,-4.13914986888e-05,1793247492159195136
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.875339987,678.875339987,660,634,877,785.875339987,808.124660013,652.124660013,628.875339987,652,0.400989841695,-0.00541424674954,0.0498510717955,0.99999996337,8.88518949978e-05,-0.000252313401286,-4.12815103902e-05,1793247492175861760
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.548437049,679,659.548437049,634,877,785.548437049,808,652.451562951,629,652,0.401009227184,-0.00541528400615,0.0498588841435,0.999999967169,8.81920082382e-05,-0.000237096304743,-4.08701940306e-05,1793247492192528640
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.029370425,745,715,679,659.029370425,634,877,785.029370425,808.029370425,653,629,652,0.401034544167,-0.00541597829059,0.0498688308868,0.999999971585,8.86033154298e-05,-0.000217608541019,-4.03318206046e-05,1793247492209195264
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.622319938,745,715,679,659.622319938,634,877,785.622319938,808.622319938,653,629,652,0.401088361752,-0.00541692695501,0.0498874204502,0.999999978964,9.03951391874e-05,-0.000179949538282,-3.89617987233e-05,1793247492225861888
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.789950622,745,715,678.789950622,660,634,877,785.789950622,808.789950622,652.789950622,629,652,0.401148000687,-0.00541846026617,0.0499057467183,0.999999984544,9.06507714835e-05,-0.000145905092528,-3.74881818507e-05,1793247492242528512
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.211379455,745,715,678.211379455,660,634,877,785.211379455,808.211379455,652.211379455,629,652,0.401217852916,-0.00542101931277,0.0499236110503,0.999999988482,8.82112283033e-05,-0.000118202211625,-3.58328122548e-05,1793247492259195136
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.363707159,745,715,678.363707159,660,634,876.636292841,785.363707159,808,652,629,652,0.401294331233,-0.00542331989662,0.0499359428589,0.999999990452,8.87554075121e-05,-0.000100203677508,-3.4318318277e-05,1793247492275861760
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.936787804,745,715,678.936787804,660,634,876.063212196,785.936787804,808,652,629,652,0.401374623951,-0.00542547169235,0.0499450897863,0.999999991464,9.10172114688e-05,-8.77915979894e-05,-3.28849215693e-05,1793247492292528128
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660,634,876.525060931,785.474939069,808,652.525060931,629,652,0.401465001392,-0.00542920927127,0.0499450807525,0.999999991522,8.84437260047e-05,-8.99986826578e-05,-3.2154092738e-05,1793247492309195008
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659.886971786,634,877,785.113028214,808.113028214,653,629,652,0.401561440462,-0.00543320257703,0.0499437858091,0.99999999145,8.54155251222e-05,-9.38798797957e-05,-3.1464748681e-05,1793247492325861632
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659.308029332,634,877,785.691970668,808.691970668,653,629,652,0.401677712422,-0.00543743960411,0.0499418693484,0.999999991366,8.29840052709e-05,-9.71908478234e-05,-3.05873632202e-05,1793247492342528256
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.731077634,745,715,678.731077634,659.268922366,633.731077634,877,785.731077634,808.731077634,652.731077634,629,652,0.401810181839,-0.00544249355771,0.049942518511,0.999999991726,8.01382905857e-05,-9.61817226275e-05,-2.95747166552e-05,1793247492359194880
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.156389473,745,715,678.156389473,659.843610527,633.156389473,877,785.156389473,808.156389473,652.156389473,629,652,0.401961067818,-0.00544847635972,0.0499460847976,0.999999992572,7.68216348972e-05,-9.02606340907e-05,-2.84082777378e-05,1793247492375861760
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.5795343,715,678.4204657,660,633.4204657,877,785,808,652.4204657,629,652.4204657,0.402129729166,-0.00545392413519,0.0499453643531,0.999999992564,7.31549346469e-05,-9.36862595505e-05,-2.72637866645e-05,1793247492392528640
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.001868898,715,678.998131102,660,633.998131102,877,785,808,652.998131102,629,652.998131102,0.402305036211,-0.00545917188054,0.0499430412269,0.999999992193,6.93573628015e-05,-0.000100606344703,-2.61275011442e-05,1793247492409195264
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.58627964,715,679,659.41372036,634,877.58627964,785.58627964,808.58627964,653,629,652.41372036,0.402521177093,-0.0054671526927,0.0499445127659,0.999999992693,6.60499139544e-05,-9.82277911747e-05,-2.45573819391e-05,1793247492425861632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.828006666,786,808.828006666,653,629,652,0.402748606011,-0.00547512994254,0.0499461812224,0.999999993147,6.285877633e-05,-9.60890899462e-05,-2.28549374164e-05,1793247492442528512
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.248147541,786,808.248147541,653,629,652,0.403002489179,-0.00548307770983,0.0499482874424,0.999999993513,5.99396865302e-05,-9.45907468284e-05,-2.08420349258e-05,1793247492459194880
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,786,808.329677108,653,629,652,0.403286610646,-0.00549346529271,0.0499551908243,0.99999999504,5.47057636718e-05,-8.12004720707e-05,-1.82693767161e-05,1793247492475861504
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,786,808.905979767,653,629,652,0.403593352829,-0.00550567805755,0.0499656828772,0.999999997008,4.77401557275e-05,-5.89140558564e-05,-1.52779753706e-05,1793247492492528128
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659.490030918,634,877,785.509969082,809,653,629,652.490030918,0.403936086839,-0.00551412825215,0.0499757934908,0.999999998077,4.66490658535e-05,-3.87966430856e-05,-1.28030991359e-05,1793247492509195008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.074729116,745,715,679,659.925270884,634,877.074729116,785,809,652.925270884,629,653,0.404290153777,-0.00552214603762,0.0499853149089,0.999999998663,4.64871852126e-05,-2.01874391815e-05,-1.0280987971e-05,1793247492525862144
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.653601856,745,715,679,659.346398144,634,877.653601856,785,809,652.346398144,629,653,0.404673340205,-0.00553219511681,0.0499913631077,0.999999998931,4.48679783068e-05,-8.90041175533e-06,-6.76089454904e-06,1793247492542528768
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.232087278,659,634,877.767912722,785,809,652.232087278,629,652.767912722,0.405067752558,-0.0055372702157,0.0499923845942,0.999999998763,4.91483514209e-05,-6.95864891742e-06,-3.20367295682e-06,1793247492559195392
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.809995526,659,634,877.190004474,785,809,652.809995526,629,652.190004474,0.405478892036,-0.00553493384887,0.0499859160419,0.999999997885,6.22193766753e-05,-1.8941771327e-05,4.08871042371e-07,1793247492575861760
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.613931274,745,715,679.613931274,659,634,877,785,809,653,629,652,0.405895776018,-0.00552301500419,0.0499697989157,0.999999994922,8.72952468376e-05,-5.03273980013e-05,1.67526172753e-06,1793247492592528384
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.038756872,745,715,679.038756872,659,634,877,785,809,653,629,652,0.406315473833,-0.00550640243298,0.0499489556873,0.999999988846,0.00011825137749,-9.12168352278e-05,1.7924508536e-06,1793247492609195008
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.548801061,745,715,679,659.548801061,634,877.548801061,785,809,652.451198939,629,652,0.406800062143,-0.00550771366147,0.0499325699616,0.999999985077,0.000126599486883,-0.000117486030027,3.84409242108e-06,1793247492625861632
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.864951685,744.864951685,715,679,659.864951685,634,877.864951685,785,809,652,629,652,0.407307542129,-0.00551166536032,0.0499233576436,0.99999998271,0.00013225159333,-0.000130567206886,6.51384664969e-06,1793247492642528512
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.285954189,744.285954189,715,679,659.285954189,634,877.285954189,785,809,652,629,652,0.407874862452,-0.00552004001338,0.0499366680019,0.999999985525,0.000134410763662,-0.000103767462048,1.07560852145e-05,1793247492659195392
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.290781585,715,679,659.290781585,634,877.290781585,785.290781585,809.290781585,652,629,652,0.408470135072,-0.00552540464362,0.049956779263,0.999999987676,0.000141884432348,-6.5365686271e-05,1.56126726115e-05,1793247492675862272
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.865310317,715,679,659.865310317,634,877.865310317,785.865310317,809.865310317,652,629,652,0.409092683746,-0.00552783206746,0.0499835269023,0.999999987714,0.000154544033448,-1.56425514105e-05,2.10687465535e-05,1793247492692528896
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.442458407,660.442458407,634,878,785.557541593,809.557541593,652.442458407,629.442458407,652,0.409721173565,-0.00552689862979,0.0499959436576,0.999999985078,0.000170762261492,1.09791152739e-06,2.61403720519e-05,1793247492709195264
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.020769861,745,715,679.979230139,660.979230139,634,878,785.020769861,809.020769861,653,629.979230139,652.020769861,0.410351344538,-0.00552485218223,0.0500028541112,0.999999981825,0.000188035742767,5.61873428224e-06,3.10033283508e-05,1793247492725861632
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.608950541,745,715,679.391049459,660.391049459,634,878,785.608950541,809.608950541,653,629.391049459,652.608950541,0.410977741084,-0.00552051557787,0.0499792266892,0.999999977419,0.000204367080168,-4.7763605885e-05,3.33818602129e-05,1793247492742528256
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.805622188,745,715,679,660,634,877.805622188,785.805622188,810,653,629.194377812,653,0.411628185749,-0.00551864674213,0.0499580402733,0.999999971709,0.000217666362453,-8.90004470961e-05,3.57981061279e-05,1793247492759195136
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.225656927,745,715,679,660,634,877.225656927,785.225656927,810,653,629.774343073,653,0.412326334613,-0.00552167322181,0.0499416960866,0.999999968332,0.000224950953223,-0.000106144244528,3.82891653263e-05,1793247492775862016
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.348066494,785,810,652.651933506,630,652.651933506,0.41307819774,-0.00552385104962,0.049952799251,0.999999968885,0.000232587335897,-7.96907727764e-05,4.22209357178e-05,1793247492792528640
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877.917814581,785,810,652.082185419,630,652.082185419,0.413864271248,-0.00552548837613,0.0499813834774,0.99999996966,0.000240447773043,-2.54704470459e-05,4.70702871123e-05,1793247492809195520
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.497523583,633.502476417,878.497523583,785.497523583,810,652,629.502476417,652.497523583,0.414627408174,-0.00553126480787,0.0499792332947,0.999999987282,0.00015263060091,-3.73107429758e-05,2.73570907839e-05,1793247492825862144
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.080099774,679,660.919900226,633,878.919900226,785.919900226,810,652,629.080099774,653,0.41539110789,-0.00553718532395,0.049968967085,0.999999995934,6.47103648779e-05,-6.23966866023e-05,7.15472158262e-06,1793247492842528768
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.670241794,679,660.329758206,633,878.329758206,785.329758206,810,652,629.670241794,653,0.416183010413,-0.00553958062597,0.0499400099806,0.999999991749,7.88288722571e-05,-0.000100919637588,1.02015716266e-05,1793247492859195392
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.254102043,745,715.745897957,679,660,633,878.254102043,785,810,652,630,652.745897957,0.417004856327,-0.00553928473546,0.0499346151328,0.999999990161,9.47014607231e-05,-0.000102528372769,1.40207406565e-05,1793247492875862016
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.830006827,745,715.169993173,679,660,633,878.830006827,785,810,652,630,652.169993173,0.417864623438,-0.00553558063479,0.0499590602624,0.999999991815,0.000112795471232,-5.73877932425e-05,1.88179983131e-05,1793247492892528640
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.594353078,745,715,679,660.405646922,633.405646922,879,785,810.405646922,652,630,652.405646922,0.418717154308,-0.00553509671088,0.0499711807604,0.999999991747,0.000119487618483,-4.18883581737e-05,2.17585058505e-05,1793247492909195264
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.018823846,745,715,679,660.981176154,633.981176154,879,785,810.981176154,652,630,652.981176154,0.419566654666,-0.00553596137627,0.0499781397817,0.999999991592,0.00012140473871,-3.88024440044e-05,2.39214183303e-05,1793247492925861888
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.429264686,634,879,785,811,652,630,653,0.420418210439,-0.00553450796605,0.0499626594601,0.999999990355,0.000125803092941,-5.37679877793e-05,2.39432439143e-05,1793247492942528512
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,879,785,811,652,630,653,0.421304975409,-0.00553488354924,0.0499590120716,0.999999990444,0.000126986376922,-4.88965937221e-05,2.43868229226e-05,1793247492959195136
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,879,785,811,652,630,653,0.422285565791,-0.0055403519612,0.049988985371,0.999999992479,0.000119361174834,1.0570612424e-05,2.61498180471e-05,1793247492975862016
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.31486212,633.68513788,879,785,810.68513788,652,630,653,0.423215834018,-0.00554270128536,0.0499947855277,0.999999992717,0.000115828111201,2.0745476853e-05,2.68269420609e-05,1793247492992528640
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.89254318,633.10745682,879,785,810.10745682,652,630,653,0.424104097885,-0.00554244707261,0.0499804080948,0.9999999929,0.000115710800703,-1.02245219083e-05,2.65976775277e-05,1793247493009195264
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.526722198,633,879,785,810.473277802,652,630,653,0.425004239668,-0.00554381334899,0.0499807458138,0.99999999326,0.000112736366118,-7.65510024975e-06,2.66643643228e-05,1793247493025861888
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.055137532,633.055137532,879,785,811,652,630.055137532,653,0.425911927697,-0.00554541778581,0.0499853805207,0.999999993623,0.000109618874967,2.04040677211e-06,2.70813224753e-05,1793247493042528256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.641111454,633.641111454,879,785,811,652,630.641111454,653,0.426866135156,-0.00554574987525,0.0499990096675,0.999999993316,0.000111410062441,6.55221681449e-06,3.02193945698e-05,1793247493059194880
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.776920447,634,879.223079553,785,811,652,630.776920447,653,0.427796746805,-0.00554408369483,0.0499918378916,0.999999992757,0.000114605115929,-1.88886250048e-05,3.15302394817e-05,1793247493075861760
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.201283234,634,879.798716766,785,811,652,630.201283234,653,0.428690067287,-0.00553925942424,0.0499517920818,0.999999988148,0.00012001885595,-9.16670051889e-05,2.99533118555e-05,1793247493092528384
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.374108424,745,715,679.374108424,660,633.625891576,880,784.625891576,811,652,630.374108424,653,0.429635009079,-0.00554170251974,0.0499461112809,0.999999988715,0.000115408139567,-9.16312441842e-05,2.92303967097e-05,1793247493109195008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.949368032,745,715,679.949368032,660,633.050631968,880,784.050631968,811,652,630.949368032,653,0.430607706666,-0.00554805314379,0.0499589079112,0.99999999265,0.000105407458177,-5.24446631706e-05,2.89666683564e-05,1793247493125861632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.464592459,745,715,680,660.535407541,633,879.464592459,784,811.535407541,652,631,652.464592459,0.43149329039,-0.00555055883327,0.0499490719812,0.999999991602,0.000102951681472,-7.30240660717e-05,2.94059325532e-05,1793247493142528256
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.879351187,633,879,784,812,652,631,652.120648813,0.432380754724,-0.00555156660002,0.0499387759951,0.99999998996,0.000102266584461,-9.3453419485e-05,2.97996790251e-05,1793247493159194880
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.301083863,633,879,784,812,652,631,652.698916137,0.433307240998,-0.00554830025855,0.0499350199394,0.999999989808,0.000105535740523,-9.14356002212e-05,2.97634390397e-05,1793247493175861504
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715.277136503,680,660.277136503,633,879,784.277136503,812,652,631,653,0.434247607314,-0.00554842667423,0.0499465610078,0.999999991422,0.000105323816527,-7.15721729024e-05,3.06677493923e-05,1793247493192528384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715.855305934,680,660.855305934,633,879,784.855305934,812,652,631,653,0.435203050613,-0.0055522383912,0.0499747182123,0.999999993812,0.000101330652493,-3.23243784208e-05,3.25937101149e-05,1793247493209195008
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.431341656,715.568658344,680.431341656,660.568658344,633,879.431341656,785,812.431341656,652,631,652.568658344,0.436060354809,-0.00555250782362,0.0499638482154,0.99999999186,0.000101755408567,-6.93571307323e-05,3.34118427616e-05,1793247493225861632
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.993182341,715,680.993182341,660,633,880,785,813,652,631,652.006817659,0.436885652449,-0.00555162342469,0.0499403925495,0.999999985534,0.000103601543619,-0.000130583322162,3.38549705767e-05,1793247493242528256
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.404691097,715,680.404691097,660,633,880,785,813,652,631,652.595308903,0.437775137377,-0.00555317769747,0.0499546143244,0.999999990847,0.000100898297644,-8.35399904266e-05,3.38534416922e-05,1793247493259195136
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.181157574,745,715,680,660.181157574,633,879.818842426,785,813,652,631,653,0.438656080435,-0.0055546197818,0.0499675124822,0.999999993456,9.84247943464e-05,-4.73877438548e-05,3.39713439684e-05,1793247493275862016
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.761187791,745,715,680,660.761187791,633,879.238812209,785,813,652,631,653,0.439518215953,-0.0055558148496,0.0499774962994,0.999999994138,9.64571389176e-05,-3.52154856226e-05,3.43522098432e-05,1793247493292528640
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.662682281,745,715.337317719,680,660.662682281,633,879.337317719,784.662682281,813,652,630.662682281,653,0.440348691441,-0.00555641016557,0.0499703415079,0.999999994092,9.22900848253e-05,-4.67701519095e-05,3.33339737847e-05,1793247493309195008
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.089282119,745,715.910717881,680,660.089282119,633,879.910717881,784.089282119,813,652,630.089282119,653,0.441157008622,-0.00555658572627,0.0499511917201,0.999999992953,8.65837122484e-05,-7.49308550415e-05,3.13365320816e-05,1793247493325861632
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715.512798208,680.487201792,660.487201792,633,879.512798208,784,813,652,630,653,0.441964906604,-0.00555884641582,0.049963359743,0.999999994552,8.59746477281e-05,-4.94155067512e-05,3.25958441469e-05,1793247493342528256
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.065816914,745,715,680.934183086,660.934183086,633,879,784.065816914,813,652,630.065816914,653,0.442764515159,-0.00556092171213,0.049980346213,0.999999995511,8.67063630307e-05,-1.66989249543e-05,3.43574546231e-05,1793247493359194624
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.656901617,745,715,680.343098383,660.343098383,633,879,784.656901617,813,652,630.656901617,653,0.443498584472,-0.00555844848448,0.0499896930864,0.999999995253,9.06361456566e-05,-5.51298801794e-06,3.53344032497e-05,1793247493375861248
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.758198561,745,715,680.241801439,660,633,879,785,813,652,631,653,0.44420462989,-0.00555762822327,0.0499799377698,0.999999994576,9.39106496487e-05,-2.69434677187e-05,3.60837870226e-05,1793247493392527872
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.18185567,745,715,680.81814433,660,633,879,785,813,652,631,653,0.444871903294,-0.00555909490343,0.049943753851,0.999999990327,9.6278551108e-05,-9.34999939301e-05,3.65183262311e-05,1793247493409194752
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.393113849,745,715,680.606886151,660,633,879.393113849,784.606886151,813,652,631,653,0.445577570789,-0.00556043595952,0.0499367990146,0.999999990623,9.80254219184e-05,-8.82481967778e-05,3.68393334417e-05,1793247493425861632
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.96745022,745,715,680.03254978,660,633,879.96745022,784.03254978,813,652,631,653,0.446300937632,-0.00556171910377,0.0499433185672,0.999999993118,9.94860021471e-05,-4.98932997666e-05,3.71080032346e-05,1793247493442528512
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.443192247,745,715,680,660,633,879.443192247,784.556807753,813,652,631,653,0.446947974712,-0.00555796414232,0.0499587120338,0.99999999298,0.000109022057121,-2.48455817128e-05,3.92085543985e-05,1793247493459195392
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.144267194,745,715,680,660.144267194,633,879,784.855732806,813.144267194,652,631,653,0.447570244339,-0.00555335437567,0.0499637803032,0.999999992046,0.000118177452837,-1.710218954e-05,4.06039615965e-05,1793247493475861760
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.723287104,745,715,680,660.723287104,633,879,784.276712896,813.723287104,652,631,653,0.448131695983,-0.00554708077345,0.0499361267303,0.999999989694,0.000124723670899,-5.90965652701e-05,3.95427410546e-05,1793247493492528384
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.698873219,715,680.301126781,661,633,879,784,814,652,631,653,0.448688931636,-0.00554629354277,0.0499197805109,0.99999998758,0.000127259012625,-8.4104918925e-05,3.96426067861e-05,1793247493509195008
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,744.122113883,715,680.877886117,661,633,879,784,814,652,631,653,0.449242308205,-0.00555052819257,0.0499137843346,0.999999986837,0.000126123049697,-9.35653319384e-05,4.08052581156e-05,1793247493525861632
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,744.453626993,715,680.546373007,660.546373007,633,879.453626993,784,814,652,631,653,0.449786153826,-0.00555421272613,0.0499297881825,0.999999988404,0.000126694697301,-7.23244669799e-05,4.370733748e-05,1793247493542528768
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.029744593,633,880,784,814,652,631,653,0.450323626656,-0.00555742436016,0.0499511573452,0.999999989748,0.00012801937155,-4.36415442116e-05,4.70089393224e-05,1793247493559195392
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.618073076,633,880,784,814,652,631,653,0.45078949571,-0.00555453001731,0.0499623160754,0.999999989251,0.000134872253363,-3.00580650832e-05,4.90396820102e-05,1793247493575862016
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.796381422,745,715,680,660.796381422,632.796381422,879.796381422,784,814,652,631,653,0.451230667544,-0.00555184568852,0.0499659042075,0.999999988264,0.000141068000283,-3.16843542803e-05,5.06674443349e-05,1793247493592528640
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.215985469,745,715,680,660.215985469,632.215985469,879.215985469,784,814,652,631,653,0.451626139536,-0.00554954997086,0.0499554836485,0.999999986118,0.000146047780909,-6.14549127452e-05,5.15495290486e-05,1793247493609195008
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.360321138,745,715,680.360321138,660,632,879,784,814,652,631,653,0.451980435612,-0.00554994224958,0.0499298759881,0.999999981551,0.000146628691479,-0.000112874727651,5.15416786024e-05,1793247493625861632
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.934203964,745,715,680.934203964,660,632,879,784,814,652,631,653,0.452310326772,-0.00555192769903,0.0498952669606,0.999999972557,0.000144602398982,-0.000177126015594,5.10063649888e-05,1793247493642528256
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.479021116,745,715,680.479021116,660,632,879,783.479021116,814,652,631,653,0.452641389329,-0.00555538697928,0.049881515886,0.999999970771,0.000136948925901,-0.000193233687329,4.86225520866e-05,1793247493659194880
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.107586144,745,715,680.107586144,660,632,879.107586144,783.107586144,814.107586144,652,630.892413856,653,0.452970515529,-0.00555930851222,0.0498749182668,0.999999972784,0.000118004849553,-0.00019656970859,4.32114482824e-05,1793247493675861504
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.686150888,745,715,680.686150888,660,632,879.686150888,783.686150888,814.686150888,652,630.313849112,653,0.453290500886,-0.00556441812813,0.0498878118669,0.999999983607,5.28240812828e-05,-0.000171288052833,2.55957231453e-05,1793247493692528384
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879.735637869,784,814.735637869,652,630.264362131,653,0.453587058869,-0.00556849449719,0.0498986046061,0.999999988081,1.80709846651e-05,-0.00015236648953,1.71735976512e-05,1793247493709195008
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879.157845781,784,814.157845781,652,630.842154219,653,0.453855841139,-0.00557134583978,0.0499069065463,0.99999998968,1.93931951391e-05,-0.000140985507661,1.96514822235e-05,1793247493725861632
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879.418686849,783.581313151,814,652,631,653,0.454082211303,-0.00556736928638,0.0498978495099,0.999999987689,2.70122818439e-05,-0.00015326268932,2.00874699169e-05,1793247493742528256
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879.994746132,783.005253868,814,652,631,653,0.454292639989,-0.00556082632203,0.0498822677305,0.999999983907,3.69981846632e-05,-0.000174432298269,1.97559670595e-05,1793247493759195136
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,744.417131724,715,680.417131724,660,631.417131724,879.417131724,783.582868276,814,651.417131724,631,653,0.454467936834,-0.00555789682763,0.0498691562102,0.999999980039,4.38711405084e-05,-0.000193850366683,2.04625334341e-05,1793247493775861760
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.831605608,744.168394392,715,680.168394392,660,631,879.168394392,784,814,651.168394392,631,653,0.454633981922,-0.00555553156278,0.049857252627,0.999999976083,4.92705688067e-05,-0.000212047091788,2.10310565306e-05,1793247493792528384
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.252678966,744.747321034,715,680.747321034,660,631,879.747321034,784,814,651.747321034,631,653,0.454778260327,-0.00555446076049,0.0498482384655,0.999999972632,5.11475071558e-05,-0.00022730558582,2.12397475393e-05,1793247493809195264
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.323711644,745,715,681,660,631,880,784,814,652,630.676288356,653.323711644,0.45490739929,-0.00555571701435,0.0498413851725,0.999999969968,5.09037813039e-05,-0.000238766342408,2.15051775227e-05,1793247493825861888
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.898138062,745,715,681,660,631,880,784,814,652,630.101861938,653.898138062,0.455024812741,-0.00555877557401,0.0498362054735,0.999999967986,4.90176002349e-05,-0.000247285749222,2.18145518496e-05,1793247493842528512
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680.52694638,660,631,879.52694638,784,814.47305362,652,630.47305362,653.52694638,0.455123406347,-0.00555908986195,0.0498306749663,0.9999999655,5.00424658725e-05,-0.000256929418241,2.19600737339e-05,1793247493859195136
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.950459603,745,715,680.049540397,659.950459603,631,879.049540397,784,815,652,631,653,0.455215878704,-0.00555886215385,0.0498249245917,0.999999962841,5.14711207053e-05,-0.000266796583094,2.20921026103e-05,1793247493875861760
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.357906306,745,715,680.642093694,659.357906306,631,879.642093694,784,815,652,631,653,0.455285720926,-0.0055591774058,0.0498175930874,0.999999960261,5.04478957445e-05,-0.000276457238371,2.24633623628e-05,1793247493892528128
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.229256533,745,715,680.770743467,659.229256533,631,880,784,814.770743467,652,630.770743467,653,0.455349140275,-0.00555885054863,0.049810965672,0.999999957347,5.08811925049e-05,-0.000286726500692,2.24912328501e-05,1793247493909195008
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.808197273,745,715,680.191802727,659.808197273,631,880,784,814.191802727,652,630.191802727,653,0.455402762831,-0.00555754428459,0.0498054122018,0.999999953946,5.35361169557e-05,-0.000297924068378,2.19953328332e-05,1793247493925861632
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680.383097833,660,631,880,784,814,652,630,653,0.455448849086,-0.00555629176992,0.049804711213,0.999999953231,5.51546432093e-05,-0.000300037392942,2.17604166372e-05,1793247493942528256
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.955996789,660,631,880,784,814,652,630,653,0.455491201578,-0.0055550658846,0.0498064143263,0.999999953885,5.62596989292e-05,-0.000297650041699,2.16548016302e-05,1793247493959194880
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.456085347,631,880,784,814.543914653,652,630.543914653,653,0.455524502012,-0.00555678514283,0.0498094445713,0.999999955318,5.53085859139e-05,-0.000292926683034,2.23319177916e-05,1793247493975861760
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.869323671,745,715,680.869323671,659,631,880,783.869323671,814.869323671,652,630.869323671,653,0.455552910498,-0.00555812812874,0.0498109846694,0.999999956037,5.42599846498e-05,-0.000290621342364,2.28417551383e-05,1793247493992528384
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.290806527,745,715,680.290806527,659,631,880,783.290806527,814.290806527,652,630.290806527,653,0.455567134797,-0.00555734184723,0.0498070394824,0.999999954132,5.34635539957e-05,-0.00029726885217,2.25551323265e-05,1793247494009195008
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.287190859,745,715,680,659,631,880,783.287190859,814,652,630.287190859,653,0.455578554403,-0.00555607058919,0.0498041687674,0.999999952631,5.41044310898e-05,-0.000302178477546,2.23262188049e-05,1793247494025861888
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.86466286,745,715,680,659,631,880,783.86466286,814,652,630.86466286,653,0.455587139137,-0.00555430913611,0.0498023840863,0.999999951562,5.61980819638e-05,-0.000305331517796,2.21556355653e-05,1793247494042528512
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.43955602,659,631,880,784,814.43955602,652,631,653,0.455591995427,-0.00555313256236,0.0498010493888,0.999999950777,5.64615217288e-05,-0.000307851959176,2.20421776899e-05,1793247494059195136
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.985952312,659.014047688,631,880.014047688,784,814.985952312,652,631,653,0.455595630433,-0.00555218268902,0.0497998314918,0.999999950076,5.61678343915e-05,-0.000310179661092,2.19464385184e-05,1793247494075861760
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.395545644,659.604454356,631,880.604454356,784,814.395545644,652,631,653,0.455595982713,-0.0055531886267,0.0497977544901,0.999999949351,5.60012994135e-05,-0.000312544231647,2.18602456035e-05,1793247494092528384
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,631,880.617670237,784,814,652,631,653,0.455596625091,-0.00555310850642,0.0497965224021,0.999999948796,5.67746063431e-05,-0.000314182754875,2.17679263938e-05,1793247494109195008
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,631,879.459254824,784,814,652,631,653,0.455597856337,-0.0055508238127,0.0497970053922,0.999999948591,5.94556847702e-05,-0.000314347484866,2.16631715173e-05,1793247494125861632
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.346666926,659.653333074,631,879.346666926,784,814,652,631,653,0.455600167426,-0.00554940577802,0.0497977484613,0.999999948791,6.18209545639e-05,-0.000313260565757,2.15265682961e-05,1793247494142528256
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680.921047629,659.078952371,631,879.921047629,784,814,652,631,653,0.455603187828,-0.00554855702211,0.0497986623676,0.999999949255,6.39787806162e-05,-0.000311351480714,2.13690449639e-05,1793247494159194880
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.505040806,745,715,680.505040806,659.494959194,631,880,784,814,652,631,653,0.455603177514,-0.00555006031022,0.0497976734887,0.999999948944,6.24609258725e-05,-0.000312632208507,2.17221725697e-05,1793247494175861760
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.071133837,745,715,680,659.928866163,631,879.928866163,784,814,652,631,653,0.455602781963,-0.00555153083776,0.0497965501745,0.999999948571,6.07134576097e-05,-0.000314142708113,2.20586909854e-05,1793247494192528640
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.664471188,745,715,680,659.335528812,631,879.335528812,784,814,652,631,653,0.455603103956,-0.00555000921528,0.0497966660153,0.999999948694,6.15805336807e-05,-0.000313608241116,2.16758698514e-05,1793247494209195008
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,631,879.250781927,784,814,652,630.749218073,652.749218073,0.455603059618,-0.00554874205946,0.0497963797037,0.999999948573,6.20392068991e-05,-0.000313924792727,2.13790388698e-05,1793247494225861376
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,631,879.827947741,784,814,652,630.172052259,652.172052259,0.455602538515,-0.00554780608314,0.0497955700047,0.999999948133,6.19663580685e-05,-0.000315348915259,2.119412108e-05,1793247494242528256
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680.404763055,659,631,880,783.595236945,814.404763055,652,630,652.404763055,0.455601742441,-0.0055474577027,0.0497950290228,0.999999947665,6.2538042808e-05,-0.000316725527618,2.10575937208e-05,1793247494259195136
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680.981429496,659,631,880,783.018570504,814.981429496,652,630,652.981429496,0.455600829586,-0.00554735887499,0.0497946021652,0.999999947184,6.33834617794e-05,-0.000318081962309,2.09416178439e-05,1793247494275861760
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659,631,879.431097032,783.568902968,814.431097032,652,630.568902968,653,0.455604260409,-0.00554729082336,0.0497958852504,0.999999948308,6.29997633063e-05,-0.000314587124412,2.12102041324e-05,1793247494292528384
+244,4.066666667,HOLD_POSE2,766,745,715,681,659,631,880,784,814,652,630,653,0.455604308402,-0.00554950032868,0.0497953975828,0.999999948144,5.78564724883e-05,-0.000316110396197,2.09350005184e-05,1793247494333519360
+245,4.083333333,HOLD_POSE2,765.424272834,745,715,680.424272834,659.575727166,631,879.424272834,784,814.575727166,652,630.575727166,653,0.455604383116,-0.00554960366374,0.049795432683,0.99999994807,5.81442216567e-05,-0.000316268834538,2.1311777123e-05,1793247494350185984
+246,4.100000000,HOLD_POSE2,765,745,715,680.151595703,659.848404297,631,879.151595703,784,814.848404297,652,631,652.848404297,0.455604585208,-0.00554959969549,0.049795146091,0.999999947939,5.90483010349e-05,-0.00031649118442,2.1670010445e-05,1793247494366852864
+247,4.116666667,HOLD_POSE2,765,745,715,680.727860398,659.272139602,631,879.727860398,784,814.272139602,652,631,652.272139602,0.455605144125,-0.00554929513566,0.0497939583339,0.999999947646,6.16789223536e-05,-0.000316892571408,2.19762980721e-05,1793247494383519232
+248,4.133333333,HOLD_POSE2,765.310498845,745,715,681,659.310498845,630.689501155,880,784,814,652,630.689501155,652.310498845,0.45560521714,-0.00554818394604,0.0497938734898,0.999999947594,6.33126001045e-05,-0.000316741647447,2.18724125897e-05,1793247494400185856
+249,4.150000000,HOLD_POSE2,765.898840668,745,715,681,659.898840668,630.101159332,880,784,814,652,630.101159332,652.898840668,0.455604855356,-0.00554635096171,0.0497947755631,0.999999947761,6.4054184944e-05,-0.000316096500311,2.14014928149e-05,1793247494416852480
+250,4.166666667,HOLD_POSE2,765.520319306,745,715,680.520319306,659.520319306,630.479680694,879.520319306,783.520319306,814,652,630.479680694,653,0.455605156783,-0.0055463784016,0.0497953065506,0.999999947933,6.4017888934e-05,-0.000315560428218,2.13921978821e-05,1793247494433519360
+251,4.183333333,HOLD_POSE2,765.058370548,745,715,680,659,631,879.058370548,783,814,652,630.941629452,653,0.455605695111,-0.00554679843504,0.0497957619573,0.999999948125,6.37456073777e-05,-0.000314999442311,2.14813916659e-05,1793247494450186496
+252,4.200000000,HOLD_POSE2,765.631832034,745,715,680,659,631,879.631832034,783,814,652,630.368167966,653,0.455607108738,-0.00554727399389,0.0497962303538,0.99999994849,6.28162080215e-05,-0.000314018742592,2.15938487287e-05,1793247494466852864
+253,4.216666667,HOLD_POSE2,766,745,715,680.211208784,659,631,879.788791216,783,814,652,630.211208784,653,0.455607454988,-0.00554796965738,0.0497962509426,0.999999948519,6.24749692484e-05,-0.000313981129821,2.1773775076e-05,1793247494483519232
+254,4.233333333,HOLD_POSE2,766,745,715,680.80119375,659,631,879.19880625,783,814,652,630.80119375,653,0.455605887032,-0.00554906005062,0.049795468445,0.999999947947,6.31885220231e-05,-0.000315634824048,2.207469902e-05,1793247494500185856
+255,4.250000000,HOLD_POSE2,765.616885582,745,715,681,659,630.616885582,879,783,814.383114418,652,630.616885582,653,0.455605973646,-0.00554844244765,0.0497949893559,0.999999947678,6.30038573388e-05,-0.000316549271468,2.16899182081e-05,1793247494516852480
+256,4.266666667,HOLD_POSE2,765.039063326,745,715,681,659,630.039063326,879,783,814.960936674,652,630.039063326,653,0.455606901152,-0.0055469568006,0.0497946644662,0.999999947563,6.23626972958e-05,-0.000317088016271,2.09566459979e-05,1793247494533518848
+257,4.283333333,HOLD_POSE2,765.539341597,745,715,681,659,630.539341597,879,783,814.460658403,652,630,653,0.4556073043,-0.00554671665458,0.0497950269876,0.999999947994,6.25600021972e-05,-0.000315694067532,2.08476009275e-05,1793247494550185728
+258,4.300000000,HOLD_POSE2,766,745,715,681,659.117440329,631,879.117440329,783.117440329,814,652,630,653,0.455607471238,-0.00554674126595,0.0497952342655,0.999999948238,6.31086784247e-05,-0.000314810586317,2.08646111996e-05,1793247494566852352
+259,4.316666667,HOLD_POSE2,766,745,715,681,659.694176533,631,879.694176533,783.694176533,814,652,630,653,0.455606863078,-0.00554744813518,0.0497946394793,0.999999947599,6.47937704428e-05,-0.000316471526488,2.11976017634e-05,1793247494583519488
+260,4.333333333,HOLD_POSE2,766,744.724186175,715,681,659.724186175,631,880,784,814,651.724186175,630.275813825,653,0.455606432141,-0.0055475840515,0.0497945914484,0.999999947352,6.53465357451e-05,-0.00031711451775,2.15281771343e-05,1793247494600186112
+261,4.350000000,HOLD_POSE2,766,744.137016258,715,681,659.137016258,631,880,784,814,651.137016258,630.862983742,653,0.455606201266,-0.00554707544001,0.0497951606293,0.999999947553,6.46210589319e-05,-0.000316608383803,2.18560260627e-05,1793247494616852736
+262,4.366666667,POSE2_TO_POSE3_RETREAT,767,745,715,681,660,631,880,784,814,652,631,653,0.455607328898,-0.00554363316957,0.0497958749348,0.999999947916,6.47241919876e-05,-0.000315513417142,2.07610435898e-05,1793247494649680896
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.420609506,745,715,681,659.420609506,631,880,783.420609506,814.579390494,652,631,653,0.455607786057,-0.00554509415978,0.0497957312844,0.999999948042,6.33129114468e-05,-0.000315392556217,2.08730316578e-05,1793247494666347776
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.84306002,659,631,880,783,814.84306002,652,630.84306002,653,0.455608239098,-0.00554604510762,0.049795595602,0.999999948159,6.26557468229e-05,-0.000315142358616,2.10208621566e-05,1793247494683014400
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.270387226,659,631,880,783,814.270387226,652,630.270387226,653,0.455608681228,-0.00554564495741,0.0497954810269,0.999999948255,6.39962292289e-05,-0.00031454954912,2.12636390074e-05,1793247494699680768
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.312809425,659,631,880,783.312809425,814.312809425,652,630,653,0.455607978842,-0.0055446684363,0.049794794594,0.999999947864,6.51572764801e-05,-0.000315554361643,2.126791829e-05,1793247494716347392
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.905419377,659,631,880,783.905419377,814.905419377,652,630,653,0.455606252714,-0.00554317636528,0.0497935966481,0.999999947032,6.61578232087e-05,-0.000317988208776,2.10588672038e-05,1793247494733014016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,631,880,784,814.512392276,652,630,653,0.455605790186,-0.00554570541741,0.0497941264348,0.999999947057,6.48440938682e-05,-0.000318152746005,2.14360531104e-05,1793247494749680896
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,631,880,784,814,652,630,653,0.455604885497,-0.00554826116639,0.0497944486856,0.999999947035,6.34632111889e-05,-0.000318480470474,2.17564285799e-05,1793247494766348032
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,631,880,784,814,652,630,653,0.455598826944,-0.00554524884444,0.0497907238255,0.999999945417,6.48956297398e-05,-0.000323297319544,2.08063989112e-05,1793247494783014400
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.783938798,659,631,880,784,814,652,630.216061202,652.783938798,0.455588545275,-0.00554399491804,0.0497854245362,0.999999942804,6.58772145694e-05,-0.000331118191227,2.031448165e-05,1793247494799680768
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.213201603,659,631,880,784,814,652,630.786798397,652.213201603,0.455571331137,-0.00554562749207,0.0497775407377,0.999999938479,6.61187316394e-05,-0.000343870325842,2.05745804458e-05,1793247494816347136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.37211872,680,659.37211872,631,880,784,814,652,631,652.37211872,0.455535840006,-0.00554446074692,0.0497612456545,0.99999992902,6.53703424924e-05,-0.000370547919391,1.95260639458e-05,1793247494833014272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.966135148,680,659.966135148,631,880,784,814,652,631,652.966135148,0.455489450142,-0.00554162474296,0.0497399348466,0.999999915566,6.40316634138e-05,-0.000405529389003,1.7697208497e-05,1793247494849681152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.454390632,680.545609368,659.454390632,631,879.454390632,784,814,652,631,653,0.455425787114,-0.00553873451704,0.0497176570937,0.999999902273,6.57858255059e-05,-0.000436881625048,1.61328646902e-05,1793247494866347776
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,744.87714986,715.12285014,681,659.12285014,630.87714986,879.12285014,784,814,652,631,653,0.455358827424,-0.00553604244218,0.0496975265382,0.99999988978,6.7612167667e-05,-0.000464382853121,1.47355663108e-05,1793247494883014144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,744.304863423,715.695136577,681,659.695136577,630.304863423,879.695136577,784,814,652,631,653,0.455283627562,-0.00553408727701,0.0496854651708,0.999999882994,6.90185156512e-05,-0.000478598217306,1.38908849915e-05,1793247494899680768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,744.276210298,715.723789702,681,659.723789702,630,880,783.723789702,814,652,631,653,0.45520606237,-0.00553095426111,0.0496793795884,0.999999880808,7.12115135905e-05,-0.000482849907764,1.30155559866e-05,1793247494916347648
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.550295701,745,715,680.550295701,659.449704299,630.449704299,880,783,814,652,630.550295701,653.449704299,0.45502538698,-0.00552185136118,0.049682018858,0.999999884985,7.77411402664e-05,-0.000473133240823,1.1454751886e-05,1793247494949680896
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.029382147,745,715,680.029382147,660,631,880,783.029382147,814,652,630,653.970617853,0.454917792861,-0.00551718185604,0.0496844653197,0.999999885399,8.1361206339e-05,-0.000471659990771,1.09147362826e-05,1793247494966347520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.605159897,745,715,680.605159897,660,631,880,783.605159897,814,652,630,653.394840103,0.454785156051,-0.00551253913448,0.049690460276,0.999999887106,8.64482016977e-05,-0.000467110797939,1.10317702739e-05,1793247494983014144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.815769634,745,715,680.815769634,660,631,880,783.815769634,814,652,630.184230366,653,0.454645785016,-0.0055076159241,0.0496973031047,0.999999890097,9.08350960994e-05,-0.000459823816213,1.0805990691e-05,1793247494999681024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.229513907,745,715,680.229513907,660,631,880,783.229513907,814,652,630.770486093,653,0.454491718652,-0.00550208063488,0.0497059961499,0.999999895853,9.36942376707e-05,-0.000446562464004,9.83212730015e-06,1793247495016347648
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.931326175,745,715,681.86265235,660,631.931326175,880,783.931326175,814,652,631,652.068673825,0.454123532756,-0.00549051712856,0.04972204457,0.999999906001,9.88902610916e-05,-0.000422053912435,9.47778210023e-06,1793247495049681152
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.490492027,745,715,681.490492027,660,631.490492027,880,784,813.490492027,652,631,652.509507973,0.4538952004,-0.0054823605244,0.0497275020269,0.999999906834,0.000106260901825,-0.000418283595016,8.96440851733e-06,1793247495066347776
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.087241954,745,715,681,659.912758046,631.087241954,880,784,813.087241954,652,631,653,0.453655898716,-0.00547392660474,0.0497328904998,0.999999907412,0.000113719404001,-0.000414940416476,8.30803070413e-06,1793247495083014400
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879,784,814,652,631,653,0.452447318826,-0.00543849475173,0.0497628928066,0.999999917711,0.000135166451176,-0.000382479099482,4.22056515464e-06,1793247495149680896
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879,784,814,652,631,653,0.452089621776,-0.00543091690384,0.0497650191859,0.999999916845,0.000139582920434,-0.000383168238107,3.02298753992e-06,1793247495166347776
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879,784,814,651.432374538,631.567625462,653,0.451687623532,-0.00542530328824,0.0497595050467,0.99999991449,0.00014030864286,-0.000389015307704,1.64626951682e-07,1793247495183014400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879.143123772,784.143123772,813.856876228,651.143123772,631.856876228,653,0.451280494344,-0.00542071668876,0.0497563317078,0.999999914863,0.000139898259003,-0.000388195954238,-2.60363259958e-06,1793247495199681024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879.717802006,784.717802006,813.282197994,651.717802006,631.282197994,653,0.450859810847,-0.00541914182076,0.0497605470469,0.999999923345,0.000136221908518,-0.000367052483358,-5.02835953825e-06,1793247495216347904
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,879.358371973,784,811.641628027,652,631,653,0.446443780929,-0.00540024064491,0.0497421307867,0.999999925974,8.8371494898e-05,-0.000373339402247,-2.93147956468e-05,1793247495349681152
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.434017466,660.434017466,633,880,784,811,652,631,653,0.441389411234,-0.0053957349656,0.049783123276,0.999999945943,2.70810343353e-05,-0.000324128279302,-4.81786223125e-05,1793247495466347520
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.986497877,660.986497877,633,879.986497877,784.013502123,811,652,631,653,0.440633303202,-0.00539590535746,0.04981562957,0.999999962566,1.83705891133e-05,-0.000268338302888,-5.02530284107e-05,1793247495483014144
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.064474499,660.871051002,633.935525501,878.064474499,785,810,652,630,653,0.418961984995,-0.00536554453949,0.049801934728,0.999999939304,8.08784811084e-05,-0.00033550728864,-4.78129845565e-05,1793247495883014144
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.518749513,745,715,680,659.962500974,634,878.518749513,785,810,652,630,652.481250487,0.41806252464,-0.00536360533289,0.0497803423225,0.999999926093,8.55071115479e-05,-0.000371627638903,-4.89347146613e-05,1793247495899680512
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.578824699,634,878,785,810,652,630.421175301,652.421175301,0.414085822502,-0.00536685214363,0.0497916763527,0.999999940455,8.22348404097e-05,-0.000331114518206,-5.18644306046e-05,1793247495983014144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.002443365,745,715,679.997556635,659,634,878,785,809.997556635,652,630.997556635,652.997556635,0.413273254103,-0.00536261800642,0.0497629011849,0.999999920458,8.99442194904e-05,-0.000384891661508,-5.34109462923e-05,1793247495999680512
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.271488113,745,715,679.728511887,660.457023775,634,877.271488113,785,809,652.728511887,630,652,0.411171789085,-0.00536615821415,0.0498143135716,0.999999948278,9.28100665618e-05,-0.000303762600419,-5.05892379014e-05,1793247496049681152
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.311109204,745,715,679.688890796,660.377781592,634,877.311109204,785,809,652.688890796,630,652,0.410501730644,-0.00536579755986,0.0498129390898,0.999999945181,9.44560724512e-05,-0.000313314179482,-5.05063249997e-05,1793247496066348032
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.515520041,745,715,679,659,634,877.515520041,785,809,652,630,652.484479959,0.409222263873,-0.00536398659616,0.0497873733712,0.999999930739,9.97724367903e-05,-0.000354777315169,-5.19649051185e-05,1793247496099681792
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.063089178,745,715,679,659.063089178,634,877.063089178,785.063089178,809,652,630,652.936910822,0.408629450385,-0.00536526395606,0.0497916199815,0.999999935614,0.000101848218087,-0.000340151564576,-5.19213737844e-05,1793247496116348416
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660,634,877.784244707,785.784244707,809,652.215755293,629.784244707,652.215755293,0.407539558784,-0.00537259260181,0.0498300513027,0.999999951606,9.49915512531e-05,-0.000292121986744,-4.92827000645e-05,1793247496149681408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,660,634,877.196356608,785.196356608,809,652.803643392,629.196356608,652.803643392,0.407023204803,-0.00537662903057,0.0498291155223,0.999999950536,9.26239119772e-05,-0.000296617046464,-4.86467158313e-05,1793247496166347776
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,659.037011671,634,877.962988329,785,809,653,629.962988329,652.037011671,0.405975299063,-0.00537343244045,0.0497765783642,0.999999919307,9.40486967449e-05,-0.000386884041456,-5.3498783307e-05,1793247496199681536
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715.541069948,679,659,634,878,785,809,653,629.458930052,652,0.405516500777,-0.00537334188763,0.0497697112363,0.999999914497,9.23335356171e-05,-0.000399369489913,-5.46225120026e-05,1793247496216347904
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.308420667,745,715.308420667,679.691579333,659.691579333,634,877.308420667,785,809,652.308420667,629,652.691579333,0.404712195575,-0.00537457203387,0.0497950908453,0.999999932043,8.8536199517e-05,-0.000353642349399,-5.48799333302e-05,1793247496249681408
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,660,634,877,785.926535153,808.926535153,652,629,652,0.402141023178,-0.00538835895086,0.049809919351,0.999999934182,4.94350333859e-05,-0.000354479530639,-5.94680077194e-05,1793247496399681024
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.172703761,744.172703761,715,679,660,634,877,786,808.172703761,653,629,652,0.401478459423,-0.00537940399674,0.0498373408958,0.999999942716,0.000167113869755,-0.000292325072751,-3.44653855228e-05,1793247496483014400
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.437341992,660,634,877,785.437341992,808.562658008,653,629,652,0.401235701138,-0.0053967579789,0.0498349720834,0.999999947231,0.000139396308403,-0.000291157971967,-3.65099317631e-05,1793247496533014784
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79de9d19b6590a4fc2f5ed54888be452f0c36d46
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c429262b1185e19c2f23c27b24150caf76cea00
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1c89a1a9181a9f7e7facec3b0d798b99a611fdfc72b8b5110b7ccb225610cf
+size 25857140
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b9a8d4dcf41470498423c2f4fa7d3c54eef688b
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+7,0.116666667,BASELINE,766,745,715,679,659.822522079,634,877.177477921,785.822522079,808,652.822522079,629,652,0.400986979996,-0.00540695133685,0.0498504955895,0.999999959992,0.000114500066357,-0.000255765593795,-3.86004182315e-05,1793247497297620480
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+9,0.150000000,BASELINE,765.648809902,745,715,678.648809902,659,634,878,785,808,652,629,652.351190098,0.400988295878,-0.00540677056515,0.0498519958182,0.999999960598,0.000114245765775,-0.000253479040331,-3.87363636993e-05,1793247497330953728
+10,0.166666667,BASELINE,765.069668332,745,715,678.069668332,659,634,878,785,808,652,629,652.930331668,0.400986862731,-0.00540865154061,0.0498513504313,0.999999960262,0.000114229223962,-0.000254815129163,-3.86961072047e-05,1793247497347620352
+11,0.183333333,BASELINE,765,745,715,678.507000534,659.507000534,634,877.492999466,785,808.507000534,652.507000534,629,652.492999466,0.400985762712,-0.00540767842683,0.0498499761738,0.999999959803,0.000113924671502,-0.000256721404094,-3.88486906607e-05,1793247497364286720
+12,0.200000000,BASELINE,765,745,715,678.915353374,660,634,877.084646626,785.084646626,808.915353374,653,629,652,0.400984960501,-0.00540653670343,0.0498489081839,0.999999959423,0.000113821758498,-0.000258228392931,-3.89463860307e-05,1793247497380953600
+13,0.216666667,BASELINE,765,745,715,678.329925676,660,634,877.670074324,785.670074324,808.329925676,653,629,652,0.400985650666,-0.00540670644113,0.0498502417768,0.999999959625,0.000115144775007,-0.000256911865023,-3.85633469985e-05,1793247497397620224
+14,0.233333333,BASELINE,765,745,715,678.252578569,659.747421431,634,877.747421431,786,808.252578569,653,629,652.252578569,0.400985994389,-0.00540668488683,0.0498508510978,0.999999959787,0.000116095676397,-0.000255873860331,-3.84178789944e-05,1793247497414286848
+15,0.250000000,BASELINE,765,745,715,678.831307885,659.168692115,634,877.168692115,786,808.831307885,653,629,652.831307885,0.400985890756,-0.00540641632019,0.0498505251779,0.9999999599,0.000116566071549,-0.000255195508118,-3.85791826825e-05,1793247497430953472
+16,0.266666667,BASELINE,765,745,715,679,659.410689199,634,877.410689199,786,808.589310801,652.589310801,629,652.589310801,0.400987287448,-0.00540691711198,0.0498512756309,0.999999960364,0.000115495617349,-0.000253845888456,-3.86734744846e-05,1793247497447620352
+17,0.283333333,BASELINE,765,745,715,679,659.990338714,634,877.990338714,786,808.009661286,652.009661286,629,652.009661286,0.400989301383,-0.00540773442306,0.0498524689112,0.999999960968,0.000113791247267,-0.000252220104859,-3.87401971336e-05,1793247497464287232
+18,0.300000000,BASELINE,765,745,715,679,659.435742792,634,877.435742792,786,808.564257208,652.564257208,629,652,0.400987351971,-0.00540714165979,0.0498516486861,0.999999960337,0.000114224767841,-0.000254479122716,-3.89728980267e-05,1793247497480954368
+19,0.316666667,BASELINE,765,744.85847307,715,678.85847307,659,634,877,786,809,652.85847307,629,652,0.400986020819,-0.00540635506468,0.0498511509533,0.999999959844,0.000115346435257,-0.000255885332965,-3.91209953875e-05,1793247497497621760
+20,0.333333333,BASELINE,765,744.270321158,715,678.270321158,659,634,877,786,809,652.270321158,629,652,0.400986852743,-0.00540503220783,0.0498517786314,0.999999959858,0.000118525372857,-0.000254392488994,-3.89932261327e-05,1793247497514288640
+21,0.350000000,BASELINE,765.313328008,744.313328008,715,678.313328008,659.313328008,634,877,785.686671992,808.686671992,652.313328008,629,652,0.400986136764,-0.00540512868213,0.0498514473223,0.999999959711,0.000118435588059,-0.000255020657752,-3.89178751967e-05,1793247497530955264
+22,0.366666667,BASELINE,765.893147473,744.893147473,715,678.893147473,659.893147473,634,877,785.106852527,808.106852527,652.893147473,629,652,0.400984104264,-0.00540643232477,0.0498503003763,0.999999959425,0.000115565692256,-0.000257452788432,-3.88871070486e-05,1793247497547622400
+23,0.383333333,BASELINE,765.529672402,745,715,678.529672402,659.529672402,634,877,785,808.470327598,653,629,652,0.400985161098,-0.00540791922686,0.0498507008789,0.999999960107,0.000112678855543,-0.000256114151917,-3.86603167921e-05,1793247497564288512
+24,0.400000000,BASELINE,765,745,715,678.046913194,659.046913194,634,877,785.046913194,808.953086806,653,629,652,0.400986839551,-0.00540922678061,0.0498514185432,0.99999996093,0.000110103525219,-0.000254047877046,-3.84301356222e-05,1793247497580954880
+25,0.416666667,BASELINE,765,745,715,678.623518068,659.623518068,634,877,785.623518068,808.376481932,653,629,652,0.400987656246,-0.0054080418663,0.0498517699601,0.99999996098,0.000111088594893,-0.000253384520256,-3.8661688068e-05,1793247497597621504
+26,0.433333333,BASELINE,765.204008082,745,715,678.795991918,660,634,877.204008082,785.795991918,808.204008082,652.795991918,629,652,0.400988521216,-0.00540696645051,0.0498521831583,0.999999960959,0.000113111997171,-0.00025254768994,-3.88137500621e-05,1793247497614288128
+27,0.450000000,BASELINE,765.79180713,745,715,678.20819287,660,634,877.79180713,785.20819287,808.79180713,652.20819287,629,652,0.400989477003,-0.00540609702898,0.0498527125827,0.999999960795,0.000117088766712,-0.000251384511785,-3.88162703865e-05,1793247497630954496
+28,0.466666667,BASELINE,765.626218498,745,715,678.373781502,659.626218498,634,877.626218498,785.373781502,808.626218498,652,629,652,0.400989070265,-0.00540616749707,0.0498525197037,0.999999960639,0.000117483336055,-0.000251818885734,-3.88272569732e-05,1793247497647621120
+29,0.483333333,BASELINE,765.047438672,745,715,678.952561328,659.047438672,634,877.047438672,785.952561328,808.047438672,652,629,652,0.400987916258,-0.00540675344228,0.0498519306816,0.99999996049,0.000115913267974,-0.000253129428056,-3.8842886833e-05,1793247497664287488
+30,0.500000000,BASELINE,765.526865446,745,715,679,659.526865446,634,877,786,808.526865446,652.526865446,629.526865446,652,0.400987882292,-0.00540788606256,0.0498521303962,0.999999960931,0.000113143873374,-0.000252690641257,-3.85224141473e-05,1793247497680953856
+31,0.516666667,BASELINE,766,745,715,679,660,634,877,786,809,652.896489203,629.896489203,652,0.400987789089,-0.00540873796314,0.0498521838235,0.999999961231,0.000111054154433,-0.00025246372238,-3.82968333436e-05,1793247497697620224
+32,0.533333333,BASELINE,766,745,715,679,660,634,877,786,809,652.306975145,629.306975145,652,0.400986948246,-0.00540804266868,0.0498512197714,0.999999960658,0.000112658392229,-0.000253964868621,-3.86576797108e-05,1793247497714286848
+33,0.550000000,BASELINE,765.722449145,745,715,679,660,634,877,786,808.722449145,652.277550855,629,652,0.400986560498,-0.00540770715808,0.04985102747,0.99999996043,0.000113283204802,-0.000254562579948,-3.87985972789e-05,1793247497730953728
+34,0.566666667,BASELINE,765.143342649,745,715,679,660,634,877,786,808.143342649,652.856657351,629,652,0.400986665031,-0.00540776254836,0.0498516736661,0.999999960581,0.000112843883633,-0.000254178720092,-3.8700564848e-05,1793247497747620352
+35,0.583333333,BASELINE,765,745,715,679,659.566287134,633.566287134,877,785.566287134,808,652.566287134,629,652,0.400986755034,-0.00540789815806,0.0498514128979,0.999999960525,0.000113241253139,-0.000254215629627,-3.87443196205e-05,1793247497764286720
+36,0.600000000,BASELINE,765,745,715,678.990026671,659.009973329,633.009973329,877,785.009973329,808,652,629,652,0.40098683612,-0.00540806297058,0.049850863137,0.999999960405,0.000113897364512,-0.000254381938192,-3.88320300182e-05,1793247497780953600
+37,0.616666667,BASELINE,765,745,715,678.420523049,659.579476951,633.579476951,877,785.579476951,808,652,629,652,0.400986685109,-0.00540838571093,0.0498508379002,0.999999960524,0.000113628679959,-0.000254042690499,-3.87691230311e-05,1793247497797620992
+38,0.633333333,BASELINE,765,745,715,678.155466858,659.844533142,634,876.844533142,786,808,652.155466858,629,652,0.400986271365,-0.00540813757718,0.0498507683822,0.999999960473,0.000113940829048,-0.000254099736863,-3.87933459863e-05,1793247497814288128
+39,0.650000000,BASELINE,765,745,715,678.749765549,659.250234451,634,876.250234451,786,808,652.749765549,629,652,0.400985116009,-0.0054062780536,0.0498505738728,0.999999959939,0.000115892480497,-0.000255275390987,-3.90635081106e-05,1793247497830955008
+40,0.666666667,BASELINE,765.336122374,745,715,679,659.336122374,634,876.672244747,785.663877626,808,652.663877626,629,652,0.400985575661,-0.00540721019931,0.049851084677,0.999999960305,0.000114030261122,-0.000254690521131,-3.89857304727e-05,1793247497847621632
+41,0.683333333,BASELINE,765.916703124,745,715,679,659.916703124,634,877.833406248,785.083296876,808,652.083296876,629,652,0.400987209892,-0.00541017269776,0.0498521084485,0.999999961309,0.000109394252244,-0.000252825240051,-3.86548997749e-05,1793247497864288000
+42,0.700000000,BASELINE,765.511249366,745,715,678.511249366,660.488750634,633.511249366,877.511249366,785.488750634,808,652,628.511249366,652,0.400987720486,-0.00540910960337,0.0498523841303,0.999999961318,0.000111315205882,-0.000251945972643,-3.86878002519e-05,1793247497880954112
+43,0.716666667,BASELINE,765,745,715,678,660.876815298,633.061592351,877,786,808.061592351,652,628.061592351,652,0.400988024529,-0.00540770950469,0.0498525721457,0.999999961196,0.000113832006267,-0.000251295857748,-3.8739807208e-05,1793247497897620480
+44,0.733333333,BASELINE,765,745,715,678,659.692835904,633.653582048,877,786,808.653582048,652,628.653582048,652,0.400988170668,-0.00540921401322,0.0498530843065,0.999999961437,0.000112021841038,-0.000251196801133,-3.8431686232e-05,1793247497914287104
+45,0.750000000,BASELINE,765,745,715,678.239840821,659.239840821,634,877,785.760159179,809,652.239840821,629,652,0.400987329109,-0.00540948516839,0.0498528647796,0.999999961317,0.000111073447692,-0.000252102740573,-3.83730721471e-05,1793247497930954240
+46,0.766666667,BASELINE,765,745,715,678.818015165,659.818015165,634,877,785.181984835,809,652.818015165,629,652,0.400985094245,-0.00540801648287,0.0498516130913,0.999999960688,0.000111340720446,-0.000254426386382,-3.86664271378e-05,1793247497947620864
+47,0.783333333,BASELINE,765,745,715,679,659.60383147,634,877,785,808.60383147,653,629,652,0.400985384861,-0.00540765593446,0.0498514431407,0.999999960609,0.000111573384225,-0.000254608397093,-3.88376791414e-05,1793247497964287488
+48,0.800000000,BASELINE,765,745,715,679,659.025687691,634,877,785,808.025687691,653,629,652,0.400986835526,-0.00540780439538,0.0498517700732,0.999999960784,0.000111790150815,-0.000253806673688,-3.89528446325e-05,1793247497980954624
+49,0.816666667,BASELINE,765,745,715,679,659.537006585,634,877,785.537006585,808.537006585,652.462993415,629,652,0.400985051142,-0.00540789020314,0.0498509660904,0.999999960326,0.000112903090369,-0.000255131840238,-3.88498402756e-05,1793247497997621504
+50,0.833333333,BASELINE,765.106332123,745.106332123,715,678.893667877,659.893667877,634,877.106332123,786,808.893667877,652.106332123,629,652,0.400984062368,-0.00540792394412,0.04985058294,0.999999960094,0.000113723836061,-0.000255693364445,-3.87255277925e-05,1793247498014288128
+51,0.850000000,BASELINE,765.710035926,745.710035926,715,678.289964074,659.289964074,634,877.710035926,786,808.289964074,652.710035926,629,652,0.400987498683,-0.00540772776774,0.049852414211,0.999999961067,0.000112982925932,-0.000252220347144,-3.8548996136e-05,1793247498030954496
+52,0.866666667,BASELINE,765.699044715,745.699044715,715,678,659.300955285,634,877.699044715,786,808,652.699044715,629,652,0.400988702656,-0.00540724999018,0.0498532334425,0.999999961388,0.000113529989151,-0.000250681696676,-3.86508028599e-05,1793247498047620864
+53,0.883333333,BASELINE,765.119941011,745.119941011,715,678,659.880058989,634,877.119941011,786,808,652.119941011,629,652,0.400987843458,-0.00540651195165,0.0498531173285,0.999999961113,0.000115267421114,-0.000250930823886,-3.90098550544e-05,1793247498064287488
+54,0.900000000,BASELINE,765,745,715,678.458630732,660,634,877,785.541369268,808.458630732,652,629,652,0.40098806717,-0.00540730606483,0.0498532854842,0.999999961405,0.000113394836458,-0.000250645153505,-3.8849723327e-05,1793247498080954112
+55,0.916666667,BASELINE,765,745,715,678.963289221,659.963289221,634,877,785,808.963289221,652,629,652,0.400988509331,-0.00540845435875,0.0498534706151,0.999999961796,0.000110738467775,-0.000250313569956,-3.85746796889e-05,1793247498097620736
+56,0.933333333,BASELINE,765,745,715,678.39036135,659.39036135,634,877,785,808.39036135,652,629,652,0.400988010437,-0.00540893012391,0.0498528190703,0.999999961571,0.000110407647697,-0.000251351859029,-3.86021029625e-05,1793247498114287872
+57,0.950000000,BASELINE,765,745,715,678.188106643,659.188106643,634,877,785.188106643,808,652.188106643,629,652,0.400987070657,-0.00540925728914,0.0498521722792,0.999999961297,0.000110088693577,-0.000252567924662,-3.86793436143e-05,1793247498130954752
+58,0.966666667,BASELINE,765,745,715,678.778420374,659.778420374,634,877,785.778420374,808,652.778420374,629,652,0.40098518818,-0.00540926671999,0.0498515356525,0.999999960918,0.000109795111132,-0.000254164109607,-3.88631031094e-05,1793247498147621376
+59,0.983333333,BASELINE,765,745,715,679,659.638872615,634,877,786,808.361127385,652.638872615,628.638872615,652,0.400985975069,-0.00540906054373,0.0498519354247,0.999999961115,0.000110134658643,-0.000253234345274,-3.88968426371e-05,1793247498164288000
+60,1.000000000,BASELINE,765,745,715,679,659.060736577,634,877,786,808.939263423,652.060736577,628.060736577,652,0.400988366034,-0.00540872480486,0.0498529579897,0.999999961654,0.000110854666555,-0.000250786687756,-3.88404321896e-05,1793247498180954880
+61,1.016666667,BASELINE,765,745,715,678.484695806,659,634,877.515304194,786,808.484695806,652,628.515304194,652,0.400987946147,-0.00540722164412,0.0498530724849,0.999999961322,0.000112971437925,-0.000251152123293,-3.89337885624e-05,1793247498197621248
+62,1.033333333,BASELINE,765.092900789,745,715,678.092900789,659,634,877.907099211,785.907099211,808.092900789,652,629,652,0.40098745948,-0.00540594133253,0.0498530888265,0.999999960991,0.00011467813233,-0.000251686538983,-3.90084657203e-05,1793247498214287616
+63,1.050000000,BASELINE,765.680084063,745,715,678.680084063,659,634,877.319915937,785.319915937,808.680084063,652,629,652,0.400988373075,-0.00540657583351,0.0498531500903,0.99999996123,0.000113330621542,-0.00025136305116,-3.88902197295e-05,1793247498230954496
+64,1.066666667,BASELINE,765.73487916,745,715,679,659.26512084,634,877,785,809,652.26512084,629,652,0.400988250186,-0.00540765933472,0.0498529157875,0.999999961322,0.000111676661049,-0.000251761555642,-3.87320628046e-05,1793247498247621376
+65,1.083333333,BASELINE,765.152411749,745,715,679,659.847588251,634,877,785,809,652.847588251,629,652,0.400986886637,-0.00540928028394,0.0498523276948,0.999999961235,0.000109655883892,-0.000253024276559,-3.85261329611e-05,1793247498264288512
+66,1.100000000,BASELINE,765,745,715,679,660,634.424434714,877,785,808.575565286,653,629,652,0.400987147597,-0.00540889933217,0.0498526242099,0.999999961433,0.000110029320768,-0.000252057398421,-3.86618824512e-05,1793247498280955392
+67,1.116666667,BASELINE,765,745,715,679,660,634.999289101,877,785,808.000710899,653,629,652,0.400987984283,-0.00540780890661,0.04985323423,0.999999961729,0.000111251267193,-0.000250300350298,-3.89187231091e-05,1793247498297622016
+68,1.133333333,BASELINE,765,745,715,679,660,634.425093002,877,785.574906998,808.574906998,652.425093002,629,652,0.400987610679,-0.00540805498661,0.0498522251416,0.999999961281,0.00011113587349,-0.000252183582735,-3.85926820751e-05,1793247498314287872
+69,1.150000000,BASELINE,765.153447135,745,715,679,659.846552865,634,877,785.846552865,809,652.153447135,629,652.153447135,0.400987276467,-0.0054080029225,0.0498516127683,0.999999960951,0.000111666763238,-0.000253280559046,-3.84461853972e-05,1793247498330953984
+70,1.166666667,BASELINE,765.74023706,745,715,679,659.25976294,634,877,785.25976294,809,652.74023706,629,652.74023706,0.400987057731,-0.00540710421027,0.049852126401,0.999999960957,0.000114027467807,-0.000252144377301,-3.88087696644e-05,1793247498347620608
+71,1.183333333,BASELINE,766,745,715,679,659.324364348,634,877,785,808.675635652,653,629.324364348,652.675635652,0.400987076894,-0.0054067647503,0.0498522228003,0.999999961016,0.000114194577871,-0.000251825086322,-3.88870324533e-05,1793247498364287488
+72,1.200000000,BASELINE,766,745,715,679,659.906376723,634,877,785,808.093623277,653,629.906376723,652.093623277,0.400987285025,-0.00540686951365,0.0498519877841,0.999999961117,0.000112619279385,-0.000252154665216,-3.8739453976e-05,1793247498380954112
+73,1.216666667,BASELINE,765.519202398,745,715,678.038404795,659.519202398,634,877,785,808,652.519202398,629.519202398,652,0.400987932236,-0.00540809137187,0.0498524294113,0.999999961346,0.00011117570496,-0.000251934414644,-3.8433039453e-05,1793247498397620992
+74,1.233333333,BASELINE,765,745,715,677.053996047,659.053996047,634,877,785,808.053996047,652,629,652,0.400988549979,-0.00540941219125,0.0498529343368,0.999999961567,0.00010997192553,-0.000251627466508,-3.81579095741e-05,1793247498414287872
+75,1.250000000,BASELINE,765,745,715,677.629443449,659.629443449,634,877,785,808.629443449,652,629,652,0.400988070281,-0.00540962065663,0.049852797898,0.999999961491,0.00011084003988,-0.000251501143953,-3.84789503368e-05,1793247498430954752
+76,1.266666667,BASELINE,765,745,715,678.210469561,659.789530439,634,877,785,808.789530439,652,629,652,0.400987960834,-0.00540956213603,0.0498530142928,0.99999996154,0.000111076389483,-0.000251168134395,-3.86773263399e-05,1793247498447621376
+77,1.283333333,BASELINE,765,745,715,678.801585045,659.198414955,634,877,785,808.198414955,652,629,652,0.40098852101,-0.0054090207564,0.049853868807,0.999999961819,0.000110170157302,-0.000250461319889,-3.86538562743e-05,1793247498464287488
+78,1.300000000,BASELINE,765,745,715,679.384921421,659,634,877,785.384921421,808,652,629,652,0.400988692739,-0.00540907838089,0.0498539314068,0.999999961932,0.000109768493519,-0.000250198335251,-3.85816208357e-05,1793247498480954112
+79,1.316666667,BASELINE,765,745,715,679.964327323,659,634,877,785.964327323,808,652,629,652,0.400988668201,-0.0054094386568,0.0498535938857,0.999999961961,0.000109621766792,-0.000250159599061,-3.84847463214e-05,1793247498497620736
+80,1.333333333,BASELINE,765,745,715,678.919542687,659,634,877.540228657,785.459771343,808.540228657,652,629,652,0.400988744282,-0.00540886398869,0.0498539219681,0.999999961789,0.000111277710985,-0.000250141188398,-3.83116239471e-05,1793247498514287360
+81,1.350000000,BASELINE,765,745,715,678.118015779,659.118015779,634,877.881984221,785,808.881984221,652,629,652.118015779,0.400988708374,-0.00540820703032,0.0498540479392,0.999999961596,0.000113077145462,-0.00025012475891,-3.82040782031e-05,1793247498530954240
+82,1.366666667,BASELINE,765,745,715,678.704195711,659.704195711,634,877.295804289,785,808.295804289,652,629,652.704195711,0.400988202023,-0.00540746695858,0.0498531989127,0.999999961376,0.000114976636389,-0.000250110898748,-3.83765168177e-05,1793247498547621120
+83,1.383333333,BASELINE,765,745,715,678.712775643,660,634,877,785.287224357,808,652,629,652.712775643,0.40098805483,-0.00540726759653,0.049852958614,0.999999961284,0.000115146287825,-0.000250373707229,-3.85626187917e-05,1793247498564288000
+84,1.400000000,BASELINE,765,745,715,678.132957126,660,634,877,785.867042874,808,652,629,652.132957126,0.400988273508,-0.00540761905291,0.0498533384235,0.999999961321,0.000113553759779,-0.000250918356811,-3.87626395896e-05,1793247498580955136
+85,1.416666667,BASELINE,765.444350826,745,715,678.444350826,660,633.555649174,877,786,808.444350826,652.444350826,629,652,0.400988635567,-0.00540843183456,0.0498538962723,0.999999961605,0.000112324036782,-0.00025036290825,-3.86121290562e-05,1793247498597621760
+86,1.433333333,BASELINE,765.979200672,745,715,679,660,633.020799328,877,785.979200672,809,652.979200672,629,652,0.40098897216,-0.00540932539182,0.0498544575509,0.999999961931,0.000111261857563,-0.000249574474622,-3.83690860747e-05,1793247498614288128
+87,1.450000000,BASELINE,765.405739645,745,715,679,660,633.594260355,877,785.405739645,809,652.405739645,629,652,0.400987498525,-0.00540871807917,0.0498537024103,0.99999996144,0.000111783220291,-0.00025129257898,-3.84386006539e-05,1793247498630954752
+88,1.466666667,BASELINE,765,745,715,678.82710455,660,633.82710455,877,785,808.82710455,652,629,652.17289545,0.400986594224,-0.00540843787099,0.0498530508928,0.999999961142,0.000111992327059,-0.000252366948784,-3.85202891627e-05,1793247498647621120
+89,1.483333333,BASELINE,765,745,715,678.235952752,660,633.235952752,877,785,808.235952752,652,629,652.764047248,0.400987067216,-0.00540894897066,0.0498526500528,0.999999961321,0.000111446046435,-0.000251884041741,-3.86314279703e-05,1793247498664287488
+90,1.500000000,BASELINE,765,745,715,678,660,633.347263152,877.347263152,785,808.347263152,652,628.652736848,652.652736848,0.400986353872,-0.00540957114718,0.0498519088742,0.999999961097,0.000111291960122,-0.000252852044756,-3.85603440355e-05,1793247498680954368
+91,1.516666667,BASELINE,765,745,715,678,660,633.925207353,877.925207353,785,808.925207353,652,628.074792647,652.074792647,0.400984852464,-0.00541026711016,0.0498509416145,0.999999960602,0.000111398401889,-0.00025478386284,-3.83682126054e-05,1793247498697621248
+92,1.533333333,BASELINE,765,745,715,678,660,634,877.501146193,785.498853807,808.501146193,652.498853807,628.498853807,652,0.400986536383,-0.00540999559976,0.0498521347655,0.999999961185,0.000110680885505,-0.000252796942656,-3.83899027167e-05,1793247498714288384
+93,1.550000000,BASELINE,765.071865607,745,715,678,660,634,877,786,808,652.928134393,629,652,0.400988423217,-0.00540957584082,0.0498534599662,0.99999996181,0.000110096053965,-0.000250563832795,-3.84249862374e-05,1793247498730955008
+94,1.566666667,BASELINE,765.644906405,745,715,678,660,634,877,786,808,652.355093595,629,652,0.400988423098,-0.00540912515184,0.0498534664824,0.999999961653,0.000111290687366,-0.00025067617705,-3.83318162075e-05,1793247498747621120
+95,1.583333333,BASELINE,766,745,715,678.22841291,660,634,877,786,808,652.22841291,629,652,0.400988741042,-0.00540907209979,0.0498538028124,0.999999961722,0.000111827189878,-0.000250164507429,-3.83245309115e-05,1793247498764287488
+96,1.600000000,BASELINE,766,745,715,678.82897091,660,634,877,786,808,652.82897091,629,652,0.400989577194,-0.00540966690345,0.0498546764962,0.999999962158,0.000111291423156,-0.00024863615405,-3.84571745652e-05,1793247498780954112
+97,1.616666667,BASELINE,765.591193698,745,715,679,660,634,877,786,808.408806302,652.591193698,629,652,0.400987294999,-0.00540855674802,0.0498530979606,0.999999961465,0.000111199678633,-0.00025136371154,-3.90030991819e-05,1793247498797620736
+98,1.633333333,BASELINE,765.019609633,745,715,679,660,634,877,786,808.980390367,652.019609633,629,652,0.400983771145,-0.005406767715,0.0498505430045,0.999999960306,0.000111284734105,-0.000255785880102,-3.97135832651e-05,1793247498814287360
+99,1.650000000,BASELINE,765,745,715,679,659.441769209,634,877,785.441769209,809,652.558230791,629,652,0.400986118908,-0.00540873277115,0.0498520520183,0.99999996129,0.000110096686798,-0.000252524951663,-3.9106309796e-05,1793247498830954240
+100,1.666666667,BASELINE,765,745,715,679,659.139646891,634,877,785.139646891,808.860353109,653,629,652,0.400987949073,-0.0054101354991,0.0498532242822,0.999999961919,0.000109827902567,-0.000250222604209,-3.85928489786e-05,1793247498847620608
+101,1.683333333,BASELINE,765,745,715,679,659.731932398,634,877,785.731932398,808.268067602,653,629,652,0.400987425418,-0.00540928325771,0.049852837062,0.999999961179,0.000112685333485,-0.000251912036023,-3.85352061034e-05,1793247498864287232
+102,1.700000000,BASELINE,765,745,715,678.683733526,660,634,877,785.683733526,808.316266474,653,629,652,0.400987625211,-0.00540868174781,0.0498528588154,0.999999961155,0.000112809429185,-0.000251927142818,-3.86960885052e-05,1793247498880953856
+103,1.716666667,BASELINE,765,745,715,678.105973826,660,634,877,785.105973826,808.894026174,653,629,652,0.400988423162,-0.005408287546,0.0498532187134,0.999999961724,0.000110673567704,-0.000250557895872,-3.90376504459e-05,1793247498897620480
+104,1.733333333,BASELINE,765.46832406,745,715,678,660.46832406,634,876.53167594,785.46832406,809,652.53167594,629,652,0.400989138668,-0.00540853021836,0.0498541694338,0.999999962147,0.000110552791305,-0.000248938137423,-3.8903410736e-05,1793247498914287872
+105,1.750000000,BASELINE,765.957983514,745,715,678.042016486,660.915967028,634,876,785.957983514,809,652,629,652,0.400989611745,-0.0054088066123,0.0498550580733,0.999999962455,0.000110886091643,-0.00024758032269,-3.87014501194e-05,1793247498930955008
+106,1.766666667,BASELINE,765.382104386,745,715,678.617895614,659.764208772,634,876,785.382104386,809,652,629,652,0.400987239809,-0.00540769379461,0.0498534716665,0.999999961736,0.000111237724497,-0.000250265749199,-3.89969936677e-05,1793247498947621120
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660,634,877,785,809,653,629,652,0.400986000938,-0.00540924852843,0.0498520484118,0.999999960965,0.000112286445046,-0.000252933899159,-3.85581898263e-05,1793247498986749696
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.427376965,745,715,678.427376965,660,634,877,785.572623035,809,652.427376965,629,652,0.400988034917,-0.0054080714526,0.0498534702975,0.999999961683,0.000111496741976,-0.000250388699297,-3.88261655046e-05,1793247499003417088
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,678.145878737,660,634,877,785.854121263,809,652,629,652,0.400989152558,-0.00540747901105,0.0498542140273,0.999999962144,0.000110734339963,-0.000248857989613,-3.89931840599e-05,1793247499020084224
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,678.720996156,660,634,877,785.279003844,809,652,629,652,0.400987573933,-0.00540860681748,0.0498529623282,0.999999961861,0.00011005226934,-0.000250312350593,-3.88631429219e-05,1793247499036750080
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,809,652,629,652,0.400987905897,-0.00540896398821,0.049853038633,0.999999961886,0.000110332835724,-0.000250095125084,-3.88145783712e-05,1793247499053415936
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785,809,652,629,652,0.400990038052,-0.00540859505134,0.0498543662083,0.9999999622,0.000111520416936,-0.000248302899092,-3.88427826094e-05,1793247499070082048
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.519077923,715,678.519077923,660,634,877,785,808.519077923,652.480922077,629,652,0.40098828622,-0.0054078734159,0.0498535550825,0.999999961657,0.00011210222428,-0.000250207010403,-3.89350120966e-05,1793247499086748672
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.0601101,715,678.0601101,660,634,877,785.0601101,808.0601101,652.9398899,629,652,0.400986102299,-0.00540727432183,0.0498524789976,0.999999961054,0.000112360166853,-0.000252474042596,-3.90348136664e-05,1793247499103414784
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.633907613,715,678.633907613,660,634,877,785.633907613,808.633907613,652.366092387,629,652,0.400987051375,-0.00540834225413,0.0498528970805,0.999999961497,0.000110914991607,-0.000251346750619,-3.90868096799e-05,1793247499120082176
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785.79337047,808.79337047,652.20662953,629,652,0.400990060507,-0.00540866956414,0.0498542003608,0.999999962062,0.000111177569919,-0.000248987733116,-3.8987419028e-05,1793247499136749312
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785.222544412,808.222544412,652.777455588,629,652,0.400996700608,-0.00540769148431,0.0498570638527,0.999999962825,0.000114450163041,-0.000244457728078,-3.86212005948e-05,1793247499153415936
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.362592835,745,715,679,659.637407165,634,876.637407165,785,808.362592835,652.637407165,629.362592835,652,0.401015926793,-0.00540834738132,0.0498641978837,0.999999966171,0.000114440834411,-0.00023046002737,-3.80796305174e-05,1793247499170082560
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.956874679,745,715,679,659.043125321,634,876.043125321,785,808.956874679,652.043125321,629.956874679,652,0.401043195214,-0.00541004735423,0.0498740606975,0.999999970853,0.000112334428779,-0.000210412672606,-3.74260144695e-05,1793247499186748928
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,876.537330198,785,809,652.537330198,629.462669802,652,0.401099083222,-0.00541136432671,0.0498933346291,0.999999978437,0.000111493729276,-0.000171429959312,-3.61541221349e-05,1793247499203415296
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.884066679,745,715,678.884066679,659,634,877,785,809,653,629,652,0.401158538459,-0.00541304652934,0.0499115819247,0.999999984027,0.000110564436786,-0.000136048452881,-3.48268584274e-05,1793247499220081920
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.308518229,745,715,678.308518229,659,634,877,785,809,653,629,652,0.401223258083,-0.00541629548653,0.0499228398109,0.999999986213,0.000108891296192,-0.00012081761202,-3.34718659441e-05,1793247499236748544
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.727855743,715,678.272144257,659.272144257,634,877,785,808.727855743,652.727855743,629,652,0.40129686331,-0.00541972093036,0.0499324796838,0.999999988057,0.000107549064008,-0.00010623763263,-3.21222507266e-05,1793247499253415424
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.141284698,715,678.858715302,659.858715302,634,877,785,808.141284698,652.141284698,629,652,0.401380734675,-0.00542335028104,0.0499402501552,0.999999989576,0.000106589152944,-9.24096387294e-05,-3.0778848314e-05,1793247499270082816
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.439575479,715,679,659.560424521,634,877,785,808,652,629,652,0.401473280115,-0.00542587083913,0.0499414949227,0.999999989703,0.000104932238965,-9.31188777588e-05,-3.01849301251e-05,1793247499286749696
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,808.018574165,652,629,652,0.401569404816,-0.00542816885093,0.0499406746833,0.999999989421,0.00010299639691,-9.82913055379e-05,-2.97997899101e-05,1793247499303416320
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,808.596083785,652,629,652,0.401690417742,-0.00543435662781,0.0499400208693,0.999999989763,9.93219428912e-05,-9.8970290423e-05,-2.85412107122e-05,1793247499320082432
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,808.827053831,652,629,652,0.401822285393,-0.00543968414181,0.0499410889632,0.999999990183,9.69505226457e-05,-9.74201040536e-05,-2.72652648846e-05,1793247499336748800
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,808.251697511,652,629,652,0.401979409741,-0.00544301000022,0.0499461635826,0.999999990788,9.76109944075e-05,-9.06830947248e-05,-2.59489106587e-05,1793247499353415424
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.669366204,715,678.669366204,659,634,877,785,808.330633796,652,629,652,0.402151244453,-0.00544920511132,0.0499478139518,0.999999991207,9.42017885842e-05,-9.00702358816e-05,-2.4490773061e-05,1793247499370081792
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.081610645,715,678.081610645,659,634,877,785,808.918389355,652,629,652,0.402334518891,-0.00545763153526,0.0499468014078,0.999999991459,8.76277439915e-05,-9.42199032986e-05,-2.29223756e-05,1793247499386748416
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.495240713,715,678,659.495240713,634,877,785,808.504759287,652,629,652,0.402543236906,-0.00546434013423,0.0499452838183,0.999999991513,8.44866183992e-05,-9.672548919e-05,-2.18945647782e-05,1793247499403415296
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,678.070757197,660,634,877,785,808.070757197,652,629,652,0.402762061688,-0.00547115812695,0.0499442410387,0.99999999163,8.16976538102e-05,-9.81469621287e-05,-2.07818408922e-05,1793247499420081920
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,678.649311934,660,634,877,785,808.649311934,652,629,652,0.40302397681,-0.00548074899163,0.0499471902054,0.999999992441,7.74635909881e-05,-9.36906278373e-05,-1.84341846469e-05,1793247499436748800
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.22530515,745,715,679,659.77469485,634,877,785,809,652,629,652,0.403304331965,-0.00549022347059,0.0499530406267,0.999999993736,7.3279829696e-05,-8.30828781887e-05,-1.59557287014e-05,1793247499453415424
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.797356136,745,715,679,659.202643864,634,877,785,809,652,629,652,0.403613066413,-0.00549951883072,0.0499633560941,0.999999995534,6.91734829641e-05,-6.30080675177e-05,-1.32759714512e-05,1793247499470082048
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.612803436,745,715,679,659,634,877.387196564,785,809,652,629.387196564,652,0.403956257598,-0.00550852791696,0.0499727573167,0.999999996693,6.78112363255e-05,-4.36651480634e-05,-1.04080277228e-05,1793247499486748672
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.013204359,745,715,679,659,634,877.986795641,785,809,652,629.986795641,652,0.404318350536,-0.00551737996303,0.0499816570162,0.999999997358,6.79543072853e-05,-2.47237192255e-05,-7.43685155163e-06,1793247499503415296
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659.561266686,634,877.438733314,785.561266686,809,652,629.438733314,652,0.404704569414,-0.00552527947982,0.049989918184,0.999999997628,6.7951916807e-05,-1.04395141367e-05,-4.09562398028e-06,1793247499520082176
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.865186814,715,679,659.865186814,634,877,785.865186814,809,652.134813186,629,652,0.405097106049,-0.00552924825648,0.049994074239,0.999999997359,7.26198600779e-05,-2.81379803957e-06,-9.80379927988e-07,1793247499536748544
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.292804721,715,679,659.292804721,634,877,785.292804721,809,652.707195279,629,652,0.405508385126,-0.00552052847843,0.0499849528211,0.999999995589,9.24571361549e-05,-1.64594429894e-05,1.3743330889e-06,1793247499553415168
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.290328931,715,679,659,634,877,785,809.290328931,652.709671069,628.709671069,652,0.405924256206,-0.00551054271964,0.0499689195424,0.999999992411,0.000114232128331,-4.60666697492e-05,2.73957592547e-06,1793247499570081792
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.884722893,715,679,659,634,877,785,809.884722893,652.115277107,628.115277107,652,0.406344936598,-0.0054992310827,0.0499456473863,0.9999999862,0.000138036516473,-9.23906574241e-05,3.06853485888e-06,1793247499586748416
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.46530614,745,715,679,659.46530614,634,877,785,809.53469386,652.46530614,628.46530614,652,0.406831663632,-0.00550382359454,0.0499291171676,0.999999982303,0.000144471216212,-0.000120373803351,5.72921039276e-06,1793247499603415552
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.957634455,745,715,679,659.957634455,634,877.042365545,785,809,653,629,652,0.407339524169,-0.00551196382753,0.049916527192,0.999999979375,0.0001471028939,-0.000139750926253,8.99722723258e-06,1793247499620082688
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.383098658,745,715,679,659.383098658,634,877.616901342,785,809,653,629,652,0.407913237714,-0.00551660107297,0.0499330559027,0.999999982322,0.000154459952199,-0.000106456194378,1.28471223692e-05,1793247499636749056
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.39144943,634,877.804275285,785.195724715,809,652.804275285,629,652,0.408500593479,-0.00552010703826,0.0499540153228,0.99999998426,0.000163180836815,-6.74442019161e-05,1.74025127574e-05,1793247499653415424
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.566256458,634,877.216871771,785.783128229,809,652.216871771,629,652,0.409115249636,-0.00552134911722,0.049983841353,0.999999984335,0.000174630971906,-1.69909902801e-05,2.33697201843e-05,1793247499670082048
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.36689155,745,715,679,660.63310845,634,877.36689155,786,809.36689155,652,629,652,0.409747309812,-0.00551989585574,0.0499983095728,0.999999981676,0.0001893350276,4.30673057158e-06,2.79551578812e-05,1793247499686748672
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.948524251,745,715,679,660.051475749,634,877.948524251,786,809.948524251,652,629,652,0.410389556516,-0.00551686501495,0.0500037888849,0.999999978254,0.000205943598562,8.53977858161e-06,3.17318473524e-05,1793247499703415296
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660,634,877.479413742,785.479413742,810,652,629.520586258,652.520586258,0.411016761986,-0.00551463516512,0.0499764712123,0.999999973556,0.000221375238006,-5.16629945995e-05,3.48034187092e-05,1793247499720082176
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.907187648,745,715,678.907187648,660,634,877.092812352,785,810,652,629.907187648,652.907187648,0.411656808258,-0.00551390630262,0.0499495177499,0.999999966005,0.00023460077505,-0.000107349737507,3.7804539309e-05,1793247499736748800
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.329246795,745,715,678.329246795,660,634,877.670753205,785,810,652,629.329246795,652.329246795,0.412371606613,-0.00552061655957,0.0499411129929,0.999999965413,0.000236892364683,-0.000106729077468,4.07952730747e-05,1793247499753415424
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,678,660.254388647,633.745611353,878,785.254388647,810,652,629.254388647,652.254388647,0.413114384433,-0.00552490954124,0.0499481167537,0.99999996813,0.000234154176939,-8.43615337758e-05,4.23559354793e-05,1793247499770082048
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,678,660.845563252,633.154436748,878,785.845563252,810,652,629.845563252,652.845563252,0.413894204458,-0.0055260022852,0.0499755199002,0.999999973308,0.000224757050399,-3.32032196577e-05,4.20233220832e-05,1793247499786748672
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,678.85696664,661,633,878,786,810,652,629.57151668,653,0.414662282566,-0.00552813774269,0.0499724307569,0.99999998659,0.000156570343408,-4.04063274193e-05,2.59563380083e-05,1793247499803415552
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.008434871,745,715,679.991565129,660.983130258,633.008434871,878,785.991565129,810,652,629,653,0.415426887032,-0.00553071026928,0.0499584406522,0.999999995267,6.90949267401e-05,-6.83280982903e-05,4.71638687956e-06,1793247499820081920
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.585048083,745,715,679.414951917,659.829903834,633.585048083,878,785.414951917,810,652,629,653,0.416237196624,-0.005537886953,0.0499364714878,0.999999991361,8.26686877866e-05,-0.000101721724264,9.80974337759e-06,1793247499836748544
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.839857022,745,715,679,659.160142978,634,878,785,810,652,629.160142978,653,0.417061784961,-0.00554172136625,0.0499290083171,0.999999989039,9.66490832779e-05,-0.000111204934902,1.4668062224e-05,1793247499853415168
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.268659374,745,715,679,659.731340626,634,878,785,810,652,629.731340626,653,0.417923023907,-0.00553697684603,0.0499587791027,0.999999991826,0.000111673226492,-5.9314938263e-05,1.89230866054e-05,1793247499870082048
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.314355847,745,715,679,660.314355847,633.685644153,878,785,810,652,629.685644153,652.685644153,0.418768010976,-0.00553312995137,0.0499729564141,0.999999991284,0.00012357684014,-4.08353270935e-05,2.22234594983e-05,1793247499886748928
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.907865252,745,715,679,660.907865252,633.092134748,878,785,810,652,629.092134748,652.092134748,0.419598566043,-0.00553008016434,0.0499732864428,0.999999989536,0.000132709367677,-5.20247326693e-05,2.46760847731e-05,1793247499903415552
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.511646462,744.511646462,715,678.511646462,660.511646462,633,878,785,810.488353538,652,629.488353538,652.488353538,0.420483115234,-0.0055317295358,0.0499647168937,0.999999989869,0.000129964820816,-5.28213068679e-05,2.41197282077e-05,1793247499920081920
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,744,715,678.066011126,660,633.066011126,878.066011126,785,810.933988874,652,630,653,0.421386098793,-0.00553451599464,0.0499588562731,0.999999990859,0.000124979521848,-4.5994008474e-05,2.33720102857e-05,1793247499936748544
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,744,715,678.64029679,660,633.64029679,878.64029679,785,810.35970321,652,630,653,0.422354624189,-0.0055394087405,0.0499864464422,0.99999999252,0.000119546324722,4.83044506906e-06,2.54084133169e-05,1793247499953415424
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,744.213977983,715,679,660.213977983,633.786022017,879,785,810.213977983,652,630,653,0.423290912097,-0.00554243006553,0.0499969145506,0.999999992599,0.000116528430609,2.25922278057e-05,2.67059467597e-05,1793247499970082048
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,744.786645996,715,679,660.786645996,633.213354004,879,785,810.786645996,652,630,653,0.424173160647,-0.00554231433967,0.0499786810542,0.999999992618,0.000117559294123,-1.50687412719e-05,2.67649178639e-05,1793247499986748672
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.372873526,745,715,679.372873526,660.627126474,633,879,785,811,652,630,653,0.425090195912,-0.00554356709853,0.0499781218076,0.999999992859,0.000115471585828,-1.47393323863e-05,2.70206096859e-05,1793247500003415296
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.96715241,745,715,679.96715241,660.03284759,633,879,785,811,652,630,653,0.426027886829,-0.00554563243815,0.0499880572025,0.999999993372,0.000111532127604,8.14805793761e-06,2.73931106081e-05,1793247500020081920
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.453997737,745,715,679.453997737,660.546002263,633,879,784.453997737,810.453997737,652,630,653,0.42695861421,-0.00554689852938,0.0499969198053,0.999999993179,0.000112800290706,7.56946757994e-07,3.02748082812e-05,1793247500036748800
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.876088562,633,879,784.123911438,810,652,630,653,0.427885260588,-0.00554689479539,0.0499952717125,0.999999992721,0.000114623327207,-1.9611350498e-05,3.21715784584e-05,1793247500053415424
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.298318502,633,879,784.701681498,810,652,630,653,0.428798451428,-0.00554241126498,0.0499553552949,0.999999989383,0.000117362757302,-8.10234534906e-05,2.99230759796e-05,1793247500070082048
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.283607118,660,633,879,784.716392882,810.567214236,652,630.283607118,653,0.429732942863,-0.0055425303368,0.0499424422953,0.999999988779,0.000113963181673,-9.28687275202e-05,2.87902413069e-05,1793247500086748672
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.869968819,660,633,879,784.130031181,811.739937638,652,630.869968819,653,0.430690172922,-0.00554756275144,0.0499583558265,0.999999992833,0.000104010131212,-5.1800711453e-05,2.88483978881e-05,1793247500103415296
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.547334571,745,715,680,660.905330857,633,879.452665429,784,811.547334571,652,630.547334571,653,0.431602048946,-0.00554926050817,0.0499476676976,0.999999991407,0.000103076404465,-7.55076640771e-05,2.93075725448e-05,1793247500120081920
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.06772986,745,715,680,661.93227014,633,879.96613507,784,811.03386493,652,630,653,0.432503372438,-0.00554996151193,0.0499308881685,0.999999987601,0.000104681861593,-0.000113785074166,2.98818447597e-05,1793247500136748544
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.215685826,745,715,680,660.784314174,633,879.392157087,784,811.607842913,652,630,653,0.433442511294,-0.00554992018804,0.0499378524907,0.999999989884,0.000105794996507,-9.00662679701e-05,3.04693167948e-05,1793247500153415680
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.818042073,745,715,680,660,633,879,784,812,652,630,653,0.434383208798,-0.00555026612871,0.0499507022114,0.99999999175,0.00010692379218,-6.38454721838e-05,3.14767836496e-05,1793247500170082560
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.2436314,745,715,680,660,633,879,784,812,652,630,653,0.435327268221,-0.00555144733408,0.0499762457514,0.999999993082,0.000108086365734,-3.22282997898e-05,3.33901090514e-05,1793247500186749696
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.340231641,879,784,812,652,630.340231641,653,0.436197955678,-0.00555056476015,0.0499686480173,0.999999991711,0.000107816355828,-6.17564743028e-05,3.37524744212e-05,1793247500203416320
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.931056672,879,784,812,652,630.931056672,653,0.437014601866,-0.00554816213514,0.0499366404878,0.999999984495,0.000106491193886,-0.000136320496252,3.2972499199e-05,1793247500220082944
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.513062791,633.486937209,879,784.513062791,812.513062791,652,631,653,0.437931090591,-0.00555160159788,0.0499541185607,0.999999990686,0.000101571388163,-8.48480911236e-05,3.33540526278e-05,1793247500236749312
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.09292676,633,879,784.90707324,812.90707324,652,630.90707324,653,0.43884637899,-0.00555501483133,0.0499741702429,0.999999994352,9.64289181799e-05,-2.93874747935e-05,3.36730807623e-05,1793247500253415424
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.667723857,633,879,784.332276143,812.332276143,652,630.332276143,653,0.439687047974,-0.00555429004793,0.0499736682165,0.999999994389,9.25942666661e-05,-3.9584780498e-05,3.28722035952e-05,1793247500270082048
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.246978471,745,715,680,661.506043058,633,879,784,812.246978471,652,630.246978471,653,0.440511611599,-0.0055550182767,0.0499663095332,0.999999993977,8.93223459538e-05,-5.50479483283e-05,3.22195204205e-05,1793247500286748928
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.83234025,745,715,680,660.335319501,633,879,784,812.83234025,652,630.83234025,653,0.441314109328,-0.00555773726635,0.0499495565969,0.999999992706,8.68214186885e-05,-7.77258326008e-05,3.17698767558e-05,1793247500303415808
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.416118903,633,879,784,813,652,631,653,0.442137873579,-0.00555867879773,0.0499617440388,0.999999994456,8.68814325574e-05,-4.97896820958e-05,3.25604028114e-05,1793247500320082944
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.999262161,633,879,784,813,652,631,653,0.442970173986,-0.00555890688223,0.0499855477458,0.999999995557,8.79693722993e-05,-1.5377619776e-06,3.38487156905e-05,1793247500336750080
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.424803789,744.424803789,715,680,660.424803789,633,879.575196211,784,813,652,631,653,0.443699489613,-0.00555642657925,0.0499844880412,0.999999994635,9.61929279767e-05,-1.44093443566e-05,3.56333313976e-05,1793247500353416448
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.150273855,715,680,660,633,879.849726145,784,813.150273855,652,631,653,0.444417472865,-0.00555461289831,0.0499753778884,0.999999993403,0.00010256277929,-3.63522001433e-05,3.67883232118e-05,1793247500370082560
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.722969928,715,680,660,633,879.277030072,784,813.722969928,652,631,653,0.44510396755,-0.00555468274723,0.0499437263405,0.999999990477,0.000103696428103,-8.35768793851e-05,3.61716650792e-05,1793247500386748928
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879.305692676,784,813.694307324,652,631,653,0.445813203121,-0.00555547852902,0.0499371380635,0.999999990557,0.00010461285623,-8.13198056346e-05,3.64611013662e-05,1793247500403415296
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879.897810077,784,813.102189923,652,631,653,0.446543746168,-0.00555695448777,0.0499540333096,0.999999993212,0.000105325755094,-3.26998338641e-05,3.75995205494e-05,1793247500420081920
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.478255625,745,715,680.478255625,660,633,880,784,813.478255625,652,631,653,0.447198926503,-0.00555351512833,0.0499583732698,0.999999992758,0.000111055514654,-2.58017937822e-05,3.85394619329e-05,1793247500436748800
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680.404363561,660,632,880.191272878,784,814,652,631,653,0.453683026244,-0.00556898230944,0.0498959057342,0.999999987216,2.44270811161e-05,-0.00015681360784,1.95265980147e-05,1793247500670082304
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+251,4.183333333,HOLD_POSE2,766,745,715.659944925,680.659944925,660,630.340055075,880.659944925,784,814,652,630.340055075,653,0.456088095603,-0.00554593628129,0.0497892014885,0.999999944398,6.06697635484e-05,-0.000327260014648,2.05811814459e-05,1793247501409623552
+252,4.200000000,HOLD_POSE2,766,745,715.086709039,680.086709039,660,630.913290961,880.086709039,784,814,652,630.913290961,653,0.4560891984,-0.00554686067692,0.049790165979,0.999999944753,6.10232125122e-05,-0.000326078933538,2.10562966834e-05,1793247501426290176
+253,4.216666667,HOLD_POSE2,766,745,715,680.488838813,659.511161187,630.511161187,880,783.511161187,814,651.511161187,631,653,0.456089186396,-0.00554664099593,0.0497894223934,0.999999944513,6.1516393069e-05,-0.000326738823533,2.07481717501e-05,1793247501442956544
+254,4.233333333,HOLD_POSE2,766,745,715,681,659,630,880,783.066650423,814.066650423,651.066650423,630.933349577,653,0.456088865656,-0.00554621119852,0.0497884357488,0.99999994416,6.20619313327e-05,-0.000327741676948,2.03577136045e-05,1793247501459623168
+255,4.250000000,HOLD_POSE2,766,745,715,681,659,630,880,783.659069215,814.659069215,651.659069215,630.340930785,653,0.456087676743,-0.00554573234635,0.0497879331002,0.999999943743,6.28240443995e-05,-0.000328861789787,2.0418918086e-05,1793247501476290304
+256,4.266666667,HOLD_POSE2,766,745,715,680.755107288,659,630,880,783.755107288,814.755107288,652,630,653,0.456086730189,-0.00554587932791,0.0497873614526,0.999999943394,6.20581208257e-05,-0.000330067883331,2.03851850637e-05,1793247501492957184
+257,4.283333333,HOLD_POSE2,766,745,715,680.178224779,659,630,880,783.178224779,814.178224779,652,630,653,0.45608611219,-0.00554687472353,0.0497866962662,0.999999943132,5.9220708129e-05,-0.000331390536873,2.02227496246e-05,1793247501509624064
+258,4.300000000,HOLD_POSE2,766,745,715,680.394858903,659,630.394858903,880,783,814,652,630,653,0.456087624385,-0.0055464607915,0.0497872941937,0.999999943655,5.98378298681e-05,-0.000329712395335,1.99631027688e-05,1793247501526290688
+259,4.316666667,HOLD_POSE2,766,745,715,680.966244321,659,630.966244321,880,783,814,652,630,653,0.456090088909,-0.00554541680233,0.0497884568116,0.999999944521,6.19993433561e-05,-0.000326692711659,1.96599963424e-05,1793247501542957056
+260,4.333333333,HOLD_POSE2,765.443241713,745,715,681,659,631,880,783,814,652,630,653,0.456089314913,-0.00554477239772,0.0497878166843,0.999999944249,6.08790488953e-05,-0.000327738795516,1.95783398374e-05,1793247501559623168
+261,4.350000000,HOLD_POSE2,765,745,715,680.854530495,659,631,879.854530495,783.145469505,814,652,630.145469505,653,0.456088628559,-0.00554408416362,0.0497872242728,0.999999943887,6.03981639607e-05,-0.000328938066109,1.94556002825e-05,1793247501576289792
+262,4.366666667,HOLD_POSE2,765,745,715,680.274786341,659,631,879.274786341,783.725213659,814,652,630.725213659,653,0.45608881087,-0.00554319018677,0.0497871122105,0.999999943472,6.24412612141e-05,-0.000329832573564,1.91687062208e-05,1793247501592956416
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,630,880,784,815,652,630,653,0.456087082175,-0.00554431346707,0.0497850587264,0.999999942702,6.07843333288e-05,-0.000332446715246,1.9500813727e-05,1793247501629886976
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.424249047,745,715,681,659,630,879.424249047,783.424249047,815,652,630.575750953,652.424249047,0.456087715876,-0.00554401334592,0.0497868967867,0.999999943204,6.13285322246e-05,-0.00033080308727,1.99864622952e-05,1793247501646552576
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.155807256,630,879,783.155807256,814.844192744,652,630.844192744,652.155807256,0.456088668629,-0.00554374640963,0.0497882321545,0.999999943694,6.2104658702e-05,-0.000329148138392,2.03972893231e-05,1793247501663218432
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.747919917,630,879,783.747919917,814.252080083,652,630.252080083,652.747919917,0.456090514816,-0.00554357240044,0.0497881598384,0.999999944154,6.35302496516e-05,-0.00032746148734,2.05985944951e-05,1793247501679885056
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.331559102,745,715,680.668440898,659.668440898,630.331559102,879,784,814,652,630,653,0.456091599224,-0.00554407708995,0.0497883032646,0.999999944364,6.33875875387e-05,-0.000326860778671,2.03942699045e-05,1793247501696551680
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.908916518,745,715,680.091083482,659.091083482,630.908916518,879,784,814,652,630,653,0.456092118894,-0.00554508492655,0.0497886066293,0.999999944389,6.20823152528e-05,-0.000327065123572,1.98892353812e-05,1793247501713218304
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,630.516103928,879,783.516103928,814,651.516103928,630,653,0.456090789368,-0.00554465182979,0.0497879597814,0.999999943937,6.17029787351e-05,-0.000328507968467,2.00556763404e-05,1793247501729884672
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.059937805,680.059937805,659,630.059937805,879.059937805,783.059937805,814.059937805,651.059937805,630,653,0.456088920264,-0.00554402459923,0.0497870416899,0.99999994336,6.1553485195e-05,-0.000330270896738,2.02885053077e-05,1793247501746551296
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.649295684,680.649295684,659,630.649295684,879.649295684,783.649295684,814.649295684,651.649295684,630,653,0.4560853446,-0.00554406659618,0.0497852998463,0.999999942502,6.19022236715e-05,-0.000332812007322,1.99967935913e-05,1793247501763217920
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,716,681,659,631,879.765373163,784,814.765373163,652,630.234626837,653,0.456077472842,-0.00554390958595,0.0497813539725,0.999999940487,6.23227272601e-05,-0.000338750654041,1.97316576064e-05,1793247501779884800
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,716,681,659,631,879.185959384,784,814.185959384,652,630.814040616,653,0.456063287924,-0.00554346013231,0.0497741692504,0.999999936696,6.28486905033e-05,-0.000349682020461,1.95055750011e-05,1793247501796551680
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.607790755,681,659,630.607790755,879.392209245,784,814,652,630.607790755,652.607790755,0.456031700469,-0.00554306400797,0.0497593998305,0.999999928194,6.21849742945e-05,-0.000373357618729,1.87108153835e-05,1793247501813218304
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.030210573,681,659,630.030210573,879.969789427,784,814,652,630.030210573,652.030210573,0.455991888003,-0.00554269308876,0.0497410456334,0.999999916759,6.09589766108e-05,-0.000403056559118,1.76472803494e-05,1793247501829884928
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,630,880,784,814,652,630,652.539918547,0.455930116061,-0.00553772071757,0.0497180698775,0.999999901397,6.58640880687e-05,-0.000438871376177,1.61089353479e-05,1793247501846552320
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.114054556,630,879.885945444,784,814.114054556,652,630,653,0.455865015785,-0.0055334549012,0.0496962325614,0.999999886211,6.98913730794e-05,-0.000471679074367,1.45751480234e-05,1793247501863219712
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.706731115,630,879.293268885,784,814.706731115,652,630,653,0.455791034415,-0.00553321983601,0.0496802430225,0.999999877274,6.88148930059e-05,-0.000490451119449,1.317045725e-05,1793247501879885824
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.706901695,745,715.293098305,680.706901695,659.706901695,630.293098305,879.293098305,783.706901695,814.706901695,652,630,653,0.455715048531,-0.00553157844711,0.0496713897554,0.99999987253,6.9195884255e-05,-0.000500000769403,1.22724048608e-05,1793247501896552192
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.126714549,745,715.873285451,680.126714549,659.126714549,630.873285451,879.873285451,783.126714549,814.126714549,652,630,653,0.455637099237,-0.00552855956867,0.0496695264443,0.99999987215,7.10044640355e-05,-0.000500517112144,1.18706032189e-05,1793247501913218816
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,744.551439825,715.551439825,680.448560175,659,631,880,783,814,652,630,653,0.455538177028,-0.00552335571605,0.0496714317442,0.999999872751,7.55680428226e-05,-0.000498658497476,1.13144667121e-05,1793247501929885696
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.02246787,744,715,680.97753213,659,631,880,783.02246787,814,652,630,653,0.455432573722,-0.00551759866414,0.0496744421178,0.999999873674,8.08052294506e-05,-0.000495991538455,1.07189662834e-05,1793247501946552320
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.596514636,744,715,680.403485364,659,631,880,783.596514636,814,652,630,653,0.455306824821,-0.00551324956932,0.049678729198,0.999999876508,8.36801061871e-05,-0.000489772085484,1.02158241785e-05,1793247501963219968
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,744.1762203,715,680.1762203,659,631,880,783.8237797,814,652,630,653,0.455170779592,-0.00550865540918,0.0496813711145,0.999999878663,8.66266595091e-05,-0.000484847935117,9.60197815657e-06,1793247501979887104
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,744.769312747,715,680.769312747,659,631,880,783.230687253,814,652,630,653,0.455010377069,-0.00550348151565,0.0496801211811,0.999999879296,8.97427727589e-05,-0.000482987993233,8.72624762611e-06,1793247501996553216
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.353358774,631,879.646641226,783.353358774,814,652,630,653,0.454830639487,-0.00549758303482,0.0496805604335,0.999999878636,9.34592697364e-05,-0.000483661075924,8.06487049274e-06,1793247502013219584
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.931646404,631,879.068353596,783.931646404,814,652,630,653,0.454638594248,-0.00549122332086,0.0496820749289,0.999999877141,9.75579384384e-05,-0.000485946543227,7.53993891347e-06,1793247502029885952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.493222556,659.493222556,631,879,784,814,652,630.506777444,653,0.454433390649,-0.00548240554679,0.0496940574362,0.999999885284,0.000103964880036,-0.000467524662791,6.69290766861e-06,1793247502046552320
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+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.657860843,631,879,784,814,652,630.342139157,653,0.453969009979,-0.00546631050838,0.0497227178957,0.999999902643,0.00011538821321,-0.000425874728966,5.47745368938e-06,1793247502079886080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.240030673,660,631.240030673,879.240030673,784,813.759969327,652,630.240030673,652.759969327,0.453697311045,-0.00545800818247,0.0497356112466,0.999999908724,0.000121537988681,-0.000409579233461,5.03406262521e-06,1793247502096553216
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.83097421,660,631.83097421,879.83097421,784,813.16902579,652,630.83097421,652.16902579,0.453395569107,-0.00544812487548,0.0497453660206,0.999999911815,0.000129432268497,-0.000399496155279,4.52051585051e-06,1793247502113219584
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.143159329,745,715,680,660.143159329,632,880,783.143159329,813.856840671,652,631,653,0.451935466731,-0.0054231327311,0.0497630401431,0.999999916503,0.000136514993546,-0.000385170053194,-1.42346690272e-06,1793247502179885824
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744.280262006,715,680,660.719737994,632.719737994,879.280262006,784.280262006,811,652.719737994,631,652.719737994,0.44373443027,-0.00540490031195,0.0497946589319,0.999999947203,3.84328218135e-05,-0.000320297401687,-3.9067852413e-05,1793247502413219072
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.431419505,660,632.431419505,879.568580495,785,811,652,631,652.431419505,0.442152745006,-0.00539804136348,0.049773209201,0.999999936267,2.77354414849e-05,-0.000352813160468,-4.71102084747e-05,1793247502446552064
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.011469481,633,879.011469481,785,811.011469481,652,631,653,0.441384778627,-0.00539573725364,0.0497785184743,0.999999942658,1.86961469958e-05,-0.000334316365564,-5.06597261265e-05,1793247502463218688
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.493950247,745,715,681,660,633,879,785,811.506049753,652,631,653,0.436233281612,-0.00539403095678,0.0497932929689,0.999999942595,-4.36221287569e-05,-0.000328951213926,-6.85478569861e-05,1793247502563219200
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.069146109,681,660,633,878.930853891,785,811,652,630.930853891,653,0.435352876563,-0.00539112764481,0.0498132312097,0.999999952018,-3.2668263107e-05,-0.00030080281675,-6.64366846323e-05,1793247502579886080
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.755079463,745,715.755079463,681,660,633,878.244920537,785,811,652,630.244920537,653,0.433528223769,-0.00538137731258,0.0497752494822,0.99999992293,0.000143787739693,-0.0003646821419,-2.17206942341e-05,1793247502613219328
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.175969808,745,715.175969808,681,660,633,878.824030192,785,811,652,630.824030192,653,0.432628770038,-0.0053776719987,0.0497901467504,0.99999993306,0.000131332223183,-0.00034055041015,-2.56480224424e-05,1793247502629886208
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.278808554,745,715,680,660,633,879,784,811,652,630.278808554,652.721191446,0.427928875941,-0.00537562940746,0.0497769757814,0.999999931788,6.77873606995e-05,-0.000360129395733,-4.6214805169e-05,1793247502713218304
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.305091696,745,715,680,659.694908304,633.305091696,879,784,811,652,630,652.694908304,0.426988260413,-0.00537183806591,0.0497777544863,0.999999930729,7.3159018213e-05,-0.000362000646271,-4.63195426354e-05,1793247502729885696
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.542524446,745,715,680.457475554,659.457475554,633.542524446,878.542524446,784.457475554,810.542524446,652,630,652,0.425114763524,-0.00536616556921,0.0497824912351,0.999999938315,8.25269566903e-05,-0.00033815456096,-4.70260777133e-05,1793247502763219456
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.692334519,634,878,785,809.846167259,652,630,652.153832741,0.415534592294,-0.00536784235317,0.0498102789276,0.99999995103,7.93735500426e-05,-0.000298570510616,-4.99623453523e-05,1793247502946552320
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.576227479,745,715,680.423772521,660.152454959,634,878,785,810.423772521,652,630,652,0.414741270816,-0.00536844182428,0.0498082223169,0.999999949572,8.0149697354e-05,-0.000303158903115,-5.02668275399e-05,1793247502963218944
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.99850894,659,633.99925447,878,785,810.99850894,652,630,652,0.413937350565,-0.00536758645795,0.0497941009957,0.999999940671,8.26304504466e-05,-0.000330454962384,-5.12769241807e-05,1793247502979885824
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.828609296,659,633.414304648,878,785,809.828609296,652,630,652,0.413175438679,-0.00536340943753,0.0497764783411,0.99999993071,8.93435251518e-05,-0.000357523746002,-5.26798969235e-05,1793247502996552704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.168549684,745,715,679.168549684,659.168549684,633.168549684,878,785.168549684,809.168549684,652,630,652,0.412436232614,-0.0053608619426,0.0497712667725,0.999999926673,9.42831859676e-05,-0.000367315934222,-5.33186125871e-05,1793247503013219328
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.277701571,745,715,679,659,634,877,785,809,652,629,653,0.402790001229,-0.00539045455563,0.0498273707089,0.999999943818,5.25972038778e-05,-0.000326221271705,-5.63697301408e-05,1793247503346552064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.302336143,745,715,679,659.302336143,634,877,785,808.697663857,652.302336143,629,652.697663857,0.402537065753,-0.00538912523566,0.0498174405774,0.99999993801,5.26122991984e-05,-0.00034338888031,-5.74107158306e-05,1793247503363218688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.925388487,745,715,679,659.925388487,634,877,785,808.074611513,652.925388487,629,652.074611513,0.402304916561,-0.00538701988752,0.0498110012863,0.999999934209,5.50234823511e-05,-0.000353812564025,-5.80664241828e-05,1793247503379885568
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.499373552,660,634,877,785.500626448,808.500626448,652.499373552,629,652,0.40212618826,-0.00538584625718,0.0498125093292,0.999999936503,5.58694960691e-05,-0.000347031469597,-5.86701022479e-05,1793247503396551936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.072504676,659.927495324,634,877,785.927495324,809,652,629,652,0.401957433355,-0.00538447089598,0.0498152680714,0.999999939443,5.88496414911e-05,-0.000337923948792,-5.88095088003e-05,1793247503413218560
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.667027042,659.332972958,634,877,785.332972958,809,652,629,652,0.401808159962,-0.00538073051821,0.0498192473257,0.999999941258,7.87281162174e-05,-0.000328918390856,-5.5657225687e-05,1793247503429885184
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.745136523,745.254863477,715,679,659.254863477,634,877,785,809,652.254863477,629.254863477,652,0.401675927039,-0.00537766726441,0.0498246830643,0.999999942128,0.000113264938814,-0.000317083802618,-4.87095328092e-05,1793247503446551552
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.165811838,745.834188162,715,679,659.834188162,634,877,785,809,652.834188162,629.834188162,652,0.401565387981,-0.00537546604277,0.0498319730215,0.999999939967,0.000166462987195,-0.000301647636755,-3.6929985549e-05,1793247503463218176
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745.589754424,715,678.589754424,660,634,877,785,809,653,629.589754424,652,0.401466328998,-0.00537850301519,0.0498348537071,0.999999940722,0.000175329394711,-0.000294380183502,-3.39840061415e-05,1793247503479884800
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.559231553,659.440768447,634,877,785.559231553,809,653,629.559231553,652,0.401294798042,-0.00538896600895,0.0498335824681,0.999999943747,0.000158394729568,-0.000293565492493,-3.5151612616e-05,1793247503513218304
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.11298462,745,715,679,659.11298462,634,877.11298462,786,808.88701538,652.88701538,629,652,0.401090789337,-0.00539761706183,0.0498361544185,0.999999949695,0.000137113117924,-0.000283597377196,-3.71763637893e-05,1793247503579884800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745.463358295,715,679,659.463358295,634,877,785.536641705,809,653,629,652,0.401063401531,-0.00539790481164,0.0498377710678,0.999999950835,0.000135951372855,-0.000280094706863,-3.73335877816e-05,1793247503596551680
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.041015643,745.958984357,715,678.958984357,660,634,877,785,809.041015643,653,629,652,0.401038507039,-0.00539813022046,0.0498390793899,0.999999951744,0.000135377535332,-0.000277090569614,-3.74826383326e-05,1793247503613218304
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.630171036,745.369828964,715,678.369828964,660,634,877,785,809.630171036,653,629,652,0.401022151791,-0.0053984828696,0.0498388991723,0.999999951872,0.000134254419487,-0.000277154627921,-3.76529174649e-05,1793247503629884928
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.784152768,745,715,678.215847232,659.784152768,634,877,785,809.784152768,652.784152768,629,652,0.401007874129,-0.00539924122989,0.0498388272816,0.999999952062,0.000132345742498,-0.000277360775239,-3.78463978074e-05,1793247503646551552
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.204343242,745,715,678.795656758,659.204343242,634,877,785,809.204343242,652.204343242,629,652,0.400997099701,-0.00540068370161,0.0498389380521,0.999999952352,0.000129112449847,-0.000277806513496,-3.80790000945e-05,1793247503663218176
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,634,877,785.372089536,808.627910464,652.372089536,629,652,0.400992428731,-0.00539936535659,0.0498405739465,0.999999952986,0.000130735507234,-0.000274703074779,-3.83881322806e-05,1793247503679885056
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,634,877,785.946684537,808.053315463,652.946684537,629,652,0.400991079498,-0.00539654446863,0.0498430398723,0.999999953777,0.000135001577587,-0.000269668037136,-3.87389149783e-05,1793247503696552192
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.522746843,745.522746843,715,679,659.522746843,634,877,786,808.522746843,653,629,652,0.400988507916,-0.00539908076513,0.0498429414647,0.999999954375,0.000131883468646,-0.000269014338431,-3.85788371463e-05,1793247503713218816
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.898122363,745.898122363,715,678.898122363,660,634,877,785.898122363,808.898122363,653,629,652,0.400986073475,-0.00540138633628,0.0498426806499,0.999999954753,0.00012935466616,-0.000268869889148,-3.83519949923e-05,1793247503729885952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.304917043,745.304917043,715,678.304917043,660,634,877,785.304917043,808.304917043,653,629,652,0.400984903359,-0.00539993670326,0.0498429014703,0.999999954204,0.000133310238716,-0.00026902027499,-3.8055153508e-05,1793247503746552064
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.558006545,659.720996728,634,876.720996728,785.279003272,808.279003272,653,629,652,0.40098545425,-0.00539939325947,0.0498435319198,0.999999954459,0.000133778804065,-0.000267824102075,-3.8140661486e-05,1793247503763218176
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.706206172,659.146896914,634,876.146896914,785.853103086,808.853103086,653,629,652,0.400987825418,-0.0053998082749,0.0498445956263,0.999999955564,0.000130559227616,-0.000265203699172,-3.86305733004e-05,1793247503779884800
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.569430942,715,679.569430942,659,634,876.430569058,785.569430942,809,653,629,652,0.400986296071,-0.00540094402619,0.0498443294392,0.999999955682,0.000128507246327,-0.000265776701454,-3.85401869386e-05,1793247503796551680
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.009351619,715,678.990648381,659,634,877,785.009351619,809,653,629,652,0.40098350068,-0.00540229825767,0.0498436403182,0.999999955469,0.000126896015804,-0.00026738756681,-3.82554496215e-05,1793247503813218304
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.597992471,715,678.402007529,659,634,877,785.597992471,809,653,629,652,0.40098536214,-0.00540183438454,0.0498450796366,0.999999955927,0.000127717027522,-0.000265268511523,-3.82921403574e-05,1793247503829885184
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.18348454,659.18348454,634,877,786,808.81651546,652.81651546,629,652,0.400986508235,-0.005401499931,0.0498459712062,0.999999956259,0.000127979706053,-0.000263892781451,-3.82507721441e-05,1793247503846552064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.762194108,659.762194108,634,877,786,808.237805892,652.237805892,629,652,0.400986113434,-0.00540144424682,0.0498456829267,0.999999956328,0.000127039736895,-0.000264118171297,-3.80412652383e-05,1793247503863218432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,634,877,785.661042384,808.338957616,652,629,652,0.400985977531,-0.00540148400974,0.0498459404714,0.99999995659,0.00012689547349,-0.000263177070397,-3.81580480526e-05,1793247503879885056
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,634,877,785.085636424,808.914363576,652,629,652,0.400986022229,-0.00540159035418,0.0498465787694,0.999999956985,0.000127306274531,-0.000261422254756,-3.85024424129e-05,1793247503896551680
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.511665843,660,634,877.488334157,785,809,652.488334157,629,652,0.400986576927,-0.00540206519234,0.0498470177959,0.999999957143,0.000127431797619,-0.000260781119204,-3.83233612444e-05,1793247503913218304
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.063998586,659.936001414,634,877.936001414,785,809,652.936001414,629,652,0.400986959834,-0.00540271883742,0.0498473001803,0.999999957229,0.000127289987945,-0.000260561096811,-3.80335201132e-05,1793247503929884928
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.65569877,659.34430123,634,877.34430123,785,809,652.34430123,629,652,0.400985190949,-0.0054043155686,0.0498465782641,0.99999995706,0.00012535517528,-0.000262207742342,-3.75851175506e-05,1793247503946551296
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.242116866,634,877,785,809,652.242116866,629,652,0.400984520108,-0.00540519001329,0.0498463133912,0.999999957075,0.000123918390025,-0.000262853285501,-3.74419502892e-05,1793247503963218176
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.821184047,634,877,785,809,652.821184047,629,652,0.400985377398,-0.00540505926323,0.0498466845783,0.999999957353,0.000123174701571,-0.000262105610141,-3.77235742318e-05,1793247503979885056
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.396608938,745,715,678.603391062,660,634,877.396608938,785.396608938,808.603391062,652.603391062,629,652,0.400985429849,-0.00540338038966,0.0498467237216,0.999999957122,0.000124834883315,-0.000262137910771,-3.81695547475e-05,1793247503996551936
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.97040657,745,715,678.02959343,660,634,877.97040657,785.97040657,808.02959343,652.02959343,629,652,0.400985122731,-0.00540100987766,0.0498466145212,0.999999956657,0.000127569016233,-0.000262518672894,-3.86889630575e-05,1793247504013218816
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.452493298,745,715,678,660,634,877.452493298,785.452493298,808,652.547506702,629,652,0.400985024981,-0.00540142523131,0.0498470399102,0.999999956827,0.000127991854009,-0.000261691724488,-3.84864048219e-05,1793247504029885440
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d748bcd916fa2ad96f384fb7e15360f2420a950
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_04/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,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+1,0.016666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+2,0.033333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+3,0.050000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+4,0.066666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+5,0.083333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+6,0.100000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+7,0.116666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+8,0.133333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+9,0.150000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+10,0.166666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+11,0.183333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+12,0.200000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+13,0.216666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+14,0.233333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+15,0.250000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+16,0.266666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+17,0.283333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+18,0.300000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+19,0.316666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+20,0.333333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+21,0.350000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+22,0.366666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+23,0.383333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+24,0.400000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+25,0.416666667,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
+26,0.433333333,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+374,6.233333333,pose2_to_pose3_retreat,0.58364167154,-7.20681525049e-05,1.04004214326,0.554213462294,0.00860238787455,1.03966553068
+375,6.250000000,pose2_to_pose3_retreat,0.583567273872,-7.2247837911e-05,1.04004246261,0.55413906713,0.00860221621606,1.03966583922
+376,6.266666667,pose2_to_pose3_retreat,0.583502075444,-7.22612413728e-05,1.04004243242,0.554073868955,0.00860220406099,1.03966581793
+377,6.283333333,pose2_to_pose3_retreat,0.583446171043,-7.20875704528e-05,1.04004236235,0.554017961378,0.00860236723868,1.03966575426
+378,6.300000000,pose2_to_pose3_retreat,0.583400353886,-7.20504108057e-05,1.0400422652,0.553972143275,0.00860240122244,1.03966565785
+379,6.316666667,pose2_to_pose3_retreat,0.583362901756,-7.22499657115e-05,1.04004222538,0.553934694282,0.00860221220829,1.03966561574
+380,6.333333333,pose2_to_pose3_retreat,0.583333091109,-7.23338429841e-05,1.04004266028,0.553904884236,0.00860212979443,1.03966603737
+381,6.350000000,pose2_to_pose3_retreat,0.583309434441,-7.20746701176e-05,1.04004244717,0.553881224364,0.00860237823053,1.03966582739
+382,6.366666667,pose2_to_pose3_retreat,0.583290722528,-7.20753047682e-05,1.04004249885,0.55386251211,0.00860237637613,1.03966587753
+383,6.383333333,pose2_to_pose3_retreat,0.583276084287,-7.21876246251e-05,1.04004238337,0.553847875548,0.00860226999225,1.03966576766
+384,6.400000000,pose2_to_pose3_retreat,0.583265181457,-7.22538291709e-05,1.04004235593,0.553836974079,0.00860220870324,1.03966574708
+385,6.416666667,pose2_to_pose3_retreat,0.58325800884,-7.22200002145e-05,1.04004259156,0.553829801207,0.00860224166974,1.03966598276
+386,6.433333333,pose2_to_pose3_retreat,0.583253162954,-7.22346714363e-05,1.04004253828,0.553824955122,0.00860222587956,1.03966591938
+387,6.450000000,pose2_to_pose3_retreat,0.583250188628,-7.21505990487e-05,1.04004252566,0.553821979746,0.00860230631107,1.03966590498
+388,6.466666667,pose2_to_pose3_retreat,0.583248579161,-7.20727823135e-05,1.04004252581,0.553820369388,0.00860238113178,1.03966590569
+389,6.483333333,pose2_to_pose3_retreat,0.583247688012,-7.20711909697e-05,1.04004252239,0.553819478011,0.00860238197882,1.03966590302
+390,6.500000000,pose2_to_pose3_retreat,0.583247276309,-7.20764373795e-05,1.0400425203,0.55381906624,0.00860237652038,1.03966590135
+391,6.516666667,pose2_to_pose3_retreat,0.583246996468,-7.20800034397e-05,1.04004251888,0.553818786353,0.0086023728102,1.03966590021
+392,6.533333333,pose2_to_pose3_retreat,0.58324667096,-7.20841514437e-05,1.04004251723,0.553818460791,0.00860236849456,1.03966589889
+393,6.550000000,pose2_to_pose3_retreat,0.583246612915,-7.2084891116e-05,1.04004251694,0.553818402737,0.008602367725,1.03966589865
+394,6.566666667,pose2_to_pose3_retreat,0.583246479566,-7.20865904096e-05,1.04004251626,0.553818269366,0.00860236595703,1.03966589811
+395,6.583333333,pose2_to_pose3_retreat,0.583246292954,-7.20694550363e-05,1.04004251686,0.553818082799,0.00860238325339,1.03966589892
+396,6.600000000,pose2_to_pose3_retreat,0.58324626144,-7.20641381178e-05,1.04004251716,0.553818051302,0.00860238862942,1.03966589925
+397,6.616666667,pose2_to_pose3_retreat,0.58324601198,-7.20220496189e-05,1.04004251949,0.553817801976,0.00860243118586,1.03966590186
+398,6.633333333,pose2_to_pose3_retreat,0.583245891799,-7.2001772971e-05,1.04004252061,0.553817681859,0.00860245168794,1.03966590312
+399,6.650000000,pose2_to_pose3_retreat,0.583245847122,-7.19942350948e-05,1.04004252103,0.553817637206,0.00860245930962,1.03966590358
+400,6.666666667,pose2_to_pose3_retreat,0.583245755859,-7.19788374131e-05,1.04004252189,0.553817545992,0.0086024748785,1.03966590454
+401,6.683333333,pose2_to_pose3_retreat,0.583245620422,-7.19594571534e-05,1.04004251752,0.553817410642,0.00860249456362,1.03966590042
+402,6.700000000,pose2_to_pose3_retreat,0.583245597506,-7.19718075793e-05,1.04004249144,0.553817387803,0.0086024824936,1.03966587478
+403,6.716666667,pose2_to_pose3_retreat,0.58324555674,-7.19937775248e-05,1.04004244505,0.553817347174,0.00860246102248,1.03966582918
+404,6.733333333,pose2_to_pose3_retreat,0.583245464646,-7.20600146889e-05,1.04004238086,0.55381725564,0.00860239675916,1.03966576671
+405,6.750000000,pose2_to_pose3_retreat,0.583245447162,-7.20766142482e-05,1.04004237852,0.553817238323,0.0086023807396,1.03966576467
+406,6.766666667,pose2_to_pose3_retreat,0.583245393975,-7.2127109942e-05,1.04004237141,0.553817185644,0.00860233200829,1.03966575847
+407,6.783333333,pose2_to_pose3_retreat,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.0086023227489,1.03966575729
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..babae285fc9028f1a21fcdd0b34a2063c029995e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f8c775ff7aa4c0408837da50944d974dd50ce97a519c429a7fd0ad6084dc21
+size 26002386
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1c8d5fc014f8299a849343995ab0a0068ecdd76
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+37,0.616666667,BASELINE,766,745,715,678.468062402,660,634,876.468062402,785.468062402,809,652.531937598,629,652,0.400987493662,-0.00540501100171,0.0498505234638,0.999999959555,0.000122195274734,-0.000253950170201,-3.83002798756e-05,1793247504802739712
+38,0.633333333,BASELINE,766,745,715,678.960630592,659.960630592,634,877.078738816,785.960630592,809,652,629,652,0.400987737666,-0.00540565830724,0.0498509294765,0.999999959821,0.000121274474763,-0.000253349818906,-3.82571525726e-05,1793247504819406592
+39,0.650000000,BASELINE,766,745,715,678.382417996,659.382417996,634,878.235164008,785.382417996,809,652,629,652,0.40098730999,-0.0054059755362,0.0498507427329,0.99999995976,0.00012040707879,-0.00025403101821,-3.80725823477e-05,1793247504836073216
+40,0.666666667,BASELINE,765.799570828,745,715,678.200429172,659.200429172,634,878.599141656,785.200429172,809,652.200429172,629,652,0.400987122258,-0.00540570840157,0.0498508677137,0.999999959695,0.000120509978149,-0.000254258884979,-3.79521862838e-05,1793247504852740096
+41,0.683333333,BASELINE,765.207671639,745,715,678.792328361,659.792328361,634,877.415343278,785.792328361,809,652.792328361,629,652,0.400987403174,-0.00540429991202,0.0498516015419,0.999999959619,0.000122508018507,-0.000253601321239,-3.79571325634e-05,1793247504869406976
+42,0.700000000,BASELINE,765.374286562,745,715,679,659.625713438,634,877,785.625713438,808.625713438,652.625713438,629,652,0.400987670279,-0.005404328587,0.049851338306,0.99999995957,0.000122906974554,-0.000253619186574,-3.78228527476e-05,1793247504886074112
+43,0.716666667,BASELINE,765.950871728,745,715,679,659.049128272,634,877,785.049128272,808.049128272,652.049128272,629,652,0.40098792992,-0.00540513403686,0.0498505361655,0.999999959538,0.000122441639498,-0.00025400211542,-3.76133224486e-05,1793247504902740992
+44,0.733333333,BASELINE,765.474261053,745,715,679,659.525738947,634,877,785.525738947,808.525738947,652.525738947,629,652,0.400988308046,-0.00540548367024,0.0498509389554,0.999999959625,0.000122489911841,-0.000253632293278,-3.76463485366e-05,1793247504919407104
+45,0.750000000,BASELINE,765,745,715,678.899678102,660,634,877.100321898,786,808.899678102,653,629.100321898,652,0.400988474201,-0.00540549867864,0.0498512920813,0.999999959691,0.000122423068963,-0.000253385914861,-3.77739213024e-05,1793247504936073472
+46,0.766666667,BASELINE,765,745,715,678.325682012,660,634,877.674317988,786,808.325682012,653,629.674317988,652,0.400987587421,-0.0054041341963,0.0498508808205,0.999999959606,0.000121586833911,-0.000254053420993,-3.82412305558e-05,1793247504952739840
+47,0.783333333,BASELINE,765.257530919,745,715,678.257530919,660,634,877.742469081,786,808.257530919,653,629.742469081,652,0.400987178428,-0.00540322275514,0.0498508086167,0.99999995959,0.000121505741928,-0.000254110355246,-3.85299512627e-05,1793247504969406464
+48,0.800000000,BASELINE,765.852832489,745,715,678.852832489,660,634,877.147167511,786,808.852832489,653,629.147167511,652,0.400987396086,-0.00540290551048,0.0498511811108,0.999999959666,0.000122415075238,-0.000253366479881,-3.85844400828e-05,1793247504986073088
+49,0.816666667,BASELINE,765.567772794,745,715,679,660,634,877,786,809,653,629,652,0.400987359952,-0.00540416282343,0.0498510302239,0.999999959747,0.000121435122758,-0.000253542198433,-3.84053083631e-05,1793247505002739968
+50,0.833333333,BASELINE,765.006384458,745,715,679,660,634,877,786,809,653,629,652,0.400987225189,-0.00540591399623,0.0498507069917,0.999999959824,0.000119862295973,-0.000254028040368,-3.81509404436e-05,1793247505019406592
+51,0.850000000,BASELINE,765.579334147,745,715,679,660,634,877,786,809,653,629,652,0.400985734106,-0.00540560408436,0.0498503423545,0.999999959416,0.000120735912327,-0.000255235188211,-3.80283461678e-05,1793247505036073472
+52,0.866666667,BASELINE,766,745,715,679,660,634,877,786,809,652.841911037,629,652.158088963,0.400985184188,-0.00540541779327,0.0498503978772,0.999999959306,0.000120959427052,-0.000255566834907,-3.79783059779e-05,1793247505052740096
+53,0.883333333,BASELINE,766,745,715,679,660,634,877,786,809,652.247120291,629,652.752879709,0.400987234128,-0.00540557298975,0.0498516140411,0.99999996002,0.000119387114015,-0.0002534800147,-3.81286877494e-05,1793247505069406720
+54,0.900000000,BASELINE,765.662030296,745,715,679,659.662030296,634,877,786,809,652,628.662030296,653,0.400987771009,-0.00540586332243,0.0498515478203,0.999999960152,0.000118713940973,-0.000253278666753,-3.81178692588e-05,1793247505086073344
+55,0.916666667,BASELINE,765.083835513,745,715,679,659.083835513,634,877,786,809,652,628.083835513,653,0.400987232425,-0.0054062497084,0.0498505700949,0.999999959872,0.000118679866635,-0.000254417491459,-3.79924714212e-05,1793247505102740224
+56,0.933333333,BASELINE,765.476624506,745,715,679,659.476624506,634,877,786,809,652,628.476624506,652.523375494,0.400986522264,-0.00540558832589,0.0498501630337,0.999999959674,0.000119050987928,-0.000255005873504,-3.81012037502e-05,1793247505119406848
+57,0.950000000,BASELINE,765.963760803,745,715.036239197,679,660,634.036239197,877.036239197,785.963760803,809,652.036239197,629,652,0.400985896216,-0.00540486226164,0.0498499683361,0.999999959525,0.000119519829669,-0.000255347857109,-3.82294968625e-05,1793247505136073216
+58,0.966666667,BASELINE,765.370938215,745,715.629061785,679,660,634.629061785,877.629061785,785.370938215,809,652.629061785,629,652,0.400987008915,-0.00540587176968,0.0498515489084,0.999999959934,0.000120434157587,-0.00025333917431,-3.80484062971e-05,1793247505152740096
+59,0.983333333,BASELINE,765.221692035,745,715.778307965,678.778307965,660,634.778307965,877.778307965,785,809,652.778307965,629,652,0.400987506624,-0.00540680578821,0.049851970091,0.999999960087,0.000120672221312,-0.000252646933018,-3.78713465704e-05,1793247505169406720
+60,1.000000000,BASELINE,765.814000836,745,715.185999164,678.185999164,660,634.185999164,877.185999164,785,809,652.185999164,629,652,0.400986976213,-0.00540761360628,0.0498504530479,0.999999959818,0.000119779731043,-0.000254155470946,-3.77010254262e-05,1793247505186073600
+61,1.016666667,BASELINE,765.603464037,745,715.396535963,678,660,634,877,785.396535963,808.603464037,652,628.603464037,652,0.400986359023,-0.0054050600491,0.049850192932,0.999999959425,0.000121742159201,-0.000254715765192,-3.8066305763e-05,1793247505202740224
+62,1.033333333,BASELINE,765.025403108,745,715.974596892,678,660,634,877,785.974596892,808.025403108,652,628.025403108,652,0.400985702108,-0.00540096773225,0.0498505082084,0.999999958966,0.000125011502849,-0.000254841975382,-3.86767720446e-05,1793247505219406848
+63,1.050000000,BASELINE,765.548981574,745,715.451018426,678.548981574,659.451018426,634,877,786,808.548981574,652.548981574,628.548981574,652.548981574,0.400986700641,-0.00540202202458,0.0498509609325,0.999999959279,0.000123996134893,-0.000254157176252,-3.83463503378e-05,1793247505236072960
+64,1.066666667,BASELINE,765.873645559,745,715,679,659.126354441,634,877,786,808.873645559,653,629,652.873645559,0.400987122285,-0.00540298748431,0.0498510792168,0.999999959449,0.000123195119934,-0.000253918041568,-3.80821301453e-05,1793247505252739584
+65,1.083333333,BASELINE,765.284714518,745,715,679,659.715285482,634,877,786,808.284714518,653,629,652.284714518,0.400985153397,-0.00540276167892,0.0498499500061,0.999999958968,0.0001238998561,-0.000255446933611,-3.8218599458e-05,1793247505269406464
+66,1.100000000,BASELINE,765.299335712,745,715,679.299335712,660,634,877.299335712,786,808.299335712,652.700664288,629,652,0.400983725176,-0.00540343798409,0.0498493437205,0.999999958695,0.000123656315666,-0.000256619142587,-3.82783988426e-05,1793247505286073088
+67,1.116666667,BASELINE,765.878817986,745,715,679.878817986,660,634,877.878817986,786,808.878817986,652.121182014,629,652,0.400982802962,-0.00540495856932,0.0498492268374,0.999999958619,0.000122525288605,-0.000257457533856,-3.82664432772e-05,1793247505302739968
+68,1.133333333,BASELINE,765.542278585,745,715,679.084557171,660,634,877.542278585,785.542278585,809,652,629,652,0.400984619906,-0.00540508209528,0.0498500784438,0.999999958903,0.000122505599234,-0.000256372489444,-3.82030957973e-05,1793247505319406336
+69,1.150000000,BASELINE,765,745,715,678,660,634,877,785.036205735,809,652.036205735,629,652,0.400987063587,-0.00540492921069,0.0498511710247,0.999999959317,0.000122582185473,-0.000254726078963,-3.81288333548e-05,1793247505336072960
+70,1.166666667,BASELINE,765,745,715,678,660,634,877,785.61073361,809,652.61073361,629,652,0.400988056968,-0.00540615900869,0.0498520389448,0.999999960281,0.000119721067351,-0.000252294937128,-3.80943275577e-05,1793247505352739584
+71,1.183333333,BASELINE,765,745.189803137,715,678.189803137,660,634,877,786,809,653,629,652,0.400988648096,-0.00540654706809,0.0498525530761,0.999999960698,0.000119148609165,-0.000250926234449,-3.80030781039e-05,1793247505369406208
+72,1.200000000,BASELINE,765,745.778415571,715,678.778415571,660,634,877,786,809,653,629,652,0.40098839402,-0.00540516648897,0.0498523238363,0.999999959975,0.000123385021734,-0.00025178990017,-3.77926003843e-05,1793247505386072832
+73,1.216666667,BASELINE,765,745.638891761,715,678.638891761,659.638891761,634,877,786,809,652.638891761,629,652.361108239,0.40098759056,-0.00540532157884,0.0498518622324,0.999999959862,0.000122803624663,-0.000252543052168,-3.76387845135e-05,1793247505402739456
+74,1.233333333,BASELINE,765,745.059773046,715,678.059773046,659.059773046,634,877,786,809,652.059773046,629,652.940226954,0.400986455425,-0.00540640379227,0.0498512603442,0.999999960116,0.000119313589801,-0.000253229484092,-3.75191768938e-05,1793247505419406080
+75,1.250000000,BASELINE,765,745,715,678.516130684,659.516130684,634,877,786,809,652.516130684,629,652.483869316,0.400985902194,-0.00540592315177,0.0498508121913,0.999999959721,0.000120473054161,-0.000254219267401,-3.76328276749e-05,1793247505436072960
+76,1.266666667,BASELINE,765,745,715,678.909125246,660,634,877,786,809,653,629,652,0.400985609702,-0.00540552452111,0.0498504831479,0.999999959387,0.000121698454735,-0.000254928530205,-3.77709230336e-05,1793247505452739584
+77,1.283333333,BASELINE,765,745,715,678.338549458,660,634,877,786,809,653,629,652,0.400986340045,-0.00540650829566,0.049850689447,0.999999959777,0.000120447147231,-0.000253972709233,-3.78963398428e-05,1793247505469406720
+78,1.300000000,BASELINE,765,745,715,678,659.757760853,634,877,786,808.757760853,652.757760853,629,652,0.400986719712,-0.00540703522653,0.0498510500926,0.999999959986,0.000119913785353,-0.00025339367619,-3.79625044955e-05,1793247505486073344
+79,1.316666667,BASELINE,765,745,715,678,659.162070787,634,877,786,808.162070787,652.162070787,629,652,0.400986587711,-0.00540689557713,0.0498516359451,0.999999959932,0.00012042797739,-0.000253364414154,-3.79422143703e-05,1793247505502739968
+80,1.333333333,BASELINE,765.421801903,745,715,678.421801903,659.421801903,634,877,785.578198097,808.421801903,652,629,652,0.400986807024,-0.00540669498155,0.0498515276051,0.999999959939,0.000121048268701,-0.000253046156926,-3.78993385805e-05,1793247505519406336
+81,1.350000000,BASELINE,765.99875957,745,715,679,659.99875957,634,877,785.00124043,809,652,629,652,0.400987154653,-0.00540647196206,0.049851159433,0.999999959969,0.000121698508834,-0.000252624189411,-3.78482229922e-05,1793247505536072960
+82,1.366666667,BASELINE,765.427280266,745,715,679,659.427280266,634,877,785.572719734,809,652,629,652,0.400986126727,-0.00540641238365,0.049850621788,0.999999960029,0.000117886245718,-0.000254181469608,-3.78899175852e-05,1793247505552739584
+83,1.383333333,BASELINE,765,745,715,679,659.148338792,634,877,786,809,652.148338792,629,652,0.400985775433,-0.00540621867697,0.0498503907823,0.999999960053,0.000116266975445,-0.000254825012272,-3.79506525513e-05,1793247505569406464
+84,1.400000000,BASELINE,765,745,715,679,659.73622461,634,877,786,809,652.73622461,629,652,0.400987429084,-0.00540562753082,0.0498510683881,0.999999959993,0.000121145825711,-0.000252761032814,-3.8067806616e-05,1793247505586073088
+85,1.416666667,BASELINE,765,745,715,679,660,634,877.320205615,786,809,653,629,652,0.400988387071,-0.00540506070154,0.0498516630059,0.999999960125,0.000122633552976,-0.00025148875143,-3.82592521157e-05,1793247505602739968
+86,1.433333333,BASELINE,765,745,715,679,660,634,877.901008677,786,809,653,629,652,0.400988778896,-0.00540451366244,0.0498521900845,0.999999960429,0.000121361434548,-0.000250860788968,-3.8511159254e-05,1793247505619406592
+87,1.450000000,BASELINE,765.477295827,745,715,679,660,634,878,785.522704173,809,652.522704173,629,652,0.400987584335,-0.00540397220831,0.0498518529774,0.999999960016,0.0001218581703,-0.000252237954093,-3.86717291054e-05,1793247505636073216
+88,1.466666667,BASELINE,766,745,715,679,660,634,877.947448225,785.052551775,809,652.052551775,629,652,0.400986398178,-0.00540354561657,0.049851511233,0.999999959577,0.000122615839093,-0.000253597552412,-3.87378794884e-05,1793247505652739840
+89,1.483333333,BASELINE,766,745,715,679,660,634,877.373218472,785.626781528,809,652.626781528,629,652,0.400988530971,-0.00540424786543,0.0498528860064,0.999999960367,0.000122356102156,-0.000250693203576,-3.80530212736e-05,1793247505669406464
+90,1.500000000,BASELINE,765.792656889,745,715,679,660,634,877,785.792656889,809,653,629,652,0.400989322425,-0.00540498188974,0.049853411091,0.999999960673,0.000121889088899,-0.000249758671478,-3.76615253458e-05,1793247505686073088
+91,1.516666667,BASELINE,765.200339036,745,715,679,660,634,877,785.200339036,809,653,629,652,0.400987623412,-0.00540577491158,0.049852358555,0.999999960087,0.000121037224942,-0.000252481505928,-3.78147163672e-05,1793247505702739712
+92,1.533333333,BASELINE,765,745,715,679,660,634,877,785,809,653,629,652.38074915,0.400986920434,-0.00540744573596,0.0498521559886,0.999999960372,0.000118449560695,-0.000252572896894,-3.7859972705e-05,1793247505719406336
+93,1.550000000,BASELINE,765,745,715,679,660,634,877,785,809,653,629,652.956097942,0.400986726527,-0.00540956520241,0.0498523878389,0.999999961093,0.000114974734529,-0.000251319365963,-3.78500639933e-05,1793247505736073216
+94,1.566666667,BASELINE,765.535747818,745,715.535747818,679,660,634,877,785.535747818,809,653,629,652.464252182,0.400987656184,-0.0054068786381,0.0498528077655,0.99999996079,0.000118685944567,-0.000250820141921,-3.77304694852e-05,1793247505752739840
+95,1.583333333,BASELINE,765.882977597,745,715.882977597,678.882977597,660,634,876.882977597,786,809,653,628.882977597,652,0.400988407066,-0.005404829238,0.049853063174,0.999999960534,0.00012148261992,-0.000250510860529,-3.76677053156e-05,1793247505769406976
+96,1.600000000,BASELINE,765.296611626,745,715.296611626,678.296611626,660,634,876.296611626,786,809,653,628.296611626,652,0.400988068674,-0.0054069276531,0.0498525964342,0.999999960865,0.000118230484236,-0.000250713468381,-3.78692124733e-05,1793247505786073344
+97,1.616666667,BASELINE,765,745,715,678.287762218,660,634,876.287762218,785.712237782,809,652.712237782,628.287762218,652,0.400988411478,-0.00540729353184,0.0498527390961,0.99999996088,0.000118914928037,-0.000250334675112,-3.78400303339e-05,1793247505802739712
+98,1.633333333,BASELINE,765,745,715,678.870096755,660,634,876.870096755,785.129903245,809,652.129903245,628.870096755,652,0.400989451601,-0.00540588587238,0.0498535055818,0.999999960562,0.0001236291135,-0.000249360721434,-3.75746994571e-05,1793247505819406336
+99,1.650000000,BASELINE,765,745,715,678.552806802,660,634,877,785,808.552806802,652,629,652,0.400989322465,-0.00540599960534,0.0498533303021,0.999999960452,0.000123098632205,-0.000250067318561,-3.75327440952e-05,1793247505836072960
+100,1.666666667,BASELINE,765,745,715,678,659.977322727,634,877,785,808.022677273,652.022677273,629,652,0.400988885277,-0.00540651334289,0.049852903516,0.999999960417,0.000121097210385,-0.000251180105639,-3.75528585478e-05,1793247505852739584
+101,1.683333333,BASELINE,765,745,715,678,659.404468169,634,877,785,808.595531831,652.595531831,629,652,0.400989119356,-0.00540613374715,0.0498529351635,0.999999960743,0.000119943031562,-0.000250440936898,-3.75228411095e-05,1793247505869406464
+102,1.700000000,BASELINE,765,745,715,678,659.174337202,634,877,785,808.825662798,652.825662798,629,652,0.40098905185,-0.00540590773995,0.0498528672694,0.999999960959,0.000119208405769,-0.000249908466929,-3.76338411226e-05,1793247505886073344
+103,1.716666667,BASELINE,765,745,715,678,659.767436487,634,877,785,808.232563513,652.232563513,629,652,0.400988259929,-0.00540605065611,0.049852560274,0.999999960919,0.000119481556443,-0.000249872492411,-3.80835683954e-05,1793247505902739968
+104,1.733333333,BASELINE,765,745,715,678.351252334,659.648747666,634,876.648747666,785.351252334,808.351252334,652,629,652,0.400987129517,-0.00540649263677,0.0498518245887,0.999999960592,0.0001198430805,-0.00025100325899,-3.80937589722e-05,1793247505919406592
+105,1.750000000,BASELINE,765,745,715,678.929079958,659.070920042,634,876.070920042,785.929079958,808.929079958,652,629,652,0.400985780761,-0.00540712752897,0.0498508123771,0.999999960078,0.000120261609827,-0.00025288663182,-3.78204264823e-05,1793247505936073216
+106,1.766666667,BASELINE,765,745,715,678.501409625,659.498590375,634,876.99718075,786,808.501409625,652.498590375,629,652,0.400987504606,-0.00540604423894,0.049851942311,0.999999960241,0.000121884933512,-0.000251464116586,-3.77819832588e-05,1793247505952739840
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,786,809,653,629,652,0.400986602546,-0.00540779198018,0.0498518167346,0.999999960436,0.000114922480432,-0.000253921322061,-3.80113058883e-05,1793247505995454976
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.57942663,634.57942663,877,785.42057337,808.42057337,652.42057337,629,652,0.40098714243,-0.00540608464414,0.0498520515256,0.999999960423,0.000118896219274,-0.000252145014774,-3.79471337335e-05,1793247506012121600
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.157206481,745,715,679,660,634.842793519,877,785,808.157206481,652.157206481,629,652,0.40098768088,-0.00540481464253,0.0498524437688,0.999999960515,0.00012133717227,-0.000250607440504,-3.79815075995e-05,1793247506028788224
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.730626509,745,715,679,660,634.269373491,877,785,808.730626509,652.730626509,629,652,0.400988215532,-0.00540470250956,0.049853252876,0.999999960925,0.000119719984069,-0.000249701925781,-3.82767879292e-05,1793247506045454848
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659.694745442,634,877,785.305254558,808.694745442,652.694745442,629,652,0.400987980245,-0.00540490479659,0.0498527800438,0.999999960871,0.000118930925331,-0.000250280635372,-3.83754789279e-05,1793247506062121216
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.119047166,634,877,785.880952834,808.119047166,652.119047166,629,652,0.40098706282,-0.00540538564757,0.0498511714628,0.999999960405,0.000118875557325,-0.000252174310283,-3.82999993746e-05,1793247506078787584
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.530600375,808,652,629,652,0.400986674717,-0.00540497783736,0.0498508460419,0.999999960204,0.000118832169402,-0.000252958284995,-3.85148201527e-05,1793247506095454208
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.880119035,745,715,678.940059518,659.059940482,634,877,785.059940482,808,652.059940482,629,652,0.400986610836,-0.00540456059517,0.0498509129072,0.999999960092,0.000118931726258,-0.000253327076584,-3.8699183976e-05,1793247506112120576
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.720365751,745,715,678.360182875,659.639817125,634,877,785.639817125,808,652.639817125,629,652,0.400988162348,-0.0054060710961,0.0498514808945,0.999999960146,0.000120244124784,-0.000252603884395,-3.79628924509e-05,1793247506128787200
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.21790647,745,715,678.21790647,660,634,877,786,808,653,629,652,0.400994746742,-0.00540723084483,0.0498541430788,0.999999961369,0.000120074058554,-0.000247868878293,-3.74974531319e-05,1793247506145454080
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.793065528,745,715,678.793065528,660,634,877,786,808,653,629,652,0.401009582431,-0.00540781554337,0.0498602386503,0.999999964418,0.000117473525714,-0.000236556596679,-3.74760697718e-05,1793247506162120960
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785.624366625,808.375633375,653,629,652,0.401043179293,-0.00540902386527,0.0498725464754,0.999999970015,0.000117668900418,-0.000211636384075,-3.65217547838e-05,1793247506178787840
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,877,785.037635139,808.962364861,653,629,652,0.401087319544,-0.00541058265053,0.0498883454577,0.999999976221,0.000119435516421,-0.000179068797272,-3.50431516768e-05,1793247506195454464
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.541943674,745,715,679,659.458056326,634,877,785,808.458056326,652.458056326,629.541943674,652,0.401151190438,-0.00541298913342,0.0499061389013,0.999999982129,0.000118275934162,-0.000143521525964,-3.39652342826e-05,1793247506212120832
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.879245541,745,715,679,659,634,877.120754459,785,808.120754459,652.120754459,629.879245541,652,0.40121927334,-0.00541552835616,0.049922616595,0.999999986292,0.000116678723164,-0.000112817643556,-3.27708870336e-05,1793247506228787712
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.301485881,745,715,679,659,634,877.698514119,785,808.698514119,652.698514119,629.301485881,652,0.40129817891,-0.00541835005532,0.0499335973755,0.999999987877,0.000114184313756,-0.00010121687354,-3.10319650452e-05,1793247506245454336
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715.274702435,679,659.274702435,634,877.725297565,785,809,653,628.725297565,652,0.401380144351,-0.0054204299958,0.049939725307,0.999999988655,0.000113022511277,-9.49600761274e-05,-2.99843359043e-05,1793247506262120960
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715.849175976,679,659.849175976,634,877.150824024,785,809,653,628.150824024,652,0.401465448894,-0.00542170048637,0.0499405575295,0.999999988671,0.000113314926329,-9.45349298614e-05,-2.96910854088e-05,1793247506278787584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715.565101041,678.565101041,659.565101041,634,877.434898959,785.434898959,809,652.565101041,628.434898959,652,0.401567244788,-0.00542592189954,0.0499400650428,0.99999998886,0.000111016872241,-9.55389776073e-05,-2.87518000584e-05,1793247506295454464
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,678,659.048337347,634,877.975831327,785.975831327,808.975831327,652,629,652,0.401676166651,-0.00543108310184,0.0499391898434,0.999999989099,0.000107907868394,-9.69261979793e-05,-2.76171030536e-05,1793247506312121088
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,678,660.205849125,634,877.397075438,785.397075438,808.397075438,652,629,652,0.40181388325,-0.00543370245685,0.0499403545605,0.999999989312,0.000107352504281,-9.54304943279e-05,-2.72759899582e-05,1793247506328787712
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.180132142,745,715,678.180132142,660.639735716,634,877,785,808.180132142,652.180132142,629,652,0.401962367854,-0.00543791466073,0.0499416744564,0.999999989556,0.000106076632085,-9.45307166181e-05,-2.64379779865e-05,1793247506345454336
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.753955707,745,715,678.753955707,659.492088586,634,877,785,808.753955707,652.753955707,629,652,0.402134386668,-0.00544560814713,0.0499433335061,0.999999989866,0.000103226039039,-9.49333770206e-05,-2.45139587351e-05,1793247506362121216
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.670899417,745,715,679,659,634,877.329100583,785,808.670899417,652.670899417,629,652,0.402322768847,-0.00545202347112,0.0499435745385,0.999999989978,0.000100960337523,-9.65701563535e-05,-2.29035146875e-05,1793247506378787840
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.094762651,745,715,679,659,634,877.905237349,785,808.094762651,652.094762651,629,652,0.402523434047,-0.00545747935564,0.04994275115,0.999999989941,9.91336788996e-05,-9.91333152151e-05,-2.15284526437e-05,1793247506395454464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659.493233918,634,877.013532164,785.493233918,808,652,629,652,0.40275353703,-0.00546692133359,0.0499465497589,0.999999991069,9.26115036139e-05,-9.43762819319e-05,-1.94701372724e-05,1793247506412121088
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659.917999801,633.917999801,876.082000199,785.917999801,808.082000199,652,629,652,0.402996418313,-0.00547698545637,0.0499510954705,0.999999992277,8.58855965315e-05,-8.81605740794e-05,-1.72735356717e-05,1793247506428787968
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659.338723889,633.338723889,876.661276111,785.338723889,808.661276111,652,629,652,0.403281648196,-0.00548606381507,0.0499546540496,0.999999993049,8.35297661936e-05,-8.18379402651e-05,-1.50539984104e-05,1793247506445454592
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,678.762697576,659.237302424,633.237302424,877,785,809,652,629,652,0.403589691037,-0.00549493886999,0.0499607424769,0.999999994215,8.1366442232e-05,-6.92287605792e-05,-1.25616672439e-05,1793247506462120960
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,678.19124709,659.80875291,633.80875291,877,785,809,652,629,652,0.403929857027,-0.00550352765014,0.0499703932103,0.999999995654,7.94741886607e-05,-4.77674292893e-05,-9.68521221385e-06,1793247506478787584
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.385829637,745,715,678.385829637,659.614170363,634,877.385829637,785,808.614170363,652,629,652,0.404291885546,-0.00551297364628,0.0499791428592,0.999999996502,7.72252548967e-05,-3.14504287032e-05,-6.59837052091e-06,1793247506495454464
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.965736417,745,715,678.965736417,659.034263583,634,877.965736417,785,808.034263583,652,629,652,0.404664911181,-0.00552285083255,0.049987439251,0.99999999704,7.47969065817e-05,-1.77210915838e-05,-3.40570178676e-06,1793247506512121088
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.444101036,785,808.555898964,652,629,652,0.405063638741,-0.0055245484716,0.0499904985019,0.99999999635,8.50125355114e-05,-8.53918083751e-06,-8.66966338972e-08,1793247506528787712
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.856412488,745,715.143587512,678.856412488,659,634,877.143587512,785.143587512,809,652,629,652.143587512,0.405467326871,-0.00552221529941,0.049987238239,0.999999995025,9.90356960598e-05,-1.16385130375e-05,2.56307512417e-06,1793247506545454080
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.278162759,745,715.721837241,678.278162759,659,634,877.721837241,785.721837241,809,652,629,652.721837241,0.405881145676,-0.00550923507083,0.0499658433312,0.999999991228,0.000122181364202,-5.10507008399e-05,3.16295510956e-06,1793247506562120704
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.295744826,745,715.704255174,678.295744826,659,634,877.704255174,785.704255174,809.295744826,652.295744826,629,652.704255174,0.406323861186,-0.00550364364726,0.0499461068119,0.999999986628,0.000138422749844,-8.69535344575e-05,4.65331064638e-06,1793247506578787328
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.865627568,745,715.134372432,678.865627568,659,634,877.134372432,785.134372432,809.865627568,652.865627568,629,652.134372432,0.406793362276,-0.00550490120629,0.0499279075179,0.999999981832,0.000148264277769,-0.000119603409424,6.96908428463e-06,1793247506595454208
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678.546402677,659,634,877,785.453597323,809.546402677,652.546402677,629.453597323,652.453597323,0.407302197636,-0.00550964859757,0.0499225765535,0.999999979855,0.000154172101582,-0.000128144713606,9.95516761985e-06,1793247506612121088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.953730521,745,715,678,659,634,877,786,809,652.046269479,629.953730521,652.953730521,0.40783069921,-0.00551532733507,0.0499234932337,0.999999979462,0.00015910405969,-0.000124840236559,1.33088221859e-05,1793247506628787968
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.371235186,745,715,678,659,634,877,786,809,652.628764814,629.371235186,652.371235186,0.408446467916,-0.00551932092419,0.0499508013751,0.999999983436,0.000166792395191,-7.04585040849e-05,1.85254851423e-05,1793247506645454592
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715.207899616,678.207899616,659.207899616,634,877,785.792100384,809.207899616,653,629,652,0.409071070493,-0.00552148152054,0.0499763394256,0.999999983753,0.000177104737543,-2.37828459154e-05,2.37262799741e-05,1793247506662121216
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715.781129114,678.781129114,659.781129114,634,877,785.218870886,809.781129114,653,629,652,0.409711196281,-0.00552042110526,0.0499987669969,0.999999981101,0.000192028094344,9.3513733906e-06,2.88991904253e-05,1793247506678787840
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.646895283,679,659.646895283,634,877.353104717,785,810,652.646895283,629,652.353104717,0.410344514873,-0.00551826372167,0.0499980534927,0.999999977718,0.000208522049374,-1.83252230108e-07,3.28876746129e-05,1793247506695454720
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715.075694176,679,659.075694176,634,877.924305824,785,810,652.075694176,629,652.924305824,0.410973628952,-0.00551542879174,0.0499830468196,0.999999973161,0.000225986089311,-3.60724437278e-05,3.61445934669e-05,1793247506712121344
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.481918122,785,810,652,629,653,0.411618724857,-0.00551664559119,0.0499554395695,0.999999967176,0.000236366608156,-9.08576835092e-05,3.90230772612e-05,1793247506728787712
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.110864359,745,715,679.110864359,659.110864359,634,877,785,810.110864359,652,629.110864359,653,0.412290077588,-0.00551880631707,0.0499355292996,0.999999961028,0.000245221428149,-0.000126648141363,4.20840135146e-05,1793247506745454080
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.68508093,745,715,679.68508093,659.68508093,634,877,785,810.68508093,652,629.68508093,653,0.413060965543,-0.00552232527997,0.0499558331264,0.999999964608,0.000252222190755,-7.09864885766e-05,4.61491152471e-05,1793247506762120960
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.259186783,715,680,660.259186783,634,877.259186783,785.259186783,810.740813217,652.259186783,630,653,0.41383077192,-0.00552405035635,0.0499695565445,0.999999977333,0.000206077633249,-3.97542018854e-05,3.58659351433e-05,1793247506778787840
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.833158243,715,680,660.833158243,634,877.833158243,785.833158243,810.166841757,652.833158243,630,653,0.414599264815,-0.00552359674191,0.0499752879999,0.999999994688,9.53876064292e-05,-3.81915921992e-05,8.1566381054e-06,1793247506795454464
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.59052032,715,679.59052032,660.59052032,634,878,786,810.40947968,653,629.59052032,652.59052032,0.415378067949,-0.00552968593273,0.0499549072434,0.999999994978,6.65740045333e-05,-7.48467399993e-05,3.04033039424e-06,1793247506812121088
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.013235897,715,679.013235897,660.013235897,634,878,786,810.986764103,653,629.013235897,652.013235897,0.416161096172,-0.00553845636469,0.0499238257041,0.999999989346,7.13133621279e-05,-0.000127163522025,7.18262967101e-06,1793247506828787712
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660,634,878.578981865,785.421018135,810.421018135,653,629.578981865,652.578981865,0.416992272592,-0.00553742511898,0.0499344756138,0.999999990417,8.97221429557e-05,-0.000104710147394,1.23043095507e-05,1793247506845454080
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660.166893519,633.833106481,879,785,810.166893519,652.833106481,629.833106481,653,0.417835792265,-0.00553616134174,0.0499496981883,0.999999991361,0.000106674199208,-7.48410816924e-05,1.7236126367e-05,1793247506862120960
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660.743377077,633.256622923,879,785,810.743377077,652.256622923,629.256622923,653,0.418706831846,-0.00553489136405,0.0499737396822,0.999999992171,0.000119263939657,-3.10784407201e-05,2.16455785081e-05,1793247506878787840
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.681897148,745,715,679,660.681897148,633.318102852,878.681897148,785,811,652,629.318102852,652.681897148,0.419558138343,-0.00553341073047,0.0499728847365,0.999999991025,0.000126543529868,-3.717805852e-05,2.35546350581e-05,1793247506895454464
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.108581662,745,715,679,660.108581662,633.891418338,878.108581662,785,811,652,629.891418338,652.108581662,0.420393613023,-0.00553176108859,0.0499520554768,0.999999987864,0.000129562807333,-8.32819671308e-05,2.34576341052e-05,1793247506912121344
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679.479326936,660,633.520673064,878.479326936,785,811,652,630,652.479326936,0.421332424946,-0.00553414111257,0.0499673813156,0.999999990944,0.000125715717265,-4.17110166134e-05,2.3846837978e-05,1793247506928787968
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069236661,745,715.069236661,680,660.138473322,633.069236661,879,785.069236661,811,652,630,652.930763339,0.422289777465,-0.00553730231303,0.0499885209476,0.999999992358,0.000120501941618,1.29358684504e-05,2.44214307233e-05,1793247506945454592
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.64876544,745,715.64876544,680,661.297530881,633.64876544,879,785.64876544,811,652,630,652.35123456,0.42320583099,-0.00553928187118,0.0499902503902,0.999999992741,0.000117039279088,1.29790080941e-05,2.55251395254e-05,1793247506962121472
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.773060814,679.773060814,661.773060814,633.773060814,879,785.773060814,811,652,630,652.226939186,0.424119386311,-0.00554075862306,0.0499860312832,0.999999993089,0.000114516485569,5.11845701836e-06,2.60924976686e-05,1793247506978787840
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.196971723,679.196971723,661.196971723,633.196971723,879,785.196971723,811,652,630,652.803028277,0.425029098243,-0.00554146179902,0.049972660229,0.999999993121,0.000113439696399,-1.49020604098e-05,2.58346711068e-05,1793247506995454720
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.621611989,745,715,679.378388011,661,633,879,785,811,652,630,653,0.42597219036,-0.00554429349374,0.0499831862321,0.999999993368,0.000111566374018,-7.22991553925e-06,2.76699142609e-05,1793247507012121088
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.046631229,745,715,679.953368771,661,633,879,785,811,652,630,653,0.426932625209,-0.00554823106743,0.0500061280317,0.999999993451,0.000109279210195,1.48300452875e-05,3.05926187514e-05,1793247507028787456
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.457201359,633.542798641,879,784.457201359,811,652,630.542798641,652.457201359,0.427822301534,-0.00554578921654,0.0499809507463,0.999999992052,0.000112480313307,-4.75927333845e-05,3.12763980753e-05,1793247507045454336
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.13067795,745,715,679.86932205,660,633.86932205,879,784.13067795,811.13067795,652,631,652.13067795,0.428724847291,-0.00554365460272,0.0499562455021,0.999999988076,0.000114427086713,-9.88941351719e-05,3.12029962885e-05,1793247507062121216
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.70887986,745,715,679.29112014,660,633.29112014,879,784.70887986,811.70887986,652,631,652.70887986,0.42969285301,-0.00554450035844,0.0499477009272,0.99999998973,0.000110419402307,-8.65738092351e-05,2.92132479786e-05,1793247507078787840
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.28613803,715,679.28613803,660.57227606,633.28613803,879,785,811.71386197,652,631,653,0.430643319975,-0.00554640469574,0.0499452036206,0.999999990579,0.000108278115605,-7.9274211273e-05,2.88686954332e-05,1793247507095454720
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.86243915,715,679.86243915,661.7248783,633.86243915,879,785,811.13756085,652,631,653,0.431576001413,-0.00554938250547,0.0499488386488,0.999999990739,0.000108029481194,-7.70659678569e-05,3.01924814937e-05,1793247507112121344
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.553290671,745.553290671,715.446709329,680,661.106581342,634,879,784.553290671,811.446709329,652,631,653,0.432503248306,-0.00554895520453,0.0499377587391,0.999999989375,0.00010810677688,-9.30844077788e-05,2.99707950514e-05,1793247507128787712
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.033154386,745,715.966845614,680,660.033154386,634,879.033154386,784.033154386,812,652,631,653,0.433430424667,-0.0055476797384,0.0499245695075,0.999999987542,0.000108178918006,-0.0001111222354,2.94276001893e-05,1793247507145454080
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.614248781,745,715.385751219,680,660.614248781,634,879.614248781,784.614248781,812,652,631,653,0.434384594774,-0.00555003126362,0.0499527693369,0.999999991515,0.000106476970896,-6.80875513763e-05,3.15791672178e-05,1793247507162120704
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.806516544,745,715,680,660.806516544,633.806516544,879.806516544,785,812.193483456,652,631,653,0.435310600364,-0.0055509629455,0.0499687355258,0.999999992617,0.000105621010923,-5.01060334806e-05,3.31681615846e-05,1793247507178787584
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.23095422,745,715,680,660.23095422,633.23095422,879.23095422,785,812.76904578,652,631,653,0.436180988618,-0.00554909081112,0.0499605435017,0.999999990441,0.00010643565269,-8.15979130105e-05,3.36462235661e-05,1793247507195454208
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.344226969,745,715,680,660.344226969,633,879,785,813,652.344226969,631,653,0.43706322673,-0.00554987945227,0.0499539062017,0.99999998977,0.00010446044888,-9.18559328741e-05,3.33294906793e-05,1793247507212120832
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.919152689,745,715,680,660.919152689,633,879,785,813,652.919152689,631,653,0.43795340649,-0.00555245132857,0.0499483108684,0.999999990549,0.000100615508099,-8.78831515934e-05,3.24800912531e-05,1793247507228787712
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,879,784.494629182,813,652.494629182,631,653,0.438857537121,-0.00555591289616,0.0499650339683,0.999999993558,9.35926353837e-05,-5.51618824009e-05,3.28859403492e-05,1793247507245454336
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.907701645,745,715,680,660.907701645,633,879.092298355,784,813,652,631,653,0.439750278966,-0.00555873889152,0.0499792003759,0.999999995258,8.70211659217e-05,-2.85137377933e-05,3.31462230095e-05,1793247507262121216
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.326800484,745,715,680,660.326800484,633,879.673199516,784,813,652,631,653,0.440570646994,-0.00555742966292,0.0499604995089,0.999999994104,8.55921155179e-05,-5.89178066101e-05,3.15485859614e-05,1793247507278787840
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.251217742,745,715,680.251217742,660,633,879.748782258,784,813,652,631,653,0.441394894923,-0.00555790078828,0.049955417671,0.999999993692,8.53554283695e-05,-6.58139788086e-05,3.16219405144e-05,1793247507295454208
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.825528162,745,715,680.825528162,660,633,879.174471838,784,813,652,631,653,0.442224132754,-0.00556066163788,0.0499678513513,0.999999994771,8.66522470707e-05,-4.24764987278e-05,3.38443677501e-05,1793247507312120832
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715.39729297,681,660.39729297,633,879.39729297,784,813,652,631,653,0.443020440474,-0.00556052438115,0.0499854911938,0.999999995412,8.80794913851e-05,-1.28631206941e-05,3.53785482132e-05,1793247507328787712
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715.967947035,681,660.967947035,633,879.967947035,784,813,652,631,653,0.44380237902,-0.00555912251912,0.0500054027764,0.999999995129,8.95636477206e-05,1.94887838809e-05,3.66124083654e-05,1793247507345454592
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.435999112,745,715.435999112,680.435999112,661,633,879.435999112,784,813,652,631,652.435999112,0.444510409607,-0.00555759313888,0.0499673675439,0.99999999331,9.56462166665e-05,-5.37448786242e-05,3.66435926888e-05,1793247507362121472
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.155765316,745,715,680.155765316,660.844234684,633,879,784,813.155765316,652,631,652.155765316,0.445222907654,-0.00555646809672,0.0499377867395,0.999999988907,0.000101130562531,-0.000103040758224,3.66326261303e-05,1793247507378787840
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.731875415,745,715,680.731875415,660.268124585,633,879,784,813.731875415,652,631,652.731875415,0.445959330994,-0.00555645467083,0.0499403269067,0.999999991386,0.000104262071102,-7.07820280243e-05,3.67010580764e-05,1793247507395454464
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.306884505,633,879.306884505,784,814,652,631,653,0.446668534489,-0.00555537979504,0.0499491482768,0.999999992399,0.000109045978487,-4.34436726138e-05,3.77234805411e-05,1793247507412121088
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.880935047,633,879.880935047,784,814,652,631,653,0.447354041016,-0.0055533808473,0.0499634379062,0.999999992366,0.000115268423126,-2.03888754072e-05,3.95764234924e-05,1793247507428787712
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680.530295324,661,633,880,784,814,652,631,653,0.447967031676,-0.00555065065102,0.049947177505,0.999999990821,0.000121307841278,-4.54407533644e-05,3.97303481144e-05,1793247507445454336
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.939167518,744.939167518,715,680.060832482,660.939167518,633,880,784,814.060832482,652,631,653,0.44856209326,-0.00554839598531,0.0499250095495,0.999999988024,0.000126506040582,-7.98418787387e-05,3.96596151441e-05,1793247507462120960
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.360748267,744.360748267,715,680.639251733,660.360748267,633,880,784,814.639251733,652,631,653,0.449166067991,-0.00555181548819,0.0499205991903,0.999999987577,0.000124954338528,-8.66778122423e-05,4.14603692048e-05,1793247507478787584
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.216754732,744.216754732,715,681,660.216754732,633,880,784,814.783245268,652,631,652.783245268,0.44975672947,-0.00555395978571,0.0499267423901,0.999999988235,0.000124715059494,-7.81072699745e-05,4.32978200857e-05,1793247507495454720
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.792739161,744.792739161,715,681,660.792739161,633,880,784,814.207260839,652,631,652.207260839,0.450325326709,-0.00555399067284,0.0499503761049,0.99999998999,0.000126650871781,-4.4003426933e-05,4.51960887481e-05,1793247507512121600
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.633325924,633,880,784,814,652,631,652.366674076,0.450850426886,-0.00555381092482,0.0499653225997,0.999999990142,0.000129100210973,-2.90117360881e-05,4.69853542876e-05,1793247507528788224
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.060542994,633,880,784,814,652,631,652.939457006,0.451351077257,-0.005553512778,0.0499753859784,0.999999989816,0.00013183820577,-2.47630534531e-05,4.87133489664e-05,1793247507545454592
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.50310134,745,715,681,660.49689866,633,880,784,814,652,631,653,0.451752333073,-0.00555224811579,0.0499524371992,0.999999987233,0.000133113890658,-7.37480139372e-05,4.87523090921e-05,1793247507562120960
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.058439625,745,715,680.941560375,660.941560375,632.941560375,880,784,814.058439625,652,631,653,0.45214313445,-0.00555114496815,0.0499248617429,0.999999981593,0.000133875961152,-0.000128635338485,4.84208607113e-05,1793247507578787584
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.676610916,745,715,680.323389084,660.323389084,632.323389084,880,784,814.676610916,652,631,653,0.452546322919,-0.00555268293478,0.04989034338,0.999999974129,0.000131374061605,-0.000179792461494,4.64537199033e-05,1793247507595454208
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.273222341,715,680.273222341,660,632,880,784.273222341,814.726777659,652.273222341,631,653,0.452937192863,-0.0055554822148,0.0498741027822,0.999999971405,0.00012294325144,-0.000200345029558,4.4008625904e-05,1793247507612120832
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.846181607,715,680.846181607,660,632,880,784.846181607,814.153818393,652.846181607,631,653,0.453314548817,-0.00555966521101,0.0498779136987,0.99999997578,0.000108008165941,-0.000187323051957,4.10391964371e-05,1793247507628787456
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.569889985,715,680.569889985,660.430110015,632,879.569889985,784.569889985,814,652.569889985,631,653,0.453666620696,-0.00556286525811,0.0498858465059,0.999999982908,6.35395425662e-05,-0.000171185584124,2.901416877e-05,1793247507645454336
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715.017836765,680.017836765,660.982163235,631.982163235,879.017836765,784,814,652,631,653,0.454008085638,-0.00556564184499,0.049894980483,0.999999987927,1.0047650514e-05,-0.000154415202977,1.41625993223e-05,1793247507662120960
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715.59839711,680.59839711,660.40160289,631.40160289,879.59839711,784,814,652,631,653,0.454307652401,-0.0055664393099,0.0498942870376,0.999999987973,1.38193014501e-05,-0.000153747972096,1.4982008862e-05,1793247507678787840
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715.822812699,681,660,631,880,784,814.177187301,652,631,653,0.454585914886,-0.0055671031533,0.0498873042246,0.999999986256,1.72337102766e-05,-0.000164141186381,1.57783908506e-05,1793247507695454720
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715.24799503,681,660,631,880,784,814.75200497,652,631,653,0.454816367879,-0.00556746713328,0.0498662072877,0.999999979795,1.98464228053e-05,-0.000199355416815,1.65230960244e-05,1793247507712121088
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,880,784,815,652,631,652.674731555,0.455020978798,-0.00556515591593,0.0498436970294,0.999999972021,2.39354841076e-05,-0.00023476142842,1.64815869204e-05,1793247507728787712
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,631,880,784,815,652,631,652.10264735,0.455205980611,-0.00556081474192,0.0498201143314,0.999999962915,2.91448084903e-05,-0.000270312968421,1.58434935084e-05,1793247507745454336
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715.47037545,681,660,631,880,784,815,652,631,652.47037545,0.455377910829,-0.00555885131408,0.0498065331929,0.999999956663,3.52330035948e-05,-0.000291832814665,1.62979494273e-05,1793247507762121216
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715.95429538,681,660,631,880,784,815,652,631,653,0.455545831603,-0.00555763115047,0.0497963851182,0.999999951449,4.10277693724e-05,-0.000308429327996,1.7050850486e-05,1793247507778787840
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715.353444532,681,660,631,880,784,815,652,631,653,0.455699769581,-0.00555912381891,0.0498013728565,0.99999995324,4.0924206865e-05,-0.000302492427128,1.85270410114e-05,1793247507795454464
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.765897679,631,880,784,815,652,631,653,0.455842628698,-0.0055595771604,0.049805095001,0.99999995438,4.1846133721e-05,-0.000298497331395,1.97001415683e-05,1793247507812121344
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,681,659.19735694,631,880,784,815,652,631,653,0.455969660554,-0.00555854571999,0.049807009119,0.999999954626,4.42330739949e-05,-0.000297276297527,2.04402479136e-05,1793247507828788224
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715.388942059,681,659.388942059,631,880,784,815,652,630.611057941,653,0.456078701461,-0.00555931056034,0.0498081991157,0.999999955188,4.47857108275e-05,-0.00029525641468,2.10110258364e-05,1793247507845454848
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715.984683035,681,659.984683035,631,880,784,815,652,630.015316965,653,0.456178176648,-0.00556103047592,0.0498090041,0.999999955916,4.43630558723e-05,-0.000292811787102,2.14917724993e-05,1793247507862121472
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715.435599221,680.435599221,659.435599221,631,880,783.435599221,815,652,630.564400779,653,0.456249004387,-0.00556072073208,0.0498041069378,0.999999953039,4.55742519234e-05,-0.000302297452329,2.14616436993e-05,1793247507878788096
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680.142863901,659.142863901,631,880,783.142863901,815,652,631,653,0.45631401709,-0.00555987112922,0.0497988880649,0.99999994995,4.7193268128e-05,-0.000312110930928,2.14402827692e-05,1793247507895454464
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680.718805457,659.718805457,631,880,783.718805457,815,652,631,653,0.456363693771,-0.00555754736322,0.0497931501099,0.999999946693,4.99178479396e-05,-0.000321963760413,2.14863689878e-05,1793247507912121088
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,744.705516792,715,681,659.705516792,631,880,784,814.705516792,652,631,653,0.456407975335,-0.00555657701638,0.0497883688643,0.999999944088,5.18148540057e-05,-0.000329675017703,2.13042620053e-05,1793247507928787712
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,659,631,880,784,814,652,630,653,0.456511399415,-0.00555531339345,0.0497883692591,0.999999944352,5.48828023864e-05,-0.000328341840935,2.18182531962e-05,1793247507978787840
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659,631,880,784,814,652,630,653,0.456529091659,-0.00555675473431,0.0497882605152,0.999999944591,5.2551967354e-05,-0.000327998014063,2.17681426099e-05,1793247507995454720
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.148798486,630.851201514,880,784,814,652,630.148798486,653,0.456543761188,-0.00555731428846,0.0497872634678,0.99999994418,5.12625041647e-05,-0.000329462069665,2.15890292117e-05,1793247508012121344
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,659.76396494,630.23603506,880,784,814,652,630.76396494,653,0.456548956848,-0.00555511012435,0.0497834822769,0.999999941715,5.32369350241e-05,-0.000336592436152,2.10055919475e-05,1793247508028787712
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715.353061604,681,660,630,879.646938396,784,814.353061604,652,630.646938396,653,0.456554879541,-0.00555278447075,0.0497824835769,0.999999940923,5.53885765496e-05,-0.000338607719308,2.07459532677e-05,1793247508045454592
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715.925928029,681,660,630,879.074071971,784,814.925928029,652,630.074071971,653,0.456561254861,-0.00555038318179,0.0497832171667,0.999999941192,5.76505436749e-05,-0.000337438515512,2.06879012149e-05,1793247508062121472
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715.483908294,681,659.483908294,630.516091706,879.516091706,784,814.483908294,652,630,653,0.456564497705,-0.00555004751166,0.0497826352896,0.999999941273,5.75594896701e-05,-0.000337220593407,2.05858542749e-05,1793247508078788096
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.105586391,630.894413609,880,784,814.105586391,652,630,653,0.45656678249,-0.00554998973756,0.0497818672363,0.999999941216,5.75996154257e-05,-0.00033738665956,2.0514679962e-05,1793247508095454720
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.680683945,630.319316055,880,784,814.680683945,652,630,653,0.45656687558,-0.00554980366504,0.0497811399739,0.999999940665,5.9776862041e-05,-0.000338632033709,2.06098388028e-05,1793247508112121344
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,744.743211961,715.256788039,681,659.743211961,630.256788039,880,784,815,652,630,653,0.45656646708,-0.00554928663716,0.0497801130202,0.999999939974,6.11949132015e-05,-0.000340412794874,2.06451973172e-05,1793247508128787968
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,744.165851231,715.834148769,681,659.165851231,630.834148769,880,784,815,652,630,653,0.4565654324,-0.00554835644653,0.0497787119337,0.999999939109,6.16651894732e-05,-0.00034286193024,2.06059014652e-05,1793247508145454592
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.419746371,744.419746371,715.580253629,680.580253629,659,631,880,784,815,652,630.419746371,653,0.456565531137,-0.00554775896457,0.0497781973938,0.999999938703,6.16914202476e-05,-0.00034404410587,2.05500281616e-05,1793247508162121216
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.991473557,745,715,680.017052885,659,630.991473557,879.991473557,783.991473557,814.991473557,652,630.991473557,653,0.456566071654,-0.00554731236078,0.0497780236013,0.999999938479,6.15472384994e-05,-0.000344721903769,2.04958740219e-05,1793247508178787840
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.411883452,745,715,681.176233097,659,630.411883452,879.411883452,783.411883452,814.411883452,652,630.411883452,653,0.456565606028,-0.00554799001634,0.0497767407821,0.999999938064,6.19758138404e-05,-0.000345818085421,2.10043412751e-05,1793247508195454464
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.166170711,715,681.667658578,659,630.166170711,879,783.166170711,814.166170711,652,630,653,0.456565870983,-0.00554846835782,0.0497763721517,0.999999938046,6.16366223761e-05,-0.000345911748904,2.13095955224e-05,1793247508212121088
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.740452601,715,680.519094799,659,630.740452601,879,783.740452601,814.740452601,652,630,653,0.456567930227,-0.00554845718878,0.049778248746,0.999999939001,5.94118144997e-05,-0.000343543252359,2.11157635964e-05,1793247508228788224
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.68463683,715,680.31536317,659.31536317,630.68463683,879.31536317,784,815,652,630.31536317,653,0.456569125073,-0.00554922763155,0.0497785938478,0.999999939335,5.84476027011e-05,-0.000342735987685,2.11183367293e-05,1793247508245454848
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.109207845,715,680.890792155,659.890792155,630.109207845,879.890792155,784,815,652,630.890792155,653,0.456569607086,-0.00555064263441,0.0497776759963,0.999999939162,5.85229478723e-05,-0.000343216200799,2.12828762859e-05,1793247508262121216
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,659.535489095,630,880,783.535489095,815,652,631,653,0.456568117089,-0.00554942887107,0.0497767282855,0.999999938485,5.9531638247e-05,-0.000345015933487,2.12049408311e-05,1793247508278787840
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,659.039353193,630,880,783,815,652,630.960646807,653,0.456566327885,-0.00554767907252,0.0497758722653,0.999999937736,6.07434065366e-05,-0.000346979265205,2.10672429274e-05,1793247508295454464
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,659.635769862,630,880,783,815,652,630.364230138,653,0.456566842058,-0.00554705786607,0.0497764131773,0.999999937712,6.17350660118e-05,-0.000346883172675,2.08875742257e-05,1793247508312121088
+247,4.116666667,HOLD_POSE2,766,745,715,681,660,630,879,783,815,653,630,653,0.456565666622,-0.00554833853245,0.0497746032357,0.999999936979,5.92593616043e-05,-0.000349379446785,2.15619212275e-05,1793247508351344128
+248,4.133333333,HOLD_POSE2,766,745,715,681,659.427239294,630.572760706,879.572760706,783.572760706,815,652.427239294,630,653,0.456566543683,-0.0055473000134,0.0497753193298,0.999999937395,6.00981769343e-05,-0.00034808934954,2.0793724708e-05,1793247508368010752
+249,4.150000000,HOLD_POSE2,766,745,715,680.848659788,659,631,880,783.848659788,814.848659788,652,630,653,0.456567493807,-0.00554635277734,0.0497759698112,0.999999937784,6.07616867486e-05,-0.000346889176494,2.02150804845e-05,1793247508384677376
+250,4.166666667,HOLD_POSE2,766,745,715,680.252996612,659,631,880,783.252996612,814.252996612,652,630,653,0.456568658443,-0.00554567354074,0.0497764276591,0.999999938099,6.09105135477e-05,-0.000345953013524,2.01929467198e-05,1793247508401344512
+251,4.183333333,HOLD_POSE2,766,745,715,680.331564861,659,630.668435139,880.331564861,783.331564861,814.331564861,652,630,653,0.456569040285,-0.0055449716161,0.0497765674126,0.99999993807,6.20494640677e-05,-0.000345830896739,2.0250828987e-05,1793247508418011392
+252,4.200000000,HOLD_POSE2,766,745,715,680.907929721,659,630.092070279,880.907929721,783.907929721,814.907929721,652,630,653,0.456568844176,-0.00554425294052,0.0497764723117,0.999999937784,6.39194398279e-05,-0.000346309804208,2.03677884581e-05,1793247508434677760
+253,4.216666667,HOLD_POSE2,766,745,715,681.482581034,659,630.482581034,880.517418966,783.517418966,814.517418966,652,630.482581034,653,0.456567817588,-0.00554447200205,0.0497766286951,0.999999937647,6.35002336259e-05,-0.000346773105866,2.05673259662e-05,1793247508451344128
+254,4.233333333,HOLD_POSE2,766,745,715.05701291,681.94298709,659,631,880,783.05701291,814.05701291,652,631,653,0.456566928363,-0.00554499256941,0.0497768063999,0.999999937599,6.24660281873e-05,-0.000347084461352,2.07706740161e-05,1793247508468010752
+255,4.250000000,HOLD_POSE2,766,745,715.632411604,681.367588396,659,631,880,783.632411604,814.632411604,652,631,653,0.456568723648,-0.00554663360234,0.0497767432575,0.999999938122,5.97970227087e-05,-0.000346041233136,2.0865926331e-05,1793247508484677376
+256,4.266666667,HOLD_POSE2,766,745.214204646,715.785795354,681,659.214204646,630.785795354,880,783.785795354,815,652,631,653,0.456569713939,-0.00554694796808,0.0497767691831,0.999999938349,5.90741572904e-05,-0.000345519734497,2.07138133579e-05,1793247508501345280
+257,4.283333333,HOLD_POSE2,766,745.807308364,715.192691636,681,659.807308364,630.192691636,880,783.192691636,815,652,631,653,0.456569280302,-0.0055449156387,0.0497769526579,0.999999938058,6.17937509154e-05,-0.000345921105084,2.01241446094e-05,1793247508518014720
+258,4.300000000,HOLD_POSE2,766,745.610836779,715,681,659.610836779,630,880,783,814.610836779,652,630.610836779,653,0.456567872429,-0.00554450569237,0.0497759421229,0.999999937371,6.22115387502e-05,-0.000347841210221,1.98548264198e-05,1793247508534680576
+259,4.316666667,HOLD_POSE2,766,745.034395196,715,681,659.034395196,630,880,783,814.034395196,652,630.034395196,653,0.456565995721,-0.00554487649087,0.0497743569905,0.99999993649,6.1521620876e-05,-0.000350492181268,1.97396715835e-05,1793247508551344384
+260,4.333333333,HOLD_POSE2,766,745,715,680.460558577,659,630,880,783.539441423,814,652,630,653,0.456566932559,-0.00554429850225,0.0497744780325,0.999999936597,6.36434602882e-05,-0.00034978176094,2.02093896054e-05,1793247508568010752
+261,4.350000000,HOLD_POSE2,766,745,715.116614203,680.116614203,659,630,879.883385797,783.883385797,814,652,630.116614203,653,0.456568074481,-0.00554394491363,0.0497748804089,0.999999936884,6.49054644468e-05,-0.000348704035888,2.06288203955e-05,1793247508584677632
+262,4.366666667,HOLD_POSE2,766,745,715.708043967,680.708043967,659,630,879.291956033,783.291956033,814,652,630.708043967,653,0.456569324518,-0.00554475014354,0.0497759874719,0.999999937663,6.19400348697e-05,-0.000346999231941,2.06923868149e-05,1793247508601344256
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,630,880,783,815,652,631,653,0.456567651745,-0.00554591446036,0.0497738132495,0.99999993691,5.96579684796e-05,-0.000349548846301,2.08750515592e-05,1793247508638309376
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.425914682,630,880,783.574085318,815,652,630.425914682,653,0.456568541885,-0.00554326009029,0.0497749020625,0.999999936933,6.34809743146e-05,-0.000348848725253,2.02070796586e-05,1793247508654976256
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.303132927,681,659.303132927,630,880.696867073,783,814.303132927,652,630.303132927,653,0.4565686404,-0.00554417108744,0.0497760444853,0.999999937369,6.21398666361e-05,-0.00034782746574,2.03929771702e-05,1793247508704976128
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.634857758,630,879.365142242,784,815,652,630.365142242,653,0.456521161575,-0.00554245603828,0.0497518815621,0.999999923676,6.31569697701e-05,-0.000385101009229,1.88521838024e-05,1793247508821642496
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.033865732,630,879.966134268,784,815,652,630.966134268,653,0.456482141518,-0.00553977845393,0.0497332896069,0.999999911128,6.5400036241e-05,-0.000416129199287,1.74205178424e-05,1793247508838309120
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.275778639,745,715,679.275778639,659,634,878,785,809.275778639,652,630,652.275778639,0.412270699267,-0.00536047027009,0.0497788695505,0.999999930716,9.33000538674e-05,-0.00035647700597,-5.27904079751e-05,1793247510038309120
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.896610633,745,715,679.896610633,660.793221265,634,878,785.896610633,809,652.896610633,630,652.896610633,0.410895660496,-0.00536770018578,0.049820038891,0.999999950082,9.16598558676e-05,-0.000298400911812,-4.8906423769e-05,1793247510071642624
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.510197038,715,679,659.979605925,634,877,786,809,653,629,652,0.400988162876,-0.00540093405667,0.0498471063005,0.99999995712,0.000127521251916,-0.000260801730622,-3.84936094694e-05,1793247510921641984
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.699412947,745,715,679,659.300587053,634,877,786,809,653,629,652.300587053,0.400988076322,-0.00540030259781,0.0498493464811,0.999999957918,0.000128761198557,-0.000257093073963,-3.85834776575e-05,1793247511071643392
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfee87968e5fff6e0162bf93d7b075630412c18a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+3,0.050000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+6,0.100000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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+12,0.200000000,pose1_baseline,0.583245383869,-7.21367045562e-05,1.04004237006,0.553817175635,0.00860232274892,1.03966575729
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..255148bd9d91d59b2177bd320cd61b92d72a2357
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b29ea863414a416b507ed432af83dc27ea7999119f619a49973e79ba2e8098
+size 25725362
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6005e8a86aa36a4ec065234c43452551a4dc9e35
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,659,634,877,784,810,652,629,652,0.401021099758,-0.00549817110464,0.0698497768764,0.999999986778,3.93691523864e-05,-0.000157001120959,1.56192023039e-05,1793247512631449600
+1,0.016666667,BASELINE,765.409992645,745,715,679,658.409992645,634,877,784.590007355,809.409992645,652,629,652,0.401019324309,-0.00549805373806,0.0698486089847,0.999999986391,3.93307200796e-05,-0.000159480419524,1.54014524423e-05,1793247512648115968
+2,0.033333333,BASELINE,765,745.176657147,715,679.176657147,658.176657147,634,877,785,809,652,629,652.176657147,0.401018299509,-0.00549789763375,0.0698478383091,0.999999986089,4.00386228795e-05,-0.000161196745037,1.53237863824e-05,1793247512664782336
+3,0.050000000,BASELINE,765,745.755660034,715,679.755660034,658.755660034,634,877,785,809,652,629,652.755660034,0.401018984351,-0.00549765330227,0.0698479723137,0.999999985989,4.24463422699e-05,-0.000161175360667,1.55651683443e-05,1793247512681448960
+4,0.066666667,BASELINE,765,745.662877412,715,679.662877412,659,634,877,785,809,652,629,652.662877412,0.401020400827,-0.00549706341411,0.069848873671,0.999999986211,4.30355777556e-05,-0.000159628776524,1.56576073041e-05,1793247512698115584
+5,0.083333333,BASELINE,765,745.079619071,715,679.079619071,659,634,877,785,809,652,629,652.079619071,0.401022351476,-0.0054962212324,0.0698503352783,0.999999986664,4.22971242351e-05,-0.000156968632487,1.56413018363e-05,1793247512714782208
+6,0.100000000,BASELINE,765,745,715,679,658.500267826,634,877,785,809,652,629,652,0.401020222772,-0.0054969998054,0.0698492562205,0.999999986379,4.20270279618e-05,-0.000158874693094,1.53468162766e-05,1793247512731448832
+7,0.116666667,BASELINE,765,745,715,679,658.078489453,634,877,785,809,652,629,652,0.401017893982,-0.00549796916799,0.0698480130912,0.99999998603,4.17931415233e-05,-0.000161139627465,1.51008512651e-05,1793247512748115456
+8,0.133333333,BASELINE,765,745,715,679,658.657397822,634,877,785,809,652,629,652,0.401018401129,-0.0054985213645,0.0698482846561,0.999999986052,4.13180552514e-05,-0.000161090300495,1.54446141448e-05,1793247512764781824
+9,0.150000000,BASELINE,765.236544621,745.236544621,715,679,659,634,877,785,809,652,629,652,0.401018750801,-0.0054987564043,0.0698485902925,0.999999986146,4.06679767024e-05,-0.000160657546602,1.56125729303e-05,1793247512781448448
+10,0.166666667,BASELINE,765.816037049,745.816037049,715,679,659,634,877,785,809,652,629,652,0.401018872165,-0.005498531623,0.0698489453264,0.999999986342,3.97641903842e-05,-0.000159668891578,1.55256468842e-05,1793247512798115072
+11,0.183333333,BASELINE,766,745.6091399,715.3908601,679,659,634,877,785,809,652,629,652,0.401019796376,-0.00549869990028,0.0698494940208,0.999999986432,4.03215340129e-05,-0.000158950437746,1.56314907677e-05,1793247512814782208
+12,0.200000000,BASELINE,766,745.036488553,715.963511447,679,659,634,877,785,809,652,629,652,0.401021093997,-0.00549905099131,0.0698501327878,0.999999986473,4.15584573806e-05,-0.000158357655932,1.58269930301e-05,1793247512831449600
+13,0.216666667,BASELINE,765.445318871,745,715.445318871,679,658.445318871,634,877,784.445318871,809,652,629,652.554681129,0.401020399273,-0.00549825138056,0.0698498178139,0.99999998644,4.21363520257e-05,-0.000158434590024,1.55722702518e-05,1793247512848115968
+14,0.233333333,BASELINE,765.143681037,745,715,679,658.143681037,634.143681037,877,784.143681037,809,652,629,653,0.401019632311,-0.00549775298264,0.0698494659179,0.999999986374,4.21843760156e-05,-0.000158856652061,1.53886183194e-05,1793247512864782080
+15,0.250000000,BASELINE,765.72229804,745,715,679,658.72229804,634.72229804,877,784.72229804,809,652,629,653,0.401019057118,-0.00549840343866,0.069849198734,0.999999986219,4.07641977353e-05,-0.000160185481371,1.55128547629e-05,1793247512881448704
+16,0.266666667,BASELINE,765.700712122,745,715.299287878,679,659,634.700712122,877,784.700712122,809,652,629,652.700712122,0.401019401303,-0.00549881470834,0.0698493687708,0.999999986229,4.02644107509e-05,-0.000160246420004,1.55794691342e-05,1793247512898115072
+17,0.283333333,BASELINE,765.125223961,745,715.874776039,679,659,634.125223961,877,784.125223961,809,652,629,652.125223961,0.401020593944,-0.00549900524291,0.0698499423003,0.999999986391,4.06140145359e-05,-0.000159137275207,1.55929064943e-05,1793247512914781696
+18,0.300000000,BASELINE,765,745,716,679,658.541513074,634,876.541513074,784.458486926,809,652,629,652,0.401019396148,-0.00549783962915,0.0698491002293,0.999999986203,4.14603019542e-05,-0.00016010769535,1.5495746324e-05,1793247512931448576
+19,0.316666667,BASELINE,765,745,715.956069471,679.043930529,658.043930529,634,876.043930529,785,808.956069471,652,629,652,0.401017679911,-0.00549643351823,0.0698479629713,0.999999985946,4.22321864792e-05,-0.000161519216831,1.53756378433e-05,1793247512948115712
+20,0.333333333,BASELINE,765,745,715.377371176,679.622628824,658.622628824,634,876.622628824,785,808.377371176,652,629,652,0.401017745441,-0.00549669102507,0.0698480248632,0.999999986063,4.04168553562e-05,-0.000161259977415,1.53506032938e-05,1793247512964782336
+21,0.350000000,BASELINE,765,745,715,679.798812125,659,634,877,784.798812125,808.201187875,652,629.201187875,652,0.401018460869,-0.00549686580034,0.0698486479362,0.999999986261,3.97863954927e-05,-0.000160181126601,1.54001970639e-05,1793247512981448960
+22,0.366666667,BASELINE,765,745,715,679.220514142,659,634,877,784.220514142,808.779485858,652,629.779485858,652,0.40102039448,-0.00549688550206,0.0698503228968,0.999999986609,4.1376879461e-05,-0.000157565981729,1.55896754779e-05,1793247512998115840
+23,0.383333333,BASELINE,765,745,715,679,658.644181773,634,877,784.355818227,809,652,629.644181773,652,0.401020142591,-0.00549641057032,0.0698506712391,0.999999986611,4.19163796323e-05,-0.000157423349014,1.54359182746e-05,1793247513014782208
+24,0.400000000,BASELINE,765,745,715,679,658.069060822,634,877,784.930939178,809,652,629.069060822,652,0.401018543705,-0.00549563077935,0.0698502019421,0.999999986403,4.18081233442e-05,-0.000158804608335,1.50706134501e-05,1793247513031448576
+25,0.416666667,BASELINE,765.517404571,745,715.517404571,679.517404571,658.517404571,634,877,785,809,652,629,652,0.401020525487,-0.00549636212257,0.0698513447755,0.999999986606,4.2359510573e-05,-0.000157361487315,1.51891570459e-05,1793247513048115200
+26,0.433333333,BASELINE,765.895591024,745,716,679.895591024,658.895591024,634,877,785,809.104408976,652,629.104408976,652.104408976,0.401022332856,-0.00549719006242,0.0698522819597,0.999999986772,4.27964195661e-05,-0.000156165689929,1.53869385457e-05,1793247513064781824
+27,0.450000000,BASELINE,765.313206171,745,716,679.313206171,658.313206171,634,877,785,809.686793829,652,629.686793829,652.686793829,0.401021104802,-0.00549751615157,0.0698512705399,0.999999986522,4.22971524206e-05,-0.00015786661666,1.56451864651e-05,1793247513081448960
+28,0.466666667,BASELINE,765,745,715.734732102,679,658.265267898,634.265267898,877.265267898,785,810,652,629.734732102,652.734732102,0.401020432307,-0.00549744995049,0.0698505553973,0.999999986358,4.2891590655e-05,-0.000158738328183,1.57068224974e-05,1793247513098115584
+29,0.483333333,BASELINE,765,745,715.160808508,679,658.839191492,634.839191492,877.839191492,785,810,652,629.160808508,652.160808508,0.401020406239,-0.0054969272953,0.0698501849918,0.999999986293,4.47586231492e-05,-0.000158645196139,1.55396883557e-05,1793247513114781696
+30,0.500000000,BASELINE,765,745,715,679,659,634.585677088,878,784.585677088,809.585677088,652,629,652,0.401019485462,-0.00549628966731,0.0698499854552,0.999999986161,4.44179589928e-05,-0.000159606744987,1.51937587453e-05,1793247513131448320
+31,0.516666667,BASELINE,765,745,715,679,659,634.010075525,878,784.010075525,809.010075525,652,629,652,0.401018216413,-0.00549560728521,0.0698498524309,0.999999986,4.32179304511e-05,-0.000160978837175,1.47782315109e-05,1793247513148114944
+32,0.533333333,BASELINE,765,745,715,679,659,634,877.421789158,784.578210842,809.578210842,652,629,652,0.401018253515,-0.00549569905937,0.0698494232588,0.999999986094,4.22896119114e-05,-0.000160636800338,1.48459562524e-05,1793247513164781568
+33,0.550000000,BASELINE,765.164456751,745,715,679.164456751,658.835543249,634,877,785,809.835543249,651.835543249,629,652,0.401018083913,-0.00549587126652,0.0698489367449,0.999999986089,4.19807079883e-05,-0.000160733582149,1.49859948303e-05,1793247513181448448
+34,0.566666667,BASELINE,765.74496872,745,715,679.74496872,658.25503128,634,877,785,809.25503128,651.25503128,629,652,0.401017332503,-0.00549621206579,0.0698483185117,0.999999985824,4.32265997793e-05,-0.000162017781427,1.52871969394e-05,1793247513198114816
+35,0.583333333,BASELINE,765.67890304,745,715,679.67890304,658.32109696,634,877.32109696,784.67890304,809,651.32109696,629,652,0.401018277801,-0.00549565872589,0.0698489786633,0.999999985935,4.44395604972e-05,-0.000161000222386,1.52961869867e-05,1793247513214781440
+36,0.600000000,BASELINE,765.106209623,745,715,679.106209623,658.893790377,634,877.893790377,784.106209623,809,651.893790377,629,652,0.401020552558,-0.00549440478068,0.069850640497,0.999999986335,4.562671811e-05,-0.000158179114051,1.50762134548e-05,1793247513231448064
+37,0.616666667,BASELINE,765,745,715,679.479016717,658.520983283,634,878,784.479016717,809,652,629,652,0.401021005653,-0.00549539723246,0.069851216633,0.999999986383,4.55253451515e-05,-0.000157889811316,1.5240349247e-05,1793247513248114688
+38,0.633333333,BASELINE,765,745,715,679.933518177,658,634,877.933518177,785,809,652,629,652,0.401020970496,-0.00549657524446,0.0698514036543,0.999999986347,4.51990247908e-05,-0.000158193598037,1.5422810778e-05,1793247513264781312
+39,0.650000000,BASELINE,765,745,715,679.350826076,658,634,877.350826076,785,809,652,629,652,0.401020364681,-0.00549522272911,0.0698504886988,0.999999986275,4.5404017218e-05,-0.000158626626052,1.50685095331e-05,1793247513281447936
+40,0.666666667,BASELINE,765,745.223492387,715.223492387,679,658,634,876.776507613,785,809.223492387,652,629,652,0.401019926489,-0.00549457722538,0.069850134698,0.99999998621,4.55216147962e-05,-0.000159009403894,1.49792160281e-05,1793247513298115072
+41,0.683333333,BASELINE,765,745.785141041,715.785141041,679,658,634,876.214858959,785,809.785141041,652,629,652,0.40101974192,-0.00549500146917,0.0698506294527,0.999999986157,4.55069791518e-05,-0.000159316150439,1.52908938223e-05,1793247513314782464
+42,0.700000000,BASELINE,765,745.637983749,715.637983749,679.362016251,658.362016251,634,876.362016251,785,809.637983749,652,629,652,0.40101914714,-0.00549585844876,0.0698504748101,0.99999998606,4.52652475106e-05,-0.000159986890787,1.53563116782e-05,1793247513331448832
+43,0.716666667,BASELINE,765,745.05167471,715.05167471,679.94832529,658.94832529,634,876.94832529,785,809.05167471,652,629,652,0.401018298209,-0.00549698353653,0.0698499178234,0.999999985934,4.48828150197e-05,-0.000160883149134,1.52691553548e-05,1793247513348115200
+44,0.733333333,BASELINE,765,745,715,679.463026526,659,634,877,785,809,652,629,652.536973474,0.40101981721,-0.00549700717371,0.0698511470159,0.999999986374,4.40296319289e-05,-0.000158358998052,1.53636430214e-05,1793247513364781824
+45,0.750000000,BASELINE,765,745,715,679,659,634,877,784.875571789,809,652,629,653,0.401021172827,-0.00549708190805,0.0698521952324,0.99999998674,4.36008374581e-05,-0.000156138713206,1.55024913553e-05,1793247513381448704
+46,0.766666667,BASELINE,765,745,715,679,659,634,877,784.293340033,809,652,629,653,0.401021085238,-0.00549773633568,0.069851942397,0.999999986661,4.49008851503e-05,-0.000156252784374,1.57399584831e-05,1793247513398115840
+47,0.783333333,BASELINE,765,745,715.285442013,679,659,634,877,784.285442013,809,652,629,653,0.401020720879,-0.00549747308356,0.0698512898594,0.999999986471,4.54073410617e-05,-0.000157329288482,1.55907701078e-05,1793247513414782720
+48,0.800000000,BASELINE,765,745,715.860721298,679,659,634,877,784.860721298,809,652,629,653,0.401020075489,-0.00549627802126,0.0698502314649,0.999999986168,4.51079855557e-05,-0.000159383045171,1.50489725037e-05,1793247513431449344
+49,0.816666667,BASELINE,765,745,715.565542213,679,659,634,877.434457787,785,809,652,629,652.565542213,0.401020134977,-0.00549556297313,0.0698507434449,0.99999998616,4.64199619516e-05,-0.000159050450435,1.50885551241e-05,1793247513448115712
+50,0.833333333,BASELINE,765.007986127,745,715.007986127,679,659,634,877.992013873,785,809,652,629,652,0.401020418806,-0.00549502144035,0.0698517353794,0.999999986244,4.81777558938e-05,-0.000157976671662,1.53064244397e-05,1793247513464782336
+51,0.850000000,BASELINE,765.602422912,745,715.602422912,679,659,634,877.397577088,785,809,652,629,652,0.401020641778,-0.00549596155161,0.0698511341489,0.999999986327,4.48747879937e-05,-0.000158454299796,1.49784643836e-05,1793247513481448704
+52,0.866666667,BASELINE,765.809081076,745,715.809081076,679.190918924,659,634,877,785,809,652,629,652.190918924,0.401020245783,-0.00549675349251,0.0698504521685,0.999999986282,4.29426536117e-05,-0.000159280740866,1.48531900118e-05,1793247513498115072
+53,0.883333333,BASELINE,765.23258306,745,715.23258306,679.76741694,659,634,877,785,809,652,629,652.76741694,0.401018599727,-0.00549724618911,0.0698496071061,0.999999985997,4.37790492781e-05,-0.000160811643107,1.51372588509e-05,1793247513514781696
+54,0.900000000,BASELINE,765,745,715.343143177,680,659,634,877,784.656856823,809,652,629,653,0.401019045567,-0.00549618196143,0.0698505103312,0.999999986075,4.58028973135e-05,-0.000159753174107,1.52238493928e-05,1793247513531448832
+55,0.916666667,BASELINE,765,745,715.918347454,680,659,634,877,784.081652546,809,652,629,653,0.401020906115,-0.00549406481592,0.0698525958895,0.999999986387,4.86297964012e-05,-0.00015694356332,1.51768891673e-05,1793247513548115968
+56,0.933333333,BASELINE,765,745,715.494415249,679.494415249,659,634,877,784,809,652,629,652.494415249,0.401021061443,-0.00549484725019,0.0698517927948,0.999999986396,4.52833430444e-05,-0.000157920634705,1.47973415971e-05,1793247513564782592
+57,0.950000000,BASELINE,765,745,715,678.906806587,658.906806587,634,877,784.093193413,809,651.906806587,629,652,0.401020947238,-0.00549584526193,0.0698507997574,0.999999986348,4.19486383996e-05,-0.000159162891801,1.45487379801e-05,1793247513581448960
+58,0.966666667,BASELINE,765,745,715,678.327642537,658.327642537,634,877,784.672357463,809,651.327642537,629,652,0.40102089861,-0.00549546595398,0.0698513082892,0.999999986351,4.40009772441e-05,-0.000158521211611,1.52698853244e-05,1793247513598115584
+59,0.983333333,BASELINE,765.249351719,745,715,678.249351719,658.249351719,634,877.249351719,785,809,651.249351719,629,652,0.401020767312,-0.00549519251835,0.0698513925305,0.999999986326,4.51275066579e-05,-0.000158338223152,1.5536031797e-05,1793247513614782464
+60,1.000000000,BASELINE,765.823519587,745,715,678.823519587,658.823519587,634,877.823519587,785,809,651.823519587,629,652,0.401020528323,-0.00549505699644,0.0698509240731,0.999999986268,4.50480376282e-05,-0.000158752745955,1.52094748887e-05,1793247513631449088
+61,1.016666667,BASELINE,765.593113357,745,715.406886643,679.406886643,659,634,878,784.593113357,809,652,629,652,0.401019297556,-0.00549531144526,0.0698503405153,0.999999986014,4.58838852954e-05,-0.000160103994716,1.52878830184e-05,1793247513648115712
+62,1.033333333,BASELINE,765.005664046,745,715.994335954,679.994335954,659,634,878,784.005664046,809,652,629,652,0.40101762667,-0.00549573895006,0.0698497058798,0.999999985668,4.71259198713e-05,-0.00016187093107,1.5546001093e-05,1793247513664782336
+63,1.050000000,BASELINE,765,745,715.42646886,678.852937719,659,634,877.42646886,784,809,652,629,652,0.401019693311,-0.00549600431806,0.0698510394727,0.999999986185,4.49381184354e-05,-0.000159304198256,1.52653437665e-05,1793247513681448960
+64,1.066666667,BASELINE,765,745.152610322,715.152610322,678.152610322,659,634,877,784.152610322,809,652,629,652.152610322,0.401020944675,-0.00549588498271,0.0698518000572,0.999999986489,4.37824640607e-05,-0.000157731805814,1.50048536761e-05,1793247513698115840
+65,1.083333333,BASELINE,765,745.731589882,715.731589882,678.731589882,659,634,877,784.731589882,809,652,629,652.731589882,0.401019816624,-0.00549469525677,0.0698509062111,0.999999986201,4.56037572891e-05,-0.000159055319149,1.48153622808e-05,1793247513714782720
+66,1.100000000,BASELINE,765.307829579,745.692170421,715.692170421,679,659,634,877,785,809,652,629,653,0.401020059505,-0.00549376922905,0.0698515100626,0.999999986279,4.63542195641e-05,-0.000158361176129,1.46422570692e-05,1793247513731449344
+67,1.116666667,BASELINE,765.881701314,745.118298686,715.118298686,679,659,634,877,785,809,652,629,653,0.401021487218,-0.00549307110295,0.0698534083015,0.999999986673,4.61792145517e-05,-0.00015592327063,1.44833136502e-05,1793247513748115712
+68,1.133333333,BASELINE,765.530484927,745,715,679,659,634,877,785,809,652,629,652.530484927,0.401020814827,-0.00549451662355,0.0698526474825,0.999999986513,4.57859977819e-05,-0.000157055261458,1.4522186012e-05,1793247513764782080
+69,1.150000000,BASELINE,765,745,715,679,659,634,877.059681217,784.940318783,809.059681217,652,629,652,0.40101974987,-0.00549632920231,0.06985138097,0.999999986256,4.52067181689e-05,-0.000158841907224,1.46186374943e-05,1793247513781448448
+70,1.166666667,BASELINE,765,745,715,679,659,634,877.638811176,784.361188824,809.638811176,652,629,652,0.401020014561,-0.00549649170424,0.0698517227697,0.999999986422,4.3501179102e-05,-0.000158258177349,1.47691588994e-05,1793247513798115072
+71,1.183333333,BASELINE,765,745,715,679,659,634,877.783405461,784.216594539,809.783405461,652,628.783405461,652,0.401019981225,-0.00549678689285,0.069851873805,0.999999986472,4.26658832874e-05,-0.00015814716169,1.49992735005e-05,1793247513814781952
+72,1.200000000,BASELINE,765,745,715,679,659,634,877.207853692,784.792146308,809.207853692,652,628.207853692,652,0.401019453974,-0.00549730198013,0.0698517086908,0.999999986334,4.32728216669e-05,-0.000158819564518,1.53612961295e-05,1793247513831449088
+73,1.216666667,BASELINE,765,745,715,679.366974198,659,634,877.366974198,785,809,652,628.366974198,652.366974198,0.401019877439,-0.00549695179386,0.0698519968332,0.999999986415,4.34192754525e-05,-0.000158280693344,1.52310972099e-05,1793247513848115968
+74,1.233333333,BASELINE,765,745,715,679.941392855,659,634,877.941392855,785,809,652,628.941392855,652.941392855,0.401020838326,-0.00549611248269,0.069852541194,0.999999986619,4.33054248584e-05,-0.000157057108922,1.48226535482e-05,1793247513864782848
+75,1.250000000,BASELINE,765,745,715,679.469472342,658.469472342,634,877.469472342,784.469472342,809,652,629,653,0.401019174142,-0.0054954830285,0.0698511225651,0.999999986057,4.5670997133e-05,-0.000159918688772,1.50193502917e-05,1793247513881449216
+76,1.266666667,BASELINE,765,745,715,679,658.118896604,634,877,784.118896604,809,652,629,653,0.401017537042,-0.00549485716018,0.0698498888656,0.999999985562,4.76299336022e-05,-0.000162406430748,1.52479494879e-05,1793247513898115584
+77,1.283333333,BASELINE,765,745,715,679,658.697832623,634,877,784.697832623,809,652,629,653,0.401017158789,-0.00549415290759,0.0698502336877,0.999999985716,4.69254755757e-05,-0.000161651752729,1.53339503673e-05,1793247513914782208
+78,1.300000000,BASELINE,765.273963308,745,715,679,659,634,877,785,809,652,629,652.726036692,0.401017695377,-0.00549402976954,0.0698505072471,0.999999985831,4.74697276862e-05,-0.000160778563578,1.53452686705e-05,1793247513931448832
+79,1.316666667,BASELINE,765.84703118,745,715,679,659,634,877,785,809,652,629,652.15296882,0.401019230761,-0.00549454107421,0.0698507030042,0.9999999859,4.93772824776e-05,-0.000159775987736,1.52750508693e-05,1793247513948115456
+80,1.333333333,BASELINE,765.569391803,745,715,679,659,634,877,785,809,652,629,652,0.40101999514,-0.00549475095905,0.0698506473199,0.999999986132,4.76255944575e-05,-0.000158867864139,1.51055597095e-05,1793247513964782336
+81,1.350000000,BASELINE,765,745,715,679,659,634,877,785,809,652,629,652,0.401020405798,-0.00549485567407,0.0698504866076,0.999999986398,4.46309835796e-05,-0.000158084251757,1.49062173593e-05,1793247513981449216
+82,1.366666667,BASELINE,765,745,715,679,659,634,877,785,809,652,629,652,0.401018509439,-0.00549510532499,0.0698499000266,0.999999986076,4.44656869095e-05,-0.000160149471251,1.49059291194e-05,1793247513998116096
+83,1.383333333,BASELINE,765,745,715.177615978,679,659,634,877,784.822384022,809,652,629,652,0.401017798581,-0.00549540000384,0.0698499944113,0.999999985953,4.47719626777e-05,-0.000160828890305,1.49770104381e-05,1793247514014782976
+84,1.400000000,BASELINE,765,745,715.755865848,679,659,634,877,784.244134152,809,652,629,652,0.401019761762,-0.00549579624859,0.0698516247947,0.999999986277,4.6141925943e-05,-0.000158382472616,1.52090742557e-05,1793247514031449856
+85,1.416666667,BASELINE,765,745,715.669152888,679.330847112,659,634,877,784.330847112,809,652,629,652,0.401020684885,-0.00549546718336,0.0698523633666,0.999999986454,4.61454314371e-05,-0.000157263432696,1.51601297669e-05,1793247514048116224
+86,1.433333333,BASELINE,765,745,715.096559987,679.903440013,659,634,877,784.903440013,809,652,629,652,0.401020848051,-0.00549460814332,0.069852450303,0.999999986527,4.51504834825e-05,-0.000157114291026,1.4905856058e-05,1793247514064782336
+87,1.450000000,BASELINE,765,745,715.491000305,679.508999695,659,634,877,785,809.491000305,652,629,652,0.401020172394,-0.00549600769002,0.069851538387,0.999999986383,4.3817128524e-05,-0.000158397693148,1.49916326871e-05,1793247514081448704
+88,1.466666667,BASELINE,765.080014002,745,715.919985998,679,659.080014002,634,877,785,809.919985998,652,629,652,0.401019213319,-0.00549747446166,0.0698505177273,0.999999986182,4.28332624156e-05,-0.000159912821279,1.51234378291e-05,1793247514098115328
+89,1.483333333,BASELINE,765.659155296,745,715.340844704,679,659.659155296,634,877,785,809.340844704,652,629,652,0.401017547673,-0.00549650271344,0.0698500826071,0.999999985927,4.4457705737e-05,-0.000161060808275,1.51120911968e-05,1793247514114782208
+90,1.500000000,BASELINE,765.763264452,745,715,679,659.763264452,634,877,785,809,652,629,652,0.401017240565,-0.00549556494564,0.0698501450885,0.999999985832,4.53997926709e-05,-0.000161394816732,1.50416711682e-05,1793247514131448832
+91,1.516666667,BASELINE,765.18791707,745,715,679,659.18791707,634,877,785,809,652,629,652,0.401018876626,-0.00549467578139,0.0698509193084,0.99999998597,4.5365879238e-05,-0.000160564560707,1.48867562208e-05,1793247514148114944
+92,1.533333333,BASELINE,765,745,715.386610572,679,658.613389428,634,877,785,809,652,628.613389428,652,0.40101854983,-0.00549551368495,0.0698511369446,0.999999986092,4.36605416988e-05,-0.00016028079668,1.48476187363e-05,1793247514164782080
+93,1.550000000,BASELINE,765,745,715.960740664,679,658.039259336,634,877,785,809,652,628.039259336,652,0.401017270981,-0.00549718927615,0.0698510846185,0.999999986201,4.114450557e-05,-0.000160262100127,1.48646373176e-05,1793247514181449216
+94,1.566666667,BASELINE,765,745,715.448646331,679.551353669,658.551353669,633.448646331,877,785,809,652,628.551353669,652,0.401019967451,-0.00549675658261,0.069852529283,0.999999986513,4.33766142389e-05,-0.000157662047497,1.53045141156e-05,1793247514198115840
+95,1.583333333,BASELINE,765,745,715,679.859742653,659,633.140257347,877,784.859742653,809,652,629,652,0.401021808492,-0.00549600318085,0.0698532851735,0.999999986647,4.53004250186e-05,-0.000156248102631,1.55130289492e-05,1793247514214782208
+96,1.600000000,BASELINE,765,745,715,679.279986096,659,633.720013904,877,784.279986096,809,652,629,652,0.401020054709,-0.00549472973739,0.0698515384705,0.999999986206,4.51661086769e-05,-0.000159144559717,1.48993094368e-05,1793247514231448832
+97,1.616666667,BASELINE,765,745,715,679,659,634,877,784.297056645,809,652,629,652,0.401020151432,-0.00549402224675,0.0698514550942,0.999999986177,4.55370417514e-05,-0.000159244642143,1.46185626757e-05,1793247514248115456
+98,1.633333333,BASELINE,765,745,715,679,659,634,877,784.871564642,809,652,629,652,0.401021976531,-0.005493843357,0.0698529252677,0.999999986535,4.6379878547e-05,-0.000156732906266,1.46488130007e-05,1793247514264782080
+99,1.650000000,BASELINE,765,745,715,679,658.545160597,634,877,785,809,652,629,652,0.401020352512,-0.00549521471444,0.0698524420338,0.999999986485,4.36218528533e-05,-0.000157821079236,1.48183863387e-05,1793247514281448960
+100,1.666666667,BASELINE,765,745,715,679,658.040502308,634,877.040502308,785,809.040502308,652,629,652,0.401017982934,-0.00549684334552,0.0698514560382,0.999999986314,4.03130431223e-05,-0.000159751720784,1.50094859943e-05,1793247514298116096
+101,1.683333333,BASELINE,765,745,715,679,658.624340542,634,877.624340542,785,809.624340542,652,629,652,0.401018933929,-0.00549593546828,0.0698512705474,0.999999986288,4.35238043222e-05,-0.00015907940443,1.49512257762e-05,1793247514314782464
+102,1.700000000,BASELINE,765.204602774,745,715,679.204602774,659,634,878,785,809.795397226,652,629,652.204602774,0.401020133142,-0.00549529492691,0.069851541042,0.999999986371,4.53655433395e-05,-0.000158039003523,1.49535619534e-05,1793247514331448832
+103,1.716666667,BASELINE,765.778412036,745,715,679.778412036,659,634,878,785,809.221587964,652,629,652.778412036,0.401021780266,-0.00549513679424,0.0698526343641,0.999999986666,4.4736876252e-05,-0.000156334392709,1.50652445636e-05,1793247514348115456
+104,1.733333333,BASELINE,765.647056778,745,715,679.647056778,659,634,878,784.647056778,809,652,628.647056778,652.647056778,0.401021047616,-0.00549559117887,0.0698521284154,0.999999986458,4.52425167903e-05,-0.000157503122505,1.51864533723e-05,1793247514364782336
+105,1.750000000,BASELINE,765.072071362,745,715,679.072071362,659,634,878,784.072071362,809,652,628.072071362,652.072071362,0.401018817814,-0.00549643090787,0.0698506163401,0.999999985927,4.64617682344e-05,-0.000160479516408,1.53136552748e-05,1793247514381448960
+106,1.766666667,BASELINE,765,745,715,679,659,634,877.482054391,784.517945609,809,652,628.517945609,652,0.401018618614,-0.00549673098909,0.0698508517302,0.999999986047,4.5173298798e-05,-0.000160123734693,1.50493023931e-05,1793247514398115584
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,809,652,629,652,0.401019409085,-0.00549469703913,0.0698509120202,0.999999986277,4.4400430203e-05,-0.000158938984773,1.45839730269e-05,1793247514440555008
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.428840332,659,634,877.428840332,784.571159668,809.571159668,652,629,652,0.401019335007,-0.00549581161506,0.0698514506235,0.999999986266,4.49163435948e-05,-0.000158813178978,1.5148237227e-05,1793247514457220864
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.147850433,745,715,679.147850433,659,634,877,784.852149567,809.852149567,652,629,652,0.401019456857,-0.00549654908929,0.0698518294444,0.999999986289,4.51471258315e-05,-0.000158572195986,1.54689347986e-05,1793247514473886976
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.741207788,745,715,679.741207788,659,634,877,784.258792212,809.258792212,652,629,652,0.401020169086,-0.00549615027076,0.0698517268048,0.999999986416,4.45187432872e-05,-0.000157984157929,1.5055710956e-05,1793247514490553600
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.674886193,745,715.325113807,679.674886193,659,634,877.325113807,784.325113807,809,652,629,652,0.401019592049,-0.0054964426909,0.0698512506694,0.999999986303,4.33487451343e-05,-0.000159039798884,1.48730771746e-05,1793247514507220224
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.098290989,745,715.901709011,679.098290989,659,634,877.901709011,784.901709011,809,652,629,652,0.401018017743,-0.00549726979665,0.0698504856284,0.999999985998,4.17597975708e-05,-0.000161366855253,1.48688089917e-05,1793247514523886848
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.521309623,678.521309623,659,634,877.521309623,784.521309623,809.478690377,652,629,652,0.401017603196,-0.00549604415301,0.0698505541909,0.999999985837,4.39508064649e-05,-0.000161756022692,1.51237933571e-05,1793247514540553216
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,678.055362501,659,634,877,784.055362501,810,652,629,652,0.401017782938,-0.00549444952517,0.0698510173395,0.999999985691,4.67203190294e-05,-0.000161863182066,1.53621806386e-05,1793247514557220352
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,678.628400999,659,634,877,784.628400999,810,652,629,652,0.401021291128,-0.00549334911279,0.0698535683186,0.99999998546,4.76358460601e-05,-0.000163057131171,1.49472073378e-05,1793247514573886720
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,784.79108732,809.79108732,652,629,652.20891268,0.401028306515,-0.00549320257914,0.0698570813342,0.999999985291,4.75858674446e-05,-0.000164111396654,1.48860276618e-05,1793247514590553088
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,784.196789795,809.196789795,652,629,652.803210205,0.401041791687,-0.00549481568225,0.0698623690352,0.999999985236,4.57548037094e-05,-0.000164907985205,1.54774972706e-05,1793247514607219968
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.384302296,659,634,877.384302296,784,809,652,628.615697704,652.615697704,0.40107485789,-0.00549668353712,0.069874209148,0.999999986944,4.5175658694e-05,-0.000154283193875,1.6343529729e-05,1793247514623886592
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.958856968,659,634,877.958856968,784,809,652,628.041143032,652.041143032,0.401117617864,-0.00549867750934,0.0698892930929,0.999999989305,4.52162873509e-05,-0.0001380041437,1.73454870943e-05,1793247514640553472
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715.535644368,679.464355632,658.464355632,634,877.464355632,784.535644368,809,652,628.535644368,652.535644368,0.401179817569,-0.00550120130403,0.0699032664634,0.999999991945,4.20175798684e-05,-0.000118474139045,1.75538283944e-05,1793247514657219840
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715.884763322,679,658.115236678,634,877,785,809,652,629,652.884763322,0.40124564473,-0.00550338223986,0.069915208228,0.999999993899,3.92027383595e-05,-0.000101795715341,1.73822750065e-05,1793247514673886464
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715.294314137,679,658.705685863,634,877,785,809,652,629,652.294314137,0.401320247484,-0.00550398077277,0.0699191253169,0.99999999432,3.90012358308e-05,-9.79106734151e-05,1.58965438831e-05,1793247514690553088
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,809.289902388,652,629,652,0.401403897761,-0.00550472587423,0.069920357598,0.999999994422,3.82095237301e-05,-9.74652933398e-05,1.40193473748e-05,1793247514707219968
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,809.867924545,652,629,652,0.401496539923,-0.00550561664294,0.06991892158,0.999999994209,3.68312312899e-05,-0.000100438424742,1.17530927058e-05,1793247514723887104
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.446239499,745,715.446239499,679.446239499,659,634,877,784.553760501,809.553760501,652,629,652,0.40160592159,-0.00550611683492,0.0699168761164,0.999999993475,3.77792068913e-05,-0.000107395776058,9.40286072667e-06,1793247514740553984
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975500212,745,715.975500212,680,659,634,877,784.024499788,809,652,629,652.024499788,0.401721803635,-0.00550663315839,0.0699148252943,0.999999992577,3.91978942335e-05,-0.000115151811351,6.9914231074e-06,1793247514757220864
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.400417,745,715.400417,680,659,634,877,784.599583,809,652,629,652.599583,0.401872353894,-0.00551011160355,0.0699167103955,0.999999992819,3.57117168771e-05,-0.000114338511528,3.76344692337e-06,1793247514773887232
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.177658891,715,680,659,634,877,785,809,652,629,652.822341109,0.40203286234,-0.00551276027293,0.0699191675658,0.999999993104,3.30441363872e-05,-0.000112689853464,3.95456978369e-07,1793247514790553600
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.762595328,715,680,659,634,877,785,809,652,629,652.237404672,0.402216199604,-0.00551350670639,0.0699229361866,0.99999999352,3.22531645199e-05,-0.000109126162438,-3.29350976374e-06,1793247514807220224
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.333472956,745.666527044,715.333472956,679.666527044,659,634,877.333472956,785,809,652,629,652,0.40242068133,-0.00551442858764,0.0699254173546,0.999999993816,2.92555715489e-05,-0.000107036241352,-7.49525390929e-06,1793247514823886592
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.894746837,745.105253163,715.894746837,679.105253163,659,634,877.894746837,785,809,652,629,652,0.40263960721,-0.00551547032028,0.0699270190426,0.999999994008,2.47505989023e-05,-0.000105953076675,-1.20472852044e-05,1793247514840553216
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,877.514109082,784.514109082,809,652,629,652,0.402884711574,-0.00551953832626,0.0699273540681,0.999999994043,1.48611507713e-05,-0.000106740162024,-1.73106924984e-05,1793247514857219840
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.9193796,745,715.9193796,679,659,634,877,784.0806204,809,652,629,652.0806204,0.403143594703,-0.00552394339104,0.0699288550385,0.999999994196,3.81256413144e-06,-0.000105281665407,-2.25705562831e-05,1793247514873886720
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.3449184,745,715.3449184,679,659,634,877,784.6550816,809,652,629,652.6550816,0.403449868315,-0.00552613452291,0.0699392888387,0.999999995797,-6.72368547038e-06,-8.74236544116e-05,-2.68029625143e-05,1793247514890554112
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.236188223,784.763811777,809,652,629,652.763811777,0.403770277821,-0.00552915312752,0.069948203869,0.999999996712,-2.15318294955e-05,-7.24329468416e-05,-2.94388107863e-05,1793247514907221248
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.827280437,784.172719563,809,652,629,652.172719563,0.404111928356,-0.00553341511903,0.0699548367461,0.999999996739,-4.27590583324e-05,-6.17507423628e-05,-2.96756196588e-05,1793247514923887616
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.408833934,659.408833934,634,877.591166066,784,809,652,629,652,0.404474354545,-0.00553489125059,0.0699572580357,0.999999996905,-3.87586338177e-05,-6.17071847619e-05,-2.96583403141e-05,1793247514940553984
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.986449486,659.986449486,634,877.013550514,784,809,652,629,652,0.404845357675,-0.00553521727706,0.0699579406276,0.999999997086,-2.43433097626e-05,-6.60556503878e-05,-2.95361640429e-05,1793247514957220352
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.562754573,745,715,680,659.437245427,634,877.562754573,784,809.562754573,652,629,652.562754573,0.405264910126,-0.00553418406503,0.0699628910839,0.999999997681,-2.71670938603e-05,-5.39666305057e-05,-3.14245310897e-05,1793247514973886720
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.863414067,745,715,680,659,634.136585933,878,784,810,652,629,652.863414067,0.405690436645,-0.00553258611025,0.0699658958046,0.999999997949,-2.97418119883e-05,-4.61065079697e-05,-3.30290303422e-05,1793247514990553600
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.297263714,745,715,680,659,634.702736286,878,784,810,652,629,652.297263714,0.406131083579,-0.00552931472678,0.0699624587145,0.999999997586,-3.02307560434e-05,-5.27882148374e-05,-3.35888599647e-05,1793247515007220224
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,878,784.286390154,809.713609846,652,629,652.286390154,0.406594203103,-0.00552595791962,0.0699508775807,0.999999996351,-2.79759771e-05,-7.29991287611e-05,-3.4437788945e-05,1793247515023886848
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,878,784.889394854,809.110605146,652,629,652.889394854,0.407082166936,-0.00552250667311,0.0699302929153,0.999999993259,-2.26879144044e-05,-0.00010816706517,-3.56063276327e-05,1793247515040553728
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.470157108,745,715,679.529842892,659,634.529842892,878,785,809.470157108,652,629,653,0.407628077214,-0.00552404570359,0.0699268072519,0.999999993392,-2.47697053995e-05,-0.00010598272374,-3.70156874393e-05,1793247515057220352
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.954160604,745,715,679,659,634,877.954160604,785,809.954160604,651.954160604,629.045839396,653,0.408191743278,-0.00552702670398,0.0699286943302,0.99999999449,-2.88376974033e-05,-9.33221864766e-05,-3.84663542758e-05,1793247515073886976
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.379444283,745,715,679,659,634,877.379444283,785,809.379444283,651.379444283,629.620555717,653,0.408810093148,-0.00553371162432,0.0699482556596,0.999999996933,-3.67217461571e-05,-5.65947897443e-05,-3.9769486596e-05,1793247515090553600
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.200973892,659.200973892,634,877.200973892,784.799026108,809,651.200973892,629.799026108,652.799026108,0.409429872801,-0.00553856532832,0.069959016093,0.99999999768,-4.26241958139e-05,-3.39507502409e-05,-4.08717931355e-05,1793247515107220224
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.792471627,659.792471627,634,877.792471627,784.207528373,809,651.792471627,629.207528373,652.207528373,0.410052430709,-0.00553986069086,0.0699526750016,0.99999999739,-4.4676086732e-05,-3.86728886212e-05,-4.1583863646e-05,1793247515123887104
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.624074108,634,878,784,809.375925892,652,629,652.375925892,0.410693605225,-0.00553901332481,0.0699459131489,0.999999996801,-4.48781050506e-05,-5.09767443361e-05,-4.22644994375e-05,1793247515140553728
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.04496721,634,878,784,809.95503279,652,629,652.95503279,0.411344841652,-0.00553700785345,0.0699389238826,0.999999995837,-4.40803012952e-05,-6.7378378174e-05,-4.29281453115e-05,1793247515157220352
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.528523249,745,715,680,659,634,878,784.528523249,809.471476751,652,629.528523249,652.471476751,0.412072405528,-0.00553377255286,0.0699582024564,0.999999997737,-4.16235312836e-05,-3.09285322307e-05,-4.2863388914e-05,1793247515173887232
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.103853546,634,878,784.896146454,809.103853546,652,629.896146454,652.103853546,0.412810960178,-0.00553151027281,0.0699816451379,0.999999998282,-3.87249011367e-05,1.13029119019e-05,-4.25230227135e-05,1793247515190553856
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.689921881,634,878,784.310078119,809.689921881,652,629.310078119,652.689921881,0.413570711148,-0.00553424667581,0.0700141547072,0.999999996776,-3.44231003539e-05,5.97201845088e-05,-4.11876689373e-05,1793247515207220480
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.274286166,680,660,634,878,784.274286166,810.274286166,652,629,653,0.41432776971,-0.00553653952606,0.0700194963004,0.999999996583,-3.74254457062e-05,6.11990462463e-05,-4.10877875678e-05,1793247515223887104
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.856736004,680,660,634,878,784.856736004,810.856736004,652,629,653,0.415081803417,-0.00553833404001,0.0699943143632,0.99999999787,-4.8634082985e-05,9.94206783539e-06,-4.23759735358e-05,1793247515240553472
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715.565944383,680,660,634,878.434055617,784.565944383,811,652,629.434055617,653,0.415840034728,-0.00554037280158,0.069949986673,0.999999995289,-5.92614851477e-05,-6.11053934761e-05,-4.66459579634e-05,1793247515257220352
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.990303862,745,715,680,660,634,879,784,811,652,630,653,0.416601402423,-0.0055424831707,0.0699006995544,0.99999998691,-6.9466879052e-05,-0.000136657083225,-5.17694215632e-05,1793247515273886976
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.414987641,745,715,680,660,634,879,784,811,652,630,653,0.417465856492,-0.00554412296916,0.0699264296373,0.999999991729,-6.6114946613e-05,-9.83692591337e-05,-4.9939775532e-05,1793247515290553856
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680.164439602,660,633.835560398,879,784,810.835560398,652,629.835560398,653,0.418329503644,-0.00554603235099,0.069952987017,0.999999994919,-6.56955037503e-05,-5.92315180804e-05,-4.83582568694e-05,1793247515307220480
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680.754507603,660,633.245492397,879,784,810.245492397,652,629.245492397,653,0.419191062156,-0.00554863951071,0.0699816857344,0.999999996061,-7.28663912034e-05,-1.78938910287e-05,-4.74189806417e-05,1793247515323887360
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.661698489,660,633.338301511,879,784,810.338301511,652,629,652.661698489,0.420097176618,-0.00555060784257,0.0700057104242,0.999999995907,-7.50586540101e-05,1.96990153364e-05,-4.65206229402e-05,1793247515340553728
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680.082374575,660,633.917625425,879,784,810.917625425,652,629,652.082374575,0.421035034863,-0.00555212104234,0.070026405109,0.99999999475,-7.37039028584e-05,5.46239992904e-05,-4.5651417618e-05,1793247515357220352
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,784,811,652,629.492663589,652.492663589,0.421924592361,-0.00555130652323,0.0700247762594,0.999999994641,-7.79751561526e-05,4.92935954171e-05,-4.69845276692e-05,1793247515373886720
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.068449515,660,634,879,784.068449515,811,652,630,653,0.422793781487,-0.0055498797882,0.0700100836808,0.99999999513,-8.26245842613e-05,2.25266730236e-05,-4.90405944337e-05,1793247515390553344
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.655278096,660,634,879,784.655278096,811,652,630,653,0.42356935063,-0.00554673870223,0.0699244808248,0.999999988368,-8.30754906623e-05,-0.000116048584136,-5.38070918903e-05,1793247515407220224
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,879,784.760807936,811,652,630,653,0.424412582143,-0.00554556435706,0.0698692525514,0.99999997503,-8.71472683388e-05,-0.00019725062806,-5.86304232881e-05,1793247515423886848
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,879,784.181043836,811,652,630,653,0.425352154387,-0.00554719034229,0.069857272914,0.99999997398,-9.63746014613e-05,-0.000196762225374,-6.35346791864e-05,1793247515440553472
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.602726692,660,634,878.602726692,784,811,652,630,653,0.426338842017,-0.00554953787026,0.0699026305966,0.999999985871,-9.21066364684e-05,-0.000127183998211,-5.99918857533e-05,1793247515457220096
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.025066591,660,634,878.025066591,784,811,652,630,653,0.427346922906,-0.00555221302343,0.0699740229897,0.999999994933,-8.17109653166e-05,-2.62346919899e-05,-5.2613605668e-05,1793247515473886976
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.551223169,715,680.551223169,660.551223169,634,878.551223169,784,811,652,630,653,0.428312740547,-0.00555253019211,0.0700087504358,0.999999993806,-9.54824821199e-05,2.17899206099e-05,-5.28818591302e-05,1793247515490553600
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,746,715,680.870079556,660.870079556,634,879,784.129920444,811,652,630,653,0.429265741775,-0.00555333173348,0.0700358885384,0.999999991117,-0.000105687047394,6.11545329614e-05,-5.34446405192e-05,1793247515507220224
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,715,680.282686145,660.282686145,634,879,784.717313855,811,652,630,653,0.430180364655,-0.00555621547013,0.0700421595825,0.999999990525,-9.94715979543e-05,7.84792283363e-05,-5.3823152044e-05,1793247515523886848
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.699647449,715,680,660,633.699647449,879,784.699647449,811,652,630,653,0.43104121038,-0.00555564932604,0.070003959094,0.999999993916,-9.4602429074e-05,1.26838693097e-05,-5.52916270382e-05,1793247515540553472
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.120648786,715,680,660,633.120648786,879,784.120648786,811,652,630,653,0.431852165367,-0.00555188262349,0.0699245010245,0.999999985713,-9.0982244123e-05,-0.000130224470309,-5.77712931264e-05,1793247515557220096
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.456389554,660.456389554,633,879,784,811.456389554,652,630,653,0.432755078012,-0.00555110509441,0.0698969793824,0.99999997993,-9.30609387954e-05,-0.00016673441526,-6.06628141871e-05,1793247515573886464
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.033252327,745,715.033252327,680.966747673,660.966747673,633.033252327,879,784,812,651.966747673,630,653,0.433682669037,-0.00555141429845,0.0698878665564,0.999999979153,-9.67637819778e-05,-0.000168304348644,-6.32740927725e-05,1793247515590553344
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.615737443,745,715.615737443,680.384262557,660.384262557,633.615737443,879,784,812,651.384262557,630,653,0.434618069793,-0.00555667715751,0.0699570100722,0.999999991445,-0.000102515818909,-5.5354803386e-05,-5.94659398734e-05,1793247515607220224
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.801978909,745,715.801978909,680.198021091,660,633.801978909,879,784.198021091,812,651,630,653,0.435544225422,-0.00556064517915,0.0700104957765,0.99999999224,-0.000106072859034,3.27938790339e-05,-5.6504543461e-05,1793247515623886848
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.220085712,745,715.220085712,680.779914288,660,633.220085712,879,784.779914288,812,651,630,653,0.43645245915,-0.00556210310561,0.070033628175,0.999999990271,-0.000105374809727,7.28650779504e-05,-5.51846201452e-05,1793247515640553728
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.360043079,745.360043079,715,680.639956921,660.360043079,633.360043079,879,784.639956921,812,651.360043079,630,653,0.43732417149,-0.00556400220459,0.0700278638212,0.99999998965,-0.000108481388596,7.57561558701e-05,-5.65125053774e-05,1793247515657220608
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.939098556,745.939098556,715,680.060901444,660.939098556,633.939098556,879,784.060901444,812,651.939098556,630,653,0.438173668,-0.00556616966651,0.0700045217168,0.999999990176,-0.000113902303768,5.60307504164e-05,-5.94510393569e-05,1793247515673886976
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.485634216,715,680,660.485634216,633.485634216,879,784,812.514365784,652,630,653,0.438942688446,-0.00556497917358,0.0699481664717,0.999999991347,-0.000110955021204,-3.50319698338e-05,-6.137892831e-05,1793247515690553344
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.74818581,745,715,683,659.25181419,631,880,782.25181419,814,652,630,653,0.454552368937,-0.00558723611709,0.0697465542421,0.999999919497,-0.000131009717743,-0.000374967566053,-5.69338065306e-05,1793247516673887744
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.668622607,745,715,683,659,631,879.668622607,782.331377393,814,652,630.331377393,652.668622607,0.454552743657,-0.00558718150784,0.0697463511826,0.999999919383,-0.000130736213685,-0.000375328377034,-5.7196458803e-05,1793247516690554624
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+244,4.066666667,HOLD_POSE2,766,745,716,683,659,631,879,783,814,652,631,653,0.454553685131,-0.00558530113464,0.0697461185826,0.999999920415,-0.00012532931213,-0.00037446531911,-5.69054544366e-05,1793247516738671360
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+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,632.468903959,879.468903959,783.468903959,812,651,630,652.531096041,0.448125631396,-0.00546349174515,0.0697783011836,0.999999934815,4.24425234984e-05,-0.000358419043983,1.01697214992e-05,1793247517671382528
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.621423082,745,715,683,660,633,879.378576918,784,812,651,630.621423082,652.621423082,0.446966084519,-0.00545130691107,0.0697558922816,0.999999920483,8.38905769678e-05,-0.000389595575074,1.45212098787e-05,1793247517704715776
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,811.622409028,651.622409028,630.377590972,653,0.445100101605,-0.00541649520832,0.069752503453,0.999999921349,0.000116091965684,-0.000379123690787,9.44906817165e-06,1793247517754715648
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,659.661403556,633.338596444,879,784,811,651,630,652,0.435714072182,-0.00540928023449,0.0697434608865,0.999999917521,0.000121475106076,-0.000387170805364,1.73243542436e-05,1793247517954715392
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,659.081323722,633.918676278,879,784,811,651,630,652,0.434884122771,-0.00541193559952,0.0698015059408,0.999999946213,0.000120064529211,-0.000304535408123,2.03902968826e-05,1793247517971382016
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.514559387,634,877,784.485440613,809,651.514559387,629,652,0.404961066084,-0.00536294921936,0.0698096317638,0.999999927448,0.000209230857135,-0.000317427109952,2.3819251946e-05,1793247518621383168
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.923191653,634,877,784,809,651.923191653,629,652,0.404590236168,-0.00536386732732,0.0698253713028,0.999999936363,0.000210570118365,-0.000286890268826,2.50443154238e-05,1793247518638049536
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.30802968,634,877,784,809,651.30802968,629,652,0.404246415444,-0.00536742002016,0.0698396567479,0.999999943043,0.000212944692152,-0.000260690454704,2.46871156111e-05,1793247518654715904
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.710959504,745,715,680,658,634,877,784,808.710959504,651.289040496,629,652,0.403911138012,-0.00536893645472,0.0698442511742,0.999999945485,0.000212592411412,-0.000251511390747,2.40118423401e-05,1793247518671382528
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.132034023,745,715,680,658,634,877,784,808.132034023,651.867965977,629,652,0.403584428853,-0.00536841068147,0.0698391262664,0.999999944144,0.000209505309049,-0.000259402808205,2.30175663275e-05,1793247518688049152
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.445363188,745,715,680.445363188,658,634,877,784,808,651.554636812,629,652,0.403278824552,-0.00536702370156,0.0698298440847,0.999999939833,0.000208283136571,-0.00027652440305,2.20582094346e-05,1793247518704716032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.97789279,658,634,877,784,808,651.02210721,629,652,0.402981130469,-0.00536545206621,0.0698194837525,0.999999934414,0.000207652868739,-0.000295983517436,2.11049408787e-05,1793247518721383168
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.406162218,658,634,877,784,808,651.593837782,629,652,0.402725074441,-0.00536561547879,0.0698128555454,0.999999931415,0.000208039729204,-0.000305758125708,2.00465440276e-05,1793247518738050048
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.828532465,658,634,877,784,808,651.828532465,628.828532465,652,0.402481150699,-0.00536478909835,0.0698058831675,0.999999927953,0.000208796999569,-0.000316434450199,1.91815060073e-05,1793247518754716672
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.236431288,658,634,877,784,808,651.236431288,628.236431288,652,0.402266989176,-0.00536153461836,0.069798066492,0.999999923449,0.000210462936753,-0.000329322808197,1.87908041687e-05,1793247518771383296
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.347679968,658,634,877,784,808.347679968,651.347679968,628.347679968,652,0.40207742309,-0.0053609753233,0.0697954403164,0.999999922097,0.000210194792525,-0.000333557577402,1.90542934099e-05,1793247518788049920
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.926479989,658,634,877,784,808.926479989,651.926479989,628.926479989,652,0.401904206784,-0.00536220765052,0.0697962645219,0.999999922914,0.000208640969008,-0.000332039879891,1.97526557463e-05,1793247518804716800
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.498259141,745,715,679.498259141,658,634,876.498259141,784,808.498259141,651.498259141,628.498259141,652,0.401760521952,-0.0053617536325,0.0697981066128,0.999999924487,0.000208597799163,-0.000327288814219,1.98714126519e-05,1793247518821383424
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.078538998,658,634,876.157077995,784,808,651.078538998,628.078538998,652,0.40162452654,-0.00536102701027,0.0697998298398,0.999999925786,0.00020969349947,-0.000322594640036,1.97189155761e-05,1793247518838049792
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.668706261,658,634,877.337412522,784,808,651.668706261,628.668706261,652,0.401510630818,-0.00536012296971,0.0697998139402,0.999999924707,0.000216776282999,-0.000321335842205,1.83487657338e-05,1793247518854716928
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.746108234,784,808,651.746108234,629,652,0.401406267962,-0.0053605427007,0.0697993882879,0.999999923847,0.000220616280363,-0.000321468970224,1.71127874793e-05,1793247518871383808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.167298177,784,808,651.167298177,629,652,0.401314104811,-0.00536265653,0.0697984382539,0.999999923315,0.000220306317834,-0.000323383417108,1.60485155582e-05,1793247518888050432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.590577449,658,633.590577449,877,784,808,651,629,652,0.401238908584,-0.00536221341804,0.0697978089797,0.999999923083,0.000218570534908,-0.000325304047436,1.54449614588e-05,1793247518904716800
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.557529512,745,715,679,658,633.557529512,877.557529512,784,808.557529512,651.557529512,629,652,0.401123636611,-0.00536061655053,0.0697990823463,0.999999924425,0.000215954031366,-0.000322923556304,1.53225947255e-05,1793247518938049536
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.865476008,745,715,679.134523992,658,634,877.865476008,784,808.865476008,651.865476008,629,652,0.401081307122,-0.00536071237885,0.0698013398159,0.999999926229,0.000215041553837,-0.000317896605266,1.55325719146e-05,1793247518954716160
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.271918073,745,715,679.728081927,658,634,877.271918073,784,808.271918073,651.271918073,629,652,0.401052917619,-0.00536140266564,0.0698050499429,0.999999929091,0.000211862613718,-0.000310958319157,1.53927296538e-05,1793247518971382528
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.313739691,745,715,680,658.313739691,634,877,784,808,651,629,652,0.401030326609,-0.00536121451343,0.0698093632662,0.999999931246,0.000211572455297,-0.000304151354711,1.54070565599e-05,1793247518988049408
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.892718622,745,715,680,658.892718622,634,877,784,808,651,629,652,0.40101263771,-0.00536028371858,0.0698141865392,0.9999999328,0.000213724506694,-0.000297455410382,1.55517198851e-05,1793247519004716288
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.530857912,745,715,679.530857912,658.530857912,634,877.469142088,784,808,651,629,652,0.400998842029,-0.00536070745649,0.0698167529938,0.999999933602,0.000213671326354,-0.000294765552777,1.59393244726e-05,1793247519021383168
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.045796854,658.045796854,633.954203146,878,784,808.045796854,651,629,652,0.400986602953,-0.00536139582233,0.0698187294456,0.999999934262,0.000213242113176,-0.000292806632704,1.63605356059e-05,1793247519038050048
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.632040414,658.632040414,633.367959586,878,784,808.632040414,651,629,652,0.400982284005,-0.00536157152389,0.0698198005386,0.999999935222,0.000214294131987,-0.000288721249851,1.65262889828e-05,1793247519054716416
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.21559496,877.78440504,784,808.78440504,651,629,652,0.400978825645,-0.00536222764073,0.0698208074656,0.999999936215,0.000213848997607,-0.000285592239032,1.65962363375e-05,1793247519071382784
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.79461662,877.20538338,784,808.20538338,651,629,652,0.400976817973,-0.00536369358975,0.0698217062286,0.999999937279,0.000210880124003,-0.00028407537715,1.65046842372e-05,1793247519088049152
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784,808,651,629,652,0.400974349961,-0.00536294827335,0.0698214659873,0.9999999373,0.000211015016836,-0.000283930219214,1.60120955943e-05,1793247519104716032
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784,808,651,629,652,0.400971628908,-0.00536098745745,0.0698205996524,0.999999936748,0.000212856003646,-0.000284539066423,1.52990631796e-05,1793247519121382656
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.475022187,634,877.524977813,784,808.524977813,651.524977813,629,652,0.400971429107,-0.00536251982564,0.0698216754049,0.999999937201,0.000212636729488,-0.000283102737074,1.53992898218e-05,1793247519138049280
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.204444774,634,878,784,808.897777613,651.897777613,629,652,0.400971521899,-0.00536396726252,0.0698227798708,0.999999937733,0.00021193913314,-0.000281733742049,1.55834840593e-05,1793247519154716160
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.381989529,634,878,784,808.309005236,651.309005236,629,652,0.400971867951,-0.00536343181491,0.0698231433381,0.999999938195,0.000209895927064,-0.000281609493232,1.57998137021e-05,1793247519171382528
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715.275363631,680,659.449272739,634,877.724636369,784,808.275363631,651.275363631,629,652,0.400971388893,-0.00536343036728,0.0698235421195,0.999999938319,0.000209685824905,-0.000281316035865,1.59778319543e-05,1793247519188048896
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715.854868854,680,658.290262292,634,877.145131146,784,808.854868854,651.854868854,629,652,0.400969998495,-0.00536401872735,0.0698239799056,0.99999993807,0.000211500402162,-0.000280835686123,1.61135349602e-05,1793247519204715520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.431792302,745,715.568207698,679.568207698,658.431792302,634.431792302,877,784.431792302,808.568207698,651.568207698,629,652,0.400970321995,-0.00536386006427,0.0698244341001,0.999999938254,0.000211323027063,-0.000280320694537,1.59949257642e-05,1793247519221382400
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.992165209,745,715,679.007834791,659,634.992165209,877,784.992165209,808,651,628.992165209,652,0.400971180136,-0.00536343598518,0.0698248796237,0.999999938564,0.000210539268991,-0.000279814475849,1.57910220004e-05,1793247519238049280
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.417447639,745,715,679.582552361,659,634.417447639,877,784.417447639,808,651,628.417447639,652,0.40096928887,-0.00536186697085,0.0698243011028,0.999999937554,0.000214035954633,-0.000280780472929,1.55636093857e-05,1793247519254715648
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.838450239,634,877,784,808,651,628.161549761,652,0.400968134919,-0.00536120132425,0.0698240373213,0.999999937172,0.000215409379309,-0.000281102157447,1.54048434003e-05,1793247519271382272
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.248092759,634,877,784,808,651,628.751907241,652,0.40096893805,-0.00536293352128,0.0698246089648,0.99999993847,0.000211146950843,-0.000279713618389,1.54282888073e-05,1793247519288048896
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.336555898,784.336555898,808.336555898,651.336555898,629,652,0.40096946326,-0.00536257884969,0.0698248732349,0.99999993858,0.000211202695166,-0.000279278526449,1.53901300956e-05,1793247519304715776
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.917066453,784.917066453,808.917066453,651.917066453,629,652,0.400969787017,-0.00536071149821,0.0698249147033,0.999999937832,0.000214388494334,-0.000279534546697,1.53073172506e-05,1793247519321382400
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.508371724,658,634,877.508371724,785,808.508371724,651.508371724,629,652.491628276,0.40097056072,-0.00536154560582,0.0698259841952,0.999999939025,0.000211363606581,-0.000277578405108,1.505188274e-05,1793247519338049024
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784.932816721,808,651,629,652.932816721,0.400971197164,-0.00536270363672,0.0698270520297,0.999999940254,0.000208075217415,-0.000275639094803,1.48235535596e-05,1793247519354715648
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784.341786915,808,651,629,652.341786915,0.400970178607,-0.00536287654472,0.0698267709118,0.999999939385,0.000210803703931,-0.000276705970077,1.50309129847e-05,1793247519371382272
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.243565434,658,634,877,784,808.243565434,651,629,652,0.400970696957,-0.00536313517759,0.0698274015595,0.999999939306,0.00021213603815,-0.000275963450155,1.51571817914e-05,1793247519388049152
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.821132365,658,634,877,784,808.821132365,651,629,652,0.400973322868,-0.00536351136506,0.069829282512,0.999999940314,0.000211553827867,-0.000272739705135,1.51722509903e-05,1793247519404716544
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.397482332,745,715,680,658.397482332,634,877,784,808.602517668,651.397482332,629,652,0.400973544568,-0.00536336938209,0.069828970797,0.999999940269,0.000211482862766,-0.000272953509086,1.53048898616e-05,1793247519421383424
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.973286299,745,715,680,658.973286299,634,877,784,808.026713701,651.973286299,629,652,0.400972687673,-0.00536299493342,0.0698276753902,0.999999939751,0.000211641256518,-0.00027470949337,1.54902737593e-05,1793247519438050048
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a82738ae083a6417d4fe90ba6f069f227fceebb7
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+1,0.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+2,0.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+3,0.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+4,0.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+6,0.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+7,0.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+8,0.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+9,0.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+10,0.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+11,0.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+12,0.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+13,0.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+14,0.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+15,0.250000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+362,6.033333333,pose2_to_pose3_retreat,0.584883690738,-7.22409659011e-05,1.0600422917,0.555455483915,0.00860222339745,1.05966568099
+363,6.050000000,pose2_to_pose3_retreat,0.584670291037,-7.21259729081e-05,1.06004236496,0.555242082603,0.00860233278954,1.05966575114
+364,6.066666667,pose2_to_pose3_retreat,0.58447581082,-7.20233823013e-05,1.06004235875,0.55504760017,0.00860242790679,1.05966574607
+365,6.083333333,pose2_to_pose3_retreat,0.584301594173,-7.21079518441e-05,1.0600424003,0.554873385115,0.0086023485689,1.05966578383
+366,6.100000000,pose2_to_pose3_retreat,0.584145703399,-7.21464648102e-05,1.06004252044,0.554717495528,0.0086023140083,1.05966590219
+367,6.116666667,pose2_to_pose3_retreat,0.584007358479,-7.2052238007e-05,1.06004262302,0.554579148536,0.00860240122359,1.05966600525
+368,6.133333333,pose2_to_pose3_retreat,0.583885402965,-7.2052069194e-05,1.06004264392,0.554457193842,0.00860240385623,1.05966601887
+369,6.150000000,pose2_to_pose3_retreat,0.583777435629,-7.20266614825e-05,1.06004244002,0.554349225195,0.00860242518567,1.05966582344
+370,6.166666667,pose2_to_pose3_retreat,0.583682632974,-7.20010496775e-05,1.06004222621,0.554254421637,0.00860244781688,1.05966561187
+371,6.183333333,pose2_to_pose3_retreat,0.583598966735,-7.20897553927e-05,1.06004234426,0.554170758107,0.00860236833193,1.0596657308
+372,6.200000000,pose2_to_pose3_retreat,0.583526372201,-7.21724147121e-05,1.06004245447,0.554098165231,0.00860229150437,1.05966584572
+373,6.216666667,pose2_to_pose3_retreat,0.58346472734,-7.21108057092e-05,1.06004224724,0.55403651733,0.0086023428268,1.05966563905
+374,6.233333333,pose2_to_pose3_retreat,0.583413138757,-7.21219888958e-05,1.06004239409,0.553984929652,0.00860233420244,1.05966577403
+375,6.250000000,pose2_to_pose3_retreat,0.583371824016,-7.21894167851e-05,1.06004238886,0.553943616174,0.00860227100377,1.05966576755
+376,6.266666667,pose2_to_pose3_retreat,0.583339169233,-7.20260306471e-05,1.06004248195,0.553910960854,0.0086024327139,1.05966586397
+377,6.283333333,pose2_to_pose3_retreat,0.583314613033,-7.20485578232e-05,1.06004241069,0.553886403755,0.00860240722988,1.05966579487
+378,6.300000000,pose2_to_pose3_retreat,0.583295378225,-7.2064033187e-05,1.06004241654,0.553867168584,0.00860239057,1.05966580185
+379,6.316666667,pose2_to_pose3_retreat,0.583280908868,-7.20351371148e-05,1.06004241768,0.553852699028,0.00860241890094,1.0596658055
+380,6.333333333,pose2_to_pose3_retreat,0.583270219135,-7.19758153391e-05,1.06004212731,0.553842008098,0.00860247455717,1.05966552434
+381,6.350000000,pose2_to_pose3_retreat,0.583262689955,-7.19952971434e-05,1.06004225583,0.553834479168,0.00860245549164,1.05966564285
+382,6.366666667,pose2_to_pose3_retreat,0.583257532249,-7.2032120057e-05,1.06004241057,0.553829322014,0.00860242012119,1.05966578797
+383,6.383333333,pose2_to_pose3_retreat,0.583254068831,-7.20978780211e-05,1.06004239618,0.553825859476,0.00860235744969,1.05966577593
+384,6.400000000,pose2_to_pose3_retreat,0.583251951355,-7.2138081352e-05,1.06004238737,0.553823742538,0.00860231913338,1.05966576857
+385,6.416666667,pose2_to_pose3_retreat,0.583250516135,-7.21598234886e-05,1.06004232498,0.553822307837,0.00860229938531,1.0596657116
+386,6.433333333,pose2_to_pose3_retreat,0.583249567256,-7.21732054448e-05,1.06004227357,0.553821359329,0.00860228745059,1.05966566456
+387,6.450000000,pose2_to_pose3_retreat,0.583248924165,-7.21822748974e-05,1.06004223872,0.553820716489,0.00860227936198,1.05966563269
+388,6.466666667,pose2_to_pose3_retreat,0.583248539473,-7.21877001795e-05,1.06004221788,0.553820331947,0.00860227452343,1.05966561362
+389,6.483333333,pose2_to_pose3_retreat,0.583248327655,-7.21906874295e-05,1.0600422064,0.553820120212,0.00860227185924,1.05966560312
+390,6.500000000,pose2_to_pose3_retreat,0.583248183823,-7.21927158851e-05,1.0600421986,0.553819976435,0.00860227005016,1.05966559599
+391,6.516666667,pose2_to_pose3_retreat,0.583248139422,-7.21933420648e-05,1.0600421962,0.553819932052,0.0086022694917,1.05966559378
+392,6.533333333,pose2_to_pose3_retreat,0.583247833748,-7.21811456397e-05,1.06004223805,0.553819626215,0.00860228109125,1.05966563467
+393,6.550000000,pose2_to_pose3_retreat,0.583247465067,-7.21559814999e-05,1.06004232551,0.553819257157,0.00860230486224,1.05966571947
+394,6.566666667,pose2_to_pose3_retreat,0.583247344917,-7.2147780701e-05,1.06004235402,0.553819136884,0.00860231260903,1.0596657471
+395,6.583333333,pose2_to_pose3_retreat,0.58324724762,-7.21411397974e-05,1.0600423771,0.553819039489,0.00860231888228,1.05966576948
+396,6.600000000,pose2_to_pose3_retreat,0.583247089778,-7.2130366312e-05,1.06004241455,0.553818881484,0.00860232905932,1.05966580579
+397,6.616666667,pose2_to_pose3_retreat,0.583246945675,-7.2120530643e-05,1.06004244874,0.553818737234,0.00860233835046,1.05966583893
+398,6.633333333,pose2_to_pose3_retreat,0.583246598717,-7.20968492118e-05,1.06004253105,0.553818389922,0.00860236072083,1.05966591873
+399,6.650000000,pose2_to_pose3_retreat,0.583246458159,-7.20872555427e-05,1.0600425644,0.553818249221,0.00860236978337,1.05966595106
+400,6.666666667,pose2_to_pose3_retreat,0.583246318379,-7.20777149244e-05,1.06004259756,0.553818109298,0.0086023787958,1.05966598321
+401,6.683333333,pose2_to_pose3_retreat,0.583245981437,-7.21312150848e-05,1.06004250556,0.553817772567,0.00860232601063,1.05966589123
+402,6.700000000,pose2_to_pose3_retreat,0.583245702851,-7.21836678742e-05,1.06004241103,0.553817494215,0.0086022743626,1.05966579696
+403,6.716666667,pose2_to_pose3_retreat,0.58324556369,-7.22098693947e-05,1.06004236381,0.55381735517,0.00860224856308,1.05966574987
+404,6.733333333,pose2_to_pose3_retreat,0.583245426282,-7.21239093533e-05,1.06004215935,0.553817216255,0.00860232961365,1.0596655501
+405,6.750000000,pose2_to_pose3_retreat,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360128,1.05966576712
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57d6ab96a75d27d82e7eeb0162344761980374ba
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6af3fd981e66d1b75b0a7f0d575b045bb0a686b726888476b1a9e57d4d7a40e6
+size 25793705
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bee9042ac7916598fe9db5e549111ec691450273
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+32,0.533333333,BASELINE,765,745,715,679.433345533,659,634,877,784.433345533,808,651,629,652,0.40097170277,-0.00536342538212,0.0698291813349,0.999999940469,0.000210458806877,-0.00027304819359,1.46197168051e-05,1793247520115501568
+33,0.550000000,BASELINE,765.14538587,745,715,679,659,634,877,784.14538587,808.14538587,651.14538587,629,652,0.400972575679,-0.00536467938249,0.0698294971514,0.999999940767,0.000210037749158,-0.000272267895837,1.48544616329e-05,1793247520132168192
+34,0.566666667,BASELINE,765.722919798,745,715,679,659,634,877,784.722919798,808.722919798,651.722919798,629,652,0.400971670719,-0.00536496962285,0.069829494489,0.999999940757,0.000210542506127,-0.000271913752154,1.48277172489e-05,1793247520148834816
+35,0.583333333,BASELINE,766,745,715,679.29844433,659,634,877,784.70155567,809,652,629,652,0.400971502044,-0.00536526787613,0.0698298979173,0.999999940873,0.000210858040957,-0.000271235999049,1.49534650299e-05,1793247520165501440
+36,0.600000000,BASELINE,766,745,715,679.872115851,659,634,877,784.127884149,809,652,629,652,0.400972012377,-0.00536557351901,0.0698306758451,0.999999941104,0.000210999074031,-0.000270259811308,1.52198420166e-05,1793247520182168064
+37,0.616666667,BASELINE,765.542389776,745,715.457610224,679.542389776,658.542389776,634,877,784.457610224,808.542389776,651.542389776,629,652,0.400971591613,-0.00536485704437,0.0698298406206,0.999999940664,0.000211160774417,-0.000271779546394,1.47870602768e-05,1793247520198834688
+38,0.633333333,BASELINE,765.04601497,745,715.95398503,679,658,634,877,784.95398503,808,651.04601497,629,652,0.400971030679,-0.00536394801647,0.069828724362,0.999999940097,0.000211419813028,-0.000273686970612,1.42508337777e-05,1793247520215501312
+39,0.650000000,BASELINE,765.628805932,745,715.371194068,679,658,634,877,784.371194068,808,651.628805932,629,652,0.400971950468,-0.00536421326031,0.0698297280842,0.999999940332,0.000212745164288,-0.000271764432884,1.48475900621e-05,1793247520232168192
+40,0.666666667,BASELINE,765.791329496,745,715,679,658.208670504,634,877,784.208670504,808,652,629,652,0.400972450672,-0.00536469084081,0.0698302163534,0.999999940641,0.00021265850388,-0.000270680390541,1.50724513702e-05,1793247520248835072
+41,0.683333333,BASELINE,765.216598583,745,715,679,658.783401417,634,877,784.783401417,808,652,629,652,0.400972214817,-0.00536554091306,0.0698298003884,0.999999941084,0.000210094820719,-0.000271067279556,1.46449155624e-05,1793247520265501696
+42,0.700000000,BASELINE,765.357412795,745,715,678.642587205,659,634,877,784.642587205,808.357412795,652,629,652,0.400971431781,-0.00536501507965,0.0698291103187,0.999999940687,0.000210656506734,-0.00027209713898,1.45949998086e-05,1793247520282168320
+43,0.716666667,BASELINE,765.930988978,745,715,678.069011022,659,634,877,784.069011022,808.930988978,652,629,652,0.40097031781,-0.00536365709799,0.0698282544703,0.999999939778,0.000213108417251,-0.000273515867123,1.47734688156e-05,1793247520298834944
+44,0.733333333,BASELINE,765.478557131,745,715,679.042885739,659,634,877,784.521442869,809,652,629,652,0.400970782565,-0.00536528627349,0.069828972633,0.999999940655,0.000210239305639,-0.000272530542538,1.47113240908e-05,1793247520315501568
+45,0.750000000,BASELINE,765,745,715,680,659,634,877,785,808.888985288,651.888985288,629,652,0.400971613012,-0.00536674455959,0.0698299003321,0.999999941594,0.000207486062215,-0.000271192757131,1.46944295878e-05,1793247520332167936
+46,0.766666667,BASELINE,765,745,715,680,659,634,877,785,808.312782712,651.312782712,629,652,0.400973071024,-0.00536577474952,0.0698308039531,0.999999941816,0.000208267953901,-0.000269755867987,1.50050499482e-05,1793247520348834816
+47,0.783333333,BASELINE,765,745,715,680,659,634,877,784.736700564,808.263299436,651,629,652,0.400973357996,-0.00536533271528,0.0698310537205,0.999999941756,0.00020911623303,-0.00026932071706,1.50032397488e-05,1793247520365501696
+48,0.800000000,BASELINE,765,745,715,680,659,634,877,784.160761337,808.839238663,651,629,652,0.400972254486,-0.00536551735801,0.0698305271069,0.999999941364,0.000210043340217,-0.000270075022453,1.46304518677e-05,1793247520382168320
+49,0.816666667,BASELINE,765,745,715,679.575595667,659,634,877,784,809,651,629,652,0.400971993373,-0.00536545053429,0.0698305981263,0.999999941261,0.000210360183399,-0.000270210446955,1.46211634175e-05,1793247520398834944
+50,0.833333333,BASELINE,765.012921064,745,715,679,658.987078936,634,877.012921064,784,808.987078936,651.012921064,629,652,0.400972070122,-0.00536529131443,0.0698309076323,0.99999994128,0.000210406830496,-0.000270095929306,1.47491535434e-05,1793247520415501568
+51,0.850000000,BASELINE,765.591737749,745,715,679,658.408262251,634,877.591737749,784,808.408262251,651.591737749,629,652,0.400972658195,-0.00536534995308,0.0698315270672,0.999999941734,0.000208968986398,-0.000269530097456,1.4725069605e-05,1793247520432168448
+52,0.866666667,BASELINE,766,745,715,679,658,634,877.830444965,784,808.169555035,652,629,652,0.400973058936,-0.00536582638087,0.0698317946289,0.999999942172,0.000207378367776,-0.000269135888503,1.47121438152e-05,1793247520448835072
+53,0.883333333,BASELINE,766,745,715,679,658,634,877.255020008,784,808.744979992,652,629,652,0.400973011257,-0.00536730288538,0.0698312198989,0.999999942571,0.000205422047422,-0.000269152499418,1.47259276843e-05,1793247520465501440
+54,0.900000000,BASELINE,765.678948081,745,715,679,658.321051919,634,876.678948081,784.321051919,809,652,629,652,0.400972620215,-0.00536751184125,0.0698309288557,0.999999942235,0.000206177599334,-0.00026981865652,1.48190685621e-05,1793247520482168064
+55,0.916666667,BASELINE,765.102361241,745,715,679,658.897638759,634,876.102361241,784.897638759,809,652,629,652,0.400971955882,-0.00536671191679,0.0698308636072,0.999999941307,0.000209091612408,-0.000271001807057,1.49753720801e-05,1793247520498834944
+56,0.933333333,BASELINE,765,745,715,679.484311282,659,634,876.484311282,784.515688718,808.515688718,651.515688718,629,652,0.400971948896,-0.00536633826784,0.0698307727914,0.999999941397,0.000209209102694,-0.000270585012156,1.4896227511e-05,1793247520515501568
+57,0.950000000,BASELINE,765,745,715,680,658.927884462,634,877,784,808.072115538,651.072115538,629,652,0.400972239314,-0.00536592026784,0.0698308264965,0.999999941706,0.000208915869002,-0.000269673123996,1.4752374265e-05,1793247520532168192
+58,0.966666667,BASELINE,765,745,715,680,658.347448185,634,877,784,808.652551815,651.652551815,629,652,0.400973625918,-0.00536454109121,0.0698319377865,0.999999942015,0.000209982353415,-0.000267705720043,1.45106330947e-05,1793247520548834816
+59,0.983333333,BASELINE,765.230211698,744.769788302,715,679.769788302,658.230211698,634,876.769788302,784,809,652,629,651.769788302,0.400974184982,-0.00536413452252,0.069832136888,0.999999942017,0.000210289373008,-0.000267465221546,1.43967277027e-05,1793247520565501440
+60,1.000000000,BASELINE,765.803731314,744.196268686,715,679.196268686,658.803731314,634,876.196268686,784,809,652,629,651.196268686,0.40097350996,-0.00536517837515,0.0698309756697,0.999999941562,0.00020946382527,-0.000269800005941,1.44734600014e-05,1793247520582168064
+61,1.016666667,BASELINE,765.614896276,744.385103724,715,679,659,634,876.770207448,784,809,651.614896276,629,651.385103724,0.400972643937,-0.00536529328369,0.0698307463472,0.999999941358,0.000209727656831,-0.000270348799856,1.45174090637e-05,1793247520598834688
+62,1.033333333,BASELINE,765.029438404,744.970561596,715,679,659,634,877.941123193,784,809,651.029438404,629,651.970561596,0.400971678544,-0.00536492489951,0.0698310018532,0.999999941285,0.000210558249158,-0.00026996841383,1.45443023075e-05,1793247520615501568
+63,1.050000000,BASELINE,765.554517882,745,715,679.554517882,658.445482118,634,877.445482118,784,808.445482118,651,629,652,0.400971245849,-0.00536551781896,0.0698300740593,0.999999941671,0.00020801997593,-0.000270511011413,1.44722619062e-05,1793247520632168448
+64,1.066666667,BASELINE,765.863789192,745,715,680,658,634,877,784.136210808,808.136210808,651,629,652,0.400971091703,-0.00536575188413,0.0698293901871,0.999999941912,0.000206496561512,-0.000270793027512,1.43929200175e-05,1793247520648834816
+65,1.083333333,BASELINE,765.289125973,745,715,680,658,634,877,784.710874027,808.710874027,651,629,652,0.400971743398,-0.00536466699323,0.0698296931458,0.999999941625,0.000208814043263,-0.000270078951111,1.43069360291e-05,1793247520665501696
+66,1.100000000,BASELINE,765,744.714075225,715,679.714075225,658.285924775,634,877,785,809,651.285924775,629,652,0.400972613784,-0.00536526881323,0.0698304186649,0.999999941906,0.000208350936776,-0.000269394955134,1.43179050707e-05,1793247520682168320
+67,1.116666667,BASELINE,765,744.138632115,715,679.138632115,658.861367885,634,877,785,809,651.861367885,629,652,0.400973705608,-0.00536757854311,0.0698315720553,0.999999942758,0.000205072294902,-0.000268741417679,1.44270456731e-05,1793247520698834944
+68,1.133333333,BASELINE,765.448250856,744.448250856,715,679,659,634,877,784.551749144,808.551749144,652,629,652,0.400972473454,-0.00536648102305,0.0698309098342,0.999999942232,0.000205995682172,-0.000269988310455,1.44243317975e-05,1793247520715501568
+69,1.150000000,BASELINE,765.962009863,745,715,679,659,634,877.037990137,784.037990137,808,651.962009863,629,652,0.400970700254,-0.00536445552938,0.0698297632605,0.999999941327,0.000208170934515,-0.00027166787294,1.44091235799e-05,1793247520732168448
+70,1.166666667,BASELINE,765.383293489,745,715,679,659,634,877.616706511,784.616706511,808,651.383293489,629,652,0.400971724223,-0.00536461337873,0.0698299243598,0.999999941314,0.000209182659662,-0.000270920992368,1.472135712e-05,1793247520748835072
+71,1.183333333,BASELINE,765.194093404,745,715,679.194093404,658.805906596,634,878,785,808.194093404,651.194093404,629,652.194093404,0.400972335335,-0.00536478899235,0.0698302229478,0.999999941172,0.000210591985318,-0.000270339530311,1.49586843282e-05,1793247520765501696
+72,1.200000000,BASELINE,765.768872813,745,715,679.768872813,658.231127187,634,878,785,808.768872813,651.768872813,629,652.768872813,0.400972136689,-0.005364999448,0.0698307912002,0.999999940777,0.000212781146769,-0.000270082512497,1.50490937072e-05,1793247520782168320
+73,1.216666667,BASELINE,765.648915411,745,715,679.648915411,658.351084589,634,877.648915411,785,808.648915411,652,629,652.648915411,0.40097191046,-0.00536531457427,0.0698311091723,0.999999940895,0.000212549484007,-0.000269833142589,1.49239977896e-05,1793247520798835200
+74,1.233333333,BASELINE,765.061704947,745,715,679.061704947,658.938295053,634,877.061704947,785,808.061704947,652,629,652.061704947,0.40097166568,-0.00536570009792,0.0698312588154,0.999999941358,0.000210689668658,-0.000269588916379,1.46539613639e-05,1793247520815501824
+75,1.250000000,BASELINE,765.517956267,745,715,679,659,634,877,784.482043733,808.517956267,652,629,652,0.400971818251,-0.00536419484968,0.0698310525439,0.999999941186,0.000211562567946,-0.000269558670016,1.43894320413e-05,1793247520832168192
+76,1.266666667,BASELINE,766,745,715,679.096451727,658.903548273,634,877,784,809,651.903548273,629,652,0.400971900097,-0.00536290783112,0.0698308318535,0.999999941042,0.000212210079238,-0.000269596413524,1.41916502358e-05,1793247520848834816
+77,1.283333333,BASELINE,766,745,715,679.673555228,658.326444772,634,877,784,809,651.326444772,629,652,0.400971396992,-0.00536381470037,0.06983074757,0.99999994141,0.000210135372065,-0.000269847764522,1.43232715725e-05,1793247520865501440
+78,1.300000000,BASELINE,765.750198696,745,715,680,658,634,877,784,809,651.249801304,629,652.249801304,0.400970678776,-0.00536415418928,0.0698304233662,0.999999941391,0.00020925283998,-0.000270596738972,1.44228108673e-05,1793247520882168576
+79,1.316666667,BASELINE,765.17506933,745,715,680,658,634,877,784,809,651.82493067,629,652.82493067,0.400969680411,-0.00536375475183,0.0698297867029,0.999999940871,0.000209922934103,-0.000271993791979,1.44805681905e-05,1793247520898836224
+80,1.333333333,BASELINE,765,745,715,680,658,634,877,784,808.591002599,652,629,652.591002599,0.400969924206,-0.00536474557618,0.0698296868265,0.999999940876,0.000209464692717,-0.000272327047911,1.44974744402e-05,1793247520915503104
+81,1.350000000,BASELINE,765,745,715,680,658,634,877,784,808.003024758,652,629,652.003024758,0.40097071158,-0.00536634478985,0.0698298218523,0.999999941111,0.000208512683006,-0.000272194778103,1.4496503948e-05,1793247520932169728
+82,1.366666667,BASELINE,765.579473749,745,715,679.420526251,659.158947498,634,877,784.579473749,808.579473749,652,629,652,0.400971354726,-0.00536549404767,0.0698306754259,0.999999941485,0.000209618579667,-0.000269956499826,1.46057290304e-05,1793247520948836352
+83,1.383333333,BASELINE,765.839997717,745,715,679.160002283,659.839997717,634,877,784.839997717,808.839997717,652,629,652,0.400971958584,-0.00536439091332,0.0698313679896,0.999999941748,0.000210335331102,-0.00026842514269,1.45069447672e-05,1793247520965502976
+84,1.400000000,BASELINE,765.264510992,745,715,679.735489008,659.264510992,634,877,784.264510992,808.264510992,652,629,652,0.400972462356,-0.0053626652788,0.0698316328044,0.999999941736,0.000210013940803,-0.000268757754604,1.38665345311e-05,1793247520982169344
+85,1.416666667,BASELINE,765,745,715,679.689882779,658.689882779,634,877,784,808.310117221,651.689882779,629,652,0.400972703286,-0.00536266725709,0.0698315866842,0.999999941724,0.000209774814248,-0.000268985853459,1.38633349188e-05,1793247520998835712
+86,1.433333333,BASELINE,765,745,715,679.115984836,658.115984836,634,877,784,808.884015164,651.115984836,629,652,0.400972720646,-0.00536413871516,0.0698312760876,0.999999941715,0.00020960565993,-0.000269125055165,1.44021364564e-05,1793247521015502080
+87,1.450000000,BASELINE,765.471902455,745,715,679,658,634,877,784,808.528097545,651.471902455,629,652,0.400972189008,-0.00536358560824,0.0698309633169,0.999999941342,0.000210567462982,-0.000269752335765,1.45116924448e-05,1793247521032168960
+88,1.466666667,BASELINE,765.938074627,744.938074627,715,679,658.061925373,634,877,784,808.061925373,652,629,652,0.400971589905,-0.00536288030338,0.069830687918,0.999999940978,0.000211443912505,-0.000270416944566,1.45162758205e-05,1793247521048835584
+89,1.483333333,BASELINE,765.359789962,744.359789962,715,679,658.640210038,634,877,784,808.640210038,652,629,652,0.40097158775,-0.00536518186525,0.0698307287329,0.99999994146,0.000209220025478,-0.000270361970706,1.4552136717e-05,1793247521065502464
+90,1.500000000,BASELINE,765,744.216815014,715.216815014,679.216815014,658.783184986,634,877,784,809,652,629,652,0.400971518739,-0.00536611470946,0.0698306012454,0.999999941617,0.000208351857433,-0.000270453128746,1.45458751966e-05,1793247521082169600
+91,1.516666667,BASELINE,765,744.790654029,715.790654029,679.790654029,658.209345971,634,877,784,809,652,629,652,0.40097133964,-0.00536479371943,0.0698301966186,0.999999941243,0.000209716119023,-0.000270784918636,1.44702517155e-05,1793247521098836480
+92,1.533333333,BASELINE,765,745,715.626088061,680,658,634,877,784,808.626088061,652,629,652,0.400970674882,-0.00536483494032,0.0698300563839,0.999999941373,0.000208503471514,-0.000271244383158,1.43800886081e-05,1793247521115502592
+93,1.550000000,BASELINE,765,745,715.037420368,680,658,634,877,784,808.037420368,652,629,652,0.400969731188,-0.00536565854485,0.0698300680023,0.999999941788,0.000205810780308,-0.000271777177443,1.42815746813e-05,1793247521132168960
+94,1.566666667,BASELINE,765,745,715,679.457741001,658.542258999,634,877,784.542258999,808.542258999,652,629.542258999,652,0.40097047296,-0.0053651700168,0.0698300546285,0.999999941447,0.000207837973485,-0.000271485570213,1.43104908824e-05,1793247521148835584
+95,1.583333333,BASELINE,765,744.8792224,715,679.1207776,659,634,877,784.8792224,809,652,629.8792224,652,0.400971016732,-0.00536470678674,0.0698299820545,0.999999941129,0.000209565199035,-0.000271326969152,1.43783572138e-05,1793247521165502208
+96,1.600000000,BASELINE,765,744.302780958,715,679.697219042,659,634,877,784.302780958,809,652,629.302780958,652,0.400970381837,-0.00536467504456,0.0698296925337,0.999999941104,0.000208951931344,-0.000271881301359,1.45605370907e-05,1793247521182168576
+97,1.616666667,BASELINE,765,744.272355014,715,679.727644986,658.727644986,634,877,784.272355014,808.727644986,652,629,652,0.400969627649,-0.00536472217299,0.0698290372466,0.999999940725,0.000209804082276,-0.000272610167526,1.46823769252e-05,1793247521198835456
+98,1.633333333,BASELINE,765,744.846046562,715,679.153953438,658.153953438,634,877,784.846046562,808.153953438,652,629,652,0.400968741475,-0.00536485656471,0.0698279772717,0.999999939951,0.00021227758827,-0.00027353213992,1.47374558728e-05,1793247521215502848
+99,1.650000000,BASELINE,765,745,715,679,658,634,877,784.567937898,808.432062102,652,629,652,0.400969037166,-0.00536536913055,0.0698282499517,0.999999940383,0.00021065666073,-0.000273218436861,1.44589871636e-05,1793247521232169472
+100,1.666666667,BASELINE,765,745,715,679.022163605,658,634,877.022163605,784.022163605,808.977836395,652,629,652,0.400969744579,-0.00536603737776,0.069829003608,0.999999941228,0.000207631379715,-0.000272459966978,1.40915949508e-05,1793247521248835840
+101,1.683333333,BASELINE,765,745,715,679.601350746,658,634,877.601350746,784.601350746,808.398649254,652,629,652,0.40096990493,-0.00536713219544,0.0698295607057,0.99999994149,0.000207054524373,-0.00027191411127,1.45640405968e-05,1793247521265502208
+102,1.700000000,BASELINE,765.179537834,745.179537834,715,680,658.359075667,634,878,785,808.179537834,652,629,652,0.400970523437,-0.0053675746196,0.0698302419277,0.999999941692,0.000207154675899,-0.000271075821119,1.48349993635e-05,1793247521282168832
+103,1.716666667,BASELINE,765.755516609,745.755516609,715,680,659.511033219,634,878,785,808.755516609,652,629,652,0.400972153603,-0.00536657648093,0.0698311972311,0.999999941764,0.000208749739387,-0.000269591800921,1.46610510163e-05,1793247521298835456
+104,1.733333333,BASELINE,765.67078532,745.67078532,715,680,659.67078532,634,877.67078532,784.67078532,809,651.67078532,629,652,0.400972207759,-0.0053655040986,0.0698313886115,0.999999941581,0.000209821351462,-0.000269449309035,1.44840454653e-05,1793247521315502080
+105,1.750000000,BASELINE,765.098769247,745.098769247,715,680,659.098769247,634,877.098769247,784.098769247,809,651.098769247,629,652,0.400971099583,-0.00536437696021,0.0698310165858,0.999999941211,0.000210506909437,-0.000270296216807,1.43047851565e-05,1793247521332168704
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,784,808,651,629,652,0.40097065746,-0.00536618792268,0.0698305306483,0.999999941823,0.000206701869715,-0.000270949473019,1.4638395033e-05,1793247521362997248
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.575872701,658.424127299,634,877,784.575872701,808.575872701,651.575872701,629,652,0.400972443924,-0.00536486702559,0.0698311921228,0.999999941641,0.000210138179067,-0.000268989331494,1.42900280287e-05,1793247521379664128
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.15195479,715,679.84804521,658.15195479,634,877,784.84804521,809,652,629.15195479,652,0.400973417062,-0.00536423612166,0.0698315143119,0.999999941563,0.000212112974345,-0.000267734354618,1.41213040104e-05,1793247521396331008
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.728622249,715,679.271377751,658.728622249,634,877,784.271377751,809,652,629.728622249,652,0.400972116962,-0.00536553374396,0.0698308882006,0.999999941812,0.000210002847906,-0.00026845030799,1.44546809123e-05,1793247521412997120
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.688295775,715,679.311704225,658.688295775,634,877,784.311704225,809,652,629.688295775,652,0.400971457599,-0.00536585440377,0.0698304487561,0.999999941727,0.000209116580741,-0.000269451472453,1.45639312329e-05,1793247521429663232
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.099511847,715,679.900488153,658.099511847,634,877,784.900488153,809,652,629.099511847,652,0.400971367801,-0.00536530662332,0.069830175243,0.999999941347,0.000209318225045,-0.000270706166331,1.44739512335e-05,1793247521446329344
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.481062123,679.518937877,658.481062123,634,877.481062123,785,809,652,629,652,0.400971906106,-0.00536530903776,0.069830518025,0.999999941558,0.00020853231501,-0.000270531284566,1.4552830413e-05,1793247521462996224
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.940372379,745,715.940372379,679,659,634,878,784.940372379,809,651.940372379,629,652,0.400972445181,-0.0053652975389,0.0698309569637,0.999999941789,0.000207946408159,-0.000270122828918,1.46461440514e-05,1793247521479662848
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.364737651,745,715.364737651,679,659,634,878,784.364737651,809,651.364737651,629,652,0.400971885408,-0.00536419724944,0.0698311432963,0.999999941163,0.000210829469428,-0.000270209233676,1.45671652381e-05,1793247521496330240
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.21017742,658.78982258,634,877.78982258,784.21017742,808.78982258,651.21017742,629,652,0.400972658347,-0.00536375193746,0.0698315300954,0.999999941067,0.000211569023391,-0.000269993365099,1.44295362855e-05,1793247521512997376
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.783847815,658.216152185,634,877.216152185,784.783847815,808.216152185,651.783847815,629,652,0.400975736157,-0.00536443938147,0.0698322635929,0.999999941893,0.000208601471654,-0.000269254727541,1.41904744009e-05,1793247521529664000
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.368717285,745,715,680,658.368717285,634,877.368717285,784.631282715,808,652,629,652,0.400994260192,-0.00536493815766,0.0698406021361,0.999999945455,0.000208277714122,-0.00025591920331,1.46857719527e-05,1793247521546330368
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.960357669,745,715,680,658.960357669,634,877.960357669,784.039642331,808,652,629,652,0.401022122874,-0.00536532286705,0.0698535386205,0.999999950317,0.000209552370032,-0.000234967716419,1.56250564767e-05,1793247521562996736
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.4600032,745,715,680,658.4600032,634,878,784,808.5399968,652,629,652,0.40107463651,-0.00536592443295,0.0698712955893,0.999999957006,0.000210583476819,-0.000203428816072,1.60965652708e-05,1793247521579663104
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.117833862,634,877.882166138,784.117833862,809,651.882166138,629,652,0.401130394012,-0.00536708769018,0.0698879219887,0.999999962281,0.000210622241458,-0.00017552112161,1.64061104207e-05,1793247521596329472
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.69202982,634,877.30797018,784.69202982,809,651.30797018,629,652,0.401191858409,-0.00537036602172,0.0698988290174,0.999999964918,0.00020688547753,-0.000164621585434,1.6218488611e-05,1793247521612996096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.266416976,745,715,680,659,634,877.266416976,784.733583024,808.733583024,651.266416976,629,652,0.401262340025,-0.00537319454978,0.0699065199082,0.999999967187,0.000203630312757,-0.000154663122558,1.55236909116e-05,1793247521629662976
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.841025276,745,715,680,659,634,877.841025276,784.158974724,808.158974724,651.841025276,629,652,0.40134325276,-0.00537550274471,0.0699104903679,0.999999969084,0.000200932262418,-0.000145793294521,1.42421918416e-05,1793247521646330368
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.571502451,745,715,680,658.571502451,634,878,784,808,652,629,652,0.401435278292,-0.00537669702401,0.0699100465007,0.999999969162,0.000200422698577,-0.0001461680045,1.19378330504e-05,1793247521662997248
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.979636385,658.020363615,634,877.979636385,784.020363615,808.020363615,651.979636385,629,652,0.401532465441,-0.005377466164,0.0699079555091,0.999999968554,0.000200721119171,-0.000150056248697,9.23822785371e-06,1793247521679664384
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.402174208,658.597825792,634,877.402174208,784.597825792,808.597825792,651.402174208,629,652,0.401654578365,-0.0053782604654,0.0699069944185,0.999999968179,0.000200223853908,-0.000153332021866,6.42877623704e-06,1793247521696330752
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.174509601,745,715,679,659,634,877,784.825490399,809,651,629,652,0.401787394611,-0.0053798250336,0.069907738681,0.999999968568,0.000198597133137,-0.000153008608794,3.53183304499e-06,1793247521712997120
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.749407473,745,715,679,659,634,877,784.250592527,809,651,629,652,0.401944768142,-0.00538315687288,0.0699123956415,0.999999970679,0.000194379032171,-0.000144427357648,4.34152857795e-07,1793247521729663232
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.332042328,659,634,877.332042328,784,809,651.332042328,629,652,0.402121101448,-0.00538713388763,0.0699164569319,0.999999972893,0.000188266737877,-0.000136964840568,-3.19613067966e-06,1793247521746329856
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.920655655,659,634,877.920655655,784,809,651.920655655,629,652,0.402312085097,-0.00539160943347,0.0699200579451,0.999999975151,0.000180690789144,-0.00013036677476,-7.23796019124e-06,1793247521762996224
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.497187988,745,715,680,659,634,877.497187988,784.502812012,808.497187988,652,629,652,0.402528806995,-0.00539388210157,0.0699198743115,0.999999976134,0.00017511091595,-0.000130066016477,-1.22837778293e-05,1793247521779663360
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.082851916,745,715,679.917148084,659,634,877.082851916,784.917148084,808.082851916,652,629.082851916,652,0.402756194924,-0.00539638487125,0.0699203377909,0.999999977258,0.000169279773605,-0.000128543378683,-1.74455473984e-05,1793247521796330240
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.656316435,745,715,679.343683565,659,634,877.656316435,784.343683565,808.656316435,652,629.656316435,652,0.40302299684,-0.00540228253707,0.0699281248345,0.999999980436,0.000160119180649,-0.000113975526578,-2.23676742539e-05,1793247521812996352
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.769455649,745,715,679.230544351,659,634,877.769455649,784,809,652,629.769455649,652,0.403307984054,-0.00540777710458,0.0699375804208,0.999999983399,0.000152002989663,-9.67437763946e-05,-2.71696235236e-05,1793247521829662464
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.194085957,745,715,679.805914043,659,634,877.194085957,784,809,652,629.194085957,652,0.403620171018,-0.00541266875732,0.069949531647,0.999999986065,0.000145448911972,-7.55276329207e-05,-3.17918228009e-05,1793247521846329088
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.39148323,745,715,680,659,634,877,784,809,652,629,652,0.403950704817,-0.00541828627029,0.0699542649213,0.999999991748,0.000101958831502,-6.91136938419e-05,-3.64896936577e-05,1793247521862995712
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.982244275,745,715,680,659,634,877,784,809,652,629,652,0.40429057775,-0.0054242732698,0.0699553240207,0.999999995897,3.96671129378e-05,-7.02345631755e-05,-4.12260835796e-05,1793247521879662080
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,877,784,809,651.437509986,629,652,0.404674457142,-0.00542799615019,0.0699601980083,0.999999995204,6.61795095651e-05,-6.41422326401e-05,-3.31415177193e-05,1793247521896328960
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.859269129,659,634,877,784,809,651,629,652,0.405067474252,-0.00543189633841,0.0699638921106,0.999999994059,8.7247180248e-05,-5.9013792067e-05,-2.80618177824e-05,1793247521912995840
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.286186715,659,634,877,784,809,651,629,652,0.40548437474,-0.00543655678813,0.0699635982141,0.99999999433,8.31336641588e-05,-5.75332844817e-05,-3.34341574318e-05,1793247521929662720
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.288566158,679.288566158,659,634,877,784,809,651.288566158,629,652.288566158,0.405920480875,-0.0054425278901,0.0699622363424,0.999999994666,7.76917247161e-05,-5.72961044868e-05,-3.6727394225e-05,1793247521946329344
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.864985432,679.864985432,659,634,877,784,809,651.864985432,629,652.864985432,0.406375745248,-0.00544980640627,0.0699598091343,0.999999995065,7.09246439392e-05,-5.82991796631e-05,-3.79466662341e-05,1793247521962995968
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.545669453,680,659,634,877,784,809,652,629,652.545669453,0.406857721659,-0.00545469390364,0.0699436264439,0.999999994053,5.70625794122e-05,-8.40679407944e-05,-3.9632089668e-05,1793247521979662592
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,877.092410613,784,809,652,629,652,0.407353887448,-0.00545921953585,0.0699250650891,0.999999991782,4.20282512897e-05,-0.000113816866384,-4.14250957648e-05,1793247521996328960
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878.243531644,784,809,652,629,652,0.407919008962,-0.00546797823417,0.0699274554247,0.999999993104,3.84265913014e-05,-0.000102378986714,-4.2817108198e-05,1793247522012995840
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.803200436,745,715,680,659.196799564,634,878.606400873,784,809,652,629,652.196799564,0.408503117865,-0.00548344504085,0.0699346609972,0.999999995344,2.36283303826e-05,-8.34289075686e-05,-4.23367827364e-05,1793247522029662464
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.229176447,745,715,680,659.770823553,634,877.458352893,784,809,652,629,652.770823553,0.409123621668,-0.00551176991583,0.0699510963915,0.999999997934,-1.26315194442e-05,-5.00794823154e-05,-3.82675691491e-05,1793247522046329088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.356282545,745,715,680,659.643717455,634,877.356282545,784,809,651.643717455,629.356282545,653,0.409738761038,-0.00553061583371,0.0699546670023,0.999999997846,-3.69557355904e-05,-3.92637870875e-05,-3.74271635623e-05,1793247522062995712
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.949340908,745,715,680,659.050659092,634,877.949340908,784,809,651.050659092,629.949340908,653,0.410350335326,-0.00554316228995,0.0699496880224,0.999999996884,-5.33478484436e-05,-4.34234055363e-05,-3.87325373277e-05,1793247522079662592
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,784,809,651.527568549,630,653,0.411020087807,-0.00553596023827,0.0699459153127,0.999999996728,-4.29991806682e-05,-5.66931963212e-05,-3.84929136734e-05,1793247522096329216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.896010708,745,715,680.103989292,659,634,877.896010708,784.103989292,809.103989292,651.896010708,629.896010708,652.896010708,0.411707979193,-0.00552467086212,0.0699475724681,0.999999997084,-2.82219974594e-05,-5.96133654779e-05,-3.84884437463e-05,1793247522112995840
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+153,2.550000000,POSE1_TO_POSE2_PRESS,765.259674793,745,715,680.740325207,659.259674793,634,877.259674793,785,810,651,629,652,0.413201440797,-0.00549330142869,0.0699983954825,0.999999998721,7.71951820286e-06,2.92043879203e-05,-4.05747854094e-05,1793247522146329344
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.849311812,745,715,680.150688188,659.849311812,634,877.849311812,785,810,651,629,652,0.413952960316,-0.00549798987855,0.0700227285477,0.999999997305,6.05860250703e-06,6.17492986097e-05,-3.92477913268e-05,1793247522162995968
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.569224884,634,878,784.569224884,810,651.430775116,629,652.430775116,0.414692884016,-0.005509792674,0.070006503581,0.999999998765,-1.0078871082e-05,2.76697018914e-05,-4.00237092376e-05,1793247522179663104
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.990618926,745,715,680,659.009381074,634,878.009381074,784,810.009381074,652,629.009381074,653,0.415429828701,-0.00552379951826,0.0699761336286,0.999999998223,-3.09879938713e-05,-2.94070619826e-05,-4.15742552441e-05,1793247522196330496
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.415110581,745,715,680,659.584889419,634,878.584889419,784,810.584889419,652,629.584889419,653,0.416227229644,-0.00552342804932,0.0699323853308,0.999999993707,-3.99449518824e-05,-9.40529082643e-05,-4.63058992329e-05,1793247522212997376
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.839385289,784,810.839385289,651.839385289,630,652.839385289,0.417044773021,-0.00552347481119,0.0699093297407,0.999999989557,-4.52410314204e-05,-0.000128086974025,-4.93207619936e-05,1793247522229664000
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.263098571,784,810.263098571,651.263098571,630,652.263098571,0.417914445108,-0.00552460395743,0.0699398270269,0.999999994574,-4.10627313652e-05,-8.28975321539e-05,-4.78925828881e-05,1793247522246329856
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.320357186,745,715,680.320357186,660,634,878.320357186,784,810,651.320357186,629.679642814,652,0.418784056203,-0.00552290026341,0.0699700535403,0.999999997389,-3.91058330002e-05,-3.86548674912e-05,-4.68802372612e-05,1793247522262995968
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.909835375,745,715,680.909835375,660,634,878.909835375,784,810,651.909835375,629.090164625,652,0.419653616015,-0.00551881679812,0.0700000525852,0.999999998159,-3.90150576537e-05,4.79244004846e-06,-4.62172190367e-05,1793247522279662592
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.509903346,745,715,681,660.490096654,634,879,784.490096654,810.490096654,652,629,652.490096654,0.420563346198,-0.00551824915133,0.0700198277251,0.999999997412,-4.0121017708e-05,3.79628001939e-05,-4.61075294389e-05,1793247522296328960
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680.931874535,660.931874535,633.931874535,879,785,811,652,629,653,0.421477153027,-0.00551890731859,0.0700333380337,0.999999996148,-4.26985172909e-05,6.11261581316e-05,-4.63030252988e-05,1793247522312995584
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.358062981,660.358062981,633.358062981,879,785,811,652,629,653,0.4223673754,-0.00552395193494,0.0700140494593,0.999999997074,-5.45949507954e-05,2.37840976912e-05,-4.80221900441e-05,1793247522329662464
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.221162014,879,785,811,651.778837986,629.221162014,653,0.423217949217,-0.00552568179396,0.0699677879988,0.999999995425,-6.16914887437e-05,-5.16416819597e-05,-5.17489549483e-05,1793247522346329088
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.809371418,879,785,811,651.190628582,629.809371418,653,0.424002721193,-0.00552191037895,0.0698767614903,0.999999978319,-6.08219712203e-05,-0.000190272397984,-5.88075955341e-05,1793247522362995968
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.391529198,745,715,680.391529198,660,634,879,784.608470802,811,651.391529198,630,653,0.4249034322,-0.00552166246759,0.0698566891278,0.999999973578,-6.15745097763e-05,-0.000212657381941,-6.1877290058e-05,1793247522379662592
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.970785365,745,715,680.970785365,660,634,879,784.029214635,811,651.970785365,630,653,0.425859732583,-0.0055231039749,0.0698706372391,0.999999979947,-6.31047778438e-05,-0.000179305880246,-6.30343997915e-05,1793247522396329216
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633.450856816,879,784,810.450856816,652,629.450856816,652.450856816,0.426845887898,-0.00552348481726,0.0699332905154,0.999999992402,-5.67155606449e-05,-9.28864038517e-05,-5.78896930117e-05,1793247522412995840
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.873443891,660,633.126556109,879,784,810.126556109,651.873443891,629.126556109,652.126556109,0.42783641293,-0.0055247847432,0.0699926593191,0.999999996979,-5.54886124195e-05,-1.00720446814e-05,-5.34916367736e-05,1793247522429662464
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.299204701,660,633.700795299,879,784,810.700795299,651.299204701,629.700795299,652.700795299,0.428836786171,-0.00552953514407,0.0700312585562,0.99999999461,-7.40107728396e-05,5.0018779977e-05,-5.29188223709e-05,1793247522446329088
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.281870229,660.281870229,633.718129771,879,784.281870229,811,651.281870229,630,653,0.429793250867,-0.00553343871967,0.0700488361573,0.999999992266,-8.05030698845e-05,7.86656224562e-05,-5.29002561317e-05,1793247522462995968
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.870381588,660.870381588,633.129618412,879,784.870381588,811,651.870381588,630,653,0.430701948246,-0.00553642105026,0.0700435447274,0.999999993166,-7.39083119738e-05,7.31051656012e-05,-5.34846458791e-05,1793247522479662592
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.547842642,745,715,680.547842642,660.547842642,633,879,785,811,652,630.452157358,653,0.431525675834,-0.00553522834873,0.0699745739278,0.999999994611,-7.39668442749e-05,-4.57290818143e-05,-5.67010045449e-05,1793247522496329216
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.031790683,745,715,680.031790683,660,633,879,784.968209317,811.031790683,652,631,653,0.432332923835,-0.00553321239038,0.0698927743709,0.999999977818,-7.61300436674e-05,-0.000186837672492,-6.04957868101e-05,1793247522512995840
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.607319756,745,715,680.607319756,660,633,879,784.392680244,811.607319756,652,631,653,0.433268805853,-0.00553728566612,0.069899196675,0.999999981666,-8.214819774e-05,-0.00016168353979,-6.146847994e-05,1793247522529662720
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.182809005,633,879,784.182809005,812,652,631,653,0.434218371703,-0.00553998875539,0.0699243775474,0.999999988261,-8.57791076133e-05,-0.000111267474228,-6.11552450107e-05,1793247522546329344
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.758212839,633,879,784.758212839,812,652,631,653,0.435197324691,-0.0055397492764,0.0699898437281,0.99999999474,-8.42832480749e-05,-6.59967617546e-06,-5.80803915212e-05,1793247522562995968
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.658086025,661,633,879,784.658086025,812,651.658086025,630.658086025,653,0.436125313642,-0.00554118605294,0.0700269117619,0.999999993499,-8.30007876689e-05,5.42366568863e-05,-5.63129289996e-05,1793247522579662592
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680.068371494,661,633,879,784.068371494,812,651.068371494,630.068371494,653,0.437016366586,-0.00554383768785,0.0700433983674,0.999999991639,-8.18729877943e-05,8.33063342571e-05,-5.54929924444e-05,1793247522596329216
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.485614266,745,715,680.514385734,660.485614266,633.514385734,879,784,812,651.514385734,630,653,0.43785653334,-0.00554792535776,0.0700160905465,0.99999999227,-9.28169811375e-05,5.84657531363e-05,-5.85395771235e-05,1793247522612995840
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.09484926,745,715,681,660.09484926,633.90515074,879,784.09484926,812.09484926,652,630,653,0.438672688766,-0.00555097484728,0.069976879358,0.999999992862,-0.00010162955349,1.16055664022e-05,-6.17511085488e-05,1793247522629662464
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.668342299,745,715,681,660.668342299,633.331657701,879,784.668342299,812.668342299,652,630,653,0.439401351034,-0.00554783492688,0.0699065828239,0.99999998767,-9.1697029978e-05,-0.000110695466834,-6.32361381894e-05,1793247522646329088
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.757653972,745,715,681,660.757653972,633,879,784.757653972,812.757653972,652,630,653,0.440168771399,-0.00554629515078,0.0698640942327,0.999999977603,-8.77350368205e-05,-0.000181482766936,-6.44985822349e-05,1793247522662995968
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.182949917,745,715,681,660.182949917,633,879,784.182949917,812.182949917,652,630,653,0.440989345308,-0.00554694984378,0.0698597419974,0.999999977136,-9.19611466414e-05,-0.000181623130087,-6.54557690054e-05,1793247522679662592
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.404264537,633,879,784.404264537,812,652,630,653,0.441830712009,-0.00555048195525,0.0699131222927,0.999999989003,-9.3787883293e-05,-9.59516483657e-05,-6.31710488917e-05,1793247522696329216
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.997321423,633,879,784.997321423,812,652,630,653,0.442681789057,-0.00555535782698,0.069993463795,0.999999993329,-9.44941069868e-05,2.97941382969e-05,-5.93723510043e-05,1793247522712995840
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.573195606,879,784.426804394,812,651.426804394,630.573195606,653,0.443442272057,-0.00555842966534,0.0700281961079,0.99999999053,-0.000103559638135,6.97005651454e-05,-5.79333198586e-05,1793247522729662464
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.148952918,745,715,681,661,633.851047082,879.148952918,784,812.148952918,651,631,653,0.444179793474,-0.00556080758325,0.0700455410231,0.999999988887,-0.000108867032618,8.43640255719e-05,-5.7065832335e-05,1793247522746329088
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.724598894,745,715,681,661,633.275401106,879.724598894,784,812.724598894,651,631,653,0.444852716366,-0.00556122113242,0.0700136704904,0.999999992607,-0.000103300162071,2.78317118298e-05,-5.78049297731e-05,1793247522762995712
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.691979472,745,715,681.308020528,661,633,879.691979472,784,813,651,631,653,0.445511013052,-0.0055610774326,0.0699830789111,0.999999993351,-9.82297475042e-05,-1.54792821948e-05,-5.8381730546e-05,1793247522779662336
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.10142561,745,715,681.89857439,661,633,879.10142561,784,813,651,631,653,0.446155893738,-0.00556042259342,0.0699536604602,0.9999999928,-9.36147100899e-05,-4.66629527537e-05,-5.88096639492e-05,1793247522796328960
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.478071344,745,715,682,661,633,879.478071344,784,813,651,631,653,0.446759863787,-0.00556201890975,0.0699382304828,0.999999991136,-9.65544853729e-05,-6.98577676923e-05,-5.93803731709e-05,1793247522812995840
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.944908274,745.055091726,715,681.944908274,661,633,879.944908274,784,813,651,631,653,0.447350265578,-0.00556389150396,0.0699252994596,0.999999988831,-0.00010049255467,-9.29746874846e-05,-5.99652928447e-05,1793247522829662720
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.369623463,745.630376537,715,681.369623463,661,633,879.369623463,784,813,651,631,653,0.447892652991,-0.00556396513434,0.0699085755073,0.999999984688,-9.90648288333e-05,-0.000130997931674,-6.04048432845e-05,1793247522846329344
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.795418028,715,681.204581972,661,633,879.204581972,784,813,651.204581972,630.795418028,653,0.44843377994,-0.00556572958931,0.0698992423276,0.999999981324,-0.000101529747109,-0.000153011756523,-6.02553717411e-05,1793247522862995712
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.223152558,715,681.776847442,661,633,879.776847442,784,813,651.776847442,630.223152558,653,0.448972641473,-0.00557053286681,0.069903192163,0.999999981402,-0.000110990692791,-0.000146252762068,-5.90472846882e-05,1793247522879662336
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.363436012,745,715,682,661,632.636563988,879.636563988,784,813,651.636563988,630.363436012,653,0.449502760382,-0.0055759137831,0.0699167108744,0.999999983883,-0.000114406273053,-0.000125877344646,-5.74525946561e-05,1793247522896328960
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.959179948,745,715,682,661,632.040820052,879.040820052,784,813,651.040820052,630.959179948,653,0.450027291068,-0.00558166392598,0.0699363460017,0.999999987276,-0.00011395766282,-9.6798322938e-05,-5.56107882429e-05,1793247522912995840
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.462476641,632.537523359,879,784,813,651,631,653,0.450458142922,-0.00558098013503,0.0699248263218,0.999999985012,-0.000117375745316,-0.00011399965747,-5.65993179381e-05,1793247522929662464
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,658.038201281,631,879,782.961798719,814,652,630.961798719,653,0.454937009316,-0.00557665851253,0.0696978618942,0.999999883467,-0.000117284583218,-0.000465225221245,-5.36329468453e-05,1793247524206057216
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.929959599,715,682.070040401,659,631,879,783,813.929959599,652,630,653,0.45358308877,-0.00554778004425,0.0696710700858,0.999999870992,-8.6385264099e-05,-0.000499502051829,-3.24204509483e-05,1793247524406056960
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.882858497,659.117141503,634,878.882858497,785,810.117141503,651,629.882858497,652.117141503,0.425012200921,-0.00539889587707,0.069851090297,0.999999957874,0.000150573720288,-0.00024627907889,3.04373906108e-05,1793247525122723840
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.458037321,633.541962679,878.541962679,785,810.458037321,651,630,652,0.424050964233,-0.00539927901989,0.0698220719746,0.999999944991,0.000154166095804,-0.000292303103179,2.84524534814e-05,1793247525139390208
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.032524844,745,715,681.967475156,659.967475156,633,878.032524844,784.967475156,810.967475156,651,629.967475156,652,0.42308262089,-0.00540082538101,0.0697851175527,0.999999926152,0.00015725435586,-0.000349705994485,2.59402955782e-05,1793247525156056832
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.618652497,745,715,681.381347503,659.381347503,633,878.618652497,784.381347503,810.381347503,651,629.381347503,652,0.422094928786,-0.00539754026082,0.0697118597488,0.999999871464,0.000159406292631,-0.000480706889457,2.41555748285e-05,1793247525172723456
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.796522482,745,715,681,659,633,878.593044964,784,810,651,629.203477518,652.203477518,0.421160757993,-0.00539539854251,0.0696756244399,0.999999840395,0.000159137594402,-0.000541638800485,2.26469990804e-05,1793247525189390080
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.21412316,745,715,681,659,633,877.42824632,784,810,651,629.78587684,652.78587684,0.420326255984,-0.00539538610016,0.0697083334946,0.999999876419,0.000154361122702,-0.000472086227218,2.16526689092e-05,1793247525206056960
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.364693299,745,715,681,659,633.364693299,877.729386597,784,810,651,629.635306701,652.635306701,0.419524795616,-0.00539429244407,0.0697711111198,0.999999919965,0.000156320019034,-0.00036747154177,2.44695007098e-05,1793247525222723840
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.941426574,745,715,681,659,633.941426574,878.882853148,784,810,651,629.058573426,652.058573426,0.418742546368,-0.0053925701487,0.0698513712112,0.999999957015,0.000162194991614,-0.000242471043337,2.95022180864e-05,1793247525239390208
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,634,878.48609146,784,810,651,629.51390854,652,0.417889878808,-0.00539369502856,0.0698596991461,0.999999956474,0.000168937190498,-0.000239760962881,3.20592274119e-05,1793247525256057600
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.911167745,659,634,878,784,810,651,630,652,0.417036463367,-0.00539555477172,0.0698553381193,0.999999952491,0.000173678406935,-0.00025244201143,3.35670495992e-05,1793247525272724992
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.319709095,659,634,878,784,810,651,630,652,0.416223856187,-0.00539975141707,0.069825189147,0.999999948124,0.00016654307785,-0.00027399091031,3.07218851992e-05,1793247525289391104
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.7339103,744.7339103,715,680.2660897,659.2660897,634,877.7339103,784,810,651,630,652.2660897,0.415395054478,-0.00540004509774,0.0697950591094,0.999999937109,0.000163717424267,-0.000313340813137,2.82090712698e-05,1793247525306057728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.15477028,744.15477028,715,680.84522972,659.84522972,634,877.15477028,784,810,651,630,652.84522972,0.41454720022,-0.00539574700191,0.0697649513504,0.999999916087,0.000165962035869,-0.000373633313264,2.60872625491e-05,1793247525322724352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.422285521,715,680.577714479,659.577714479,634,877.422285521,784,810,651.422285521,629.577714479,653,0.413752321057,-0.00538938201658,0.0697501085695,0.999999902238,0.000176151237682,-0.000404729465548,2.6234704259e-05,1793247525339391232
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.998581241,715,680.001418759,659.001418759,634,877.998581241,784,810,651.998581241,629.001418759,653,0.412976762178,-0.00538226322323,0.0697408330203,0.999999891336,0.000189237881993,-0.000425177530302,2.72097557782e-05,1793247525356058112
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.581639608,745.581639608,715,680,659,633.418360392,877.418360392,784,809.418360392,651.418360392,629.581639608,652.418360392,0.412351618434,-0.00537933883001,0.0697987001006,0.999999932141,0.000192202514284,-0.000313079205999,2.75186519465e-05,1793247525372725248
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745.836023908,715,680,659,633.163976092,877,784,809.163976092,651,629.836023908,652,0.41171634794,-0.00537658743721,0.0698479470555,0.999999955865,0.000195027054977,-0.000222322317273,2.83996293468e-05,1793247525389392128
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.255563211,715,680,659,633.744436789,877,784,809.744436789,651,629.255563211,652,0.411054413424,-0.00537424915752,0.0698748788029,0.999999962603,0.000197559229469,-0.000186601595615,3.07378183867e-05,1793247525406057984
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.324030241,715,680,659,634,877.324030241,784,810,651,629,652.324030241,0.410375623131,-0.00536834432241,0.0698653483735,0.999999956782,0.000204659402478,-0.00020892216623,3.00390303519e-05,1793247525422724352
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.902941485,715,680,659,634,877.902941485,784,810,651,629,652.902941485,0.409683574188,-0.00535963404797,0.0698271369275,0.999999938112,0.000215352745673,-0.00027689780682,2.6951367016e-05,1793247525439390720
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.519828539,745.519828539,715,680,658.519828539,634,878,784,809.519828539,651.480171461,629,652.519828539,0.409034148619,-0.0053545287139,0.0697907912638,0.999999917781,0.000220981427706,-0.000339112155457,2.46438403533e-05,1793247525456057600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.057842435,658.057842435,634,877.942157565,784,809,651.942157565,629,652,0.408403232989,-0.00535060052394,0.0697595633781,0.999999897833,0.000225124342406,-0.000391325895836,2.27284412339e-05,1793247525472724480
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.642615881,658.642615881,634,877.357384119,784,809,651.357384119,629,652,0.407862726361,-0.00535078092033,0.0697715336139,0.999999908531,0.000225025719543,-0.000363008190813,2.29537132282e-05,1793247525489390848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.774429499,658.774429499,633.774429499,877,784,808.774429499,651,629,652,0.407332635673,-0.00535226908497,0.0697853344083,0.999999917337,0.000223463231838,-0.00033889215126,2.32791170769e-05,1793247525506057472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.194333553,658.194333553,633.194333553,877,784,808.194333553,651,629,652,0.406818915597,-0.00535581264745,0.0698020122604,0.999999923963,0.000219600012039,-0.000321379803141,2.37618965105e-05,1793247525522724096
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.383413478,745,715,680,658.383413478,633.383413478,877,784,808.383413478,651.383413478,629,652,0.40632142035,-0.00537014158839,0.0698036129394,0.999999925422,0.000205162624723,-0.000326299345483,2.43383979187e-05,1793247525539390720
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.959977261,745,715,680,658.959977261,633.959977261,877,784,808.959977261,651.959977261,629,652,0.405832098559,-0.00538990382623,0.0697976182672,0.999999923842,0.000185398341083,-0.000342519288221,2.49621132136e-05,1793247525556057600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.465138945,745,715,680.534861055,658.465138945,634,878.604583165,784,809,652,629,652,0.405409044183,-0.00538984096379,0.0698004191804,0.999999927311,0.000178387779555,-0.000336146299994,2.37148813702e-05,1793247525572723968
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.887101056,658.112898944,633.887101056,879.548404223,784,809,652,629,652,0.405001679046,-0.00538726005097,0.0698065327842,0.999999932105,0.000176195333505,-0.00032283421328,2.28801234215e-05,1793247525589390592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.29514774,658.70485226,633.29514774,877.180590959,784,809,652,629,652,0.404639911727,-0.00538026951772,0.0698239188807,0.999999940324,0.000190410394018,-0.000287229120018,2.43877689506e-05,1793247525606056960
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.710075767,633.289924233,876,784,809,651.710075767,629,652,0.404289376941,-0.00537837103384,0.0698376962426,0.999999945627,0.000199058552876,-0.000261700322662,2.51933567176e-05,1793247525622723840
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.131846737,633.868153263,876,784,809,651.131846737,629,652,0.40395001197,-0.005381536157,0.0698478850262,0.999999948938,0.000202170904537,-0.000246191540273,2.53008081501e-05,1793247525639390720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.443498996,745,715,679.556501004,658,634,876.443498996,784.443498996,809,651.443498996,629,652,0.403624776952,-0.0053768439288,0.0698401508547,0.999999945305,0.000205100431963,-0.000258373404276,2.38004622118e-05,1793247525656057856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.981596232,745,715,679.018403768,658,634,877,784.981596232,809,652,629.018403768,652,0.403304952762,-0.00537010999311,0.0698273112884,0.999999939421,0.000207623103901,-0.00027852051226,2.18390629499e-05,1793247525672724736
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.393989659,745,715,679.606010341,658,634,877,784.393989659,809,652,629.606010341,652,0.40302339645,-0.00537200814084,0.0698203005252,0.999999937298,0.000199232461868,-0.000292059189922,2.03056361493e-05,1793247525689391360
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.190758197,745,715,680,658.190758197,634,877,784,809,652,629.809241803,652,0.402756342066,-0.00537233181896,0.069813505801,0.999999934451,0.000195247720299,-0.000304313925887,1.92391387679e-05,1793247525706057728
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.769688801,745,715,680,658.769688801,634,877,784,809,652,629.230311199,652,0.402518797578,-0.00536945162061,0.0698071506938,0.999999930487,0.000200228513195,-0.000313955977099,1.91227927078e-05,1793247525722724352
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.65107144,745,715,679.65107144,659,634,877,784.34892856,808.65107144,652,629,652,0.402303051011,-0.00536666421389,0.0698027673932,0.999999927543,0.00020356308203,-0.000321066297017,1.98020113016e-05,1793247525739390976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.071627384,745,715,679.071627384,659,634,877,784.928372616,808.071627384,652,629,652,0.402101704956,-0.00536393810857,0.0697996867426,0.999999925298,0.000205810093053,-0.000326504059786,2.10068101943e-05,1793247525756057344
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.502594534,658.497405466,634,877,784.497405466,808,652,629,652,0.401934010909,-0.00536422411955,0.0697992613314,0.999999925299,0.000203510552554,-0.000327860728961,2.2178970727e-05,1793247525772724480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.078414034,808.078414034,652,629,652,0.401775069947,-0.00536445620854,0.0697992494189,0.999999925536,0.000201533525459,-0.000328303053161,2.30196916671e-05,1793247525789391616
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.669494419,808.669494419,652,629,652,0.401642323043,-0.00536155806188,0.0697994923423,0.999999925264,0.000205857785022,-0.000326530924821,2.17235788185e-05,1793247525806058240
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.745013336,809,652,629,651.745013336,0.401522726708,-0.00536047729962,0.0697999598624,0.999999924729,0.000212445977298,-0.000324161249585,1.8092480689e-05,1793247525822724864
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.166608959,809,652,629,651.166608959,0.40141981018,-0.00536170165536,0.0698007122543,0.999999923782,0.000221905676082,-0.000321033663226,1.14997548229e-05,1793247525839391488
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.410249823,808.589750177,652,629,651.410249823,0.401330166766,-0.00536248066005,0.0697997076808,0.999999923547,0.00022125318819,-0.000322251382075,1.03413941521e-05,1793247525856057856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.986483258,808.013516742,652,629,651.986483258,0.401245893544,-0.00536307947942,0.0697979922539,0.999999923611,0.000216509394811,-0.000325227174765,1.13817318673e-05,1793247525872723968
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,808,652,629,652,0.401186671526,-0.00536220924288,0.0697989558852,0.999999923894,0.000218083310721,-0.000323263406114,1.23393715109e-05,1793247525889390848
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,808.13520929,651.86479071,629,652,0.40113266502,-0.00536181729699,0.0698006444002,0.999999924861,0.000218514963742,-0.000319925213637,1.32702750115e-05,1793247525906057472
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,808.727669668,651.272330332,629,652,0.401094261384,-0.00536316217099,0.0698045667016,0.999999928102,0.000214570505097,-0.000312340245432,1.41174797441e-05,1793247525922724608
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,808.111629724,651,629,652,0.401038776254,-0.00536012709324,0.0698129067695,0.999999932414,0.000215711097626,-0.000297385213857,1.42467156605e-05,1793247525956058624
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.535508252,877,784.535508252,808,651,629,652,0.40101693949,-0.00536071618046,0.0698138984943,0.999999932432,0.000215551897664,-0.000297401618769,1.49954579659e-05,1793247525972725248
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.958714545,658,633.041285455,877,784,808.041285455,651.041285455,629.041285455,652,0.400996681648,-0.00536193027812,0.0698142117063,0.999999932107,0.000215026117267,-0.000298826984932,1.58963513795e-05,1793247525989391616
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.371070748,658,633.628929252,877,784,808.628929252,651.628929252,629.628929252,652,0.400988665536,-0.00536201143476,0.0698158754495,0.999999932922,0.00021624534884,-0.000295197752255,1.5896094435e-05,1793247526006057728
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.21473806,658.21473806,634,877,784,808.78526194,651.78526194,629.78526194,652,0.400982584025,-0.00536170962515,0.0698178358752,0.999999933801,0.000217545086117,-0.000291246327668,1.57576844318e-05,1793247526022724096
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.797402809,658.797402809,634,877,784,808.202597191,651.202597191,629.202597191,652,0.400979817211,-0.005360751651,0.0698203046288,0.999999934794,0.000218982759731,-0.000286742867938,1.53825665188e-05,1793247526039390720
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.373920114,745,715,679.626079886,658.626079886,634,877.373920114,784.373920114,808.373920114,651.373920114,629,652,0.400977000846,-0.00536145679696,0.0698214220853,0.999999935657,0.000217834295709,-0.000284609042394,1.52585329656e-05,1793247526056057600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.947160471,745,715,679.052839529,658.052839529,634,877.947160471,784.947160471,808.947160471,651.947160471,629,652,0.400974158069,-0.00536304847859,0.069821819225,0.999999936451,0.00021530727627,-0.000283738363965,1.52683413698e-05,1793247526072724480
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.477016405,745,715,679.522983595,658,634,878,784.477016405,808.477016405,651.477016405,629,652,0.400974045972,-0.00536194554571,0.0698220840444,0.99999993659,0.00021553844104,-0.000283080070969,1.51221194189e-05,1793247526089391104
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.89832962,784,808,651,629,652,0.400974109707,-0.00536096242518,0.0698225240361,0.999999936699,0.000216056780056,-0.000282303936689,1.5025526947e-05,1793247526106057472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.307117226,784,808,651,629,652,0.400973685058,-0.00536187358689,0.0698238721717,0.999999936984,0.00021660939522,-0.000280856563436,1.52441826639e-05,1793247526122723840
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.721803116,658.278196884,634,877,784,808.278196884,651.278196884,629,652,0.400973694749,-0.00536229818684,0.0698251214753,0.999999937518,0.000216466842347,-0.000279061974141,1.51707930476e-05,1793247526139390464
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.142865192,658.857134808,634,877,784,808.857134808,651.857134808,629,652,0.400974173977,-0.0053621967958,0.0698262639381,0.99999993832,0.000215572787385,-0.000276892031384,1.4781691738e-05,1793247526156057088
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.566332371,634,877,784.433667629,809,651.566332371,629,652,0.400974840996,-0.00536271434196,0.0698271918011,0.999999939119,0.000213697782736,-0.000275454241826,1.48405170391e-05,1793247526172723712
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.009576824,658,634,877,785,808.990423176,651,629,652,0.400975527931,-0.00536342260053,0.069828013677,0.999999939882,0.000211575326167,-0.000274310167458,1.5038566468e-05,1793247526189390336
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.595375518,658,634,877,785,808.404624482,651,629,652,0.400973711474,-0.0053634050841,0.0698266887336,0.999999938814,0.000213900787792,-0.000276406080919,1.47838734195e-05,1793247526206057216
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.179014766,745,715,679.820985234,658.179014766,634,877.179014766,785,808.179014766,651.179014766,629,652,0.400972746737,-0.00536297951144,0.0698259898523,0.999999938229,0.000215387276336,-0.000277376727804,1.46056683615e-05,1793247526222723840
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.757831196,745,715,679.242168804,658.757831196,634,877.757831196,785,808.757831196,651.757831196,629,652,0.400973684186,-0.0053616426086,0.0698266891835,0.999999938739,0.000215000048737,-0.000275834266533,1.45982873603e-05,1793247526239390464
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.663996333,745,715,679,658.663996333,634,877.663996333,784.663996333,808.663996333,652,629,652,0.400972930181,-0.00536219053566,0.0698265757233,0.999999938878,0.000214153150536,-0.00027598219314,1.47150380898e-05,1793247526256057088
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.08628712,745,715,679,658.08628712,634,877.08628712,784.08628712,808.08628712,652,629,652,0.400970959422,-0.0053640943225,0.0698258775783,0.999999938749,0.000212975586513,-0.000277346106912,1.49210834632e-05,1793247526272723968
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784,808,651.509122271,629,652,0.400970468952,-0.00536358898682,0.0698262524806,0.999999938464,0.000214035957542,-0.000277558382195,1.48689234068e-05,1793247526289390336
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.069000587,658.069000587,634,877,784,808,651.069000587,629,651.930999413,0.40097043005,-0.00536281495121,0.0698268075753,0.999999938257,0.000215224900133,-0.00027738872589,1.47899660648e-05,1793247526306057216
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.655017633,658.655017633,634,877,784,808,651.655017633,629,651.344982367,0.400971827165,-0.00536319714713,0.0698273010765,0.999999938846,0.000214432863225,-0.000275872445476,1.48499285689e-05,1793247526322723840
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.239485036,745,715,679.760514964,658.760514964,633.760514964,877,784,808,651.760514964,629,651.239485036,0.400973583095,-0.00536310029576,0.0698282604358,0.999999939473,0.000214414073308,-0.000273604195407,1.48940739257e-05,1793247526339390208
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.821734591,745,715,679.178265409,658.178265409,633.178265409,877,784,808,651.178265409,629,651.821734591,0.400975852581,-0.00536231780486,0.0698298865578,0.999999940148,0.00021550199807,-0.000270259683645,1.49155808957e-05,1793247526356056832
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.600380623,745,715,679.399619377,658.399619377,633.399619377,877,784,808.399619377,651.399619377,629,652,0.400975182387,-0.00536323233455,0.0698295847289,0.999999940288,0.000214092287088,-0.000270862971914,1.49240735951e-05,1793247526372723712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.024421906,745,715,679.975578094,658.975578094,633.975578094,877,784,808.975578094,651.975578094,629,652,0.400973215006,-0.00536489570558,0.0698284321566,0.999999940184,0.000211580448698,-0.000273208299171,1.49268235091e-05,1793247526389390336
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.560941788,745,715,680,658.439058212,634,877,784.560941788,809,652,629,652.560941788,0.400973156765,-0.00536468199048,0.0698287610968,0.999999939846,0.000213165145989,-0.000273208109687,1.50201770538e-05,1793247526406057216
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1248d05ea55d07e4f07b65b71756bb90b5c8a47
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+1,0.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+2,0.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+3,0.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+4,0.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+5,0.083333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+6,0.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+7,0.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+8,0.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+9,0.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+10,0.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+11,0.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+12,0.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+13,0.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+14,0.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+15,0.250000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+16,0.266666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+17,0.283333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+18,0.300000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+19,0.316666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+21,0.350000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+24,0.400000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+27,0.450000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_03/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b28ceff21eec7c9e70c58c400a609bd3854aab94
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/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,766,745,715,680,659,634,877,784,808,652,629,652,0.400974514124,-0.00536372618614,0.0698301308372,0.999999940242,0.000215170490192,-0.0002701799577,1.48268044792e-05,1793247526533559552
+1,0.016666667,BASELINE,765.417727012,745,715,679.417727012,658.417727012,634,877.582272988,784,808,651.417727012,629,652,0.40097360169,-0.00536379552664,0.0698298379761,0.999999939947,0.000214898264258,-0.000271499438716,1.45660776465e-05,1793247526550226176
+2,0.033333333,BASELINE,765,745,715,679,658,634,877.83764081,784,808,651,629,652,0.40097360303,-0.00536415701493,0.0698298518317,0.999999940034,0.000214311728777,-0.000271650287711,1.44142438102e-05,1793247526566892800
+3,0.050000000,BASELINE,765,745,715,679,658,634,877.263106003,784,808,651,629,652,0.400975924137,-0.00536526016861,0.0698306443383,0.999999941089,0.000212927266548,-0.000268834371597,1.45388527735e-05,1793247526583558912
+4,0.066666667,BASELINE,765,745,715,679,658,634,877,784,808.310911853,651,629,652,0.400975311212,-0.00536545562212,0.0698300592717,0.999999941076,0.000211933459411,-0.000269671998809,1.44784191528e-05,1793247526600225024
+5,0.083333333,BASELINE,765,745,715,679,658,634,877,784,808.884492937,651,629,652,0.400972219511,-0.00536488421864,0.069828310383,0.999999940153,0.000211269691471,-0.000273596267646,1.42616550638e-05,1793247526616891648
+6,0.100000000,BASELINE,765,745,715,679,658,634,877,784,809,651.473624648,629,652,0.400974017011,-0.00536363489788,0.0698296779036,0.999999940397,0.000212582797066,-0.00027168707729,1.41614559623e-05,1793247526633558528
+7,0.116666667,BASELINE,765,745,715,679.064959544,658,634,877,784.064959544,809,652,629,652,0.400976534207,-0.00536235092167,0.0698315307261,0.99999994081,0.00021428398937,-0.000268816742228,1.41066063652e-05,1793247526650225152
+8,0.133333333,BASELINE,765,745,715,679.642731747,658,634,877,784.642731747,809,652,629,652,0.400975000384,-0.00536214284003,0.0698310110958,0.99999994032,0.000215113663217,-0.000269971013154,1.41777243757e-05,1793247526666892032
+9,0.150000000,BASELINE,765,744.780483482,714.780483482,679.780483482,658.219516518,634,877,784.780483482,808.780483482,651.780483482,629,652,0.400974339399,-0.0053624336199,0.0698308800103,0.999999940361,0.000214832215177,-0.000270036168348,1.43353426687e-05,1793247526683558912
+10,0.166666667,BASELINE,765,744.205298639,714.205298639,679.205298639,658.794701361,634,877,784.205298639,808.205298639,651.205298639,629,652,0.400975092616,-0.00536353267264,0.0698313784586,0.999999941259,0.000212750488601,-0.000268336700109,1.46331117313e-05,1793247526700225792
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+12,0.200000000,BASELINE,765,744.965846062,714.965846062,679.965846062,658.034153938,634,877,784.965846062,808,651.965846062,629,652,0.40097455093,-0.00536325713909,0.0698315075259,0.999999941052,0.000211985058952,-0.000269718223531,1.4510302274e-05,1793247526733559040
+13,0.216666667,BASELINE,765,745,715,679.4548017,658,634,877.5451983,784.4548017,808.5451983,652,629,652,0.400973402158,-0.00536381726678,0.0698304216764,0.999999940347,0.00021326899062,-0.000271321383518,1.43732002795e-05,1793247526750225408
+14,0.233333333,BASELINE,765,745,715,679,658,634,878,784.123720313,808.876279687,652,629,652,0.400972795972,-0.00536435030663,0.0698298026149,0.999999939908,0.000214252087897,-0.000272167931351,1.43030156601e-05,1793247526766892032
+15,0.250000000,BASELINE,765,745,715,679,658,634,878,784.701115507,808.298884493,652,629,652,0.400974327681,-0.00536456538054,0.0698311341298,0.999999940541,0.000213838536076,-0.00027015109515,1.44776867301e-05,1793247526783558656
+16,0.266666667,BASELINE,765,745,715,679,658,634,877.723420604,784.723420604,808.276579396,651.723420604,628.723420604,652,0.400974664893,-0.00536468247812,0.0698310116438,0.999999940716,0.000213572207241,-0.000269713256029,1.45035127774e-05,1793247526800225536
+17,0.283333333,BASELINE,765,745,715,679,658,634,877.150029334,784.150029334,808.849970666,651.150029334,628.150029334,652,0.400973720225,-0.00536469443213,0.0698293287931,0.999999940401,0.000213463871149,-0.000270969921717,1.43696054037e-05,1793247526816892672
+18,0.300000000,BASELINE,765.435154153,745,715,679,658,634,877,784.435154153,808.564845847,651.435154153,628.870308306,652,0.400974054841,-0.00536404599325,0.0698297387031,0.999999940809,0.000212624269434,-0.000270127537044,1.43062608059e-05,1793247526833559552
+19,0.316666667,BASELINE,766,745,715,679,658,634,877.024106184,785,808.024106184,652,629.975893816,652,0.400974840641,-0.00536317729798,0.0698308686611,0.99999994142,0.000211709150153,-0.000268580462855,1.42760221523e-05,1793247526850226432
+20,0.333333333,BASELINE,766,745,715,679,658,634,877.603604582,785,808.603604582,652,629.396395418,652,0.400975576596,-0.00536262587871,0.069831501515,0.999999940883,0.000215024652405,-0.000267935695986,1.44324069684e-05,1793247526866893056
+21,0.350000000,BASELINE,765.817769774,745,715,679,658,634,877.817769774,784.817769774,808.817769774,652,629,652,0.400975493001,-0.00536213604897,0.0698316067586,0.999999940338,0.000217442824109,-0.000268015242485,1.4533775699e-05,1793247526883559424
+22,0.366666667,BASELINE,765.24103361,745,715,679,658,634,877.24103361,784.24103361,808.24103361,652,629,652,0.400973635179,-0.00536177955299,0.0698305697912,0.999999939791,0.000217918385555,-0.000269662838071,1.45160413779e-05,1793247526900225792
+23,0.383333333,BASELINE,765,745,715,679,658.333189004,634,877,784.333189004,808,652,629,652,0.400972754867,-0.00536230952209,0.0698299313807,0.999999939764,0.00021629060663,-0.000271074704927,1.44637353559e-05,1793247526916892160
+24,0.400000000,BASELINE,765,745,715,679,658.905606954,634,877,784.905606954,808,652,629,652,0.400972576404,-0.00536347597106,0.0698295791331,0.999999940101,0.000213152634155,-0.000272317319258,1.43866069296e-05,1793247526933558528
+25,0.416666667,BASELINE,765,745,715,679.494130698,658.505869302,634,877,784.505869302,808.494130698,652,629,652.494130698,0.400973166206,-0.00536338232675,0.0698301870298,0.999999940089,0.000214581976273,-0.000271234959983,1.44011270191e-05,1793247526950225664
+26,0.433333333,BASELINE,765,745,715,680,658,634,877,784,809,652,629,652.915670724,0.400973723401,-0.00536310554211,0.0698308303981,0.999999940058,0.000216361095366,-0.000269931593702,1.44217257315e-05,1793247526966892544
+27,0.450000000,BASELINE,765,745,715,680,658,634,877,784,809,652,629,652.334344562,0.400973194342,-0.00536321586553,0.0698305654384,0.99999994035,0.000214886361032,-0.00027003143566,1.4371491779e-05,1793247526983559680
+28,0.466666667,BASELINE,765,745,715,680,658,634,877.243678043,784.243678043,809,651.756321957,629,652,0.400973799579,-0.0053637629059,0.0698310330944,0.99999994103,0.000213193592575,-0.000268847496668,1.44927100334e-05,1793247527000226304
+29,0.483333333,BASELINE,765,745,715,680,658,634,877.817228512,784.817228512,809,651.182771488,629,652,0.400975940337,-0.00536490113978,0.0698324925088,0.999999942228,0.000211205666531,-0.000265925674634,1.48460269849e-05,1793247527016892416
+30,0.500000000,BASELINE,765,745,715,680,658,634,877.600476112,784.600476112,809,651,629,652,0.400975355039,-0.00536481585597,0.0698318650929,0.999999941953,0.000210961835355,-0.000267151936476,1.4772427217e-05,1793247527033559040
+31,0.516666667,BASELINE,765,745,715,680,658,634,877.014090666,784.014090666,809,651,629,652,0.400973494737,-0.00536415831994,0.0698302616443,0.999999940986,0.000211533735896,-0.000270318301207,1.4499153963e-05,1793247527050225664
+32,0.533333333,BASELINE,765,745,715,679.431351182,658,634,877,784.568648818,808.431351182,651.568648818,629,652,0.400974544216,-0.00536361551548,0.0698309931736,0.999999940969,0.000213488408182,-0.000268839072481,1.45065802345e-05,1793247527066892032
+33,0.550000000,BASELINE,765,745,715,679.149495015,658,634,877,784.850504985,808.149495015,651.850504985,629,652,0.400974919656,-0.00536321973627,0.0698314624092,0.999999940837,0.000215215580663,-0.000267952919803,1.44823464848e-05,1793247527083558656
+34,0.566666667,BASELINE,765,745,715,679.725199291,658,634,877,784.274800709,808.725199291,651.274800709,629,652,0.400973169158,-0.00536323507149,0.0698310199428,0.999999940323,0.000216197088366,-0.000269083721881,1.43481464476e-05,1793247527100226048
+35,0.583333333,BASELINE,765,745,715,680,658.306079922,634,877,784,808.693920078,651,629,652,0.400972643064,-0.00536307754784,0.0698304608534,0.999999940204,0.000215794067229,-0.000269860674122,1.41774096013e-05,1793247527116892672
+36,0.600000000,BASELINE,765,745,715,680,658.891687935,634,877,784,808.108312065,651,629,652,0.400973235159,-0.0053627621605,0.0698297952577,0.999999940442,0.000214126622511,-0.000270314472433,1.39733054268e-05,1793247527133558784
+37,0.616666667,BASELINE,765.472306867,745,715,680,659,634,877,784.472306867,808.472306867,651.472306867,629,652,0.400974157024,-0.00536310281858,0.0698305784126,0.999999940696,0.000214092277017,-0.000269391309946,1.41609025976e-05,1793247527150225152
+38,0.633333333,BASELINE,765.948256439,745,715,680,658.948256439,634,877,785,809,652,629,652,0.400974958512,-0.00536345980415,0.0698315250754,0.999999940867,0.00021457531812,-0.000268357466104,1.44004788071e-05,1793247527166891264
+39,0.650000000,BASELINE,765.369329515,745,715,680,658.369329515,634,877,785,809,652,629,652,0.4009737711,-0.00536246634069,0.0698307880599,0.999999940168,0.000216553910581,-0.000269379539117,1.42640103457e-05,1793247527183557888
+40,0.666666667,BASELINE,765.207803309,745,715,680,658,634,877.207803309,785,809,652,629,652,0.400973110512,-0.00536193975142,0.0698304729335,0.999999939815,0.000217794756035,-0.000269690354459,1.42332535548e-05,1793247527200224768
+41,0.683333333,BASELINE,765.781774735,745,715,680,658,634,877.781774735,785,809,652,629,652,0.400973378236,-0.00536223583653,0.0698309012136,0.999999940079,0.00021773562481,-0.000268747869768,1.43887702407e-05,1793247527216891392
+42,0.700000000,BASELINE,765.635599306,745,715,680,658.364400694,634,877.635599306,785,809,652,629,652,0.400974617421,-0.0053625489523,0.0698315977162,0.999999940413,0.000217721330835,-0.000267507033052,1.4550627738e-05,1793247527233558016
+43,0.716666667,BASELINE,765.047664421,745,715,680,658.952335579,634,877.047664421,785,809,652,629,652,0.40097645253,-0.00536287251515,0.0698324587545,0.999999940787,0.000217734541363,-0.00026608317839,1.47163748713e-05,1793247527250224640
+44,0.733333333,BASELINE,765,745,715,680,659,634,877,785,809,651.468388199,629,652,0.400975436352,-0.00536217064292,0.0698318873366,0.999999940638,0.000217200419232,-0.000267091695805,1.45070042508e-05,1793247527266891520
+45,0.750000000,BASELINE,765,745,715,680,658.890244036,633.890244036,877,785,809,651,629,652,0.4009744247,-0.00536152573354,0.0698313442731,0.999999940466,0.00021681995438,-0.000268054846611,1.42469534074e-05,1793247527283558144
+46,0.766666667,BASELINE,765,745,715,680,658.313665932,633.313665932,877,785,809,651,629,652,0.400974502211,-0.00536150788487,0.0698314593202,0.999999940405,0.000217298415947,-0.000267912322886,1.3912104085e-05,1793247527300224768
+47,0.783333333,BASELINE,765,744.736993054,715,679.736993054,658,633.263006946,877.263006946,785,808.736993054,651.263006946,629,651.736993054,0.400974520523,-0.00536197773304,0.0698312305342,0.999999940511,0.000216846743799,-0.000267889248371,1.38279382032e-05,1793247527316891392
+48,0.800000000,BASELINE,765,744.160207032,715,679.160207032,658,633.839792968,877.839792968,785,808.160207032,651.839792968,629,651.160207032,0.40097446821,-0.0053630294254,0.0698305915401,0.999999940813,0.000215285380497,-0.0002680086821,1.40428488594e-05,1793247527333557760
+49,0.816666667,BASELINE,765,744.424611348,715,679.424611348,658,634,877.575388652,785,808,652,629,651.424611348,0.400973683296,-0.0053643524254,0.0698302311944,0.999999940573,0.000214140278832,-0.000269800164016,1.43332995506e-05,1793247527350224640
+50,0.833333333,BASELINE,765,745,715,679.987739326,658,634,877,784.987739326,808.012260674,652,629,652,0.400972670927,-0.00536569777698,0.0698300129135,0.999999940137,0.000213219943972,-0.000272118719756,1.46414976662e-05,1793247527366891008
+51,0.850000000,BASELINE,765,745,715,679.411952133,658,634,877,784.411952133,808.588047867,652,629,652,0.400974153694,-0.00536327482164,0.0698313988476,0.999999940515,0.000215272519734,-0.000269107570914,1.44301594927e-05,1793247527383557632
+52,0.866666667,BASELINE,765,745,715,679,658,634,877.165185886,784,808.834814114,652,629,652,0.400974742342,-0.00536197004914,0.06983225824,0.99999994078,0.000216334467894,-0.000267275409662,1.42613572258e-05,1793247527400224512
+53,0.883333333,BASELINE,765,745,715,679,658,634,877.745720427,784,808.254279573,652,629,652,0.400973082789,-0.00536347687137,0.0698317936792,0.999999940786,0.000214905550318,-0.000268407732576,1.41995086112e-05,1793247527416891392
+54,0.900000000,BASELINE,765.328615241,745,715,679,658.328615241,634,877.671384759,784.328615241,808,651.671384759,629,652,0.400972518647,-0.0053638136245,0.0698313333724,0.999999940672,0.000214370787611,-0.00026926069345,1.41623702131e-05,1793247527433558016
+55,0.916666667,BASELINE,765.913349597,745,715,679,658.913349597,634,877.086650403,784.913349597,808,651.086650403,629,652,0.400972808254,-0.00536323843854,0.0698308763813,0.999999940466,0.000214532919477,-0.00026989592256,1.414449069e-05,1793247527450224896
+56,0.933333333,BASELINE,765.503824556,745,715,679,659.496175444,634,877,785,808,651.496175444,629,652,0.400973910858,-0.00536287267412,0.0698313863911,0.999999940801,0.000214595747594,-0.000268609180283,1.39722887174e-05,1793247527466891264
+57,0.950000000,BASELINE,765,745,715,679.077816492,659.844367017,634,877,784.922183508,808.077816492,651.922183508,629,652,0.4009748341,-0.00536263133006,0.069831828965,0.999999941121,0.000214600850288,-0.000267422090306,1.37991785854e-05,1793247527483557888
+58,0.966666667,BASELINE,765,745,715,679.653995781,658.692008437,634,877,784.346004219,808.653995781,651.346004219,629,652,0.400973702855,-0.00536295348955,0.0698307622759,0.999999940748,0.000214346898922,-0.000269014563886,1.37921900876e-05,1793247527500224512
+59,0.983333333,BASELINE,765,745,715,679.769697416,658,634,877.230302584,784.230302584,809,651.230302584,629,652,0.400973257652,-0.00536354760239,0.0698305133607,0.999999940658,0.000214275641983,-0.000269403835246,1.38251179288e-05,1793247527516891392
+60,1.000000000,BASELINE,765,745,715,679.193198848,658,634,877.806801152,784.806801152,809,651.806801152,629,652,0.400973843724,-0.0053645505216,0.0698314937414,0.999999940995,0.000214479015347,-0.000267984426408,1.39180489007e-05,1793247527533558016
+61,1.016666667,BASELINE,765,745.388460192,715,679,658,633.611539808,877.611539808,784.611539808,808.611539808,651.611539808,629,652,0.400975099424,-0.00536435303563,0.0698320410789,0.999999941391,0.000213919411295,-0.000266946376555,1.39726944584e-05,1793247527550224640
+62,1.033333333,BASELINE,765,745.972720287,715,679,658,633.027279713,877.027279713,784.027279713,808.027279713,651.027279713,629,652,0.400976692646,-0.00536355049605,0.0698323701449,0.999999941818,0.000212975235255,-0.000266100547393,1.4008042588e-05,1793247527566891264
+63,1.050000000,BASELINE,765,745.444803867,715,679,658,633.555196133,877,784.555196133,808.555196133,651,629,652,0.400974577952,-0.00536391574246,0.0698311936109,0.999999941142,0.000213254134193,-0.000268389323894,1.43216465524e-05,1793247527583558144
+64,1.066666667,BASELINE,765,745,715,679,658,634,877,784.863973691,809,651,629,652,0.400972815046,-0.00536421963534,0.0698303055894,0.9999999406,0.000213617095668,-0.000270102312265,1.45488432658e-05,1793247527600224512
+65,1.083333333,BASELINE,765,745,715,679,658,634,877,784.28818138,809,651,629,652,0.400972776579,-0.00536414026482,0.0698305887148,0.999999940681,0.0002140581617,-0.000269457464773,1.44526299644e-05,1793247527616891136
+66,1.100000000,BASELINE,765,745,715,679,658,634,877,784,808.712693546,651.287306454,629,652,0.400972778534,-0.00536406094632,0.0698306067459,0.999999940517,0.000214964012739,-0.000269351304697,1.43801560682e-05,1793247527633558016
+67,1.116666667,BASELINE,765,745,715,679,658,634,877,784,808.137510828,651.862489172,629,652,0.400972820991,-0.00536398167997,0.0698303591568,0.999999940105,0.000216335570557,-0.000269784900446,1.43314686649e-05,1793247527650224640
+68,1.133333333,BASELINE,765,745,715,679.448783723,658.448783723,634,877.448783723,784.448783723,808.448783723,652,629,652,0.400974239389,-0.00536449979562,0.0698316590238,0.999999940963,0.000214821174847,-0.000267806583633,1.43249808945e-05,1793247527666891264
+69,1.150000000,BASELINE,765.037878081,745,715,679.962121919,658.962121919,634,877.962121919,785,808.962121919,651.962121919,629,652,0.400975860301,-0.00536507107344,0.0698332543632,0.999999942089,0.000212577405302,-0.000265381427006,1.43122399663e-05,1793247527683557888
+70,1.166666667,BASELINE,765.61709084,745,715,679.38290916,658.38290916,634,877.38290916,785,808.38290916,651.38290916,629,652,0.400974197163,-0.00536371975036,0.0698321240523,0.999999941494,0.000212868312316,-0.000267400242027,1.40206470357e-05,1793247527700224512
+71,1.183333333,BASELINE,765.805343689,745,715,679.194656311,658.194656311,634,877,784.805343689,808.194656311,651,629,652,0.400973224133,-0.00536324724736,0.0698314381827,0.999999941171,0.00021283235432,-0.000268641957534,1.38537661427e-05,1793247527716891136
+72,1.200000000,BASELINE,765.230991312,745,715,679.769008688,658.769008688,634,877,784.230991312,808.769008688,651,629,652,0.400973597229,-0.00536448896815,0.0698316192391,0.999999941387,0.000212158814381,-0.00026836786521,1.39301481578e-05,1793247527733557760
+73,1.216666667,BASELINE,765.344517075,745,715,680,658.655482925,634,877,784.344517075,808.655482925,651,629,652,0.400974034182,-0.00536384959708,0.0698318373672,0.999999941255,0.000213176722122,-0.000268045001387,1.40210935577e-05,1793247527750224384
+74,1.233333333,BASELINE,765.920803115,745,715,680,658.079196885,634,877,784.920803115,808.079196885,651,629,652,0.400974514092,-0.00536194474813,0.0698320804347,0.999999940887,0.000215332527291,-0.000267689327246,1.4121836263e-05,1793247527766891008
+75,1.250000000,BASELINE,765.49088527,745,715,679.49088527,658.50911473,634,877,784.49088527,808,651.50911473,629,652,0.400975075607,-0.00536233681851,0.0698326498473,0.999999940795,0.000216657964729,-0.000266967303487,1.40394367053e-05,1793247527783557632
+76,1.266666667,BASELINE,765,745,715,679,659,633.902638543,877,784,808,652,629,652,0.40097536762,-0.00536299769005,0.0698330504256,0.999999940723,0.000217525960941,-0.000266532748476,1.39996233851e-05,1793247527800224512
+77,1.283333333,BASELINE,765,745,715,679,659,633.324179743,877,784,808,652,629,652,0.400974263683,-0.00536317852391,0.0698323598146,0.999999940539,0.000216787296067,-0.000267807091478,1.43144247856e-05,1793247527816891136
+78,1.300000000,BASELINE,765.25231124,745,715,679.25231124,659,633.25231124,877,784,808,652,629,652,0.400974764306,-0.00536360986976,0.0698324088559,0.999999940882,0.0002160181992,-0.000267144171126,1.43700944896e-05,1793247527833557760
+79,1.316666667,BASELINE,765.826293413,745,715,679.826293413,659,633.826293413,877,784,808,652,629,652,0.400977310577,-0.00536436059265,0.0698334008779,0.999999941892,0.000215210304719,-0.000264011438732,1.40953978527e-05,1793247527850224640
+80,1.333333333,BASELINE,765.589505074,745,715,679.589505074,658.589505074,634,877,784,808,652,628.589505074,652,0.400977646885,-0.00536391317735,0.0698338063564,0.999999942096,0.000215084789235,-0.00026332804398,1.43135314111e-05,1793247527866891264
+81,1.350000000,BASELINE,765.000868651,745,715,679.000868651,658.000868651,634,877,784,808,652,628.000868651,652,0.400977024141,-0.00536294580898,0.0698339572941,0.999999941953,0.000215255404057,-0.000263707582136,1.47455372831e-05,1793247527883558144
+82,1.366666667,BASELINE,765,745,715,679,658,634,877,784,808,651.4197328,628.5802672,652,0.400976075605,-0.0053638973235,0.0698337357889,0.999999941942,0.000214622361576,-0.000264285090148,1.44004686424e-05,1793247527900224512
+83,1.383333333,BASELINE,765,745,715,679,658,634,877.159833483,784,808,651,629,652,0.400974708914,-0.00536499690857,0.0698330914245,0.999999941815,0.000213472527349,-0.000265704961252,1.41403348163e-05,1793247527916891136
+84,1.400000000,BASELINE,765,745,715,679,658,634,877.735346736,784,808,651,629,652,0.400972255975,-0.00536647420637,0.0698313487595,0.999999941379,0.00021098175888,-0.000269314809656,1.41040780401e-05,1793247527933558016
+85,1.416666667,BASELINE,765,745,715,679.317310833,658.317310833,634,877.365378333,784,808,651.317310833,629,652,0.400972272494,-0.00536556688478,0.0698313003949,0.999999941259,0.000211403929293,-0.000269434679301,1.40021491591e-05,1793247527950224640
+86,1.433333333,BASELINE,765,745,715,679.904766875,658.904766875,634,876.190466251,784,808,651.904766875,629,652,0.400974391406,-0.00536262939762,0.069832694487,0.999999941407,0.000214306054515,-0.000266583326389,1.38443097894e-05,1793247527966891264
+87,1.450000000,BASELINE,765,745,715,679.514508546,658.514508546,634,876.485491454,784,808,651.514508546,629,652,0.400975597142,-0.00536384478077,0.0698332028822,0.999999941977,0.000213666040925,-0.000264938065907,1.41798580208e-05,1793247527983557888
+88,1.466666667,BASELINE,765,745,715,679,658,634,877,784,808,651,628.935407747,652,0.400976305792,-0.00536551538508,0.0698333418514,0.999999942435,0.000212634752451,-0.000264017117598,1.45365493734e-05,1793247528000224768
+89,1.483333333,BASELINE,765,745,715,679,658,634,877,784,808,651,628.35885441,652,0.400974474855,-0.00536442568156,0.0698319109467,0.999999941373,0.000213934058375,-0.000266987561645,1.43042140153e-05,1793247528016891136
+90,1.500000000,BASELINE,765,745,715,679,658,634,877,784,808,651.217108929,628.217108929,652,0.400973058448,-0.00536414750966,0.0698309063411,0.999999940816,0.000213888503981,-0.000269109301493,1.411909984e-05,1793247528033557760
+91,1.516666667,BASELINE,765,745,715,679,658,634,877,784,808,651.792099662,628.792099662,652,0.400972325349,-0.0053652070645,0.0698306044462,0.999999941104,0.000211626085155,-0.000269832039221,1.40118249649e-05,1793247528050224384
+92,1.533333333,BASELINE,765,745,715,679.376373042,658,634,877,784.376373042,808,651.623626958,629,652,0.400972436536,-0.00536485585175,0.0698308538849,0.999999941061,0.000212493570771,-0.000269309521233,1.40545872034e-05,1793247528066891008
+93,1.550000000,BASELINE,765,745,715,679.965903671,658,634,877,784.965903671,808,651.034096329,629,652,0.400973025882,-0.00536370565569,0.0698314155697,0.999999940824,0.000215133666872,-0.000268081756989,1.41823224389e-05,1793247528083557888
+94,1.566666667,BASELINE,765,745,715,680,658.545367627,634,877,784.454632373,808,651.545367627,629,652,0.400974519269,-0.00536251898129,0.0698321378438,0.999999940763,0.000216422427679,-0.000267278517985,1.40287559988e-05,1793247528100224512
+95,1.583333333,BASELINE,765,745,715,679.876617632,659,634,877,784,808.123382368,651.876617632,629,652,0.400975461456,-0.00536159030633,0.0698326465903,0.999999940654,0.000217494060238,-0.000266824139631,1.3879797679e-05,1793247528116891392
+96,1.600000000,BASELINE,765,745,715,679.301645188,659,634,877,784,808.698354812,651.301645188,629,652,0.400974183084,-0.0053616141272,0.069832337726,0.999999940335,0.000218074604351,-0.000267551238309,1.38109085489e-05,1793247528133558016
+97,1.616666667,BASELINE,765.273223742,745,715,679.273223742,658.726776258,634,877,784,809,651,629,652,0.400973619745,-0.00536220899473,0.0698320694573,0.999999940365,0.000217471851184,-0.000267931415757,1.37374238839e-05,1793247528150224640
+98,1.633333333,BASELINE,765.847978399,745,715,679.847978399,658.152021601,634,877,784,809,651,629,652,0.400973845519,-0.00536343407186,0.0698318459899,0.99999994078,0.000215563205932,-0.000267928729372,1.36588675705e-05,1793247528166891264
+99,1.650000000,BASELINE,766,745,715,680,658,634,877,784,808.565228897,651.434771103,628.565228897,652,0.400973207209,-0.00536357974865,0.0698312358628,0.999999940733,0.000214895694935,-0.000268635531714,1.37470674121e-05,1793247528183558144
+100,1.666666667,BASELINE,765.974628971,745,715,679.974628971,658,634,877.025371029,784,808,652,628.025371029,652,0.400972307991,-0.00536336492294,0.0698305389294,0.999999940548,0.000214611201986,-0.000269542295487,1.38871237198e-05,1793247528200225024
+101,1.683333333,BASELINE,765.395420635,745,715,679.395420635,658,634,877.604579365,784,808,652,628.604579365,652,0.400972496543,-0.00536375405921,0.0698309824314,0.999999940985,0.000212944599753,-0.000269244460645,1.38501049977e-05,1793247528216891392
+102,1.700000000,BASELINE,765,745,715,679.182475808,658,634,877.817524192,784,808,651.817524192,629,651.817524192,0.400972750272,-0.00536399837735,0.0698312348263,0.999999941225,0.000212109715962,-0.000269012165574,1.38239392839e-05,1793247528233558016
+103,1.716666667,BASELINE,765,745,715,679.757549629,658,634,877.242450371,784,808,651.242450371,629,651.242450371,0.400973144229,-0.00536393111818,0.0698310760525,0.999999941047,0.000213064280598,-0.000268920879835,1.38211239007e-05,1793247528250224640
+104,1.733333333,BASELINE,765,745,715,680,658,634,877,784,808.339246951,651,629,651.339246951,0.400973583919,-0.00536415083601,0.0698311384096,0.999999941196,0.000212607293873,-0.000268726287631,1.38905483277e-05,1793247528266891008
+105,1.750000000,BASELINE,765,745,715,680,658,634,877,784,808.925772225,651,629,651.925772225,0.400974056944,-0.0053645797324,0.0698313619498,0.999999941581,0.000211121422379,-0.000268456394965,1.4012628612e-05,1793247528283557632
+106,1.766666667,BASELINE,765,745,715,679.494380549,658,634,877,784.505619451,808.494380549,651,629,652,0.4009753669,-0.00536463625371,0.0698322005824,0.999999942006,0.000211648379462,-0.000266453333509,1.40076102673e-05,1793247528300224512
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658,634,877,784,809,651,629,652,0.400974862592,-0.00536303348865,0.069831136323,0.999999941918,0.000211671814435,-0.000266795717002,1.3386719533e-05,1793247528343331840
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.575138436,715,679.575138436,658,634,877.575138436,784,808.424861564,651.575138436,629,652,0.400975330471,-0.00536418291253,0.0698323170519,0.999999942053,0.000212157608361,-0.000265870961679,1.40079638822e-05,1793247528359998976
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.846308639,658.153691361,634,877.846308639,784.153691361,808,651.846308639,629,652,0.4009755986,-0.00536502793472,0.0698330979893,0.999999942122,0.000212359589271,-0.000265428149843,1.44042282254e-05,1793247528376666112
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.258102162,658.741897838,634,877.258102162,784.741897838,808,651.258102162,629,652,0.400975301999,-0.00536501235487,0.0698327486399,0.999999942008,0.000211759176163,-0.000266347884969,1.41644308508e-05,1793247528393332736
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.326556723,679,658.673443277,634,876.673443277,784.673443277,808.326556723,651.326556723,629,652,0.400974538491,-0.00536510843024,0.069832409178,0.999999941775,0.00021158215861,-0.000267370661477,1.40177857253e-05,1793247528409999104
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.908441779,679,658.091558221,634,876.091558221,784.091558221,808.908441779,651.908441779,629,652,0.400973409916,-0.00536529180664,0.0698320774471,0.999999941448,0.000211736185821,-0.000268474003977,1.3943974541e-05,1793247528426665216
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.514783443,679,658.485216557,634,876.485216557,784.485216557,808.514783443,651.514783443,629,652,0.400972963077,-0.00536494525252,0.0698319786015,0.999999941272,0.000212288739308,-0.000268693438586,1.39316296177e-05,1793247528443332096
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.062189842,659,634,877,784.937810158,808,651.062189842,629,652,0.400973011603,-0.0053644693049,0.0698320911857,0.999999941167,0.00021301319208,-0.000268507663701,1.39495038971e-05,1793247528459998720
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.648885334,659,634,877,784.351114666,808,651.648885334,629,652,0.400976164374,-0.00536373662703,0.0698336201952,0.999999941425,0.000214559810086,-0.000266296407217,1.4125444387e-05,1793247528476665344
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.767758199,658.767758199,633.767758199,877,784,808,651.767758199,629,652,0.400979694579,-0.00536378033167,0.069835224104,0.999999941951,0.00021439932229,-0.000264443637692,1.41559440501e-05,1793247528493331968
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.189378336,658.189378336,633.189378336,877,784,808,651.189378336,629,652,0.40098378732,-0.00536498117321,0.069836939644,0.999999942878,0.000211694527988,-0.000263125164863,1.39696756321e-05,1793247528509998848
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.387843632,658,633.387843632,877,784,808,651,629,652,0.401007311053,-0.00536485837384,0.0698465050855,0.999999946754,0.00021302398596,-0.000246797154701,1.42874829309e-05,1793247528526665216
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.964501953,658,633.964501953,877,784,808,651,629,652,0.401040294413,-0.00536409118385,0.0698598921103,0.999999951592,0.00021631744666,-0.000223162021349,1.48506903915e-05,1793247528543332096
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.457851703,658,634,877,784,808,651.542148297,629,652,0.40109498821,-0.00536694186549,0.0698775053383,0.999999958257,0.000213111409231,-0.000194508537441,1.53751618549e-05,1793247528559998720
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784,808,651.878200142,628.878200142,651.878200142,0.401152936119,-0.00536945939461,0.0698934613678,0.999999963347,0.000210454973701,-0.000169612647447,1.57107374534e-05,1793247528576665088
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784,808,651.29113625,628.29113625,651.29113625,0.401217874431,-0.00536979777851,0.069902028095,0.999999964658,0.000211526552862,-0.000160327860441,1.5334454881e-05,1793247528593331968
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.293601089,745,715,679,658,634,877,784,808.293601089,651,628.293601089,651.293601089,0.401292198457,-0.00537040515319,0.0699067782482,0.999999965651,0.000211678965974,-0.000153917772151,1.41370564112e-05,1793247528609998592
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.876049508,745,715,679,658,634,877,784,808.876049508,651,628.876049508,651.876049508,0.401375756228,-0.00537127716331,0.0699077736217,0.999999966381,0.000210927095396,-0.000150335838283,1.21318369298e-05,1793247528626665216
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.547985789,745,715,679,658.452014211,634,877,784,808.547985789,651,629,652,0.401468422305,-0.00537354457186,0.0699046566611,0.99999996591,0.000208610106733,-0.000156724521323,9.93721305164e-06,1793247528643332096
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.973845241,633.973845241,877,784,808,651.026154759,629,652,0.401565170223,-0.00537616790125,0.0699007135114,0.999999965138,0.000205817826596,-0.000165238127273,7.65918704526e-06,1793247528659998976
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.401195247,633.401195247,877,784,808,651.598804753,629,652,0.401695757062,-0.00537834593098,0.0699027366444,0.999999966505,0.000201935326609,-0.000161830545616,4.70838366351e-06,1793247528676666112
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.17699457,877,784,808.17699457,652,629,652,0.401835911766,-0.00538086117541,0.0699056324733,0.999999967852,0.000198868258799,-0.000157300265706,1.80389051146e-06,1793247528693333248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.7681472,877,784,808.7681472,652,629,652,0.401998454756,-0.00538416548434,0.0699105703647,0.999999969184,0.000197709260299,-0.000150142930935,-9.92238704455e-07,1793247528709999872
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.351629855,658,634,877.351629855,784,809,651.648370145,629,651.648370145,0.402186576619,-0.00538732211363,0.0699157641494,0.999999971762,0.000191359950971,-0.000140832289162,-4.96030913843e-06,1793247528726666752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.930163204,658,634,877.930163204,784,809,651.069836796,629,651.069836796,0.402391204307,-0.00539038344694,0.0699211230602,0.999999974985,0.000181661381914,-0.000130132137562,-9.68462267928e-06,1793247528743333632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.49322444,658.50677556,634,877.49322444,784,808.49322444,651.50677556,629,651.50677556,0.402616557891,-0.00539487832272,0.06992180979,0.99999997677,0.000173645544454,-0.000126814067077,-1.50420676821e-05,1793247528760000000
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.082243857,745,715,679,658.917756143,634,877,784,808,651.917756143,629,652,0.402850301356,-0.00539917638404,0.0699224141775,0.999999978268,0.00016654836383,-0.000123728191255,-2.04024235348e-05,1793247528776666624
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.652488859,745,715,679,658.347511141,634,877,784,808,651.347511141,629,652,0.403116943751,-0.00540113887185,0.0699263359251,0.999999979581,0.000163531362628,-0.000116006639793,-2.52643063668e-05,1793247528793332992
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.767273925,745,715,679.232726075,658.232726075,634,877,784,808,651.232726075,629,652,0.403403320353,-0.00540480871698,0.0699329902056,0.99999998159,0.000158531373562,-0.000103787635701,-3.02544653332e-05,1793247528809999616
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.171446815,745,715,679.828553185,658.828553185,634,877,784,808,651.828553185,629,652,0.403720486405,-0.00541114239421,0.0699439078049,0.999999984482,0.000150437511522,-8.45516713992e-05,-3.54447614263e-05,1793247528826665984
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.410996688,745,715,679.589003312,658.589003312,634,877,784,808.410996688,652,629,652,0.404066372884,-0.00541740327216,0.0699499100461,0.999999990789,0.000104530585501,-7.63664502285e-05,-4.07885059532e-05,1793247528843332864
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.988033288,745,715,679.011966712,658.011966712,634,877,784,808.988033288,652,629,652,0.404423862217,-0.00542363473952,0.0699539265151,0.999999995355,4.33474344456e-05,-7.2645655589e-05,-4.61942423675e-05,1793247528859999744
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.436191664,745,715,679,658.563808336,633.436191664,877,784,809,651.436191664,629,652,0.404813688751,-0.0054265223496,0.0699579363083,0.999999994693,7.39390602112e-05,-6.4126707384e-05,-3.21766914945e-05,1793247528876666624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.142703106,658.857296894,633.142703106,877.142703106,784,809,651.142703106,629,652,0.405210217867,-0.005429144163,0.0699612223166,0.999999993256,9.81924271889e-05,-5.75047212995e-05,-2.32241283009e-05,1793247528893333248
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.73143212,658.26856788,633.73143212,877.73143212,784,809,651.73143212,629,652,0.405625555741,-0.00543115654809,0.0699622465392,0.999999993214,9.65605643303e-05,-5.71293847579e-05,-3.1388095775e-05,1793247528909999872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.685059593,658.314940407,634,877.685059593,784,808.685059593,651.685059593,629,652,0.40606412962,-0.0054389897692,0.0699579356222,0.999999993349,8.78184084159e-05,-6.55961501139e-05,-3.58828863696e-05,1793247528926666240
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.10593066,658.89406934,634,877.10593066,784,808.10593066,651.10593066,629,652,0.406522195125,-0.00545170581295,0.0699491493105,0.999999993312,7.31117656986e-05,-8.14801340546e-05,-3.72997799187e-05,1793247528943332352
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.470148686,659,634,877,784,808.470148686,651.470148686,629,652.470148686,0.407023031006,-0.00545541091152,0.0699335083075,0.999999992298,5.50550628893e-05,-0.000103707014704,-4.02340327796e-05,1793247528959998976
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.045578819,634,877,784,809,652,629,652.954421181,0.407539459467,-0.00545768821784,0.0699186420393,0.999999990749,3.76394792345e-05,-0.000123316400993,-4.33465570016e-05,1793247528976665600
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.621398756,634,877,784,809,652,629,652.378601244,0.40812589822,-0.0054668223952,0.069930640219,0.99999999374,3.64068588057e-05,-9.59564653115e-05,-4.45813643185e-05,1793247528993332736
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.201956439,745,715,679.798043561,659.798043561,634,877,784,809,651.798043561,629,652,0.408719987978,-0.00547841437028,0.0699426935524,0.999999996295,2.65930203241e-05,-6.86731749418e-05,-4.45731604906e-05,1793247529009999872
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.791609152,745,715,679.208390848,659.208390848,634,877,784,809,651.208390848,629,652,0.409328765357,-0.00549472458513,0.069954852764,0.999999998248,3.05796549034e-07,-4.15370224439e-05,-4.21787450505e-05,1793247529026667008
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.624971133,744.624971133,715,679.375028867,659.375028867,634,877,784,809,651,629,652,0.409945032002,-0.00552015310471,0.0699507368959,0.999999997662,-3.04899060866e-05,-4.59130293361e-05,-4.04695480259e-05,1793247529043333888
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.04495828,744.04495828,715,679.95504172,659.95504172,634,877,784,809,651,629,652,0.410565392124,-0.00555056552394,0.0699377253637,0.999999994923,-6.37498607049e-05,-6.75130125744e-05,-3.91348790226e-05,1793247529060000000
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.528497907,715,679.471502093,659.471502093,634,877,784.528497907,809,651.528497907,629,652,0.411250419579,-0.00555138441638,0.0699380383976,0.999999994552,-6.50519696912e-05,-7.12899345479e-05,-3.9770648342e-05,1793247529076666368
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.104158012,745,715,679.104158012,659,634,877.104158012,784.895841988,809,652,629,652.104158012,0.411951032581,-0.00554769847064,0.0699452675364,0.999999995333,-6.13731343224e-05,-6.28709652145e-05,-4.01903675987e-05,1793247529093332992
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.692627356,745,715,679.692627356,659,634,877.692627356,784.307372644,809,652,629,652.692627356,0.41269884913,-0.00553462823585,0.0699794490981,0.999999998129,-4.70199626763e-05,-4.70731580637e-06,-3.88356518098e-05,1793247529109999360
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.721614487,715,680,659.278385513,634,878,784,809,652,629,652.721614487,0.413459937357,-0.00551707714419,0.0700064419453,0.999999998236,-2.43777188575e-05,3.81167607848e-05,-3.84917246099e-05,1793247529126665984
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.138820876,715,680,659.861179124,634,878,784,809,652,629,652.138820876,0.41423553795,-0.00549462633791,0.0700255741044,0.999999997144,7.3284347308e-06,6.41673777623e-05,-3.92530711725e-05,1793247529143332608
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.437378281,715,680,659.562621719,634,878,784,809.437378281,652,629.437378281,652,0.414964476909,-0.00549885437243,0.069991904855,0.999999999135,-4.06581656243e-07,3.76928442154e-06,-4.14289253448e-05,1793247529159999488
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.98846959,745,715,680,659.01153041,633.98846959,877.98846959,784,810,652,629.98846959,652,0.415681101862,-0.00551134496048,0.06994223986,0.999999995405,-2.0479526515e-05,-8.26279474212e-05,-4.40736535764e-05,1793247529176666368
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.413586908,745,715,680,659.586413092,633.413586908,877.413586908,784,810,652,629.413586908,652,0.416508934573,-0.00551995845222,0.0699176944032,0.999999990978,-4.08217169759e-05,-0.000118626348966,-4.80174127569e-05,1793247529193332992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.166227535,877.33245507,784,810,651.833772465,629,652.166227535,0.4173461897,-0.00552625981522,0.069909447292,0.99999998883,-5.39458347813e-05,-0.000130075892585,-5.00939224274e-05,1793247529209999872
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.75868773,878.51737546,784,810,651.24131227,629,652.75868773,0.41820760528,-0.00552663252824,0.0699429916168,0.999999994611,-4.85617162957e-05,-7.85784321311e-05,-4.73825204699e-05,1793247529226666240
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.658422323,784,810,651,629,652.658422323,0.419085637073,-0.0055228571756,0.0699724604895,0.999999997435,-4.28067047426e-05,-3.3916659674e-05,-4.63435997236e-05,1793247529243332352
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.082109166,784,810,651,629,652.082109166,0.419975087651,-0.00551623123215,0.0699991286706,0.999999998226,-3.67968121177e-05,6.04755981328e-06,-4.6454024332e-05,1793247529259998720
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.493908766,745,715,680,660,634,878.493908766,784,810.493908766,651,629,652,0.420890051189,-0.00551746318116,0.0700196817515,0.9999999976,-3.86252700467e-05,3.44224165926e-05,-4.60833372267e-05,1793247529276665600
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,784,810.928960591,651,629.071039409,652,0.42180191624,-0.00551984226013,0.0700328366686,0.999999996731,-4.26421767318e-05,5.09758068676e-05,-4.6062192109e-05,1793247529293332224
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,784,810.343416151,651,629.656583849,652,0.422660640074,-0.00552107402026,0.069999768486,0.999999997375,-5.3077061459e-05,-4.14260147763e-06,-4.91515395844e-05,1793247529309998848
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.759211374,715.240788626,680,660,634,878.759211374,784,810,651,630,652,0.42350756546,-0.00552207798253,0.0699435928958,0.999999992536,-5.99149598045e-05,-9.1893098437e-05,-5.3792527398e-05,1793247529326665984
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.176906589,715.823093411,680,660,634,878.176906589,784,810,651,630,652,0.424337756954,-0.00552275885392,0.0698546435224,0.99999997074,-6.1651168887e-05,-0.000225926460008,-6.06342430893e-05,1793247529343333120
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.599113163,744.400886837,715.599113163,680,660,633.599113163,878,784,810.400886837,651,629.599113163,652.400886837,0.425265263505,-0.00552274824484,0.0698526937019,0.999999972056,-6.2082417625e-05,-0.000219586440767,-6.17760667272e-05,1793247529359999744
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.023288426,744.976711574,715.023288426,680,660,633.023288426,878,784,810.976711574,651,629.023288426,652.976711574,0.426235236085,-0.00552243588935,0.0698887085134,0.999999984705,-6.19442113171e-05,-0.000151990662622,-6.04305867576e-05,1793247529376666112
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878.551265809,784,811,651,629.551265809,652.448734191,0.427216464408,-0.00552012878238,0.0699485946693,0.999999993893,-5.57551263183e-05,-7.7024376787e-05,-5.63297596893e-05,1793247529393332736
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.129432099,660,633,878.870567901,784.129432099,811,651,630,652,0.428201443898,-0.00551981520833,0.0700038849827,0.999999997117,-5.41831057976e-05,-4.33282068435e-06,-5.30262411382e-05,1793247529409999104
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.720677218,660,633,878.279322782,784.720677218,811,651,630,652,0.429198114789,-0.00552691452894,0.0700391874682,0.999999994398,-6.9994706407e-05,5.91340959555e-05,-5.29818779528e-05,1793247529426665728
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.304716467,633,878.304716467,784.695283533,811,651.304716467,630,652.304716467,0.430142265219,-0.00553121449217,0.0700399615103,0.99999999374,-7.54838117737e-05,6.27642491993e-05,-5.3689684137e-05,1793247529443332608
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.882302913,633,878.882302913,784.117697087,811,651.882302913,630,652.882302913,0.431039384146,-0.0055330076637,0.0700098157394,0.999999995829,-7.17292443715e-05,1.28112876336e-05,-5.50710491143e-05,1793247529459999744
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.458207473,745,715,680.541792527,660.541792527,633,879,784,811,651.541792527,630,653,0.431862107092,-0.00552855425612,0.0699364587904,0.999999989672,-6.85597362777e-05,-0.000111894426834,-5.8607414065e-05,1793247529476666112
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680.034424399,660,633,878.965575601,784,811.034424399,651.034424399,630,653,0.432677045588,-0.00552321575782,0.0698596802933,0.999999966629,-6.59916818486e-05,-0.000241861771927,-6.23646276696e-05,1793247529493332224
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.622589132,660,633,878.377410868,784,811.622589132,651.622589132,630,653,0.433673032832,-0.0055293554341,0.0699057525782,0.999999984593,-7.06899197207e-05,-0.000148729221552,-6.08028083012e-05,1793247529509998848
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.792400847,745,715,681,660,633,878.207599153,784,812,651.792400847,630,653,0.434651551755,-0.0055342238194,0.0699534820797,0.999999993597,-7.50970192451e-05,-6.07060473982e-05,-5.89967183335e-05,1793247529526665216
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.21304008,745,715,681,660,633,878.78695992,784,812,651.21304008,630,653,0.43559878916,-0.00553681562042,0.0700041792768,0.999999995105,-7.8982759344e-05,1.81674409942e-05,-5.67531970145e-05,1793247529543331840
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879.364281534,784,812,651,630,652.635718466,0.436518395906,-0.0055418902157,0.0700271658751,0.999999993284,-8.34988894475e-05,5.77014991493e-05,-5.5952832695e-05,1793247529559998464
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879.94041721,784,812,651,630,652.05958279,0.437421933513,-0.00554840872219,0.0700340368989,0.999999991762,-8.83816335605e-05,7.43570357747e-05,-5.59917612127e-05,1793247529576665344
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.515371045,745.515371045,715,681,660,633.515371045,879.484628955,784,812,651,630.515371045,652.515371045,0.43824273018,-0.00554792284813,0.0699960174978,0.99999999371,-9.07896934361e-05,2.97916745873e-05,-5.87422688387e-05,1793247529593331712
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.90738216,745.90738216,715,681,660,633.90738216,879,784.09261784,812,651,631,653,0.43904221504,-0.00554601437516,0.0699483883942,0.999999993343,-9.14803281176e-05,-3.38247050764e-05,-6.16499108526e-05,1793247529609998592
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.317081615,745.317081615,715,681,660,633.317081615,879,784.682918385,812,651,631,653,0.439778465016,-0.00554080299429,0.0698769453568,0.999999981301,-8.44762179725e-05,-0.000161866089963,-6.37212312323e-05,1793247529626665216
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.267918573,633,878.732081427,784.732081427,812,651,630.732081427,653,0.440566966603,-0.00553986049758,0.069849935309,0.999999972975,-8.27717619044e-05,-0.000207444978989,-6.45368081115e-05,1793247529643331840
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,878.423399768,784,812,651,630,653,0.442269684369,-0.00554909360752,0.069939966938,0.999999992459,-8.9899712185e-05,-5.70102242675e-05,-6.12380392275e-05,1793247529676665088
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681.327741771,660.672258229,633.327741771,879,784,813,651.327741771,631,652.672258229,0.445937466231,-0.00555732562395,0.0699653573388,0.999999993749,-8.7077499938e-05,-3.90534972858e-05,-5.82622154388e-05,1793247529759998464
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681.906605946,660.093394054,633.906605946,879,784,813,651.906605946,631,652.093394054,0.44657758805,-0.00555564075376,0.0699399079034,0.99999999131,-9.54855472204e-05,-6.89762290833e-05,-5.92022410759e-05,1793247529776665344
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+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,633,879.192188414,784,813,651.192188414,630.192188414,653,0.449438447577,-0.00557737678354,0.0699122293423,0.999999983216,-0.000115984733019,-0.000129737546116,-5.73107835644e-05,1793247529859998464
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.386178557,715,682.386178557,660,633,879.386178557,783.613821443,813,651.386178557,630,653,0.449965222005,-0.00558093320151,0.069924545161,0.999999985184,-0.000117868684578,-0.000111753951648,-5.70141296455e-05,1793247529876665344
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,683,659,631,879,782.242184194,813.757815806,651.757815806,630,653,0.455495844151,-0.00558377988835,0.0697299765926,0.999999901542,-0.00012294760567,-0.000423196472125,-5.20088996139e-05,1793247530576665344
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.336716959,715,683,658.663283041,631,879,782,813.663283041,652,630,653,0.455496993408,-0.00558361869928,0.0697302949049,0.999999901501,-0.000125271194348,-0.000422604438275,-5.20645820922e-05,1793247530593331968
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.915506287,715,683,658.084493713,631,879,782,813.084493713,652,630,653,0.455497699503,-0.00558287473444,0.0697298318526,0.999999901145,-0.000126423779526,-0.000423119224856,-5.19376638365e-05,1793247530609998848
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.508896435,715,683,658.491103565,631,879,782,813.491103565,652,629.508896435,653,0.455496901519,-0.00558356513114,0.0697289255203,0.999999901028,-0.00012478836923,-0.000423946913636,-5.13810430055e-05,1793247530626665472
+245,4.083333333,HOLD_POSE2,766,745,715,682,658,630,879,783,814,651,630,653,0.455498308737,-0.00558146134061,0.0697288473995,0.999999901803,-0.000121296900621,-0.000423233527579,-5.05498023633e-05,1793247530669796352
+246,4.100000000,HOLD_POSE2,766,745,715,682.580046301,658,630.580046301,879.580046301,782.419953699,813.419953699,651.580046301,630,653,0.45549822488,-0.00558288582244,0.0697294144073,0.999999901746,-0.000122216594501,-0.000423090422243,-5.06497224914e-05,1793247530686463232
+247,4.116666667,HOLD_POSE2,766,745.158893286,715,682.841106714,658.158893286,631,879.841106714,782,813,651.841106714,630.158893286,653,0.455497883333,-0.00558354212225,0.0697293980246,0.999999901562,-0.000122391185395,-0.000423471759206,-5.06782485515e-05,1793247530703129856
+248,4.133333333,HOLD_POSE2,766,745.73459436,715,682.26540564,658.73459436,631,879.26540564,782,813,651.26540564,630.73459436,653,0.455496865811,-0.00558218333246,0.0697278512961,0.999999901041,-0.000120611227401,-0.000425228809609,-5.05194941987e-05,1793247530719796480
+249,4.150000000,HOLD_POSE2,766,746,715,682.309756633,658.690243367,631,879,782,813.309756633,651.309756633,630.690243367,653,0.455497115321,-0.00558133745673,0.0697280597454,0.99999990101,-0.000120753937418,-0.000425259569747,-5.05154087395e-05,1793247530736463104
+250,4.166666667,HOLD_POSE2,766,746,715,682.884458018,658.115541982,631,879,782,813.884458018,651.884458018,630.115541982,653,0.455498448563,-0.00558093029287,0.0697297694542,0.9999999014,-0.000122541166953,-0.00042381377853,-5.06436165393e-05,1793247530753130496
+251,4.183333333,HOLD_POSE2,766,746,715,683.473237706,658,631,879.473237706,782.473237706,813.526762294,651.526762294,630,653,0.455498722155,-0.00558124238637,0.0697294723732,0.999999901443,-0.000122695220079,-0.000423661956966,-5.07085545661e-05,1793247530769797376
+252,4.200000000,HOLD_POSE2,766,746,715,683.936017818,658,631,880,782.936017818,813.063982182,651.063982182,630,653,0.455498660436,-0.00558149784742,0.0697286968372,0.999999901393,-0.000122004042795,-0.000423970654179,-5.07696009077e-05,1793247530786464000
+253,4.216666667,HOLD_POSE2,766,746,715,683.357951014,658,631,880,782.357951014,813.642048986,651.642048986,630,653,0.455498047027,-0.00557984403711,0.0697281344615,0.999999901295,-0.000117823660757,-0.000425363301462,-5.09273011691e-05,1793247530803130880
+254,4.233333333,HOLD_POSE2,766,745.781607134,715,683,658,631,879.781607134,782.218392866,813.781607134,651.781607134,630,653,0.455497258878,-0.00557931581089,0.0697273254134,0.999999900751,-0.000116846231491,-0.000426904892425,-5.09644747582e-05,1793247530819797504
+255,4.250000000,HOLD_POSE2,766,745.208065118,715,683,658,631,879.208065118,782.791934882,813.208065118,651.208065118,630,653,0.455496186567,-0.00558061800285,0.0697261152283,0.999999899493,-0.000121077424961,-0.000428688694561,-5.08056485908e-05,1793247530836464128
+256,4.266666667,HOLD_POSE2,766,745,715,683,658,631,879,782.646600058,813,651,630,653,0.455497238804,-0.00558064850434,0.0697269348407,0.999999900019,-0.000121380532562,-0.000427357252305,-5.0936833858e-05,1793247530853130240
+257,4.283333333,HOLD_POSE2,766,745,715,683,658,631,879,782.092010328,813,651,630,653,0.45549950054,-0.00557995503543,0.0697289100121,0.999999901559,-0.000119447390159,-0.000424252308625,-5.12331219641e-05,1793247530869796352
+258,4.300000000,HOLD_POSE2,766,745,715,682.484435738,658,631,879,782,813,651,630,653,0.455499612129,-0.00557897392773,0.0697291341067,0.999999901944,-0.000116439988597,-0.000424195508382,-5.1097912897e-05,1793247530886463232
+259,4.316666667,HOLD_POSE2,766,745,715,682,658.124686145,631,879.124686145,782.124686145,813,651.124686145,630,653,0.455499391294,-0.00557830076331,0.0697289040291,0.999999901989,-0.00011421220068,-0.000424722815398,-5.08706592465e-05,1793247530903129600
+260,4.333333333,HOLD_POSE2,766,745,715,682,658.701222883,631,879.701222883,782.701222883,813,651.701222883,630,653,0.455499515658,-0.00557895089128,0.0697282902866,0.999999901654,-0.000115584004414,-0.000425169707747,-5.06208766974e-05,1793247530919796736
+261,4.350000000,HOLD_POSE2,766,745,715,682.27508232,658.72491768,631,879.72491768,782.72491768,813.27508232,651.72491768,630,653,0.455499690122,-0.00557879333492,0.069728158354,0.999999901709,-0.000114942513895,-0.000425265317492,-5.02001295927e-05,1793247530936463872
+262,4.366666667,HOLD_POSE2,766,745,715,682.846061838,658.153938162,631,879.153938162,782.153938162,813.846061838,651.153938162,630,653,0.455499918477,-0.0055777669785,0.0697285446887,0.999999902178,-0.000112135387477,-0.000424983063821,-4.95954814338e-05,1793247530953130752
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,879,782,814,651,630,653,0.455497128717,-0.00558114219627,0.069726292543,0.999999900091,-0.000118837309031,-0.000427945548799,-5.05829436797e-05,1793247530985707264
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.579141389,715,682.579141389,658,630.420858611,879,782,813.420858611,651.579141389,630,653,0.455498942976,-0.00557985557398,0.0697279221958,0.999999900886,-0.00011825999186,-0.000426210401198,-5.08724401592e-05,1793247531002373632
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.842680197,745.842680197,715,682.842680197,658,630.157319803,879,782.157319803,813.157319803,652,630,653,0.455499805575,-0.00557910549376,0.0697285877753,0.999999901218,-0.000117905729443,-0.000425519985995,-5.09496258238e-05,1793247531019040000
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.267062114,745.267062114,715,682.267062114,658,630.732937886,879,782.732937886,813.732937886,652,630,653,0.455498137802,-0.00557978202722,0.0697266899763,0.999999900324,-0.000118144548109,-0.000427607413724,-5.04622974446e-05,1793247531035706112
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.314062831,745,715,682.314062831,658,631,879,782.685937169,813.685937169,651.685937169,630,653,0.455497971198,-0.00557992325393,0.0697261344927,0.9999999002,-0.00011775190932,-0.000428037344358,-5.01821400635e-05,1793247531052372736
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.899954054,745,715,682.899954054,658,631,879,782.100045946,813.100045946,651.100045946,630,653,0.45549910389,-0.00557960116066,0.0697267408131,0.999999900745,-0.000116812729993,-0.000427032674125,-5.00812938361e-05,1793247531069039360
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,631,879.479933614,782,813,651,630,653,0.455498875584,-0.00558011589325,0.0697271052453,0.999999900706,-0.000117741070783,-0.000426892473826,-4.98824479951e-05,1793247531085706496
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,630.941269721,879.941269721,782.058730279,813,651,630,653,0.455498221676,-0.00558060244529,0.0697272827811,0.999999900497,-0.000118896883789,-0.000427076274353,-4.97506179781e-05,1793247531102374144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,630.362167848,879.362167848,782.637832152,813,651,630,653,0.455496279959,-0.00557931248641,0.0697262456809,0.999999899861,-0.000118660820982,-0.000428553581178,-5.03913765463e-05,1793247531119040512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,630.215874542,879,782.784125458,813,651.215874542,630,653,0.455489964835,-0.00557871818957,0.0697232453259,0.999999898074,-0.000118534008943,-0.000432701886705,-5.07048356292e-05,1793247531135707136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,630.792148084,879,782.207851916,813,651.792148084,630,653,0.455476348381,-0.0055792852892,0.0697169673493,0.999999894318,-0.000118589589287,-0.000441309380479,-5.04718735356e-05,1793247531152373504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,631,879,782,813.37445496,651.62554504,630,653,0.455445662992,-0.00557875945378,0.0697044096593,0.999999885271,-0.000117392400047,-0.000461634511252,-5.06970150734e-05,1793247531169039872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,631,879,782,813.960165707,651.039834293,630,653,0.455405347842,-0.00557761701859,0.0696883091506,0.999999872671,-0.000115488437292,-0.000488570367246,-5.11806043159e-05,1793247531185706240
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.460490264,745,715,683,658,630.460490264,879.539509736,782,813.460490264,651.539509736,630,653,0.455344281967,-0.00557549395842,0.0696698090537,0.999999862177,-0.000115106689237,-0.000509606301707,-5.19356533264e-05,1793247531202373120
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.117987442,745,714.882012558,682.882012558,658,630.117987442,880,782,813,651.882012558,630,652.882012558,0.455279214658,-0.00557313016056,0.0696529381036,0.999999852004,-0.000114325036351,-0.000529312272049,-5.24442863906e-05,1793247531219040256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.694902759,745,714.305097241,682.305097241,658,630.694902759,880,782,813,651.305097241,630,652.305097241,0.455204473072,-0.00557010831997,0.0696430850273,0.999999843634,-0.00011155583716,-0.000545519801616,-5.19174013319e-05,1793247531235707136
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.271991463,682,658.271991463,631,879.728008537,782.271991463,813,651,630,652.271991463,0.455124174549,-0.00556805621229,0.0696377394129,0.999999839653,-0.000109880798673,-0.000553179531776,-5.11038213416e-05,1793247531252373760
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.849274746,682,658.849274746,631,879.150725254,782.849274746,813,651,630,652.849274746,0.455037638748,-0.00556709256367,0.0696374531168,0.999999840828,-0.000109433880956,-0.000551244940717,-4.9968445937e-05,1793247531269040384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.563832765,745.436167235,715,682.436167235,658.563832765,631,879,782.563832765,813,651,630,653.436167235,0.454937337944,-0.00556546859338,0.06963911915,0.999999843213,-0.000107499604537,-0.000547473169989,-4.78713044235e-05,1793247531285706752
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.025936365,745.974063635,715,682.974063635,658,631,879,782.025936365,813,651,630.025936365,653.974063635,0.454830800582,-0.00556345462377,0.0696415370374,0.999999846012,-0.000104913281818,-0.000543049623456,-4.54562117417e-05,1793247531302373376
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.899851143,745,715,682,658.100148857,631,879,782,813,651.100148857,630,653,0.454021916005,-0.00554585900826,0.0696660880502,0.999999867502,-8.47813116202e-05,-0.000506844661348,-3.02836003268e-05,1793247531385706752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.508127156,745,715,682,658,631,879.491872844,782.491872844,812.508127156,651,630,653,0.45379918243,-0.00554005976014,0.0696707413254,0.999999871052,-7.61549387384e-05,-0.000501401146459,-2.6328529852e-05,1793247531402373376
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.236443522,715,683,659,631,879,782.236443522,812,651.763556478,630,653,0.45297416166,-0.00551929937904,0.0696618424635,0.999999867865,-4.4941939498e-05,-0.00051191250831,-1.39922352013e-05,1793247531452373248
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.046420853,745,715,682,660,632,879,783.953579147,812,651.953579147,630.953579147,652.953579147,0.44883947711,-0.00546753562379,0.0697623923986,0.999999930472,1.81024351705e-05,-0.000372432611768,4.74749373824e-06,1793247531619040512
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.62525557,745,715,682,660,632,879,783.37474443,812,651.37474443,630.37474443,652.37474443,0.448276937389,-0.00547735388956,0.0697794654564,0.999999938759,2.33127701541e-05,-0.000348918257956,1.39230504474e-05,1793247531635706880
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,714.221451679,682,659.221451679,632.778548321,879,783.778548321,811.221451679,651,630,652.778548321,0.447027411364,-0.00549437106503,0.0697642008168,0.999999928787,6.2165440221e-05,-0.000371226771535,2.74134253703e-05,1793247531669040896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.639296225,745,714.360703775,682,659.360703775,633,879,784,811.360703775,651,630,653,0.446378386702,-0.00549119558955,0.0697471442196,0.999999919832,6.38671884314e-05,-0.000394384331295,2.67969009865e-05,1793247531685707776
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.053040931,745,714.946959069,682,659.946959069,633,879,784,811.946959069,651,630,653,0.445732814594,-0.00548110594711,0.0697315889091,0.999999912514,5.02307004475e-05,-0.00041467127464,2.23044428248e-05,1793247531702374144
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.527029958,744.472970042,715,682,660,633,879,784,811.472970042,651,630.527029958,653,0.445073497586,-0.00547288622936,0.0697478348468,0.999999925278,5.28025109088e-05,-0.000382228274951,2.35923713655e-05,1793247531719040256
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,744.106262637,715,682.106262637,660,633,878.893737363,784,811.106262637,651,630.893737363,653,0.444401423865,-0.00546537742294,0.069768634663,0.999999938804,6.10121454417e-05,-0.000343541549812,2.54834694082e-05,1793247531735706880
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.008258613,633,879,784,811,651,630.991741387,652.008258613,0.440609712482,-0.00540865999329,0.0698309536325,0.999999957649,0.00015708533377,-0.000244009807878,2.20440167497e-05,1793247531819040256
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.58706957,633,879,784,811,651,630.41293043,652.58706957,0.439764053219,-0.00540869551754,0.0698194347772,0.999999955003,0.000138973079937,-0.000265011602171,2.11797716502e-05,1793247531835706624
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.25868179,660,633,879,784,811,651,630.74131821,652.25868179,0.437973199524,-0.00540359414031,0.0697293650862,0.999999908285,0.000136850028872,-0.000405514891962,1.61331722915e-05,1793247531869039872
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.51794772,745,715,682,660,633.48205228,879,784,811,651,630.51794772,652.48205228,0.435352970084,-0.00541304128745,0.0697632977411,0.999999928489,0.000126367491435,-0.000355870208232,2.0233673282e-05,1793247531919039488
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.926923268,879,784,810.926923268,651,630,653,0.434514800425,-0.00541300257553,0.069818309586,0.999999952236,0.00012811014198,-0.000280321565114,2.31394716616e-05,1793247531935706368
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,878.774957859,784,810.225042141,651,630,652.774957859,0.432738057118,-0.00540500928571,0.0698493503474,0.999999960064,0.000144601030772,-0.000241225409896,2.7812873549e-05,1793247531969039616
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744.131212758,715,681.868787242,659,633.131212758,878.131212758,783.131212758,810,651,630,652,0.427960138469,-0.0054052240471,0.0697392689367,0.999999910069,0.000139617465839,-0.00039985530266,2.20179566609e-05,1793247532052372736
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.707267428,715,681.292732572,659,633.707267428,878.707267428,783.707267428,810,651,630,652,0.427103852466,-0.00540373524738,0.0698114972377,0.99999994749,0.000143495935597,-0.000289391292818,2.60999176018e-05,1793247532069039360
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.034173662,681.965826338,659.034173662,633.034173662,878.965826338,784,810,651,630,652,0.423398596424,-0.00540241476725,0.0698055790733,0.999999941039,0.000146161689206,-0.000309551710754,2.71260161923e-05,1793247532135706880
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.234045732,745,714.234045732,680.234045732,659.234045732,633.234045732,878,784,810,651,630,652,0.420553319284,-0.00539746772361,0.0696988928504,0.999999866996,0.000159154403439,-0.000490008111339,2.38886289547e-05,1793247532185706752
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,633,877,784,810,651,630,652,0.416449264371,-0.00540089336634,0.0698342319802,0.99999995018,0.000168644760099,-0.000264953663002,3.16074447803e-05,1793247532269040128
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.752517746,745,715,680.752517746,659,633,877.494964508,784,810,651,630,652,0.415604416552,-0.00540211895878,0.069798100395,0.999999937327,0.000162039905752,-0.000313493562259,2.8477064661e-05,1793247532285707264
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.177250553,745,715,680.177250553,659,633,878.645498894,784,810,651,630,652,0.414769208668,-0.00540191431316,0.0697707499404,0.999999921454,0.000158384351028,-0.000362339846583,2.67676904635e-05,1793247532302373888
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.539251463,658,633.460748537,877,784,808.460748537,651.460748537,629,652.460748537,0.405521287552,-0.00539092637055,0.0698002882947,0.999999927534,0.000177287308318,-0.000336032675866,2.41424293739e-05,1793247532552373760
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.120035343,745,715,680,658.120035343,633,877,784,808.120035343,651,629,652,0.405091576021,-0.00539516552106,0.0698019908982,0.999999931325,0.000166769893739,-0.0003301579849,2.31062297647e-05,1793247532569040640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.694093295,745,715,680,658.694093295,633,877,784,808.694093295,651,629,652,0.404734115944,-0.00538401825905,0.0698207896463,0.999999939745,0.000183460190556,-0.000293707187706,2.42772742818e-05,1793247532585707520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.731228505,745,715,679.731228505,658.731228505,633.268771495,877,784,809,651,629,652,0.404383972358,-0.00538059973063,0.0698364886305,0.999999945643,0.000193660334964,-0.000265651526484,2.52792523792e-05,1793247532602373888
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.155842763,745,715,679.155842763,658.155842763,633.844157237,877,784,809,651,629,652,0.404042175437,-0.00538599813429,0.069848651406,0.999999949815,0.000196456519305,-0.000247173030377,2.60883596343e-05,1793247532619040256
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.431078081,658,634,877,784,809,651.431078081,629,652,0.403717514902,-0.00538061487193,0.0698444118308,0.99999994766,0.000200156491383,-0.000253025247039,2.43989422792e-05,1793247532635706368
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.978198848,745,714.978198848,679.978198848,658.021801152,634,877,784,808.978198848,651.978198848,629,651.978198848,0.40340017844,-0.00537160533847,0.0698341794394,0.999999943096,0.000203861249767,-0.000267902123247,2.18368085276e-05,1793247532652372736
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.399796238,745,714.399796238,679.399796238,658.600203762,634,877,784,808.399796238,651.399796238,629,651.399796238,0.403107316172,-0.00537226354047,0.0698264994772,0.999999940075,0.000199117011373,-0.000282442306731,2.06886103411e-05,1793247532669039616
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.355273082,745,714.177636541,679.177636541,658.822363459,634,877,784,808,651,629,651.355273082,0.402828158215,-0.00537202653912,0.0698181312412,0.999999936135,0.000196879855463,-0.000297609729419,1.99398698227e-05,1793247532685706496
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.505796706,745,714.752898353,679.752898353,658.247101647,634,877,784,808,651,629,652.505796706,0.402579676306,-0.00536978569617,0.0698082223602,0.999999930392,0.000200254605011,-0.000314181175304,2.00852836881e-05,1793247532702373120
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,877.334873312,784,808,651.334873312,629,652.665126688,0.402358023551,-0.00536591682458,0.0698011622568,0.999999925705,0.000205418133657,-0.000325517125132,2.07726877828e-05,1793247532719040256
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658,634,877.921903273,784,808,651.921903273,629,652.078096727,0.402156572885,-0.00536082206158,0.0697962472567,0.999999921889,0.000211928597546,-0.000332910794414,2.18682057529e-05,1793247532735707392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.497811878,745,715,679.497811878,658,634,877.497811878,784.502188122,808,651.497811878,629,652,0.401984633752,-0.00536211490878,0.0697984531236,0.999999923265,0.000210163735764,-0.000329754406782,2.37294162202e-05,1793247532752373760
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877.081272268,784.918727732,808,651,629,652,0.401821179275,-0.00536382134316,0.0698014179473,0.999999925109,0.000207995885915,-0.000325372986669,2.55498643226e-05,1793247532769040128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877.659344058,784.340655942,808,651,629,652,0.40168190724,-0.00536206425766,0.0698023426137,0.999999925071,0.000211127055263,-0.00032339934514,2.64029091359e-05,1793247532785706240
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.764025145,877.764025145,784,808.235974855,651,629,652,0.401556978995,-0.00536089776457,0.0698032020082,0.999999923677,0.000222931225019,-0.000319959240596,2.393390669e-05,1793247532802372608
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.18946199,877.18946199,784,808.81053801,651,629,652,0.401452631929,-0.00536057868254,0.0698039677473,0.999999919883,0.00024717984098,-0.00031441498294,1.66982677902e-05,1793247532819039488
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.394344654,658,633.394344654,877,784.394344654,808.605655346,651,629,652,0.40135992818,-0.00536260700797,0.0698017836469,0.99999992065,0.000240624399887,-0.000317258905453,1.21386762271e-05,1793247532835706112
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.982698891,658,633.982698891,877,784.982698891,808.017301109,651,629,652,0.401272952711,-0.00536579021033,0.0697981482853,0.999999923436,0.000218913985933,-0.000324229642783,8.89564595766e-06,1793247532852372992
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.436412988,877.563587012,785,808.563587012,651.563587012,629,652,0.401208804107,-0.00536261116532,0.0697991004203,0.999999923119,0.000222937753131,-0.000322416686548,1.03802483425e-05,1793247532869039872
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.856981702,658,633.143018298,878,784.856981702,808.856981702,651.856981702,629,651.856981702,0.401149930687,-0.00536063643945,0.0698004596157,0.999999923471,0.000225063608386,-0.000319788886322,1.18078428654e-05,1793247532885706752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.281273707,658,633.718726293,878,784.281273707,808.281273707,651.281273707,629,651.281273707,0.401104924575,-0.00536288844632,0.0698026298453,0.99999992615,0.000219088682852,-0.000315500963336,1.26296273199e-05,1793247532902373376
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.293979035,658,634,877.706020965,784.293979035,808,651,629,651,0.40106960461,-0.00536357689935,0.0698055869879,0.999999928516,0.000216141738661,-0.000309961370159,1.32206595545e-05,1793247532919040000
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.868796942,658,634,877.131203058,784.868796942,808,651,629,651,0.40104353784,-0.00536277168596,0.0698092958707,0.999999930588,0.00021608743154,-0.000303226052973,1.35912537415e-05,1793247532935706880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.457460647,745,715,680,658,634,877,784.542539353,808.457460647,651.457460647,629,651.457460647,0.401020514213,-0.00536194676696,0.0698105655912,0.999999930644,0.000217378501412,-0.000302094766593,1.40289038451e-05,1793247532952373248
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.951217661,658.048782339,634,877,784,808.951217661,652,628.951217661,652,0.400999616377,-0.00536131423135,0.0698113591502,0.999999930367,0.000218703196862,-0.000302037098958,1.4437649034e-05,1793247532969039616
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.375420382,658.624579618,634,877,784,808.375420382,652,628.375420382,652,0.40099196084,-0.00536282305239,0.0698148021599,0.999999932838,0.000216092413935,-0.000295672155292,1.43198661618e-05,1793247532985706496
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.800127526,745,715,679,658.800127526,634,877.199872474,784,808,652,628.199872474,652,0.400985496614,-0.00536307068783,0.0698173415777,0.999999934483,0.000215165656633,-0.000290751496916,1.41713909284e-05,1793247533002373120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.225779774,745,715,679,658.225779774,634,877.774220226,784,808,652,628.774220226,652,0.400981264398,-0.00536095540235,0.0698181880514,0.999999934646,0.000217394041127,-0.000288536810018,1.39654113842e-05,1793247533019040256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.358767859,658.358767859,634,877.641232141,784.358767859,808,651.641232141,629,652,0.400977475453,-0.00536120443635,0.0698187459212,0.999999934927,0.000217518926779,-0.000287450559159,1.42499665464e-05,1793247533035706880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.949922292,658.949922292,634,877.050077708,784.949922292,808,651.050077708,629,652,0.400973973631,-0.0053629849234,0.0698191168521,0.999999935289,0.00021628130208,-0.000287095236141,1.48522583182e-05,1793247533052373248
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.470571611,658.470571611,634,877,784.470571611,808,651.529428389,629,652,0.400971402519,-0.00536193360464,0.0698190827334,0.999999934924,0.000217506902449,-0.000287451716765,1.46590157696e-05,1793247533069039616
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.1075506,745,715,679,658.2151012,634,877,784,808,651.8924494,629,652,0.400969473886,-0.00536105984539,0.0698192157037,0.999999934646,0.000218697199555,-0.000287526942739,1.44424541963e-05,1793247533085705984
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.684338418,745,715,679,659.368676837,634,877,784,808,651.315661582,629,652,0.400969972532,-0.00536210424901,0.0698202412328,0.999999935049,0.000218738822355,-0.00028608764481,1.44453890421e-05,1793247533102372608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.741016904,745,715,679.258983096,659.482033809,634,877,784,808,651,629,652,0.400971265895,-0.00536299703154,0.0698216963596,0.999999935762,0.000218285721203,-0.0002839317989,1.44875090426e-05,1793247533119039232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.16896288,745,715,679.83103712,658.33792576,634,877,784,808,651,629,652,0.400973519948,-0.00536370652753,0.0698236708045,0.999999936843,0.000217234574506,-0.000280909755948,1.45769978988e-05,1793247533135705856
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808.417627992,651,629,652,0.400974160127,-0.00536236882782,0.0698245277411,0.99999993717,0.000217972614735,-0.000279181757756,1.43251320658e-05,1793247533152373248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.010044804,745,715,679.989955196,658,634,877,784,808.989955196,651,629,651.989955196,0.400974103929,-0.00536024968985,0.069824913336,0.999999937186,0.000219393875255,-0.000278027262804,1.39448683393e-05,1793247533169040640
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.587360296,745,715,679.412639704,658,634,877,784,808.412639704,651,629,651.412639704,0.400972924439,-0.00536246100369,0.0698251341382,0.999999937525,0.000217045527705,-0.000278628043481,1.43940399968e-05,1793247533185706752
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.835519047,745,715,679,658,634,877,784,808.164480953,651,629,651.164480953,0.400972065148,-0.00536401314592,0.0698253203456,0.999999937756,0.000215433929335,-0.000279037219554,1.46767100907e-05,1793247533202373120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.258886638,745,715,679,658,634,877,784,808.741113362,651,629,651.741113362,0.400972008202,-0.00536391355553,0.069825419866,0.999999937727,0.000215668455186,-0.000278966278507,1.45421655156e-05,1793247533219039744
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.323600427,658,633.676399573,877,784,809,651,629,652,0.400972535605,-0.00536445557065,0.0698257262072,0.999999938131,0.00021514243838,-0.000277920425956,1.45879761329e-05,1793247533235706368
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.910857604,658,633.089142396,877,784,809,651,629,652,0.400973539111,-0.00536552034041,0.0698262010579,0.999999938883,0.000213996761669,-0.000276080254312,1.47807329906e-05,1793247533252372992
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.490510369,633.490510369,877,784,808.509489631,651,629,652,0.400972791628,-0.00536484909228,0.0698261775706,0.999999938319,0.000215569546698,-0.000276907388751,1.46341316543e-05,1793247533269039616
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.06866029,745,715,680,659,634,877,784,807.93133971,651,628.93133971,652,0.400971869309,-0.00536403379659,0.0698261012244,0.999999937633,0.000217330881029,-0.000278016613896,1.44376556836e-05,1793247533285706240
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.64575867,745,715,680,659,634,877,784,807.35424133,651,628.35424133,652,0.400971972753,-0.00536445241326,0.0698262938577,0.999999937825,0.00021688589122,-0.000277679993573,1.43215754549e-05,1793247533302373376
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.777399922,745,715,679.777399922,659,634,877,784.222600078,807.222600078,651.222600078,628.222600078,652,0.400972076206,-0.00536463609767,0.0698263716906,0.999999938039,0.000216527580247,-0.000277186187671,1.43686543455e-05,1793247533319040256
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.200966893,745,715,679.200966893,659,634,877,784.799033107,807.799033107,651.799033107,628.799033107,652,0.400972179675,-0.0053644463466,0.0698262670432,0.999999938288,0.000216307049159,-0.000276442528089,1.46750820616e-05,1793247533335707136
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.616931395,634,877,784.616931395,808.383068605,651.616931395,629,652,0.400972117585,-0.0053634942671,0.0698264104243,0.999999938258,0.000217075057067,-0.000275953804746,1.45732272011e-05,1793247533352373760
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.028826739,634,877,784.028826739,808.971173261,651.028826739,629,652,0.400971966881,-0.00536213415414,0.0698266865618,0.999999938077,0.00021837217682,-0.000275601535124,1.42528405864e-05,1793247533369039616
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.55147013,658,634,877.55147013,784,809,651.55147013,629,652,0.400972572426,-0.00536208041899,0.0698271003046,0.999999938023,0.000219193731035,-0.000275134600636,1.44761897445e-05,1793247533385706240
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1822857659dca40c56d52e2d760d05270cdc02a7
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+1,0.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+2,0.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+3,0.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+4,0.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+5,0.083333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+6,0.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+7,0.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+8,0.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+9,0.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+10,0.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+11,0.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+12,0.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+13,0.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+14,0.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+361,6.016666667,pose2_to_pose3_retreat,0.585800193402,-7.22304657456e-05,1.06004225905,0.556371985613,0.00860223074471,1.05966565135
+362,6.033333333,pose2_to_pose3_retreat,0.585528721717,-7.21465422974e-05,1.06004233752,0.556100514099,0.00860231518164,1.05966572814
+363,6.050000000,pose2_to_pose3_retreat,0.585269209795,-7.20128537018e-05,1.06004243907,0.555841000312,0.00860244245791,1.05966582769
+364,6.066666667,pose2_to_pose3_retreat,0.585025424458,-7.2146808613e-05,1.06004239011,0.555597215572,0.00860231049217,1.0596657779
+365,6.083333333,pose2_to_pose3_retreat,0.584798958348,-7.22202321527e-05,1.0600425199,0.555370751206,0.00860224271697,1.05966590158
+366,6.100000000,pose2_to_pose3_retreat,0.584592011513,-7.2092086004e-05,1.06004263055,0.555163802701,0.00860236497199,1.05966600714
+367,6.116666667,pose2_to_pose3_retreat,0.584405100072,-7.2102233873e-05,1.06004238052,0.554976891117,0.00860235464585,1.05966576433
+368,6.133333333,pose2_to_pose3_retreat,0.584237846947,-7.20963922348e-05,1.06004248094,0.554809637681,0.00860235934616,1.0596658627
+369,6.150000000,pose2_to_pose3_retreat,0.584088782,-7.20979244089e-05,1.06004260407,0.554660573449,0.00860236009666,1.0596659826
+370,6.166666667,pose2_to_pose3_retreat,0.583955944105,-7.21325136426e-05,1.06004247103,0.554527734624,0.00860232247372,1.05966585234
+371,6.183333333,pose2_to_pose3_retreat,0.583839348614,-7.21771774449e-05,1.06004236118,0.554411139374,0.0086022788146,1.0596657468
+372,6.200000000,pose2_to_pose3_retreat,0.583736078612,-7.21860190589e-05,1.06004240705,0.554307870283,0.00860227305613,1.05966579265
+373,6.216666667,pose2_to_pose3_retreat,0.583645646768,-7.21668857016e-05,1.0600424185,0.554217438497,0.00860229237524,1.05966580417
+374,6.233333333,pose2_to_pose3_retreat,0.583567657622,-7.21754425946e-05,1.06004224158,0.554139449787,0.0086022856358,1.05966563504
+375,6.250000000,pose2_to_pose3_retreat,0.583500827688,-7.21231646426e-05,1.06004250437,0.55407262067,0.00860234019148,1.05966588633
+376,6.266666667,pose2_to_pose3_retreat,0.583444016607,-7.21000118253e-05,1.06004239632,0.554015807066,0.00860235472729,1.05966577692
+377,6.283333333,pose2_to_pose3_retreat,0.583396692098,-7.20839134799e-05,1.06004247497,0.553968482138,0.00860236946621,1.05966585703
+378,6.300000000,pose2_to_pose3_retreat,0.583359606241,-7.2090696781e-05,1.06004278634,0.553931395699,0.00860236023133,1.05966615737
+379,6.316666667,pose2_to_pose3_retreat,0.583329255299,-7.20217978556e-05,1.06004268978,0.553901044668,0.00860242909686,1.05966606698
+380,6.333333333,pose2_to_pose3_retreat,0.583305184078,-7.19082900589e-05,1.06004243402,0.553876972474,0.00860253970578,1.05966582062
+381,6.350000000,pose2_to_pose3_retreat,0.58328734963,-7.18680933404e-05,1.06004234526,0.553859136682,0.00860257534123,1.05966573175
+382,6.366666667,pose2_to_pose3_retreat,0.583274261075,-7.2018914044e-05,1.06004220689,0.553846050415,0.00860243270969,1.05966560328
+383,6.383333333,pose2_to_pose3_retreat,0.583264819606,-7.20005556939e-05,1.06004231319,0.553836609836,0.0086024538708,1.05966570458
+384,6.400000000,pose2_to_pose3_retreat,0.583258359271,-7.20385508198e-05,1.06004225323,0.55383014995,0.00860241732616,1.05966564302
+385,6.416666667,pose2_to_pose3_retreat,0.583254537519,-7.2096298709e-05,1.06004213073,0.553826328401,0.00860236029637,1.05966552118
+386,6.433333333,pose2_to_pose3_retreat,0.583251639414,-7.21173508123e-05,1.06004228024,0.553823431636,0.00860234382471,1.05966567146
+387,6.450000000,pose2_to_pose3_retreat,0.58324942029,-7.21277316537e-05,1.06004245591,0.553821213835,0.00860233796979,1.05966584778
+388,6.466666667,pose2_to_pose3_retreat,0.583248018327,-7.20850563519e-05,1.060042403,0.553819810503,0.00860237600919,1.05966579516
+389,6.483333333,pose2_to_pose3_retreat,0.583247257838,-7.20583562498e-05,1.06004236249,0.553819049113,0.00860239965396,1.05966575479
+390,6.500000000,pose2_to_pose3_retreat,0.583247202275,-7.20564054857e-05,1.06004235953,0.553818993485,0.0086024013815,1.05966575184
+391,6.516666667,pose2_to_pose3_retreat,0.583246867799,-7.20492398917e-05,1.06004234337,0.553818658711,0.00860240753669,1.05966573574
+392,6.533333333,pose2_to_pose3_retreat,0.583246346286,-7.20950537827e-05,1.06004233885,0.553818137955,0.00860236429774,1.05966573134
+393,6.550000000,pose2_to_pose3_retreat,0.583246013793,-7.21242626573e-05,1.06004233598,0.553817805944,0.00860233673053,1.05966572853
+394,6.566666667,pose2_to_pose3_retreat,0.583245923767,-7.21321711994e-05,1.0600423352,0.55381771605,0.00860232926648,1.05966572777
+395,6.583333333,pose2_to_pose3_retreat,0.583245757761,-7.21456497717e-05,1.06004233462,0.55381755021,0.00860231634733,1.05966572706
+396,6.600000000,pose2_to_pose3_retreat,0.583245622211,-7.21452911004e-05,1.06004234292,0.553817414028,0.00860231448588,1.05966573358
+397,6.616666667,pose2_to_pose3_retreat,0.583245575082,-7.21451663967e-05,1.06004234581,0.55381736668,0.00860231383869,1.05966573584
+398,6.633333333,pose2_to_pose3_retreat,0.583245564,-7.21451370739e-05,1.06004234649,0.553817355547,0.00860231368651,1.05966573638
+399,6.650000000,pose2_to_pose3_retreat,0.58324554766,-7.21450938355e-05,1.06004234749,0.55381733913,0.0086023134621,1.05966573716
+400,6.666666667,pose2_to_pose3_retreat,0.583245544702,-7.21450860088e-05,1.06004234767,0.553817336158,0.00860231342149,1.0596657373
+401,6.683333333,pose2_to_pose3_retreat,0.583245506369,-7.21449845801e-05,1.06004235002,0.553817297647,0.00860231289509,1.05966573915
+402,6.700000000,pose2_to_pose3_retreat,0.583245392938,-7.21446844361e-05,1.06004235696,0.553817183687,0.00860231133739,1.0596657446
+403,6.716666667,pose2_to_pose3_retreat,0.58324538645,-7.21190633541e-05,1.06004227654,0.553817176528,0.00860233470324,1.05966566473
+404,6.733333333,pose2_to_pose3_retreat,0.583245386603,-7.21147955004e-05,1.06004226306,0.553817176574,0.00860233861536,1.05966565136
+405,6.750000000,pose2_to_pose3_retreat,0.583245387542,-7.20885654689e-05,1.06004218019,0.55381717686,0.00860236265905,1.05966556916
+406,6.766666667,pose2_to_pose3_retreat,0.583245380044,-7.20803118939e-05,1.06004215611,0.553817169038,0.00860236977791,1.05966554429
+407,6.783333333,pose2_to_pose3_retreat,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360142,1.05966576712
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67bca0b94261334dc6c4aef61a752bf1b5f77563
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68be961767145826fe02cc5071ecb918314e676411920f578854095ce73e471d
+size 25915297
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39ad2ebcd60c16e47304aaa54054174219abb56e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+30,0.500000000,BASELINE,765,745,715,679.391888841,658,634,877,784.391888841,808.391888841,651,628.391888841,651.608111159,0.400973735829,-0.00536554349539,0.0698295367615,0.999999940687,0.000212232957674,-0.00027091353047,1.37301201034e-05,1793247534042016512
+31,0.516666667,BASELINE,765,745,715,679.968199905,658,634,877,784.968199905,808.968199905,651,628.968199905,651.031800095,0.400973238279,-0.00536313331749,0.0698293263856,0.999999939477,0.000216303409738,-0.000272161769953,1.37036840813e-05,1793247534058684160
+32,0.533333333,BASELINE,765.555561157,745,715,679.444438843,658,634,877,784.444438843,809,651,629,651.555561157,0.400972537758,-0.00536433752962,0.0698292538876,0.999999939549,0.000214808722158,-0.000273074218325,1.38052043624e-05,1793247534075350272
+33,0.550000000,BASELINE,765.858393123,745,715,679.141606877,658.141606877,634,877,784,808.858393123,651.141606877,629,652,0.400971925287,-0.00536528795032,0.0698290117888,0.999999939656,0.000213602160717,-0.000273621087941,1.38852345942e-05,1793247534092016640
+34,0.566666667,BASELINE,765.278417752,745,715,679.721582248,658.721582248,634,877,784,808.278417752,651.721582248,629,652,0.400971622084,-0.0053647992665,0.069828219734,0.999999939652,0.000214293670833,-0.000273096953334,1.38756053078e-05,1793247534108683520
+35,0.583333333,BASELINE,765,745,715,680,658.700635991,634,877,784,808.299364009,652,629,652,0.400972762944,-0.00536413576698,0.0698288503851,0.999999939984,0.00021479014096,-0.000271494376885,1.36950765076e-05,1793247534125349888
+36,0.600000000,BASELINE,765,745,715,680,658.12487945,634,877,784,808.87512055,652,629,652,0.40097523706,-0.00536331086606,0.0698307945718,0.999999940623,0.000215106537427,-0.000268896111973,1.33567620408e-05,1793247534142016256
+37,0.616666667,BASELINE,765,745,715,679.561938477,658.438061523,634,877,784,808.561938477,651.561938477,629,652,0.40097543081,-0.0053636282479,0.0698307934916,0.99999994039,0.000216318133453,-0.000268776990231,1.3604084935e-05,1793247534158683136
+38,0.633333333,BASELINE,765,745,715,679.002547066,658.997452934,634,877,784,808.002547066,651.002547066,629,652,0.400974992966,-0.0053642620078,0.0698302536307,0.999999939915,0.000217777672857,-0.000269344516857,1.40136118124e-05,1793247534175350016
+39,0.650000000,BASELINE,765.608361918,745,715,679,658.391638082,634,877,784,808,651,629,651.391638082,0.400974757401,-0.00536434827666,0.0698303064368,0.999999940646,0.000214342205386,-0.000269402942555,1.36594506571e-05,1793247534192016896
+40,0.666666667,BASELINE,766,745,715.206669568,679,658.206669568,634.206669568,877,784.206669568,808,651,629,651.206669568,0.400973976553,-0.00536458002286,0.0698300011919,0.999999940909,0.000212252286198,-0.000270088915178,1.3545095507e-05,1793247534208683776
+41,0.683333333,BASELINE,766,745,715.782073765,679,658.782073765,634.782073765,877,784.782073765,808,651,629,651.782073765,0.400972221171,-0.00536507579417,0.0698290522847,0.999999940339,0.000212603008706,-0.000271898695972,1.38648286665e-05,1793247534225350144
+42,0.700000000,BASELINE,766,745,715.642218932,679,658.642218932,634.642218932,877,784.642218932,808,651,629,652,0.400972654228,-0.00536592377354,0.0698299540666,0.99999994081,0.000212242650102,-0.00027043487172,1.41053554373e-05,1793247534242016768
+43,0.716666667,BASELINE,766,745,715.06632687,679,658.06632687,634.06632687,877,784.06632687,808,651,629,652,0.400974421405,-0.00536698646646,0.0698319840681,0.999999941905,0.000211448801223,-0.000266975387723,1.42975962871e-05,1793247534258683136
+44,0.733333333,BASELINE,765.477806691,745,715,679.522193309,658,634,877,784,808.522193309,651,629,651.477806691,0.400973859157,-0.00536578506632,0.0698306783467,0.999999941254,0.000212223629989,-0.000268804759944,1.40552297558e-05,1793247534275349760
+45,0.750000000,BASELINE,765.110210941,745,715.110210941,679.889789059,658.110210941,634,877,784,808.889789059,651,629,651.110210941,0.400972902104,-0.00536453726289,0.069829172647,0.99999994045,0.000213205550031,-0.000271021356801,1.38151945406e-05,1793247534292016384
+46,0.766666667,BASELINE,765.689101247,745,715.689101247,679.310898753,658.689101247,634,877,784,808.310898753,651,629,651.689101247,0.400971555514,-0.00536434536937,0.0698286629477,0.999999939983,0.000214199829681,-0.000271957112884,1.38256415513e-05,1793247534308683008
+47,0.783333333,BASELINE,766,745,715.733779988,679.266220012,658.733779988,634,877,784.266220012,808,651,629,652,0.400971725115,-0.00536537943489,0.0698288147148,0.999999940325,0.000212893297356,-0.00027172514922,1.3880126179e-05,1793247534325349888
+48,0.800000000,BASELINE,766,745,715.158716325,679.841283675,658.158716325,634,877,784.841283675,808,651,629,652,0.400973653656,-0.00536783574382,0.0698297338533,0.999999941592,0.000208917577517,-0.000270138506042,1.39856991476e-05,1793247534342016768
+49,0.816666667,BASELINE,765.584025116,745,715,679.584025116,658,634,877,784.584025116,808.415974884,651.415974884,629,652,0.400974515012,-0.00536697178756,0.069830579051,0.999999941437,0.000210849389893,-0.000269203865278,1.40938446956e-05,1793247534358683648
+50,0.833333333,BASELINE,765.009475925,745,715,679.009475925,658,634,877,784.009475925,808.990524075,651.990524075,629,652,0.400974969545,-0.00536484210868,0.0698313960617,0.999999940729,0.000215033220277,-0.000268517775265,1.42029709334e-05,1793247534375350528
+51,0.850000000,BASELINE,765.582258676,745,715,679.582258676,658,634,877,784.582258676,808.417741324,652,629,652,0.400974555291,-0.00536538039177,0.0698312538832,0.99999994097,0.000213686114571,-0.000268680534827,1.44260325852e-05,1793247534392016640
+52,0.866666667,BASELINE,765.829585942,745,715,680,658,634,877,784.829585942,808.170414058,651.829585942,629.170414058,652,0.400974605226,-0.0053659047558,0.0698312933469,0.999999941217,0.000212741805538,-0.000268506893243,1.45302929154e-05,1793247534408683008
+53,0.883333333,BASELINE,765.250700515,745,715,680,658,634,877,784.250700515,808.749299485,651.250700515,629.749299485,652,0.400975802715,-0.00536628851776,0.0698318067499,0.99999994144,0.000212985290409,-0.000267492800485,1.43452145788e-05,1793247534425349632
+54,0.900000000,BASELINE,765.325360607,745,715,679.674639393,658,634,877,784,808.674639393,651,629.674639393,652,0.400975338379,-0.00536637279217,0.0698312908101,0.999999941484,0.000212559468009,-0.000267664277402,1.43494403521e-05,1793247534442016256
+55,0.916666667,BASELINE,765.899264217,745,715,679.100735783,658,634,877,784,808.100735783,651,629.100735783,652,0.400973604575,-0.00536622828798,0.0698299885552,0.999999941392,0.000211622361702,-0.000268741411163,1.44982755632e-05,1793247534458683136
+56,0.933333333,BASELINE,765.514629026,745,715,679.485370974,658,634,877,784,808,651.485370974,629,651.514629026,0.400974268338,-0.00536538335936,0.069830636314,0.999999941326,0.000212423956394,-0.000268362860679,1.43115115832e-05,1793247534475350272
+57,0.950000000,BASELINE,765,745,715,680,658,634,877.072848165,784,808.072848165,652,629,651.072848165,0.400975190669,-0.00536453797938,0.06983151524,0.999999941255,0.000213375643763,-0.00026788694343,1.40645095564e-05,1793247534492017408
+58,0.966666667,BASELINE,765,745,715,680,658,634,877.651796687,784,808.651796687,652,629,651.651796687,0.400974363196,-0.00536472543585,0.0698311159677,0.999999941112,0.000212798426302,-0.000268887635625,1.38953862254e-05,1793247534508683520
+59,0.983333333,BASELINE,765,745,715,680,658,634,877.770217877,784,809,651.770217877,629,651.770217877,0.400974367195,-0.00536504231073,0.0698310022741,0.999999941162,0.000212383570428,-0.000269035346088,1.37821108008e-05,1793247534525349888
+60,1.000000000,BASELINE,765,745,715,680,658,634,877.193685686,784,809,651.193685686,629,651.193685686,0.400975625919,-0.00536555448303,0.0698313195297,0.999999941504,0.000212213724348,-0.000267895874441,1.37531119908e-05,1793247534542016256
+61,1.016666667,BASELINE,765,745,715,680,658.381884135,634,877,784.381884135,808.618115865,651,628.618115865,651.381884135,0.400975165431,-0.00536437483856,0.0698310063002,0.999999941226,0.000212900211247,-0.000268402580637,1.34652662483e-05,1793247534558682880
+62,1.033333333,BASELINE,765,745,715,680,658.95696705,634,877,784.95696705,808.04303295,651,628.04303295,651.95696705,0.400973835176,-0.00536233928803,0.0698303741023,0.999999940632,0.000214019925073,-0.000269742103769,1.30464674074e-05,1793247534575349504
+63,1.050000000,BASELINE,765,745,715,679.454510956,658.454510956,634,877,784.454510956,808,651,628.545489044,652,0.40097325158,-0.00536308144692,0.0698301292758,0.999999940603,0.0002137204523,-0.000270072264878,1.33352617782e-05,1793247534592015872
+64,1.066666667,BASELINE,765.132566088,744.867433912,715,679.132566088,658.132566088,634,877,784,808,651.132566088,629,652,0.40097304424,-0.00536430543755,0.0698299767233,0.999999940681,0.000213208509493,-0.000270172941559,1.3660135168e-05,1793247534608682752
+65,1.083333333,BASELINE,765.711124948,744.288875052,715,679.711124948,658.711124948,634,877,784,808,651.711124948,629,652,0.400973899567,-0.00536639461533,0.0698300292014,0.999999940964,0.000212367927167,-0.00026977621981,1.39138463698e-05,1793247534625349632
+66,1.100000000,BASELINE,765.711956773,744.288043227,715,680,658.711956773,634,877,784,808,651.711956773,629,652,0.400974491496,-0.00536682657103,0.0698305870265,0.999999941244,0.000212030746629,-0.000268999456768,1.39185372213e-05,1793247534642016256
+67,1.116666667,BASELINE,765.136674529,744.863325471,715,680,658.136674529,634,877,784,808,651.136674529,629,652,0.400974820763,-0.00536560593144,0.0698316487877,0.999999941523,0.000212195562446,-0.000267843713522,1.36749029661e-05,1793247534658683392
+68,1.133333333,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.40097376591,-0.00536398701348,0.0698306527387,0.999999940599,0.000214830166409,-0.000269192874833,1.3620488872e-05,1793247534675350016
+69,1.150000000,BASELINE,765,745,715,679.965066407,658,634,877.034933593,784,808,651,629,651.965066407,0.400972496018,-0.0053623774271,0.0698291939369,0.999999939396,0.000218040171473,-0.000271072645869,1.36346664583e-05,1793247534692016384
+70,1.166666667,BASELINE,765,745,715,679.386362993,658,634,877.613637007,784,808,651,629,651.386362993,0.400974592484,-0.00536284493087,0.0698305133451,0.999999939896,0.000218227143997,-0.000269061840802,1.37987240826e-05,1793247534708683008
+71,1.183333333,BASELINE,765,745,715,679.192232909,658.192232909,634,877.807767091,784,808.192232909,651.192232909,629,651.192232909,0.400975512909,-0.00536347812448,0.0698312530384,0.999999940328,0.000217636996752,-0.000267922054333,1.3983978915e-05,1793247534725349632
+72,1.200000000,BASELINE,765,745,715,679.770612952,658.770612952,634,877.229387048,784,808.770612952,651.770612952,629,651.770612952,0.400974070969,-0.00536444414701,0.0698308282321,0.999999940627,0.000215485813122,-0.000268531922839,1.42118135893e-05,1793247534742016256
+73,1.216666667,BASELINE,765,745,714.653877648,679.653877648,659,634,877,784,808.653877648,652,629,652,0.400973308874,-0.00536522977122,0.0698306242417,0.999999940618,0.000214614669023,-0.000269263885809,1.42073447306e-05,1793247534758682880
+74,1.233333333,BASELINE,765,745,714.080255108,679.080255108,659,634,877,784,808.080255108,652,629,652,0.400972993631,-0.00536589682269,0.0698305653896,0.999999940407,0.000214584872722,-0.000270076099304,1.40501867953e-05,1793247534775349504
+75,1.250000000,BASELINE,765.507276694,745,714.507276694,679.507276694,659,634,877.507276694,784,808.507276694,651.492723306,629,652,0.400972639903,-0.00536581870353,0.0698299847521,0.999999940335,0.000214090126471,-0.000270742673105,1.39153006631e-05,1793247534792015872
+76,1.266666667,BASELINE,765.904714476,744.904714476,714.904714476,680,658.904714476,634,877.904714476,784.095285524,808.904714476,651.095285524,629,652,0.400972666031,-0.00536556269502,0.069829639021,0.999999940391,0.000213717176945,-0.000270839262366,1.37660593284e-05,1793247534808682752
+77,1.283333333,BASELINE,765.325769005,744.325769005,714.325769005,680,658.325769005,634,877.325769005,784.674230995,808.325769005,651.674230995,629,652,0.400974652044,-0.00536501901537,0.0698309164838,0.999999940981,0.000214346358705,-0.000268162918972,1.35255628633e-05,1793247534825349376
+78,1.300000000,BASELINE,765.252372271,744.252372271,714.252372271,679.747627729,658,634,877.252372271,785,808,652,629,652,0.40097455255,-0.00536531239027,0.0698309775089,0.999999941145,0.000213607480763,-0.000268137701933,1.35895981204e-05,1793247534842016000
+79,1.316666667,BASELINE,765.829478724,744.829478724,714.829478724,679.170521276,658,634,877.829478724,785,808,652,629,652,0.400971769578,-0.00536668282579,0.0698294733109,0.999999940755,0.000211108283597,-0.000271523760609,1.4045482545e-05,1793247534858682624
+80,1.333333333,BASELINE,765.598067991,745,715,679,658.401932009,634.401932009,877.598067991,784.598067991,808.401932009,652,629,652,0.400973207489,-0.00536553401311,0.0698306208039,0.999999940684,0.000213076189298,-0.000270249069773,1.40252855913e-05,1793247534875349248
+81,1.350000000,BASELINE,765.02756619,745,715,679,658.97243381,634.97243381,877.02756619,784.02756619,808.97243381,652,629,652,0.400976415632,-0.00536332863094,0.0698328804129,0.999999940728,0.000216917592253,-0.000267019666585,1.38054207293e-05,1793247534892015872
+82,1.366666667,BASELINE,765,745,715,679.565098102,659,634.434901898,877.565098102,784,809,652,629,652,0.400975588478,-0.00536317538732,0.0698320465785,0.999999940589,0.000216674796246,-0.000267743993755,1.36495291079e-05,1793247534908682752
+83,1.383333333,BASELINE,765.154362399,745,715,679.845637601,659,634,877.845637601,784.154362399,808.845637601,651.845637601,629,652,0.400974706807,-0.00536328808368,0.0698311860394,0.9999999405,0.000216127400285,-0.000268526970053,1.34893366012e-05,1793247534925349376
+84,1.400000000,BASELINE,765.731240496,745,715,679.268759504,659,634,877.268759504,784.731240496,808.268759504,651.268759504,629,652,0.40097423671,-0.00536384351081,0.0698306823089,0.999999940572,0.000215313855705,-0.000268921018129,1.33084812791e-05,1793247534942016000
+85,1.416666667,BASELINE,765.692202712,745,715,679,658.692202712,634,877,785,808.307797288,651,629,652,0.400974426862,-0.00536440419181,0.069830783152,0.999999940958,0.000214125025172,-0.000268435956685,1.32750679193e-05,1793247534958682624
+86,1.433333333,BASELINE,765.115926216,745,715,679,658.115926216,634,877,785,808.884073784,651,629,652,0.400975192922,-0.00536496945552,0.0698314113403,0.999999941616,0.000212608847829,-0.000267184083299,1.33702622706e-05,1793247534975349248
+87,1.450000000,BASELINE,765.458012134,745,715,679.458012134,658.458012134,634,877,784.541987866,808.541987866,651,629,652,0.400976204687,-0.00536466991304,0.0698322016292,0.99999994171,0.000213434062992,-0.000266163846633,1.34894300092e-05,1793247534992016384
+88,1.466666667,BASELINE,766,745,715,679.967321447,658.967321447,634,877,784.032678553,808,651,629,652,0.400977084929,-0.00536413918606,0.0698328732495,0.999999941581,0.000214918865625,-0.000265447223742,1.36035906415e-05,1793247535008684032
+89,1.483333333,BASELINE,766,745,715,679.36989708,658.36989708,634,877,784.63010292,808,651,629,652,0.400974622938,-0.00536337675274,0.0698307886017,0.999999940059,0.000217612946792,-0.000268969537715,1.35268883656e-05,1793247535025350144
+90,1.500000000,BASELINE,765.781050058,745,715,679,658,634,877,784.781050058,808.218949942,651.218949942,629,652,0.400973542878,-0.00536336540058,0.0698299580427,0.999999939513,0.000218339314058,-0.000270406007476,1.35258988976e-05,1793247535042016256
+91,1.516666667,BASELINE,765.206147506,745,715,679,658,634,877,784.206147506,808.793852494,651.793852494,629,652,0.40097470946,-0.00536457510065,0.0698311662886,0.999999940575,0.000215866717449,-0.000268451465765,1.36479977164e-05,1793247535058682880
+92,1.533333333,BASELINE,765,745,715,679.368714349,658.368714349,634,877,784,809,652,629,652,0.400974990318,-0.00536494409243,0.0698317646892,0.999999941021,0.000214677585792,-0.000267742299118,1.36257152034e-05,1793247535075349504
+93,1.550000000,BASELINE,765,745,715,679.943553509,658.943553509,634,877,784,809,652,629,652,0.400974776026,-0.00536484309765,0.069832022164,0.999999941127,0.000214205957763,-0.000267729342507,1.35227182556e-05,1793247535092016384
+94,1.566666667,BASELINE,765.530319902,745,715,679.469680098,659,634,877,784,808.469680098,652,629,652,0.40097443029,-0.00536282661235,0.0698314563711,0.999999940631,0.000216695288219,-0.000267588701091,1.33117537201e-05,1793247535108683264
+95,1.583333333,BASELINE,765.883100306,745,715,679,659,634,877,784.116899694,808.116899694,651.883100306,629,652,0.400974068171,-0.00536130608297,0.0698308617079,0.999999940125,0.000218749773438,-0.000267815862315,1.31835727783e-05,1793247535125349888
+96,1.600000000,BASELINE,765.302413222,745,715,679,659,634,877,784.697586778,808.697586778,651.302413222,629,652,0.400973697835,-0.00536258069822,0.0698305081567,0.999999939861,0.000217799922389,-0.000269557402085,1.34304690659e-05,1793247535142016768
+97,1.616666667,BASELINE,765,745,715,679,659,634,877,785,809,651,629,652,0.40097365005,-0.00536309649708,0.0698304318215,0.999999939767,0.000217672108808,-0.000270002597813,1.35234655542e-05,1793247535158683136
+98,1.633333333,BASELINE,765,745,715,679,659,634,877,785,809,651,629,652,0.400973952797,-0.00536278765469,0.0698306567497,0.999999939861,0.000218437641748,-0.0002690389959,1.34492119368e-05,1793247535175349504
+99,1.650000000,BASELINE,765.422341006,745,715,679.422341006,658.577658994,634,877,785,808.577658994,651,629,652,0.400973892754,-0.00536401758374,0.0698313424362,0.999999940507,0.000216277974352,-0.000268369472413,1.36998525176e-05,1793247535192016384
+100,1.666666667,BASELINE,765.991939374,745,715,679.991939374,658.008060626,634,877,785,808.008060626,651,629,652,0.400973706216,-0.00536578403523,0.0698321887749,0.999999941337,0.000213098379243,-0.000267802485079,1.40637737483e-05,1793247535208683264
+101,1.683333333,BASELINE,765.409891937,745,715,679.409891937,658.590108063,634,877,785,808,651.590108063,629,652,0.400973156562,-0.00536445168939,0.0698308689451,0.999999940691,0.00021433287049,-0.000269247676282,1.35997539396e-05,1793247535225350144
+102,1.700000000,BASELINE,765.18164932,745,715,679.18164932,658.81835068,634,877,785,808,651.81835068,629,652,0.400972551657,-0.00536370191803,0.0698300289795,0.999999940206,0.000215235457982,-0.000270338989268,1.33466433293e-05,1793247535242016768
+103,1.716666667,BASELINE,765.757902558,745,715,679.757902558,658.242097442,634,877,785,808,651.242097442,629,652,0.400971838049,-0.00536431432583,0.0698302989892,0.999999940123,0.000215279393499,-0.00027059881288,1.35775167362e-05,1793247535258683648
+104,1.733333333,BASELINE,766,744.666100794,715,679.666100794,658.333899206,634,877,784.666100794,808,651.333899206,629,652,0.400972415547,-0.0053645244581,0.0698303542943,0.999999940237,0.000215455559348,-0.000270036777187,1.36238530692e-05,1793247535275350272
+105,1.750000000,BASELINE,766,744.090289989,715,679.090289989,658.909710011,634,877,784.090289989,808,651.909710011,629,652,0.400973928458,-0.00536444313986,0.0698302540447,0.999999940491,0.000215727526722,-0.000268879300453,1.35364914176e-05,1793247535292016384
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,809,651,629,652,0.400973540375,-0.00536477376907,0.0698310901664,0.999999940366,0.000216288390172,-0.000268897422583,1.35077968597e-05,1793247535322912512
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.579043904,745,715,680,658.579043904,634,877,784.579043904,808.420956096,651.579043904,629,652,0.400974488705,-0.00536577145174,0.0698319661829,0.999999940954,0.000214978504813,-0.000267735834468,1.38957205041e-05,1793247535339579392
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.842981611,745,715,680,659,634,877.314036777,784.842981611,808,652,629,652,0.400975193211,-0.00536634209527,0.069832402517,0.999999941321,0.000214145525119,-0.000267019269338,1.41369666492e-05,1793247535356246528
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.267854647,745,715,680,659,634,878.464290707,784.267854647,808,652,629,652,0.400975248463,-0.00536577561913,0.0698316680653,0.999999941105,0.000214582449576,-0.000267487711195,1.39876400241e-05,1793247535372913408
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.686519517,659,634,878.373039035,784,808,652,629,652,0.400975379797,-0.0053658024564,0.0698315082816,0.999999941195,0.000213983276761,-0.000267636847433,1.38353698547e-05,1793247535389580032
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.099772658,659,634,877.199545316,784,808,652,629,652,0.400975577452,-0.00536634649529,0.0698318494461,0.999999941552,0.000212480919946,-0.000267507639393,1.36805337552e-05,1793247535406246656
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.480715136,658.519284864,634,877,784,808.480715136,652,629,652,0.400974716089,-0.00536612367311,0.0698316443007,0.999999941099,0.000213817487992,-0.000268131035496,1.38008259274e-05,1793247535422912768
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.059862601,745.059862601,715.059862601,680,658.059862601,634,877.059862601,784,808.940137399,652,629,652,0.400973812339,-0.00536576808572,0.0698313690824,0.999999940559,0.000215386014228,-0.000268878292335,1.39423872671e-05,1793247535439579136
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.638507855,745.638507855,715.638507855,680,658.638507855,634,877.638507855,784,808.361492145,652,629,652,0.400974421621,-0.00536562353369,0.0698314566028,0.999999940745,0.000213924059421,-0.000269362659884,1.37797651044e-05,1793247535456245760
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.784884416,715.784884416,679.784884416,659,634,877.784884416,784,808,651.784884416,629,652,0.400976375323,-0.00536533100359,0.0698323032319,0.999999941028,0.000213451206131,-0.000268685834738,1.37744889095e-05,1793247535472912384
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.211668585,715.211668585,679.211668585,659,634,877.211668585,784,808,651.211668585,629,652,0.400980567064,-0.00536479213627,0.0698344135401,0.999999941471,0.000214624898017,-0.000266075986463,1.40311446131e-05,1793247535489579008
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.628596557,745,715,679.371403443,659,634,877,784,808,651.371403443,629,652,0.4009992125,-0.00536527612725,0.0698428545103,0.999999945056,0.000214895648228,-0.000251998201809,1.43420411597e-05,1793247535506246144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.03975414,745,715,679.96024586,659,634,877,784,808,651.96024586,629,652,0.401026319884,-0.00536635895286,0.0698550017808,0.999999950129,0.000214637769261,-0.000231206487929,1.46846931479e-05,1793247535522913536
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,784,808.540196317,651.459803683,629,652,0.401076754773,-0.0053667129892,0.0698723144345,0.999999956435,0.000215435956977,-0.000201196166355,1.53813116414e-05,1793247535539579904
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.88118249,659,634,877,784.11881751,808.88118249,651.11881751,629,652,0.401130899384,-0.00536741680799,0.0698883999064,0.999999961232,0.000215852398265,-0.000175184120485,1.59236165521e-05,1793247535556246272
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.305198618,659,634,877,784.694801382,808.305198618,651.694801382,629,652,0.401192819324,-0.00536966948055,0.0698983247164,0.999999962904,0.000214505831426,-0.000167123995777,1.5773575067e-05,1793247535572912896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.730885718,634,877,784.730885718,808.269114282,651.730885718,629,652,0.401263075701,-0.00537162944379,0.0699047927964,0.999999964642,0.000212404761009,-0.00015930812251,1.48582845245e-05,1793247535589579264
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.158456184,634,877,784.158456184,808.841543816,651.158456184,629,652,0.401342727966,-0.00537325949797,0.06990736484,0.999999966462,0.000209453299374,-0.000151767542394,1.30804915989e-05,1793247535606245888
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.416856019,658,634,877,784,808.583143981,651.416856019,629,652,0.40143225819,-0.00537393730569,0.0699059581115,0.999999966424,0.000208468093332,-0.000153545051082,1.07872404824e-05,1793247535622912512
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.993271605,658,634,877,784,808.006728395,651.993271605,629,652,0.40152556939,-0.00537425062292,0.0699030284324,0.999999965662,0.000208235509065,-0.000158889235579,8.29668798435e-06,1793247535639578880
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.409952326,658,634,877,784,808.590047674,652,629,652,0.401646622205,-0.00537637083507,0.0699038460782,0.999999966173,0.000205467637005,-0.000159396665349,5.49636376718e-06,1793247535656246016
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.819949719,715,679,658,634,877,784,809,652,629,652,0.401778867559,-0.00537911888431,0.0699057567357,0.999999967213,0.000201880181998,-0.000157514829153,2.57857570501e-06,1793247535672912896
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.245318265,715,679,658,634,877,784,809,652,629,652,0.401934923365,-0.00538319607346,0.0699099657421,0.999999969353,0.000196562228165,-0.000150522094087,-5.88616764292e-07,1793247535689579520
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.335782585,744.335782585,715.335782585,679,658.335782585,634,877,784,808.664217415,651.664217415,629,652,0.402112091413,-0.00538684288544,0.069915028852,0.999999971813,0.000190999620933,-0.000140983759991,-4.05953176526e-06,1793247535706246400
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.921702803,744.921702803,715.921702803,679,658.921702803,634,877,784,808.078297197,651.078297197,629,652,0.402304986814,-0.00539016909298,0.0699207282178,0.999999974419,0.000185254761204,-0.000129549108476,-7.75670193727e-06,1793247535722913024
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.498006922,745,715.498006922,679.501993078,658.498006922,634,878.003986156,784,808.501993078,651.501993078,629,652,0.402520347646,-0.00539367156067,0.0699217789704,0.999999975802,0.000179168592553,-0.000127029569582,-1.25459077288e-05,1793247535739579648
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.081345066,745,715,680,658.081345066,634,878.837309868,784,809,652,629,652,0.402744764083,-0.00539714935566,0.0699223500862,0.999999976994,0.000173230757627,-0.000125282806029,-1.75368404927e-05,1793247535756246272
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+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.762339865,659,634,877,784,809,652,629,652,0.403284057048,-0.00540422646758,0.0699296043774,0.999999980572,0.000162239681633,-0.00010836310088,-2.81304075018e-05,1793247535789579264
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.187128417,659,634,877,784,809,652,629,652,0.403596079362,-0.00540921669834,0.0699393919208,0.999999983717,0.000153721329892,-8.8270853912e-05,-3.38198067863e-05,1793247535806246144
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.604069448,745,715,679.395930552,658.604069448,634,877.395930552,784,808.604069448,652,629,652,0.403927711298,-0.00541517722268,0.0699476888535,0.999999986304,0.000141673900205,-7.60146917626e-05,-3.92615917208e-05,1793247535822912512
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.017226527,745,715,679.982773473,658.017226527,634,877.982773473,784,808.017226527,652,629,652,0.404268798719,-0.00542160560934,0.0699552670335,0.999999988543,0.000127924796997,-6.75369845393e-05,-4.45839801889e-05,1793247535839578624
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.564986939,634,877.435013061,784,808,652,629,652,0.404649767552,-0.00542883888997,0.0699580312328,0.999999996097,3.19568453016e-05,-6.54403914243e-05,-5.00222916465e-05,1793247535856245504
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.854648316,659,634,877,784,808.145351684,651.854648316,629,652,0.405040944064,-0.00543421035168,0.0699607885969,0.999999996653,-1.89930980396e-05,-6.20478391643e-05,-4.98340869147e-05,1793247535872911872
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.279338151,659,634,877,784,808.720661849,651.279338151,629,652,0.405458747666,-0.0054340024421,0.0699639563934,0.999999995494,7.05779617648e-05,-5.42509232677e-05,-3.29919596079e-05,1793247535889578496
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.294918118,745,715,679.294918118,659,634,877,784,809,651.294918118,629,652,0.405890544741,-0.00543539141528,0.0699610832052,0.99999999225,0.000106663013681,-5.74224009418e-05,-2.87364720007e-05,1793247535906245120
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.868179789,745,715,679.868179789,659,634,877,784,809,651.868179789,629,652,0.406335548897,-0.00543828752548,0.0699525085395,0.999999992566,9.22680126102e-05,-7.09458416333e-05,-3.63602460065e-05,1793247535922911744
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+144,2.400000000,POSE1_TO_POSE2_PRESS,765.956531442,745,715,680,659.956531442,634,877.956531442,784,809,651.043468558,629,652,0.40730343132,-0.00545959430807,0.0699210135066,0.999999991145,3.80721561327e-05,-0.000121092594411,-3.99513189204e-05,1793247535956244992
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+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,878,784,810,651.10886081,629,652,0.411648555832,-0.00555173452757,0.0699392390465,0.999999994935,-6.15152945784e-05,-6.90834852225e-05,-3.9670994105e-05,1793247536072912640
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,878,784,810,651.684967026,629,652,0.412395354499,-0.00556309757899,0.0699651279225,0.999999995825,-7.87680510207e-05,-2.23380145947e-05,-4.05794352728e-05,1793247536089579776
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.740122943,745,715,680,659.740122943,634,878,784.259877057,810,651.740122943,629,652,0.413151125894,-0.00556342455282,0.0699919891657,0.999999995672,-8.1511949557e-05,2.04890383388e-05,-3.99030164615e-05,1793247536106246400
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.166656253,745,715,680,659.166656253,634,878,784.833343747,810,651.166656253,629,652,0.41391772464,-0.00555043446372,0.0700200237528,0.99999999536,-6.67482356544e-05,5.85878032901e-05,-3.73141717502e-05,1793247536122912256
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.419906763,634,878,784.580093237,810,651.419906763,629.419906763,652,0.414664509484,-0.00552239327326,0.0700038130082,0.999999998398,-3.18766673142e-05,2.51042972835e-05,-3.94678414392e-05,1793247536139578624
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.011574047,745,715,680,660,634,878,784,810,652,629.988425953,652.011574047,0.415404009077,-0.00548903908559,0.0699693235331,0.999999998291,9.96023144677e-06,-3.77058075058e-05,-4.35644165264e-05,1793247536156245248
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.590457619,745,715,680,660,634,878,784,810,652,629.409542381,652.590457619,0.416184283245,-0.00549749130847,0.0699273375514,0.999999993748,-1.05588150771e-05,-0.000100604469012,-4.76639666033e-05,1793247536172911872
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.832401273,745,715,680,660,634,878.167598727,784,810,651.832401273,629,653,0.416989347878,-0.0055064808795,0.0699055779489,0.999999989449,-2.70143226522e-05,-0.000133691856692,-4.99929535747e-05,1793247536189578496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.259474248,745,715,680,660,634,878.740525752,784,810,651.259474248,629,653,0.41785436684,-0.00551676999695,0.0699327347337,0.999999993798,-3.36423837852e-05,-9.4682316464e-05,-4.80399312642e-05,1793247536206245376
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.677819445,784,810,651,629.64436111,652.677819445,0.418720997669,-0.00552319660474,0.0699591517496,0.999999996448,-4.13860310473e-05,-5.64764319013e-05,-4.69183724545e-05,1793247536222912256
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.08893987,784,810,651,630.82212026,652.08893987,0.419588962747,-0.00552642585104,0.0699849563879,0.999999997488,-5.00531530885e-05,-1.89358103451e-05,-4.64850939439e-05,1793247536239579136
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.491660939,745,715,680,660,634,878,784,810,651,630.508339061,652.491660939,0.420525349459,-0.00552996378783,0.0700091136282,0.999999997251,-5.49477799117e-05,2.02605248762e-05,-4.54822914631e-05,1793247536256245760
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.929209462,745,715,680,660,634,878.070790538,784,810,651.070790538,630,653,0.421466106206,-0.00553213580511,0.0700284235058,0.999999995974,-5.80939482015e-05,5.16148442972e-05,-4.48620861863e-05,1793247536272912640
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.350068717,745,715,680,660,634,878.649931283,784,810,651.649931283,630,653,0.42235083411,-0.0055241047305,0.070015028808,0.999999997129,-5.35037776115e-05,2.45400545286e-05,-4.77169069999e-05,1793247536289579520
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.226408147,745,715,680,660,634,879,784,810,651.773591853,629.773591853,653,0.423204348472,-0.00551756449598,0.0699713331163,0.999999996274,-5.06809734999e-05,-4.68406115e-05,-5.18515960736e-05,1793247536306245888
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.798814144,745,715,680,660,634,879,784,810,651.201185856,629.201185856,653,0.424010162309,-0.00551330256811,0.0698813313205,0.999999979758,-5.05590646879e-05,-0.000185929701735,-5.79421848274e-05,1793247536322912256
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.617197969,745,715,680,660,633.617197969,879,784,810,651,629.382802031,653,0.424903717907,-0.00551863511937,0.0698553075795,0.999999972382,-6.26089696773e-05,-0.000217993409919,-6.1597033481e-05,1793247536339578880
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.026933215,745,715,680,660,633.026933215,879,784,810,651,629.973066785,653,0.42584482583,-0.00552916747808,0.069863957279,0.999999976213,-8.12554899932e-05,-0.000192053821587,-6.39318126821e-05,1793247536356245504
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.553236333,715,680,660.553236333,633,878.446763667,784,810.553236333,651,630,653,0.426859409471,-0.0055303276283,0.0699295533295,0.99999999051,-7.0499387684e-05,-0.000103235965638,-5.79002412088e-05,1793247536372911872
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.867736222,714.867736222,680.132263778,660.867736222,633,878.132263778,784,811,651,630,653,0.427870482849,-0.00553052393783,0.0699911169109,0.999999996447,-6.31216558791e-05,-1.81779100931e-05,-5.28371381526e-05,1793247536389578752
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.290925242,714.290925242,680.709074758,660.290925242,633,878.709074758,784,811,651,630,653,0.428857950809,-0.00552898677846,0.0700299761294,0.999999995075,-7.18236909225e-05,4.41390099416e-05,-5.23735491495e-05,1793247536406246144
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714.289974274,680.710025726,660,633,879,784,811,651.289974274,630.289974274,653,0.429805215158,-0.00552877225432,0.0700461150728,0.999999993434,-7.30772251449e-05,7.08744279451e-05,-5.26196297622e-05,1793247536422913024
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714.875034362,680.124965638,660,633,879,784,811,651.875034362,630.875034362,653,0.430711567142,-0.00552990368035,0.0700391332356,0.999999994451,-6.67509592782e-05,6.14011249417e-05,-5.35878899215e-05,1793247536439580160
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.45564882,660,633.45564882,879,784,811,651.54435118,630.54435118,653,0.431544622509,-0.00553072690494,0.0699638601575,0.999999993827,-6.85478168185e-05,-6.6420302441e-05,-5.68767217176e-05,1793247536456246272
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.965009051,660.034990949,634,879,784,811,651,630,652.965009051,0.432368325003,-0.00553151756518,0.0698768558841,0.999999972675,-7.24671775984e-05,-0.000213839094499,-6.05937596235e-05,1793247536472912384
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.386674726,660.613325274,634,879,784,811,651,630,652.386674726,0.4333559277,-0.00553310242274,0.0698957114755,0.999999981461,-7.50851857925e-05,-0.000166426329441,-6.11728721204e-05,1793247536489578752
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.190701299,660.809298701,634,879,784,811.190701299,651.190701299,630,652,0.434335506779,-0.00553452278456,0.0699287106169,0.999999989909,-7.71112665766e-05,-0.000102844122431,-6.04914211714e-05,1793247536506245632
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.766144052,660.233855948,634,879,784,811.766144052,651.766144052,630,652,0.435298898319,-0.00553561127513,0.0699902444914,0.999999995301,-7.79431291801e-05,-6.6399231249e-06,-5.72667729548e-05,1793247536522912512
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.651392947,879,784,811.651392947,651.651392947,630,652,0.436222131039,-0.00553919744692,0.0700233916846,0.999999994129,-8.02126731163e-05,4.71244583968e-05,-5.55584414326e-05,1793247536539579392
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.064123803,879,784,811.064123803,651.064123803,630,652,0.437117870316,-0.00554449357205,0.0700371048879,0.99999999243,-8.34664774668e-05,7.18338408474e-05,-5.48882055366e-05,1793247536556246528
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.032288054,633.516144027,879,784,811.516144027,651,630.516144027,652.516144027,0.437976474318,-0.00554651705731,0.0700058969485,0.999999993513,-8.80286917157e-05,4.29184123671e-05,-5.81618892619e-05,1793247536572912896
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.904898656,633.904898656,879,784,812,651,630.904898656,653,0.438814930476,-0.0055472618988,0.0699633071262,0.999999993952,-9.08267643703e-05,-8.0480004827e-06,-6.14881389776e-05,1793247536589579520
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.32823185,633.32823185,879,784,812,651,630.32823185,653,0.439574412825,-0.00554356331325,0.0698909642855,0.999999985083,-8.38796383573e-05,-0.000137390482571,-6.26326673629e-05,1793247536606246400
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784,812,651,630,653,0.440367464837,-0.00554193690566,0.0698531036954,0.999999974342,-8.09807644375e-05,-0.000201827247709,-6.34370390367e-05,1793247536622912768
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784,812,651,630,653,0.441204868966,-0.00554304825607,0.069860800997,0.999999978193,-8.34304356817e-05,-0.000180510691733,-6.37919972718e-05,1793247536639578880
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.408686526,661.408686526,633.408686526,879,784,812,651,630.408686526,653,0.442058253444,-0.00554750578281,0.0699205340639,0.99999999052,-8.75177399061e-05,-8.65604956071e-05,-6.17104180367e-05,1793247536656245504
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681.997256265,661.997256265,633.997256265,879,784,812,651,630.997256265,653,0.442918671737,-0.00555343612783,0.0700031706529,0.999999993249,-9.23258466791e-05,3.9359371286e-05,-5.85563970128e-05,1793247536672912640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.576188812,745,715,682,661.423811188,633.423811188,879,784,812.576188812,651,631,653,0.443697437316,-0.00555840556281,0.0700254229231,0.999999991581,-9.98372333402e-05,6.06461896023e-05,-5.65021401378e-05,1793247536689579776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.846319745,745,715,682,661,633,879.153680255,784,813,651,631,653.153680255,0.444457970524,-0.00556160746391,0.0700324835229,0.999999991333,-0.000102558223674,6.11926818282e-05,-5.54279607233e-05,1793247536706246656
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.272643249,745,715,682,661,633,879.727356751,784,813,651,631,653.727356751,0.445169721378,-0.00555999113221,0.0699987993716,0.999999994108,-9.21528319014e-05,6.39674768786e-06,-5.70181799635e-05,1793247536722913280
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.308954326,745,715,681.691045674,661,633,880,784,813,651,631,653.382091348,0.445846061653,-0.00555793311025,0.0699689159374,0.999999993475,-9.19166026404e-05,-3.49080323869e-05,-5.81674461969e-05,1793247536739579648
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.897725919,745,715,681.102274081,661,633,880,784,813,651,631,652.204548162,0.44649033083,-0.00555547505333,0.0699424747818,0.999999991127,-0.000100890496856,-6.39939873566e-05,-5.89173450806e-05,1793247536756246272
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.477986118,660.522013882,633,879.522013882,784,813,651.477986118,631,652.477986118,0.447099793498,-0.0055580998634,0.0699247374782,0.999999988472,-9.74950642804e-05,-9.97775107114e-05,-5.99671494678e-05,1793247536772913152
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.056538104,633,879,784,813,651.943461896,630.943461896,653,0.447700648331,-0.00556158875683,0.0699089295621,0.999999984661,-9.24801966485e-05,-0.000135709679029,-6.0888122689e-05,1793247536789580032
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660.635839974,633,879,784,813,651.364160026,630.364160026,653,0.448289569773,-0.00556318713289,0.0698940427319,0.999999980739,-9.65350421182e-05,-0.000159997592339,-6.00349420926e-05,1793247536806246144
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660.787001795,633,879,783.787001795,813.212998205,651,630,653,0.448881158211,-0.00556629593435,0.0698927572335,0.999999979789,-0.00010216759704,-0.000162868495329,-5.88062339862e-05,1793247536822912512
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.213472055,633,879,783.213472055,813.786527945,651,630,653,0.449477260883,-0.00557196135807,0.0699144940389,0.999999983893,-0.000110470662375,-0.000129487880846,-5.69418891094e-05,1793247536839579648
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.369672701,715,682,660,632.630327299,879,783.369672701,813.630327299,651,630,653,0.450019295473,-0.00557777199668,0.069926992307,0.999999985855,-0.000115276728108,-0.000108597935321,-5.66360202119e-05,1793247536856246784
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.958518092,715,682,660,632.041481908,879,783.958518092,813.041481908,651,630,653,0.45052927407,-0.00558366873127,0.0699340132047,0.999999986875,-0.000118009482771,-9.51134929424e-05,-5.72541451955e-05,1793247536872913664
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.461476198,715,682,659.461476198,632,879,784,813,651,630,653,0.450952350669,-0.00558416771706,0.069899966911,0.999999978844,-0.000126128443133,-0.00015176053014,-5.80797519013e-05,1793247536889580032
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659.11717158,632,879,783.88282842,813,651.11717158,630,653,0.451364657652,-0.00558367838797,0.0698631949098,0.999999967498,-0.000130805691357,-0.000210912313366,-5.84007860692e-05,1793247536906246400
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659.693125614,632,879,783.306874386,813,651.693125614,630,653,0.451760583373,-0.00558092103213,0.0698279364911,0.999999957588,-0.00012040873309,-0.00025906098898,-5.66846128344e-05,1793247536922912768
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,879,783,813,651.734507552,630,653,0.452147739983,-0.00557671870375,0.0698010859318,0.999999948891,-0.000112570521036,-0.000293625833209,-5.76995091961e-05,1793247536939579136
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,879,783,813,651.166231811,630,653,0.452524895754,-0.00557086844337,0.0697838241951,0.999999943404,-0.000107650455385,-0.000312698870079,-6.18290791068e-05,1793247536956245504
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.020671057,745.020671057,715,682,659,632,879,783,813.020671057,651.020671057,630,653,0.453212800813,-0.00556597868634,0.0697734848377,0.999999937844,-0.000112010828685,-0.000327367398453,-6.779371148e-05,1793247536989578752
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.59965818,745.59965818,715,682,659,632,879,783,813.59965818,651.59965818,630,653,0.453521823086,-0.00557152657327,0.0697773015854,0.999999937005,-0.000125637273876,-0.00032487052854,-6.83024767049e-05,1793247537006245376
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.822823974,715,682,659,631.822823974,879,783,814,651.822823974,630,653,0.453817199436,-0.00557609853007,0.0697808561024,0.999999936384,-0.000137307147241,-0.00032216001571,-6.77587734653e-05,1793247537022911744
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.248598836,715,682,659,631.248598836,879,783,814,651.248598836,630,653,0.454081995412,-0.00557848343973,0.0697838229632,0.999999936572,-0.000144592367427,-0.000318970732391,-6.48565023797e-05,1793247537039578368
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659,631,879.333344479,782.666655521,814,651.333344479,630,653,0.454324876607,-0.0055803767646,0.0697857496254,0.999999938598,-0.00013406023277,-0.000318465654452,-5.84157552292e-05,1793247537056245504
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.395992345,714.395992345,681,659.395992345,633.604007655,878.604007655,784,810,651,630,652,0.423880869656,-0.00540436810684,0.0698209409417,0.999999946204,0.000148309084175,-0.000291037459518,2.98834443877e-05,1793247539132385792
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.182198025,714.182198025,680.817801975,659,634,878.817801975,784,810,651,630,652,0.422919233367,-0.00540208903567,0.0697752898247,0.999999921444,0.000151711145878,-0.000365164112066,2.74057630167e-05,1793247539149052160
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.770370479,714.770370479,680.229629521,659,634,878.229629521,784,810,651,630,652,0.421916042072,-0.0053973049117,0.0696972160555,0.99999985902,0.000160350900746,-0.000505530658154,2.62067237274e-05,1793247539165718784
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.353261519,659,634,877.646738481,784,810.353261519,651,630,652,0.420996773021,-0.00539650985288,0.0696859269385,0.999999851697,0.00016126436249,-0.000519586666382,2.50855443524e-05,1793247539182385920
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.932770032,659,634,877.067229968,784,810.932770032,651,630,652,0.420131252186,-0.00539826959852,0.0697174101804,0.999999884861,0.000157229505834,-0.000452746851305,2.40142307123e-05,1793247539199053056
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.490158165,659,634,877.509841835,784,810.490158165,651,629.490158165,652,0.419344157625,-0.00540435874088,0.0697947770762,0.999999933581,0.00014810550831,-0.000331833121264,2.81139412855e-05,1793247539215719680
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.085573863,744.914426137,715,680,659,633.914426137,878,784,810,651,629,652,0.418558724168,-0.00540943792335,0.0698661732962,0.99999996438,0.000142174872433,-0.000223548256759,3.24554564872e-05,1793247539232386304
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.655532323,744.344467677,715,680,659,633.344467677,878,784,810,651,629,652,0.41772443369,-0.0054055841737,0.0698696878931,0.999999961167,0.000158100548607,-0.000226917441687,3.43243535425e-05,1793247539249052672
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.764404702,744.235595298,715,680.235595298,659,633.235595298,878,784,810,651,629.235595298,652,0.416890463353,-0.00540270356369,0.0698571406172,0.999999956086,0.000166286551018,-0.000242928831903,3.40894678107e-05,1793247539265719040
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.168905766,744.831094234,715,680.831094234,659,633.831094234,878,784,810,651,629.831094234,652,0.416056982151,-0.00540130955628,0.0698200566608,0.999999947591,0.000162649154857,-0.000278252897754,3.0640769537e-05,1793247539282385152
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.414603213,745,715,680.585396787,659,634,877.585396787,784,809.585396787,651,629.585396787,652,0.415194803389,-0.00539924092218,0.0697862303109,0.999999930645,0.000162782268832,-0.000333758219291,2.85993316302e-05,1793247539299051776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.993364925,745,715,680.006635075,659,634,877.006635075,784,809.006635075,651,629.006635075,652,0.414321262011,-0.00539690517546,0.0697536937784,0.999999907212,0.000164408282344,-0.000397254133558,2.71150857195e-05,1793247539315718656
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877,784,809.568244213,651,629.568244213,652,0.413556023599,-0.00538721398641,0.0697486446319,0.999999898928,0.000180532131638,-0.000410817613475,2.79436424171e-05,1793247539332385536
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.853749739,745,714.853749739,680.146250261,659,634,877,784,810,651,630,652,0.412829702537,-0.00537919924227,0.0697585572787,0.999999903309,0.000193566120489,-0.000393828606365,2.85183140715e-05,1793247539349052416
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.266172319,745,714.266172319,680.733827681,659,634,877,784,810,651,630,652,0.412217028754,-0.00537650077365,0.0698126569274,0.999999939232,0.000196768733767,-0.000286391352165,2.82459194378e-05,1793247539365719040
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.316812188,680.683187812,659,634,877,784,809.683187812,651,629.683187812,652,0.411580251837,-0.00537385591355,0.0698553279135,0.999999957133,0.000199804991216,-0.000211968731776,2.96708331986e-05,1793247539382385664
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.895993029,680.104006971,659,634,877,784,809.104006971,651,629.104006971,652,0.410923513897,-0.00537125544962,0.0698885342265,0.999999965334,0.000202703481586,-0.000164887254975,3.25013764989e-05,1793247539399052032
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.473515792,745,715,680,659,634,877,784,809.473515792,651,629.473515792,652,0.410222481302,-0.00536331330845,0.0698618666736,0.999999953956,0.000213312775557,-0.000213680998302,3.04415917408e-05,1793247539415718656
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877,784,809.94952122,651,629.94952122,652,0.409518142109,-0.00535475766399,0.0698223624708,0.999999934357,0.000224707842871,-0.000282918825113,2.73852893757e-05,1793247539432385024
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877,784,809.374603354,651,629.374603354,652,0.408880176996,-0.0053519752822,0.0697856494229,0.999999913939,0.00022673195783,-0.000346533258387,2.50966200956e-05,1793247539449052160
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877,784,809,651,629,652,0.408279350657,-0.00534952244076,0.0697646371274,0.999999901129,0.000229783952633,-0.000379987833366,2.34462029063e-05,1793247539465719296
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877,784,809,651,629,652,0.407747976708,-0.00534768586499,0.0697729864306,0.999999908441,0.000234758161599,-0.00035704118699,2.29893658072e-05,1793247539482386176
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.622786211,745,715,680,658.622786211,634,877,784,809,651.377213789,629,652,0.407226831202,-0.00535064051571,0.0697870187132,0.999999916127,0.000230977217222,-0.000337408309845,2.34596944106e-05,1793247539499052800
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.043512374,745,715,680,658.043512374,634,877,784,809,651.956487626,629,652,0.406711164661,-0.00535616165637,0.0698040951671,0.999999923891,0.000222506448143,-0.000319550499195,2.44266727522e-05,1793247539515719424
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.532140839,745,715,680,658.532140839,634,877,784,809,651.467859161,629,652,0.406204449571,-0.0053774586032,0.0697997943869,0.999999923872,0.000199895142033,-0.00033414408793,2.54260337417e-05,1793247539532386048
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.892842323,745,715,679.892842323,658.892842323,634,877.107157677,784,808.892842323,651.107157677,629,652,0.405716179562,-0.00539499897134,0.0697957797629,0.999999923646,0.000179805677846,-0.000345992070509,2.58434326547e-05,1793247539549052416
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.319315148,745,715,679.319315148,658.319315148,634,877.680684852,784,808.319315148,651.680684852,629,652,0.405305021666,-0.00539061382264,0.0698005666749,0.999999928367,0.000175689921378,-0.000334420207967,2.3716582101e-05,1793247539565718784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.262948531,658.262948531,634,877.737051469,784,808.262948531,652,629,652,0.404918443079,-0.00538546465351,0.0698101769687,0.999999933889,0.000180983788519,-0.000314493245864,2.36971845452e-05,1793247539582385408
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.856186079,658.856186079,634,877.143813921,784,808.856186079,652,629,652,0.404562738528,-0.00537935580045,0.0698258459005,0.999999939684,0.000198097061309,-0.000284071463804,2.63249537299e-05,1793247539599051776
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.017500222,745,715,679.017500222,658.017500222,634,877,784,808.017500222,652,629,652,0.403885919684,-0.00538582398908,0.069852225699,0.999999950059,0.000205926519782,-0.000238207000656,2.71025930645e-05,1793247539632385792
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.241932975,745,715,679.241932975,658.241932975,634,877,784.758067025,809,651.241932975,629,652,0.402965746444,-0.00537342130138,0.0698183099112,0.999999936579,0.000196313458325,-0.0002964002704,2.12070729384e-05,1793247539682385664
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.340551509,658,634,877,784.659448491,808.659448491,651.340551509,629,652,0.402712294864,-0.00537134937761,0.069811844039,0.999999932835,0.000198301041845,-0.000307492038206,2.13251677734e-05,1793247539699052032
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.496482292,634,877,784,808,651.503517708,629,652,0.402264036782,-0.00536467932234,0.0698013749101,0.999999924986,0.000208226304968,-0.000325806105954,2.28180058735e-05,1793247539732385536
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.352298631,634,877,784,808,651,629,652,0.401897499478,-0.00536357856426,0.0697987292609,0.999999922192,0.000210544119637,-0.000332536557542,2.65915605896e-05,1793247539765719296
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.771583344,715,680,658,634,877.228416656,784,808,651,629,652,0.401745415755,-0.00536211859902,0.0697991347027,0.999999921964,0.000213688962862,-0.000331099006933,2.79814165358e-05,1793247539782386176
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.181932279,715,680,658,634,877.818067721,784,808,651,629,652,0.401616364703,-0.00535867086765,0.0697975372985,0.999999920828,0.000221093741168,-0.000329638996341,2.82960498654e-05,1793247539799052800
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.443075143,679.556924857,658.443075143,634,877,784,808.443075143,651,629,652,0.401315115728,-0.00536205457664,0.0697976204085,0.999999915112,0.000250307598001,-0.00032694259884,1.51695192313e-05,1793247539849052416
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.130771274,680.130771274,658,634,877,784,808,651,629,652,0.401233429416,-0.00536407128972,0.0697954446281,0.999999923106,0.000207746356368,-0.000332559178522,5.85573580469e-06,1793247539865718528
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.229070715,658,634,877.885464643,784,808,651,629,652,0.4010847458,-0.00536180518886,0.0698029130885,0.999999926951,0.000214615412132,-0.000316121780636,1.02315727593e-05,1793247539915718912
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.959268916,744.040731084,715,679.040731084,658,634,877,784.040731084,808.040731084,651,629,652,0.401029432116,-0.00536345449866,0.0698098122832,0.999999930686,0.00021334494941,-0.000304902223215,1.20840330366e-05,1793247539949052416
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+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.900760034,784,808.900760034,651.099239966,629,651.900760034,0.400974632279,-0.00536283679437,0.0698205181578,0.999999934847,0.000218632943849,-0.000286885963895,1.42474219242e-05,1793247540065718784
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.328640835,784,808.328640835,651.671359165,629,651.328640835,0.400975046405,-0.00536381756604,0.0698230285622,0.9999999369,0.000214578254068,-0.000282764062609,1.41358501788e-05,1793247540082385664
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.748184076,658,634,877,784,808,652,629,651.251815924,0.400974993588,-0.00536440030776,0.0698244451275,0.999999938012,0.000212646834021,-0.000280281798758,1.41192235516e-05,1793247540099052544
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.156473409,658,634,877,784,808,652,629,651.843526591,0.400974310501,-0.0053644457989,0.0698243852571,0.999999937887,0.00021358134899,-0.00028001267532,1.42307514192e-05,1793247540115719168
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.425077238,658,634,877,784.425077238,808.425077238,652,629,652,0.400973591206,-0.00536335169907,0.0698245992055,0.999999937601,0.000215072536376,-0.000279902091796,1.39904155309e-05,1793247540132385536
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.997036315,658,633.997036315,877,785,809,651.997036315,629,652,0.400972856721,-0.00536185652619,0.0698249076624,0.999999937256,0.000216759700729,-0.000279851448958,1.36251714115e-05,1793247540149051648
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.421373439,658,633.421373439,877,785,809,651.421373439,629,652,0.400971702409,-0.00536202794331,0.0698244561671,0.99999993692,0.000217644180305,-0.000280369612113,1.35674296286e-05,1793247540165718272
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.152868043,658.152868043,633.152868043,877,785,808.847131957,651.152868043,629,652,0.400971172402,-0.0053624567433,0.0698245166127,0.999999937018,0.000217425777909,-0.000280190623166,1.35707301038e-05,1793247540182385152
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.723227582,658.723227582,633.723227582,877,785,808.276772418,651.723227582,629,652,0.400972347414,-0.00536358847082,0.0698259751987,0.999999938294,0.000214195340807,-0.000278107671349,1.37407405313e-05,1793247540199052032
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.30721063,744.69278937,715,680,658.69278937,634,877,784.69278937,808,652,629,652,0.400972680191,-0.0053638657928,0.0698263552019,0.999999938451,0.000214231901066,-0.000277514442045,1.37025986829e-05,1793247540215718912
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.904036892,744.095963108,715,680,658.095963108,634,877,784.095963108,808,652,629,652,0.400972218971,-0.0053633376439,0.0698257183961,0.999999937557,0.000217348346807,-0.000278325613891,1.34682261384e-05,1793247540232386048
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.515131345,744.484868655,715,680,658,634,877,784,808.484868655,651.515131345,629,652,0.400971965619,-0.00536376309087,0.0698257995127,0.99999993783,0.000216032908208,-0.000278357919967,1.36308111723e-05,1793247540249052672
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.937723047,658,634,877,784,808.937723047,651.062276953,629,652,0.400971840096,-0.00536420301512,0.0698260912161,0.999999938268,0.000214276849141,-0.000278133012621,1.38340354352e-05,1793247540265719296
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.36326751,658,634,877,784,808.36326751,651.63673249,629,652,0.400972438332,-0.00536325940224,0.069826983583,0.999999938233,0.000215880449698,-0.000277020003833,1.37459906813e-05,1793247540282385408
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.216601166,745,715,679,658,634,877,784,808,651.783398834,629,652,0.400972810948,-0.00536294797299,0.0698275033213,0.999999938408,0.000216211688505,-0.000276134302439,1.36794988953e-05,1793247540299051520
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.805781156,745,715,679,658,634,877,784,808,651.194218844,629,652,0.400972795473,-0.00536372397186,0.0698273820959,0.999999938944,0.000214354319582,-0.000275639595627,1.36500806694e-05,1793247540315718144
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.611821395,744.611821395,715,679.388178605,658,634,877.388178605,784,808,651,629,652,0.400973028073,-0.00536295180248,0.0698273587302,0.999999938708,0.000215421604112,-0.000275670258365,1.3543138921e-05,1793247540332385024
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.032759238,744.032759238,715,679.967240762,658,634,877.967240762,784,808,651,629,652,0.400973382661,-0.00536141833439,0.0698273834862,0.999999938087,0.000217927062388,-0.000275959267173,1.33980756368e-05,1793247540349051648
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744.541779734,715,680,658,634,877.458220266,784,808,651,629,652,0.400973421323,-0.00536089467341,0.0698276355281,0.999999938272,0.000217969728308,-0.00027526149664,1.32644390284e-05,1793247540365718784
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.88355914,658,634,877,784,808,651,629,652,0.400973318946,-0.00536103530027,0.0698276703,0.999999938493,0.000217577384104,-0.000274772308112,1.32291796512e-05,1793247540382385664
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.307344725,658,634,877,784,808,651,629,652,0.400972734475,-0.00536355980787,0.0698267933526,0.999999938663,0.000216050508671,-0.000275340364171,1.35796629677e-05,1793247540399052544
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3be20ebea06a41ffe2bf300392948bbe17ad0d9
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+2,0.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+3,0.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+4,0.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+5,0.083333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+6,0.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+7,0.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+8,0.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+9,0.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+10,0.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+11,0.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+12,0.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+13,0.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+14,0.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+15,0.250000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+16,0.266666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+17,0.283333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+18,0.300000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+19,0.316666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+21,0.350000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+26,0.433333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1f8ea823118efa6a5ef760507a513472abd3ae8
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
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+size 26114649
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..840acd5152b52d065bd145e495d9efca89c1bc49
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/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,765,745,715,679,658,634,877,784,808,651,629,652,0.40097473926,-0.00536564069739,0.069830106952,0.999999940429,0.000213209265708,-0.000271062826613,1.44774441261e-05,1793247540524266752
+1,0.016666667,BASELINE,765,745,715,679.623888539,658,634,877,784,808,651.623888539,628.376111461,652,0.400973838692,-0.00536513055518,0.0698302105591,0.999999940427,0.000213132775726,-0.000271151025525,1.40597446444e-05,1793247540540933376
+2,0.033333333,BASELINE,765.227227036,744.772772964,715,679.772772964,658,634,877,784,808,651.772772964,628.227227036,652,0.400973141155,-0.00536508208861,0.0698296553486,0.999999940251,0.000212860703444,-0.000272030951648,1.37057675333e-05,1793247540557600000
+3,0.050000000,BASELINE,765.799371826,744.200628174,715,679.200628174,658,634,877,784,808,651.200628174,628.799371826,652,0.400972751805,-0.00536573441939,0.0698281000902,0.999999939807,0.000212291748309,-0.000274112674791,1.3448517304e-05,1793247540574266624
+4,0.066666667,BASELINE,765.615847211,744.384152789,715,679,658,634,877,784,808,651.384152789,629,652,0.40097169095,-0.00536541687182,0.0698271976856,0.999999939401,0.000213187775609,-0.000274892320526,1.35148107243e-05,1793247540590932992
+5,0.083333333,BASELINE,765.024242438,744.975757562,715,679,658,634,877,784,808,651.975757562,629,652,0.400970267465,-0.00536457556597,0.0698266478383,0.999999939016,0.000214874929604,-0.000274968812211,1.37558257138e-05,1793247540607599616
+6,0.100000000,BASELINE,765,745,715,679,658.555557081,634,877,784.555557081,808,651.444442919,629,652,0.400971500022,-0.00536410002799,0.069827895927,0.999999939419,0.000214170664225,-0.000274065132714,1.34668793466e-05,1793247540624266496
+7,0.116666667,BASELINE,765,745,715,679,658.866622714,634,877.133377286,784.866622714,808,651,629,652,0.400972713259,-0.00536373846937,0.0698290632431,0.999999939738,0.00021390367977,-0.000273116513801,1.33043746787e-05,1793247540640933120
+8,0.133333333,BASELINE,765,745,715,679,658.293663467,634,877.706336533,784.293663467,808,651,629,652,0.400973488792,-0.00536370105292,0.0698297111595,0.99999993967,0.000215414643323,-0.000272157815293,1.36332246119e-05,1793247540657600000
+9,0.150000000,BASELINE,765,744.71793458,715,679,658,634,877.71793458,784,808,651,629,652,0.400973859932,-0.00536368125739,0.0698299030846,0.999999939808,0.000215341332316,-0.00027171246009,1.3581434722e-05,1793247540674266624
+10,0.166666667,BASELINE,765,744.139293611,715,679,658,634,877.139293611,784,808,651,629,652,0.400973805875,-0.00536367998925,0.069829615561,0.999999940161,0.000213602247737,-0.000271806855875,1.31294239546e-05,1793247540690932992
+11,0.183333333,BASELINE,765,744.447546544,715,679.447546544,658,634,877.447546544,784,808,651,629,652,0.400973556448,-0.00536427746429,0.0698294313213,0.999999940193,0.000212812532289,-0.000272304264013,1.32257759995e-05,1793247540707599872
+12,0.200000000,BASELINE,765,745,715,679.963641717,658,634,877.963641717,784,808,651,629,652,0.400973188487,-0.00536496588635,0.0698292331195,0.999999940048,0.000212616663713,-0.000272977225932,1.34863431755e-05,1793247540724266496
+13,0.216666667,BASELINE,765,745,715,679.38421003,658,634,877.38421003,784,808,651,629,652,0.40097197521,-0.00536417732743,0.069828337254,0.99999993877,0.000216795051734,-0.000274363864395,1.36028981966e-05,1793247540740933120
+14,0.233333333,BASELINE,765,745,715,679.193913921,658,634,877,784,808,651,629,652,0.400971695495,-0.0053635097018,0.0698280980307,0.999999938196,0.000218975657572,-0.000274718079675,1.37053573689e-05,1793247540757599744
+15,0.250000000,BASELINE,765,745,715,679.76946426,658,634,877,784,808,651,629,652,0.400973253098,-0.00536308008139,0.0698291511258,0.999999939036,0.000217224486443,-0.000273040412805,1.37800749272e-05,1793247540774266368
+16,0.266666667,BASELINE,765.350364318,745,715,680,658,634,877,784,808.350364318,651,628.649635682,652,0.400973577329,-0.00536295150526,0.0698298271477,0.99999993951,0.000216191210503,-0.000272130650355,1.36566825879e-05,1793247540790933248
+17,0.283333333,BASELINE,765.934838975,745,715,680,658,634,877,784,808.934838975,651,628.065161025,652,0.400973077433,-0.0053630240843,0.0698302512126,0.999999939741,0.000215637625888,-0.000271733994954,1.3400914962e-05,1793247540807599872
+18,0.300000000,BASELINE,765.48348161,745,715,679.48348161,658,634,877.51651839,784,808.48348161,651.51651839,628.51651839,652,0.400973603311,-0.00536457949497,0.0698302166112,0.999999940491,0.00021321354997,-0.000270878312365,1.35116792863e-05,1793247540824266496
+19,0.316666667,BASELINE,765,745,715,679,658,634,877.902752571,784,808,651.902752571,629,652,0.400974402932,-0.00536588463705,0.069830323429,0.999999941093,0.000211552591157,-0.000269949977348,1.36897571567e-05,1793247540840932864
+20,0.333333333,BASELINE,765,745,715,679,658,634,877.324986497,784,808,651.324986497,629,652,0.400975919187,-0.00536503380011,0.0698314133993,0.999999940662,0.000214822044803,-0.000268947248393,1.39731953942e-05,1793247540857599744
+21,0.350000000,BASELINE,765,745,715,679.251786406,658,634,877,784,808,651.251786406,629,652,0.400975006549,-0.00536414208436,0.0698306786412,0.999999939826,0.000216704355149,-0.000270539497436,1.39789549195e-05,1793247540874266368
+22,0.366666667,BASELINE,765,745,715,679.82728239,658,634,877,784,808,651.82728239,629,652,0.4009709712,-0.00536319781276,0.0698275979182,0.999999938464,0.000216803282326,-0.000275467984003,1.36277163603e-05,1793247540890932992
+23,0.383333333,BASELINE,765,745,715,679.588476054,658,634,877,784.411523946,808,651.588476054,629,652,0.400971774712,-0.00536305829267,0.0698281123663,0.999999938923,0.000216512110989,-0.000274041889588,1.33329216868e-05,1793247540907599616
+24,0.400000000,BASELINE,765,745,715,679.000484211,658,634,877,784.999515789,808,651.000484211,629,652,0.400974653203,-0.00536326386252,0.0698301684795,0.999999940155,0.000216053659322,-0.000269890852003,1.30623310031e-05,1793247540924266240
+25,0.416666667,BASELINE,765.578862595,745,715,679.578862595,658,634,877,784.421137405,808,651,629,652,0.40097344842,-0.00536261379239,0.0698297937836,0.999999939805,0.00021577963845,-0.000271404975448,1.29718801019e-05,1793247540940933120
+26,0.433333333,BASELINE,766,745,715,679.84265592,658,634,877.15734408,784,808,651,629,652,0.400972547032,-0.0053625227666,0.0698295423955,0.99999993951,0.000215676099001,-0.000272571261234,1.29872263175e-05,1793247540957599744
+27,0.450000000,BASELINE,766,745,715,679.266458842,658,634,877.733541158,784,808,651,629,652,0.400972462247,-0.00536392180481,0.0698296245882,0.999999939368,0.000216025979709,-0.000272799167504,1.32838112689e-05,1793247540974266368
+28,0.466666667,BASELINE,766,745,715,679.307710844,658.307710844,634,877.692289156,784,808,651.307710844,629,652,0.400972610299,-0.00536535752265,0.0698299279415,0.999999939785,0.000214429376614,-0.000272517891894,1.35368777351e-05,1793247540990932992
+29,0.483333333,BASELINE,766,745,715,679.880136387,658.880136387,634,877.119863613,784,808,651.880136387,629,652,0.400972958655,-0.00536682479482,0.069830421553,0.999999940674,0.000211158270025,-0.000271798581886,1.37525064946e-05,1793247541007599872
+30,0.500000000,BASELINE,765.531147076,745,715,679.531147076,658.531147076,634,877,784.468852924,808,651.531147076,629,652,0.400974058361,-0.0053657449498,0.0698309947855,0.999999940928,0.000212323826556,-0.000269956744848,1.36083520282e-05,1793247541024266496
+31,0.516666667,BASELINE,765.060246251,744.939753749,715,679,658,634,877.060246251,784.939753749,808.060246251,651.060246251,629,652,0.400974945092,-0.00536419553539,0.0698313978821,0.999999940909,0.000214377768826,-0.000268412344745,1.33973856315e-05,1793247541040933376
+32,0.533333333,BASELINE,765.637581047,744.362418953,715,679,658,634,877.637581047,784.362418953,808.637581047,651.637581047,629,652,0.400972295874,-0.00536440604057,0.0698301597189,0.999999940033,0.000213971076376,-0.000271972588035,1.34308496284e-05,1793247541057600000
+33,0.550000000,BASELINE,765.573089687,744.213455157,715,679.213455157,658,634,877.786544843,784,809,652,629,651.786544843,0.400970738142,-0.00536454804957,0.0698292122404,0.999999939519,0.000213556300482,-0.00027418319323,1.34042761371e-05,1793247541074266368
+34,0.566666667,BASELINE,764.426267978,744.786866011,715,679.786866011,658,634,877.213133989,784,809,652,629,651.213133989,0.400971021017,-0.00536457455143,0.0698287549521,0.99999993963,0.000213127893286,-0.000274117863723,1.32764596632e-05,1793247541090932992
+35,0.583333333,BASELINE,764.371150387,745,715,679.628849613,658,634,877,784,809,651.628849613,629,651.371150387,0.400971716613,-0.0053653013298,0.0698284642025,0.99999994015,0.0002113430414,-0.000273608614619,1.31688854366e-05,1793247541107599616
+36,0.600000000,BASELINE,764.96186742,745,715,679.03813258,658,634,877,784,809,651.03813258,629,651.96186742,0.400972656369,-0.00536644238058,0.0698282719744,0.999999940905,0.000208755738439,-0.000272836749762,1.30732861881e-05,1793247541124266496
+37,0.616666667,BASELINE,765,745,715,679.537603345,658,634,877.537603345,784,808.462396655,651.537603345,629,652,0.400973833818,-0.00536480918656,0.0698292016372,0.999999940685,0.000211658764072,-0.000271399945598,1.31225288125e-05,1793247541140933120
+38,0.633333333,BASELINE,765,745,715,679.88676749,658.11323251,634,877.88676749,784,808,651.88676749,629,652,0.400974400495,-0.00536361840657,0.0698299246668,0.999999940305,0.000214445503248,-0.00027060897035,1.32249997471e-05,1793247541157599744
+39,0.650000000,BASELINE,765,745,715,679.307321178,658.692678822,634,877.307321178,784,808,651.307321178,629,652,0.400972384894,-0.0053650374196,0.0698294781647,0.999999939581,0.000215193508559,-0.000272666001873,1.35054749749e-05,1793247541174266368
+40,0.666666667,BASELINE,765,745,715,679.269938995,658.730061005,634,877,784,808.269938995,651.269938995,629,652,0.4009717434,-0.00536529441876,0.0698295521208,0.99999993961,0.000214909885678,-0.000272782330497,1.35810266537e-05,1793247541190932992
+41,0.683333333,BASELINE,765,745,715,679.844730243,658.155269757,634,877,784,808.844730243,651.844730243,629,652,0.400972653736,-0.00536423911188,0.0698302138502,0.999999940486,0.000213461206257,-0.000270706950264,1.34251504492e-05,1793247541207600128
+42,0.700000000,BASELINE,765.432574302,745,715,679.567425698,658.432574302,634,877,784,809,651.567425698,629,652,0.400972857238,-0.00536489314903,0.0698301810219,0.999999940726,0.000212408215166,-0.000270649555979,1.34281782418e-05,1793247541224266752
+43,0.716666667,BASELINE,766,745,715,679.024655141,658.975344859,634,877.024655141,784,809,651,629,652,0.400972830049,-0.00536603554926,0.0698299209089,0.999999940717,0.000211660879385,-0.000271264600485,1.34828804165e-05,1793247541240933632
+44,0.733333333,BASELINE,766,745,715,679.603382513,658.396617487,634,877.603382513,784,809,651,629,652,0.400973497636,-0.00536393545111,0.0698303300187,0.999999940401,0.000214491372625,-0.000270206737566,1.33771750621e-05,1793247541257600512
+45,0.750000000,BASELINE,766,745,715,680,658,634,877.818784522,784,808.818784522,651.181215478,629,652,0.400973426387,-0.00536237371484,0.0698305103414,0.999999940141,0.00021620527478,-0.000269809122671,1.32641276985e-05,1793247541274267392
+46,0.766666667,BASELINE,766,745,715,680,658,634,877.242899563,784,808.242899563,651.757100437,629,652,0.400971746028,-0.00536198447807,0.069830192388,0.999999940017,0.000215487351063,-0.000270849463139,1.31350901754e-05,1793247541290934016
+47,0.783333333,BASELINE,766,745,715,679.662528718,658,634,877,784.337471282,808,652,629,652,0.400972483183,-0.00536230992551,0.0698302204431,0.99999994013,0.000215355620299,-0.000270539870376,1.30156981459e-05,1793247541307600384
+48,0.800000000,BASELINE,766,745,715,679.078885538,658,634,877,784.921114462,808,652,629,652,0.40097498382,-0.00536315670669,0.0698305008974,0.999999940417,0.000215651493941,-0.000269245555033,1.29033421075e-05,1793247541324266752
+49,0.816666667,BASELINE,766,745,715,679,658,634,877,785,808,651.512916754,629,652,0.400973865483,-0.00536398017169,0.069830126029,0.999999940382,0.000214681947392,-0.000270153218334,1.28334982501e-05,1793247541340933376
+50,0.833333333,BASELINE,765.946943069,745,715,679,658,634,877,784.946943069,808,651,629,652,0.400972456159,-0.00536479572938,0.0698297720533,0.999999940374,0.000213515796118,-0.000271107526849,1.28160762476e-05,1793247541357600256
+51,0.850000000,BASELINE,765.352746461,745,715,679,658,634,877,784.352746461,808,651,629,652,0.400973847564,-0.00536556780456,0.0698306757352,0.999999941175,0.000212361477094,-0.000269027680547,1.32655532032e-05,1793247541374267136
+52,0.866666667,BASELINE,765,745,715,679,658,634,877,784,808.234629116,651,629,652,0.400974146494,-0.00536542594457,0.0698308576807,0.999999941329,0.000212158817469,-0.000268609733551,1.339199099e-05,1793247541390934016
+53,0.883333333,BASELINE,765,745,715,679,658,634,877,784,808.812039478,651,629,652,0.400972849373,-0.00536394887159,0.0698299852059,0.999999940539,0.000213346484056,-0.000270619737326,1.30464848994e-05,1793247541407600896
+54,0.900000000,BASELINE,765,745,715,679.39828868,658,634,876.60171132,784.39828868,808.60171132,651.39828868,629,652,0.400972916738,-0.00536404294669,0.0698305144899,0.999999940761,0.000213375882761,-0.000269764189394,1.32346772888e-05,1793247541424267520
+55,0.916666667,BASELINE,765,745,715,679.988803763,658,634,876.011196237,784.988803763,808.011196237,651.988803763,629,652,0.400973642648,-0.00536489530637,0.0698317203058,0.99999994147,0.000212846265622,-0.000267525637757,1.36804490371e-05,1793247541440934400
+56,0.933333333,BASELINE,765,745,715,680,658,634,876.567324157,784.432675843,808,652,629,652,0.400973646296,-0.00536420927942,0.0698308425363,0.999999940502,0.000215601205933,-0.000268941596283,1.35128606693e-05,1793247541457600512
+57,0.950000000,BASELINE,765,744.855125536,715,680,658,634,877,784,808,652,629,651.855125536,0.400973338905,-0.00536365421194,0.0698302068836,0.99999993974,0.000217643896531,-0.000270135580992,1.33559223502e-05,1793247541474266624
+58,0.966666667,BASELINE,765,744.279769037,715,680,658,634,877,784,808,652,629,651.279769037,0.400972148768,-0.00536357662459,0.0698304103152,0.99999993971,0.000217381574819,-0.000270460121028,1.32658533204e-05,1793247541490933504
+59,0.983333333,BASELINE,765,744.295839766,715,680,658.295839766,634,877,784,808,651.704160234,629,651.295839766,0.400972746263,-0.00536363655689,0.0698310058382,0.99999994025,0.00021638412603,-0.000269258831302,1.33549658806e-05,1793247541507600384
+60,1.000000000,BASELINE,765,744.871687436,715,680,658.871687436,634,877,784,808,651.128312564,629,651.871687436,0.400975035724,-0.00536382664948,0.0698319724698,0.99999994132,0.000214690890445,-0.000266613366606,1.36136711205e-05,1793247541524267008
+61,1.016666667,BASELINE,765,744.543500591,715,679.543500591,659,634,877,784.456499409,808,651,629,651.543500591,0.400975146403,-0.00536420365615,0.0698321089948,0.999999941086,0.000215638624298,-0.00026672708487,1.35591121444e-05,1793247541540934400
+62,1.033333333,BASELINE,765,744.043519929,715,679.043519929,659,634,877,785,808,651,629,651.043519929,0.400974683815,-0.00536458331045,0.0698320009662,0.999999940531,0.000217141078332,-0.000267594115387,1.34253038832e-05,1793247541557601792
+63,1.050000000,BASELINE,765,744.626062234,715,679.626062234,659,634,877,785,808,651,629,651.626062234,0.400974857979,-0.00536433201055,0.0698318117604,0.999999940642,0.000216135802006,-0.000267993319845,1.34223689091e-05,1793247541574267648
+64,1.066666667,BASELINE,765,745,715,680,659,634,876.794891131,784.794891131,808,651,629,652,0.400974536921,-0.00536377343982,0.0698313512249,0.999999940525,0.000215794848741,-0.000268713978588,1.32158637213e-05,1793247541590933760
+65,1.083333333,BASELINE,765,745,715,680,659,634,876.222110755,784.222110755,808,651,629,652,0.400973328145,-0.00536266406537,0.0698304043127,0.99999994,0.00021664473951,-0.000270010865836,1.26444451702e-05,1793247541607600384
+66,1.100000000,BASELINE,765,745,715,680,658.64687771,634,876.35312229,784,808,651,629,652,0.40097341476,-0.00536361270889,0.0698304788473,0.999999940155,0.000215558952568,-0.000270296353316,1.28202090808e-05,1793247541624267008
+67,1.116666667,BASELINE,765,745,715,680,658.070091189,634,876.929908811,784,808,651,629,652,0.400974321864,-0.00536586488105,0.0698312003567,0.999999940738,0.00021324712612,-0.000269941229953,1.34692311313e-05,1793247541640933632
+68,1.133333333,BASELINE,765,745,715,679.481918107,658,634,877,784,808,651,629,652,0.400973977902,-0.00536579433915,0.0698307758837,0.999999940582,0.000213837695357,-0.000270048434823,1.35670439153e-05,1793247541657600512
+69,1.150000000,BASELINE,765,745,715,679,658,634,877.105644665,784,808,651,629,651.894355335,0.400973394408,-0.00536538309686,0.0698301620522,0.999999940341,0.00021456715389,-0.000270364990763,1.35000593541e-05,1793247541674266880
+70,1.166666667,BASELINE,765,745,715,679,658,634,877.683440138,784,808,651,629,651.316559862,0.400972513837,-0.00536488515496,0.0698294104125,0.99999994018,0.000214122994508,-0.000271331360796,1.30373305682e-05,1793247541690933248
+71,1.183333333,BASELINE,765,745,715,679,658,634,878,784,808,651,629,651.259971897,0.400972746797,-0.00536478921223,0.0698296409585,0.999999940392,0.000213863005415,-0.000270760565009,1.29496816226e-05,1793247541707600128
+72,1.200000000,BASELINE,765,745,715,679,658,634,878,784,808,651,629,651.834972389,0.400974329112,-0.00536518040373,0.0698310616966,0.999999941051,0.000213826190027,-0.000268327063438,1.33165466486e-05,1793247541724267520
+73,1.216666667,BASELINE,765,745,715,679,658,634,877.581288818,784.418711182,808,651.418711182,629,652,0.400974100735,-0.0053648962564,0.0698312050449,0.99999994098,0.000213866582591,-0.000268559500405,1.32985482497e-05,1793247541740934400
+74,1.233333333,BASELINE,765,745,715,679.005700206,658,634,877,784.994299794,808.005700206,651.994299794,629,652,0.400973175177,-0.00536434631814,0.0698308513971,0.999999940625,0.000213941893944,-0.000269827930485,1.31283557406e-05,1793247541757601280
+75,1.250000000,BASELINE,765,745,715,679.566662363,658,634,877,784.433337637,808.566662363,651.433337637,629,652,0.400975335781,-0.00536438622201,0.0698321727808,0.999999941158,0.000214391267473,-0.000267479005777,1.32237154669e-05,1793247541774267392
+76,1.266666667,BASELINE,765,745,715,680,658,634,877.136291854,784,808.863708146,651,629,652,0.400976286883,-0.00536449793879,0.069832603659,0.99999994141,0.000214337047615,-0.000266576986723,1.32757195617e-05,1793247541790933760
+77,1.283333333,BASELINE,765,745,715,680,658,634,877.735350464,784,808.264649536,651,629,652,0.400973131233,-0.00536485348985,0.0698300109059,0.999999940711,0.000212572921589,-0.000270587806086,1.31805134952e-05,1793247541807600384
+78,1.300000000,BASELINE,765,745,715,679.681263172,658,634,877.681263172,784,808,651,629,652,0.400972367445,-0.00536471660923,0.0698296504687,0.999999940475,0.000212934618458,-0.000271176051659,1.31497534662e-05,1793247541824267008
+79,1.316666667,BASELINE,765,745,715,679.110279767,658,634,877.110279767,784,808,651,629,652,0.400973496565,-0.00536419002084,0.0698310566741,0.99999994061,0.000214978679986,-0.000269055690922,1.31699956825e-05,1793247541840934144
+80,1.333333333,BASELINE,765,745,715,679,658,634,877,784,808,651,629,652,0.400973305126,-0.00536375153691,0.0698306761238,0.999999940152,0.00021600555218,-0.000269937031661,1.31033072665e-05,1793247541857600768
+81,1.350000000,BASELINE,765,745,715,679.069456086,658,634,877.069456086,784,808.069456086,651,629,652,0.400973032023,-0.00536334412621,0.0698300804659,0.999999939714,0.000216712091151,-0.000270992989046,1.3033058183e-05,1793247541874267648
+82,1.366666667,BASELINE,765,745,715,679.64900675,658,634,877.64900675,784,808.64900675,651,629,652,0.400974480682,-0.00536301003549,0.0698310461155,0.999999940475,0.000216854261865,-0.000268054413725,1.3089481688e-05,1793247541890933760
+83,1.383333333,BASELINE,765,745,715,679.772957591,658,634,877.772957591,784,808.772957591,651,629,652,0.400975112257,-0.00536359268222,0.0698316371776,0.999999941078,0.000215971276907,-0.000266506343654,1.32503807255e-05,1793247541907600128
+84,1.400000000,BASELINE,765,745,715,679.197248423,658,634,877.197248423,784,808.197248423,651,629,652,0.400974489044,-0.00536558315347,0.0698316529896,0.999999941444,0.00021351397065,-0.000267093658163,1.35717218033e-05,1793247541924266752
+85,1.416666667,BASELINE,765,745,715,679,658,634,877,784,808,651.385448474,629,651.614551526,0.400974271214,-0.00536577894063,0.0698317624604,0.999999941567,0.000212195793863,-0.000267684103139,1.35556088452e-05,1793247541940933376
+86,1.433333333,BASELINE,765,745,715,679,658,634,877,784,808,651.971787242,629,651.028212758,0.400974264664,-0.0053650393637,0.0698319207448,0.999999941565,0.000211471315398,-0.000268276179636,1.33636195957e-05,1793247541957600256
+87,1.450000000,BASELINE,765,744.445846396,715,679,658,634,877,784.554153604,808,652,629,651.554153604,0.400974369358,-0.00536474754782,0.0698314184334,0.999999941405,0.000211434838643,-0.000268914252226,1.30472884653e-05,1793247541974267392
+88,1.466666667,BASELINE,765,744.134534911,715,679.134534911,658,633.865465089,877,784.865465089,808,652,629,652,0.400974376624,-0.00536450927515,0.069831106249,0.999999941217,0.000211856019177,-0.000269288852646,1.29123167954e-05,1793247541990934528
+89,1.483333333,BASELINE,765,744.709080596,715,679.709080596,658,633.290919404,877,784.290919404,808,652,629,652,0.400974046857,-0.00536437209469,0.0698315251084,0.99999994096,0.000213660271999,-0.000268794134846,1.33910575671e-05,1793247542007601152
+90,1.500000000,BASELINE,765,745,715,679.715426043,658,633,877,784,808,651.715426043,629,651.715426043,0.40097363987,-0.0053644735226,0.0698312742477,0.999999940742,0.000214476860189,-0.000268945759808,1.3561501321e-05,1793247542024267520
+91,1.516666667,BASELINE,765,745,715,679.138960675,658,633,877,784,808,651.138960675,629,651.138960675,0.40097315368,-0.00536481969439,0.0698303364459,0.999999940567,0.000214280387099,-0.000269760347436,1.34157205643e-05,1793247542040933888
+92,1.533333333,BASELINE,765,744.55170867,715,679,658,633,877,784,808,651,629,651.44829133,0.400972466066,-0.00536446727153,0.0698299279915,0.999999940256,0.000215113668541,-0.00027024529392,1.34420199428e-05,1793247542057600256
+93,1.550000000,BASELINE,765,744.038168741,715,679,658,633.038168741,877.038168741,784,808,651,629,652,0.400971809944,-0.00536395390074,0.0698297464524,0.999999939933,0.000216206815492,-0.000270565909808,1.35157945273e-05,1793247542074267136
+94,1.566666667,BASELINE,765,744.616710224,715,679,658,633.616710224,877.616710224,784,808,651,629,652,0.400972505411,-0.00536430329233,0.0698303971381,0.999999940044,0.00021634849228,-0.000270042320453,1.34879034282e-05,1793247542090933760
+95,1.583333333,BASELINE,765,745,715,679,658.193341543,633.806658457,877.613316914,784,808,651,629,652,0.400972808155,-0.0053649836034,0.069830754902,0.999999940363,0.000215143384902,-0.000269826700626,1.34544547092e-05,1793247542107600384
+96,1.600000000,BASELINE,765,745,715,679,658.766223209,633.233776791,876.467553581,784,808,651,629,652,0.400972339963,-0.0053663135277,0.0698305376448,0.999999941079,0.000211294465885,-0.000270215641883,1.34100960702e-05,1793247542124267520
+97,1.616666667,BASELINE,765,745,715,679,658.660123645,633,876.339876355,784,808,651,629,652,0.40097313378,-0.00536596292565,0.0698309222735,0.999999941303,0.000211001801914,-0.000269627874443,1.31720326175e-05,1793247542140934656
+98,1.633333333,BASELINE,765,745,715,679,658.08593868,633,876.91406132,784,808,651,629,652,0.400974797617,-0.00536445377927,0.0698317218388,0.999999941189,0.000213160797913,-0.000268366770183,1.2800430294e-05,1793247542157601536
+99,1.650000000,BASELINE,765,745,715,679.505954504,658,633.505954504,877,784,808,651,628.494045496,652,0.400973744874,-0.00536498740188,0.0698309384048,0.999999940983,0.000212777026292,-0.000269425162397,1.30516919261e-05,1793247542174267904
+100,1.666666667,BASELINE,765,745,715,679.902323229,658,634,877,784,808,651,628.097676771,652,0.400972734071,-0.0053657590721,0.0698302510147,0.999999940953,0.000211919228853,-0.000270198342856,1.33354507488e-05,1793247542190934528
+101,1.683333333,BASELINE,765,745,715,679.326689157,658,634,877,784,808,651,628.673310843,652,0.400974268243,-0.00536593616087,0.0698313970067,0.999999941867,0.000210931953376,-0.000267578159053,1.32417623985e-05,1793247542207601152
+102,1.700000000,BASELINE,765,745,715,679,658,634,877,784,808,651,629,652,0.400974418165,-0.00536551955683,0.0698317784243,0.999999941946,0.000211178665337,-0.00026709118883,1.32077300669e-05,1793247542224267520
+103,1.716666667,BASELINE,765,745,715,679,658,634,877,784,808,651,629,652,0.400972751543,-0.00536432385278,0.0698311564948,0.999999940929,0.000213044732651,-0.000269403623864,1.32519840249e-05,1793247542240934144
+104,1.733333333,BASELINE,765.40943673,745,715,679,658,634,876.59056327,784,808,651.40943673,629,652,0.400972574973,-0.00536371461277,0.0698309270494,0.999999940537,0.000214288512214,-0.000269872140601,1.32816676841e-05,1793247542257600512
+105,1.750000000,BASELINE,765.999021708,745,715,679,658,634,876.000978292,784.000978292,808,652,629,652,0.400973062562,-0.0053633680258,0.0698308721977,0.999999940424,0.000215251838178,-0.000269520020285,1.33046617964e-05,1793247542274267392
+106,1.766666667,BASELINE,765.419828756,745,715,679,658,634,876.580171244,784.580171244,808,652,629,652,0.400974351081,-0.0053640747404,0.069830822665,0.999999940844,0.000214059266204,-0.000268916611953,1.3204489305e-05,1793247542290934272
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,809,651,629,652,0.400973592653,-0.00536433179715,0.0698316006212,0.999999941343,0.000212307318476,-0.000268438747345,1.33903401945e-05,1793247542332371712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.419866356,809,651,629,652,0.400973029335,-0.00536429843881,0.0698308421374,0.999999941122,0.00021194851596,-0.000269557134906,1.31470909047e-05,1793247542349038336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.164144434,808.835855566,651.164144434,629,652,0.400972734769,-0.00536450027549,0.0698302859304,0.999999940932,0.000211897543939,-0.000270306281324,1.29988223147e-05,1793247542365705216
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.758312657,808.241687343,651.758312657,629,652,0.400973144278,-0.00536531827354,0.0698302596459,0.99999994083,0.000212653022792,-0.00027008809409,1.30993830673e-05,1793247542382371584
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.658117137,744.658117137,715,679.658117137,658,634,877,784.658117137,808,651.658117137,629.341882863,652,0.400973839024,-0.00536517693408,0.0698309187124,0.999999940716,0.000214238822279,-0.000269245714514,1.32692537611e-05,1793247542399038208
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.08181376,744.08181376,715,679.08181376,658,634,877,784.08181376,808,651.08181376,629.91818624,652,0.40097472935,-0.00536437780086,0.0698320477071,0.99999994059,0.000216393951775,-0.0002679753419,1.34866485389e-05,1793247542415704832
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.494274218,744.494274218,715,679,658,634,877,784.494274218,808,651.494274218,629.505725782,652,0.400975712545,-0.00536374135041,0.0698328508729,0.999999940845,0.000216661653605,-0.000266806324898,1.34869459436e-05,1793247542432371712
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.071884505,745,715,679,658,634,877.071884505,784.928115495,808,651.928115495,629.071884505,652,0.400976380198,-0.00536330098348,0.0698333605567,0.999999941085,0.00021645007606,-0.000266078952021,1.34393384822e-05,1793247542449038592
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.660698157,745,715,679,658,634,877.660698157,784.339301843,808,651.339301843,629.660698157,652,0.400974668262,-0.00536407711816,0.0698321474438,0.99999994077,0.000215037563979,-0.000268406898773,1.33055390832e-05,1793247542465705216
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.508848291,744.754424145,715,679.245575855,658,633.754424145,877.754424145,784.245575855,807.754424145,651.245575855,629.754424145,651.754424145,0.400975828892,-0.00536460605578,0.069832334488,0.999999940825,0.000214498321587,-0.000268631369876,1.33307419495e-05,1793247542482371840
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.349797705,744.174898852,715,679.825101148,658,633.174898852,877.174898852,784.825101148,807.174898852,651.825101148,629.174898852,651.174898852,0.400980895815,-0.00536479883929,0.0698344255538,0.999999941387,0.000215146606166,-0.00026599540277,1.35721660722e-05,1793247542499038208
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.80303855,744.401519275,715,679.598480725,658,633.401519275,877.401519275,785,807.80303855,652,629,651.401519275,0.401001139956,-0.00536491923619,0.0698434915756,0.999999945282,0.000215034285865,-0.00025100860941,1.38089068128e-05,1793247542515704576
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.953188772,744.976594386,715,679.023405614,658,633.976594386,877.976594386,785,808.953188772,652,629,651.976594386,0.401027944418,-0.00536500834414,0.0698555725072,0.999999950269,0.000214593195733,-0.000230683197855,1.40436231874e-05,1793247542532371200
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.437313551,745,715,679.562686449,658.562686449,634,878,784.437313551,809,651.437313551,629,651.437313551,0.401081640789,-0.00536692428854,0.069873561378,0.999999957541,0.000212445010033,-0.000198932360161,1.45041187036e-05,1793247542549038080
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.852687147,634,877.852687147,784,809,651.147312853,629,651.147312853,0.401138606279,-0.00536896679001,0.0698899229847,0.99999996283,0.000210709969202,-0.000172395649172,1.48854290104e-05,1793247542565704704
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.273724808,634,877.273724808,784,809,651.726275192,629,651.726275192,0.401201807672,-0.00537115301634,0.0699007820007,0.999999964541,0.000210397728414,-0.000162557508597,1.50066462736e-05,1793247542582371584
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,809,652,629,651.695818746,0.40127256779,-0.00537249154826,0.0699067827264,0.999999965922,0.000209683327438,-0.000154889084968,1.40532025297e-05,1793247542599038208
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,809,652,629,651.118859945,0.401350106266,-0.00537306990171,0.0699084267316,0.999999967042,0.000208608285364,-0.000149166377055,1.21360458963e-05,1793247542615705088
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.542712864,658,634,877,784,808.542712864,651.542712864,629,651.457287136,0.401439425052,-0.00537387464677,0.0699060131364,0.999999966662,0.000207353223319,-0.000153576389283,9.7601493728e-06,1793247542632371712
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.966023101,877,784,808.033976899,651,629,651.966023101,0.401533546137,-0.00537485852564,0.069902743012,0.999999965914,0.000205939163352,-0.000160334788741,7.27031048896e-06,1793247542649038336
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.377028062,877,784,808.622971938,651,629,651.377028062,0.401656184174,-0.00537780905087,0.0699026789915,0.999999966242,0.00020269083932,-0.000162508169809,4.86351761617e-06,1793247542665704960
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.208314745,877.208314745,784,808.791685255,651,629,651.208314745,0.401792257424,-0.00538061866308,0.0699046047184,0.999999967201,0.00019983004526,-0.000160194310679,2.16318514428e-06,1793247542682371584
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.787161222,877.787161222,784,808.212838778,651,629,651.787161222,0.401952228023,-0.00538317763143,0.0699100696309,0.99999996923,0.00019765855537,-0.000149898947731,-1.05926918977e-06,1793247542699037952
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.362104523,658,634,877.637895477,784,808,651,629,652,0.402130893365,-0.0053865039352,0.0699151978378,0.999999971653,0.000192202483594,-0.00014045476626,-4.93685223178e-06,1793247542715704832
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.934778125,658,634,877.065221875,784,808,651,629,652,0.402320429988,-0.00539027645599,0.0699201302461,0.999999974229,0.000184836379173,-0.000131505558287,-9.19540250803e-06,1793247542732371712
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.490102107,658,634,877,784,808,651.509897893,629,652,0.402533860636,-0.00539496346738,0.0699215184317,0.999999976006,0.000176141472558,-0.000129540294364,-1.34909217108e-05,1793247542749038336
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.087994779,634,877,784,808.087994779,652,629,652,0.40275816979,-0.00539953801495,0.0699229181914,0.999999977707,0.000167627556272,-0.000127129980727,-1.80386669873e-05,1793247542765704448
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.681385133,634,877,784,808.681385133,652,629,652,0.403027320904,-0.00540279155612,0.0699270007657,0.999999979884,0.000161134068988,-0.00011700799997,-2.40077770629e-05,1793247542782371072
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.26723604,658.73276396,634,877,784,809,651.73276396,629,652,0.403316139799,-0.00540673857616,0.0699342060921,0.999999982435,0.000154482672349,-0.000101928243272,-2.96041766424e-05,1793247542799037696
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.844344576,658.155655424,634,877,784,809,651.155655424,629,652,0.403627764377,-0.0054114897167,0.0699450323933,0.999999985207,0.000147648172897,-8.10997176034e-05,-3.47684008705e-05,1793247542815704320
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.57960005,715,680,658,634,877,784,808.57960005,651,629,652,0.40395579076,-0.0054157516236,0.0699482896142,0.999999986778,0.000137668067887,-7.66713101373e-05,-4.01652500018e-05,1793247542832370688
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.003933655,715,680,658,634,877,784,808.003933655,651,629,652,0.40428987482,-0.00541983284158,0.069948751344,0.999999987888,0.000126526195535,-7.82999639583e-05,-4.56480144465e-05,1793247542849037312
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.58424046,715,680,658.58424046,634,877.58424046,784,808.58424046,651.58424046,629,652.58424046,0.404663598045,-0.00542794781124,0.0699546432328,0.999999995814,2.50803555322e-05,-7.12139079187e-05,-5.16952510256e-05,1793247542865704192
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.830171093,634,877.830171093,784,809,651.830171093,629,652.830171093,0.405054872013,-0.00543523111399,0.0699605150476,0.999999996544,-2.04416588848e-05,-6.32863805996e-05,-4.98862477726e-05,1793247542882371072
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.251022097,634,877.251022097,784,809,651.251022097,629,652.251022097,0.405487789246,-0.00544044304908,0.0699662484329,0.999999995673,7.03209205909e-05,-5.34752622585e-05,-2.91328460585e-05,1793247542899037440
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.673113782,658.326886218,633.673113782,877,784,809,651,629,652,0.405928544675,-0.0054414560405,0.0699628472991,0.99999999238,0.000106560447747,-5.6980008381e-05,-2.52533444973e-05,1793247542915704064
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.096154547,658.903845453,633.096154547,877,784,809,651,629,652,0.406375296491,-0.00543925677556,0.0699524581174,0.999999991806,0.000101089005884,-7.06715961472e-05,-3.42826356785e-05,1793247542932370688
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.47622957,658.52377043,633.47622957,877,784,809,651,629,652,0.40684885945,-0.00544870905205,0.0699360860186,0.999999992112,7.07631867331e-05,-9.67947179025e-05,-3.74094203211e-05,1793247542949037568
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.049508459,745,715,680,658.049508459,634,877.049508459,784,809.049508459,651,629,652,0.407334466826,-0.00546151875725,0.0699202848983,0.999999991127,3.69117540609e-05,-0.000121909567424,-3.90020215093e-05,1793247542965704448
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.642660134,745,715,680,658.642660134,634,877.642660134,784,809.642660134,651,629,652,0.40789345434,-0.00548560879047,0.0699238921632,0.999999993244,1.89268233898e-05,-0.000108652929106,-3.67100452668e-05,1793247542982371072
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.770116892,744.770116892,715,680,659,634,877.770116892,784,809.770116892,651,629,652,0.40848620384,-0.00550918071626,0.0699336899113,0.999999995698,-7.11186869566e-06,-8.53102462005e-05,-3.57288342715e-05,1793247542999038208
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.191878071,744.191878071,715,680,659,634,877.191878071,784,809.191878071,651,629,652,0.409130114877,-0.00553196752124,0.0699528684711,0.999999997207,-4.5354909199e-05,-4.66835734257e-05,-3.67339048484e-05,1793247543015705600
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.386884363,715,680,659,633.613115637,877,784,809,651,629,652,0.409754138034,-0.00553589859739,0.0699543168799,0.999999997338,-4.8322090769e-05,-3.94047022227e-05,-3.78874434269e-05,1793247543032372224
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.965906822,715,680,659,633.034093178,877,784,809,651,629,652,0.410368284268,-0.00553046536618,0.0699469599765,0.999999997527,-3.37702474686e-05,-4.76940677429e-05,-3.9114715557e-05,1793247543049038336
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.537850303,745,715,680,659,633.537850303,877,784,809,651,629,652,0.411018373036,-0.00554170721022,0.0699405560319,0.999999995845,-5.30756271184e-05,-6.25254530339e-05,-3.98009357939e-05,1793247543065704704
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.886946084,744.886946084,715,680,659.113053916,634,877,784,809,651,629,652,0.411686690183,-0.00555346010109,0.0699405711546,0.999999994383,-7.2561637289e-05,-6.58358707361e-05,-4.04349005964e-05,1793247543082371584
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.296092532,744.296092532,715,680,659.703907468,634,877,784,809,651,629,652,0.412422541951,-0.00556296367051,0.0699674631973,0.999999995468,-8.38586528162e-05,-1.87254184824e-05,-4.09910808996e-05,1793247543099039232
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.289559578,715,680,660,633.710440422,877.289559578,784,809,651,629,652,0.413188739566,-0.00556480723588,0.0699936192229,0.999999995339,-8.51710994044e-05,2.18915079576e-05,-3.98512880606e-05,1793247543115705856
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.86998682,715,680,660,633.13001318,877.86998682,784,809,651,629,652,0.413985420202,-0.00555895619427,0.0700190359096,0.999999994825,-7.64538731851e-05,5.59855797111e-05,-3.7007860621e-05,1793247543132371712
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878,784,809.446493755,651,629,652,0.414726637428,-0.00553028262302,0.0700002192604,0.999999998105,-4.31656814259e-05,1.88597479564e-05,-3.96459880891e-05,1793247543149038592
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.02229176,745,715,680,659.97770824,633,878,784,810,651,629,652,0.415452959767,-0.00549624498212,0.0699682051485,0.999999998263,-4.39797826261e-06,-3.91405628007e-05,-4.38436027386e-05,1793247543165705472
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.608788634,745,715,680,659.391211366,633,878,784,810,651,629,652,0.416207498059,-0.00549317948251,0.0699253229571,0.999999993324,-6.4543105156e-06,-0.00010515589413,-4.74647217956e-05,1793247543182372352
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.80601937,745,715,680,659.19398063,633,878,784,810,651,629.19398063,652,0.417006679851,-0.00549724895827,0.0699059854799,0.999999989602,-1.41084344337e-05,-0.000134770134487,-4.93373599044e-05,1793247543199038976
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.223441445,745,715,680,659.776558555,633,878,784,810,651,629.776558555,652,0.417895294974,-0.00551561177952,0.0699338146338,0.999999994136,-3.29764959705e-05,-9.14628354264e-05,-4.77073031485e-05,1793247543215705088
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.35371868,878,784,810.35371868,651,630,652.35371868,0.418792613503,-0.00552474361022,0.0699610470928,0.999999996509,-4.52652571671e-05,-5.22689179705e-05,-4.69194572698e-05,1793247543232371456
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.927508029,878,784,810.927508029,651,630,652.927508029,0.419695346934,-0.00552813225961,0.0699879083093,0.99999999736,-5.3460620521e-05,-1.56341959101e-05,-4.66556038754e-05,1793247543249038080
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.495841746,715,680,660,634,878,784,810.495841746,651,629.495841746,652.495841746,0.420617695982,-0.00553528166633,0.0700127981886,0.999999996718,-6.22214731262e-05,2.47916601313e-05,-4.55757807735e-05,1793247543265704704
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.082600182,744.082600182,715,680,660.082600182,634,878,784,810,651,629,652.082600182,0.421533280294,-0.00554048014973,0.0700315935959,0.999999995077,-6.89197411525e-05,5.54778534288e-05,-4.4917838529e-05,1793247543282371840
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.6694542,744.6694542,715,680,660.6694542,634,878,784,810,651,629,652.6694542,0.422390250488,-0.00553044872277,0.070014924036,0.999999996642,-6.2527219183e-05,2.33589640777e-05,-4.75557148546e-05,1793247543299041280
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.746193614,680.253806386,660.746193614,633.746193614,878,784,810.253806386,651,629.253806386,652.746193614,0.423232261226,-0.00552001670828,0.0699653535598,0.99999999555,-5.45382506557e-05,-5.66837552616e-05,-5.20793233013e-05,1793247543315708672
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.165067815,680.834932185,660.165067815,633.165067815,878,784,810.834932185,651,629.834932185,652.165067815,0.424054979737,-0.00550906807787,0.0698733526728,0.99999997756,-4.44904357045e-05,-0.000198531070073,-5.90348510673e-05,1793247543332373248
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.588157931,745,714.411842069,680.588157931,660.411842069,633.411842069,878,784,811,651.411842069,629.588157931,652.411842069,0.424997070001,-0.00551357084278,0.0698581795491,0.999999974223,-5.09005320539e-05,-0.0002127560381,-6.08149653218e-05,1793247543349038592
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.012920714,745,714.987079286,680.012920714,660.987079286,633.987079286,878,784,811,651.987079286,629.012920714,652.987079286,0.425986520033,-0.00552420382968,0.0698734872505,0.99999998058,-6.38401778986e-05,-0.00017634782175,-6.05417742035e-05,1793247543365704704
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.437258069,633.437258069,878.562741931,784,811,652,629.562741931,653,0.426970394014,-0.0055300996512,0.0699362578002,0.999999991835,-6.70538817241e-05,-9.3248465332e-05,-5.60179146278e-05,1793247543382371328
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879,784,811,651.858310898,630,653,0.427950727149,-0.00553384802296,0.069993534312,0.999999996081,-6.97783499573e-05,-1.50270246466e-05,-5.23739850016e-05,1793247543399037952
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,879,784,811,651.269018659,630,653,0.428920279266,-0.00553115634992,0.0700300096591,0.999999995104,-7.16632815324e-05,4.43956264471e-05,-5.18183462121e-05,1793247543415704576
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.315173923,660,633,878.684826077,784,811,651,630,653,0.429877725362,-0.00552931430576,0.0700410562859,0.999999994156,-6.98007532451e-05,6.37616415299e-05,-5.24382110419e-05,1793247543432371200
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.895082943,660,633,878.104917057,784,811,651,630,653,0.430825002775,-0.00552818592034,0.0700307436733,0.999999995216,-6.4790489504e-05,4.94814774197e-05,-5.40454580185e-05,1793247543449037312
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,878.469761809,784,811,651,630,652.530238191,0.431671855067,-0.00552723630117,0.0699508422476,0.999999992438,-6.57685699442e-05,-8.66401215273e-05,-5.73796020014e-05,1793247543465703680
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715.044393602,681,660,633,879,784,811,651.044393602,630,652.044393602,0.432506465054,-0.00552670404207,0.069864817821,0.999999968711,-6.82763522891e-05,-0.000232842276224,-6.08348542861e-05,1793247543482370560
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715.632599788,681,660,633,879,784,811,651.632599788,630,652.632599788,0.433462834473,-0.00553080066159,0.0698920783465,0.999999980506,-7.33196868992e-05,-0.000172855814491,-6.11011087045e-05,1793247543499037184
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715.782384585,681,660,633,879.217615415,784,811,651.782384585,630,653,0.434426074405,-0.00553468426802,0.0699322947183,0.99999999038,-7.71717843548e-05,-9.84280942467e-05,-5.99721192896e-05,1793247543515703808
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715.202677655,681,660,633,879.797322345,784,811,651.202677655,630,653,0.435400746376,-0.0055382134414,0.0699940684005,0.999999995279,-7.90417762529e-05,2.85270618567e-08,-5.65215757316e-05,1793247543532370432
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.378492222,745,715,681,660.378492222,633,879.621507778,784,811.378492222,651,630,653,0.436342851728,-0.00554248907292,0.0700216725726,0.999999993935,-8.22766101175e-05,4.75897542416e-05,-5.56450126208e-05,1793247543549037056
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.960448493,745,715,681,660.960448493,633,879.039551507,784,811.960448493,651,630,653,0.437267450357,-0.00554716597377,0.0700309084195,0.999999992407,-8.62451349497e-05,6.77914096454e-05,-5.61521308536e-05,1793247543565703936
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.469095529,745,715,681,660.469095529,633,879,784,812,651,630,653,0.438140354308,-0.00554847760998,0.0699968606644,0.999999993727,-9.08320843812e-05,2.96200826633e-05,-5.84675635521e-05,1793247543582370560
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.104106903,745,715,681,660.104106903,633,879,784,812.104106903,651,630.104106903,653,0.438984994477,-0.00554765332165,0.069953722945,0.999999993483,-9.24984973025e-05,-2.77849348507e-05,-6.08743933928e-05,1793247543599037184
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.69403927,745,715,681,660.69403927,633,879,784,812.69403927,651,630.69403927,653,0.439715329622,-0.00553800666634,0.0698828946585,0.999999982758,-8.03254893109e-05,-0.000155082591148,-6.30923983414e-05,1793247543615703808
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.721279778,745,714.721279778,681,660.721279778,633,878.721279778,784,812.721279778,651,631,653,0.440506232525,-0.00553489501571,0.0698520810703,0.999999973713,-7.61650889563e-05,-0.000206429886689,-6.44924430946e-05,1793247543632370688
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.496266522,715,682.496266522,658,630,879,782,814,651,630,653,0.456485571861,-0.00558056112693,0.0697274228987,0.999999899181,-0.000123872314984,-0.000428339246823,-5.30975413151e-05,1793247544615704576
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.920304746,745.079695254,715,682,658,630,879,782,813.920304746,651,630,652.920304746,0.456487470259,-0.00558129059091,0.069728160216,0.999999899819,-0.000124842265237,-0.000426617745841,-5.26695853486e-05,1793247544632371712
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.330769717,745.669230283,715,682,658,630,879,782,813.330769717,651,630,652.330769717,0.456487186556,-0.00557963055715,0.0697272642402,0.999999899416,-0.000125641896616,-0.000427261131193,-5.32062529243e-05,1793247544649038336
+247,4.116666667,HOLD_POSE2,766,745,715,682,658,630,879,781,814,651,630,653,0.456485105267,-0.00558029886032,0.0697246169586,0.999999897996,-0.000123293277536,-0.000431323758703,-5.26034321394e-05,1793247544687188224
+248,4.133333333,HOLD_POSE2,766,745,714.425046419,682,658,630,879,781.574953581,814,651,630,653,0.456485797866,-0.00557911782203,0.0697257866609,0.999999898729,-0.000122662034959,-0.000429787927347,-5.27056402812e-05,1793247544703854848
+249,4.150000000,HOLD_POSE2,765.850207812,745.149792188,714,682.149792188,658,630,879,782,814,651,630,653,0.456486396661,-0.00557823493485,0.0697266307181,0.999999899293,-0.000121862858031,-0.000428694337652,-5.27658321331e-05,1793247544720521472
+250,4.166666667,HOLD_POSE2,765.275695068,745.724304932,714,682.724304932,658,630,879,782,814,651,630,653,0.456486729487,-0.00557819742465,0.0697265514423,0.999999899382,-0.000120587520138,-0.000428854678984,-5.27068910797e-05,1793247544737188096
+251,4.183333333,HOLD_POSE2,765.308185039,745.691814961,714,683,658,630,879.308185039,782,814,651,630,653,0.456486552402,-0.00557861210532,0.0697260068734,0.999999899126,-0.000120394288386,-0.000429508937467,-5.26838024199e-05,1793247544753854976
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+253,4.216666667,HOLD_POSE2,766,745,714.482056353,682.517943647,658,630,879.517943647,782,813.517943647,651.482056353,630,653,0.456485639801,-0.00557938986576,0.0697252429644,0.999999898501,-0.000121719877982,-0.00043062163557,-5.24055022377e-05,1793247544787188736
+254,4.233333333,HOLD_POSE2,766,745,715,682,658,630,879,782,813.060464207,652,630,652.939535793,0.456485560006,-0.00557913808589,0.0697256889755,0.999999898585,-0.000122213771138,-0.000430323513571,-5.21121104709e-05,1793247544803855360
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+256,4.266666667,HOLD_POSE2,765.794044791,745,715,682,658,630,879.205955209,782,814,651.794044791,630,652.205955209,0.456486969659,-0.00557776456022,0.0697262870338,0.999999899065,-0.000122888348297,-0.000428956266717,-5.25878885662e-05,1793247544837188608
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+259,4.316666667,HOLD_POSE2,765.962947021,745,715,682,657.037052979,630,880,781.037052979,814,651.962947021,630,653,0.456488282428,-0.00557419019485,0.069727331076,0.999999899951,-0.000118646032138,-0.000428066992259,-5.27172440312e-05,1793247544887187968
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+262,4.366666667,HOLD_POSE2,766,745,714.690296546,682.690296546,657.690296546,630,880,781.309703454,813.690296546,651,630,653,0.456488328415,-0.00557499807303,0.069727001832,0.999999899612,-0.000118569475809,-0.000428917297693,-5.24177537952e-05,1793247544937188352
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.57682379,745.42317621,715,683,657.42317621,630,879.57682379,782,813.57682379,651,630.57682379,653,0.456487533541,-0.0055764333468,0.0697246769638,0.999999898526,-0.000118358560586,-0.000431583438143,-5.1719602895e-05,1793247545019882752
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.724575052,715,682.275424948,657.724575052,630,880,782,813.275424948,651,630.275424948,653,0.456489246476,-0.00557621223031,0.0697266600071,0.999999899406,-0.000119418186591,-0.000429249389317,-5.16970989271e-05,1793247545053216512
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.692052825,715,682,657.692052825,630,879.692052825,782,813.307947175,651.307947175,630,652.692052825,0.456488499628,-0.00557507928678,0.0697260712747,0.99999989902,-0.00011921191673,-0.000430163914615,-5.20251605925e-05,1793247545069883136
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.48188596,715,682,657,630,879,782,813.51811404,652,630,652.48188596,0.456487009501,-0.00557413982771,0.0697247137404,0.999999898362,-0.000117460803533,-0.000432155322008,-5.21607379004e-05,1793247545103216384
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.940822189,745.940822189,715,682,657.059177811,630,879,782,813,651.940822189,630,653,0.456487700385,-0.00557519333217,0.0697257638336,0.999999898758,-0.000118570147859,-0.000430969797937,-5.18667360428e-05,1793247545119883008
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,630,879.215131144,781.784868856,813.215131144,651,630,653,0.456477181431,-0.00557656139568,0.0697187255765,0.999999894231,-0.00011969699155,-0.000440990368636,-5.23250205705e-05,1793247545153216256
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,658,630,879.803063043,781.196936957,813.803063043,651,630,653,0.456462541764,-0.00557492286465,0.0697126108399,0.999999890063,-0.000118107812682,-0.000450710231955,-5.27641520962e-05,1793247545169882624
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.385515968,745,715,682,657.614484032,630.385515968,879.614484032,781.385515968,813.614484032,651,630,653,0.456431534276,-0.00557379840491,0.0696995134967,0.999999880548,-0.000117652889067,-0.000471437342534,-5.2999889329e-05,1793247545186549248
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.540100345,715,682,657,630.459899655,879,782,813,651,630,653,0.456335471833,-0.00557039980773,0.069663683114,0.999999854858,-0.000117311428857,-0.000523033485963,-5.43843172308e-05,1793247545219882496
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.135788688,657.864211312,630,879,781,813.135788688,652,630,653,0.45604090182,-0.00556494573031,0.0696303812801,0.999999831878,-0.000112665839149,-0.000566469525621,-5.1601785513e-05,1793247545286548736
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630.075033996,879,782,812,651,630,652.075033996,0.454557295556,-0.00552628484638,0.0696300630302,0.999999833969,-6.88741901699e-05,-0.000571440527295,-2.78386141033e-05,1793247545436548608
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.624040544,659,632,879,783.624040544,811.375959456,651,630,653,0.449379877066,-0.00545574445992,0.0697315846256,0.999999907542,6.28459476814e-05,-0.000425258281032,1.10565900568e-05,1793247545653214976
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.203596133,682.796403867,659.203596133,632,879,784,811.203596133,651,630,652.796403867,0.448844681573,-0.00545654267588,0.0697575920928,0.99999992591,4.31953502252e-05,-0.000382500630914,2.72793349637e-06,1793247545669881856
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.949529705,745,715,682,659.050470295,632.949529705,879,783.050470295,812,651,630,652.949529705,0.446949624594,-0.00541458837233,0.0697674063328,0.999999924881,0.000126315613555,-0.000366091576505,1.60885822137e-05,1793247545719881984
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.730566975,745,715,680,658,634,877,784.269433025,809,651,629,652,0.404827770165,-0.00538496659172,0.0698145927373,0.999999935243,0.000186154837043,-0.00030697786813,2.49929374362e-05,1793247546619883008
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.1415043,745,715,680,658,634,877,784.8584957,809,651,629,652,0.40447195322,-0.00538597623823,0.0698328478793,0.999999944426,0.000189237523824,-0.000273140675411,2.70277084969e-05,1793247546636549632
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.559840326,808.559840326,651.440159674,629,652,0.404131385959,-0.00538626549247,0.0698414738819,0.999999947314,0.00019848018586,-0.000255441910102,2.69626808433e-05,1793247546653216000
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.019420262,745,715,680,658,634,877,784.019420262,808.019420262,651.980579738,629,652,0.403796281604,-0.00538609965949,0.0698464503674,0.999999948041,0.000209018642197,-0.000244019275745,2.61581408422e-05,1793247546669882624
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.596838145,745,715,680,658,634,877,784.596838145,808.596838145,651.403161855,629,652,0.403479606858,-0.00537940226257,0.0698340413222,0.999999944102,0.000200829040271,-0.000266318910987,2.31808274133e-05,1793247546686548992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.823616486,745,715,680,658,634,876.823616486,784.823616486,808.823616486,651,629,652,0.403174786979,-0.00537514637637,0.069823214164,0.99999993983,0.000194171034523,-0.000286681636242,2.12654839817e-05,1793247546703215616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.239149008,745,715,680,658,634,876.239149008,784.239149008,808.239149008,651,629,652,0.402897394766,-0.00537653921272,0.0698160468885,0.999999935739,0.000191056557632,-0.000302563090053,2.1807133225e-05,1793247546719882240
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,876.342286159,784,808,651,629,652,0.402647296111,-0.00537439454644,0.0698096106006,0.999999931775,0.000195146912468,-0.000312827088656,2.25199340943e-05,1793247546736548864
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,876.92162137,784,808,651,629,652,0.402416099483,-0.00536979999554,0.0698036805549,0.999999927928,0.000204226947352,-0.000319200740435,2.33512654636e-05,1793247546753215488
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.503004957,658,634,877,784.496995043,808,651,629,652,0.402215526676,-0.00536962058388,0.0698012947683,0.999999925683,0.000205209193239,-0.000325406542844,2.51826556182e-05,1793247546769882112
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784.927951952,808,651.072048048,628.927951952,652,0.402024433404,-0.00536985460251,0.0697997090247,0.999999923874,0.000205324192228,-0.000330693656973,2.71295164236e-05,1793247546786548992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784.350801473,808,651.649198527,628.350801473,652,0.40186620725,-0.00536814419946,0.0697998444992,0.999999923544,0.000208241456221,-0.000329724296417,2.87889669292e-05,1793247546803216640
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.230929351,745,715,679,658,634.230929351,877.230929351,784,808,652,628.230929351,652,0.401718898405,-0.00536543112442,0.0697988997996,0.999999922278,0.000214786996423,-0.000329258137697,3.00063417137e-05,1793247546819884032
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.819758875,745,715,679,658,634.819758875,877.819758875,784,808,652,628.819758875,652,0.401588509495,-0.00536116408294,0.0697962810187,0.99999991947,0.00022695573106,-0.000329571853997,3.05385762144e-05,1793247546836550400
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.597747782,745.402252218,715,679,658,634.597747782,877.597747782,784,808.402252218,651.597747782,628.597747782,652,0.401479290217,-0.00536140995551,0.0697969613861,0.999999912087,0.000261430700639,-0.00032635336638,3.12078037872e-05,1793247546853217024
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.018049542,745.981950458,715,679,658,634.018049542,877.018049542,784,808.981950458,651.018049542,628.018049542,652,0.401379409528,-0.00536364661558,0.069799097111,0.999999901044,0.000305745646668,-0.000321576712709,3.19374632192e-05,1793247546869883392
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.866705028,745,714.133294972,680,658.866705028,634,877,784.133294972,809,651.133294972,629,652,0.401221046472,-0.00536365061918,0.06979564878,0.999999925659,0.000203703959349,-0.0003273629321,4.3991462538e-06,1793247546903215872
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.118028428,808.118028428,652,629,652,0.401078296338,-0.00536452539202,0.0698030969782,0.999999929838,0.000204420996555,-0.000313780060043,8.81384498364e-06,1793247546953215744
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.463505649,634,877,784,808,652,629,652,0.40105078917,-0.00536607905354,0.0698064672899,0.999999931716,0.000203840476647,-0.000308083344082,1.0133335218e-05,1793247546969882624
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.957649715,715,679.957649715,658.957649715,634,877,784,808,651.957649715,629,652,0.401026599857,-0.00536938896983,0.0698101231446,0.999999933866,0.000201202077073,-0.000302738856841,1.16492101635e-05,1793247546986548992
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.383445606,715,679.383445606,658.383445606,634,877,784,808,651.383445606,629,652,0.40101070678,-0.00536787720156,0.0698135888462,0.99999993475,0.000203585749913,-0.000298163614203,1.22774233633e-05,1793247547003215616
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.195291293,744.195291293,715,679,658,633.804708707,877,784,808,651,629,652,0.400996969431,-0.00536682498709,0.0698161998267,0.999999935331,0.000205793960058,-0.000294658827351,1.27957819487e-05,1793247547019882240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.783139566,744.783139566,715,679,658,633.216860434,877,784,808,651,629,652,0.400987565334,-0.00536669652642,0.0698170927232,0.999999935341,0.000207649470749,-0.000293305774664,1.30933206378e-05,1793247547036548608
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.632247525,745,715,679,658,633.367752475,877,784,808,651,629,652,0.400982104093,-0.0053676312672,0.0698170617488,0.999999936111,0.000206238304954,-0.000291672252722,1.30411437084e-05,1793247547053215232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.049525863,745,715,679,658,633.950474137,877,784,808,651,629,652,0.400978947644,-0.00536918750088,0.0698164907269,0.999999937317,0.000202917607995,-0.000289874782921,1.27845410005e-05,1793247547069882112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.525764417,745,715,679,658.525764417,634,877.525764417,784,808,651,629,652,0.400977572972,-0.00536821621915,0.0698194132034,0.99999993793,0.000205407711455,-0.000285973244822,1.29454235453e-05,1793247547086548992
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.899301635,745,715,679,658.899301635,634,877.899301635,784,808,651,629,652,0.400976174565,-0.00536722827563,0.0698218975915,0.999999938327,0.000207717713228,-0.000282890776032,1.30830234866e-05,1793247547103215360
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.322789985,745,715,679,658.322789985,634,877.322789985,784,808,651,629,652,0.400973881996,-0.00536727091423,0.0698207786765,0.99999993807,0.000206626385021,-0.000284601983479,1.29273782424e-05,1793247547119881984
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784,808,651,629,652,0.400972883496,-0.00536787631835,0.0698209940612,0.999999938397,0.000205679607729,-0.000284133890524,1.30181785471e-05,1793247547136548352
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784,808,651,629,652,0.400973531338,-0.00536919768467,0.0698229069698,0.999999939464,0.000204916731013,-0.000280893245786,1.34225120651e-05,1793247547153215232
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.568326382,715,679.431673618,658,634,877,784,808.431673618,651,629,652,0.40097297865,-0.00536918146213,0.0698228921348,0.9999999391,0.000205593145695,-0.00028168333668,1.36402176011e-05,1793247547169882112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.010673312,715,679.989326688,658,634,877,784,809,651,629,652,0.400972027778,-0.00536870168166,0.0698222289747,0.999999938261,0.000206734250609,-0.000283811868431,1.37783318434e-05,1793247547186548736
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.581661568,715,679.418338432,658,634,877,784,809,651,629,652,0.400971705367,-0.00536787654011,0.0698221053249,0.999999938299,0.000206456102766,-0.000283912142754,1.30853717146e-05,1793247547203216384
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.152449514,745,715.152449514,679.152449514,658,634,877,784,808.847550486,651.152449514,629,652,0.400971254207,-0.00536751388806,0.0698220138569,0.999999938362,0.000206158514836,-0.000283928593997,1.26446516105e-05,1793247547219883520
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.722688472,745,715.722688472,679.722688472,658,634,877,784,808.277311528,651.722688472,629,652,0.400970450213,-0.0053684186932,0.0698220105835,0.999999938491,0.000205807651165,-0.000283715327232,1.28951979018e-05,1793247547236549376
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.691640558,745,715.691640558,680,658,634,877,784.308359442,808,652,629,652,0.400970207315,-0.00536831274904,0.0698221216916,0.999999938327,0.000206558197315,-0.000283741445798,1.30746250726e-05,1793247547253216000
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.09136029,745,715.09136029,680,658,634,877,784.90863971,808,652,629,652,0.4009704956,-0.00536724993848,0.0698223410836,0.999999937882,0.000208351437246,-0.000283994188097,1.31867244626e-05,1793247547269882624
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.51213462,808,651.51213462,629,652,0.400970222056,-0.00536778322484,0.0698219302546,0.999999937853,0.000208632126077,-0.0002838879696,1.31669145534e-05,1793247547286549760
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.06335233,745,715,679.93664767,658.06335233,634,877,784,808,651.06335233,629,652,0.400970084104,-0.00536855107084,0.069821709297,0.99999993803,0.000208454657487,-0.00028339571367,1.31471336653e-05,1793247547303216640
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.639170278,745,715,679.360829722,658.639170278,634,877,784,808,651.639170278,629,652,0.400971858839,-0.00536889853647,0.069823939408,0.99999993925,0.000206767535338,-0.000280302011797,1.33191390417e-05,1793247547319882752
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.219190389,658.780809611,634,877,784,808.219190389,652,629,652,0.400972739134,-0.00536913032667,0.0698251717044,0.999999939791,0.000206333871691,-0.000278682245419,1.34221482474e-05,1793247547336549120
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.806263381,658.193736619,634,877,784,808.806263381,652,629,652,0.400972118226,-0.00536916797076,0.0698247292988,0.999999939207,0.000208003975081,-0.00027953628785,1.34093563689e-05,1793247547353215744
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.624233811,744.624233811,715,680,658,634,877,784.375766189,809,651.624233811,629,652,0.400971630424,-0.00536903294178,0.0698242702625,0.999999939027,0.000208294978329,-0.000279963253937,1.34326646163e-05,1793247547369882112
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.063385175,744.063385175,715,680,658,634,877,784.936614825,809,651.063385175,629,652,0.400971208182,-0.00536881286321,0.0698238030349,0.999999939046,0.000207906710068,-0.000280179864872,1.34737538671e-05,1793247547386548736
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744.530587897,715,680,658,634,877,784.469412103,808.469412103,651.530587897,629,652,0.40097130405,-0.00536826828004,0.0698242306166,0.999999939083,0.000207907786862,-0.000280061466059,1.32104420421e-05,1793247547403215872
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.123556788,745,715,679.876443212,658,634,877.123556788,784.123556788,808,652,629,652,0.400971507079,-0.00536792926871,0.0698247861602,0.999999939197,0.000207759018899,-0.000279768807846,1.30630964474e-05,1793247547419883008
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.697481173,745,715,679.302518827,658,634,877.697481173,784.697481173,808,652,629,652,0.400971860084,-0.00536849028396,0.0698253925447,0.999999939589,0.000206883236694,-0.000278996560739,1.34798258791e-05,1793247547436549888
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_03/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b9c70d9c26fbde6db167c8a63ba2d6fbbb116a63
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_03/depth_05/simulation_data.csv
@@ -0,0 +1,413 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+1,0.016666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+2,0.033333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+3,0.050000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+4,0.066666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+6,0.100000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+7,0.116666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+8,0.133333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+9,0.150000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+10,0.166666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+11,0.183333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+12,0.200000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+13,0.216666667,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+14,0.233333333,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
+15,0.250000000,pose1_baseline,0.583245327602,-7.21493809745e-05,1.06004238706,0.553817117553,0.00860230360132,1.05966576712
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+368,6.133333333,pose2_to_pose3_retreat,0.584896691358,-7.20964197173e-05,1.06004240863,0.555468483027,0.00860236218183,1.05966578308
+369,6.150000000,pose2_to_pose3_retreat,0.584680831126,-7.21371765747e-05,1.06004236196,0.555252622516,0.00860232098336,1.05966574805
+370,6.166666667,pose2_to_pose3_retreat,0.584484550154,-7.21140690732e-05,1.06004235136,0.555056341236,0.00860234318721,1.05966574082
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+374,6.233333333,pose2_to_pose3_retreat,0.58388480297,-7.21564568554e-05,1.06004239393,0.554456594299,0.00860230141115,1.0596657783
+375,6.250000000,pose2_to_pose3_retreat,0.583775268617,-7.2153865137e-05,1.06004225782,0.554347060439,0.0086023059254,1.05966564816
+376,6.266666667,pose2_to_pose3_retreat,0.583678918082,-7.21555803601e-05,1.06004239226,0.554250710543,0.00860230611423,1.05966577684
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+378,6.300000000,pose2_to_pose3_retreat,0.583523291899,-7.21042049295e-05,1.06004249116,0.554095083529,0.00860235461339,1.05966587426
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+380,6.333333333,pose2_to_pose3_retreat,0.583411934955,-7.20328524811e-05,1.06004257218,0.553983725288,0.00860242145186,1.05966595264
+381,6.350000000,pose2_to_pose3_retreat,0.583370914361,-7.20545634375e-05,1.06004254731,0.553942704965,0.00860240060478,1.05966592648
+382,6.366666667,pose2_to_pose3_retreat,0.583338761813,-7.21480588317e-05,1.06004248664,0.553910553861,0.00860231222443,1.05966587076
+383,6.383333333,pose2_to_pose3_retreat,0.583313625245,-7.22096347231e-05,1.0600424308,0.55388541804,0.0086022532953,1.05966581756
+384,6.400000000,pose2_to_pose3_retreat,0.583294200917,-7.21926475195e-05,1.0600424072,0.553865993075,0.00860226800369,1.05966579124
+385,6.416666667,pose2_to_pose3_retreat,0.583279548984,-7.21554979474e-05,1.06004260081,0.553851340158,0.00860230172119,1.05966598278
+386,6.433333333,pose2_to_pose3_retreat,0.583268676195,-7.21757776513e-05,1.06004252666,0.553840468055,0.00860228380043,1.05966590928
+387,6.450000000,pose2_to_pose3_retreat,0.583261296475,-7.21923347544e-05,1.06004250121,0.553833088162,0.00860226658615,1.05966588233
+388,6.466666667,pose2_to_pose3_retreat,0.583256261867,-7.22027847395e-05,1.06004251324,0.553828052918,0.00860225387213,1.05966589189
+389,6.483333333,pose2_to_pose3_retreat,0.58325321102,-7.2225216651e-05,1.06004243697,0.553825003108,0.00860223508184,1.05966581857
+390,6.500000000,pose2_to_pose3_retreat,0.583251205559,-7.22402748519e-05,1.06004238522,0.553822998355,0.00860222251481,1.05966576883
+391,6.516666667,pose2_to_pose3_retreat,0.583249909773,-7.21954276242e-05,1.06004236437,0.5538217023,0.00860226655019,1.05966575029
+392,6.533333333,pose2_to_pose3_retreat,0.58324917088,-7.21470588456e-05,1.06004235774,0.553820962951,0.00860231344463,1.0596657454
+393,6.550000000,pose2_to_pose3_retreat,0.583248544123,-7.21060305611e-05,1.06004235211,0.553820335806,0.00860235322232,1.05966574125
+394,6.566666667,pose2_to_pose3_retreat,0.583247978418,-7.20689988604e-05,1.06004234704,0.553819769751,0.00860238912525,1.05966573751
+395,6.583333333,pose2_to_pose3_retreat,0.583247681482,-7.20495610949e-05,1.06004234437,0.553819472632,0.00860240797053,1.05966573554
+396,6.600000000,pose2_to_pose3_retreat,0.583247469789,-7.20473624089e-05,1.06004234214,0.553819261013,0.00860241044411,1.05966573383
+397,6.616666667,pose2_to_pose3_retreat,0.583247093418,-7.20711912436e-05,1.0600423374,0.553818885263,0.00860238876294,1.05966573003
+398,6.633333333,pose2_to_pose3_retreat,0.58324675489,-7.20926242213e-05,1.06004233314,0.553818547294,0.00860236926169,1.05966572662
+399,6.650000000,pose2_to_pose3_retreat,0.583246567729,-7.21044737945e-05,1.06004233078,0.553818360442,0.0086023584801,1.05966572473
+400,6.666666667,pose2_to_pose3_retreat,0.583246386538,-7.21159454396e-05,1.0600423285,0.553818179549,0.00860234804238,1.05966572291
+401,6.683333333,pose2_to_pose3_retreat,0.583246243606,-7.21249947936e-05,1.0600423267,0.553818036853,0.00860233980864,1.05966572147
+402,6.700000000,pose2_to_pose3_retreat,0.583246071537,-7.21358888391e-05,1.06004232453,0.553817865068,0.00860232989646,1.05966571973
+403,6.716666667,pose2_to_pose3_retreat,0.583245839303,-7.2148507432e-05,1.06004224915,0.55381763213,0.00860231475775,1.0596656413
+404,6.733333333,pose2_to_pose3_retreat,0.583245696772,-7.21560246628e-05,1.06004219499,0.553817489048,0.00860230527462,1.05966558486
+405,6.750000000,pose2_to_pose3_retreat,0.583245573061,-7.21625492885e-05,1.06004214798,0.55381736486,0.00860229704367,1.05966553588
+406,6.766666667,pose2_to_pose3_retreat,0.583245488152,-7.21532131088e-05,1.06004212141,0.553817279322,0.00860230421324,1.05966550856
+407,6.783333333,pose2_to_pose3_retreat,0.583245462382,-7.21316353232e-05,1.06004212107,0.553817252952,0.00860232378273,1.05966550881
+408,6.800000000,pose2_to_pose3_retreat,0.583245405153,-7.2083716171e-05,1.06004212031,0.553817194392,0.00860236724192,1.05966550937
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15abbf0f924876a2b60362f625c20dd3a1b263d2
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:885c0e534b5fbd0032ccb2d308e3875aee6141be0e4c64afc107cf7e65683075
+size 25745024
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..350f86f359b6a772379a12d914cb2bcbedef61cd
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+29,0.483333333,BASELINE,765,745.167816425,715.832183575,679.832183575,658.167816425,634,877,784,809,651.832183575,629.832183575,652,0.40102633295,-0.00549772422231,0.0798589273511,0.999999978658,0.000125493249605,-0.000157518012732,4.60737830411e-05,1793247549163764992
+30,0.500000000,BASELINE,765,745,715.5922158,680,658,634,877,784,809,652,629.5922158,652,0.401027655739,-0.00549791736143,0.0798596045162,0.999999978894,0.000125102750835,-0.000156260062217,4.63077510044e-05,1793247549180431616
+31,0.516666667,BASELINE,765,745,715.014427659,680,658,634,877,784,809,652,629.014427659,652,0.401030819778,-0.00549816425294,0.0798614753663,0.999999979601,0.000123763342529,-0.000152681101461,4.6580077771e-05,1793247549197098752
+32,0.533333333,BASELINE,765,745,715,679.420308571,658,634,877,784,809,652,629,652,0.401029105924,-0.00549761703324,0.0798603257727,0.999999979169,0.000124792094627,-0.000154789169925,4.61531496965e-05,1793247549213765376
+33,0.550000000,BASELINE,765,745,715,679,658,634,877,784,808.831581856,651.831581856,629,652,0.40102795406,-0.00549751026734,0.0798595637002,0.999999978925,0.000125099599856,-0.000156174503021,4.59405334142e-05,1793247549230432256
+34,0.566666667,BASELINE,765,745,715,679,658,634,877,784,808.256872708,651.256872708,629,652,0.401028459305,-0.00549851511114,0.079859923089,0.999999979215,0.000123520864676,-0.000155464960301,4.62881227331e-05,1793247549247098624
+35,0.583333333,BASELINE,765,745,715,679.319266744,658,634,877.319266744,784,808.319266744,651,629,652,0.401027971173,-0.00549832288735,0.0798600179519,0.999999979118,0.000123726335224,-0.000155918424234,4.63255853158e-05,1793247549263765248
+36,0.600000000,BASELINE,765,745,715,679.896562219,658,634,877.896562219,784,808.896562219,651,629,652,0.401026680202,-0.00549716320359,0.0798598990273,0.999999978704,0.000125373785852,-0.000157311820406,4.6112406084e-05,1793247549280431616
+37,0.616666667,BASELINE,765,745,715,679.530833909,658.469166091,634,877.530833909,784,809,651,629,652,0.401025758562,-0.00549778077347,0.079859177102,0.999999978676,0.000124334268844,-0.000158277860458,4.6225690501e-05,1793247549297098496
+38,0.633333333,BASELINE,765,745,715.042587857,679,658.957412143,634,877,784,808.957412143,651,629,652,0.401025043881,-0.00549856191255,0.0798584063323,0.999999978711,0.000122986605779,-0.000159063410254,4.63762253452e-05,1793247549313765120
+39,0.650000000,BASELINE,765,745,715.640007806,679,658.359992194,634,877,784,808.359992194,651,629,652,0.401025975123,-0.00549641977535,0.0798587140646,0.999999978498,0.000125265771871,-0.000158712882048,4.6083642305e-05,1793247549330432256
+40,0.666666667,BASELINE,765,745,715.771504143,679,658,634,876.771504143,784,808.228495857,651,629.228495857,652,0.401026751025,-0.00549552946153,0.0798590287723,0.999999978421,0.000126804383489,-0.000157991078908,4.60104523081e-05,1793247549347099392
+41,0.683333333,BASELINE,765,745,715.196558828,679,658,634,876.196558828,784,808.803441172,651,629.803441172,652,0.401027291397,-0.00549653718456,0.079859354056,0.999999978559,0.00012722015318,-0.000156706342169,4.62699099398e-05,1793247549363766016
+42,0.700000000,BASELINE,765,745,715,679,658,634,876.37929622,784,809,651,629.62070378,652,0.401026551137,-0.0054970001445,0.0798591704015,0.999999978517,0.000126794188459,-0.00015731210633,4.62752518114e-05,1793247549380432384
+43,0.716666667,BASELINE,765,745,715,679,658,634,876.955623824,784,809,651,629.044376176,652,0.401025145632,-0.00549718011867,0.079858722371,0.999999978381,0.000125930971549,-0.000158899920949,4.6148589248e-05,1793247549397098752
+44,0.733333333,BASELINE,765,745,715,679.541527601,658.541527601,634,877,784,809,651,629,652,0.401026326468,-0.00549575176705,0.079859038206,0.999999978329,0.000127969665171,-0.00015762599279,4.60506790146e-05,1793247549413765376
+45,0.750000000,BASELINE,765,744.872685237,715.127314763,680,658.872685237,634,877.127314763,784,809,651.127314763,629,652,0.401027545728,-0.00549464447461,0.0798595607305,0.999999978383,0.000129312723091,-0.000156197701125,4.59779324263e-05,1793247549430432000
+46,0.766666667,BASELINE,765,744.290171375,715.709828625,680,658.290171375,634,877.709828625,784,809,651.709828625,629,652,0.401028130956,-0.00549516479758,0.0798605944158,0.999999978816,0.000127303081286,-0.000155071055315,4.5986579763e-05,1793247549447098624
+47,0.783333333,BASELINE,765,744.286121291,715.713878709,679.713878709,658,634,877.713878709,784,809,651.713878709,629,652,0.401027141736,-0.00549604578119,0.0798601731488,0.999999978834,0.000125947749274,-0.000156025263878,4.61006087581e-05,1793247549463765760
+48,0.800000000,BASELINE,765,744.856239033,715.143760967,679.143760967,658,634,877.143760967,784,809,651.143760967,629,652,0.40102458976,-0.0054972847471,0.0798583077346,0.999999978437,0.000125241867675,-0.000159044873503,4.631923681e-05,1793247549480432896
+49,0.816666667,BASELINE,765,745,715,679,658.433922465,634,877,784,809,651,629,652,0.401025270911,-0.0054984921112,0.0798586271172,0.999999978696,0.000124324405788,-0.000158158156006,4.62318893458e-05,1793247549497099776
+50,0.833333333,BASELINE,765,745,715.014345115,679.014345115,659,634,876.985654885,784,809,651,628.985654885,652,0.401026969799,-0.00549960658981,0.0798596450134,0.999999979152,0.000123404299575,-0.000156034671002,4.60432573677e-05,1793247549513766400
+51,0.850000000,BASELINE,765,745,715.602293896,679.602293896,659,634,876.397706104,784,809,651,628.397706104,652,0.401025772749,-0.00549743302977,0.0798591367897,0.99999997876,0.000125231120829,-0.000157125498457,4.59300280338e-05,1793247549530432512
+52,0.866666667,BASELINE,765,745,715.813029738,679.813029738,658.813029738,634,876,784,808.813029738,651,628.186970262,652,0.401024889642,-0.0054959552072,0.0798586559824,0.999999978392,0.000126889468166,-0.000158150243135,4.58578765321e-05,1793247549547098880
+53,0.883333333,BASELINE,765,745,715.235194455,679.235194455,658.235194455,634,876,784,808.235194455,651,628.764805545,652,0.401024662837,-0.00549593183768,0.0798582324897,0.999999978084,0.000128195617349,-0.000159036840404,4.58715990557e-05,1793247549563765760
+54,0.900000000,BASELINE,765,745,715,679.341366222,658.341366222,634,876.341366222,784,808.341366222,651,629,652,0.401025331177,-0.0054965246028,0.0798582996391,0.999999978322,0.000127075168135,-0.000158420485396,4.59473836371e-05,1793247549580432128
+55,0.916666667,BASELINE,765,745,715,679.917051964,658.917051964,634,876.917051964,784,808.917051964,651,629,652,0.401026613958,-0.0054975402931,0.0798587035734,0.999999978926,0.000124289060881,-0.000156772478609,4.60657686591e-05,1793247549597098496
+56,0.933333333,BASELINE,765,745,715,679.494236359,659,634,877,784,808.494236359,651,629,652,0.401025885796,-0.00549721849501,0.0798588251716,0.999999978729,0.000124824119017,-0.000157582139814,4.61442459282e-05,1793247549613765888
+57,0.950000000,BASELINE,765,745,715,679,659,634,877,784,808.09469473,651,629,652,0.401025023557,-0.0054966927109,0.0798588615774,0.99999997842,0.0001260033416,-0.000158581560048,4.61968159571e-05,1793247549630433536
+58,0.966666667,BASELINE,765,745,715,679,659,634,877,784,808.673536242,651,629,652,0.401025206611,-0.00549627515445,0.0798587054202,0.999999978241,0.000127617530865,-0.000158435898032,4.61512775224e-05,1793247549647099904
+59,0.983333333,BASELINE,765,745,715,679.250171489,659,634,877,784,809,651.250171489,629,652,0.401025588402,-0.00549589696858,0.0798591313359,0.999999978285,0.000128134793027,-0.000157791319766,4.59760287924e-05,1793247549663766272
+60,1.000000000,BASELINE,765,745,715,679.823952897,659,634,877,784,809,651.823952897,629,652,0.401026227272,-0.00549556971056,0.0798603101934,0.999999978618,0.000127233122773,-0.000156501367192,4.56329929979e-05,1793247549680432384
+61,1.016666667,BASELINE,765,745,715,679.599712707,659,634,877,784,809.400287293,651.599712707,629,652,0.40102702794,-0.00549618607742,0.0798605576199,0.999999978876,0.000126006381348,-0.000155830661092,4.56831981634e-05,1793247549697098752
+62,1.033333333,BASELINE,765,745,715,679.022248329,659,634,877,784,809.977751671,651.022248329,629,652,0.401027900224,-0.00549722011608,0.0798603927719,0.999999979099,0.000124635755412,-0.000155434048918,4.59074615523e-05,1793247549713765376
+63,1.050000000,BASELINE,765,745,715,679.567609692,658.432390308,634,877,784,808.864780616,651,629,652,0.401026689491,-0.00549711628866,0.0798597316169,0.999999978974,0.000124253024168,-0.000156573646857,4.58112162016e-05,1793247549730431744
+64,1.066666667,BASELINE,765,745,715,679.845060594,658,634,876.845060594,784,808.154939406,651,629,652,0.401025725083,-0.00549670465578,0.0798593222913,0.999999978807,0.00012450495831,-0.000157449731228,4.576274558e-05,1793247549747098624
+65,1.083333333,BASELINE,765,745,715,679.266010972,658,634,876.266010972,784,808.733989028,651,629,652,0.401025663407,-0.00549557528608,0.079859656728,0.999999978568,0.000126385781367,-0.000157436007916,4.58802024658e-05,1793247549763765760
+66,1.100000000,BASELINE,765,745,715,679,658,634,876,784,809,651,629,652,0.4010267568,-0.00549548401555,0.0798602220024,0.999999978747,0.00012605969738,-0.000156601394238,4.57218727749e-05,1793247549780432384
+67,1.116666667,BASELINE,765,745,715,679,658,634,876,784,809,651,629,652,0.401028831739,-0.00549627489092,0.0798609834358,0.999999979279,0.000123858249278,-0.000155069212325,4.53291878415e-05,1793247549797098240
+68,1.133333333,BASELINE,765.468690718,745,715.468690718,679,658,634,876.468690718,784,808.531309282,651,629,652,0.401027743509,-0.00549620294736,0.0798606124796,0.99999997893,0.000125644128225,-0.000155819765032,4.55292000585e-05,1793247549813764864
+69,1.150000000,BASELINE,765.943595868,745,715.943595868,679,658.056404132,634,877,784,808,651,629,652,0.401026101061,-0.00549595500934,0.0798600503104,0.999999978417,0.000128166831647,-0.000156952769021,4.58846316497e-05,1793247549830431488
+70,1.166666667,BASELINE,765.363872202,745,715.363872202,679,658.636127798,634,877,784,808,651,629,652,0.401026823322,-0.00549612181083,0.0798604014214,0.999999978527,0.000128063183074,-0.00015621683488,4.62754740971e-05,1793247549847098368
+71,1.183333333,BASELINE,765,745,715,679,658.785272513,633.785272513,877,784,808.214727487,651,629,652,0.401027214998,-0.00549635954064,0.0798605862033,0.999999978641,0.000127652176219,-0.000155774807749,4.6437611793e-05,1793247549863764992
+72,1.200000000,BASELINE,765,745,715,679,658.208567481,633.208567481,877,784,808.791432519,651,629,652,0.401027049389,-0.0054967168381,0.0798604905951,0.999999978762,0.000126723039147,-0.000155828235177,4.62142097885e-05,1793247549880431616
+73,1.216666667,BASELINE,764.631763879,745,715,679,658.368236121,633.368236121,877.368236121,784,808.631763879,651,629,652,0.40102849674,-0.00549717318593,0.0798612187039,0.999999979166,0.00012521442776,-0.000154526824476,4.59528552507e-05,1793247549897098240
+74,1.233333333,BASELINE,764.054904466,745,715,679,658.945095534,633.945095534,877.945095534,784,808.054904466,651,629,652,0.401030857909,-0.00549768565049,0.0798624134876,0.999999979724,0.000123377516645,-0.000152457833475,4.56699988092e-05,1793247549913764864
+75,1.250000000,BASELINE,764.531778895,745,715,679.531778895,658.468221105,634,877.468221105,783.468221105,808.531778895,651,629,652,0.401029652709,-0.00549655358099,0.079861952037,0.999999979423,0.000124470771261,-0.000153550986394,4.56317667346e-05,1793247549930431744
+76,1.266666667,BASELINE,765,745,715,680,658,634,877,783.117777252,808.882222748,651,629,652,0.401028281127,-0.00549568327304,0.0798613569627,0.999999979136,0.00012527706862,-0.000154765815194,4.5629249692e-05,1793247549947098368
+77,1.283333333,BASELINE,765,745,715,680,658,634,877,783.697042418,808.302957582,651,629,652,0.401027727554,-0.00549651645151,0.079860920955,0.999999979264,0.000123751259546,-0.000155154075485,4.56658490847e-05,1793247549963764992
+78,1.300000000,BASELINE,765,745,715,679.725581545,658,634,877,784,808.274418455,651,629,652,0.401026861714,-0.00549659086223,0.0798602654365,0.999999979013,0.000124086250044,-0.000156522341862,4.55712782851e-05,1793247549980431872
+79,1.316666667,BASELINE,765,745,715,679.150276881,658,634,877,784,808.849723119,651,629,652,0.401025653487,-0.00549583332173,0.0798593692355,0.999999978341,0.000126461514967,-0.00015896513622,4.53328858806e-05,1793247549997098496
+80,1.333333333,BASELINE,765,745,715.423978345,679,658,634,877,784,808.576021655,651,629,652,0.401024167287,-0.00549714412579,0.07985891866,0.999999978382,0.00012481859787,-0.000159930978287,4.55931659581e-05,1793247550013764864
+81,1.350000000,BASELINE,765,745,715.997862568,679,658,634,877,784,808.002137432,651,629,652,0.401022582805,-0.00549918623366,0.079858625644,0.999999978668,0.000121754973717,-0.000160374615032,4.60297614758e-05,1793247550030431488
+82,1.366666667,BASELINE,765,745,715.409639506,679,658.590360494,634,877,784,808.590360494,651,628.409639506,651.409639506,0.401025984892,-0.00549758894399,0.0798595290767,0.9999999788,0.000124110377001,-0.000157774895802,4.58735637129e-05,1793247550047098112
+83,1.383333333,BASELINE,765,745,715,679.178725725,658.821274275,634,877,784,808.821274275,651,628.178725725,651,0.401028321051,-0.0054965016731,0.0798601334074,0.999999978887,0.000125913539483,-0.000155776634246,4.58885376083e-05,1793247550063764992
+84,1.400000000,BASELINE,765,745,715,679.757680703,658.242319297,634,877,784,808.242319297,651,628.757680703,651,0.40102822848,-0.0054965869796,0.0798600579285,0.9999999789,0.000126434676494,-0.000155150723622,4.6291787184e-05,1793247550080431616
+85,1.416666667,BASELINE,765,744.666974174,715,679.666974174,658,634,877,784,808,651,628.666974174,651.333025826,0.401027859054,-0.00549619322629,0.0798600844014,0.999999978859,0.00012682234571,-0.000155146328035,4.6136587243e-05,1793247550097098752
+86,1.433333333,BASELINE,765,744.094227556,715,679.094227556,658,634,877,784,808,651,628.094227556,651.905772444,0.401027290339,-0.00549545463305,0.0798601842621,0.999999978778,0.000127113941246,-0.000155589315439,4.55794005532e-05,1793247550113766144
+87,1.450000000,BASELINE,765,744.492466195,715,679.492466195,658.492466195,634,876.507533805,784,808.492466195,651,628.492466195,652,0.401026461877,-0.00549534461745,0.079860079596,0.999999978552,0.00012766994261,-0.000156618763397,4.54673589932e-05,1793247550130432768
+88,1.466666667,BASELINE,765,745,715,679.919465458,659,634,876.080534542,784,808.919465458,651,629,652,0.401025592869,-0.00549561043985,0.0798598925119,0.999999978364,0.000127803849821,-0.000157700352417,4.54828050653e-05,1793247550147099392
+89,1.483333333,BASELINE,765,745,715,679.339897497,659,634,876.660102503,784,808.339897497,651,629,652,0.401024789559,-0.00549743816582,0.079859444284,0.999999978598,0.000124999620336,-0.00015838944317,4.57450700806e-05,1793247550163765760
+90,1.500000000,BASELINE,765,745,715,679,658.76168806,634,877,784,808,651,629,651.76168806,0.401025178554,-0.00549771437671,0.0798597104789,0.999999978737,0.000124649659064,-0.000157752696326,4.58458226739e-05,1793247550180432384
+91,1.516666667,BASELINE,765,745,715,679,658.185405312,634,877,784,808,651,629,651.185405312,0.40102725846,-0.00549579024947,0.0798609898587,0.999999978742,0.000127780308395,-0.000155235664268,4.57175204876e-05,1793247550197099264
+92,1.533333333,BASELINE,765,744.612845541,715,679,658,634,877,784,808.387154459,651,629,651.387154459,0.401027364482,-0.00549575896105,0.0798605462424,0.999999978779,0.000127153925515,-0.000155519970838,4.56808769821e-05,1793247550213765888
+93,1.550000000,BASELINE,765,744.042051641,715,679,658,634,877,784,808.957948359,651,629,651.957948359,0.40102653423,-0.00549662550495,0.0798592853553,0.99999997883,0.00012474546531,-0.000157133039501,4.56877100374e-05,1793247550230432768
+94,1.566666667,BASELINE,765,744.550881039,715,679,658,634,877,784,809,651,629,652,0.401025569918,-0.00549689412265,0.0798595454649,0.999999978868,0.000123611569816,-0.000157823703781,4.55665868454e-05,1793247550247099392
+95,1.583333333,BASELINE,765,745,715,679,658,634,876.858219706,784,808.858219706,651,629,652,0.401025302761,-0.00549696301204,0.0798601075938,0.999999978917,0.000123408285317,-0.000157677668086,4.55319156237e-05,1793247550263765760
+96,1.600000000,BASELINE,765,745,715,679,658,634,876.279025848,784,808.279025848,651,629,652,0.401027219324,-0.00549656242068,0.0798612282964,0.999999979003,0.000125763340156,-0.000155176614242,4.57953578996e-05,1793247550280432128
+97,1.616666667,BASELINE,765,745,715,679,658,634,876.298283892,784,808,651,629,652,0.401028118236,-0.00549606756292,0.0798617811688,0.999999978923,0.000127782082433,-0.000154047647945,4.57761191372e-05,1793247550297098496
+98,1.633333333,BASELINE,765,745,715,679,658,634,876.873842187,784,808,651,629,652,0.401028071174,-0.00549548507839,0.079861806206,0.999999978694,0.000129488200031,-0.000154194126988,4.5494109831e-05,1793247550313765120
+99,1.650000000,BASELINE,765,745,715,679,658.457852353,634,877,784,808.457852353,651,629,652,0.401027818732,-0.00549586683048,0.0798613676537,0.999999978659,0.00012917141811,-0.000154665343151,4.55454727519e-05,1793247550330432000
+100,1.666666667,BASELINE,764.956298757,745,715,679,658.956298757,634,877,784,809,651,629,652,0.40102747753,-0.00549655320117,0.0798608106011,0.999999978693,0.000128171456209,-0.00015523599326,4.56848825862e-05,1793247550347098880
+101,1.683333333,BASELINE,764.376993585,745,715,679,658.376993585,634,877,784,809,651,629,652,0.401026755112,-0.00549765546303,0.0798603962155,0.999999978892,0.000125758347373,-0.000155908028016,4.57564074508e-05,1793247550363766016
+102,1.700000000,BASELINE,764.202249563,745,715,679,658,634,877,784,809,651,629,652,0.401026500442,-0.00549758163116,0.0798602348735,0.999999978942,0.00012501521732,-0.000156202954615,4.57021583872e-05,1793247550380432896
+103,1.716666667,BASELINE,764.781377067,745,715,679,658,634,877,784,809,651,629,652,0.401027117389,-0.00549531623059,0.0798605450606,0.999999978719,0.000127383976418,-0.000155795166415,4.54135383812e-05,1793247550397099008
+104,1.733333333,BASELINE,765,745,715,679,658.356217145,634,877,784,809,651,629,652,0.401027157803,-0.00549479018312,0.0798606672088,0.999999978584,0.000128047333915,-0.000156119495977,4.54085663186e-05,1793247550413765632
+105,1.750000000,BASELINE,765,745,715,679,658.92845723,634,877,784,809,651,629,652,0.401026848587,-0.00549531894198,0.0798606753235,0.999999978504,0.000127676474529,-0.000156887808147,4.55756085835e-05,1793247550430432512
+106,1.766666667,BASELINE,765,745,715.516554567,679,658.483445433,634,877,784,808.483445433,651,629,652,0.401027967732,-0.00549534766571,0.0798616491069,0.999999978775,0.000127660424679,-0.000155143484505,4.56332115384e-05,1793247550447098880
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,715,679,659,634,877,784,808,651,629,652,0.401024480457,-0.00549681665081,0.0798584876632,0.999999978507,0.000125354043822,-0.000158717269188,4.56252504931e-05,1793247550489467648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.849609353,715,679,658.424804677,633.424804677,877,784,808.575195323,651,628.424804677,652,0.401025067154,-0.00549737207193,0.0798590904187,0.999999978553,0.000124737814812,-0.000158886556466,4.57152665853e-05,1793247550506134784
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.149370974,715,679.149370974,658,633.149370974,877,784,809,651,628.149370974,652,0.401025633644,-0.0054973541052,0.0798596676673,0.999999978622,0.00012453551432,-0.00015860171308,4.57399074738e-05,1793247550522801920
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.720666514,715,679.720666514,658,633.720666514,877,784,809,651,628.720666514,652,0.401026143054,-0.00549571650384,0.0798601728672,0.999999978756,0.000125502427523,-0.000157034097869,4.55798846325e-05,1793247550539468288
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.303365173,634,877,784,808.696634827,651,629,652,0.401025940347,-0.00549528239539,0.079860034918,0.999999978756,0.000125535874518,-0.000157043413651,4.5464233965e-05,1793247550556134656
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.896973683,634,877,784,808.103026317,651,629,652,0.401025056322,-0.00549599972378,0.0798592816386,0.999999978627,0.000124676231637,-0.00015856145154,4.53910361956e-05,1793247550572801280
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.478579535,745,715,679.521420465,658.521420465,634,877,784,808.478579535,651,629,652,0.401025294249,-0.0054965866291,0.0798594167391,0.999999978623,0.000124696359515,-0.000158577576412,4.5358951112e-05,1793247550589467904
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.885797814,745,715,679,658.057101093,634,877,784,809,651,629,652,0.401025740074,-0.00549709190043,0.0798598052905,0.999999978632,0.000124897955594,-0.000158365302187,4.53590947084e-05,1793247550606134528
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.738947765,745,715,679,658.630526117,634,877,784,809,651,629,652,0.401025935243,-0.00549710668179,0.0798607986232,0.999999978509,0.000125069794147,-0.000158939842224,4.55725879148e-05,1793247550622801152
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.209587725,744.790412275,715,679,658.790412275,633.790412275,877,784,808.790412275,651,629,652,0.401027264453,-0.00549708097984,0.0798618274893,0.999999978167,0.000125373472556,-0.000160798467299,4.5721687677e-05,1793247550639468032
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.798860394,744.201139606,715,679,658.201139606,633.201139606,877,784,808.201139606,651,629,652,0.401030648069,-0.00549698193914,0.0798629207268,0.999999977416,0.000125915989399,-0.000164983315151,4.57541335364e-05,1793247550656135168
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.382574258,715,679,658.382574258,633.382574258,877,784,808.382574258,651,629,652,0.401049308207,-0.00549739212593,0.0798699644149,0.999999978216,0.000125559820626,-0.000160286839293,4.59356263175e-05,1793247550672802048
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.963407473,715,679,658.963407473,633.963407473,877,784,808.963407473,651,629,652,0.401075884998,-0.00549806620635,0.0798800917663,0.999999979755,0.00012473793192,-0.00015098785347,4.61943587105e-05,1793247550689468928
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.461226636,634,877,784,809,651,629,652,0.401126352346,-0.00549786705687,0.0798945293936,0.999999981967,0.000125829951183,-0.000134588452796,4.60209569934e-05,1793247550706135040
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.886623895,715,679,658.113376105,633.886623895,877,784,809,651,629,652,0.401182213641,-0.00549800440389,0.0799085453637,0.999999984061,0.000126295110173,-0.000117661988964,4.56381913254e-05,1793247550722801408
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.313624528,715,679,658.686375472,633.313624528,877,784,809,651,629,652,0.40125342994,-0.00549974391564,0.0799196770908,0.999999986305,0.000123697318802,-0.000100534199234,4.45244584057e-05,1793247550739468032
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.267888477,715,679,658.732111523,633.267888477,877,784,808.732111523,651,629,652,0.401333625981,-0.00550163946539,0.0799287913535,0.999999987934,0.000121369025413,-8.69189937741e-05,4.29790944868e-05,1793247550756134400
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.859695757,715,679,658.140304243,633.859695757,877,784,808.140304243,651,629,652,0.401424679922,-0.00550372368921,0.0799354661875,0.999999989032,0.000119366597153,-7.75510496732e-05,4.09118216815e-05,1793247550772801024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784,808.441669766,651,629,652,0.40153048989,-0.00550471721422,0.0799404996971,0.999999989647,0.000119051321251,-7.14106230563e-05,3.78673103393e-05,1793247550789467904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.020346882,658,634,877,784,809,651,629,652,0.401641829287,-0.00550535034407,0.0799450377605,0.999999990106,0.000119234514877,-6.6184167958e-05,3.45016527369e-05,1793247550806134528
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.5924828,658,634,877,784,809,651,629,652,0.401778769258,-0.0055054014638,0.0799499716061,0.999999990769,0.000118717714558,-5.85447290066e-05,3.06622206472e-05,1793247550822801408
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.169935083,633.830064917,877,784,808.830064917,651,629,652,0.401924089382,-0.00550611450954,0.079955045966,0.999999991558,0.000116674331286,-5.07449125125e-05,2.6393216894e-05,1793247550839468032
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.760548058,633.239451942,877,784,808.239451942,651,629,652,0.402090154733,-0.00550846616711,0.0799604681711,0.999999992729,0.000110851859723,-4.25480791602e-05,2.10607999788e-05,1793247550856134656
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.655440599,659,633.344559401,876.655440599,784.344559401,808,651,629,652,0.402275616543,-0.00551060626122,0.0799639369248,0.999999993638,0.000105073976277,-3.81976695284e-05,1.50075155234e-05,1793247550872801280
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.075930762,659,633.924069238,876.075930762,784.924069238,808,651,629,652,0.402474304556,-0.00551260209328,0.0799660736468,0.999999994366,9.93264962824e-05,-3.64700838488e-05,8.46268061678e-06,1793247550889467648
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,876.499765592,784.500234408,808.499765592,651,629,652,0.402685568809,-0.00551413345619,0.0799596970245,0.999999994848,8.79468481294e-05,-5.06886295786e-05,6.26621367757e-07,1793247550906134272
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,633.924998765,877,784,809,651,629,652,0.402904213981,-0.00551550720863,0.0799525293809,0.999999995047,7.3710042457e-05,-6.64525734169e-05,-7.54846299021e-06,1793247550922800896
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,633.348999387,877,784,809,651,629,652,0.403159495945,-0.00551629596057,0.0799486525,0.999999995875,4.60605507938e-05,-7.64785562009e-05,-1.66876657537e-05,1793247550939468032
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715.232609351,679,659,633.232609351,877.232609351,784.232609351,809,651,629,652.232609351,0.403433762451,-0.00551752878684,0.0799469206331,0.999999996169,2.15128958882e-05,-8.16074396137e-05,-2.32291877526e-05,1793247550956135168
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715.822842122,679,659,633.822842122,877.822842122,784.822842122,809,651,629,652.822842122,0.403737216577,-0.00551944435169,0.0799484866012,0.999999996529,1.73413723376e-06,-7.92073155437e-05,-2.57769253373e-05,1793247550972801792
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.594709238,679.405290762,659,633.594709238,877.594709238,784.594709238,809,651,629,652.594709238,0.404085659958,-0.00551962241418,0.0799539355353,0.999999997089,9.20250329129e-06,-7.09540209443e-05,-2.64990657202e-05,1793247550989468416
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.015599039,679.984400961,659,633.015599039,877.015599039,784.015599039,809,651,629,652.015599039,0.404453398139,-0.00551905530376,0.0799610497798,0.999999997437,2.83565046968e-05,-6.01904426699e-05,-2.6438251406e-05,1793247551006134784
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.558357973,877,784,809,651,629,652,0.404849662071,-0.00552100986927,0.0799605924747,0.999999998067,9.74165882465e-06,-5.41589503469e-05,-2.89495018908e-05,1793247551022801152
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.867761809,659,634,877,784,809,651,629,652,0.405254314779,-0.00552245316835,0.0799587125945,0.999999998144,-6.43424607335e-06,-5.14304736818e-05,-3.20349357771e-05,1793247551039467520
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.293661659,659,634,877,784,809,651,629,652,0.405684359215,-0.00552195487042,0.0799527796496,0.999999997504,-1.09671620507e-05,-5.93010252936e-05,-3.68010442249e-05,1793247551056134144
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,784,809,651.291563258,629,652,0.406131079831,-0.00552161097551,0.0799445769018,0.999999996698,3.41638850488e-07,-7.28711256929e-05,-3.59550865576e-05,1793247551072801280
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,784,809,651.888437568,629,652,0.406595262996,-0.00552142876397,0.0799339973248,0.999999994904,2.82391248752e-05,-9.24095209731e-05,-2.92324431306e-05,1793247551089468672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.469160145,659,633.530839855,877,784,809,651.530839855,628.530839855,652,0.407108584559,-0.00552250944856,0.0799309893088,0.999999994466,1.53368714559e-05,-9.86200945394e-05,-3.32563075698e-05,1793247551106135296
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679.953169169,659.046830831,633.046830831,877,784,809.046830831,651,628.046830831,652,0.407632952637,-0.00552380241646,0.0799289289937,0.99999999388,-4.78918919671e-06,-0.000103334329532,-3.9238948312e-05,1793247551122801664
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.367897753,659.632102247,633.632102247,877,784,809.632102247,651,628.632102247,652,0.408154454615,-0.00552419824765,0.0799177530278,0.999999991279,-1.36315114436e-07,-0.000126070219344,-3.9339354168e-05,1793247551139468288
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.215108957,659.784891043,634,877,784,809.784891043,651,629,652,0.408711497562,-0.00552733931699,0.0799134181779,0.999999990038,-1.06749397729e-06,-0.000135569912865,-3.92856160294e-05,1793247551156134912
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.794282693,659.205717307,634,877,784,809.205717307,651,629,652,0.409328692391,-0.00553512661092,0.079920661691,0.999999991651,-1.14494976424e-05,-0.000122667781587,-3.89709943047e-05,1793247551172801536
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,784,809,651,629,652,0.410002980915,-0.00555016901492,0.079949079817,0.999999995987,-3.15424379814e-05,-7.52183186389e-05,-3.70602102033e-05,1793247551189468160
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,784,809,651,629,652,0.410708719299,-0.00556920787301,0.079989161911,0.999999997751,-5.69846164694e-05,-8.73856790431e-06,-3.42701849866e-05,1793247551206134784
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715.526239554,680,659,634,877,784,809,651,629,652,0.411388813687,-0.00556582422955,0.0799854226074,0.999999997687,-5.37639248183e-05,-2.1277028387e-05,-3.58250143508e-05,1793247551222801920
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.89719115,680,659.10280885,634,877,783.89719115,809,651,629,652,0.412065057735,-0.00555974711974,0.0799728602518,0.999999997093,-4.72496426905e-05,-4.62251352569e-05,-3.80105434966e-05,1793247551239469056
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.308603973,680,659.691396027,634,877,783.308603973,809,651,629,652,0.412734111525,-0.0055505640162,0.0799374108286,0.999999993846,-3.74712920408e-05,-9.59053244631e-05,-4.13119253595e-05,1793247551256135424
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.275580837,715,680,659.724419163,634,877,783,809,651,629,652,0.413445166204,-0.0055455183853,0.0799142676004,0.999999990775,-3.58824175548e-05,-0.000123053468999,-4.49413884437e-05,1793247551272801536
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.854913329,715,680,659.145086671,634,877,783,809,651,629,652,0.414202515331,-0.00554503317254,0.0799046885442,0.999999990006,-4.33201744114e-05,-0.000125366272479,-4.89324708413e-05,1793247551289468416
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.567478941,745.567478941,715,680,659,634,877.865042118,783.432521059,809,651,629,652,0.415005757364,-0.00554667159949,0.0799261516746,0.999999993894,-4.50261810814e-05,-8.85695239875e-05,-4.83812319045e-05,1793247551306134784
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.009527109,745,715,680.009527109,659.009527109,634,878.980945783,784,809.009527109,651,629,652.009527109,0.415824040816,-0.00554894879455,0.0799572722735,0.99999999712,-4.48101538809e-05,-4.00484566941e-05,-4.63540668377e-05,1793247551322801152
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.585025359,745,715,680.585025359,659.585025359,634,877.829949283,784,809.585025359,651,629,652.585025359,0.416624983843,-0.00554702210212,0.0799459712675,0.999999995388,-4.41789840816e-05,-7.12889500723e-05,-4.68051694781e-05,1793247551339467776
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680.835809235,660,633.835809235,877,784,810,651,629,652.835809235,0.417444874502,-0.00554636971032,0.0799424760985,0.999999994549,-4.68314749675e-05,-8.02199745949e-05,-4.7674254511e-05,1793247551356134400
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680.247163782,660,633.247163782,877,784,810,651,629,652.247163782,0.418313747228,-0.00554901155309,0.079959160044,0.999999996593,-5.79726599768e-05,-3.14780907313e-05,-4.96238789147e-05,1793247551372801536
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.335987599,680,660,633.335987599,877.671975197,784,810,651,629,652,0.419187127208,-0.00555034993304,0.0799702388725,0.999999996643,-6.37351127589e-05,-2.70894750018e-06,-5.14294554649e-05,1793247551389468416
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.915162356,680,660,633.915162356,878.830324712,784,810,651,629,652,0.420063769493,-0.00555074486906,0.0799772607277,0.999999996369,-6.56044493855e-05,1.16039634552e-05,-5.3130770435e-05,1793247551406134784
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.508593813,680,660,633.508593813,878.508593813,784,810,651,629,652.491406187,0.420936956951,-0.00554997730091,0.0799667692573,0.999999996507,-6.38906578956e-05,-7.00754873198e-06,-5.34271179122e-05,1793247551422801408
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.066811544,878,784,810,651,629.066811544,653,0.421817673097,-0.00554932534678,0.0799575059112,0.999999996349,-6.21656012243e-05,-2.45158843982e-05,-5.32505158191e-05,1793247551439468288
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.639675626,878,784,810,651,629.639675626,653,0.422759904449,-0.00555106022929,0.0799803103362,0.999999996528,-6.50129231042e-05,9.13002566375e-06,-5.13179540647e-05,1793247551456134656
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.21996785,715,680,660,634,878,784,810,651,630,652.78003215,0.423678490952,-0.0055515427995,0.0799945686096,0.999999996445,-6.32507538044e-05,2.52618467273e-05,-4.97172543403e-05,1793247551472801024
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.812853303,715,680,660,634,878,784,810,651,630,652.187146697,0.424556991839,-0.00554990229017,0.0799943383586,0.999999997306,-5.3673986712e-05,1.17015520254e-05,-4.86791692853e-05,1793247551489467648
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.604974664,715,680,660,634,878.395025336,784,810,651,630,652.395025336,0.425425902365,-0.00554647930278,0.0799560059904,0.999999995515,-5.55464700396e-05,-5.67270564841e-05,-5.16448168165e-05,1793247551506134272
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.027744224,715,680,660,634,878.972255776,784,810,651,630,652.972255776,0.426290389293,-0.00554223414897,0.0799000990526,0.999999985121,-6.26999106861e-05,-0.000150463627508,-5.64571823273e-05,1793247551522800896
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.548457585,660.548457585,633.451542415,879,784,810,651,629.451542415,653,0.427236255991,-0.00554417699666,0.079895467722,0.999999987028,-6.49113083032e-05,-0.000135448897773,-5.81674862359e-05,1793247551539467776
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.872761633,660.872761633,633,879,784,810.127238367,651,629.127238367,652.872761633,0.428181060043,-0.00554635035099,0.0798978645408,0.999999989144,-6.68701414194e-05,-0.000117345795528,-5.89068916531e-05,1793247551556134400
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.284447203,660.284447203,633,879,784,810.715552797,651,629.715552797,652.284447203,0.429107123592,-0.00554822680285,0.0799163477068,0.999999990198,-6.88179773305e-05,-0.000107949085752,-5.66956055562e-05,1793247551572800768
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.700911956,745,715,680.299088044,660,633,879,784,811,651,630,652.299088044,0.430061438605,-0.0055502378942,0.0799489002591,0.999999993608,-7.16783365955e-05,-6.80800599397e-05,-5.4870893945e-05,1793247551589467392
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.121850489,745,715,680.878149511,660,633,879,784,811,651,630,652.878149511,0.431042199486,-0.00555237502014,0.0799946230268,0.999999995732,-7.53928997801e-05,3.13805644525e-07,-5.34080508988e-05,1793247551606134016
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,715,681,660,633,879,784,811,651,630,653,0.431956542705,-0.00555312315499,0.080009934351,0.999999995406,-7.57224973991e-05,2.52260872439e-05,-5.30745128601e-05,1793247551622801408
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.024352577,745,715,681,660.024352577,633,879,784,811,651,630,653,0.432850614459,-0.00555337058836,0.0800138692514,0.999999995205,-7.50905429061e-05,3.34995202923e-05,-5.3198287623e-05,1793247551639468800
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.604214789,745,715,681,660.604214789,633,879,784,811,651,630,653,0.433686046142,-0.00555064062379,0.0799431770043,0.999999993013,-7.31029017267e-05,-7.34380352002e-05,-5.68884372746e-05,1793247551656134912
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.186912505,745.186912505,715,681,660.813087495,633.186912505,879,784,811,651,630,653,0.434545538165,-0.00554966724952,0.0798982021207,0.999999985868,-7.3654153851e-05,-0.000138870016188,-5.96086811816e-05,1793247551672801280
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.775706972,745.775706972,715,681,660.224293028,633.775706972,879,784,811,651,630,653,0.435456762661,-0.0055524707325,0.0799085223175,0.999999988393,-7.96643003715e-05,-0.000115060575943,-6.02435254228e-05,1793247551689468416
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.640984269,745.640984269,715,681,660.359015731,634,879,784,811,651,630,653,0.436355873163,-0.00555423375081,0.0799362644764,0.999999991853,-8.22995789324e-05,-7.78518791952e-05,-5.88225848812e-05,1793247551706135040
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.06105113,745.06105113,715,681,660.93894887,634,879,784,811,651,630,653,0.437247529363,-0.0055553565275,0.0799747270972,0.999999994467,-8.2858159493e-05,-3.23980603677e-05,-5.61366337889e-05,1793247551722801664
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.515006487,661,633.484993513,879,784,811.515006487,651,630,653,0.438122790139,-0.00556120051249,0.0800011647534,0.999999993945,-9.38832376897e-05,1.38283900523e-05,-5.57266316986e-05,1793247551739468288
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633.090157431,879,784,811.909842569,651,630,653,0.438984697631,-0.00556639289396,0.080020234559,0.99999999191,-0.000103265949782,4.90992274286e-05,-5.57213270539e-05,1793247551756134656
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633.662896019,879,784,811.337103981,651,630,653,0.43978545528,-0.00556512411254,0.0800074400097,0.999999993358,-9.72659841464e-05,2.52419099415e-05,-5.6448862798e-05,1793247551772801536
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.755838851,660.755838851,633.755838851,879,784,811.244161149,651,630,653,0.440539988583,-0.00556283089844,0.0799635432578,0.999999992745,-9.55948681034e-05,-4.33307232165e-05,-5.91078208205e-05,1793247551789467904
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.162375517,660.162375517,633.162375517,879,784,811.837624483,651,630,653,0.441228392275,-0.00555907210908,0.0798751510278,0.99999997744,-0.000100116696697,-0.000175874045493,-6.45299123098e-05,1793247551806134272
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681.419167035,660.419167035,633,879,784,812,651,630,653,0.441955805418,-0.00555886816717,0.0798343139204,0.999999967288,-9.45088589806e-05,-0.000228433761591,-6.56582980016e-05,1793247551822801408
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681.996219499,660.996219499,633,879,784,812,651,630,653,0.4426979121,-0.00556000321054,0.079811389142,0.99999996279,-8.50855342206e-05,-0.000250866487856,-6.51693969506e-05,1793247551839468800
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.57125736,715,682,660.42874264,633,879,784,812,651,630,652.42874264,0.443490134676,-0.00556281646545,0.079889429652,0.99999998465,-9.42394940845e-05,-0.000133454321212,-6.3309821114e-05,1793247551856135680
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.149930591,745.850069409,715,682.149930591,660.149930591,633,879,784,812,651,630,652.149930591,0.444264262767,-0.00556555859155,0.0799590202303,0.999999992914,-9.75287499914e-05,-3.04149244612e-05,-6.11089108389e-05,1793247551872802048
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.739297926,745.260702074,715,682.739297926,660.739297926,633,879,784,812,651,630,652.739297926,0.444984388638,-0.00556805980738,0.080001893138,0.999999994469,-8.32698797614e-05,2.77958770631e-05,-5.79340662564e-05,1793247551889468160
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,682.676883821,661,633,879,784,812,651,630,653,0.445656864675,-0.00557046970918,0.0800170238413,0.999999993022,-9.27369305089e-05,4.61592986152e-05,-5.67964845872e-05,1793247551906134784
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,682.097467217,661,633,879,784,812,651,630,653,0.44629154413,-0.00557280717921,0.0800101490243,0.999999990495,-0.000121023725849,3.29151986642e-05,-5.72748895887e-05,1793247551922801152
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.519523849,745,715,682,661,633,879.480476151,784,812,651,630,653,0.44687341479,-0.00557464858024,0.0799830351859,0.999999991381,-0.000117330541555,-1.39715887763e-07,-5.89149047133e-05,1793247551939468288
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.942625139,633,879.942625139,784,812.057374861,651,630.057374861,653,0.447437684676,-0.00557627346416,0.0799515997343,0.999999991493,-0.000108877680668,-3.82787521971e-05,-6.07759182227e-05,1793247551956135424
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.372400988,633,879.372400988,784,812.627599012,651,630.627599012,653,0.447940091045,-0.00557685973628,0.0799181212191,0.999999987652,-0.000115690172314,-8.6050657626e-05,-6.25125049601e-05,1793247551972802048
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.794174404,682,660.205825596,632.794174404,879,783.794174404,812.794174404,651,630.794174404,653,0.448427314752,-0.00557662159989,0.0798818848131,0.999999980581,-0.000121039618024,-0.00014175931132,-6.39620798069e-05,1793247551989468672
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.200883351,682,660.799116649,632.200883351,879,783.200883351,812.200883351,651,630.200883351,653,0.448885957132,-0.00557483151932,0.0798404566981,0.999999967694,-0.000123634887735,-0.000212408840839,-6.4871356298e-05,1793247552006135296
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.382643012,745,714.382643012,682.382643012,660.617356988,632,879,783,812,651,630,653,0.449350120248,-0.00557577551768,0.0798235804759,0.999999962676,-0.000121160671393,-0.000236014545806,-6.53051274263e-05,1793247552022801664
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.961170638,745,714.961170638,682.961170638,660.038829362,632,879,783,812,651,630,653,0.449817109611,-0.00557811915987,0.0798192729835,0.999999963378,-0.000116091257662,-0.000235537336669,-6.5495475553e-05,1793247552039468032
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.463310808,745,715,683,660,632,879.536689192,783,812,651,630,653,0.450271471456,-0.00557988715902,0.0798404442861,0.999999969788,-0.00012134540215,-0.000204057138623,-6.37202640871e-05,1793247552056134656
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,682.885602222,660,632,879.885602222,783,812.114397778,651,630,652.885602222,0.450712665312,-0.00558175933829,0.0798618599943,0.999999975101,-0.000126650670652,-0.000172921176908,-6.21035061878e-05,1793247552072801280
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,682.2979376,660,632,879.2979376,783,812.7020624,651,630,652.2979376,0.451103141474,-0.00558423385114,0.0798767032011,0.999999978144,-0.000129094693644,-0.000152437187194,-6.172731265e-05,1793247552089467648
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.285639586,745,715,682,660,632,879,783,812.714360414,651,630,652.285639586,0.451456007451,-0.00558595795704,0.0798733181621,0.999999976294,-0.00012927098336,-0.000163874288964,-6.20191075381e-05,1793247552106134016
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.86501347,745,715,682,660,632,879,783,812.13498653,651,630,652.86501347,0.451770197388,-0.00558691039014,0.079851188308,0.999999968276,-0.000127115274445,-0.000208137091811,-6.29978208597e-05,1793247552122800384
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682.443979626,660,631.556020374,878.556020374,783,812.443979626,651,630,653,0.452041595947,-0.00558516064632,0.0798198678163,0.999999956026,-0.000130596038919,-0.000258255587372,-6.47863832079e-05,1793247552139467264
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.977488969,745,715,683,659.977488969,631.022511031,878.045022061,783,813,651.022511031,630,653,0.452299266199,-0.00558279066561,0.0797863516207,0.999999940782,-0.000135596360239,-0.000309188525771,-6.67223646363e-05,1793247552156133888
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.406531986,745,715,683,659.406531986,631.593468014,879.186936029,783,813,651.593468014,630,653,0.452539149946,-0.00558530732754,0.0797673568056,0.999999931911,-0.000135904998129,-0.000336628452482,-6.62566121872e-05,1793247552172800512
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.17039289,745,715,683,659,632,880,783,813,651.82960711,630,653,0.452775338335,-0.00558761993596,0.0797538561324,0.999999925222,-0.00013704828406,-0.00035553175651,-6.61169078174e-05,1793247552189467136
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.762072971,745,715,683,659,632,880,783,813,651.237927029,630,653,0.453002390115,-0.00558942803276,0.0797539394303,0.999999925514,-0.000140255192223,-0.000353328719842,-6.67833398364e-05,1793247552206133760
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.653722039,745,715,682.653722039,659,631.653722039,879.653722039,783,812.653722039,651,630,653,0.453211529268,-0.00558965212254,0.0797530993797,0.999999924904,-0.000142870018638,-0.000353902896796,-6.73334474912e-05,1793247552222800640
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.074544585,745,715,682.074544585,659,631.074544585,879.074544585,783,812.074544585,651,630,653,0.453408620775,-0.00558881084169,0.0797516383038,0.999999923685,-0.000145086623268,-0.000356344970761,-6.78053178179e-05,1793247552239467520
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.50073934,745.50073934,715,682.50073934,659,631,879,783,812.50073934,651,630,653,0.453565951518,-0.00559061931679,0.079747128861,0.999999919966,-0.000148238134386,-0.000365372545998,-6.78010777642e-05,1793247552256134144
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,715,683,659.593226109,631,880,782.593226109,813,651,630,653,0.454119491617,-0.00559524629702,0.0797098105145,0.999999898497,-0.000147140787433,-0.000420682558883,-6.61931014195e-05,1793247552339467264
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.959259592,745,714,683,659.040740408,631,879,782.959259592,813,651,630,653.040740408,0.454456265451,-0.00559272041484,0.0797003369767,0.999999892064,-0.000140049964686,-0.000438391288847,-6.37974468166e-05,1793247552472800512
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.727798459,745.272201541,714.727798459,683,658,630.272201541,879,782,813,651,629.272201541,653,0.454488409652,-0.00559256967228,0.0796939491909,0.999999887755,-0.00014148425163,-0.000447797359754,-6.28541064415e-05,1793247552622800640
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,631,880,782,812.293904931,651,629.706095069,653,0.45427270948,-0.00558399205944,0.0796186649707,0.999999826357,-0.000133875049527,-0.000570632087413,-6.11801792625e-05,1793247553353577984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,631,879.708640128,782.291359872,812,651,630,653,0.45419749951,-0.00558160258651,0.0796089479819,0.999999818331,-0.000131700265034,-0.000585131500597,-6.01203846976e-05,1793247553370244608
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,631,879.129689629,782.870310371,812,651,630,653,0.454114115985,-0.00557984278924,0.0796021275034,0.999999811657,-0.000129064354351,-0.000597179126206,-5.83641663924e-05,1793247553386911232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.553603116,745,715,683,658,631,879.446396884,783,812,651,630,653,0.454022123621,-0.00557803514816,0.0796035376371,0.999999813124,-0.000127830559843,-0.000595177902608,-5.63428193074e-05,1793247553403578112
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.021619981,745,715,683,658.021619981,631,879.978380019,783,812.021619981,651.021619981,630,653,0.453926624064,-0.00557626254497,0.0796072281036,0.999999816783,-0.000126965088397,-0.000589386800224,-5.41892480033e-05,1793247553420244736
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.595906164,745,715,683,658.595906164,631,879.404093836,783,812.595906164,651.595906164,630,653,0.45380499802,-0.00557573865893,0.0796084741265,0.999999816608,-0.000125168353394,-0.000590386421538,-5.0612121717e-05,1793247553436911360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.824518902,745.175481098,715,683,658.824518902,631,879.175481098,782.824518902,813,651.824518902,630,653,0.453675546258,-0.00557453894944,0.0796112499007,0.999999818496,-0.000123142338565,-0.000587917646331,-4.68780805874e-05,1793247553453577984
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.232386782,745.767613218,715,683,658.232386782,631,879.767613218,782.232386782,813,651.232386782,630,653,0.453527513631,-0.00557173460837,0.0796176578176,0.999999825229,-0.000120571936731,-0.000577213733521,-4.27714714617e-05,1793247553470244608
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.350926178,746,715,683,658,631,880,782.350926178,812.649073822,651,630,653,0.453356069049,-0.0055689410399,0.0796210806214,0.999999828481,-0.000116330652634,-0.000572765701988,-3.7998091282e-05,1793247553486911232
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.497344616,715,683,659.005310768,631,880,783,812,651,630,653,0.452955962001,-0.00556268915588,0.079623434297,0.999999831093,-0.000103987532432,-0.000571188047956,-2.72757876445e-05,1793247553520244736
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.921586954,745.078413046,715,682.921586954,659.843173908,631,880,782.921586954,812.078413046,651,630,653,0.452734384667,-0.00555885300911,0.0796248336669,0.999999832993,-9.5784636424e-05,-0.00056954204854,-2.14717686969e-05,1793247553536911360
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.331881443,745.668118557,715,682.331881443,658.663762886,631,880,782.331881443,812.668118557,651,630,653,0.452485220292,-0.00555322332432,0.079630340161,0.999999836688,-8.1451499523e-05,-0.000565500507184,-1.40932450042e-05,1793247553553577984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.746682633,715,682.253317367,658.253317367,631,879.746682633,782.253317367,812.746682633,651,630,653,0.452215957663,-0.00554821447401,0.0796369253036,0.99999984152,-7.01347413152e-05,-0.000558563740206,-6.84030688811e-06,1793247553570244608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.167285064,715,682.832714936,658.832714936,631,879.167285064,782.832714936,812.167285064,651,630,653,0.451920823775,-0.0055440047869,0.0796448989251,0.999999847937,-6.27007867517e-05,-0.000547900123826,2.50972027759e-07,1793247553586911488
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.409177016,745,715,683,659,631,879,783,812,651,630,653,0.451607822526,-0.00553891250724,0.0796548814954,0.999999856023,-5.19216480307e-05,-0.000534043784216,7.5022551216e-06,1793247553603578880
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.984447505,745,715,683,659,631,879,783,812,651,630,653,0.451287568551,-0.00553346196497,0.0796656795398,0.999999864475,-3.97846295539e-05,-0.000518891451843,1.48184870686e-05,1793247553620246784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.460275478,745,715,683,659,631.539724522,879.539724522,783,812,651,630,653,0.45093821888,-0.00552566147783,0.0796831971964,0.999999882418,1.99504651379e-05,-0.000484123622914,1.97679295156e-05,1793247553636912640
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.104704915,745,715,683,659.104704915,632,879.895295085,783,811.895295085,651,630,653,0.450581588471,-0.00551851596695,0.0797013658345,0.999999897,6.31529791421e-05,-0.000448896652916,2.24493399008e-05,1793247553653578496
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.719681214,745,715,683,659.719681214,632,879.280318786,783,811.280318786,651,630,653,0.45019341602,-0.00551488065147,0.0797217970428,0.999999913975,1.93397435044e-05,-0.000414088335713,1.43981661687e-05,1793247553670245120
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.684877584,745.315122416,715,683,659.684877584,632,879.315122416,783,811.315122416,651,630.315122416,653,0.449755756577,-0.00550987961927,0.0797321819245,0.999999920338,4.57774469552e-06,-0.000398869231014,1.43677063742e-05,1793247553686912000
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.105799479,745.894200521,715,683,659.105799479,632,879.894200521,783,811.894200521,651,630.894200521,653,0.449276645348,-0.00550373462266,0.0797341517134,0.999999919655,1.41499009389e-05,-0.000400058616661,2.10556286994e-05,1793247553703579136
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.469256421,745.530743579,715,683,659,632,879.530743579,783,811.530743579,651,630.530743579,653,0.448761422274,-0.00549527748863,0.0797229272988,0.999999910356,2.84845264987e-05,-0.000421884593787,2.21216041723e-05,1793247553720246272
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.955560444,745,715,683,659,632.044439556,879,783,811,651,630,653,0.448237459623,-0.0054865388475,0.079709053807,0.999999898942,4.30550315173e-05,-0.000446968313014,2.19511357335e-05,1793247553736913664
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.216869053,633,879,783.216869053,811,651,630,653,0.447163928359,-0.00547658043262,0.0797036372141,0.999999899465,5.19258279633e-05,-0.000444805503091,2.28507372493e-05,1793247553770246912
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.796492746,633,879,783.796492746,811,651,630,653,0.446606960449,-0.00547543405504,0.0797334857903,0.999999917286,5.63468997892e-05,-0.000402035335539,2.49164124869e-05,1793247553786913280
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,811,651,630,653,0.446015539971,-0.00546541319576,0.0797723857679,0.999999938227,6.44897079443e-05,-0.00034466123129,2.44265072516e-05,1793247553803579648
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,811,651,630,653,0.445405478085,-0.00545059057552,0.0798161832324,0.999999957932,7.46462545865e-05,-0.000279385301062,2.2553840943e-05,1793247553820246016
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,811.526299688,651,630,653,0.444747244087,-0.00543873899591,0.0798356863731,0.999999960368,0.000105041137493,-0.000260080524522,2.42789120907e-05,1793247553836912384
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,812,651,630.102938013,653,0.44407574139,-0.00542962818692,0.0798469471577,0.999999959536,0.000128428599777,-0.000252485434463,2.61609989501e-05,1793247553853578752
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+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.720936695,660.279063305,633,879,784,811.720936695,651,630.720936695,653,0.442630045832,-0.00543204910106,0.0798149685541,0.999999950506,9.7805800563e-05,-0.000297762486842,2.75669761774e-05,1793247553886912512
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.142013773,660.857986227,633,879,784,811.142013773,651,630.142013773,653,0.441878946912,-0.00542883101788,0.0798036135785,0.999999949614,9.24122564324e-05,-0.000302491641592,2.70417657138e-05,1793247553903579392
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.567059487,633,879.432940513,784,811,651,630,652.567059487,0.441062646472,-0.00542291844654,0.0797775995269,0.999999935723,0.000112281257655,-0.000339407201851,2.73845786851e-05,1793247553920245760
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.006642833,745,715,682.006642833,660,633,879.993357167,784,811,651,630,652.006642833,0.440224896644,-0.00541619826312,0.0797466186657,0.999999914868,0.00014010514237,-0.000387104006916,2.80027546471e-05,1793247553936912640
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.583611175,745,715,682.583611175,660,633,879.416388825,784,811,651,630,652.583611175,0.439365149355,-0.0054153342175,0.0796982951227,0.999999882141,0.000145907035127,-0.000462216163595,2.80387535459e-05,1793247553953579008
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.661078366,745,715,682.661078366,660,633,879,784.661078366,811,651,630,652,0.436999170407,-0.00543052632474,0.0798046304022,0.999999946008,0.00012094022959,-0.000303537322897,3.49707651083e-05,1793247554003578624
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.084383431,745,715,682.084383431,660,633,879,784.084383431,811,651,630,652,0.436198274165,-0.00543652573624,0.0798692781392,0.999999968865,0.000133867892455,-0.00020619907352,4.28038354811e-05,1793247554020245248
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,878.77755526,784,810.77755526,651,630,652,0.432507657433,-0.00541921604488,0.0797714637393,0.99999991853,0.000161944408285,-0.000367340037619,4.21240407164e-05,1793247554086912512
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.600202664,715,682,660,633,878,784,810,651,630,652,0.430609316658,-0.00541234997578,0.079722691906,0.999999873752,0.000178908679247,-0.000467643703992,4.23847448257e-05,1793247554120245248
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.023698408,715,682,660,633,878,784,810,651,630,652,0.429745358519,-0.00541817958369,0.0797551430673,0.999999903727,0.000174899957,-0.00039994709573,4.47008951967e-05,1793247554136911616
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.549546759,714.450453241,682,660,633,878,784,810,651,630,652,0.428872327258,-0.005422096449,0.0798189022949,0.999999938962,0.000171629857619,-0.000300438421859,4.8539631826e-05,1793247554153578496
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.714932301,682.714932301,660,633,878.714932301,784,810.714932301,651,630,652,0.427051656724,-0.0054216542009,0.0798327027925,0.999999944384,0.000176985552685,-0.00027812052073,5.0566605112e-05,1793247554186912256
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.121983975,633,879,784,810.121983975,650.121983975,630,652,0.42515303356,-0.00542670820949,0.0797640397778,0.999999909706,0.000182747852416,-0.000380487398579,4.91910172294e-05,1793247554220246272
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.640219239,659,633,878.640219239,784,810,651,630,652,0.419859010575,-0.00541357140952,0.0798654562127,0.999999959016,0.000199629293744,-0.000198175398899,5.33133018324e-05,1793247554320246016
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.061015271,659,633,878.061015271,784,810,651,630,652,0.418967208223,-0.00541131694362,0.0798461670621,0.999999949772,0.000204789921093,-0.000236210368939,5.21672801497e-05,1793247554336913152
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.486745748,745,715,681,659,633.513254252,878.513254252,784,809.486745748,651,630,652,0.418088812107,-0.00541075256432,0.0798177993651,0.999999939553,0.000197492932727,-0.0002819327457,4.90286228551e-05,1793247554353579776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.089184495,745,715,680.910815505,659,634,878.82163101,784,809.089184495,651,630,652,0.417218544175,-0.00541023212869,0.0797943078885,0.999999928978,0.000190987267285,-0.000321570494146,4.64768041635e-05,1793247554370246144
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.677665003,745,715,680.322334997,659,634,877.644669994,784,809.677665003,651,630,652,0.416384944151,-0.0054088435994,0.0798041003545,0.999999927527,0.000197123896428,-0.000322076120239,4.85239316105e-05,1793247554386912512
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.262066851,784,810,651,629.737933149,652,0.415558332923,-0.00540805270162,0.0797973532146,0.999999920471,0.0002040947732,-0.000339038765447,4.95644323759e-05,1793247554403579136
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.841528897,784,810,651,629.158471103,652,0.414740186046,-0.00540798560922,0.0797705745765,0.99999990563,0.000212076025828,-0.00037593288496,4.93857841981e-05,1793247554420245760
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.580932988,878,784,809.580932988,651,629,652,0.414001032982,-0.00540854269941,0.0797782676355,0.999999914233,0.000208988123123,-0.000354283761431,4.83902729219e-05,1793247554436912128
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.00411904,878,784,809.00411904,651,629,652,0.413291615027,-0.00540933474698,0.079798936671,0.999999930308,0.000201733523582,-0.000310597550896,4.7087274581e-05,1793247554453578752
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.56913327,878,784,809.56913327,651,629,652,0.41256739795,-0.00540661796812,0.0798048071575,0.999999929372,0.0002118708845,-0.000306630853126,4.84211460995e-05,1793247554470246400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809.853168986,651,629,652,0.411843666355,-0.00540378469472,0.0798053696276,0.999999925784,0.000221909328976,-0.000311039199492,4.94322351488e-05,1793247554486913536
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809.261939017,651,629,652,0.411121726102,-0.00540067521985,0.0797901889909,0.99999991426,0.000231269798856,-0.000339930832342,4.94089900101e-05,1793247554503579648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809,651,629,652,0.410447430962,-0.00539922614964,0.0797888875135,0.999999912381,0.00023393163142,-0.000343575396532,4.96954936715e-05,1793247554520246016
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809,651,629,652,0.40981103582,-0.00539909787116,0.0797986264036,0.999999918488,0.000231264941036,-0.000327136833811,5.02283912596e-05,1793247554536912640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809,651,629,652,0.409227903245,-0.00539933234656,0.0798229917632,0.999999930794,0.000232890785672,-0.000285429881509,5.19986552066e-05,1793247554553579008
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809,651,629,652,0.408653192332,-0.00539926285587,0.0798461511676,0.999999940498,0.00023567452598,-0.000246128631937,5.36831994703e-05,1793247554570245376
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809,651,629,652,0.408055494055,-0.00539556870417,0.0798292249822,0.999999930583,0.000241204980478,-0.000279172160733,5.21330604096e-05,1793247554586912000
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.774740492,784,809,651,629,652,0.407469804267,-0.0053931109619,0.079804161146,0.999999916506,0.000244006671146,-0.000323872347381,5.05520429227e-05,1793247554603579136
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.195488297,784,809,651,629,652,0.406902985736,-0.00539259622297,0.0797663090878,0.999999894553,0.000242520140462,-0.000386890832204,4.89225004284e-05,1793247554620246272
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784,808.616950284,651.383049716,629,652,0.40641181521,-0.00539316333068,0.0797622569574,0.999999894906,0.00023989747699,-0.00038772949704,4.7995508086e-05,1793247554636913408
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784,808.038776019,651.961223981,629,652,0.405959179534,-0.00539428152826,0.0797754224205,0.999999907176,0.000236696070375,-0.000356893926214,4.74263928774e-05,1793247554653580032
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.462482966,634,877,784,808,651.462482966,629,652,0.405548064333,-0.00539245184271,0.0797974002459,0.999999919605,0.000239712478118,-0.000317766434626,4.85060242704e-05,1793247554670246400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.884189536,715,680,658.115810464,634,877.115810464,784,808,651,629,652,0.405142247895,-0.00539083534666,0.0798169274243,0.999999928917,0.000242157336926,-0.000284739225133,4.94864729586e-05,1793247554686913024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.297207251,715,680,658.702792749,634,877.702792749,784,808,651,629,652,0.404745845615,-0.00539094838089,0.0798239068418,0.999999930953,0.000240458325914,-0.000278956002027,4.95811868285e-05,1793247554703579136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.713033084,744.286966916,715,680,658.713033084,634,877.713033084,784,808.286966916,651,629,652,0.404364752093,-0.00539052658787,0.0798294139969,0.999999929518,0.000246378317924,-0.000278680751575,5.09734581385e-05,1793247554720245760
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.131739093,744.868260907,715,680,658.131739093,634,877.131739093,784,808.868260907,651,629,652,0.403999359996,-0.0053895562503,0.0798334111284,0.999999924385,0.000260112726044,-0.000284054743172,5.36965667709e-05,1793247554736912128
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.443974863,745,715,680,658,634,877,784,808.556025137,651,629,651.556025137,0.403672321926,-0.00538945192141,0.0798339594481,0.999999924759,0.000255357986852,-0.000287097804602,5.33794064015e-05,1793247554753579008
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808.016874137,651,629,651,0.403357869904,-0.00538965589342,0.0798334535294,0.999999926669,0.000245258058842,-0.000289468210867,5.213243795e-05,1793247554770245632
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808.553447131,651,629,651,0.40308489269,-0.00539153908737,0.0798316051975,0.999999927907,0.000237404376123,-0.000292159185952,4.96881035811e-05,1793247554786912256
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.892601775,658,633.892601775,877,784,809,651,629,651.107398225,0.402818416367,-0.00539253511585,0.0798301510642,0.999999927934,0.000234953584054,-0.000294315739593,4.80215306097e-05,1793247554803578880
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.252445257,658,633.252445257,877,784,809,651,629,651.747554743,0.402584188363,-0.00538913028182,0.0798306523889,0.999999921954,0.000259304306262,-0.000293821248081,5.02131118514e-05,1793247554820245248
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.348800452,877,784,808.651199548,651,629,652,0.40237663212,-0.00538848784405,0.0798329992734,0.999999922273,0.000262333191211,-0.000289919028063,5.0818059502e-05,1793247554836911872
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.924710742,877,784,808.075289258,651,629,652,0.402186442287,-0.00538964404858,0.0798365478329,0.999999926839,0.000251479071908,-0.000283797978718,5.03899235717e-05,1793247554853578496
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877,784.500010802,808,651,629,652,0.40202479532,-0.00538873780039,0.0798405063517,0.999999929501,0.000248545446649,-0.000276901279588,5.04860283502e-05,1793247554870245120
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.07513882,745,715,679,658,634,877,784.92486118,808.07513882,651,629,652,0.401870635712,-0.00538781442183,0.07984431452,0.999999931578,0.000247303647397,-0.000270394094407,5.07131787252e-05,1793247554886911744
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.649733544,745,715,679,658,634,877,784.350266456,808.649733544,651,629,652,0.401737711861,-0.00538883894758,0.0798467134706,0.999999931876,0.00024938971769,-0.000267251441536,5.12873357532e-05,1793247554903578368
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.768848101,745,715,679.231151899,658,633.768848101,877,784,808.768848101,651,629,652,0.401610062372,-0.00539021992389,0.0798461902673,0.999999930581,0.000252608770857,-0.000268996849689,5.16385679666e-05,1793247554920245248
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.176775356,745,715,679.823224644,658,633.176775356,877,784,808.176775356,651,629,652,0.401490648286,-0.00539215746249,0.0798411044095,0.999999926742,0.000257596864667,-0.000278374482208,5.16417250764e-05,1793247554936911872
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.405278542,877,784,808,651,629,652,0.401387944624,-0.00539017703385,0.0798341667956,0.999999923274,0.000259386601416,-0.000289355204256,4.94455210314e-05,1793247554953578752
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.983067805,877,784,808,651,629,652,0.401292353916,-0.00538652888459,0.0798264409639,0.99999991987,0.000259814926466,-0.000301018296566,4.63131376842e-05,1793247554970245632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.450348784,745,715,680,658.549651216,634,877.549651216,784.549651216,808,651.549651216,629,652,0.401226514704,-0.00538982712265,0.0798215008684,0.999999919743,0.000253331350288,-0.000306991596913,4.57589969611e-05,1793247554986912000
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.122631785,745,715,679.877368215,658.877368215,634,877.877368215,784.877368215,808.122631785,651.877368215,628.877368215,652,0.401165086653,-0.00539220272423,0.0798176973185,0.999999919669,0.0002485589153,-0.000311170554415,4.53046033097e-05,1793247555003578624
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.721784801,745,715,679.278215199,658.278215199,634,877.278215199,784.278215199,808.721784801,651.278215199,628.278215199,652,0.40111730927,-0.00539017826391,0.0798179833472,0.999999919674,0.000251246460369,-0.000309044550594,4.49353485642e-05,1793247555020245248
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.309849321,658.309849321,633.690150679,877,784,809,651,628.309849321,652,0.401077213748,-0.00538993585416,0.0798184277188,0.999999920406,0.000250018161314,-0.000307687536333,4.48137979086e-05,1793247555036912128
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.88830149,658.88830149,633.11169851,877,784,809,651,628.88830149,652,0.401043777488,-0.00539123827204,0.0798190093549,0.999999921759,0.00024539528716,-0.000306997145158,4.4906977467e-05,1793247555053578752
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.537409961,633.462590039,877,784,809,651,629,652,0.401021419177,-0.00539127291495,0.0798196293402,0.999999921529,0.000246444756262,-0.000306859597636,4.52110228768e-05,1793247555070245632
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.03604869,634,877,784,809,651,629,652,0.401002161651,-0.00539096743722,0.0798202282826,0.999999920946,0.00024880537911,-0.000306806284071,4.55411786289e-05,1793247555086912512
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.612001511,634,877,784,809,651,629,652,0.400989639752,-0.0053901118475,0.0798203746155,0.999999920768,0.000250472700638,-0.000306033071817,4.55066154813e-05,1793247555103579136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.193468695,745,715,680,658.806531305,634,877,784,809,651,629,652,0.400979652135,-0.00538990398597,0.0798208084731,0.999999921014,0.000250487160059,-0.00030522465784,4.54465413107e-05,1793247555120245760
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.786319273,745,715,680,658.213680727,634,877,784,809,651,629,652,0.400974896099,-0.00539103324469,0.0798218358745,0.999999922133,0.00024708957808,-0.000304343576184,4.53338041499e-05,1793247555136912384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.631234217,744.631234217,715,680,658.368765783,634,877.368765783,784.368765783,808.631234217,651,629,652,0.40097073036,-0.00539142183651,0.0798226368033,0.999999922751,0.000245640375989,-0.000303525989053,4.5066692107e-05,1793247555153579008
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.521692706,715,680,658.478307294,634,877.478307294,784.478307294,808.521692706,651.521692706,629,652,0.400969236399,-0.00539035078175,0.079825581179,0.999999923601,0.0002484346693,-0.000298439083643,4.4855020344e-05,1793247555186912000
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.200237071,634,877.100118535,784.100118535,808.899881465,652,629,652,0.40097144341,-0.00538957760386,0.079827498038,0.999999924153,0.000250713535693,-0.000294648048069,4.49371567683e-05,1793247555203578624
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.377656045,634,877.688828023,784.688828023,808.311171977,652,629,652,0.400969851781,-0.00539063536262,0.0798268698264,0.999999924951,0.000246976400892,-0.000295166091922,4.44712815923e-05,1793247555220245504
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.72536211,634,877.72536211,784.72536211,808,651.72536211,629,652,0.400968489946,-0.00539185959826,0.0798265146084,0.999999925322,0.000244981242953,-0.000295591900473,4.43326413779e-05,1793247555236912384
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.14280319,634,877.14280319,784.14280319,808,651.14280319,629,652,0.400967385753,-0.00539327048611,0.0798264654677,0.999999925227,0.000244939170148,-0.000295914295869,4.45608934022e-05,1793247555253579008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.431232998,745,715,680,659,634,877.431232998,784,808.431232998,651,629,652,0.400967442008,-0.00539173121392,0.0798273751764,0.999999925338,0.000246218867278,-0.000294487485476,4.44775110181e-05,1793247555270245632
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.997493119,745,715,680,658.997493119,634,877.997493119,784,809,651,629,652,0.400967872288,-0.00538924396872,0.0798285906956,0.999999925505,0.000247930080491,-0.000292503576546,4.42936669541e-05,1793247555286912000
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.425004779,745,715,680,658.425004779,634,877.425004779,784,809,651,629,652,0.400967663757,-0.00538903974078,0.0798285421939,0.999999924803,0.000250162849419,-0.000293003913137,4.42772284779e-05,1793247555303578624
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c64c83114eb1e6f9e83c59f7b23304d0c20672ef
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ee6afa08b898b5c2f3f8afc6a0e0d1720d6d332
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d8856a5cbee5fee8fccdd45231e40d2cf53ee02df9437e60048ffbcc55ac856
+size 25799416
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f03f7ca0bf9e4ad2f3d343303caae1b1105bb9e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+11,0.183333333,BASELINE,765,745,715,679.369298429,658.630701571,634,877,784.630701571,808.630701571,651,629.369298429,652,0.400967597567,-0.00539151951,0.0798310452939,0.999999927342,0.000247227246347,-0.00028694850552,4.30680998252e-05,1793247555843139072
+12,0.200000000,BASELINE,765,745,715,679.963461335,658.036538665,634,877,784.036538665,808.036538665,651,629.963461335,652,0.400966890588,-0.00539250139991,0.0798316747094,0.999999928153,0.000243569940691,-0.000287297032214,4.27623084263e-05,1793247555859805184
+13,0.216666667,BASELINE,765,745,715,680,658,634,877,784,808.540344848,651,629.459655152,652,0.400968286354,-0.00539152071841,0.0798321978632,0.999999927846,0.000245506646739,-0.000286674871937,4.3027511203e-05,1793247555876471552
+14,0.233333333,BASELINE,765,745,715,679.882435229,658,634,877,784,808.882435229,651,629,652,0.400969232838,-0.00539085864085,0.0798324650026,0.999999927558,0.000247050265062,-0.000286321271951,4.32381580877e-05,1793247555893138176
+15,0.250000000,BASELINE,765,745,715,679.299400354,658,634,877,784,808.299400354,651,629,652,0.400967854973,-0.0053919671567,0.0798317460808,0.99999992765,0.000245586272937,-0.000287282801646,4.30846689487e-05,1793247555909804800
+16,0.266666667,BASELINE,765,745,715,679.283325278,658,634,877,784,808,651,629,652,0.40096743477,-0.00539214692088,0.0798315161623,0.999999927569,0.000245745547955,-0.000287451900403,4.29138982923e-05,1793247555926471680
+17,0.283333333,BASELINE,765,745,715,679.865724443,658,634,877,784,808,651,629,652,0.400968025459,-0.00539134630876,0.0798318024282,0.999999927307,0.000247618319361,-0.000286784520963,4.27248855365e-05,1793247555943139072
+18,0.300000000,BASELINE,765,745,715,679.554270289,658.445729711,633.554270289,877.445729711,784,808,651,629,652,0.400967895813,-0.00539182697014,0.0798315283018,0.99999992763,0.000246548473762,-0.00028656642148,4.28298423099e-05,1793247555959805952
+19,0.316666667,BASELINE,764.975291579,744.975291579,715,679,659,633.024708421,878,784,808,651,628.975291579,652,0.400967604704,-0.00539261078009,0.0798311550961,0.999999928101,0.000244726990863,-0.000286453240456,4.30184176187e-05,1793247555976473088
+20,0.333333333,BASELINE,764.403164185,744.403164185,715,679,659,633.596835815,878,784,808,651,628.403164185,652,0.400968518332,-0.00539160508167,0.0798323069725,0.999999928058,0.000245787608508,-0.000285681971753,4.31080400221e-05,1793247555993138944
+21,0.350000000,BASELINE,764.17431694,744.17431694,715,679.17431694,658.82568306,634,877.82568306,784,808,651,628,652,0.400968504291,-0.00539131803398,0.0798325707716,0.999999928005,0.000245685704921,-0.000285962234364,4.30680201698e-05,1793247556009805312
+22,0.366666667,BASELINE,764.764572552,744.764572552,715,679.764572552,658.235427448,634,877.235427448,784,808,651,628,652,0.400966276737,-0.00539274576316,0.0798307155239,0.99999992792,0.000242809902457,-0.000288751562114,4.27186601587e-05,1793247556026471680
+23,0.383333333,BASELINE,765,745,715,679.651680417,658,634,877,784,808.348319583,651,628.348319583,652,0.400966974167,-0.00539319234633,0.0798310280027,0.999999928195,0.000242631416829,-0.000287968177739,4.26055563822e-05,1793247556043138304
+24,0.400000000,BASELINE,765,745,715,679.072251752,658,634,877,784,808.927748248,651,628.927748248,652,0.400969612317,-0.00539298794198,0.0798327787619,0.999999928704,0.000244242593187,-0.000284814309013,4.26492079296e-05,1793247556059805184
+25,0.416666667,BASELINE,765,745,715,679.505247839,658,634,877,784,808.494752161,651,629,652,0.400968665256,-0.00539154404151,0.0798317447283,0.99999992788,0.000245647529367,-0.000286493069598,4.26452758213e-05,1793247556076472320
+26,0.433333333,BASELINE,765.081906049,745,715,680,658.081906049,634,877,784,808,651,629,652,0.400967308876,-0.00539031764515,0.0798305251015,0.999999927015,0.000246741559812,-0.00028856646298,4.26343721237e-05,1793247556093139456
+27,0.450000000,BASELINE,765.655165669,745,715,680,658.655165669,634,877,784,808,651,629,652,0.400966560945,-0.00539145533659,0.0798305720081,0.999999927073,0.000246146724983,-0.000288877251053,4.26223113103e-05,1793247556109806336
+28,0.466666667,BASELINE,765.764558085,745,715,680,658.764558085,634,877,784,808,651,629,652,0.400966626488,-0.00539204945084,0.0798308660378,0.999999927293,0.000245517005921,-0.000288664245457,4.25306598385e-05,1793247556126473216
+29,0.483333333,BASELINE,765.173689465,745,715,680,658.173689465,634,877,784,808,651,629,652,0.400967920065,-0.00539182297261,0.0798315331283,0.999999927758,0.000244834625121,-0.000287660512939,4.23188570968e-05,1793247556143138816
+30,0.500000000,BASELINE,765,745,715,679.590795886,658,634,877,784,808,651,629,652,0.400968732315,-0.00539214944912,0.0798323335024,0.999999928225,0.000244595885194,-0.000286235569372,4.23372142077e-05,1793247556159805184
+31,0.516666667,BASELINE,765,745,715,679.01122267,658,634,877,784,808,651,629,652,0.400969344168,-0.00539270614425,0.0798331893682,0.99999992869,0.000244541851875,-0.000284635257729,4.24513966737e-05,1793247556176471808
+32,0.533333333,BASELINE,765,745,715,679.564008612,658.564008612,634,877,784,808,651,629,652,0.400969245461,-0.00539320557389,0.079832325145,0.999999928409,0.000244829980476,-0.000285332267479,4.27177112107e-05,1793247556193138688
+33,0.550000000,BASELINE,765,745,715,680.138658036,658.861341964,634,877,784,808,651,629,652,0.400968999846,-0.00539310896977,0.0798317047991,0.999999928097,0.000245407247115,-0.000285900288329,4.29163813744e-05,1793247556209805312
+34,0.566666667,BASELINE,765,745,715,680.711752923,658.288247077,634,877,784,808,651,629,652,0.400968337906,-0.00539114844344,0.0798319549755,0.999999927732,0.000246869258788,-0.00028592203788,4.28936993025e-05,1793247556226472192
+35,0.583333333,BASELINE,765,745,715,680.705165308,658.294834692,634,877,784,808.294834692,651,629,652,0.400968109344,-0.00539094398531,0.0798324433806,0.999999927883,0.000246515609598,-0.000285692184244,4.29411558058e-05,1793247556243138816
+36,0.600000000,BASELINE,765,745,715,680.111977407,658.888022593,634,877,784,808.888022593,651,629,652,0.400968319333,-0.00539251655182,0.0798331728574,0.999999928554,0.000244324631866,-0.000285207724824,4.30595879057e-05,1793247556259805696
+37,0.616666667,BASELINE,765,745,715,680,659,634,877,784,808.530784937,651,629,652,0.400967725214,-0.00539240559544,0.0798320560207,0.999999927826,0.000245278742094,-0.000286966589927,4.285289622e-05,1793247556276472576
+38,0.633333333,BASELINE,765,745,715,680,659,633.952684497,877,784.047315503,808.047315503,651,629,652,0.400966987129,-0.00539191144648,0.0798306717028,0.999999926888,0.000246781099919,-0.000288979163624,4.25910781548e-05,1793247556293138944
+39,0.650000000,BASELINE,765,745,715,680,659,633.377935573,877,784.622064427,808.622064427,651,629,652,0.400966730049,-0.0053915127417,0.0798310949498,0.999999927306,0.000246236700521,-0.000288000825492,4.25581081503e-05,1793247556309805312
+40,0.666666667,BASELINE,765,745,715,680,658.79870705,633.20129295,877,784.79870705,809,651,629,652,0.400966233388,-0.00539194685563,0.0798312231188,0.999999927666,0.000244977449637,-0.000287819931845,4.25897172463e-05,1793247556326471936
+41,0.683333333,BASELINE,765,745,715,680,658.210876504,633.789123496,877,784.210876504,809,651,629,652,0.400965276666,-0.00539398020961,0.0798307846571,0.999999927911,0.000242345488141,-0.000289170350079,4.27453359048e-05,1793247556343138816
+42,0.700000000,BASELINE,765.37154424,745,715,680,658,634,877,784,809,651,629,652,0.400965449413,-0.00539335508802,0.0798306739406,0.999999927701,0.000243567451664,-0.000288874604527,4.27065111379e-05,1793247556359805440
+43,0.716666667,BASELINE,765.950938601,745,715,680,658,634,877,784,809,651,629,652,0.40096625401,-0.00539124275593,0.079830746572,0.99999992723,0.000246945386746,-0.000287657958251,4.25589103835e-05,1793247556376472064
+44,0.733333333,BASELINE,765.472014054,745,715,680,658,634,877,784,808.472014054,651,629,652,0.400967440371,-0.00539200902088,0.0798315564069,0.999999927766,0.000246705893695,-0.000285970392745,4.27286646545e-05,1793247556393138944
+45,0.750000000,BASELINE,765,745.104643262,715,680,658.104643262,634,877,784,808,651,629,652,0.400968646674,-0.00539279087819,0.0798324883376,0.999999928423,0.000245993539234,-0.000284259390265,4.28776751992e-05,1793247556409805824
+46,0.766666667,BASELINE,765,745.680521774,715,680,658.680521774,634,877,784,808,651,629,652,0.400969783738,-0.00539244373216,0.0798336629784,0.999999929213,0.000244658785105,-0.000282639029922,4.28010617476e-05,1793247556426472448
+47,0.783333333,BASELINE,765,745.737984864,715,680,659,634,877,784,808,651,629,652,0.400970027116,-0.00539218536087,0.0798338545573,0.999999929347,0.000244210913017,-0.00028255932095,4.27468228432e-05,1793247556443138816
+48,0.800000000,BASELINE,765,745.14949524,715,680,659,634,877,784,808,651,629,652,0.400969156949,-0.0053920376041,0.0798328212276,0.999999928666,0.000244868108047,-0.000284399284695,4.27204629239e-05,1793247556459805184
+49,0.816666667,BASELINE,765,745,715,680,659,633.568096387,877.431903613,784,808,651,629,652,0.400968750478,-0.00539245949522,0.0798327321054,0.999999928346,0.00024505077537,-0.000285378411564,4.26350570694e-05,1793247556476471808
+50,0.833333333,BASELINE,765,745,715,680,659,633.010707466,877.989292534,784,808,651,629,651.989292534,0.400968498462,-0.00539306906216,0.0798329495459,0.999999928158,0.000245048171585,-0.000286052803972,4.25280605533e-05,1793247556493138432
+51,0.850000000,BASELINE,765,745,715,680,659,633.580105128,877.419894872,784,808,651,629,651.419894872,0.400968066301,-0.00539334927568,0.0798323854657,0.999999928449,0.000243810244625,-0.000286122726382,4.23436766429e-05,1793247556509805312
+52,0.866666667,BASELINE,765,745,715,679.848107875,658.848107875,633.848107875,877,784,808,651,629,651.151892125,0.400967882838,-0.0053931834635,0.0798321461621,0.99999992859,0.000243498778415,-0.000285906017625,4.22722997334e-05,1793247556526471936
+53,0.883333333,BASELINE,765,745,715,679.269610204,658.269610204,633.269610204,877,784,808,651,629,651.730389796,0.400968397869,-0.00539176493965,0.0798328190284,0.99999992831,0.000245789378018,-0.000284884274067,4.25183152837e-05,1793247556543138304
+54,0.900000000,BASELINE,764.682974094,745,715,679,658,633,877,784,808,651,629,652,0.40096871823,-0.00539107452743,0.0798332609245,0.999999928114,0.000247291084902,-0.000284249616143,4.26789878574e-05,1793247556559804928
+55,0.916666667,BASELINE,764.089234437,745,715,679,658,633,877,784,808,651,629,652,0.400968868675,-0.00539101964222,0.0798335012201,0.999999927993,0.000248104212409,-0.000283952823145,4.27651694234e-05,1793247556576471296
+56,0.933333333,BASELINE,764.488392392,745,715,679,658,633.488392392,877.488392392,784,808,651,629,651.511607608,0.400969671404,-0.00539124620101,0.0798341470611,0.999999928143,0.000248762938453,-0.00028284709224,4.27520090934e-05,1793247556593137920
+57,0.950000000,BASELINE,765,745,715,679,658,634,878,784,808,651,629,651.06320569,0.400970323005,-0.00539142799637,0.0798345782823,0.999999928281,0.000249187084148,-0.000281992840845,4.27010976825e-05,1793247556609804544
+58,0.966666667,BASELINE,765,745,715,679,658,634,878,784,808,651,629,651.638313682,0.400968816216,-0.00539084408155,0.0798326903506,0.999999927939,0.000247932547057,-0.000284334132228,4.24867489159e-05,1793247556626471424
+59,0.983333333,BASELINE,765,745,715,679.219391973,658,634,877.780608027,784,808,651,629,652,0.400968081293,-0.00539113066876,0.0798318533877,0.99999992815,0.000245901000072,-0.000285371465647,4.23730145624e-05,1793247556643138048
+60,1.000000000,BASELINE,765,745,715,679.81058824,658,634,877.18941176,784,808,651,629,652,0.400968654454,-0.00539289249854,0.0798327975047,0.999999929299,0.000242552651667,-0.000284198977608,4.24297917499e-05,1793247556659804928
+61,1.016666667,BASELINE,765,745,715.396064981,680,658.396064981,634,877.396064981,784,808,651.396064981,629,652,0.400968757619,-0.00539266478906,0.0798330294326,0.99999992922,0.000243098398906,-0.000284026392446,4.23320795808e-05,1793247556676471296
+62,1.033333333,BASELINE,765,745,715.978845351,680,658.978845351,634,877.978845351,784,808,651.978845351,629,652,0.400968639217,-0.00539149915865,0.0798329256159,0.999999928561,0.000245479924874,-0.000284325187721,4.21615370851e-05,1793247556693137920
+63,1.050000000,BASELINE,765,745,715.446447751,680,659,634,877.446447751,784,808.553552249,651.446447751,629,652,0.400968682806,-0.00539120683062,0.0798325477215,0.999999927767,0.000248415509826,-0.000284484678413,4.27089528179e-05,1793247556709804800
+64,1.066666667,BASELINE,765,745,715,680,659,634,877,784,808.872182264,651,629,652,0.400968856388,-0.0053912370356,0.0798324064952,0.99999992737,0.000250035524086,-0.000284404152634,4.3086425933e-05,1793247556726471424
+65,1.083333333,BASELINE,765,745,715,680,659,634,877,784,808.298395893,651,629,652,0.400969462241,-0.00539227781777,0.0798331270471,0.999999928395,0.000246992566635,-0.000283504493664,4.277659617e-05,1793247556743138048
+66,1.100000000,BASELINE,765,745,715,679.715223448,659,634,877,784,808.284776552,651.284776552,629,652,0.400969229358,-0.00539253938624,0.079833158981,0.999999928656,0.000245772773538,-0.000283671457077,4.25915718656e-05,1793247556759804672
+67,1.116666667,BASELINE,765,745,715,679.12188088,659,634,877,784,808.87811912,651.87811912,629,652,0.400968087674,-0.00539195664755,0.0798324447716,0.999999928096,0.000246528447225,-0.000284994145691,4.25417789516e-05,1793247556776471296
+68,1.133333333,BASELINE,765,745,715,679.458978008,658.541021992,634,877,784,808.541021992,651.541021992,629,652,0.400968261139,-0.00539175822769,0.0798332272509,0.999999928221,0.000246959846727,-0.000284166529069,4.2629380845e-05,1793247556793138176
+69,1.150000000,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.400968655673,-0.00539171081417,0.0798342254937,0.999999928504,0.000247147196768,-0.000282993923747,4.27238911726e-05,1793247556809804800
+70,1.166666667,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.400967292801,-0.00539242673972,0.0798326943733,0.999999928502,0.000244966812015,-0.000284938050001,4.23955928529e-05,1793247556826471680
+71,1.183333333,BASELINE,765,745,715,679.810800445,658,634,877,784,808,651,629,652,0.400966791195,-0.00539289930675,0.0798318411141,0.99999992853,0.00024374774802,-0.000285901423069,4.22777928862e-05,1793247556843138304
+72,1.200000000,BASELINE,765,745,715,679.221766298,658,634,877,784,808,651,629,652,0.400968109695,-0.00539285758539,0.0798324203758,0.999999928634,0.000244560238574,-0.000284792175088,4.26048381075e-05,1793247556859804928
+73,1.216666667,BASELINE,765,745,715,679,658.360989532,634,877,784,808.360989532,651,629,652,0.400968932439,-0.00539229790348,0.0798330121853,0.999999928526,0.000246046231702,-0.000283874382511,4.27210497368e-05,1793247556876471552
+74,1.233333333,BASELINE,765,745,715,679,658.93995431,634,877,784,808.93995431,651,629,652,0.400969455832,-0.00539142546298,0.0798336115713,0.999999928286,0.000247938903857,-0.000283072195952,4.27099543203e-05,1793247556893138176
+75,1.250000000,BASELINE,765,745,715,679,659.516991794,633.483008206,877,784,808.483008206,651,629,652,0.400969432486,-0.00539078493597,0.0798335910978,0.999999928728,0.000246892865169,-0.000282457590608,4.2493702433e-05,1793247556909804800
+76,1.266666667,BASELINE,765.093566329,745,715,679.093566329,659.906433671,633.093566329,877.093566329,784,808,651,629,652,0.400969212427,-0.00539041573619,0.0798334230147,0.999999929062,0.000245844106219,-0.000282215162972,4.23322622661e-05,1793247556926471680
+77,1.283333333,BASELINE,765.668905415,745,715,679.668905415,659.331094585,633.668905415,877.668905415,784,808,651,629,652,0.400968305242,-0.00539130542406,0.079832864206,0.99999992844,0.000246532242106,-0.00028377731529,4.25752809404e-05,1793247556943138304
+78,1.300000000,BASELINE,765.74994082,745,715,680,658.74994082,634,878,784,808.25005918,651,629,652,0.400968382759,-0.00539176840995,0.0798330467498,0.999999928434,0.000246339487602,-0.000283967503384,4.25631021681e-05,1793247556959804672
+79,1.316666667,BASELINE,765.160904799,745,715,680,658.160904799,634,878,784,808.839095201,651,629,652,0.400969795124,-0.00539165296432,0.0798342342611,0.999999929262,0.000244952609953,-0.000282297875223,4.22049811718e-05,1793247556976471296
+80,1.333333333,BASELINE,765,745,715,680,658,634,877.578999137,784,809,651,629,652,0.400970435932,-0.00539226657207,0.0798346790068,0.99999992941,0.00024526445754,-0.000281468386726,4.24348599142e-05,1793247556993137920
+81,1.350000000,BASELINE,765,745,715,679.999775123,658,634,877,784.000224877,808.999775123,651,629,652,0.400970785651,-0.00539315298522,0.0798348437931,0.999999929301,0.00024621515464,-0.000280956060835,4.28853929302e-05,1793247557009804544
+82,1.366666667,BASELINE,765,745,715,679.425376822,658,634,877,784.574623178,808.425376822,651,629,652,0.400968291139,-0.00539098769933,0.0798329522257,0.999999927946,0.000248229473737,-0.00028405019646,4.24830355933e-05,1793247557026471424
+83,1.383333333,BASELINE,765,745,715,679.152469898,658,634,877.152469898,784.847530102,808,651,629,652,0.400966733749,-0.0053896502493,0.0798316891694,0.999999927147,0.00024912771092,-0.000286124658665,4.2125144023e-05,1793247557043138048
+84,1.400000000,BASELINE,765,745,715,679.740160152,658,634,877.740160152,784.259839848,808,651,629,652,0.400967851345,-0.00539067582925,0.0798322201772,0.999999927963,0.000246840129119,-0.000285288497046,4.1894178443e-05,1793247557059804672
+85,1.416666667,BASELINE,765,745,715,680,658.323085177,634,877.676914823,784,808.323085177,651,629,652,0.400968553087,-0.00539092412014,0.0798327032736,0.999999928223,0.000246648391631,-0.000284552416837,4.18225752977e-05,1793247557076471296
+86,1.433333333,BASELINE,765,745,715,680,658.902233454,634,877.097766546,784,808.902233454,651,629,652,0.400968925243,-0.00539055636585,0.0798331483975,0.999999928044,0.0002481177283,-0.0002838956568,4.18772758227e-05,1793247557093137920
+87,1.450000000,BASELINE,765,745,715,680,659,634,877,784,808.51993296,651,629,652,0.400968874805,-0.00539128407701,0.0798331742228,0.999999928269,0.000247163137871,-0.000283930907026,4.18962144794e-05,1793247557109804800
+88,1.466666667,BASELINE,765,745,715,680,659,634,877.114844264,784,808,651,629,652,0.400968821904,-0.00539206091966,0.079833166506,0.999999928568,0.000245854819714,-0.000284013670571,4.18918648018e-05,1793247557126471680
+89,1.483333333,BASELINE,765,745,715,680,659,634,878.265738721,784,808,651,629,652,0.400969521069,-0.00539127388634,0.0798336244315,0.999999928803,0.00024579651201,-0.000283257169268,4.17429457192e-05,1793247557143138048
+90,1.500000000,BASELINE,765,745,715,679.787083726,659,634,878.574167451,784,808,651,629,652,0.400969692434,-0.00539119256779,0.0798335530692,0.999999928781,0.000246137881579,-0.000283021866247,4.18707129733e-05,1793247557159804672
+91,1.516666667,BASELINE,765,745,715,679.198930533,659,634,877.397861066,784,808,651,629,652,0.40096893362,-0.00539235497877,0.0798325489068,0.999999928303,0.000247183629762,-0.000283705106699,4.24861035054e-05,1793247557176471296
+92,1.533333333,BASELINE,765,745,715,679.383257864,658.616742136,634,877.383257864,784,808,651,628.616742136,652,0.400967772171,-0.00539343746464,0.0798319933956,0.999999928247,0.000245966685821,-0.000284930014946,4.26688817782e-05,1793247557193138176
+93,1.550000000,BASELINE,765,745,715,679.962397724,658.037602276,634,877.962397724,784,808,651,628.037602276,652,0.400966404938,-0.00539447910113,0.0798316671886,0.999999928401,0.000243593286513,-0.000286431768113,4.26305532205e-05,1793247557209805056
+94,1.566666667,BASELINE,765,745,715,680,658.537921355,634,877.462078645,784,808.537921355,651,628.537921355,651.462078645,0.400968392764,-0.00539234006803,0.0798329117066,0.999999928092,0.000247394455692,-0.000284247004213,4.26182158334e-05,1793247557226471424
+95,1.583333333,BASELINE,765,745,715,680,659,633.887027787,877.112972213,784,808.887027787,651,629,651.112972213,0.400969867324,-0.00539080243667,0.0798338502831,0.999999927826,0.000250301761556,-0.000282631338042,4.26307910664e-05,1793247557243138560
+96,1.600000000,BASELINE,765,745,715,680,659,633.312881675,877.687118325,784,808.312881675,651,629,651.687118325,0.400968295633,-0.00539262140527,0.0798330947247,0.999999927945,0.000247809959855,-0.000284383783936,4.27376970829e-05,1793247557259805952
+97,1.616666667,BASELINE,764.730806782,745,715,680,659,633.269193218,877.730806782,784,808,651,629,652,0.400968175235,-0.00539320029644,0.079833187769,0.999999928117,0.000247112629101,-0.000284397559024,4.26641422975e-05,1793247557276472576
+98,1.633333333,BASELINE,764.139236678,745,715,680,659,633.860763322,877.139236678,784,808,651,629,652,0.400969792856,-0.00539229411185,0.0798342970722,0.999999928355,0.000248564297502,-0.000282329159406,4.23744736232e-05,1793247557293139200
+99,1.650000000,BASELINE,764.442564148,745,715,680,659,634,877,784.442564148,808.442564148,651.442564148,629,652,0.40096962589,-0.00539249632053,0.0798340014097,0.999999928606,0.000247508617795,-0.000282340782384,4.25629466261e-05,1793247557309806080
+100,1.666666667,BASELINE,765.021253364,745,715,680,659,634,877,784.978746636,808.978746636,651.978746636,629,652,0.400968988791,-0.00539297700148,0.079833349351,0.999999928847,0.000245834652492,-0.000282898951244,4.28863133398e-05,1793247557326472704
+101,1.683333333,BASELINE,765.597216838,745,715,680,659,634,877,784.402783162,808.402783162,651.402783162,629,652,0.400970418694,-0.00539182091051,0.0798346829291,0.999999928803,0.000248167616879,-0.000281010937785,4.28889850862e-05,1793247557343139584
+102,1.700000000,BASELINE,765.827275968,745,715,680,658.827275968,634,877,784,808.172724032,651,629.172724032,652,0.400971308945,-0.00539145709651,0.0798353924671,0.999999928882,0.000248974530413,-0.000280012914683,4.29018868867e-05,1793247557359805952
+103,1.716666667,BASELINE,765.252830074,745,715,680,658.252830074,634,877,784,808.747169926,651,629.747169926,652,0.40097094407,-0.00539293596186,0.0798346506114,0.999999929259,0.000246232151818,-0.000281084833009,4.29385817657e-05,1793247557376472064
+104,1.733333333,BASELINE,765,745,715,680,658,634,877.331360363,784,808.668639637,651,629.668639637,651.668639637,0.400970010342,-0.00539358051271,0.0798337800288,0.999999929224,0.00024476906742,-0.000282483682773,4.29246708154e-05,1793247557393138432
+105,1.750000000,BASELINE,765,745,715,680,658,634,877.923211286,784,808.076788714,651,629.076788714,651.076788714,0.400968629425,-0.00539356918851,0.0798328082508,0.999999928869,0.000244311667474,-0.000284139541525,4.28709773777e-05,1793247557409805056
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784,808,651,629,652,0.400971750264,-0.00539073727743,0.0798362523434,0.999999929841,0.000246421132542,-0.000278978155332,4.20205575354e-05,1793247557442243584
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745.603672993,715,679.603672993,658.603672993,634,877,784.603672993,808.603672993,651.603672993,629,652,0.400970168139,-0.00539239538369,0.0798343617104,0.999999929084,0.000246042224464,-0.000281968666949,4.23046598464e-05,1793247557458910208
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.797449138,715,680,659,634,877.202550862,784.797449138,808.797449138,651.797449138,629,652,0.400969250951,-0.0053926852695,0.0798333778669,0.999999928491,0.000246573991795,-0.000283570014602,4.25025631384e-05,1793247557475576832
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.207736699,715,680,659,634,877.792263301,784.207736699,808.207736699,651.207736699,629,652,0.400969604746,-0.00539035989945,0.0798341272869,0.999999928225,0.000248846450376,-0.000282516074605,4.25357031823e-05,1793247557492243456
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.624777228,658.624777228,634,877.624777228,784,808,651,629,652,0.400969054597,-0.00539070182009,0.0798337539048,0.999999928432,0.000247518015623,-0.000282971374673,4.24107552701e-05,1793247557508910336
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.045490379,658.045490379,634,877.045490379,784,808,651,629,652,0.400968012838,-0.00539249434103,0.0798327698893,0.999999928887,0.000244231242831,-0.000284247471686,4.21998315693e-05,1793247557525577728
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.531265356,658.531265356,634,877,784,808,651,629,652,0.400969156525,-0.00539158010203,0.0798337784014,0.999999928887,0.000246041340759,-0.00028264680277,4.24421445381e-05,1793247557542244096
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.892922837,659,633.892922837,877,784,808,651,629,651.892922837,0.400970232083,-0.00539068746337,0.0798347400697,0.999999928778,0.000248079067163,-0.000281208087997,4.26901642953e-05,1793247557558910976
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.320277348,659,633.320277348,877,784,808,651,629,651.320277348,0.400970201629,-0.00539089169443,0.0798347597591,0.999999928397,0.000249217941192,-0.00028153949047,4.27950564817e-05,1793247557575577856
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.262293092,658.737706908,633.262293092,877.262293092,784,808,651,629,651.262293092,0.400972586041,-0.00539070287742,0.0798356226013,0.999999928735,0.0002493026241,-0.000280291632345,4.26014445714e-05,1793247557592244480
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.85745912,658.14254088,633.85745912,877.85745912,784,808,651,629,651.85745912,0.400978035132,-0.00539001524791,0.0798375554783,0.999999929977,0.000248049445931,-0.000277039553994,4.20290047745e-05,1793247557608911104
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.561956603,784,808,651,629,652,0.401003154689,-0.0053914042444,0.0798483274622,0.999999935155,0.000247127310857,-0.000258461167831,4.26058301863e-05,1793247557625577472
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,808.014013594,651,629,652,0.401034991176,-0.00539339517542,0.0798619284987,0.999999941133,0.000246334950376,-0.000234864082557,4.3503726974e-05,1793247557642243584
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,808.589101563,651,629,652,0.401087739321,-0.0053933026377,0.0798773487279,0.999999947967,0.000246564458531,-0.000203574498994,4.27658485392e-05,1793247557658910464
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.83162538,745,715,680,658.16837462,634,877,784,808.83162538,651,628.83162538,652,0.401145689939,-0.00539368101944,0.0798926719549,0.999999953566,0.000246255199093,-0.000174516305374,4.20710647995e-05,1793247557675577344
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.241878657,745,715,680,658.758121343,634,877,784,808.241878657,651,628.241878657,652,0.401216660207,-0.00539523791798,0.0799077524286,0.999999957819,0.000244597627464,-0.000151042352558,4.14841291946e-05,1793247557692243968
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.341719876,745,715,679.658280124,659,634,877,784,808.341719876,651,628.341719876,651.658280124,0.401297024778,-0.00539742239187,0.0799195179206,0.999999960988,0.000242335551009,-0.000132961266847,4.02217687279e-05,1793247557708910848
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.921043433,745,715,679.078956567,659,634,877,784,808.921043433,651,628.921043433,651.078956567,0.401383921365,-0.00540004322955,0.0799289784483,0.999999963506,0.000239653152125,-0.000118629935387,3.84897738311e-05,1793247557725577728
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.497635143,658.502364857,634,877,784,809,651,629,651.497635143,0.401485581154,-0.00540176581075,0.0799312792525,0.999999964157,0.000239064342968,-0.000115213020561,3.55016236158e-05,1793247557742244352
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.92644979,658.07355021,634,877.07355021,784,809,651,629,652,0.40159349809,-0.00540333554867,0.0799330797267,0.999999964815,0.000238176230133,-0.000112279117324,3.21836750804e-05,1793247557758911232
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.352206406,658.647793594,634,877.647793594,784,809,651,629,652,0.401728151847,-0.00540482971772,0.0799391652175,0.999999967373,0.000233001661421,-0.000100908990154,2.79699928334e-05,1793247557775577856
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.228287196,658.771712804,634,877.771712804,784.228287196,808.771712804,651,629,652,0.40187202262,-0.00540577418377,0.0799451348397,0.999999969379,0.000229485920406,-8.95984215574e-05,2.34484823788e-05,1793247557792244224
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.818695154,658.181304846,634,877.181304846,784.818695154,808.181304846,651,629,652,0.40203051388,-0.00540584668281,0.0799509206647,0.999999970629,0.00022860149679,-7.83823288932e-05,1.8438679567e-05,1793247557808910592
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.598968101,658.401031899,634,877,784.598968101,808,651,629,652,0.402213695906,-0.00540817259038,0.079956900595,0.999999972977,0.000222019023024,-6.77110925478e-05,1.30235811902e-05,1793247557825576960
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.020208279,658.979791721,634,877,784.020208279,808,651,629,652,0.402407820314,-0.00541149715573,0.0799629665487,0.999999975666,0.00021291130707,-5.7281322753e-05,7.42886489672e-06,1793247557842243072
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.554494141,658.445505859,634,877,784,808,651,628.445505859,652,0.402623154142,-0.00541253293639,0.07995927507,0.999999976929,0.000205019317026,-6.41019023164e-05,-5.521846314e-07,1793247557858910464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.132033411,634,877,784,808.132033411,651,628.132033411,652,0.40284402884,-0.0054136755597,0.0799546168258,0.999999977901,0.000197007108685,-7.28767595291e-05,-8.68191978116e-06,1793247557875577600
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.71987299,634,877,784,808.71987299,651,628.71987299,652,0.40308138275,-0.00541547289498,0.0799478398127,0.999999978383,0.000188428036169,-8.62436138496e-05,-1.70268970632e-05,1793247557892243968
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+135,2.250000000,POSE1_TO_POSE2_PRESS,764.117469937,745,715,680,659,634,877.882530063,784,808.117469937,651,629,652,0.403649468501,-0.00541950256417,0.0799457416463,0.999999991194,9.32871947943e-05,-8.87929117351e-05,-3.20124050896e-05,1793247557925577216
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.460439786,745,715,680,659,634,878,783.539560214,808.460439786,651,629,652,0.403987787724,-0.00542056821561,0.0799517352238,0.999999990285,0.000110423757552,-8.06931763605e-05,-2.69189222176e-05,1793247557942243840
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.962251643,783.037748357,808.962251643,651.037748357,629,652,0.404339454773,-0.00542145499186,0.0799585910509,0.999999986838,0.000144382435889,-7.13733151124e-05,-1.96005127539e-05,1793247557958910208
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.38848698,783.61151302,808.38848698,651.61151302,629,652,0.404737366753,-0.00542347584357,0.0799587247487,0.999999987853,0.000139445451842,-6.49254530662e-05,-2.51857765453e-05,1793247557975577088
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,784,808.190518689,651.809481311,629,652,0.405141929415,-0.00542672932116,0.0799575354161,0.999999989426,0.000128451658711,-6.11422392143e-05,-3.0161277369e-05,1793247557992244224
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,784,808.780513533,651.219486467,629,652,0.405560437059,-0.00543256734625,0.0799535719772,0.999999991959,0.000104758057964,-6.29462125086e-05,-3.38582374734e-05,1793247558008911616
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.363641831,784,809,651,629,652,0.406001757708,-0.00543413586566,0.0799458928924,0.999999990436,0.000110139104842,-7.68238390181e-05,-3.30878937664e-05,1793247558025578240
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.942702493,784,809,651,629,652,0.40645659266,-0.00543317516086,0.0799360126851,0.999999985962,0.000132743763584,-9.78538118349e-05,-2.96711514318e-05,1793247558042244352
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.481262231,784,809,651,629,652,0.406952033664,-0.00543421657443,0.0799306706136,0.999999986777,0.00011712806083,-0.000107373003773,-3.46045063532e-05,1793247558058911232
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,783.90381268,809,651,629,652,0.407457595127,-0.00543613571658,0.0799255716476,0.999999987365,0.000100684592557,-0.000116526597162,-3.9429931683e-05,1793247558075578112
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,783.317462861,809,651,629,652,0.407992006274,-0.00544140728709,0.0799191719445,0.999999985612,0.000101411346316,-0.000130258669146,-3.90325707574e-05,1793247558092244736
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.265581582,783.265581582,808.734418418,651,629,652,0.408557800226,-0.00544498402549,0.0799166454636,0.999999985156,9.8776725428e-05,-0.000135458852666,-3.97734329154e-05,1793247558108911104
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.84472348,783.84472348,808.15527652,651,629,652,0.409160646421,-0.00544655975096,0.0799186919237,0.99999998635,9.21734795381e-05,-0.000130585815588,-4.18581442789e-05,1793247558125577472
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.577464615,745,715,680,659.422535385,634,877.577464615,784,808.422535385,651,629,652,0.409822065849,-0.00545245733412,0.0799454066543,0.99999999165,8.57602999734e-05,-8.69090353689e-05,-4.23373311997e-05,1793247558142244352
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.000139943,745,715,680,659.999860057,634,877.000139943,784,808.999860057,651,629,652,0.410504942659,-0.0054599381628,0.0799811582232,0.999999995534,7.94167481541e-05,-2.90171054878e-05,-4.22283589706e-05,1793247558158911232
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.575240133,745,715,680.575240133,659.424759867,634,877.575240133,783.424759867,809,651,629,652,0.411188231719,-0.00546534796948,0.0799899612887,0.999999996449,7.11043539574e-05,-1.7073033429e-05,-4.18814343259e-05,1793247558175577344
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680.84590903,659.15409097,634,878,783.15409097,809,651,629,652,0.411869116336,-0.00547293691367,0.0799869905489,0.999999997007,6.1213049674e-05,-2.25423938397e-05,-4.16140774694e-05,1793247558192243456
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680.257269135,659.742730865,634,878,783.742730865,809,651,629,652,0.412543219831,-0.00548667261601,0.0799508351562,0.999999995066,4.68704395048e-05,-7.70876189778e-05,-4.15712708706e-05,1793247558208909824
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680.32662263,659.67337737,634,878,784,809,651,629,652,0.41325696069,-0.00550678260522,0.0799235374829,0.999999992694,1.74802466873e-05,-0.000111624557207,-4.29725003053e-05,1793247558225576448
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680.906828111,659.093171889,634,878,784,809,651,629,652,0.414001475226,-0.00553184145639,0.0799031167504,0.999999990155,-2.35925701268e-05,-0.000130627493655,-4.5494848545e-05,1793247558242243072
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680.51645565,659.48354435,634,878,784.48354435,809,651,629,652,0.414791482662,-0.00553287119822,0.0799213002804,0.999999993681,-2.79386956564e-05,-9.90249582091e-05,-4.5300799962e-05,1793247558258910720
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.940797002,809,651,629,652,0.415589031716,-0.00553003517017,0.0799443857618,0.999999996651,-2.58055556552e-05,-6.35611005087e-05,-4.46415310586e-05,1793247558275578624
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.368518621,809,651,629,652,0.416376516152,-0.00553353525951,0.0799459506456,0.999999995525,-2.84105703206e-05,-7.85333558249e-05,-4.44540559636e-05,1793247558292244736
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,877.788025699,784,809,651,629,652,0.417196227435,-0.00553887254223,0.079949219774,0.999999995446,-3.49786610597e-05,-7.66199272796e-05,-4.48818256682e-05,1793247558308910848
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,877.192676042,784,809,651,629,652,0.418074223938,-0.00554753256087,0.0799555711884,0.999999996761,-4.8714345472e-05,-4.41671587837e-05,-4.64223231407e-05,1793247558325577472
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,877.78178158,784,809.39089079,651,629,652.39089079,0.418967077946,-0.00555152566153,0.0799728256882,0.999999997246,-5.66975278948e-05,-6.70027067232e-06,-4.74222461284e-05,1793247558342244096
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.937639238,784,809.968819619,651,629,652.968819619,0.419867041122,-0.00555328567995,0.0799952972248,0.999999996373,-6.1928184816e-05,3.31658316446e-05,-4.81635085661e-05,1793247558358910720
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.459025807,784,810,651,629.540974193,652.459025807,0.420711236669,-0.00554144858874,0.0799753880458,0.99999999746,-5.16374723947e-05,-1.13933223119e-06,-4.91110395328e-05,1793247558375577088
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.2260174,784.1130087,810,651,629.8869913,652.1130087,0.421568285672,-0.00552774159947,0.079960343801,0.999999997689,-3.77009490228e-05,-2.6722423906e-05,-4.98607179023e-05,1793247558392243712
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879.371789002,784.685894501,810,651,629.314105499,652.685894501,0.422490582396,-0.00550958077443,0.0799749323035,0.999999998684,-1.25302655495e-05,4.01170774867e-07,-4.97573865118e-05,1793247558408910080
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.269537484,660,634,879.730462516,784.730462516,810,651,629.269537484,652.730462516,0.42341493245,-0.00550486276164,0.0799888216254,0.999999998599,-3.09658315842e-06,1.87314281172e-05,-4.9413331502e-05,1793247558425576960
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.866237527,660,634,879.133762473,784.133762473,810,651,629.866237527,652.133762473,0.424341774943,-0.00551646153033,0.0800018622894,0.999999998381,-1.27643503788e-05,2.6388402682e-05,-4.87770880275e-05,1793247558442243584
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.553923592,660,634,879,784,810,651,630,652.446076408,0.425211458498,-0.00552483929713,0.0799621431749,0.999999997074,-2.73511295952e-05,-5.10096039815e-05,-5.00245294555e-05,1793247558458910464
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.021060595,660,634,879,784,810,651,630,653,0.426068055957,-0.0055320855999,0.0799089985445,0.999999986711,-4.28245980083e-05,-0.000148503670737,-5.18684181626e-05,1793247558475577856
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.596498957,660,634,879,784,810,651,630,653,0.427014931277,-0.00553404681842,0.0799037364305,0.999999989304,-4.42252025839e-05,-0.000128071897663,-5.50855951e-05,1793247558492244224
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.824013526,660,633.824013526,879,784,810.175986474,651,630,653,0.427957717656,-0.005535808821,0.0799038526981,0.999999990938,-4.49719963429e-05,-0.000113654679534,-5.64289409732e-05,1793247558508910592
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.235023524,660,633.235023524,879,784,810.764976476,651,630,653,0.428890908083,-0.00553710330525,0.0799165909053,0.999999991175,-4.41844325082e-05,-0.000113352368057,-5.3374796229e-05,1793247558525576960
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.34903615,660.34903615,633,879,784,811,651,630,653,0.429852579446,-0.00553568112621,0.0799464759507,0.99999999478,-4.4842578706e-05,-7.55873344248e-05,-5.2119911538e-05,1793247558542243584
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.929822205,660.929822205,633,879,784,811,651,630,653,0.430833161289,-0.00553245516128,0.079987746,0.999999997482,-4.64606344279e-05,-1.29481369462e-05,-5.20596834223e-05,1793247558558910208
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784,810.49612709,651,630,653,0.431773847797,-0.00553006649625,0.0800149003628,0.999999997463,-4.1208044904e-05,2.86995327932e-05,-5.05101355724e-05,1793247558575577344
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.078151097,715,681,661,633.078151097,879,784,810.078151097,651,630,653,0.432690678584,-0.00552834672395,0.0800272029321,0.999999996992,-3.6266386861e-05,4.75242217759e-05,-4.94223961677e-05,1793247558592243968
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.659859457,715,681,661,633.659859457,879,784,810.659859457,651,630,653,0.433489127804,-0.00553019539065,0.079956310241,0.999999995909,-3.94126575462e-05,-6.21186722386e-05,-5.2629170404e-05,1793247558608910336
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.243124937,745.756875063,715,681,660.756875063,633.756875063,879.243124937,784,811,651,630,653,0.43434695248,-0.00553382350328,0.0799104443953,0.999999989121,-4.7654737671e-05,-0.000127902570878,-5.59365604925e-05,1793247558625576960
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.828583009,745.171416991,715,681,660.171416991,633.171416991,879.828583009,784,811,651,630,653,0.435288381141,-0.00553995717281,0.079899817699,0.999999987545,-6.30719956435e-05,-0.000131930635271,-5.93856243399e-05,1793247558642244096
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.590208309,745.409791691,715,681,660.409791691,633,879.590208309,784,811,651,630,653,0.436206049459,-0.00554310386742,0.0799302834905,0.99999999178,-6.96197601093e-05,-9.0749071563e-05,-5.79521388045e-05,1793247558658910464
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.01075895,745.98924105,715,681,660.98924105,633,879.01075895,784,811,651,630,653,0.437113880711,-0.00554501392556,0.0799777619643,0.999999995411,-7.24954685351e-05,-3.08502901145e-05,-5.44972308757e-05,1793247558675576576
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.436761988,715,681.563238012,661,633.563238012,879,784,811,650.436761988,630,652.436761988,0.438006895916,-0.00555174811258,0.0800087134469,0.999999995166,-7.93714224136e-05,2.13801091496e-05,-5.39528082691e-05,1793247558692243200
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.860382046,660.860382046,633.860382046,879,784,811,650.139617954,630,652,0.438877979183,-0.00555637702305,0.0800304068713,0.999999993243,-8.52352534708e-05,5.79638877756e-05,-5.37514651377e-05,1793247558708910080
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681.276083852,660.276083852,633.276083852,879,784,811,650.723916148,630,652,0.439680102401,-0.00555400998883,0.0800236094244,0.999999993656,-8.76344559571e-05,4.51755729794e-05,-5.44674490355e-05,1793247558725577216
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681.308317483,660.308317483,633,879,784,811,651,630,652.308317483,0.440442370217,-0.00554703706258,0.0799758338031,0.999999994475,-8.30537361471e-05,-2.95447046398e-05,-5.72691360563e-05,1793247558742243840
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.892811177,660.892811177,633,879,784,811,651,630,652.892811177,0.441168937408,-0.00553593839636,0.0798913518727,0.999999982715,-7.22207310316e-05,-0.000159740702932,-6.19390964628e-05,1793247558758910208
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.530793814,661,633,879,784,811.469206186,651,630,652.530793814,0.441904371152,-0.00553660810556,0.0798449101454,0.999999971547,-6.65109317662e-05,-0.000220008979979,-6.38614165637e-05,1793247558775576832
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681.043674569,661.043674569,633,879,784,812,651,630,652.043674569,0.442647408608,-0.00554044723712,0.0798156677242,0.999999964073,-6.33619268013e-05,-0.000252275110544,-6.47820519851e-05,1793247558792243712
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681.616834356,661.616834356,633,879,784,812,651,630,652.616834356,0.443458488609,-0.00555067039878,0.0798913727118,0.999999985976,-7.73102344937e-05,-0.000135442391521,-6.10394790242e-05,1793247558808910080
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661.802667911,633,879.197332089,784,812,651,630,653,0.444242579799,-0.00555849264458,0.0799580081601,0.999999994067,-8.51426283806e-05,-3.53751902905e-05,-5.80034373348e-05,1793247558825576704
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661.207371465,633,879.792628535,784,812,651,630,653,0.444972242153,-0.00556147290764,0.0800063528644,0.999999994682,-8.06409162517e-05,3.0880607313e-05,-5.6392274779e-05,1793247558842243072
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,880,784,812,651,630.374854906,653,0.445661767702,-0.00556575209131,0.0800195305949,0.999999993094,-9.32022703982e-05,4.49824749903e-05,-5.56915679339e-05,1793247558858909696
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,880,784,812,651,630.950094426,653,0.446329837442,-0.00557072563333,0.080013909261,0.999999991375,-0.000114884956643,3.12046312387e-05,-5.54775597333e-05,1793247558875576576
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.474171941,784,812,651,630.474171941,653,0.446925270874,-0.00557632639469,0.079985737326,0.999999992077,-0.00011218035563,-1.76438414663e-06,-5.7086244242e-05,1793247558892243712
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.103955912,745,715,682,660.896044088,632.896044088,879,783.896044088,812,651,630,653,0.44750048855,-0.00558074164087,0.0799540241527,0.999999991512,-0.000109045694606,-4.00631517972e-05,-5.89899803119e-05,1793247558908910336
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.693037679,745,715,682,660.306962321,632.306962321,879,783.306962321,812,651,630,653,0.448013567592,-0.0055793464426,0.0799157824275,0.999999987045,-0.00011471550394,-9.47261472352e-05,-6.14625799553e-05,1793247558925576704
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.722391596,745.277608404,715,682,660,632.277608404,879,783.277608404,812,651,630,653,0.44850834115,-0.00557523707449,0.0798753078193,0.999999978716,-0.000117096315624,-0.000157686401011,-6.31787773373e-05,1793247558942243328
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+258,4.300000000,HOLD_POSE2,765.158026904,745,715,682.158026904,658.841973096,631,879.841973096,782,812.841973096,651,630,653,0.454988334689,-0.00558751997287,0.0796927977447,0.99999988582,-0.000138432972444,-0.000453274257574,-6.11395669992e-05,1793247560001633792
+259,4.316666667,HOLD_POSE2,765.734776619,745,715,682.734776619,658.265223381,631,879.265223381,782,812.265223381,651,630,653,0.454988349899,-0.00558818119864,0.0796927987868,0.999999885275,-0.000140043802187,-0.000454033469302,-6.07488762135e-05,1793247560018300416
+260,4.333333333,HOLD_POSE2,765.690714259,745,715,683,658,630.690714259,879,782,812.309285741,651,630,653.309285741,0.454989147303,-0.00558793190066,0.0796936391107,0.99999988562,-0.000139877420503,-0.000453334948988,-6.06785639672e-05,1793247560034967296
+261,4.350000000,HOLD_POSE2,765.118112742,745,715,683,658,630.118112742,879,782,812.881887258,651,630,653.881887258,0.454990610641,-0.00558690741248,0.0796951939718,0.999999886719,-0.000138197978963,-0.000451395363182,-6.08810115679e-05,1793247560051633920
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,659,631,880,782,813,651,630,653,0.454990943866,-0.00558618801916,0.079693986543,0.999999886138,-0.000136580288034,-0.000453204377391,-6.0631117841e-05,1793247560084185856
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,658.400856181,631,880,781.400856181,813,651,629.400856181,653,0.454989304133,-0.00558744229726,0.0796930309463,0.999999885406,-0.000138426368637,-0.000454264671088,-6.05832539503e-05,1793247560100852736
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,658.191008824,631,880,781.191008824,813,651,629.191008824,653,0.454988124449,-0.00558791669497,0.0796922830825,0.999999884786,-0.000139177208429,-0.000455397763676,-6.05875796546e-05,1793247560117519360
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,658.768159164,631,880,781.768159164,813,651,629.768159164,653,0.454987874796,-0.00558681449459,0.0796919551696,0.999999884398,-0.000137713920764,-0.00045667802596,-6.069741131e-05,1793247560134185984
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,658.655805792,630.655805792,879.655805792,782,813.344194208,651,630,653,0.454988927985,-0.00558539572379,0.0796925419704,0.999999885089,-0.000136523085175,-0.00045547610293,-6.10300885856e-05,1793247560150852608
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,658.080519591,630.080519591,879.080519591,782,813.919480409,651,630,653,0.454990855902,-0.00558376440769,0.0796937429101,0.999999886499,-0.000135515173996,-0.000452607640592,-6.15123844048e-05,1793247560167518976
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,658,630.506107196,879.506107196,782.506107196,812.987785609,651,630,653,0.454990674167,-0.00558508505381,0.0796938014479,0.999999886059,-0.000135627986967,-0.000453587881452,-6.11996356975e-05,1793247560184185856
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.907072615,745.092927385,715,683,658,631,880,782.907072615,812.092927385,651,630,653,0.454990077473,-0.00558660077043,0.079693635756,0.999999885499,-0.00013604947511,-0.000454738534791,-6.08773687922e-05,1793247560200852480
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.328880153,745.671119847,715,683,658,631,880,782.328880153,812.671119847,651,630,653,0.454989106735,-0.00558662644983,0.0796932699976,0.999999885891,-0.00013713042451,-0.000453508302041,-6.11810576361e-05,1793247560217519104
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,715,683,658,630.752173422,880,782,813,651,629.752173422,653,0.454984494009,-0.00558635418568,0.0796909969194,0.999999884667,-0.000137585631029,-0.000456058596221,-6.12109137959e-05,1793247560234185984
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,715,683,658,630.177426639,880,782,813,651,629.177426639,653,0.454975076957,-0.00558568888958,0.0796862078022,0.999999881272,-0.000137215389307,-0.000463595969149,-6.08795437922e-05,1793247560250852864
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.995538027,745.004461973,714.004461973,683,658,630,879.004461973,782,813,651,629.995538027,653.995538027,0.454917923625,-0.00558384594972,0.0796644959822,0.999999863142,-0.000134407446884,-0.000501919219657,-6.10572909234e-05,1793247560284185856
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.425160391,745.574839609,714,683,658,630,879,782,812.425160391,650.425160391,630,653.425160391,0.454855275384,-0.00558385447897,0.0796444215605,0.999999844449,-0.00013630541283,-0.000537385363125,-6.11613223133e-05,1793247560300852480
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,658,630,879,782,812,650.153637683,630,653,0.454789144224,-0.0055832293717,0.0796267531126,0.999999827965,-0.000137010417594,-0.00056708619216,-6.09208478103e-05,1793247560317519104
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,658,630,879,782,812,650.731242945,630,653,0.454714046284,-0.00558083513828,0.0796158949805,0.999999820655,-0.000134349837624,-0.000580578536466,-5.97309969311e-05,1793247560334185728
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.695535722,714,683,658,630,879.304464278,782,812,651,630,653,0.454633236107,-0.00557875973429,0.0796093054981,0.99999981589,-0.000132261870846,-0.000589339345591,-5.8361279181e-05,1793247560350852864
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.943811951,745.943811951,714.943811951,683,658.056188049,631,880,782,812.056188049,651,630,653,0.454332403675,-0.00557386605277,0.0796070198714,0.999999813901,-0.000127173417285,-0.000594525059678,-5.06488598309e-05,1793247560400852992
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.789666971,683,658.210333029,631,879.210333029,782,812.210333029,651,630,653,0.453867991757,-0.00556455451282,0.0796013714287,0.999999810534,-0.000115723276377,-0.000603264831933,-4.01423915473e-05,1793247560450852352
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.934806214,745.934806214,715,683,658.934806214,631,879.934806214,782,812,651,630,653,0.453490834799,-0.00555925345071,0.079609859271,0.999999818389,-0.000104102762733,-0.000592904330434,-2.91541562679e-05,1793247560484185600
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.478328646,715,683.521671354,658.478328646,631,879.478328646,782.521671354,812,651,630,653,0.453269811147,-0.00555432246059,0.0796161634428,0.999999824753,-9.50448666485e-05,-0.000583866612816,-2.36720084146e-05,1793247560500852480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,683.890675054,658,631,879,783,811.890675054,651,630,653,0.453034923482,-0.00554913098832,0.0796215055441,0.999999829942,-8.50536303845e-05,-0.000576684237706,-1.77927307275e-05,1793247560517519104
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,683.307990531,658,631,879,783,811.307990531,651,630,653,0.45275601581,-0.00554458097906,0.0796221843892,0.999999829881,-7.31356406869e-05,-0.000578609308331,-9.99526116197e-06,1793247560534186496
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.270499735,714.729500265,683,658.270499735,631,879.270499735,783,811.270499735,651,630,653,0.452463194756,-0.00553960424888,0.0796270439553,0.999999834418,-6.1373906563e-05,-0.000572181714192,-2.43622390974e-06,1793247560550853376
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.844287312,714.155712688,683,658.844287312,631,879.844287312,783,811.844287312,651,630,653,0.452154773853,-0.00553414907389,0.0796365910003,0.999999843964,-4.97873689384e-05,-0.00055638900289,4.8554794468e-06,1793247560567520000
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,714.428761245,683,659,631,880,783,811.571238755,651,630,653,0.451826159308,-0.0055272341717,0.0796464081326,0.999999851894,-3.24064938907e-05,-0.000543158319298,1.18397080201e-05,1793247560584186112
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.983050463,745.983050463,714.983050463,682.983050463,659,631.016949537,879.983050463,783,811,651,630,653,0.451489203715,-0.00551990857081,0.0796565885678,0.999999859208,-1.19832713986e-05,-0.000530181139901,1.86410212509e-05,1793247560600852480
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.174700828,682.174700828,659,632,879,783,811,651,630,653,0.450745760509,-0.00551365451576,0.0796945029063,0.999999892862,5.90077298018e-05,-0.000458519136294,2.35575561211e-05,1793247560634185472
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.75081513,682.75081513,659,632,879,783,811,651,630,653,0.450331736519,-0.00550933042591,0.0797137932228,0.999999909513,1.46647990961e-05,-0.000424913532552,1.44134603118e-05,1793247560650852096
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,632,879.314864563,783,811.314864563,651,630,653,0.44988437539,-0.00550529031905,0.0797287968702,0.999999919366,2.36165500184e-06,-0.000401296204247,1.49738060388e-05,1793247560667518720
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,632,879.86971824,783,811.86971824,651,630,653,0.44941160472,-0.00550146666296,0.0797405332295,0.999999925407,1.44791648094e-05,-0.000385291915686,2.29308559305e-05,1793247560684185088
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+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.253894819,715,680,658,634,877.253894819,784,808.746105181,651,629,652,0.401109727647,-0.00539328911526,0.0798197812453,0.999999923151,0.000242792673529,-0.000304981797231,4.16685263458e-05,1793247562000852224
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.898913231,715,679.101086769,658,633.101086769,877,783.101086769,808.101086769,651,629,652,0.401039327632,-0.0053947839527,0.0798203862041,0.999999923402,0.000239129089614,-0.00030690381091,4.27003657949e-05,1793247562034185728
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.511604828,715,679,658,633.488395172,877.488395172,783.488395172,808,651,629,652,0.401019105981,-0.00539431867568,0.0798207981103,0.999999922986,0.000242284086701,-0.000305745341036,4.29731976365e-05,1793247562050852352
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.078317831,715,679,658,633.921682169,877.921682169,784,808.078317831,651,629,652,0.401002838699,-0.0053937017875,0.0798214021545,0.999999922733,0.000245661377671,-0.000303843182199,4.3163353097e-05,1793247562067518976
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.65400079,715,679,658,633.34599921,877.34599921,784,808.65400079,651,629,652,0.400994774111,-0.00539429385151,0.079823002803,0.999999924436,0.000242546813584,-0.000300739979812,4.30682012944e-05,1793247562084185600
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.77082718,715,679.22917282,658,633.22917282,877,784,808.77082718,651,629,651.77082718,0.400986665725,-0.00539470495466,0.0798237726287,0.999999925021,0.000241715989963,-0.000299445708819,4.3176052036e-05,1793247562100852480
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.196424855,715,679.803575145,658,633.803575145,877,784,808.196424855,651,629,651.196424855,0.400978491361,-0.00539484345552,0.0798232908898,0.999999923939,0.000244325428733,-0.000300876440438,4.35897089778e-05,1793247562117518592
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.37846405,634,877,784,808,651,629,651.37846405,0.400975369877,-0.00539468716093,0.0798246459774,0.999999924661,0.000244115338547,-0.000298670210009,4.33749070851e-05,1793247562134185472
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.953605801,634,877,784,808,651,629,651.953605801,0.400974874241,-0.00539437766898,0.079826955615,0.999999926307,0.000242440014072,-0.000294573947088,4.28335118378e-05,1793247562150852608
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.452658519,634,877,784,808,651,628.452658519,652,0.400973326973,-0.00539361167416,0.079826720713,0.999999925753,0.00024374952562,-0.000295329960249,4.31392807507e-05,1793247562167519232
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,658,634,877.137827801,784,808,651,628.137827801,651.862172199,0.400972054258,-0.00539326106853,0.0798264400394,0.99999992526,0.000244844771427,-0.000296064217624,4.33317341955e-05,1793247562184185600
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,658,634,877.71283238,784,808,651,628.71283238,651.28716762,0.400971945081,-0.00539435508965,0.0798267223646,0.999999925581,0.000244429663546,-0.000295379009467,4.29289836634e-05,1793247562200852480
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.28835315,715,679.71164685,658,634,877.71164685,784,808,651,628.71164685,651.28835315,0.400972134511,-0.00539510868458,0.0798274408079,0.999999926198,0.000243549747455,-0.000294047060928,4.26999089899e-05,1793247562217518848
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.86438898,715,679.13561102,658,634,877.13561102,784,808,651,628.13561102,651.86438898,0.400972621856,-0.005395522645,0.0798285943554,0.999999927106,0.000242206103865,-0.000292069875707,4.26441062998e-05,1793247562234185472
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.451362573,658,634,877,784,808,651,628.451362573,652,0.400971448997,-0.00539524036929,0.0798285094153,0.999999926679,0.000243481325549,-0.000292484130188,4.25626429529e-05,1793247562250852096
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,652,0.400969933725,-0.00539482835839,0.0798281144253,0.999999925955,0.000245252156996,-0.000293488161749,4.25018976312e-05,1793247562267518976
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,652,0.400970638843,-0.00539552986417,0.0798286573229,0.999999926778,0.000242934728669,-0.000292563988026,4.2817652534e-05,1793247562284185600
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,652,0.40097035996,-0.00539587893451,0.0798283023565,0.999999927015,0.000241516328034,-0.000292930416689,4.27986370615e-05,1793247562300851968
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,652,0.400968171836,-0.00539554418078,0.0798262052814,0.99999992612,0.000241842294466,-0.000295800977521,4.2130072756e-05,1793247562317518592
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651.345672219,629,651.654327781,0.400967820533,-0.00539562982849,0.0798264014219,0.99999992639,0.000241288490606,-0.000295374789967,4.18839009391e-05,1793247562334185216
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651.921401214,629,651.078598786,0.400968691698,-0.00539599526785,0.0798281237765,0.999999927433,0.000240149169276,-0.000292754502607,4.19188459095e-05,1793247562350851584
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.488716671,715,679.488716671,658.511283329,634,877,784,808,651.488716671,629,651.511283329,0.400970021267,-0.00539503039742,0.0798290956851,0.999999927559,0.000241539895733,-0.000291177955407,4.19061312647e-05,1793247562367518208
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.100924755,715,679,659,634,877,784,808,651,629,652,0.400971389857,-0.00539426942218,0.0798298463841,0.999999927694,0.000242789462955,-0.000289670979623,4.19092393648e-05,1793247562384185088
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.678852422,715,679,659,634,877,784,808,651,629,652,0.400972600322,-0.00539546620273,0.0798301123499,0.999999928571,0.00024148127393,-0.000287712880847,4.20227447636e-05,1793247562400851968
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.254525537,659,633.745474463,877,784,808,651.254525537,629,652,0.400972549873,-0.00539687336682,0.0798303294477,0.999999928927,0.000240379541622,-0.000287376094349,4.21809560827e-05,1793247562417518592
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.827379026,659,633.172620974,877,784,808,651.827379026,629,652,0.400970922436,-0.00539854365187,0.0798304854277,0.999999928633,0.000239536018767,-0.000289067037391,4.23950798582e-05,1793247562434185216
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.587216427,745,715,680,658.587216427,633.412783573,877,784,808,651.587216427,629,652,0.400969904076,-0.00539843410199,0.0798302549823,0.999999928356,0.000239742482599,-0.000289849573498,4.24230776501e-05,1793247562450852096
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.003528566,745,715,679.996471434,658.003528566,634,877,784,808,651,629,652,0.400969152969,-0.00539754901126,0.0798298566104,0.999999928082,0.000240418430267,-0.000290241422066,4.23697617544e-05,1793247562467518720
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.582401481,745,715,679.417598519,658.582401481,634,877,784,808,651,629,652,0.400969144866,-0.00539537661291,0.0798292526879,0.999999927105,0.00024380478109,-0.000290814253767,4.21473216346e-05,1793247562484185344
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22e5b099c1e45085662747278c4168bc7934856d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+5,0.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+7,0.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+8,0.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+9,0.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+10,0.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+14,0.233333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+15,0.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+16,0.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+17,0.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+18,0.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+19,0.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+20,0.333333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+21,0.350000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+23,0.383333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+24,0.400000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+26,0.433333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+27,0.450000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+28,0.466666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+29,0.483333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+30,0.500000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+33,0.550000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+34,0.566666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+35,0.583333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+48,0.800000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+50,0.833333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+51,0.850000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+398,6.633333333,pose2_to_pose3_retreat,0.583247471071,-7.20455328859e-05,1.07004234746,0.553819262713,0.00860241354205,1.06966573576
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+400,6.666666667,pose2_to_pose3_retreat,0.583246505987,-7.21360577027e-05,1.07004226072,0.553818296067,0.00860231776084,1.06966564989
+401,6.683333333,pose2_to_pose3_retreat,0.583246272452,-7.21587393976e-05,1.0700422393,0.553818062137,0.00860229374654,1.0696656287
+402,6.700000000,pose2_to_pose3_retreat,0.583246260184,-7.21599309721e-05,1.07004223818,0.553818049847,0.00860229248496,1.06966562758
+403,6.716666667,pose2_to_pose3_retreat,0.583246038366,-7.21837459366e-05,1.07004221463,0.553817828099,0.00860226886049,1.06966560298
+404,6.733333333,pose2_to_pose3_retreat,0.58324573505,-7.22239418806e-05,1.07004217165,0.553817526375,0.00860223381761,1.06966555429
+405,6.750000000,pose2_to_pose3_retreat,0.583245529153,-7.22403613891e-05,1.07004235625,0.553817320736,0.00860221811071,1.06966573519
+406,6.766666667,pose2_to_pose3_retreat,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106556,1.06966588344
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80ba7ab2028e1ce1f4d4f97fd03ff3b7e1484a42
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1f6fc69ff596087c23551448dbc4de459f7d7fee2beffea212095655c7d99c2
+size 25874884
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5c59bc25c86c1c7b067155a7b9057d423eff7db
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+53,0.883333333,BASELINE,765,745,715,679.244137244,658.755862756,634,877.244137244,784,808,651,629,652,0.400971008825,-0.00539602606679,0.0798330168546,0.999999930051,0.000239633604703,-0.000284233377263,4.10423094817e-05,1793247563494520832
+54,0.900000000,BASELINE,764.661866256,745,715,679,659,634,877,784,808,651,629,652,0.400970873628,-0.00539566392947,0.0798328035322,0.999999929873,0.000240706515078,-0.000283945264266,4.10979863418e-05,1793247563511187200
+55,0.916666667,BASELINE,764.082948362,745,715,679,659,634,877,784,808,651,629,652,0.400970069285,-0.0053946424651,0.0798326374944,0.999999928992,0.000244159094887,-0.000284084080617,4.12143761911e-05,1793247563527853568
+56,0.933333333,BASELINE,764,744.506410535,715,679,659,634,877.493589465,784,808,651,628.506410535,652,0.400970181227,-0.00539492131181,0.0798327942288,0.999999929204,0.000243266430585,-0.000284078055107,4.13969524463e-05,1793247563544520192
+57,0.950000000,BASELINE,764.069708661,744.069708661,715,679.069708661,658.930291339,634,878,784,808,651,628.069708661,652,0.40097042258,-0.00539524751995,0.0798329496858,0.999999929461,0.000242079736916,-0.000284166862038,4.1537510209e-05,1793247563561186560
+58,0.966666667,BASELINE,764.645678121,744.645678121,715,679.645678121,658.354321879,634,878,784,808,651,628.645678121,652,0.400970490841,-0.00539433830775,0.0798327038203,0.999999928724,0.000244035468588,-0.000285120319634,4.1292516256e-05,1793247563577853184
+59,0.983333333,BASELINE,765,745,715,679.773344491,658,634,877.773344491,784,808,651,628.773344491,652,0.400970491752,-0.00539438245408,0.0798327755946,0.999999928642,0.000244407790169,-0.000285094623639,4.12554734985e-05,1793247563594520064
+60,1.000000000,BASELINE,765,745,715,679.184361426,658,634,877.184361426,784,808,651,628.184361426,652,0.400970384999,-0.00539595062266,0.0798333551421,0.999999929607,0.000242248900222,-0.000283503669893,4.15508578674e-05,1793247563611187200
+61,1.016666667,BASELINE,765,744.602069034,715,679,658.397930966,634,877.397930966,784,808,651,628.397930966,652,0.400970786295,-0.00539582675192,0.0798330981536,0.999999929652,0.000242477576118,-0.000283165298561,4.14377391737e-05,1793247563627854336
+62,1.033333333,BASELINE,765,744.022825208,715,679,658.977174792,634,877.977174792,784,808,651,628.977174792,652,0.400971419079,-0.00539493192202,0.0798324600067,0.999999929279,0.000243794120203,-0.000283397652695,4.11384905444e-05,1793247563644521216
+63,1.050000000,BASELINE,765,744.531671008,715,679.531671008,658.468328992,634,877.468328992,784,808,651,629,652,0.400971018996,-0.00539517385852,0.0798330187693,0.99999992928,0.000244108493739,-0.000283084595244,4.14111957652e-05,1793247563661187584
+64,1.066666667,BASELINE,765,744.905899619,715,680.094100381,658,634,877,784,808.094100381,651,629,652,0.400970718672,-0.00539554617215,0.0798335334532,0.999999929268,0.000244327383428,-0.00028290289648,4.16479783225e-05,1793247563677853440
+65,1.083333333,BASELINE,765,744.294255146,715,680.705744854,658,634,877,784,808.705744854,651,629,652,0.400971200035,-0.00539637907664,0.0798335356663,0.999999929103,0.000244247225346,-0.000283566712689,4.1558147577e-05,1793247563694519808
+66,1.100000000,BASELINE,765,744.300251459,715,680.399497082,658,633.699748541,877,784,808.699748541,651,629,652,0.400971653247,-0.00539702119055,0.0798336270502,0.999999929466,0.000243068682813,-0.000283308284641,4.14977849869e-05,1793247563711186688
+67,1.116666667,BASELINE,765,744.878869326,715,679.242261348,658,633.121130674,877,784,808.121130674,651,629,652,0.400972080362,-0.00539748642038,0.0798338011052,0.999999930314,0.000240871816065,-0.000282194833828,4.14647426504e-05,1793247563727853568
+68,1.133333333,BASELINE,765,745,715,679.457113809,658.457113809,633.457113809,877.457113809,784,808.457113809,651.457113809,629,652,0.400970616355,-0.00539609930149,0.0798326247806,0.999999929765,0.000240993651627,-0.000284089015121,4.10426957902e-05,1793247563744520192
+69,1.150000000,BASELINE,765,745,715,680,659,634,877.96483159,784,809,651.96483159,629,652,0.400968856799,-0.00539442898949,0.0798312415789,0.999999928926,0.000241697222949,-0.000286501536767,4.05944016868e-05,1793247563761186816
+70,1.166666667,BASELINE,765,745,715,680,659,634,877.388179076,784,809,651.388179076,629,652,0.400970256243,-0.00539594984685,0.0798321782027,0.999999929379,0.000241905073309,-0.000284633686783,4.13278349228e-05,1793247563777853440
+71,1.183333333,BASELINE,765,745,715,680,658.80811576,633.80811576,877.19188424,784.19188424,808.80811576,651,629,652,0.400971438659,-0.00539661433216,0.0798331588501,0.999999929775,0.000242188145062,-0.000282933712582,4.17537040603e-05,1793247563794520064
+72,1.200000000,BASELINE,765,745,715,680,658.221027466,633.221027466,877.778972534,784.778972534,808.221027466,651,629,652,0.400972174087,-0.00539551503714,0.0798342301682,0.99999993006,0.000242626142551,-0.000281579494366,4.15461154778e-05,1793247563811186688
+73,1.216666667,BASELINE,765,745,715,679.639512198,658.360487802,633.360487802,877.639512198,784.639512198,808,651,629,652,0.400973452578,-0.00539474022904,0.0798353472556,0.999999930279,0.000243531233285,-0.000280060095594,4.12442878706e-05,1793247563827853056
+74,1.233333333,BASELINE,765,745,715,679.061361955,658.938638045,633.938638045,877.061361955,784.061361955,808,651,629,652,0.400975058969,-0.00539416134612,0.0798364919785,0.999999930456,0.000244718354769,-0.000278440960923,4.08855587776e-05,1793247563844519680
+75,1.250000000,BASELINE,765,745,715,679.51599815,659,634,877,784,808,651,629,652,0.400973425044,-0.00539397540102,0.0798350435412,0.99999992994,0.000244996405749,-0.000280020590054,4.10436083636e-05,1793247563861187072
+76,1.266666667,BASELINE,765,745,715,680,659,634,877,784,808,651,629,652,0.400971857374,-0.00539422667747,0.0798336309682,0.999999929611,0.000244620277419,-0.000281491931672,4.12337536717e-05,1793247563877854464
+77,1.283333333,BASELINE,765,745,715,680,659,634,877,784,808,651,629,652,0.400972630194,-0.0053965048176,0.0798340024049,0.999999930688,0.00024140940694,-0.000280430249103,4.12720258811e-05,1793247563894521088
+78,1.300000000,BASELINE,764.735945358,745,715,679.735945358,658.735945358,634,877,784,808,651,629,652,0.400972413911,-0.0053973924726,0.0798341167158,0.999999930842,0.000240500786942,-0.000280652664962,4.13387781913e-05,1793247563911187712
+79,1.316666667,BASELINE,764.157190599,745,715,679.157190599,658.157190599,634,877,784,808,651,629,652,0.400971018815,-0.00539662294835,0.0798339245846,0.999999929902,0.000242335987499,-0.000282405468403,4.14394730611e-05,1793247563927854336
+80,1.333333333,BASELINE,764.422480018,745,715,679,658,634,877.422480018,784,808,651,629,652,0.400970698015,-0.00539557953025,0.0798335725108,0.999999929259,0.000244018889489,-0.000283244239486,4.13469711377e-05,1793247563944520704
+81,1.350000000,BASELINE,765,745,715,679.00246899,658,634,877.99753101,784,808,651,629,652,0.400970777189,-0.00539444928412,0.0798331639562,0.999999928732,0.000245624132072,-0.000283740702307,4.11837676519e-05,1793247563961187072
+82,1.366666667,BASELINE,765,745,715,679.57708293,658,634,877.42291707,784,808,651,629,652,0.400970716391,-0.00539686457929,0.079833487181,0.999999929471,0.000242392826279,-0.000283892165403,4.13303077341e-05,1793247563977853696
+83,1.383333333,BASELINE,765,745,715,680,658.154975223,634,877.154975223,783.845024777,808,651,629,652,0.40097066321,-0.00539810795316,0.0798336242281,0.99999992985,0.000240760051712,-0.000283947766189,4.13268578336e-05,1793247563994520064
+84,1.400000000,BASELINE,765,745,715,680,658.742007396,634,877.742007396,783.257992604,808,651,629,652,0.400970631262,-0.00539608411669,0.0798332422289,0.999999929244,0.000243583837377,-0.000283736111538,4.09052494162e-05,1793247564011186944
+85,1.416666667,BASELINE,765,745,715,679.675337487,659,634,877.675337487,783.324662513,808,651,629,652,0.400971115881,-0.00539550054159,0.0798333853699,0.999999929143,0.000244683390327,-0.000283130638306,4.10047142322e-05,1793247564027853824
+86,1.433333333,BASELINE,765,745,715,679.096114356,659,634,877.096114356,783.903885644,808,651,629,652,0.400972005529,-0.00539604624334,0.0798339402618,0.999999929442,0.00024443101079,-0.000282216380745,4.15127409455e-05,1793247564044520448
+87,1.450000000,BASELINE,765,745,715,679,658.518229721,634,877,784,808.481770279,651,629,652,0.400972586943,-0.00539690762271,0.0798339094037,0.999999930264,0.000241664813547,-0.000281702923396,4.14013935538e-05,1793247564061187584
+88,1.466666667,BASELINE,765,745,715,679.058942404,658,634,877,784,809,651,629,652,0.400972945922,-0.00539754035395,0.0798337201184,0.999999930986,0.000239014736259,-0.000281435398761,4.11537549101e-05,1793247564077854976
+89,1.483333333,BASELINE,765,745,715,679.632220841,658,634,877,784,809,651,629,652,0.400971899032,-0.00539562985151,0.0798331652774,0.999999930012,0.000241742045938,-0.000282618092682,4.07920930572e-05,1793247564094520832
+90,1.500000000,BASELINE,765,745,715,680,658.211583967,634,877,784,808.788416033,651,629,652,0.400971362997,-0.00539502962846,0.079833007975,0.999999929539,0.000242995072735,-0.000283234941057,4.06566447538e-05,1793247564111186944
+91,1.516666667,BASELINE,765,745,715,680,658.801836715,634,877,784,808.198163285,651,629,652,0.400971741232,-0.0053967743938,0.0798335621417,0.999999929976,0.000241609596385,-0.000282839103677,4.09260476234e-05,1793247564127853568
+92,1.533333333,BASELINE,765.385693604,745,715,680,659,634,877,784,808,651,629,652,0.400971085144,-0.0053972860513,0.0798334194724,0.999999929972,0.000240984686586,-0.000283358289047,4.11054085759e-05,1793247564144520192
+93,1.550000000,BASELINE,765.966318057,745,715,680,659,634,877,784,808,651,629,652,0.400969906305,-0.00539717449209,0.07983292462,0.999999929746,0.000240744169564,-0.000284339929965,4.12392620639e-05,1793247564161186816
+94,1.566666667,BASELINE,765.460014164,745,715,679.460014164,659,634,877,784,808,651.539985836,629,652,0.400970575616,-0.00539659417343,0.0798331949195,0.999999929826,0.000241483764548,-0.000283442255047,4.11609673477e-05,1793247564177853696
+95,1.583333333,BASELINE,765,745,715,679.113849457,658.886150543,634,877,784.113849457,808,651.886150543,629,651.886150543,0.400971198253,-0.0053960064456,0.0798334364461,0.999999929908,0.000242141165046,-0.000282601698323,4.10794256761e-05,1793247564194520576
+96,1.600000000,BASELINE,765,745,715,679.690249473,658.309750527,634,877,784.690249473,808,651.309750527,629,651.309750527,0.400971168858,-0.00539550589809,0.0798333696344,0.99999992993,0.000242219401879,-0.000282463403509,4.10377712022e-05,1793247564211187200
+97,1.616666667,BASELINE,765,745,715,680,658,634,877,784.726747471,808,651,629,651.273252529,0.400970913326,-0.00539563408385,0.0798332977723,0.999999929986,0.000241750403542,-0.000282655483314,4.11242260081e-05,1793247564227853824
+98,1.633333333,BASELINE,765,745,715,680,658,634,877,784.136074103,808,651,629,651.863925897,0.400970395103,-0.00539649263081,0.0798332200435,0.99999993008,0.000240645715393,-0.000283231339228,4.13594975741e-05,1793247564244520448
+99,1.650000000,BASELINE,765,745,715,679.553329857,658.446670143,634,877.446670143,784,808,651,629,652,0.400970665652,-0.00539590080302,0.0798330278908,0.999999930102,0.00024078626766,-0.000283044984181,4.1261731223e-05,1793247564261187072
+100,1.666666667,BASELINE,765,745,715,679,658.973302607,633.973302607,877.973302607,784,808,651,629,652,0.400971140152,-0.00539488912084,0.0798328144668,0.99999993006,0.000241442789116,-0.00028266452247,4.10701997646e-05,1793247564277853696
+101,1.683333333,BASELINE,765,745,715,679,658.400305973,633.400305973,877.400305973,784,808,651,629,652,0.400970956765,-0.00539416970207,0.0798328666258,0.999999929101,0.000245030264768,-0.000282980693051,4.09998547708e-05,1793247564294520320
+102,1.700000000,BASELINE,765,745,715,679.177321432,658,633.177321432,877,784,808,651,629,652,0.400970484102,-0.00539413371961,0.0798327244274,0.999999928604,0.000246430217194,-0.000283516928319,4.10100691536e-05,1793247564311186688
+103,1.716666667,BASELINE,765,745,715,679.765683125,658,633.765683125,877,784,808,651,629,652,0.400969340883,-0.005395681978,0.0798321316985,0.999999929197,0.000242759377022,-0.000284563284887,4.12070243531e-05,1793247564327853568
+104,1.733333333,BASELINE,765,744.650454916,715,680,658,634,877,784,808,651,629,652,0.400969960276,-0.0053960179215,0.0798328110742,0.9999999297,0.000241749593206,-0.000283639237153,4.12959573485e-05,1793247564344520704
+105,1.750000000,BASELINE,765,744.069570949,715,680,658,634,877,784,808,651,629,652,0.400971746216,-0.00539555152067,0.0798343323648,0.999999930147,0.000242500971834,-0.000281411119895,4.13133981954e-05,1793247564361188096
+106,1.766666667,BASELINE,764.493627887,744.506372113,715,680,658.506372113,634,877,784.506372113,808,651,629,652,0.400972214174,-0.00539507122824,0.0798343716819,0.99999993022,0.000242363990861,-0.000281307559046,4.10493819655e-05,1793247564377854208
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,808,651,629,652,0.400972104591,-0.00539451241756,0.0798330095945,0.999999929901,0.000241580174489,-0.000283105397175,4.10807418304e-05,1793247564421403904
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.572190931,745,715,680,658,634,877,784,808,651,629,652,0.400971725914,-0.00539500260416,0.0798334542184,0.999999930032,0.000241605173023,-0.000282656232862,4.08413744687e-05,1793247564438070784
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.866235472,745,715,680,658,634,877,784.133764528,808,651,629,652,0.400971531132,-0.00539556582895,0.079833802819,0.999999930167,0.000241560497028,-0.000282234473975,4.07292958683e-05,1793247564454737408
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.33612132,745,715,680,658,634,877,784.66387868,808,651,629,652,0.400971881235,-0.0053963454689,0.0798338668989,0.999999930313,0.000241309372634,-0.000281893918343,4.09943788788e-05,1793247564471404032
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.761066598,808,651,628.761066598,652,0.400971656271,-0.00539631215401,0.0798339563066,0.999999930159,0.000241937989975,-0.000281882843044,4.11159372118e-05,1793247564488070912
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.108145718,808,651,628.108145718,652,0.400970434917,-0.0053948702745,0.0798340895982,0.999999929483,0.000244090890074,-0.0002824426412,4.09888177854e-05,1793247564504737280
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,808,651,628.498240603,652,0.400971446661,-0.00539581998312,0.0798345616457,0.999999929803,0.000243842900766,-0.000281497085512,4.11557485277e-05,1793247564521403904
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,808,651,629,652,0.400972810138,-0.00539695284809,0.0798351322339,0.999999930258,0.000243136519056,-0.00028046147448,4.13436805957e-05,1793247564538070272
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,808,651,629,652,0.400973691946,-0.00539655181497,0.0798358674261,0.999999930389,0.000242525970286,-0.000280524068768,4.13350317363e-05,1793247564554736896
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.753807043,658.246192957,634,877.246192957,784.246192957,808,651,629,652,0.400978151554,-0.00539598675431,0.0798379943837,0.999999931089,0.000243007815738,-0.000277576065307,4.14885445878e-05,1793247564571403520
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.17495375,658.82504625,634,877.82504625,784.82504625,808,651,629,652,0.400987445547,-0.00539520005672,0.0798420019198,0.999999932518,0.000244965723883,-0.000270560088201,4.18611732481e-05,1793247564588070144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.398926121,659,633.601073879,877.601073879,784.601073879,808.398926121,651,629,652,0.401014795338,-0.00539584762254,0.0798526183335,0.9999999378,0.000243883182899,-0.000251333421848,4.18557651943e-05,1793247564604736768
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.970651746,659,633.029348254,877.029348254,784.029348254,808.970651746,651,629,652,0.401049966209,-0.00539711645623,0.0798660974601,0.999999944251,0.000241483635941,-0.000226817552228,4.16866061378e-05,1793247564621403392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.563198322,877.563198322,784,808.436801678,651,629,652,0.401111223663,-0.00539893364782,0.0798846879617,0.999999952195,0.000241148452028,-0.000188971397544,4.18073149669e-05,1793247564638070272
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.848118101,659,634,877.848118101,784,808.151881899,651,629,652,0.401175802478,-0.00540024176375,0.0799013383336,0.999999957648,0.00024121386081,-0.000157463727313,4.15404752995e-05,1793247564654736896
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.27332779,659,634,877.27332779,784,808.72667221,651,629,652,0.401245699083,-0.00540004976154,0.0799118163838,0.99999995929,0.000242083669501,-0.000145613725145,4.01508503887e-05,1793247564671403776
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679.300066713,659,634,877,784,808.699933287,651,629,652,0.401325932073,-0.00540021045206,0.079920315046,0.999999961373,0.000240902199539,-0.000133315068293,3.80297034528e-05,1793247564688070400
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.872195638,659,634,877,784,808.127804362,651,629,652,0.401415536775,-0.00540069091936,0.079927019051,0.999999963817,0.00023786089173,-0.000120609629318,3.52453057518e-05,1793247564704737024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.538089035,634,876.538089035,784,808,651,629,652,0.401521332623,-0.00540294550996,0.0799303089871,0.999999965238,0.000235295297261,-0.000114562850528,3.21666966106e-05,1793247564721403648
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,876.055008299,784,808.055008299,651,629,652,0.401634754655,-0.00540551188503,0.0799331237767,0.999999966455,0.000232866543481,-0.000109663442529,2.89205757562e-05,1793247564738070272
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,876.632191283,784,808.632191283,651,629,652,0.401776360427,-0.00540619378153,0.0799407500825,0.999999968389,0.000230437862902,-9.74745415753e-05,2.48876513009e-05,1793247564754736896
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.209152806,634,877,784,809,651,629,651.790847194,0.401928236165,-0.00540787772756,0.0799482202654,0.999999970578,0.000226415460369,-8.46013510188e-05,2.05544599625e-05,1793247564771403520
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.785725225,634,877,784,809,651,629,651.214274775,0.40209815318,-0.00541132197815,0.0799554161856,0.999999973279,0.000219593360041,-7.05260673289e-05,1.56937889547e-05,1793247564788070400
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.637618848,634,877,784,808.637618848,651,628.637618848,651.362381152,0.402286288438,-0.00541331695574,0.0799606378266,0.999999975407,0.000213037235168,-6.0866192593e-05,9.86856603501e-06,1793247564804737024
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.060913477,634,877,784,808.060913477,651,628.060913477,651.939086523,0.402485198586,-0.00541445478559,0.0799646918142,0.999999977196,0.000206638416339,-5.38177356562e-05,3.47287469439e-06,1793247564821403904
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.472220299,715,679.472220299,658.527779701,634,877,784,808.527779701,651,628.527779701,652,0.402697384907,-0.00541538227622,0.0799576479544,0.999999977969,0.000199010227451,-6.66055554173e-05,-4.56475226091e-06,1793247564838070784
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.115453248,715,679.115453248,659,634,877,784,808.884546752,651,629,652,0.402919978547,-0.00541685718408,0.079950153497,0.999999978523,0.000190679786118,-8.01959739394e-05,-1.28376028454e-05,1793247564854737408
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.693371797,715,679.693371797,659,634,877,784,808.306628203,651,629,652,0.403177979964,-0.00542062435612,0.0799461039961,0.999999979714,0.00018011792514,-8.76176717717e-05,-2.1275953154e-05,1793247564871403520
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680.27039508,659,634,877,784,808,651,629,652,0.403460587222,-0.0054237547415,0.0799461067802,0.999999985992,0.000139480031599,-8.79260175079e-05,-2.88074411523e-05,1793247564888069888
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680.846406448,659,634,877,784,808,651,629,652,0.40377100542,-0.00542616539325,0.0799506896933,0.999999994058,6.48484522093e-05,-8.0194437096e-05,-3.53139398705e-05,1793247564904736768
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.57812282,745,715,680.57812282,659.42187718,634,877,784,808,651,629,652,0.404111684167,-0.00542528815382,0.0799532078688,0.999999993094,8.40760705889e-05,-7.68195852938e-05,-2.90110062887e-05,1793247564921403904
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.002848677,745,715,680.002848677,659.997151323,634,877,784,808,651,629,652,0.404463365815,-0.00542321541824,0.0799549752938,0.999999987579,0.000137431432971,-7.5028865069e-05,-1.80504894994e-05,1793247564938071040
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,745,715,680,658.823834435,633.411917218,877,784,808,651,629,652,0.404874587763,-0.00542659454912,0.0799594911469,0.999999989057,0.000133178116016,-5.95475762292e-05,-2.4568597125e-05,1793247564954737664
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.175250357,745,715,679.824749643,658.175250357,633.175250357,877,784,808.175250357,651,629,652,0.405291405638,-0.00543051111198,0.0799606702079,0.999999990541,0.000123649543645,-5.20123744313e-05,-3.03985669928e-05,1793247564971404032
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.753581591,745,715,679.246418409,658.753581591,633.753581591,877,784,808.753581591,651,629,652,0.405720412748,-0.00543560138082,0.0799541430914,0.99999999216,0.000102647127002,-6.29101078572e-05,-3.44457371682e-05,1793247564988070656
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.33011186,659,634,877.33011186,784,809,651,629,652,0.406170985986,-0.00543746166534,0.0799461139523,0.999999991043,0.000104123488509,-7.67873092463e-05,-3.42829743975e-05,1793247565004737280
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.905305119,659,634,877.905305119,784,809,651,629,652,0.406637570378,-0.00543692394784,0.0799369696821,0.999999987729,0.000122288525375,-9.28765261243e-05,-3.09946767922e-05,1793247565021403904
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.508670359,784,809,651,629,652,0.40714402425,-0.00544126215111,0.079933290543,0.999999988548,0.000109018700662,-9.92423122811e-05,-3.4191139109e-05,1793247565038070272
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,783.921742772,808.921742772,651,628.921742772,652,0.407661601171,-0.0054460124376,0.0799295520658,0.999999989379,9.21833476017e-05,-0.000106212425095,-3.82441451154e-05,1793247565054736896
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,783.34269577,808.34269577,651,628.34269577,652,0.408200076559,-0.00544725051075,0.0799185415349,0.999999986607,9.21751466066e-05,-0.000129312465918,-3.96001816859e-05,1793247565071403520
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.235604813,783.235604813,808.235604813,651.235604813,628.235604813,652,0.408772783031,-0.00544969054004,0.0799164728893,0.999999985838,9.03136155109e-05,-0.000136087425685,-4.05907573415e-05,1793247565088070912
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.812823099,783.812823099,808.812823099,651.812823099,628.812823099,652,0.409395122579,-0.00545387333677,0.0799273694655,0.999999988376,8.57648620563e-05,-0.000119191952483,-4.10514355566e-05,1793247565104738048
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680.386715231,659,634,878,784,809,651.613284769,629,652.386715231,0.410065306066,-0.00546103374504,0.0799573939192,0.999999993953,7.6349345471e-05,-6.78234085932e-05,-4.08019922277e-05,1793247565121404672
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680.959011159,659,634,878,784,809,651.040988841,629,652.959011159,0.410758449354,-0.00546962307861,0.079996597646,0.999999997105,6.45983186959e-05,8.84103430596e-08,-4.02117686357e-05,1793247565138071296
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.45022646,715,680.45022646,659.54977354,634,878,784,809,651,629,652.45022646,0.411436583296,-0.00547990622731,0.0799916718227,0.999999997863,5.02137792781e-05,-1.29350422897e-05,-3.98201184339e-05,1793247565154737664
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.138568868,715,680,660,634,878.138568868,784,809,651,629,652.138568868,0.412115246371,-0.00549394935661,0.0799761621306,0.999999997917,3.05334313434e-05,-4.06448975257e-05,-3.97585703601e-05,1793247565171404032
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.716607378,715,680,660,634,878.716607378,784,809,651,629,652.716607378,0.41279925981,-0.00551950279271,0.0799378830565,0.999999994633,-5.29816682887e-06,-9.51299655099e-05,-4.06953523299e-05,1793247565188070400
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.29361829,745,715,680.29361829,660,634,878.70638171,784,809,651,629,652.70638171,0.413523617571,-0.00553174117091,0.0799163897413,0.999999991627,-2.25376125119e-05,-0.000120072046168,-4.26733839484e-05,1793247565204737280
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.86964092,745,715,680.86964092,660,634,878.13035908,784,809,651,629,652.13035908,0.414286778893,-0.00553117302659,0.0799110410941,0.99999999192,-2.18949865815e-05,-0.000116599460162,-4.56528977563e-05,1793247565221404416
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.544816839,745,715,680.544816839,660,633.544816839,877.544816839,784,809,651,629,652,0.415074326554,-0.00553226936547,0.079932450838,0.999999995334,-2.30220857469e-05,-8.24038646513e-05,-4.48450919301e-05,1793247565238070784
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.957170673,745,715,680,659.957170673,633.042829327,877.042829327,784,809,651,629,652,0.415869937704,-0.00553444077661,0.0799585811485,0.999999997735,-2.57542455598e-05,-4.47269315462e-05,-4.32053741234e-05,1793247565254737152
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.37804647,745,715,680,659.37804647,633.62195353,877.62195353,784,809,651,629,652,0.416677198997,-0.00554397745813,0.0799458139987,0.999999995213,-4.21025529686e-05,-7.59857192045e-05,-4.50203878653e-05,1793247565271403520
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.201060031,745,715,680,659,634,878,784,809,651,629,652,0.417502273834,-0.00555088557002,0.0799443622192,0.999999994404,-5.35557746935e-05,-7.86687016639e-05,-4.6215577252e-05,1793247565288070400
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.780133212,745,715,680,659,634,878,784,809,651,629,652,0.418360839884,-0.00555285170514,0.0799641844789,0.999999996992,-5.58057402697e-05,-2.76262842238e-05,-4.62454341882e-05,1793247565304737536
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.354911416,659.354911416,634,878,784,809,651,629.354911416,652,0.41925359935,-0.00555901475801,0.0799787556855,0.999999996798,-6.44958697207e-05,4.6587060932e-06,-4.71473289109e-05,1793247565321403904
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680.927060685,659.927060685,634,878,784,809,651,629.927060685,652,0.420167288243,-0.00556774670365,0.0799901127726,0.999999995521,-7.71279612717e-05,2.54624544191e-05,-4.85829895735e-05,1793247565338070272
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.485386293,745,715,680.485386293,660,633.485386293,878,784,809.514613707,651,629.485386293,652,0.421026314504,-0.00557237212922,0.0799749123501,0.999999995141,-8.4867261062e-05,-8.44516751094e-07,-5.01476555048e-05,1793247565354736896
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.102315963,745,715,680.102315963,660,633,878.102315963,784,810,651,629,652.102315963,0.421896701065,-0.0055728547754,0.0799637767152,0.999999994679,-8.72331570049e-05,-2.09984183068e-05,-5.09080913325e-05,1793247565371404032
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.680249622,745,715,680.680249622,660,633,878.680249622,784,810,651,629,652.680249622,0.422857022391,-0.00555686875035,0.0799895739978,0.999999996358,-6.79438299125e-05,1.94476119056e-05,-4.78424284519e-05,1793247565388070656
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.258193569,878.741806431,784,810,651,629,652.741806431,0.423783046921,-0.00553463003507,0.0799987725028,0.999999997885,-3.71665045683e-05,2.65721937705e-05,-4.62837511511e-05,1793247565404737280
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.836150335,878.163849665,784,810,651,629,652.163849665,0.424666596268,-0.00550464759173,0.0799874140383,0.999999998855,7.83828485169e-06,-7.57060192617e-06,-4.65914193997e-05,1793247565421403904
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.581524575,878,783.581524575,810,651,629.418475425,652,0.425530657151,-0.00550496875842,0.0799510201078,0.999999996153,-1.71363189025e-06,-7.22528639227e-05,-4.97091061443e-05,1793247565438070528
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.997484279,745,715,681,660,633.002515721,878.002515721,783.002515721,810,651,630,652.002515721,0.426387474462,-0.0055172583409,0.0799049081718,0.999999986968,-3.27372039009e-05,-0.000148604967446,-5.39252382336e-05,1793247565454737408
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.416472818,745,715,681,660,633.583527182,878.583527182,783.583527182,810,651,630,652.583527182,0.427351789144,-0.00552453355459,0.0799019741117,0.999999989359,-3.73662499337e-05,-0.000129826458093,-5.5061495905e-05,1793247565471404032
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.162990045,745,715,680.837009955,660,633.837009955,879,784,810.162990045,651,629.837009955,653,0.428314363577,-0.00552945582872,0.0799060700862,0.999999991368,-3.98172309171e-05,-0.000112444978058,-5.50919340593e-05,1793247565488070400
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.738533135,745,715,680.261466865,660,633.261466865,879,784,810.738533135,651,629.261466865,653,0.429272533109,-0.00552842244804,0.0799279601672,0.999999993095,-3.67551917321e-05,-9.85995967771e-05,-5.23233717474e-05,1793247565504737280
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.313995749,633,879,784,811,651,629.313995749,653,0.430245513343,-0.00553205611491,0.079963925878,0.999999996501,-4.14050585271e-05,-5.23461026173e-05,-5.04337132944e-05,1793247565521404416
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.88939134,633,879,784,811,651,629.88939134,653,0.431230823361,-0.00553957507482,0.0800116094768,0.999999997191,-5.24750472376e-05,2.08869778237e-05,-4.92757376978e-05,1793247565538071552
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.477173471,660.522826529,633.477173471,878.522826529,784,811,651,629.522826529,653,0.432138651792,-0.00553364513865,0.0800215674723,0.999999997164,-4.52835488246e-05,3.45101303781e-05,-4.92917385082e-05,1793247565554737920
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.06649155,634,878.06649155,784,810.93350845,651,629.06649155,653,0.43302192181,-0.00552518455698,0.0800138862665,0.999999997897,-3.48230049787e-05,2.19635831711e-05,-5.01095227962e-05,1793247565571404288
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.644939302,634,878.644939302,784,810.355060698,651,629.644939302,653,0.433858073298,-0.00552188179947,0.0799395162499,0.999999994525,-3.26531377918e-05,-8.28538173135e-05,-5.49495909885e-05,1793247565588070656
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,879,784,810.22267996,651,630,653,0.434741556192,-0.00552503566513,0.0799000059861,0.999999988403,-3.96074817611e-05,-0.000135091976673,-5.80934245287e-05,1793247565604737024
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,879,784,810.799296823,651,630,653,0.435700269745,-0.00553845195898,0.0799159032693,0.999999991039,-6.10642311508e-05,-0.000103758494133,-5.8541192781e-05,1793247565621403392
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,879,784,811,651,630,653,0.436619020619,-0.00554575760011,0.0799473217343,0.999999994153,-6.57356806143e-05,-6.55620063844e-05,-5.54520093107e-05,1793247565638070272
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,879,784,811,651,630,653,0.437516435059,-0.00554980071701,0.0799870270739,0.999999996558,-6.14453309077e-05,-2.37013103841e-05,-5.04744206459e-05,1793247565654736896
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681.53818832,661,633.46181168,879,784,811,651,630.53818832,653,0.438400869131,-0.00555084727997,0.080017358209,0.999999995538,-7.20193542703e-05,3.21234077668e-05,-5.20210596171e-05,1793247565671403776
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.126346075,715,682,661,633,879,784,811.126346075,651,630.873653925,653,0.439268343167,-0.00555068018034,0.0800350655394,0.999999993026,-7.98339877873e-05,6.83019729118e-05,-5.39333309386e-05,1793247565688070912
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.703461826,715,682,661,633,879,784,811.703461826,651,630.296538174,653,0.440079874342,-0.00554723715583,0.0800110320302,0.999999995427,-7.25749647653e-05,2.94760536741e-05,-5.48550394215e-05,1793247565704737792
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.279746245,745.720253755,715,681.720253755,661,633,879,784,811.720253755,651,630,653,0.440839716763,-0.00554173465684,0.0799519052663,0.999999994064,-6.67900528146e-05,-6.34035116841e-05,-5.82324083076e-05,1793247565721404160
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.855152006,745.144847994,715,681.144847994,661,633,879,784,811.144847994,651,630,653,0.441544930081,-0.00553405553106,0.0798556889813,0.99999997321,-6.25631056633e-05,-0.000213411543872,-6.42051260793e-05,1793247565738070784
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.559219517,745.440780483,715,681,661,633,879,784,811.440780483,651,630.440780483,652.559219517,0.442302273638,-0.00553589713014,0.0798345879793,0.999999967832,-6.69906641499e-05,-0.000235927676369,-6.4704291731e-05,1793247565754737152
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,715,681.02936301,661,633,879,784,812,651,630.97063699,652.02936301,0.443078843147,-0.00554105040877,0.0798424978157,0.999999973069,-7.38059404939e-05,-0.000210741223745,-6.32656199678e-05,1793247565771403776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,715,681.608856607,661,633,879,784,812,651,630.391143393,652.608856607,0.443887043108,-0.00554824065583,0.0799204896207,0.999999991141,-7.08070614909e-05,-9.54026688575e-05,-6.0020314233e-05,1793247565788070144
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.812568275,715,682,661,633,879,784,811.812568275,651,630,653,0.444668789861,-0.00555536556004,0.0799820308879,0.999999995292,-7.78588971012e-05,-5.81287040534e-06,-5.7616512543e-05,1793247565804737024
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.235900437,715,682,661,633,879,784,811.235900437,651,630,653,0.445395601857,-0.00556235476927,0.0800094096318,0.999999992324,-0.000105782872992,3.03049652963e-05,-5.6960247961e-05,1793247565821404416
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.340225673,784,811.340225673,651,630,653,0.446085103852,-0.00556816502429,0.080012091479,0.999999991347,-0.000113966216163,3.32122491658e-05,-5.66922442892e-05,1793247565838071296
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.91597673,784,811.91597673,651,630,653,0.446748777497,-0.00557315913342,0.0799976765957,0.999999992422,-0.000108483863197,1.31291200438e-05,-5.66930190605e-05,1793247565854737408
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,682.503287438,661,633,880,783.496712562,812,651,630,653,0.447332228615,-0.00557528835257,0.0799648150444,0.999999992377,-0.00010520181338,-2.71196406043e-05,-5.86733072529e-05,1793247565871404032
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,682.908983743,660.908983743,633,879.908983743,783.091016257,812,651,630.091016257,653,0.44789326582,-0.00557712561291,0.0799278059697,0.999999989766,-0.000105707790932,-7.47713372334e-05,-6.08611783544e-05,1793247565888070400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,682.329609859,660.329609859,633,879.329609859,783.670390141,812,651,630.670390141,653,0.448407590013,-0.00558002298388,0.0798854555612,0.999999979985,-0.000124521514685,-0.000143655622371,-6.23479601889e-05,1793247565904737024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.247725466,715,682.247725466,660,633,879.247725466,783.752274534,812.247725466,651,630.752274534,653,0.448912282412,-0.00557963484062,0.0798474433764,0.999999968854,-0.000128958091574,-0.000203932638033,-6.38273087404e-05,1793247565921403648
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.822370491,715,682.822370491,660,633,879.822370491,783.177629509,812.822370491,651,630.177629509,653,0.449404263837,-0.00557491085359,0.0798151562835,0.999999959355,-0.00011442136362,-0.000252850765058,-6.52968477952e-05,1793247565938070272
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.594092852,715,682.594092852,660.405907148,632.594092852,879.594092852,783.405907148,812.594092852,651,630,653,0.449909586101,-0.00556655679992,0.0798162262452,0.999999961056,-0.000108428087702,-0.000248734193862,-6.52953035911e-05,1793247565954736896
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.006577923,715,682.006577923,660.993422077,632.006577923,879.006577923,783.993422077,812.006577923,651,630,653,0.45042087726,-0.00555657860997,0.0798322205548,0.99999996787,-0.000106257254616,-0.000220889259593,-6.46355790255e-05,1793247565971404032
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.426982523,632,879,783.426982523,812.573017477,651,630,653,0.450908726832,-0.00555134585534,0.0798632239945,0.999999978176,-9.59590597087e-05,-0.00017424180037,-6.387788482e-05,1793247565988070912
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879,783,813,651,630,653,0.451366949524,-0.00555040608164,0.0798829252843,0.999999982786,-9.21472508833e-05,-0.000148084288692,-6.33134895325e-05,1793247566004737792
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879,783,813,651,630,653,0.451742976103,-0.00556133391496,0.0798705108997,0.99999997612,-0.000106751442955,-0.000179883567516,-6.32933324841e-05,1793247566021403904
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.305525068,745,715,682,659.694474932,632,879.305525068,783,813,651,630,653,0.452085342234,-0.00556741753742,0.0798436301869,0.999999965804,-0.000113905027509,-0.000226729203279,-6.33403075587e-05,1793247566038070528
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.879832248,745,715,682,659.120167752,632,879.879832248,783,813,651,630,653,0.452398095956,-0.00556923952128,0.0798040228916,0.999999950301,-0.000114504026001,-0.000286811693504,-6.34463412108e-05,1793247566054736896
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682.454961295,659,631.545038705,879.545038705,783,813,651,630,653,0.452700717488,-0.00556992399296,0.0797728853466,0.999999936674,-0.000111218780613,-0.000331654124572,-6.54856124711e-05,1793247566071403264
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.031209779,714.968790221,683,659,631.031209779,879.031209779,783,813,651,630,653.031209779,0.452999363726,-0.00557055478049,0.0797452503926,0.999999923203,-0.000107580988577,-0.000370675741894,-6.79737105549e-05,1793247566088070144
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.623678862,714.376321138,683,659,631.623678862,879.623678862,783,813,651,630,653.623678862,0.453274734733,-0.00557563301263,0.0797403006349,0.99999991959,-0.000116086433248,-0.000377539172422,-6.93339189811e-05,1793247566104737280
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.789647557,745.789647557,714.210352443,683,659,631.789647557,879.789647557,782.789647557,812.789647557,651,630,653.789647557,0.453539837825,-0.00557895134447,0.0797384113513,0.999999917013,-0.00012570612192,-0.000381013738593,-7.07109085887e-05,1793247566121404672
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.213064207,745.213064207,714.786935793,683,659,631.213064207,879.213064207,782.213064207,812.213064207,651,630,653.213064207,0.453787064094,-0.00557920562825,0.0797418504601,0.999999916314,-0.000137265747204,-0.00037858817357,-7.21171146786e-05,1793247566138071552
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.361480525,745,715,683,659,631,879.361480525,782,812,651,630,653,0.454003167148,-0.0055810046371,0.0797384327258,0.999999913499,-0.000141428918621,-0.000385204520239,-6.79576258964e-05,1793247566154737920
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.934830446,745,715,683,659,631,879.934830446,782,812,651,630,653,0.454201028423,-0.00558370903353,0.0797309960886,0.999999909339,-0.0001412569137,-0.000397120472654,-6.05359963307e-05,1793247566171404288
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.477554068,745.522445932,715,683,659,631,879.477554068,782,812.522445932,651,630,653,0.454368151222,-0.00558451013962,0.0797172879295,0.999999901807,-0.000132890029257,-0.000418560079901,-5.94436009017e-05,1793247566188070912
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.889864768,714.889864768,683.110135232,659,631,879.110135232,782,813,651,630,653,0.454528344307,-0.0055848138761,0.0797052122859,0.999999894831,-0.000125382603006,-0.000437112746629,-5.9574071352e-05,1793247566204737536
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.309668316,714.309668316,683.690331684,659,631,879.690331684,782,813,651,630,653,0.45467578548,-0.00558403656277,0.0797035369108,0.99999989419,-0.000126028736126,-0.000438131201994,-6.14595526797e-05,1793247566221403904
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,683.731303238,658.731303238,631,880,782,812.731303238,651,630,653,0.454810535113,-0.00558450461463,0.079704242902,0.999999894568,-0.000127628795718,-0.000436629326529,-6.26876938204e-05,1793247566238070784
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714.425703955,683,658.425703955,631,879.574296045,782,812.425703955,651,630,653,0.455032296388,-0.00558613487467,0.0797110897545,0.999999897953,-0.000130985956488,-0.000427599298744,-6.39912852563e-05,1793247566271404032
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714.991876482,683,658.991876482,631,879,782,813,651,630,653,0.455126598867,-0.00558511829445,0.079714406587,0.999999899853,-0.000130964740866,-0.000422994613933,-6.49451963999e-05,1793247566288070144
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.406901155,683,658.406901155,631,879,782,813,651,630,653,0.45519527505,-0.00558698564062,0.0797111981917,0.999999897193,-0.000135175684326,-0.000427822591205,-6.56427785788e-05,1793247566304736768
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.291434555,745,714.291434555,683,658,630.291434555,880,782,813,651,630,653,0.455470081564,-0.00558441932762,0.0796914172305,0.999999882153,-0.000136649986317,-0.000461575342906,-6.29993321832e-05,1793247566554736640
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.86583438,745,714.86583438,683,658,630.86583438,880,782,813,651,630,653,0.455471710688,-0.00558808287159,0.0796917886757,0.999999882182,-0.000140299026489,-0.000460562979646,-6.19133125492e-05,1793247566571403264
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.452380367,715,683,658.452380367,630.547619633,880,782,813,651.452380367,630,653,0.455471006637,-0.00558662342426,0.0796897737794,0.999999881535,-0.000138537961769,-0.000462488474205,-6.19758071659e-05,1793247566588069888
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.958216758,745.958216758,715,683,658.958216758,630.041783242,880,782,813,651.958216758,630,653,0.455469765219,-0.00558394866142,0.079687289655,0.999999880729,-0.000135592311375,-0.000465048562971,-6.23448374431e-05,1793247566604736768
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.379665756,745.379665756,715,683,658.379665756,630.620334244,880,782,813,651.379665756,630,653,0.455470755123,-0.00558571833624,0.0796881203399,0.999999880694,-0.000138609944484,-0.000464258980888,-6.21552369586e-05,1793247566621403392
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.197854415,745,715,682.802145585,658,630.802145585,880,782,813,651,630,653,0.455471106768,-0.00558606585308,0.0796883281475,0.999999880474,-0.000139545725414,-0.000464446732494,-6.22026376948e-05,1793247566638070016
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.773406726,745,715,682.226593274,658,630.226593274,880,782,813,651,630,653,0.455470239994,-0.00558369851469,0.0796873469015,0.999999879906,-0.000136507315381,-0.000466500183631,-6.27024663704e-05,1793247566654736640
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.652447893,745,714.652447893,682,658,630,880,782,812.652447893,651,630,653,0.455470180724,-0.00558326366188,0.0796871728374,0.999999879751,-0.000136841526338,-0.000466735209002,-6.27024868842e-05,1793247566671403264
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.079216113,745,714.079216113,682,658,630,880,782,812.079216113,651,630,653,0.4554706458,-0.0055840836504,0.0796875229092,0.999999879863,-0.000139365716959,-0.000465789456717,-6.23779616755e-05,1793247566688069888
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.511544859,682.511544859,658,630,880,782,812.511544859,651,630,653,0.455471810689,-0.00558358032692,0.0796883730511,0.999999880522,-0.000137808650315,-0.000464890525226,-6.19807623119e-05,1793247566704736512
+245,4.083333333,HOLD_POSE2,765,746,715,683,658,630,879,782,812,651,630,653,0.455472702568,-0.00558287589506,0.0796885313986,0.999999880813,-0.000134716863201,-0.000465236317452,-6.14935532925e-05,1793247566747282944
+246,4.100000000,HOLD_POSE2,765,745.425372588,715,683,658,630,879.574627412,782,812.574627412,651,630,653,0.455472132627,-0.00558339570572,0.0796875267776,0.999999879602,-0.000137609167155,-0.000466976453227,-6.15918190331e-05,1793247566763949568
+247,4.116666667,HOLD_POSE2,765.148701405,745,714.851298595,683,658,630,880,782,813,651,630,653,0.455471834497,-0.00558359239215,0.0796868947567,0.999999878876,-0.000139175633794,-0.000468071319735,-6.15478492188e-05,1793247566780616192
+248,4.133333333,HOLD_POSE2,765.7211983,745,714.2788017,683,658,630,880,782,813,651,630,653,0.455472311021,-0.0055828681823,0.0796873246367,0.999999879557,-0.000136963496098,-0.000467327184502,-6.10985114601e-05,1793247566797283072
+249,4.150000000,HOLD_POSE2,765.694467709,745,714,683,657.694467709,630.305532291,880,781.694467709,813,651,630,653,0.455472451606,-0.005581865051,0.0796874530821,0.999999880177,-0.000134374609457,-0.000466766038985,-6.09799553539e-05,1793247566813950208
+250,4.166666667,HOLD_POSE2,765.098896927,745,714,683,657.098896927,630.901103073,880,781.098896927,813,651,630,653,0.455472273287,-0.00558059714264,0.0796872953788,0.999999880738,-0.000131428079258,-0.000466378603666,-6.11754067124e-05,1793247566830617344
+251,4.183333333,HOLD_POSE2,765,745,714.462640493,683,657.462640493,630.537359507,879.537359507,781.462640493,813,651,630,653,0.455472382076,-0.00558240391769,0.079687925723,0.99999988076,-0.000132339153988,-0.000466122133889,-6.0798375128e-05,1793247566847283712
+252,4.200000000,HOLD_POSE2,765,745,714.98134384,682.98134384,658,630,879.01865616,782,813,651,630,653,0.455472525615,-0.00558466896461,0.0796886311718,0.999999880652,-0.000133927071148,-0.000465959787841,-6.03363692803e-05,1793247566863950080
+253,4.216666667,HOLD_POSE2,765,745,714.386575444,682.386575444,658,630,879.613424556,782,813,651,630,653,0.455471976853,-0.00558217981995,0.079686810279,0.999999879885,-0.00013269627926,-0.000467898741012,-6.07704438974e-05,1793247566880616448
+254,4.233333333,HOLD_POSE2,765,745.207753971,714.207753971,682.207753971,658.207753971,630,880,782,813,651,630,653,0.455471881995,-0.0055809319307,0.079685958831,0.999999879434,-0.000132449002644,-0.000468884460355,-6.1122583391e-05,1793247566897283072
+255,4.250000000,HOLD_POSE2,765,745.801268216,714.801268216,682.801268216,658.801268216,630,880,782,813,651,630,653,0.45547262995,-0.00558198882089,0.0796869074612,0.999999879579,-0.000134027930101,-0.000468100202529,-6.13225846348e-05,1793247566913949696
+256,4.266666667,HOLD_POSE2,765,746,714.615492811,683,658.615492811,630.384507189,879.615492811,782,812.615492811,651.384507189,629.615492811,653,0.455472806315,-0.00558198881138,0.0796872616103,0.999999879786,-0.000133783890835,-0.000467741861402,-6.12216882112e-05,1793247566930616064
+257,4.283333333,HOLD_POSE2,765,746,714.037426313,683,658.037426313,630.962573687,879.037426313,782,812.037426313,651.962573687,629.037426313,653,0.455472694945,-0.00558145676309,0.0796873165002,0.999999880023,-0.000132622177903,-0.000467597924888,-6.09693211809e-05,1793247566947282688
+258,4.300000000,HOLD_POSE2,765,746,714.537475553,683,658,630.462524447,879.537475553,782,812.537475553,651.462524447,629.537475553,653,0.455472780993,-0.00558226803208,0.0796871540818,0.999999879789,-0.000134075724398,-0.00046768122924,-6.09846081572e-05,1793247566963949568
+259,4.316666667,HOLD_POSE2,765,745.887655809,715,683,658.112344191,630,880,782,813,651,630,653,0.455472790834,-0.00558310786758,0.0796870131098,0.999999879562,-0.000135519334885,-0.000467759746015,-6.09144103646e-05,1793247566980616704
+260,4.333333333,HOLD_POSE2,765,745.312020589,715,683,658.687979411,630,880,782,813,651,630,653,0.455472430048,-0.00558368202053,0.0796870226165,0.999999879506,-0.000136175373309,-0.000467753647378,-6.04152766691e-05,1793247566997284096
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+262,4.366666667,HOLD_POSE2,765.858737159,745.858737159,714.141262841,683,658.141262841,630.858737159,880,782,813,651,630,653,0.455474335617,-0.00558219619728,0.0796882079079,0.99999988077,-0.000134167283705,-0.000465583967843,-6.0753656494e-05,1793247567030617088
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,630,880,782,812,651,630,653,0.455472921626,-0.00557933230433,0.0796868012356,0.999999878872,-0.000135937580825,-0.00046904437644,-6.14403429762e-05,1793247567063523840
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,630,880,782,812,651,630,653,0.455473347273,-0.00558098812157,0.0796873533375,0.999999879903,-0.000133464377039,-0.000467664342688,-6.05900260773e-05,1793247567096855552
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,658,630,880,782,812,651,630,653,0.455474204391,-0.0055804157622,0.0796872195337,0.999999879985,-0.000134978287001,-0.000466997306364,-6.1035684949e-05,1793247567113522176
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.684771538,683,658,630,879.684771538,782,812,651,630,653,0.455474562062,-0.00558037629058,0.0796869535443,0.999999879906,-0.000135238796134,-0.000467076192582,-6.11486570809e-05,1793247567130189056
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.094681121,683,658,630,879.094681121,782,812,651,630,653,0.455474484242,-0.00558080146795,0.0796865722963,0.999999879688,-0.000134406408291,-0.000467805482453,-6.0971544568e-05,1793247567146856192
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.487790941,683.487790941,658,630,879.487790941,782,812,651,630,653,0.455475030473,-0.00558247219219,0.0796869744712,0.999999880298,-0.000134792449378,-0.000466426585322,-6.06739527588e-05,1793247567163522816
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.932140737,683.864281474,658,630.067859263,880,782,812,651,630,653,0.455475466953,-0.00558396292014,0.0796874448404,0.999999880948,-0.00013516880509,-0.000464955441498,-6.04092032284e-05,1793247567180189440
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.359127535,682.71825507,658,630.640872465,880,782,812,651,630,653,0.455474198599,-0.00558234168865,0.0796873082817,0.99999988074,-0.000133739600654,-0.000465796921384,-6.05603423495e-05,1793247567196855808
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.219423654,745,714,682.219423654,658,630.780576346,880,782,812.219423654,651.219423654,630,653,0.455468898328,-0.00558105678539,0.0796845963149,0.99999987886,-0.000133132037781,-0.000469947824779,-6.08720495218e-05,1793247567213522176
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.807273413,745,714,682.807273413,658,630.192726587,880,782,812.807273413,651.807273413,630,653,0.455456828217,-0.00558033659851,0.0796775600757,0.999999874112,-0.000133904062864,-0.00047965545813,-6.14533605249e-05,1793247567230189056
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.610356678,745,714,683,658,630,880,782,812.610356678,651.610356678,630,653,0.455428195983,-0.00558017017314,0.0796659152412,0.999999864206,-0.000134974477994,-0.000499580812216,-6.15570216095e-05,1793247567246855680
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.030659587,745,714,683,658,630,880,782,812.030659587,651.030659587,630,653,0.45539148535,-0.00558027385232,0.0796520225016,0.999999851295,-0.000136190436885,-0.000524489997572,-6.14277025466e-05,1793247567263522304
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.546013549,683,658,630.546013549,880,782,812,651,630,653,0.455334194738,-0.00557865240088,0.0796348266411,0.999999836325,-0.000134156275114,-0.000552819719773,-6.11706830615e-05,1793247567280189440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.877469855,683,658,630.877469855,880,782,812.122530145,651,630,653,0.45527253644,-0.00557698195209,0.0796191125115,0.999999822418,-0.000132062391272,-0.000577948426164,-6.08179160496e-05,1793247567296856064
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.300907429,683,658,630.300907429,880,782,812.699092571,651,630,653,0.455198952246,-0.00557548691308,0.0796095723831,0.999999815337,-0.0001304197322,-0.00059050807409,-6.01367832435e-05,1793247567313522688
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.281558133,745.281558133,714.281558133,683,658,630,880,782,813,651,630,653,0.455121715506,-0.00557356992756,0.0796055876543,0.999999812492,-0.000127986593306,-0.000595991173747,-5.85719394665e-05,1793247567330189312
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.548235689,745.548235689,714.548235689,683,657.548235689,630,879.548235689,782,812.548235689,651,629.548235689,653,0.454940379812,-0.00556950168596,0.0796113833781,0.999999818402,-0.000120955279981,-0.000587990009391,-5.32401950058e-05,1793247567363522560
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.030664247,683.030664247,657.030664247,630,879.030664247,782,812.030664247,651,629.030664247,653,0.454833160542,-0.00556807184952,0.0796152073099,0.999999822559,-0.000117396272361,-0.000581866654935,-5.03105922276e-05,1793247567380188928
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.816388058,684,658,630,879.816388058,782,812.816388058,651,630,653,0.454544927013,-0.00556601007145,0.0796101439391,0.999999816792,-0.000118356117925,-0.000592096700024,-4.27775348354e-05,1793247567413521920
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.229059277,684,658,630,879.229059277,782,812.229059277,651,630,653,0.454372185143,-0.00556070758263,0.0796071596177,0.999999814307,-0.000111908166981,-0.000597759988815,-3.93244097531e-05,1793247567430189568
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.933217273,683.066782727,658,630,879.933217273,782.933217273,812,651,630,653,0.453969206034,-0.00555186728503,0.0795963997605,0.999999806673,-9.871332884e-05,-0.000613189146229,-3.01339170564e-05,1793247567463522048
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.510231037,745.510231037,714.489768963,683.510231037,658,630.510231037,880,782.489768963,812,651,630,653,0.453738856741,-0.00554879491748,0.07959676729,0.999999806141,-9.06876984965e-05,-0.000615565535289,-2.39501365846e-05,1793247567480188672
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,631.304789393,879,783,811.304789393,651,630.304789393,653,0.450361338267,-0.00549517483953,0.0797142506838,0.999999911145,6.49463306712e-06,-0.000421386786311,1.00815525364e-05,1793247567646854912
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,631.894577521,879,783,811.894577521,651,630.894577521,653,0.449900150163,-0.00549329455702,0.0797381192299,0.999999925757,2.18656238764e-05,-0.000384282946441,1.82639712668e-05,1793247567663521536
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.381171974,745,715,682.381171974,660,632.618828026,879.381171974,783.618828026,811,651,630,653,0.448255869606,-0.00547074216185,0.0797085065689,0.99999989983,5.72080025181e-05,-0.000443312214942,2.32506084555e-05,1793247567713521664
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+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.804121825,658.804121825,633.804121825,877,784,808.195878175,651,629,652,0.406980324229,-0.00539709787021,0.0797705423622,0.999999898879,0.000232199156982,-0.000382234654518,4.7148429538e-05,1793247568580188416
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.612698368,715.387301632,680.612698368,659,634,877.387301632,784,808,651,629,652,0.406484897315,-0.00539789630679,0.0797616974282,0.999999896588,0.000228479055688,-0.000390552077606,4.57210749403e-05,1793247568596855552
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.031882074,715.968117926,680.031882074,659,634,877.968117926,784,808,651,629,652,0.406021809474,-0.00540100437398,0.079767000951,0.999999905705,0.00022244805844,-0.00037027579794,4.47613251311e-05,1793247568613522688
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744,715.455414721,680.544585279,658.455414721,634,877.455414721,784,808,651,629,652,0.405605484859,-0.00539812750608,0.0797868432802,0.999999917639,0.000228826472707,-0.000332055218742,4.58148067786e-05,1793247568630189056
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.120176408,715,680.879823592,658.120176408,634,877,784,808,651,629,652,0.405194926406,-0.00539595226798,0.0798063932559,0.999999927173,0.000233557476804,-0.000298149359571,4.70268980729e-05,1793247568646855424
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.693416587,715,680.306583413,658.693416587,634,877,784,808,651,629,652,0.404795866888,-0.005397732632,0.0798216576387,0.999999932073,0.000229360590597,-0.000284439037503,4.83961278205e-05,1793247568663521792
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.723844792,634,877,784,808,651,629,652,0.404414966734,-0.0053977142579,0.079830794596,0.99999993282,0.000232183421468,-0.000279280800728,4.95307321179e-05,1793247568680188416
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.130185557,634,877,784,808,651,629,652,0.404054944976,-0.00539562781988,0.0798328866651,0.999999928872,0.000243077034447,-0.000283955156892,5.03955803339e-05,1793247568696855040
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.549814259,745,715,679.549814259,658,634,877,784,808,651,629,652,0.403724767972,-0.00539467958536,0.0798317776527,0.999999927601,0.000242185259662,-0.000289148127345,5.03848108077e-05,1793247568713521664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.026745151,745,715,679.026745151,658,634,877,784,808,651,629,651.973254849,0.403405148145,-0.00539417947363,0.0798299200397,0.999999927154,0.000237948169598,-0.000294227116379,5.00405882376e-05,1793247568730188544
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.601676721,745,715,679.601676721,658,634,877,784,808,651,629,651.398323279,0.403130089117,-0.00539631137431,0.0798311482854,0.999999928496,0.000232995608968,-0.000293984035533,4.79029083148e-05,1793247568746855168
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,651,0.402867068681,-0.00539668555626,0.079833186061,0.999999928816,0.000234053043257,-0.000292171443238,4.71469379238e-05,1793247568763521792
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,651,0.402631200182,-0.00539309537055,0.0798370496542,0.999999926725,0.000248665449982,-0.000286818967189,4.95072822201e-05,1793247568780188416
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,651.353331435,0.402419370139,-0.00539297520696,0.0798390264091,0.999999927846,0.000248206464924,-0.000283114880733,5.04739335346e-05,1793247568796855040
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,651.931492061,0.402222836041,-0.00539506306129,0.0798398025457,0.999999931034,0.000238157367083,-0.000280459684578,5.05537608868e-05,1793247568813521664
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.49146013,877,784,808,651,629,652,0.402056221983,-0.00539481003202,0.0798410595577,0.999999932539,0.000235094718042,-0.000277516225568,5.13496998934e-05,1793247568830188032
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.914621991,715,679.914621991,658,633.085378009,877.085378009,784,808,651,628.914621991,652,0.401897197437,-0.00539409863491,0.079842372547,0.999999933569,0.000233766480113,-0.000274739687298,5.22775782122e-05,1793247568846854912
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.338129246,715,679.338129246,658,633.661870754,877.661870754,784,808,651,628.338129246,652,0.401758694712,-0.00539256061597,0.0798436357094,0.999999933182,0.000237012921489,-0.000273146206706,5.34106909582e-05,1793247568863521792
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.243081571,715,679.243081571,658.243081571,634,878,784,808,651,628.486163142,652,0.401627999641,-0.00539248249658,0.0798421967076,0.999999930274,0.00024661149949,-0.000275369279155,5.29842758122e-05,1793247568880188416
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.830985146,715,679.830985146,658.830985146,634,878,784,808,651,629.661970293,652,0.401508380081,-0.00539447530964,0.0798369245659,0.999999923515,0.000265220865145,-0.000283006301621,5.03456010059e-05,1793247568896855040
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.588107639,745,715,680,658.588107639,634,878,784,808,651,629.588107639,652,0.401406753431,-0.00539604890656,0.0798320163467,0.999999923099,0.000259295812066,-0.000290804431413,4.47337015405e-05,1793247568913521664
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.010023357,745,715,680,658.010023357,634,878,784,808,651,629.010023357,652,0.401312386633,-0.00539745335648,0.0798272549645,0.999999925041,0.000243471516457,-0.000298667565167,3.79221539615e-05,1793247568930188288
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.565074591,745,715,680,658,634,878,784,808,651,629,652,0.40124313988,-0.00539626026664,0.0798231276347,0.999999923623,0.000243738224699,-0.000303044852225,3.88393060799e-05,1793247568946854912
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.856846881,658,633.856846881,877.856846881,784,808,651,629,652,0.401178535647,-0.00539536652738,0.0798197075288,0.999999922328,0.000244107163778,-0.000306877021959,3.97861859696e-05,1793247568963521792
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.269353324,658,633.269353324,877.269353324,784,808,651,629,652,0.401126965792,-0.00539554422239,0.0798184478866,0.999999921632,0.000243912137262,-0.000309208088449,4.04020475585e-05,1793247568980188416
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.686396245,715,679.313603755,658,633,877,784,808,651,629,652,0.401085757591,-0.00539597232835,0.0798189744657,0.999999922117,0.000242331043988,-0.000308786489866,4.1144838416e-05,1793247568996855040
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.107279909,715,679.892720091,658,633,877,784,808,651,629,652,0.401053322079,-0.00539661244474,0.0798210133486,0.999999923591,0.000239576437441,-0.000306034347997,4.19950939908e-05,1793247569013521664
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.470368729,715,679.529631271,658,633.470368729,877,784,808,651,629,652,0.401029636421,-0.00539596533149,0.0798216413035,0.999999923281,0.000241937657435,-0.000305173376828,4.21089481293e-05,1793247569030189056
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.04763109,658.04763109,634,877,784,808,651,628.95236891,652,0.401008799006,-0.00539520081791,0.0798219881751,0.999999922713,0.000244953456378,-0.000304631484297,4.2083623264e-05,1793247569046856448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.624309962,658.624309962,634,877,784,808,651,628.375690038,652,0.400997500638,-0.0053963830937,0.0798227761677,0.999999923881,0.000242320251598,-0.000302857685033,4.23721231312e-05,1793247569063522816
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.200200807,784,808,651,628.200200807,652,0.400987410236,-0.0053970025486,0.0798235156215,0.99999992459,0.000241183931062,-0.000301386921909,4.26195283374e-05,1793247569080189440
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.774618633,784,808,651,628.774618633,652,0.400979577775,-0.00539656997394,0.0798241643462,0.999999924453,0.000242845599202,-0.000300482596572,4.27901190441e-05,1793247569096855808
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.638262163,784,808,651,629,652,0.400976004946,-0.00539732140349,0.0798258852465,0.999999925228,0.000242793468408,-0.000297920810115,4.28724182011e-05,1793247569113522176
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.042941391,784,808,651,629,652,0.400975182664,-0.00539883737343,0.0798282984766,0.999999926583,0.000241634695822,-0.000294288760661,4.28977053463e-05,1793247569130188544
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784,808,651.532237443,629,652,0.400974663047,-0.00539864821704,0.0798291641193,0.999999927243,0.000241386790717,-0.000292255024037,4.28101278815e-05,1793247569146855168
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.893754069,633.893754069,877,784,808,652,629,652,0.400974182379,-0.00539821661921,0.0798297457515,0.999999927765,0.000241037940317,-0.000290767535216,4.27154289914e-05,1793247569163522048
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.317998144,633.317998144,877,784,808,652,629,652,0.400973769856,-0.00539729942249,0.0798296039675,0.999999927926,0.000239930088947,-0.000291144886762,4.26280328935e-05,1793247569180188672
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.265031473,633.265031473,877.265031473,784,808.265031473,651.734968527,629,652,0.400973576093,-0.0053976765464,0.0798302415187,0.999999928535,0.000238272059132,-0.000290433088345,4.24860327475e-05,1793247569196855552
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.857034789,633.857034789,877.857034789,784,808.857034789,651.142965211,629,652,0.400973652214,-0.00539965048583,0.079831840543,0.999999929693,0.000235935268801,-0.000288377595334,4.22766670568e-05,1793247569213522944
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.56067874,634,877.56067874,784,808.56067874,651,629,652,0.400972774026,-0.00539910901652,0.0798316854075,0.999999929362,0.000237474290786,-0.000288263204532,4.22604550587e-05,1793247569230189568
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.018302922,745,715,679.981697078,658.018302922,634,877,784,808,651,629,652,0.400971642437,-0.00539779434726,0.0798310008595,0.999999928566,0.000240224154305,-0.000288740075268,4.23119145321e-05,1793247569246855936
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.590891215,745,715,679.409108785,658.590891215,634,877,784,808,651,629,652,0.400972038142,-0.00539731728345,0.0798311969256,0.999999928157,0.0002422731443,-0.000288406893922,4.25503777467e-05,1793247569263522560
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.831699006,744.831699006,715,679.168300994,658.831699006,634,877,784,808,651,629,652,0.400972685375,-0.00539697190638,0.0798316108488,0.999999928085,0.000243417918211,-0.000287681904369,4.26332583545e-05,1793247569280189184
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.242223458,744.242223458,715,679.757776542,658.242223458,634,877,784,808,651,629,652,0.400973962059,-0.00539695607645,0.0798325699609,0.999999928858,0.000242299884169,-0.000285976411732,4.23267922565e-05,1793247569296855296
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.340684124,715,680,658,634,877,784,808,651,629,652,0.400974124388,-0.00539671850032,0.0798330486378,0.999999928864,0.000243043707701,-0.000285340767211,4.22279051055e-05,1793247569313522432
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.919010241,715,680,658,634,877,784,808,651,629,652,0.400973509404,-0.00539632624657,0.0798331921903,0.999999928332,0.000245086257907,-0.000285451388349,4.227381331e-05,1793247569330189568
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.504291088,745,715,679.504291088,658.495708912,634,877,784.495708912,808,651,629,652,0.400973264395,-0.00539690263018,0.0798329399202,0.999999928647,0.00024354516301,-0.00028565812445,4.23144433237e-05,1793247569346856192
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.072186523,745,715,679,658.927813477,634,877.072186523,784.927813477,808,651,629,652,0.400973096189,-0.00539767542685,0.0798327268512,0.999999929061,0.000241687593754,-0.000285780417529,4.2357090202e-05,1793247569363523072
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.648971168,745,715,679,658.351028832,634,877.648971168,784.351028832,808,651,629,652,0.400973043688,-0.00539871855735,0.0798332383847,0.999999929221,0.000241697189172,-0.000285203026177,4.24198436859e-05,1793247569380189696
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.230515331,658,634,878,784,808,651,629,652,0.400972402174,-0.00539880980013,0.0798334473365,0.99999992896,0.00024239328135,-0.00028552872911,4.24142037184e-05,1793247569396856064
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.819460184,658,634,878,784,808,651,629,652,0.400970844799,-0.00539742094778,0.0798331858027,0.99999992804,0.000244156811014,-0.000287258658085,4.23022184168e-05,1793247569413522432
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.802826761,634,877.598586619,784.401413381,808.401413381,651,629,652,0.400971688835,-0.00539764139067,0.0798337502417,0.999999928812,0.000242692106936,-0.000285795628246,4.23881852813e-05,1793247569430188800
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.960551612,634,877.019724194,784.980275806,808.980275806,651,629,652,0.400973594441,-0.00539857323967,0.0798346798107,0.99999993032,0.000239800327763,-0.000282921116974,4.25616590077e-05,1793247569446855424
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.887439155,634,877.556280423,784.443719577,808.443719577,651,629,652,0.400973907815,-0.00539825458946,0.0798342109052,0.999999930204,0.000240459635694,-0.000282837601839,4.21085671939e-05,1793247569463522048
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30b6daefedd7885e7aa403e61fb8f9b33726b97b
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+5,0.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+7,0.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+8,0.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+9,0.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+10,0.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+14,0.233333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+15,0.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+16,0.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+17,0.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+18,0.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+19,0.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+20,0.333333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+21,0.350000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+22,0.366666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+23,0.383333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+24,0.400000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+25,0.416666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+26,0.433333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+27,0.450000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+28,0.466666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+29,0.483333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+31,0.516666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+32,0.533333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+33,0.550000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+34,0.566666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+35,0.583333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+36,0.600000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+37,0.616666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+38,0.633333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+39,0.650000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+40,0.666666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+41,0.683333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+42,0.700000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+46,0.766666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+49,0.816666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+68,1.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+69,1.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+70,1.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+71,1.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+72,1.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+73,1.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+74,1.233333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+75,1.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+76,1.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+77,1.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+78,1.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+79,1.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+80,1.333333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+81,1.350000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+82,1.366666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+83,1.383333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+84,1.400000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+85,1.416666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+86,1.433333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+87,1.450000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+88,1.466666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+89,1.483333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+90,1.500000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+91,1.516666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+92,1.533333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+93,1.550000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+94,1.566666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+95,1.583333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+96,1.600000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+97,1.616666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+98,1.633333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+99,1.650000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+100,1.666666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+106,1.766666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+381,6.350000000,pose2_to_pose3_retreat,0.583294409403,-7.20149181836e-05,1.07004245469,0.553866198637,0.00860243581806,1.0696658388
+382,6.366666667,pose2_to_pose3_retreat,0.583278860925,-7.20715904507e-05,1.07004253232,0.553850650287,0.0086023795999,1.06966591696
+383,6.383333333,pose2_to_pose3_retreat,0.583267351428,-7.20935898858e-05,1.07004222976,0.553839141683,0.00860236077869,1.06966561788
+384,6.400000000,pose2_to_pose3_retreat,0.583259232132,-7.21882313666e-05,1.07004234514,0.553831024064,0.00860227158045,1.06966572764
+385,6.416666667,pose2_to_pose3_retreat,0.583254283278,-7.21767786357e-05,1.07004243149,0.553826075247,0.00860228318247,1.06966581444
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+387,6.450000000,pose2_to_pose3_retreat,0.583249190591,-7.2136558253e-05,1.07004237975,0.553820982392,0.00860232314666,1.06966577011
+388,6.466666667,pose2_to_pose3_retreat,0.583248397999,-7.21325349034e-05,1.07004234195,0.553820189844,0.0086023274127,1.0696657344
+389,6.483333333,pose2_to_pose3_retreat,0.583248066539,-7.21308523516e-05,1.07004232614,0.553819858403,0.00860232919675,1.06966571947
+390,6.500000000,pose2_to_pose3_retreat,0.583247867013,-7.2126852848e-05,1.0700423199,0.553819658832,0.00860233305071,1.06966571345
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+392,6.533333333,pose2_to_pose3_retreat,0.583247358516,-7.20935728965e-05,1.07004232932,0.553819149777,0.00860236436244,1.06966572113
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+394,6.566666667,pose2_to_pose3_retreat,0.58324705743,-7.20738675141e-05,1.0700423349,0.553818848361,0.00860238290241,1.06966572568
+395,6.583333333,pose2_to_pose3_retreat,0.583247021857,-7.20715392881e-05,1.07004233556,0.553818812748,0.00860238509295,1.06966572622
+396,6.600000000,pose2_to_pose3_retreat,0.583246866819,-7.20613924475e-05,1.07004233843,0.55381865754,0.00860239463969,1.06966572856
+397,6.616666667,pose2_to_pose3_retreat,0.583246652469,-7.20473637524e-05,1.0700423424,0.553818442955,0.00860240783871,1.0696657318
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71b961b777853f895e12de60ee9b93ef52dd58fe
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba05e86b8ab626ad4c1f329a283fc661bbc051e02c001fcf2ef785bb9c65e463
+size 25926981
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41c2089029ab220d3912419c15eb8798ba84ca0c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+28,0.466666667,BASELINE,765,745,715,680,658.760139339,633.760139339,877,784.239860661,808,651,629,652,0.400972479491,-0.00539717203086,0.0798352064029,0.999999929978,0.000243732738344,-0.000280906734773,4.15953725094e-05,1793247570086397440
+29,0.483333333,BASELINE,765,745,715,680,658.185233471,633.185233471,877,784.814766529,808,651,629,652,0.400971799908,-0.00539647355874,0.0798352845598,0.999999929686,0.000244934387464,-0.000280890295042,4.16626705488e-05,1793247570103063552
+30,0.500000000,BASELINE,764.599242198,745,715,679.599242198,658,633.400757802,877,784.198484395,808,651,629,652,0.400971019691,-0.00539684942311,0.0798348410045,0.999999929318,0.000245016977589,-0.000282120316327,4.17076841663e-05,1793247570119729920
+31,0.516666667,BASELINE,764.007981417,745,715,679.007981417,658,633.992018583,877,783.015962835,808,651,629,652,0.400970191637,-0.00539773598075,0.0798341494498,0.99999992891,0.000244567615286,-0.000283942851431,4.17421047285e-05,1793247570136396544
+32,0.533333333,BASELINE,764.570151445,745,715,679,658.570151445,634,877.570151445,783.570151445,808.570151445,651,629,652,0.400971078546,-0.00539855225393,0.079834328603,0.999999929538,0.00024255041311,-0.000283519244417,4.13482478753e-05,1793247570153063424
+33,0.550000000,BASELINE,765,744.852855267,715,679.147144733,658.852855267,634,878,784,808.852855267,651,629,652,0.400972467821,-0.00539909325832,0.0798350434062,0.999999930288,0.000240907178409,-0.000282306311352,4.11136693586e-05,1793247570169730048
+34,0.566666667,BASELINE,765,744.278648132,715,679.721351868,658.278648132,634,878,784,808.278648132,651,629,652,0.40097524702,-0.00539883813333,0.0798372782623,0.999999931356,0.000240411586766,-0.000278891699198,4.13583778832e-05,1793247570186397440
+35,0.583333333,BASELINE,765,744.303058498,715,680,658.303058498,633.696941502,878,784,808,651,629,652,0.400975205007,-0.00539919752562,0.0798375391311,0.999999931628,0.000239707445411,-0.000278505689925,4.14673677055e-05,1793247570203064576
+36,0.600000000,BASELINE,765,744.891835597,715,680,658.891835597,633.108164403,878,784,808,651,629,652,0.4009725032,-0.00540013627473,0.079835938957,0.999999931153,0.000238806686739,-0.000280974997568,4.14484041814e-05,1793247570219731200
+37,0.616666667,BASELINE,765,745,715,680,659,633.472596493,878,784,808,651,629,652,0.400972377618,-0.00539816212961,0.0798352884948,0.999999930186,0.000242624138557,-0.000281145102696,4.14486687257e-05,1793247570236397824
+38,0.633333333,BASELINE,765,744.948641111,715,680,659,634,878,784,808.051358889,651,629,652,0.400972838133,-0.00539605999793,0.0798349914899,0.999999929345,0.000246564094138,-0.000280708825676,4.14648594711e-05,1793247570253064192
+39,0.650000000,BASELINE,765,744.371867205,715,680,659,634,878,784,808.628132795,651,629,652,0.400973363144,-0.0053993551017,0.0798361238547,0.999999931098,0.000240894211078,-0.000279362724168,4.15997092605e-05,1793247570269730816
+40,0.666666667,BASELINE,765,744.204273916,715,679.795726084,659,634,878,784,808.795726084,651,629,652,0.400973584337,-0.00540087677356,0.0798366998827,0.999999931885,0.000238350146343,-0.000278724539144,4.16081480073e-05,1793247570286397440
+41,0.683333333,BASELINE,765,744.779266618,715,679.220733382,659,634,878,784,808.220733382,651,629,652,0.400973254158,-0.00539917999947,0.0798362662638,0.999999930963,0.000241478855039,-0.000279371089652,4.1387174452e-05,1793247570303063808
+42,0.700000000,BASELINE,765,745,715,679.363233154,658.636766846,634,877.636766846,784,808,651,629,652,0.400972650791,-0.00539922462847,0.0798358852912,0.999999930956,0.00024028766523,-0.000280421817897,4.14030515646e-05,1793247570319730176
+43,0.716666667,BASELINE,765,745,715,679.952791123,658.047208877,634,877.047208877,784,808,651,629,652,0.400971877205,-0.00540035429815,0.0798355371217,0.999999931508,0.000236404815092,-0.000281724382851,4.15665065777e-05,1793247570336396800
+44,0.733333333,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652.53127155,0.400971237456,-0.00540018759767,0.0798354889021,0.999999931144,0.000237457476451,-0.000282150512899,4.14253868621e-05,1793247570353063936
+45,0.750000000,BASELINE,765,745,715,680,658.108648651,634,877,784,808.108648651,651,629,652.891351349,0.400970893171,-0.00539950292573,0.0798354291151,0.999999930735,0.000239131311316,-0.000282221140413,4.11983842026e-05,1793247570369731072
+46,0.766666667,BASELINE,765,745,715,680,658.685426349,634,877,784,808.685426349,651,629,652.314573651,0.40097177174,-0.00539707269602,0.0798352069925,0.999999930473,0.000241630515107,-0.000281088736223,4.0715571934e-05,1793247570386397952
+47,0.783333333,BASELINE,765,745,715,680,659,634,877,784,808.738576886,651,629,652,0.400972924309,-0.00539657687089,0.0798354339139,0.999999930564,0.000242572844049,-0.000279965107473,4.06225523049e-05,1793247570403064576
+48,0.800000000,BASELINE,765,745,715,680,659,634,877,784,808.163516954,651,629,652,0.400974405602,-0.00539840180619,0.0798361995662,0.999999931084,0.000241647345849,-0.000278852006719,4.09971780369e-05,1793247570419731200
+49,0.816666667,BASELINE,765,745,715,680,659,634,877,784,808,651,629,652,0.400974017357,-0.00539859539221,0.0798362529919,0.99999993129,0.000240834506682,-0.00027883589079,4.08516546212e-05,1793247570436397568
+50,0.833333333,BASELINE,765,745,715,680,659.013937752,634,877.013937752,784,808,651,629,652,0.400972891262,-0.00539815146236,0.0798360066475,0.999999931357,0.00024008510188,-0.000279292339016,4.05155407218e-05,1793247570453064192
+51,0.850000000,BASELINE,765,745,715,680,659.592702398,634,877.592702398,784,808,651,629,652,0.400971966465,-0.00539813963004,0.0798350801488,0.999999930797,0.000240092374878,-0.000281236174125,4.0831010061e-05,1793247570469730816
+52,0.866666667,BASELINE,765,744.829664216,715,679.829664216,659.829664216,634,877.829664216,784.170335784,808,651,629,652,0.400971155798,-0.00539811169157,0.0798343373524,0.999999930316,0.000240433689764,-0.000282609900947,4.11278268514e-05,1793247570486397184
+53,0.883333333,BASELINE,765,744.254718029,715,679.254718029,659.254718029,634,877.254718029,784.745281971,808,651,629,652,0.400970616233,-0.00539804549502,0.0798340309169,0.999999930026,0.000241568477523,-0.000282629409892,4.13803369301e-05,1793247570503063552
+54,0.900000000,BASELINE,764.672791682,744.327208318,715,679.327208318,658.672791682,633.672791682,877,784.672791682,808,651,629,652,0.40097124704,-0.00539834849958,0.0798351663561,0.999999930649,0.000240769863573,-0.000281117674958,4.12964438042e-05,1793247570519730688
+55,0.916666667,BASELINE,764.085313159,744.914686841,715,679.914686841,658.085313159,633.085313159,877,784.085313159,808,651,629,652,0.400972808793,-0.00539894517655,0.0798374487009,0.999999931987,0.000238433370384,-0.000278387947878,4.09449666024e-05,1793247570536398336
+56,0.933333333,BASELINE,764.495235688,745,715,680,658.495235688,633.495235688,877.495235688,784,808,651,629,652,0.400974089536,-0.00539906182696,0.0798376687139,0.999999932005,0.000239615577687,-0.000277284337778,4.10924854866e-05,1793247570553064960
+57,0.950000000,BASELINE,765,745,715,680,658.925526632,634,877.925526632,784,808,651,629,652,0.400974868922,-0.00539902143533,0.0798373632717,0.999999931673,0.000241343567743,-0.00027695414503,4.1285611878e-05,1793247570569731328
+58,0.966666667,BASELINE,765,745,715,680,658.347195017,634,877.347195017,784,808,651,629,652,0.400972579324,-0.00539847030682,0.079835873275,0.999999930498,0.000242719668605,-0.000279987515534,4.12137477593e-05,1793247570586397952
+59,0.983333333,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.400971438679,-0.00539825612992,0.0798350971539,0.999999930046,0.000242890456524,-0.000281462290477,4.11165651914e-05,1793247570603064576
+60,1.000000000,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.400972023901,-0.00539854809498,0.0798353933602,0.999999930692,0.000241250718958,-0.000280595866992,4.09813512426e-05,1793247570619731200
+61,1.016666667,BASELINE,765,745,715,680,658,633.611849123,877,784,808,651,629,652,0.400973078443,-0.00539908118095,0.0798358938475,0.999999931167,0.000240624545359,-0.000279450615779,4.08969721136e-05,1793247570636397824
+62,1.033333333,BASELINE,765,745,715,680,658,633.022939288,877,784,808,651,629,652,0.400974375727,-0.00539973897919,0.0798364999929,0.999999931554,0.000240522606269,-0.000278161149653,4.08388857208e-05,1793247570653064192
+63,1.050000000,BASELINE,765,745,715,680,658,633.556297944,877,784.556297944,808.556297944,651,629,652,0.400973413653,-0.00539901342341,0.0798366009447,0.99999993133,0.000240567001034,-0.000278894895335,4.10579335712e-05,1793247570669731072
+64,1.066666667,BASELINE,765,745,715,680,658,633.865617456,877,784.865617456,808.865617456,651,629,652,0.400972616684,-0.00539868841473,0.0798365990216,0.999999931182,0.000240482350484,-0.000279472520862,4.12149042637e-05,1793247570686397952
+65,1.083333333,BASELINE,765,745,715,680,658,633.290030062,877,784.290030062,808.290030062,651,629,652,0.400972662445,-0.00539986256693,0.0798363265661,0.99999993137,0.000239954545478,-0.00027926834168,4.11311846434e-05,1793247570703064576
+66,1.100000000,BASELINE,765,745,715,680,658.291047921,633.291047921,877.291047921,784,808,651,629,652,0.400972493597,-0.00540004283168,0.0798363932238,0.999999931529,0.000239401382833,-0.000279200170003,4.09309104748e-05,1793247570719731200
+67,1.116666667,BASELINE,765,745,715,680,658.877702455,633.877702455,877.877702455,784,808,651,629,652,0.400972106782,-0.00539921364161,0.0798368043063,0.999999931661,0.000238822465404,-0.000279270136133,4.06122561656e-05,1793247570736397568
+68,1.133333333,BASELINE,765,745,715,679.54151522,658.54151522,634,877.54151522,784,808,651,629,652,0.400972160327,-0.00539831853944,0.079836478205,0.999999931325,0.000239781943927,-0.000279633559735,4.07368335926e-05,1793247570753063936
+69,1.150000000,BASELINE,765,745,715,679.037739856,658,634,877,784,808,651,629,652,0.400972344602,-0.00539746102167,0.0798360233665,0.999999930896,0.000241109209206,-0.000279993573312,4.09699839215e-05,1793247570769730304
+70,1.166666667,BASELINE,765,745,715,679.617271537,658,634,877,784,808,651,629,652,0.400972740656,-0.00539739227373,0.0798365076165,0.999999930923,0.000241899846197,-0.000279195091808,4.10859765463e-05,1793247570786396928
+71,1.183333333,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.400972734475,-0.00539751922326,0.0798366014304,0.999999930877,0.000242319094933,-0.000279000436837,4.10665818666e-05,1793247570803063552
+72,1.200000000,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.400971946058,-0.00539802675094,0.0798359359525,0.999999930688,0.000242016094976,-0.000279980059597,4.07838958368e-05,1793247570819730944
+73,1.216666667,BASELINE,765,745,715,680,658.350919503,634,877,784.350919503,808,651,629,652,0.400972451731,-0.00539845400122,0.0798362758574,0.999999930817,0.000241987426284,-0.000279534279323,4.08603389585e-05,1793247570836397824
+74,1.233333333,BASELINE,765,745,715,680,658.938307739,634,877,784.938307739,808,651,629,652,0.400973829435,-0.00539882715616,0.0798372932442,0.999999931158,0.000242143617002,-0.000278127984552,4.11787829398e-05,1793247570853064704
+75,1.250000000,BASELINE,765,745,715,680,658.478464938,634,877.521535062,784.478464938,808,651.521535062,629,652,0.400974107448,-0.00539873899836,0.079837462778,0.999999931456,0.00024119147382,-0.000277865797027,4.13068379164e-05,1793247570869734912
+76,1.266666667,BASELINE,765,744.897141925,715,679.897141925,658.102858075,634,877.897141925,784,808,651.897141925,629,652,0.400974294192,-0.00539875592923,0.0798374932505,0.999999931728,0.000240229714621,-0.000277704358518,4.1398600359e-05,1793247570886404096
+77,1.283333333,BASELINE,765,744.322316341,715,679.322316341,658.677683659,634,877.322316341,784,808,651.322316341,629,652,0.400974654306,-0.00539950347054,0.0798373421875,0.999999931913,0.000239820647927,-0.000277389130925,4.14263540786e-05,1793247570903066368
+78,1.300000000,BASELINE,765,744,715,679,659,634,877,784,808,651,629,652,0.400974508991,-0.00539940297361,0.0798370905179,0.999999931477,0.00024130977448,-0.000277658751548,4.14837333753e-05,1793247570919730688
+79,1.316666667,BASELINE,765,744,715,679,659,634,877,784,808,651,629,652,0.400973718521,-0.00539821999529,0.0798367104286,0.999999930239,0.000245221856394,-0.00027867490372,4.15789283396e-05,1793247570936397312
+80,1.333333333,BASELINE,765,744.410746552,715,679,658.589253448,634,877,784,808,651,629,652,0.400972008089,-0.00539780404427,0.0798355468978,0.999999929799,0.00024511087568,-0.000280387772678,4.12896568814e-05,1793247570953064192
+81,1.350000000,BASELINE,765,745,715,679,658,634,876.999167072,784,808,651,628.999167072,652,0.4009699034,-0.00539772416788,0.079834045888,0.999999929708,0.000243243248645,-0.000282398200194,4.08332614251e-05,1793247570969731328
+82,1.366666667,BASELINE,765,745,715,679,658,634,876.419464537,784,808,651,628.419464537,652,0.400972975699,-0.00539844212169,0.0798357522849,0.999999930888,0.000241407592832,-0.000279775334561,4.09018510973e-05,1793247570986397952
+83,1.383333333,BASELINE,765,745,715,679.159092797,658,634,876.159092797,784.159092797,808,651,628.159092797,652,0.400974662913,-0.00539903417397,0.0798368750949,0.999999931621,0.000240320571231,-0.000278069129862,4.10189803477e-05,1793247571003064320
+84,1.400000000,BASELINE,765,745,715,679.734652398,658,634,876.734652398,784.734652398,808,651,628.734652398,652,0.400972724304,-0.00539929664639,0.0798364702149,0.999999931207,0.000241193294132,-0.00027876252317,4.12631745936e-05,1793247571019730688
+85,1.416666667,BASELINE,765,745,715,680,658,633.683843324,877.316156676,784.683843324,808,651,629,652,0.400972808428,-0.00539906809592,0.0798369188407,0.999999931215,0.00024192363062,-0.000278087855037,4.13597633178e-05,1793247571036397056
+86,1.433333333,BASELINE,765,745,715,680,658,633.097254154,877.902745846,784.097254154,808,651,629,652,0.400974622745,-0.00539841953677,0.0798380975341,0.99999993158,0.000242532173288,-0.000276242981407,4.13300939649e-05,1793247571053063680
+87,1.450000000,BASELINE,765,745,715,680,658.482920567,633.482920567,877.517079433,784,808,651,629,652,0.400973543095,-0.00539828285632,0.0798368993711,0.999999931272,0.000241705977728,-0.000278109355435,4.10950672366e-05,1793247571069730304
+88,1.466666667,BASELINE,765.061476994,745,715,680,658.938523006,634,877.061476994,784,808,651,629,652,0.400972167289,-0.00539817942639,0.0798354806833,0.999999930887,0.000240916703066,-0.000280206554057,4.08574426505e-05,1793247571086396928
+89,1.483333333,BASELINE,765.637160853,745,715,680,658.362839147,634,877.637160853,784,808,651,629,652,0.400973125201,-0.00539750318026,0.0798361686874,0.999999931021,0.000242821305345,-0.000278064961088,4.0939468495e-05,1793247571103064320
+90,1.500000000,BASELINE,765.786876075,745,715,679.786876075,658,634,877.786876075,784,808,651,629,652,0.400973678357,-0.00539746564476,0.0798367180191,0.999999931184,0.000243466498351,-0.000276889968364,4.10879581831e-05,1793247571119730944
+91,1.516666667,BASELINE,765.210437085,745,715,679.210437085,658,634,877.210437085,784,808,651,629,652,0.400973541522,-0.00539851692747,0.0798370309543,0.999999931407,0.000241964760155,-0.0002773627516,4.13497496235e-05,1793247571136396800
+92,1.533333333,BASELINE,765,745,715,679.374640985,658,634,877,784.374640985,808,651,629,652,0.400974477451,-0.00539841175286,0.079837606429,0.999999931759,0.00024150993607,-0.000276484402915,4.13591398492e-05,1793247571153063424
+93,1.550000000,BASELINE,765,745,715,679.964686252,658,634,877,784.964686252,808,651,629,652,0.400976030178,-0.00539764165948,0.079838332854,0.999999932186,0.000241657047535,-0.000274829204944,4.1223409026e-05,1793247571169730048
+94,1.566666667,BASELINE,765,745,715,680,658,634,877.544687424,784.455312576,808,651.544687424,629,652,0.400974898593,-0.00539848264587,0.0798380607244,0.999999931987,0.00024096277845,-0.000276156255122,4.12449506121e-05,1793247571186396672
+95,1.583333333,BASELINE,765,745,715,680,658.122980479,634,877.877019521,784,808,651.877019521,629,652,0.400973555365,-0.00539898528482,0.0798374556968,0.999999931529,0.00024099439803,-0.000277786306276,4.12110428631e-05,1793247571203063296
+96,1.600000000,BASELINE,765,745,715,680,658.697351047,634,877.302648953,784,808,651.302648953,629,652,0.400972062523,-0.00539786960829,0.0798358621122,0.999999930269,0.000243886927714,-0.000279831678917,4.09368651063e-05,1793247571219729920
+97,1.616666667,BASELINE,765,745,715,680,659,634,877.278307132,784,808,651.278307132,629,652,0.400971376307,-0.00539777332555,0.0798352217462,0.999999929606,0.000245114254485,-0.000281105981081,4.10710015066e-05,1793247571236396544
+98,1.633333333,BASELINE,765,745,715,680,659,634,877.866598263,784,808,651.866598263,629,652,0.400971588528,-0.00539881246385,0.079835643094,0.999999929618,0.000244486845082,-0.000281521449549,4.16599263232e-05,1793247571253063168
+99,1.650000000,BASELINE,765,745,715,679.552328522,659,634,877.552328522,784,808,651.552328522,629,652,0.400972245185,-0.00539902901783,0.0798360858072,0.999999930441,0.000242675555364,-0.000280212094104,4.1321412768e-05,1793247571269729792
+100,1.666666667,BASELINE,765,745,715,679.026559115,658.973440885,634,877,784,808.026559115,651,629,652,0.400973013045,-0.00539903766991,0.0798365182164,0.999999931462,0.000240549485123,-0.000278482074864,4.07366309183e-05,1793247571286396160
+101,1.683333333,BASELINE,765,745,715,679.604019031,658.395980969,634,877,784,808.604019031,651,629,652,0.400973384012,-0.00539973768311,0.0798366069298,0.999999931803,0.000239095603954,-0.000278518509778,4.06852212799e-05,1793247571303063040
+102,1.700000000,BASELINE,765,745,715,680,658,634,877.181148325,784,808.818851675,651.181148325,629,652,0.400973534399,-0.00540003337502,0.0798367160707,0.999999932027,0.000238131199738,-0.000278534222439,4.07176166094e-05,1793247571319729664
+103,1.716666667,BASELINE,765,745,715,680,658,634,877.757556136,784,808.242443864,651.757556136,629,652,0.400973203489,-0.00539944685149,0.079836869784,0.999999932002,0.000238234817785,-0.000278504719844,4.09328715367e-05,1793247571336396288
+104,1.733333333,BASELINE,765,745,715,680,658,634,877.659445603,784,808,651.659445603,629,652,0.40097215386,-0.00539867243091,0.0798362871631,0.999999931273,0.000240144120346,-0.000279462594858,4.10559287467e-05,1793247571353063168
+105,1.750000000,BASELINE,765,745,715,680,658,634,877.07166289,784,808,651.07166289,629,652,0.400970582471,-0.00539776160483,0.0798351699941,0.999999930023,0.000243364274709,-0.000281137264912,4.11120542737e-05,1793247571369729792
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,784,808,651,629,652,0.400973786777,-0.00539992688685,0.079836725927,0.999999931279,0.000241563470858,-0.000278193074088,4.12028431977e-05,1793247571400531968
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.426858977,634,877,784,808,651,629,652,0.400974102802,-0.00539801569726,0.079836902602,0.999999930939,0.000242840228003,-0.000278340507178,4.09641007799e-05,1793247571417199104
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.147126552,634,877,784,808,651,628.852873448,652,0.400974251774,-0.00539704745545,0.0798371340238,0.999999931013,0.000242691550592,-0.000278233308705,4.07539745072e-05,1793247571433865984
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.723576528,634,877,784,808,651,628.276423472,652,0.400973913275,-0.00539883078699,0.0798375251994,0.999999932291,0.000238383376529,-0.000277383081269,4.06273516739e-05,1793247571450532864
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.307863847,659,634,877,784,808.307863847,651.307863847,628.307863847,652,0.400973101956,-0.00539912119186,0.0798370673098,0.999999932348,0.000237772051489,-0.000277711183221,4.05610234831e-05,1793247571467200000
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.899371911,659,634,877,784,808.899371911,651.899371911,628.899371911,652,0.400971855015,-0.00539803611842,0.0798358271509,0.999999931286,0.000240566744846,-0.000279124915515,4.0550246567e-05,1793247571483866624
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.519456198,715.480543802,680,659,634,877,784,808.519456198,651.519456198,629,652,0.400971413391,-0.00539731517885,0.0798358770832,0.99999993095,0.000241281770331,-0.000279710218356,4.055255231e-05,1793247571500532736
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.059068066,715.940931934,680,658.940931934,634,877.059068066,784,808.059068066,651,629,652,0.400971340332,-0.00539690897173,0.0798362484338,0.999999930846,0.000241460048775,-0.000279922742858,4.05903260364e-05,1793247571517199104
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.632983597,715.367016403,680,658.367016403,634,877.632983597,784,808.632983597,651,629,652,0.400973040825,-0.0053985954017,0.0798371162184,0.999999931457,0.000240675844765,-0.000278366283592,4.09138690687e-05,1793247571533866240
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.78781143,715,679.78781143,658,634,877.78781143,784,808.78781143,651,629,652,0.40097620604,-0.00539995461915,0.0798388175676,0.999999932173,0.000240611314995,-0.000275791864103,4.1219005946e-05,1793247571550533120
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.199223629,715,679.199223629,658,634,877.199223629,784,808.199223629,651,629,652,0.400981969511,-0.00540073339731,0.0798419975687,0.999999933068,0.000241823408408,-0.000271411695085,4.14914922897e-05,1793247571567199488
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.382689363,715,679,658,634,877,784,808,651,629,652,0.401000209494,-0.00540041597122,0.0798492395708,0.999999936526,0.000241261264263,-0.000258870789696,4.15602960813e-05,1793247571583866112
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.96118715,715,679,658,634,877,784,808,651,629,652,0.401024833262,-0.0053995376568,0.0798585599535,0.999999941069,0.000239791306446,-0.000242154327725,4.1524882831e-05,1793247571600532992
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.540477786,745,715,679.540477786,658.540477786,634,877.540477786,784,808.540477786,651,629,652,0.401075660283,-0.00540153451645,0.079875241792,0.999999948674,0.00023908693055,-0.00020918083779,4.16276620223e-05,1793247571617199872
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.879332259,744.879332259,715,680,659,634,877.879332259,784,808.879332259,651,629,652,0.401132049865,-0.00540362853166,0.0798920230956,0.999999955228,0.000238121403838,-0.00017640408785,4.15115729901e-05,1793247571633866240
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.295911975,744.295911975,715,680,659,634,877.295911975,784,808.295911975,651,629,652,0.401202544662,-0.00540530216196,0.0799071555635,0.999999960264,0.000235943235387,-0.000148865487114,4.05180260962e-05,1793247571650532864
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.285215337,715,680,659,634,877,784,808.285215337,651,629,652,0.401279426064,-0.0054054104377,0.079918949909,0.999999962929,0.000235733696097,-0.000130552027283,3.90848174084e-05,1793247571667199232
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.863982622,715,680,659,634,877,784,808.863982622,651,629,652,0.401362880742,-0.00540390760475,0.0799273085606,0.999999963684,0.000237550327642,-0.000121733353397,3.71990960538e-05,1793247571683865856
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.558196971,634,877,784,808.558196971,651,629,652,0.401458786388,-0.00540444542258,0.0799304129342,0.99999996454,0.000236888709313,-0.000116725976814,3.43217682058e-05,1793247571700533504
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.980630728,715,680,658,634,877,784,808,651,629,652,0.401559572413,-0.00540564804196,0.0799320576848,0.999999965457,0.00023542798942,-0.000112650527457,3.1127710446e-05,1793247571717200896
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.402003776,715,680,658,634,877,784,808,651,629,652,0.401690829031,-0.00540794474644,0.0799381647122,0.999999967335,0.0002328770821,-0.000101675968868,2.75843379277e-05,1793247571733866752
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.178802575,715,680,658.178802575,633.821197425,877,784,808,651,629,651.821197425,0.401829173219,-0.00541007323086,0.0799441714104,0.999999969297,0.000229355630181,-9.08149369897e-05,2.35486801862e-05,1793247571750532864
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.764569274,715,680,658.764569274,633.235430726,877,784,808,651,629,651.235430726,0.401983649074,-0.0054118188372,0.079949949753,0.99999997161,0.000223625167773,-8.02122994312e-05,1.83925557109e-05,1793247571767199232
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.34619599,877.34619599,784,808,651,629,651.34619599,0.402160790183,-0.00541324891088,0.0799559646533,0.999999973817,0.000217500962117,-6.99376391235e-05,1.29500238118e-05,1793247571783865344
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.925040638,877.925040638,784,808,651,629,651.925040638,0.402353162682,-0.00541446694226,0.0799621385244,0.999999975896,0.00021111215478,-5.98833831523e-05,7.3150215096e-06,1793247571800531968
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.49679412,715,680,659.50320588,634,877.49679412,784,808,651,629,652,0.402558368232,-0.00541608432627,0.0799608014737,0.999999976965,0.000205119427236,-6.32139136813e-05,2.85349369267e-07,1793247571817198848
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.080475914,715,679.919524086,659.919524086,634,877,784,808,651,629,652,0.402769914834,-0.00541786285233,0.0799578646213,0.999999977828,0.000198658257943,-6.94787199942e-05,-7.11874197028e-06,1793247571833865728
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.652891721,715,679.347108279,659.347108279,634,877,784,808,651,629,652,0.403008553647,-0.00542026326269,0.0799519785691,0.999999978702,0.000188973373479,-8.15086998562e-05,-1.5543347328e-05,1793247571850532096
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.232810908,784,808,651,629,652,0.403265739032,-0.00542301556702,0.0799480462581,0.999999979766,0.000179152926049,-8.84108715169e-05,-2.35784018021e-05,1793247571867198464
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.824289752,784,808,651,629,652,0.403551497207,-0.00542630999825,0.0799471238764,0.999999981397,0.000169123631269,-8.74131532958e-05,-3.10133146056e-05,1793247571883865088
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.407330736,659,634,878,784,808,651,629,652,0.403882891981,-0.0054282686739,0.079950943851,0.99999998547,0.000147863200412,-8.14064935112e-05,-2.38575400593e-05,1793247571900531968
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.986805737,659,634,878,784,808,651,629,652,0.404233573479,-0.00542966283852,0.0799567680187,0.999999989835,0.000121856318029,-7.32829775789e-05,-1.05355153487e-05,1793247571917198336
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.438114197,715,680,659,633.438114197,877.438114197,784,808,651,629,652,0.404614808293,-0.00542742598844,0.0799584224069,0.999999989129,0.000130618157094,-6.58203614171e-05,-1.86722478661e-05,1793247571933865984
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.136422036,715,680,659.136422036,633.136422036,877,784,808,651,629,652,0.405006037791,-0.00542750591006,0.0799592014218,0.999999988981,0.000133323461031,-5.9778825199e-05,-2.62397793263e-05,1793247571950533120
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.709545085,715,680,659.709545085,633.709545085,877,784,808,651,629,652,0.405426982403,-0.00543527287762,0.0799574892804,0.999999991339,0.000114047934972,-5.823702063e-05,-3.03847307281e-05,1793247571967199744
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.29232752,715,680.29232752,659.70767248,634,877.29232752,784,808,651,629,652,0.405860842051,-0.0054400985264,0.0799521298917,0.999999991643,0.000105978769365,-6.66236592025e-05,-3.22923057551e-05,1793247571983866624
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.885035505,715,680.885035505,659.114964495,634,877.885035505,784,808,651,629,652,0.406307972566,-0.00544190183084,0.0799430227823,0.999999989874,0.000109424671118,-8.52122463197e-05,-3.19008703803e-05,1793247572000533760
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.533558697,715,680.533558697,659,634,878,784,808.466441303,651,629,652.466441303,0.406799841095,-0.0054437357607,0.0799345206181,0.999999989537,9.81566704676e-05,-0.000100465243443,-3.4599075345e-05,1793247572017200128
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.955132599,784,809,651,629,652.955132599,0.407304681059,-0.00544581406704,0.0799265965077,0.99999998915,8.47944821603e-05,-0.000114372522806,-3.77910885957e-05,1793247572033866496
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.379779377,784,809,651,629,652.379779377,0.407835599733,-0.00545069460375,0.0799237857729,0.999999987933,8.85357380958e-05,-0.000121859235956,-3.8030979052e-05,1793247572050533632
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.39901786,784,809,651,629,652,0.408378675351,-0.00545522265126,0.0799203203513,0.999999986951,8.8750513028e-05,-0.000129393644311,-3.84516986327e-05,1793247572067200512
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878.572877268,784,809,651,629,652,0.408945358161,-0.00545906620962,0.0799155836117,0.999999986472,8.21173135638e-05,-0.000137020670193,-3.92235651864e-05,1793247572083866624
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680.370188115,659.370188115,634,878.25962377,784,809,651,629,652,0.409588870794,-0.00546884875413,0.0799357003214,0.999999991431,6.9461027668e-05,-0.000104019913016,-3.86456811382e-05,1793247572100532992
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680.47288758,659.47288758,634,877,783.47288758,809,651,629,652,0.41097950861,-0.00550732429707,0.0799898221197,0.999999999089,1.94364894447e-05,-1.56188586606e-05,-3.46360170502e-05,1793247572133866496
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+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680.851539353,659,634,878,784,809,651,629,652.148460647,0.413750827002,-0.00552659732029,0.0799153164884,0.999999992325,-9.38296656666e-06,-0.000115489949595,-4.38641232006e-05,1793247572200532736
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.867648828,634,878,784,809,651,629.433824414,652.433824414,0.414535738369,-0.00553320700652,0.0799247345487,0.999999994412,-2.43081836622e-05,-9.26725252172e-05,-4.4694549006e-05,1793247572217199360
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680.988322328,661,634,878.011677672,784,809,651,629.988322328,652.988322328,0.415341346061,-0.00554135404723,0.0799448850624,0.999999996639,-4.04787979566e-05,-5.58662889037e-05,-4.42975523007e-05,1793247572233866240
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680.413763218,661,634,878.586236782,784,809,651,629.413763218,652.413763218,0.416145961633,-0.00554030085824,0.0799482807492,0.999999996019,-3.52007668114e-05,-6.94293011336e-05,-4.36252269683e-05,1793247572250532608
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.83982866,634,878.679657321,784,809.16017134,651,629.16017134,652,0.416961094426,-0.00554211318319,0.0799506431224,0.999999995693,-3.47798920306e-05,-7.42025129485e-05,-4.35701676025e-05,1793247572267198976
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.267501244,634,877.535002487,784,809.732498756,651,629.732498756,652,0.417803290295,-0.00555129910569,0.079950346552,0.999999996297,-4.685754893e-05,-5.63576347196e-05,-4.51034693463e-05,1793247572283865344
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680.317900415,660,634,877.317900415,784,809.682099585,651,629.682099585,652.317900415,0.418675642703,-0.0055589224585,0.0799654387235,0.999999996901,-6.01064567182e-05,-2.02256079102e-05,-4.66437971937e-05,1793247572300532224
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.914775388,660,634,877.914775388,784,809.085224612,651,629.085224612,652.914775388,0.419574459037,-0.00556517457264,0.079994035336,0.999999995562,-7.43831988362e-05,3.19543655682e-05,-4.81902906502e-05,1793247572317198848
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,878,784.492016949,809,651,629,653,0.420439034913,-0.00556708902333,0.0799812252231,0.999999995756,-7.76654589964e-05,9.49561733502e-06,-4.86431953152e-05,1793247572333865984
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680.933891425,660,633.933891425,878,784.933891425,809.066108575,651,629.066108575,653,0.421306904134,-0.00556605208012,0.0799648778525,0.999999995683,-7.65982992775e-05,-1.95745751103e-05,-4.8827935926e-05,1793247572350533632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.358873534,660,633.358873534,878,784.358873534,809.641126466,651,629.641126466,653,0.422244030334,-0.00554785705033,0.079974394362,0.999999997248,-5.61466707149e-05,-3.83433318663e-06,-4.83505869877e-05,1793247572367199488
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715.221294948,680.221294948,660,633.221294948,878.221294948,784.221294948,810,651,630,653,0.423171311672,-0.00552802571903,0.0799883050702,0.999999998245,-3.0981644969e-05,1.55675403094e-05,-4.80438578951e-05,1793247572383865600
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715.81001527,680.81001527,660,633.81001527,878.81001527,784.81001527,810,651,630,653,0.424082247318,-0.00550547756413,0.080009511654,0.999999998002,2.00923695769e-06,4.10489782456e-05,-4.80204160663e-05,1793247572400532480
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715.60738335,681,660,634,879,784.60738335,810,651,630,653,0.424951434401,-0.0055082789894,0.0799788139846,0.999999998466,-3.89561656537e-06,-2.61023638213e-05,-4.87054341431e-05,1793247572417199616
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715.027697485,681,660,634,879,784.027697485,810,651,630,653,0.425800729579,-0.0055231586763,0.0799233856052,0.999999988924,-2.83330399538e-05,-0.000137390249832,-4.97280100947e-05,1793247572433866752
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.549165024,745.549165024,715,681,660,633.450834976,879,784,810,651,630,653,0.426764780691,-0.00552974887852,0.0799115438907,0.99999999008,-3.89482406612e-05,-0.000124353628754,-5.34652692415e-05,1793247572450533120
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.874809775,745.874809775,715,681,660.125190225,633.125190225,879,784,810,651,630,653,0.427728348203,-0.00553467296186,0.0799057055498,0.999999991233,-4.6220319075e-05,-0.000110727350478,-5.60141829471e-05,1793247572467199744
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.301275885,745.301275885,715,681,660.698724115,633.698724115,879,784,810,651,630,653,0.428669561974,-0.00553511980501,0.0799135345108,0.9999999907,-4.40035457087e-05,-0.000117330598862,-5.38194439404e-05,1793247572483866624
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.280395328,745,715,681,660.719604672,633.719604672,879,784.280395328,810.280395328,651.280395328,630,653,0.429623151668,-0.00553512315769,0.0799361784774,0.999999993384,-4.4005242095e-05,-9.24867640245e-05,-5.23667833095e-05,1793247572500533248
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.871071119,745,715,681,660.128928881,633.128928881,879,784.871071119,810.871071119,651.871071119,630,653,0.430590436275,-0.00553463575172,0.0799752164639,0.999999997043,-4.64618575274e-05,-3.28441477613e-05,-5.17352933676e-05,1793247572517199360
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.546683723,745,715,681,660.453316277,633,879,784.546683723,810.546683723,651.546683723,630,652.546683723,0.431554737651,-0.00553129241458,0.0800105330493,0.99999999759,-4.260450593e-05,2.18293282046e-05,-5.02846760518e-05,1793247572533865728
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.033028964,715,681,661,633,879.033028964,784.033028964,810.033028964,651,630,652.033028964,0.432511380395,-0.00552726722787,0.0800388864675,0.999999995951,-3.71569040741e-05,6.57846089881e-05,-4.88905163911e-05,1793247572550532352
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.60980279,715,681,661,633,879.60980279,784.60980279,810.60980279,651,630,652.60980279,0.433355653426,-0.00552514485039,0.0799697137094,0.999999997079,-3.45529790015e-05,-4.38686025992e-05,-5.21910888624e-05,1793247572567199232
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.812376804,715,681,661.187623196,633.187623196,879.812376804,785,811,651.187623196,630,653,0.434220803382,-0.0055267121734,0.0799182622174,0.999999990539,-3.77510907781e-05,-0.000120169615192,-5.52839216549e-05,1793247572583865856
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.232367524,715,681,661.767632476,633.767632476,879.232367524,785,811,651.767632476,630,653,0.435129614485,-0.00553599595731,0.0799038721125,0.999999988884,-5.3083302221e-05,-0.000126719472241,-5.79422994323e-05,1793247572600532736
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.649735131,633.649735131,879,784.649735131,811,651.649735131,630,653,0.436049596951,-0.00554119564078,0.0799229932732,0.999999991394,-6.28824963399e-05,-9.97434131426e-05,-5.75285706248e-05,1793247572617199360
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.065349457,633.065349457,879,784.065349457,811,651.065349457,630,653,0.436977046423,-0.00554366546704,0.0799645137253,0.999999994837,-6.89833611275e-05,-5.03582704824e-05,-5.50614124641e-05,1793247572633865728
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.4889593,745,715,681,661,633.5110407,879,784,811,651,630,652.4889593,0.43788811937,-0.00554626838842,0.0799991170428,0.999999996194,-6.87667910598e-05,2.59624028325e-06,-5.36250977027e-05,1793247572650532352
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.086489061,745,715,681.086489061,661,634,879,784,811,651,630,652.086489061,0.438789048268,-0.0055487007754,0.0800273558343,0.999999995064,-6.95766880426e-05,4.74214313629e-05,-5.27510526392e-05,1793247572667198976
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.662304507,745,715,681.662304507,661,634,879,784,811,651,630,652.662304507,0.439644250988,-0.00555007352754,0.0800245135394,0.999999994313,-8.06940995008e-05,4.37110594675e-05,-5.43238419334e-05,1793247572683865600
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.244103076,745,715,681.755896924,661,633.755896924,879,784,811,651,630,652.755896924,0.440444586006,-0.00554904570624,0.0799874759869,0.999999994726,-8.46638289484e-05,-1.23276429031e-05,-5.68135007911e-05,1793247572700532480
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.8343867,745,715,681.1656133,661,633.1656133,879,784,811,651,630,652.1656133,0.441167109021,-0.00554461345482,0.0799019436213,0.999999984919,-7.84969021502e-05,-0.00014257700458,-6.06034391071e-05,1793247572717199616
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.583884487,745,715,681.416115513,661,633,879,784,811.416115513,651,630,652.416115513,0.441918680851,-0.00554120341373,0.0798501626284,0.999999972694,-6.96280840977e-05,-0.000213936799125,-6.32069420521e-05,1793247572733866240
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.005491838,745,715,681.994508162,661,633,879,784,811.994508162,651,630,652.994508162,0.442681581227,-0.00553819201485,0.0798115440216,0.999999961674,-5.9705579512e-05,-0.000262330793912,-6.53477582177e-05,1793247572750532864
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682.568696867,660.431303133,633,879,784,812,651,630.568696867,653,0.443513947078,-0.00554232575494,0.0798883132271,0.999999985735,-6.66455696596e-05,-0.000142364661423,-6.18181266957e-05,1793247572767199232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,683,660,633,879.142865948,784,812,651,630.857134052,653,0.444328088406,-0.00554770469697,0.0799576389617,0.999999994802,-7.49967934533e-05,-3.63838218692e-05,-5.87189510788e-05,1793247572783865856
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,683,660,633,879.717097595,784,812,651,630.282902405,653,0.445085192698,-0.00555663656279,0.0800011503354,0.999999994323,-8.71209990288e-05,2.24972371909e-05,-5.70836083081e-05,1793247572800532480
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.301642595,715,682.698357405,660.301642595,633,879.698357405,784,812,651,630,653,0.445811526812,-0.00556249128897,0.080020938942,0.999999992678,-9.61196811424e-05,4.76679856491e-05,-5.59738622212e-05,1793247572817199104
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.896202592,715,682.103797408,660.896202592,633,879.103797408,784,812,651,630,653,0.446507980749,-0.00556535788306,0.0800176909741,0.999999992452,-0.000102083246928,4.01035109211e-05,-5.5374509863e-05,1793247572833865728
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.524465574,715,682,660.524465574,633,879,784,812,651,630,653,0.447134163713,-0.00556864806262,0.0799887509133,0.999999993546,-9.82393265607e-05,5.22933114714e-06,-5.68293335831e-05,1793247572850532352
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.051536154,745,715,682,660,633,879,784,812,651,630,653,0.447738126851,-0.00557212918402,0.0799531212407,0.999999993019,-9.49137953102e-05,-3.86020241569e-05,-5.88528263474e-05,1793247572867198976
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.626427824,745,715,682,660,633,879,784,812,651,630,653,0.448267375268,-0.00557663955233,0.0799047400384,0.999999984528,-0.00011791737617,-0.000114737921914,-6.22391982328e-05,1793247572883865856
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.793467199,745,714.793467199,682,660,632.793467199,879,784,811.793467199,651,630,653,0.448792370432,-0.00557955868193,0.0798597829694,0.999999972551,-0.000129410567378,-0.000184238730508,-6.48618741548e-05,1793247572900532736
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.20368838,745,714.20368838,682,660,632.20368838,879,784,811.20368838,651,630,653,0.449309473123,-0.00557952507954,0.0798211797899,0.999999961528,-0.000119544868622,-0.000241427339371,-6.60674220486e-05,1793247572917199360
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.379481079,714.379481079,682.379481079,660,632,879,783.620518921,811.758962157,651,630,653.379481079,0.449838866216,-0.00557640022618,0.0798166951486,0.999999960818,-0.000116721713568,-0.000245794577879,-6.57674111685e-05,1793247572933865984
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.959163713,714.959163713,682.959163713,660,632,879,783.040836287,812.918327425,651,630,653.959163713,0.450374743362,-0.00557164453193,0.0798302103061,0.999999966285,-0.000117613968777,-0.000222295029216,-6.46731178719e-05,1793247572950532352
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.533884778,745.466115222,715,683,660,632,879,783,813,651,630,653.466115222,0.450889690938,-0.00556624523462,0.0798632083102,0.999999976978,-0.00010850255506,-0.000173957972079,-6.33231401939e-05,1793247572967199232
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.891499982,745,715,683,660,632,879.108500018,783,813,651,630,653,0.451381759884,-0.00556097227681,0.0798889917096,0.999999983477,-9.9772324681e-05,-0.000138586782106,-6.23355643259e-05,1793247572983865856
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.315720944,745,715,683,660,632,879.684279056,783,813,651,630,653,0.451782128232,-0.00555645348706,0.0798773449757,0.999999979441,-9.59487707572e-05,-0.000167162460771,-6.29922022102e-05,1793247573000532224
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,683,660.267210562,632,880,783,812.732789438,651,630,653,0.452155426705,-0.0055576403046,0.0798512544463,0.999999970333,-9.89730925724e-05,-0.000213354676662,-6.33881733736e-05,1793247573017198592
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,683,660.858825415,632,880,783,812.141174585,651,630,653,0.452495861245,-0.00556575395746,0.0798076285733,0.99999995244,-0.000110311008928,-0.000280934069872,-6.34676845241e-05,1793247573033865472
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.442821131,745.442821131,715,683,660.557178869,632,880,783,812.442821131,651,630,653,0.452821467016,-0.0055681024322,0.0797756832086,0.99999993809,-0.000113738770173,-0.000326358298551,-6.61316816231e-05,1793247573050532096
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.976008493,715,683,659.976008493,632,880,783,813,651,630,653,0.45314167402,-0.00556878680656,0.0797484096283,0.999999924873,-0.00011513076636,-0.000363544787855,-6.95269729102e-05,1793247573067198720
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.404813977,715,683,659.404813977,632,880,783,813,651,630,653,0.453444747307,-0.00557272798568,0.0797441937985,0.999999920551,-0.000126635770902,-0.000371217809052,-7.11267682365e-05,1793247573083866624
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,682.831589991,659,631.831589991,880,783,813,651,630,653,0.45373723092,-0.00557648432278,0.079741672609,0.999999917127,-0.0001370421752,-0.000376481678878,-7.23023723096e-05,1793247573100533760
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,682.253428262,659,631.253428262,880,783,813,651,630,653,0.454003949171,-0.0055797909275,0.0797432745825,0.999999916251,-0.000144775617153,-0.000375883936988,-7.24458932471e-05,1793247573117199616
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.668700031,745.331299969,715,682.331299969,658.668700031,631.331299969,880,783,813,651,630,653,0.454245870623,-0.00558076475926,0.0797381579255,0.999999914472,-0.000134612047207,-0.00038523537881,-6.72975854908e-05,1793247573133865984
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.078847113,745.921152887,715,682.921152887,658.078847113,631.921152887,880,783,813,651,630,653,0.454468440199,-0.00557991804992,0.0797277979185,0.999999911271,-0.000110481301252,-0.000402351357081,-5.80194314978e-05,1793247573150533120
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.498661881,715,683.501338119,658.501338119,631.498661881,880,782.498661881,813,651,629.498661881,653,0.454665547582,-0.00557982066685,0.0797208149804,0.999999906993,-0.000115581207788,-0.00041138269569,-5.84695322687e-05,1793247573167198976
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,683.346330496,659,631,879.346330496,782,813,651,629.653669504,652.346330496,0.455017243344,-0.00558368243928,0.0797135313928,0.999999901329,-0.000132728010382,-0.000419392630709,-6.19360062335e-05,1793247573200531968
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.037065434,715,684,658,630.037065434,880,782,813,651,630,653,0.455845521072,-0.00558100538731,0.0796381388015,0.99999983525,-0.000138064397071,-0.000553816556007,-6.10294059439e-05,1793247574271970816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.54243697,714.45756303,683.45756303,657.45756303,630.54243697,880,782,812.45756303,651,630,653,0.45578373723,-0.00557868614911,0.0796218595774,0.999999819985,-0.000134025791132,-0.000581705280071,-6.07172409614e-05,1793247574288637440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.878416845,714.121583155,683,657,630.878416845,880,782,812.121583155,651,630,652.878416845,0.45571901678,-0.00557659088423,0.079607406254,0.999999806376,-0.000130432203168,-0.000605488218936,-6.01564016276e-05,1793247574305304320
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.277729356,714.722270644,683.277729356,657.277729356,630,880,782,812.722270644,651,630,652.277729356,0.455570957333,-0.00557442862182,0.0795975582529,0.99999980012,-0.000128659829817,-0.000616379568686,-5.72974519188e-05,1793247574338637568
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.851041987,714.148958013,683.851041987,657.851041987,630,880,782,812.148958013,651,630,652.851041987,0.455486358546,-0.00557174669619,0.0796002001744,0.999999802349,-0.00012655613834,-0.000613333301176,-5.57501021815e-05,1793247574355304192
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.564101191,714.435898809,684,658,630.435898809,880,782,812,651,630,653,0.455385189019,-0.0055689326255,0.0796033414825,0.999999807095,-0.000123834868661,-0.000606341027212,-5.31476721934e-05,1793247574371970816
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.024391977,714.975608023,683.975608023,658,630.975608023,879.975608023,782,812,651,630,653,0.455276778455,-0.00556612046397,0.0796064824651,0.999999812375,-0.000120892191441,-0.000598433049747,-5.01331702794e-05,1793247574388637696
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.603427779,714.396572221,683.396572221,658,630.396572221,879.396572221,782,812,651,630,653,0.455135980189,-0.00556440647159,0.0796056300309,0.99999981127,-0.000117844375782,-0.000601199415439,-4.61701182216e-05,1793247574405304064
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.24326676,746,714.75673324,683,658,630,879.75673324,782,812,651,630,653,0.454813173603,-0.00556114288786,0.079604420359,0.999999811044,-0.000112024131932,-0.000603290791019,-3.7440954353e-05,1793247574438638848
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.668478065,715,683,658,630,880,782,812.331521935,651,630,653,0.454623943637,-0.0055581415019,0.079603861283,0.999999811476,-0.000106577423147,-0.000603823191697,-3.29608576953e-05,1793247574455305472
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.094145579,715,683,658,630,880,782,812.905854421,651,630,653,0.454422192319,-0.00555410565571,0.0796032412821,0.999999811878,-9.92203683424e-05,-0.000604635962722,-2.85493092519e-05,1793247574471971328
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.505736794,683,658,630.494263206,879.505736794,782,812.505736794,651,630,653,0.454178620575,-0.00554794569362,0.0796018676098,0.999999811177,-8.97726226057e-05,-0.000607527838133,-2.23005944125e-05,1793247574488638464
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.083783901,714.083783901,683,658,631,879.083783901,782,812,651,630,653,0.453922907422,-0.0055418482077,0.0796005546473,0.999999810326,-7.95971350118e-05,-0.000610546236716,-1.56609121941e-05,1793247574505305344
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.663549695,714.663549695,683,658,631,879.663549695,782,812,651,630,653,0.453643857915,-0.00553858588268,0.0796004758076,0.999999810469,-6.75400994695e-05,-0.000611900548971,-8.8390637638e-06,1793247574521972224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.759365388,715,683,658.240634612,631,880,782,812,651,630,653,0.453351876866,-0.00553362994806,0.0796033791936,0.999999814658,-5.38543182575e-05,-0.000606449036653,-1.74176372472e-06,1793247574538638848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.185987551,715,683,658.814012449,631,880,782,812,651,630,653,0.45304201444,-0.00552633213476,0.0796104063227,0.999999824277,-3.79163510093e-05,-0.000591586608611,5.73642315795e-06,1793247574555304960
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.397508173,745,714.602491827,683,658.602491827,631,880,782.397508173,811.602491827,651,630,653,0.452707976157,-0.00551982037656,0.0796194009979,0.999999832174,-1.27025704027e-05,-0.000579090705359,1.20469563079e-05,1793247574571971328
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.985861516,745,714.014138484,683,658.014138484,631,880,782.985861516,811.014138484,651,630,653,0.452362330963,-0.00551368600657,0.079629340299,0.999999838538,1.69645626657e-05,-0.000567730979589,1.77968942806e-05,1793247574588637952
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.564911615,714.564911615,683,658,631,879.435088385,783,811,651,630,653,0.451965268138,-0.00550866229407,0.0796439192597,0.999999849587,2.49578810677e-05,-0.000547688350987,1.55059202172e-05,1793247574605304576
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.281750733,745.281750733,714.281750733,683,658.718249267,631,880.436498534,783,811.718249267,651,630,653,0.451144415676,-0.00549776320353,0.079674192074,0.999999877365,2.34138423543e-05,-0.000494448598254,1.55661640397e-05,1793247574638638592
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.294341992,683.294341992,659,631.294341992,880.411316016,783,811.705658008,651,630,653,0.450708807007,-0.00549303434283,0.0796946524557,0.999999895592,2.35832010359e-05,-0.000456070904242,1.61023113969e-05,1793247574655305472
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.542344445,683.542344445,659.457655555,632,879,783,811,651,630,653,0.449757641685,-0.00548236058608,0.0797365282153,0.999999924296,3.92206255075e-05,-0.000386617336707,1.99199611166e-05,1793247574688638464
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.748797662,683,660,632,879.748797662,783.748797662,811,651.748797662,630.748797662,653,0.44738849754,-0.00541791122217,0.0796952705151,0.999999890914,0.000106071248024,-0.000454729125259,1.19656113758e-05,1793247574755304704
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.683056059,633,879.316943941,784,811,651,630.683056059,653,0.444124083897,-0.00543371254062,0.0798517829675,0.999999966426,0.00011273652119,-0.000231519591479,2.89252524292e-05,1793247574838638592
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.163112223,633,879,784,811,651,630.163112223,653,0.442558947129,-0.00542065638999,0.0798148304822,0.999999949132,0.00012165866776,-0.000293266320881,3.05027579625e-05,1793247574871971072
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.440801452,745,715,683.559198548,660,633.440801452,879.440801452,785,811.440801452,651,630,653,0.440057190021,-0.00541499367552,0.079728370444,0.999999903023,0.00014591683188,-0.000414461466422,2.97197295392e-05,1793247574921971712
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.86443291,660,633,879,784.86443291,811,651,630,653,0.439172514007,-0.00541701333351,0.0796827356279,0.999999870457,0.000134531017373,-0.000489986506078,3.0021281456e-05,1793247574938638592
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,810.930890124,651,630,652.930890124,0.435006424073,-0.005422031099,0.079883835709,0.99999997179,0.000155389929804,-0.000174504693242,4.26933178629e-05,1793247575021970944
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,810.3494467,651,630,652.3494467,0.434057839591,-0.00541955408699,0.0798515158297,0.999999962878,0.000156858775378,-0.00021868579976,4.26207858311e-05,1793247575038637568
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.808498163,745,714.191501837,682,659,634,877.808498163,784,809,651,630,652,0.421863988731,-0.00539766631493,0.0797667230705,0.999999914033,0.000207931138926,-0.000355668655729,4.68922389819e-05,1793247575255305216
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764.233307703,745,714.766692297,682,659,634,877.233307703,784,809,651,630,652,0.421048184017,-0.0053990553636,0.0798337202543,0.99999994673,0.000211586686803,-0.000243585903511,4.93635421782e-05,1793247575271971840
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764.340369684,745,715,682,659,634,877.340369684,784,809.340369684,651,630,652,0.420182344739,-0.00539409326076,0.0798574491326,0.999999953817,0.00021828957963,-0.00020537136287,5.03755004784e-05,1793247575288638464
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.913014484,745,715,682,659,634,877.913014484,784,809.913014484,651,630,652,0.419282360918,-0.00538479700435,0.0798516508451,0.999999949282,0.000227072042955,-0.000217565983152,5.03915726211e-05,1793247575305304832
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,878.095460962,784,809.904539038,651,629.904539038,652,0.417507620976,-0.00538393327923,0.079785420902,0.999999919887,0.000217738889524,-0.000332892561362,4.46936897409e-05,1793247575338638080
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,878.675022978,784,809.324977022,651,629.324977022,652,0.416687075708,-0.00538214661202,0.0798029889006,0.999999923629,0.00022644484048,-0.000315125514827,4.64855383584e-05,1793247575355304960
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.252119153,745,715,681,659,633.747880847,878.747880847,784,809,651,629,652,0.415859635273,-0.00538787709296,0.0798012678489,0.999999920577,0.000225971560612,-0.000324777496966,4.79843414815e-05,1793247575371971584
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.826067645,745,715,681,659,633.173932355,878.173932355,784,809,651,629,652,0.415023393244,-0.00540320319104,0.0797749243813,0.999999907704,0.000213781019294,-0.000369429787687,4.91090727208e-05,1793247575388638208
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.590233616,745,715,681,659,633,878,783.590233616,809,651,629,652,0.414260222733,-0.00541991346808,0.0797738831913,0.999999914722,0.000190193764382,-0.000363507486421,4.73714267328e-05,1793247575405305088
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.423034429,659,633,877.423034429,783.576965571,809,651,629,652,0.412805095184,-0.00542609181509,0.0797962896985,0.999999931667,0.00018312306001,-0.000317865293581,4.57521793034e-05,1793247575438638336
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.149415388,745,715,680.149415388,659,633.149415388,877.149415388,784,809,651,629.149415388,652,0.412082172432,-0.00541774008605,0.079802275777,0.99999993005,0.000200484242089,-0.000312229793953,4.70969090988e-05,1793247575455304704
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.720387386,745,715,680.720387386,659,634,878,784,809,651,629.720387386,652,0.410673876584,-0.00541458501507,0.0797857054645,0.999999915239,0.000209849492683,-0.000350918577988,4.83803548218e-05,1793247575488637952
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.118955729,745,715,680.118955729,659,634,878,784,809,651,629.118955729,652,0.410024776265,-0.00540949840133,0.0797881551784,0.999999917101,0.000211184502698,-0.000344946338862,4.70164992303e-05,1793247575505304576
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,808.528475911,651,629,652,0.409429399178,-0.00540801068829,0.079811408429,0.999999928698,0.000219661939719,-0.000303223381515,4.90713998161e-05,1793247575521971712
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.058259144,745,715,680,659,634,878,784,808,650.941740856,629,652,0.408847000531,-0.00540750344833,0.0798365715044,0.999999939107,0.00022836761005,-0.000258777957652,5.16484510489e-05,1793247575538638848
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.63568583,745,715,680,659,634,878,784,808,650.36431417,629,652,0.408262221031,-0.0054078263405,0.0798330458964,0.999999937645,0.000223414405856,-0.000268620191235,5.13671633052e-05,1793247575555305472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.786665074,745,715,680.213334926,658.786665074,634,878,784,808,650.213334926,629,652,0.407679455673,-0.00540549617381,0.0798163008554,0.999999928675,0.000223656551027,-0.000300170455579,5.02557459562e-05,1793247575571971840
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.208635826,745,715,680.791364174,658.208635826,634,878,784,808,650.791364174,629,652,0.407100133533,-0.00539863062455,0.0797769573018,0.99999990375,0.000232780103489,-0.000368830420037,4.77252286694e-05,1793247575588638208
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.374580516,745,715,680.625419484,658,633.625419484,878,784,808,651,629,652,0.406585649575,-0.0053976241772,0.0797632708074,0.999999896783,0.000231326656015,-0.000388330587502,4.60549781936e-05,1793247575605305088
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.960726618,745,715,680.039273382,658,633.039273382,878,784,808,651,629,652,0.406107786602,-0.00539992698925,0.0797640755883,0.999999901703,0.000223899249345,-0.000380064979241,4.48706120234e-05,1793247575621971712
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.53986927,633.53986927,877.46013073,784,808,651,629,652,0.405686996721,-0.00539977639337,0.0797830868154,0.999999915171,0.000225692799952,-0.000341517723361,4.56685486439e-05,1793247575638638080
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.881679031,745,715,680,659,633.881679031,877,784,808,651,629.118320969,652,0.405275605293,-0.00539942098928,0.0798028605064,0.999999926602,0.000227056743688,-0.00030507987882,4.65500082165e-05,1793247575655304704
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.153668085,633.846331915,877,784,808,651,629.153668085,652.846331915,0.404139208353,-0.00539867007899,0.0798311531289,0.999999930494,0.000237775448988,-0.000282858167365,4.96542603918e-05,1793247575705304832
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.021342648,659,634,877,784,809,651.021342648,629,652,0.403463524241,-0.00539707105634,0.0798270495651,0.999999925008,0.000241191292168,-0.000298705799775,5.08416792781e-05,1793247575738637824
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.600536572,659,634,877,784,809,651.600536572,629,652,0.403186320071,-0.00539955370059,0.0798311107932,0.999999928784,0.000232684848104,-0.000293117598115,4.87061856797e-05,1793247575755304448
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.17905093,745,715,680,658.82094907,634,877.17905093,784,808.82094907,651.82094907,629,652,0.402920203147,-0.00540039176762,0.0798344100706,0.999999930408,0.000230797863641,-0.000289180019081,4.78610830408e-05,1793247575771971072
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.09562861,745,715,680,658,634,878,784,808.90437139,651,629,652,0.402259632845,-0.00539608758562,0.0798339437716,0.999999929027,0.00023456693005,-0.000290604445137,4.97402357464e-05,1793247575821971200
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.662481041,634,877.337518959,784,808,651,629,652,0.401786125816,-0.00539667058831,0.0798424513119,0.999999935245,0.000226440052694,-0.00027479216665,5.21935975504e-05,1793247575871970816
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.240008281,745,715,680,659,634,877,784,808,651,629,652,0.401654132212,-0.0053958248869,0.0798421035074,0.999999933786,0.000231470027584,-0.000275961910736,5.19073475787e-05,1793247575888637696
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.603828699,745,715,680,659,634,877,784,808,651,629,652,0.401429719278,-0.00539695205546,0.0798330642171,0.99999992661,0.000245022122038,-0.000291178956037,4.42674748355e-05,1793247575921970944
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.015939189,745,715,680,659,634,877,784,808,651,629,652,0.40133383083,-0.00539729175799,0.0798293234318,0.999999923171,0.000250495546267,-0.000299243642286,3.69340660605e-05,1793247575938637568
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.717552897,634,877.282447103,784,808,651,629,652,0.401138719137,-0.00540036616797,0.0798222898079,0.999999923133,0.000240819505435,-0.000306766855023,4.04309271289e-05,1793247575988638720
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.131159834,634,877.868840166,784,808,651,629,652,0.40106025186,-0.00540082147692,0.0798235786199,0.999999924475,0.000237647005192,-0.000304639169073,4.2053907547e-05,1793247576021971712
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.455162378,634,877.544837622,784,808,651,629,652,0.401033573588,-0.00539908407262,0.0798229891954,0.999999923546,0.000240412234427,-0.000305531222741,4.19599036324e-05,1793247576038638592
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.639910946,745,715,679.360089054,658.360089054,634,877,784,808,651,629,651.639910946,0.400972359646,-0.00540041849696,0.0798247767245,0.999999924557,0.00024041276194,-0.000302090764293,4.27653582393e-05,1793247576121971712
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+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.411979344,634,877.588020656,784.588020656,808.588020656,651,629,652,0.40096820448,-0.00540045945751,0.0798304728577,0.99999992788,0.000238944926514,-0.000292231908018,4.17843486038e-05,1793247576271971840
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+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.742727458,634,878,784.257272542,808.257272542,651,629,652,0.400969815517,-0.00540139127023,0.0798318944414,0.999999928742,0.000239279513524,-0.000288932988508,4.21670424667e-05,1793247576305305088
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.107241896,659,634,877.107241896,784,808.892758104,651.892758104,629,652,0.40096806545,-0.00540081287019,0.0798315587011,0.999999927968,0.000240777600791,-0.000290346790078,4.23011933865e-05,1793247576338637824
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.93360061,658,634,877.06639939,784,808.06639939,651,629.93360061,652,0.400969044926,-0.0053993279428,0.0798330414874,0.999999928509,0.00023959871029,-0.000289575874905,4.14734711656e-05,1793247576371971328
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.383805557,658,634,877,784,808,651,629,652,0.400967579204,-0.00540163201414,0.0798321472492,0.999999928927,0.00023834106796,-0.000289115053683,4.18650757881e-05,1793247576438638336
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.973903225,658,634,877,784,808,651,629,652,0.400967274707,-0.00540131567206,0.0798327731509,0.99999992887,0.000238438841526,-0.000289207186123,4.20246265796e-05,1793247576455304960
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.446274397,658,634,877,784,808.553725603,651,629,652,0.400967252959,-0.00540163631758,0.0798325489111,0.999999928997,0.000238033192496,-0.000289132066047,4.18115923261e-05,1793247576471971328
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..abd4db2450ec446cf932d2d434c2bd6e8ba862e6
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
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+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1980b737ea0815f3b37192c6452e6fed6fb74be9
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91aa062d2468fdf104f25a37c98a3d620fe8a3ba2d57393086edb18cbdff8712
+size 25991297
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e83ef4e7b4a7eb8f584374389f529dca77f87ee4
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+6,0.100000000,BASELINE,765.518423368,745,715.518423368,679.518423368,658.518423368,634,878,784,808.481576632,651,629,652,0.400968399929,-0.00540012727896,0.0798342235472,0.999999929122,0.000241289428028,-0.000286034441731,4.14710541017e-05,1793247576728765952
+7,0.116666667,BASELINE,765,745,715,679.056958856,658.056958856,634,877.943041144,784,808.943041144,651,629,652,0.40096871768,-0.00539892385592,0.0798343838744,0.999999928535,0.000244476619899,-0.000285336245167,4.17762082543e-05,1793247576745432832
+8,0.133333333,BASELINE,765,745,715,679.647856824,658.647856824,634,877.352143176,784,808.352143176,651,629,652,0.400968404266,-0.00539974389912,0.0798345812493,0.999999928978,0.000242183355716,-0.000285760942732,4.16096634858e-05,1793247576762099200
+9,0.150000000,BASELINE,765,745,715,680,658.766378246,634,877,784,808.233621754,651,629,652,0.400968384359,-0.00540035985936,0.0798347702419,0.999999929457,0.000240417907127,-0.000285614925839,4.13525251138e-05,1793247576778765824
+10,0.166666667,BASELINE,765,745,715,680,658.188184165,634,877,784,808.811815835,651,629,652,0.400968797348,-0.00540067481444,0.0798349468712,0.999999929991,0.000239430942105,-0.000284627153356,4.09617688539e-05,1793247576795432448
+11,0.183333333,BASELINE,765,745,715,680,658.388386106,634,877.388386106,784,808.611613894,651.388386106,629,652,0.400969148809,-0.00540077376421,0.0798350337768,0.999999929953,0.00023953520817,-0.000284667099064,4.10094217632e-05,1793247576812098560
+12,0.200000000,BASELINE,765,745,715,680,658.964172921,634,877.964172921,784,808.035827079,651.964172921,629,652,0.400969470583,-0.005400768489,0.0798350773897,0.999999929638,0.000240166005545,-0.00028520293039,4.12686120431e-05,1793247576828765184
+13,0.216666667,BASELINE,765,745,715,680,659,634,878,784,808.551159825,651.448840175,629,652,0.400969466524,-0.0054016836538,0.0798348781122,0.999999929963,0.000239318334273,-0.000284762579366,4.13577671931e-05,1793247576845432320
+14,0.233333333,BASELINE,765,745,715,680,658.863245261,634,877.863245261,784,808.863245261,651,629,652.136754739,0.4009696737,-0.00540241398,0.0798349055274,0.999999930437,0.000238136650279,-0.000284087987796,4.13682175637e-05,1793247576862099200
+15,0.250000000,BASELINE,765,745,715,680,658.284550146,634,877.284550146,784,808.284550146,651,629,652.715449854,0.400970633372,-0.0054023496134,0.0798357176102,0.999999931253,0.000236192578993,-0.000282865733831,4.11607828612e-05,1793247576878765568
+16,0.266666667,BASELINE,765,745,715,680,658.294610498,634,877,784.294610498,808,651,629,652.705389502,0.400970636295,-0.0054022510095,0.0798360321031,0.999999931517,0.000235617193601,-0.000282417548093,4.11092021275e-05,1793247576895432192
+17,0.283333333,BASELINE,765,745,715,680,658.874221451,634,877,784.874221451,808,651,629,652.125778549,0.400969713677,-0.00540211928509,0.079835865237,0.999999931252,0.000236365848393,-0.000282718180951,4.1208391499e-05,1793247576912098816
+18,0.300000000,BASELINE,765.449510296,745,715,679.550489704,659,634,877,784.550489704,808,651,629,652,0.400969021186,-0.00540178321854,0.0798353502672,0.9999999308,0.000237319301992,-0.000283511275079,4.12461266508e-05,1793247576928765440
+19,0.316666667,BASELINE,765.975806845,745,715,679,659,634,877.024193155,784,808,651,629,652,0.400968412953,-0.00540142223677,0.0798347749661,0.999999930316,0.000238288230577,-0.000284399898589,4.12617565631e-05,1793247576945432064
+20,0.333333333,BASELINE,765.387318545,745,715,679,659,634,877.612681455,784,808,651,629,652,0.400968282379,-0.00540180105708,0.0798350427283,0.999999930338,0.000238294215784,-0.000284333262815,4.11590526979e-05,1793247576962098688
+21,0.350000000,BASELINE,765,745,715,679.197907372,659,634,877.802092628,784,808.197907372,651.197907372,629,652,0.400968524112,-0.00540195118675,0.0798352626272,0.999999930308,0.000238740691751,-0.000284064266933,4.11591134726e-05,1793247576978765824
+22,0.366666667,BASELINE,765,745,715,679.776852053,659,634,877.223147947,784,808.776852053,651.776852053,629,652,0.400969482657,-0.00540166101105,0.0798353903733,0.999999930177,0.000240035258472,-0.000283405660755,4.13570302635e-05,1793247576995433216
+23,0.383333333,BASELINE,765,744.644812836,715,680,659.355187164,634,877,784,808.644812836,651.644812836,629,652,0.400969758216,-0.00540107400581,0.0798350670994,0.999999929804,0.000241311145562,-0.000283646935465,4.12933109845e-05,1793247577012099584
+24,0.400000000,BASELINE,765,744.066859978,715,680,659.933140022,634,877,784,808.066859978,651.066859978,629,652,0.40096960542,-0.00540030083548,0.0798344609556,0.999999929279,0.000242575317317,-0.000284452595907,4.10654992498e-05,1793247577028765696
+25,0.416666667,BASELINE,765,744.505679017,715,680,658.988641966,634,877.505679017,784,808,651,629,652,0.400970580147,-0.00540023702609,0.0798354876681,0.99999992989,0.000242021544968,-0.000282788893637,4.09483906723e-05,1793247577045432320
+26,0.433333333,BASELINE,765,745,715,680,658.080284882,634,877.919715118,784,808,651,629,652,0.400971288152,-0.00540038493922,0.0798363981633,0.999999930439,0.000241350960338,-0.000281420263745,4.09082164518e-05,1793247577062098944
+27,0.450000000,BASELINE,765,745,715,680,658.672589284,634,877.327410716,784,808,651,629,652,0.400969354454,-0.00540129130425,0.079835205196,0.999999929673,0.00024145210107,-0.000283993641562,4.12663346378e-05,1793247577078765568
+28,0.466666667,BASELINE,765,745,715,679.741317161,658.741317161,634,877,784,808,651,629,652,0.400968550755,-0.0054017347231,0.079834701851,0.999999929596,0.000240712418759,-0.000284887878002,4.12765664553e-05,1793247577095432192
+29,0.483333333,BASELINE,765,745,715,679.162900299,658.162900299,634,877,784,808,651,629,652,0.400969143746,-0.00540160593678,0.0798350508848,0.999999930376,0.000238933472551,-0.000283706682339,4.08568079633e-05,1793247577112098816
+30,0.500000000,BASELINE,765,745,715,679.412461415,658.412461415,634,877,784,808,651,629,652,0.400969092592,-0.00540119631525,0.0798354049401,0.999999930458,0.000239212631618,-0.000283214696786,4.0634997505e-05,1793247577128765696
+31,0.516666667,BASELINE,765,745,715,679.986625368,658.986625368,634,877,784,808,651,629,652,0.400968788905,-0.00540067659428,0.079835760964,0.999999930266,0.000240298656126,-0.000282992911138,4.04907911623e-05,1793247577145433088
+32,0.533333333,BASELINE,765,745,715,680,658.424853487,634,877.575146513,784.575146513,808,651,629,652,0.400968197728,-0.00540094416659,0.0798355676108,0.999999929767,0.0002406794488,-0.000284377171624,4.08538450564e-05,1793247577162099200
+33,0.550000000,BASELINE,765,744.838589238,715,679.838589238,658,634,877.838589238,784.838589238,808.161410762,651,629,652,0.400968089512,-0.00540110096404,0.079835556338,0.999999929597,0.00024070633625,-0.000284913150682,4.11315786161e-05,1793247577178765824
+34,0.566666667,BASELINE,765,744.259058363,715,679.259058363,658,634,877.259058363,784.259058363,808.740941637,651,629,652,0.400969250125,-0.00540092216981,0.0798360506688,0.999999930299,0.000239860033381,-0.00028315251034,4.11569586984e-05,1793247577195432192
+35,0.583333333,BASELINE,765,744.318920397,715,679.318920397,658,634,877,784,808.681079603,651,629,652,0.40096971011,-0.00540084141346,0.0798362455489,0.999999930357,0.000240351524733,-0.000282493985144,4.13929951178e-05,1793247577212099072
+36,0.600000000,BASELINE,765,744.895644547,715,679.895644547,658,634,877,784,808.104355453,651,629,652,0.400969603731,-0.00540083990738,0.0798361983638,0.999999929896,0.000241924440614,-0.000282726369913,4.17993185289e-05,1793247577228765696
+37,0.616666667,BASELINE,765,745,715,680,658.467896048,634,877,784,808,651,629,652,0.400969789046,-0.00540226019054,0.0798360423199,0.999999930569,0.000239047068581,-0.000282825335309,4.15808412076e-05,1793247577245432320
+38,0.633333333,BASELINE,765,745,715,679.959326482,658.959326482,634,877,784,808,651,629,652,0.400970077139,-0.00540376165634,0.0798359011723,0.999999931419,0.000235516343145,-0.000282831523689,4.1242125054e-05,1793247577262098688
+39,0.650000000,BASELINE,765,745,715,679.365975189,658.365975189,634,877,784,808,651,629,652,0.400970886156,-0.00540209819519,0.0798362892194,0.99999993144,0.000236467011927,-0.000281977554198,4.11451665964e-05,1793247577278765824
+40,0.666666667,BASELINE,765,745,715,679,658,634,877.221554302,784,808,651,629,652,0.400971477155,-0.00540116790139,0.079836697696,0.999999931499,0.000237054959813,-0.000281301199371,4.09544573124e-05,1793247577295432960
+41,0.683333333,BASELINE,765,745,715,679,658,634,877.799713229,784,808,651,629,652,0.400971717242,-0.00540141768348,0.079837139055,0.999999931621,0.000237059087121,-0.000280910725802,4.0612850589e-05,1793247577312099840
+42,0.700000000,BASELINE,765,745,715,679.37688607,658,634,878,784.37688607,808,651,629,652,0.400972156389,-0.00540120644857,0.0798376443885,0.999999931411,0.000238780972834,-0.000280188202209,4.06857179725e-05,1793247577328766464
+43,0.716666667,BASELINE,765,745,715,679.95353623,658,634,878,784.95353623,808,651,629,652,0.400972701045,-0.00540075085694,0.0798381836309,0.999999931019,0.000241413336464,-0.000279289679361,4.09782725599e-05,1793247577345433088
+44,0.733333333,BASELINE,765,745,715,680,658.528773977,634,878,784.471226023,808,651,629,652,0.400973505517,-0.00540163235183,0.0798383148516,0.999999931718,0.000240079067157,-0.000277932427955,4.09788829785e-05,1793247577362099456
+45,0.750000000,BASELINE,765,745,715,680,659,634,877.893417654,784,808,651,629,652,0.400973599845,-0.00540244653583,0.0798381669522,0.999999932231,0.000238467012328,-0.000277480551093,4.09313293842e-05,1793247577378765568
+46,0.766666667,BASELINE,765,745,715,680,659,634,877.303387908,784,808,651,629,652,0.400970369746,-0.0054024238963,0.0798369151834,0.999999931473,0.000237171731933,-0.000281317717544,4.07813596084e-05,1793247577395431936
+47,0.783333333,BASELINE,765,745,715,680,659,634,877,784,808,651,629,652,0.400968666786,-0.00540129264524,0.0798359954284,0.999999930752,0.000237830837352,-0.00028333700773,4.06445991718e-05,1793247577412098816
+48,0.800000000,BASELINE,765,745,715,680,659,634,877,784,808,651,629,652,0.40096858018,-0.00539898801552,0.0798354270838,0.999999930078,0.000240558507242,-0.000283432218453,4.05218197703e-05,1793247577428765952
+49,0.816666667,BASELINE,765,745,715,680,658.565563915,634,877,784,808,651,629,652,0.400969797553,-0.00539952589654,0.079836049149,0.999999930541,0.000240396537239,-0.000281909014349,4.06719896999e-05,1793247577445432576
+50,0.833333333,BASELINE,765,745,715,680,658.008712018,634,877.008712018,784,808,651,628.991287982,652,0.400971412888,-0.0054009610567,0.0798370413907,0.999999931352,0.000239326422175,-0.00027990341041,4.09088350901e-05,1793247577462099456
+51,0.850000000,BASELINE,765,745,715,680,658.597504321,634,877.597504321,784,808,651,628.402495679,652,0.400971622063,-0.00540131321629,0.0798372076561,0.999999931131,0.00023962433713,-0.000280410458639,4.10759845123e-05,1793247577478765824
+52,0.866666667,BASELINE,765,745,715,680,659,634,877.815732145,784,808,651,628.184267855,652,0.400971391221,-0.00540157019885,0.0798371254907,0.999999930964,0.000239542831197,-0.000281058095278,4.11987854836e-05,1793247577495432192
+53,0.883333333,BASELINE,765,745,715,680,659,634,877.233351825,784,808,651,628.766648175,652,0.40097020972,-0.00540162155049,0.0798365065882,0.999999930911,0.000238641582778,-0.000282009474492,4.12257711916e-05,1793247577512098816
+54,0.900000000,BASELINE,765,744.655627033,715,680,659,634,877,784,808,651,629,652,0.400970077548,-0.00540118337709,0.0798364320758,0.999999930761,0.000239087466603,-0.000282165831947,4.121251413e-05,1793247577528765440
+55,0.916666667,BASELINE,765,744.081014836,715,680,659,634,877,784,808,651,629,652,0.400970646933,-0.00540041791938,0.0798367215292,0.999999930545,0.000240434009694,-0.000281790657518,4.1172351749e-05,1793247577545432320
+56,0.933333333,BASELINE,765.491641224,744.491641224,715,680,659,634,877,784,808,651,629,652,0.400970271624,-0.00540059387133,0.0798360286599,0.999999930494,0.000239787053823,-0.000282526216698,4.114706071e-05,1793247577562099456
+57,0.950000000,BASELINE,765.933971,745,715,680,658.933971,634,877,784,808,651,629,652,0.40096993214,-0.00540094732254,0.0798354416038,0.999999930522,0.000238970618777,-0.000283117736253,4.11523155819e-05,1793247577578766336
+58,0.966666667,BASELINE,765.343272056,745,715,680,658.343272056,634,877,784,808,651,629,652,0.400971109382,-0.0054014834083,0.0798369764883,0.999999930973,0.000239407409106,-0.000281116093356,4.13808947378e-05,1793247577595432960
+59,0.983333333,BASELINE,765,745,715,680,658.243428948,634,877,784,808.243428948,651.243428948,629,652,0.400971359318,-0.00540195312975,0.0798376306844,0.99999993138,0.00023853454722,-0.000280426344727,4.12505373927e-05,1793247577612099584
+60,1.000000000,BASELINE,765,745,715,680,658.824583419,634,877,784,808.824583419,651.824583419,629,652,0.400970322738,-0.00540233077956,0.0798370630419,0.999999931726,0.000235844715867,-0.000281556675895,4.06222030758e-05,1793247577628766208
+61,1.016666667,BASELINE,765,745,715,680,659,634,877,784,808.598930926,652,629,652,0.400969818553,-0.00540270380678,0.0798366093361,0.999999931567,0.000235717975129,-0.000282247244576,4.04927869778e-05,1793247577645432576
+62,1.033333333,BASELINE,765,745,715,680,659,634,877,784,808.024463821,652,629,652,0.400969544543,-0.00540307483546,0.0798362048897,0.99999993119,0.000236699360049,-0.000282747686463,4.0579073006e-05,1793247577662099456
+63,1.050000000,BASELINE,765,745,715,680,659,634,877,784,808,651.449935707,629,652,0.400969497495,-0.00540158323067,0.0798361622704,0.999999930641,0.000238725214654,-0.000282931429526,4.0960960001e-05,1793247577678765568
+64,1.066666667,BASELINE,765,745,715,680,659,633.871231032,877,784,808,651,629,652,0.400969607597,-0.00540047099862,0.0798362129718,0.999999930273,0.000240241511639,-0.000282911157621,4.12250314117e-05,1793247577695431936
+65,1.083333333,BASELINE,765,745,715,680,659,633.277453864,877,784,808,651,629,652,0.400970248742,-0.00540102793298,0.0798365425538,0.999999930599,0.000239749937028,-0.00028220501969,4.10161688805e-05,1793247577712098304
+66,1.100000000,BASELINE,765,745,715,680,659,633.307074368,877,784,808,651.307074368,629,652,0.400969675513,-0.00540091582612,0.0798364159017,0.999999930401,0.000240409947694,-0.000282343143768,4.10365088474e-05,1793247577728764928
+67,1.116666667,BASELINE,765,745,715,680,659,633.883490133,877,784,808,651.883490133,629,652,0.400968037131,-0.00540021688907,0.079835889077,0.99999992974,0.000242080038092,-0.000283221787878,4.1257887165e-05,1793247577745431552
+68,1.133333333,BASELINE,765,745,715,679.541099124,658.541099124,634,877,784,808,651.541099124,629,652,0.400969012779,-0.00540060212917,0.0798362873868,0.999999930438,0.000240216181895,-0.000282371157181,4.10596851638e-05,1793247577762098176
+69,1.150000000,BASELINE,765,745,715,679.034942283,658,634,877,784,808.034942283,651,629,652,0.40097064224,-0.0054012241843,0.0798369272539,0.999999931409,0.000237714331788,-0.00028108854148,4.07872962275e-05,1793247577778765056
+70,1.166666667,BASELINE,765,745,715,679.625048197,658,634,877,784,808.625048197,651,629,652,0.400972138091,-0.00540124497187,0.07983768134,0.999999931353,0.000239300081711,-0.000279902833936,4.10250256252e-05,1793247577795431680
+71,1.183333333,BASELINE,765,744.789317214,714.789317214,679.789317214,658.210682786,634,877,784,808.789317214,651,629,652,0.40097234023,-0.0054018224379,0.0798378685983,0.999999931183,0.000240103671339,-0.000279791240717,4.12392802807e-05,1793247577812098304
+72,1.200000000,BASELINE,765,744.211474765,714.211474765,679.211474765,658.788525235,634,877,784,808.211474765,651,629,652,0.400970287801,-0.00540337003481,0.0798370680382,0.999999930816,0.000239544180191,-0.000281551520474,4.14126252334e-05,1793247577828765184
+73,1.216666667,BASELINE,765,744,714.3658536,679.3658536,659,634,877.3658536,784,808,651,629,652,0.40096884345,-0.00540243039376,0.0798362112268,0.999999930107,0.000240854103602,-0.000282951752133,4.13967245034e-05,1793247577845431808
+74,1.233333333,BASELINE,765,744,714.942885192,679.942885192,659,634,877.942885192,784,808,651,629,652,0.400967750094,-0.00540005506928,0.0798353219461,0.999999929196,0.000243243090395,-0.000284144156746,4.12715873825e-05,1793247577862098432
+75,1.250000000,BASELINE,765,744.527991006,715,679.472008994,658.472008994,634,878,784,808.527991006,651,629,652,0.400968304309,-0.00540058075525,0.0798357310351,0.999999929923,0.000241032803578,-0.000283497151657,4.10784683302e-05,1793247577878764800
+76,1.266666667,BASELINE,765,745,715,679.112453285,658,634,877.887546715,784,808.887546715,651,629,652,0.400969119451,-0.00540125980797,0.0798362865632,0.999999930662,0.000238989569746,-0.000282638848424,4.0938484581e-05,1793247577895431680
+77,1.283333333,BASELINE,765,745,715,679.690577636,658,634,877.309422364,784,808.309422364,651,629,652,0.4009702656,-0.00540125426709,0.0798368578612,0.999999930733,0.000239730344178,-0.000281742314981,4.10494604942e-05,1793247577912098304
+78,1.300000000,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.400970659966,-0.00540151909766,0.0798367702704,0.999999930829,0.000239428503427,-0.000281672277606,4.09493179238e-05,1793247577928764928
+79,1.316666667,BASELINE,765,745,715,680,658,634,877,784,808,651,629,652,0.40097018862,-0.00540209527303,0.0798359239395,0.999999930953,0.000237926044737,-0.000282553987378,4.06060629954e-05,1793247577945431552
+80,1.333333333,BASELINE,765,745,715,679.57757453,658,633.57757453,877.42242547,784,808,651,629,652,0.400970832106,-0.00540177298656,0.0798365188541,0.999999931324,0.000237566753337,-0.000281552303064,4.05240812921e-05,1793247577962099200
+81,1.350000000,BASELINE,765,745,715,679.005031281,658,633.005031281,877.994968719,784,808,651,629,652,0.40097187177,-0.00540113141282,0.0798376259455,0.999999931782,0.000237613710365,-0.000279881315102,4.05349484991e-05,1793247577978766592
+82,1.366666667,BASELINE,765,745,715,679.585605667,658.585605667,633.585605667,877.414394333,784,808.585605667,651,629.585605667,652,0.400970656605,-0.00540003592748,0.0798375878448,0.999999931367,0.00023859694309,-0.00028052095556,4.05665187571e-05,1793247577995433216
+83,1.383333333,BASELINE,764.827185688,745,715,679.827185688,658.827185688,634,877,784.172814312,808.827185688,651,629.827185688,652,0.400970038125,-0.00539968840585,0.0798376006101,0.999999931236,0.000238946487167,-0.000280671763109,4.06976010636e-05,1793247578012099840
+84,1.400000000,BASELINE,764.248407294,745,715,679.248407294,658.248407294,634,877,784.751592706,808.248407294,651,629.248407294,652,0.400970868297,-0.00540110740472,0.0798377567162,0.99999993179,0.000237787912381,-0.000279626114713,4.10620194077e-05,1793247578028766464
+85,1.416666667,BASELINE,764.329129629,745,715,679.329129629,658.658259258,634,877,785,808,651,629,652,0.400970544833,-0.00540170939366,0.0798371451435,0.999999931511,0.000238447062889,-0.000280037924485,4.12197328311e-05,1793247578045433088
+86,1.433333333,BASELINE,764.905733052,745,715,679.905733052,659.811466103,634,877,785,808,651,629,652,0.400969353946,-0.0054016970697,0.0798359563501,0.999999930603,0.000240472967885,-0.000281545602543,4.12220240328e-05,1793247578062099456
+87,1.450000000,BASELINE,765,745,715,679.52083244,659.041664879,634,877,784.52083244,808,651,629,652,0.400967927177,-0.00540158423361,0.0798356775298,0.999999929922,0.000241441767368,-0.00028312805655,4.1227701309e-05,1793247578078766080
+88,1.466666667,BASELINE,764.946269204,745,715,679,658,634,877,784,808,651,629,652,0.400966764246,-0.00540144656284,0.0798356325849,0.999999929385,0.000242112864815,-0.000284449046661,4.12355117179e-05,1793247578095432448
+89,1.483333333,BASELINE,764.354191601,745,715,679,658,634,877,784,808,651,629,652,0.400968706694,-0.00540125688384,0.0798361490432,0.999999929852,0.000241871167997,-0.00028300391941,4.12580642224e-05,1793247578112098816
+90,1.500000000,BASELINE,764.232745344,744.767254656,715,679.232745344,658,634,877,784,808,651,629,652,0.40096960266,-0.00540136376402,0.0798363756288,0.999999930164,0.000241299590153,-0.000282385965553,4.12870033281e-05,1793247578128765440
+91,1.516666667,BASELINE,764.812028241,744.187971759,715,679.812028241,658,634,877,784,808,651,629,652,0.400968940506,-0.00540191219504,0.079836170619,0.999999930245,0.000240236848201,-0.000282999600996,4.13254515253e-05,1793247578145431808
+92,1.533333333,BASELINE,765,744.387531143,715,679.612468857,658.387531143,634,877.387531143,784,808.387531143,651,629,652,0.400969417853,-0.00540282386124,0.0798366731652,0.999999930812,0.000238759035103,-0.000282247207321,4.1321677852e-05,1793247578162098688
+93,1.550000000,BASELINE,765,744.961218323,715,679.038781677,658.961218323,634,877.961218323,784,808.961218323,651,629,652,0.400970442575,-0.00540391001263,0.0798375155958,0.999999931608,0.000237081836646,-0.000280838622398,4.12976223122e-05,1793247578178765312
+94,1.566666667,BASELINE,765,744.451468245,715,679,659,634,878,784,808.451468245,651,629,652,0.400970789771,-0.00540336500852,0.0798373847719,0.999999931634,0.000237048371366,-0.000280808495638,4.10729758336e-05,1793247578195431680
+95,1.583333333,BASELINE,765,744.13453149,715,679,658.86546851,634,877.86546851,784,808.13453149,651,629,652,0.400970917855,-0.0054028912715,0.0798371782019,0.999999931492,0.000237549685202,-0.000280905808777,4.0956091897e-05,1793247578212098560
+96,1.600000000,BASELINE,765,744.712937366,715,679,658.287062634,634,877.287062634,784,808.712937366,651,629,652,0.400970485073,-0.00540304286798,0.0798369545297,0.999999930981,0.00023942225086,-0.000281093852489,4.12427446396e-05,1793247578228764928
+97,1.616666667,BASELINE,765,745,715,679.291230348,658.291230348,634,877,784,808.708769652,651,629,652,0.400970073536,-0.00540287638242,0.0798367411009,0.999999930993,0.000238943084041,-0.000281485824835,4.10550468865e-05,1793247578245431552
+98,1.633333333,BASELINE,765,745,715,679.869412059,658.869412059,634,877,784,808.130587941,651,629,652,0.400969682932,-0.00540239648833,0.079836537765,0.999999931517,0.000236146738126,-0.000282078729522,4.0399968149e-05,1793247578262098176
+99,1.650000000,BASELINE,765,745,715,679.554981947,658.554981947,634,877,784,808.445018053,651,629,652,0.400971264437,-0.00540199321751,0.0798375590259,0.999999931771,0.000237489153612,-0.000280028406908,4.05123944122e-05,1793247578278765056
+100,1.666666667,BASELINE,765,745,715,679.020336485,658.020336485,634,877.020336485,784.020336485,808.979663515,651,629,652,0.400973310154,-0.00540161927241,0.0798388705635,0.999999931934,0.000239904585632,-0.000277327141119,4.08316447758e-05,1793247578295431936
+101,1.683333333,BASELINE,765,745,715,679.608610962,658.608610962,634,877.608610962,784.608610962,808.391389038,651,629,652,0.40097225149,-0.00540143999168,0.0798383108143,0.999999932079,0.000238564114403,-0.000277983624598,4.06733511318e-05,1793247578312098560
+102,1.700000000,BASELINE,765,745,715,680,658.806168418,634,878,784.806168418,808.193831582,651,629,652,0.400971546411,-0.00540133542633,0.0798379837892,0.999999932099,0.000237967064876,-0.000278436894217,4.05833061679e-05,1793247578328764928
+103,1.716666667,BASELINE,765,745,715,680,658.227018636,634,878,784.227018636,808.772981364,651,629,652,0.400971544225,-0.00540137938786,0.0798381193967,0.999999931873,0.000238847865035,-0.000278486194509,4.06289329139e-05,1793247578345431552
+104,1.733333333,BASELINE,765,745,715,680,658.351480468,634,877.648519532,784,808.648519532,651,629,652,0.400971543404,-0.00540119266432,0.0798381445828,0.999999931511,0.000239987262508,-0.000278794984723,4.07128593074e-05,1793247578362098176
+105,1.750000000,BASELINE,765,745,715,680,658.929560138,634,877.070439862,784,808.070439862,651,629,652,0.400971543463,-0.00540085721828,0.0798380985803,0.999999931059,0.000241293377569,-0.000279271067907,4.08214774605e-05,1793247578378764800
+106,1.766666667,BASELINE,765,745,715,680,659,634,877,784,808,651,629.502808685,652,0.400971165528,-0.00540191487444,0.0798378483148,0.999999931211,0.000240539960266,-0.000279337319081,4.10903774036e-05,1793247578395432192
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658,634,877,784,808,651,629,652,0.400970549525,-0.0054025484664,0.0798364273463,0.999999931379,0.000238594587087,-0.00028036444707,4.13673521859e-05,1793247578438168832
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.581061959,715,679.581061959,658.581061959,634,877.581061959,784.581061959,808,651,628.418938041,651.418938041,0.40097297361,-0.00540225767422,0.0798383109524,0.999999932282,0.000239093906062,-0.000276723346283,4.11663458853e-05,1793247578454835712
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.839750066,659,634,877.839750066,784.839750066,808,651,628.160249934,651.160249934,0.40097392792,-0.00540189089844,0.0798392584431,0.999999932664,0.000239365068369,-0.000275138205616,4.0925133117e-05,1793247578471502080
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.265404457,659,634,877.265404457,784.265404457,808,651,628.734595543,651.734595543,0.400971084244,-0.00540132777633,0.0798377869544,0.999999931722,0.000239046659941,-0.000278865791423,4.05800243237e-05,1793247578488168448
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.316730026,658.683269974,634,877.316730026,784,808,651,629,652,0.40096900177,-0.00540155812982,0.0798365198025,0.999999931209,0.000238273238214,-0.000281378717349,4.04112136886e-05,1793247578504834816
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.905555723,658.094444277,634,877.905555723,784,808,651,629,652,0.400967573229,-0.00540247014045,0.0798354281919,0.999999931072,0.000237108924775,-0.000282848155957,4.0393856873e-05,1793247578521501440
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.513679039,658.486320961,634,877.513679039,784,808,651,629,652,0.400970505797,-0.00540116455805,0.0798373512923,0.999999931289,0.000239295065156,-0.000280187636781,4.06700468547e-05,1793247578538167808
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.934891353,715,679.065108647,658.934891353,634,877,784,808,651,629,652,0.40097414142,-0.00539971988964,0.0798396886634,0.999999931621,0.000241616187182,-0.000276957552687,4.09129629583e-05,1793247578554834176
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.359534014,715,679.640465986,658.359534014,634,877,784,808,651,629,652,0.400976757682,-0.00540050522455,0.0798407592396,0.999999932451,0.000239979111508,-0.000275446900472,4.04556407608e-05,1793247578571500800
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.21485414,715,680,658.21485414,634,877,784,808,651,629,652,0.400986375539,-0.005401002585,0.0798450157297,0.999999934401,0.000239796727428,-0.000268438946964,4.04544240963e-05,1793247578588167424
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.7876277,715,680,658.7876277,634,877,784,808,651,629,652,0.401007657152,-0.00540102021688,0.0798545795435,0.999999938039,0.000242037672957,-0.000252273195185,4.12130207476e-05,1793247578604834816
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.626950728,634,877,784.373049272,808,651,629,652,0.401045032463,-0.00540238167078,0.0798684426292,0.999999944353,0.000241679688367,-0.000226178203472,4.15754667844e-05,1793247578621501696
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.034076052,634,877,784.965923948,808,651,629,652,0.40109189125,-0.00540453499387,0.0798848391323,0.999999951518,0.000239790241605,-0.000194232242521,4.17044746142e-05,1793247578638168576
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.453429521,744.453429521,715,680,658.546570479,634,877,784.453429521,808,651,629,652,0.401164392299,-0.00540475875249,0.0799025951832,0.999999957922,0.000238941639465,-0.000159293569129,4.10939056495e-05,1793247578654834688
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.12525468,744,715,680,658.87474532,633.87474532,877.12525468,784,808,651,629,652,0.401238706371,-0.00540520558665,0.079918064269,0.99999996236,0.000237946449194,-0.000130557048719,4.02138152593e-05,1793247578671501056
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.699577074,744,715,680,658.300422926,633.300422926,877.699577074,784,808,651,629,652,0.401313914388,-0.00540687406219,0.0799250368085,0.999999963587,0.000236198145452,-0.000124711007317,3.85291210984e-05,1793247578688167936
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.272638206,715,679.727361794,658.272638206,633,877.727361794,784,808,651.272638206,629,652,0.401397644509,-0.00540899733217,0.0799294291955,0.999999964971,0.000233208547231,-0.000119817775017,3.62803701483e-05,1793247578704834560
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.844315908,715,679.155684092,658.844315908,633,877.155684092,784,808,651.844315908,629,652,0.401490721979,-0.00541161943713,0.079930991577,0.999999966529,0.000228857452205,-0.000115969618729,3.34129413084e-05,1793247578721500928
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.434267527,658.565732473,633.434267527,877,784,808,652,629,652,0.401604256109,-0.00541201303809,0.0799338603829,0.999999967579,0.00022761135485,-0.000110272903942,2.95763086656e-05,1793247578738168064
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.02998577,634,877,784.02998577,808,651.97001423,629,652,0.40172721751,-0.00541170187652,0.0799373259768,0.999999968454,0.000227381325089,-0.000103662255217,2.53598479236e-05,1793247578754835456
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.606171558,634,877,784.606171558,808,651.393828442,629,652,0.401882446259,-0.00541374498818,0.0799427563401,0.99999997026,0.000224492471536,-9.30056628007e-05,2.08317744527e-05,1793247578771502080
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.818246431,634,877,785,808,651.181753569,629,652,0.402046369645,-0.00541558855145,0.0799488005544,0.999999972228,0.00022057809983,-8.14195940189e-05,1.61072262744e-05,1793247578788168448
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.243968445,634,877,785,808,651.756031555,629,652,0.402229070397,-0.00541700115942,0.0799561704722,0.999999974646,0.000214448966432,-6.7826181353e-05,1.09583617362e-05,1793247578804834816
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.677320638,633.661339681,877,784.661339681,808,651.661339681,629,652,0.402421508685,-0.00541889170859,0.079959913273,0.999999976434,0.00020794694789,-6.21774274514e-05,4.82751987307e-06,1793247578821501184
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.854914147,633.072542926,877,784.072542926,808,651.072542926,629,652,0.402621139191,-0.005421135268,0.0799609770655,0.999999977817,0.000201169513636,-6.23966422465e-05,-2.02861655874e-06,1793247578838167552
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.489058578,715,680,659.489058578,633.510941422,877,784,808.510941422,651,629,652,0.402850677678,-0.00542212013428,0.0799555913734,0.999999978597,0.000193671825212,-7.20349284353e-05,-1.03882701061e-05,1793247578854834432
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.092087216,744.092087216,715,680,659,634,877,784,808.907912784,651,629,652,0.403091852603,-0.00542329609112,0.0799497971466,0.99999997924,0.000185500885292,-8.21691411317e-05,-1.88978880496e-05,1793247578871501312
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.664921744,744.664921744,715,680,659,634,877,784,808.335078256,651,629,652,0.40337183641,-0.00542639300494,0.0799466013687,0.999999980565,0.00017434355568,-8.79827031897e-05,-2.70874533819e-05,1793247578888168448
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.761867333,744.761867333,715,680,659,634,877.238132667,784.238132667,808,651,629,652,0.403674090093,-0.00542955425902,0.0799476407268,0.999999986534,0.000135313452303,-8.70697194474e-05,-3.22545726069e-05,1793247578904835072
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.188125977,744.188125977,715,680,659,634,877.811874023,784.811874023,808,651,629,652,0.404007729471,-0.0054328061899,0.0799546488104,0.999999994886,5.70012749922e-05,-7.66767789589e-05,-3.31620523043e-05,1793247578921501440
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.397651573,715,679.602348427,659,634,878,784.602348427,808.397651573,651,629,652,0.404358101578,-0.0054332698804,0.0799568712952,0.999999994564,6.9536634468e-05,-7.21334362799e-05,-2.88641408727e-05,1793247578938168064
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.989301072,715,679.010698928,659,634,878,784.010698928,808.989301072,651,629,652,0.40471663689,-0.00543237330245,0.0799567590821,0.999999989289,0.000126392790927,-7.0443873202e-05,-2.20267321264e-05,1793247578954834432
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.570213674,659,634,877.429786326,784,809,651,629,652,0.405139465087,-0.00543697441744,0.0799573426905,0.999999990625,0.000118783716928,-6.24906697251e-05,-2.71305266623e-05,1793247578971501568
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.850720827,745,715,680,659,634,877,784,808.850720827,651,629,652,0.405570725424,-0.00544119916098,0.0799560624128,0.999999991649,0.00010999849032,-6.01417557188e-05,-3.14047130945e-05,1793247578988168192
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.276352199,745,715,680,659,634,877,784,808.276352199,651,629,652,0.406022625492,-0.00544406383118,0.0799494380163,0.999999991596,0.000101244745195,-7.40801760264e-05,-3.26902701786e-05,1793247579004834560
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.304317053,745,715,680,659,634,877.304317053,784,808.304317053,651,629,652.304317053,0.406486596947,-0.00544679462276,0.0799419966867,0.999999991104,9.49935388019e-05,-8.72294765485e-05,-3.40565499547e-05,1793247579021500928
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.890828973,745,715,680,659,634,877.890828973,784,808.890828973,651,629,652.890828973,0.406961762316,-0.00544940126828,0.07993379781,0.999999990259,9.10629492575e-05,-9.96470235924e-05,-3.5497684475e-05,1793247579038167296
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,809,651,629,653,0.407469209322,-0.0054541220902,0.0799286988238,0.999999989361,8.66609909598e-05,-0.000111535552845,-3.64351577963e-05,1793247579054833664
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.951059943,784,808.951059943,651,629,652.951059943,0.407988844688,-0.00545915662689,0.0799239595428,0.999999988318,8.20680104492e-05,-0.000123438685392,-3.73087280777e-05,1793247579071500288
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.371772354,784,808.371772354,651,629,652.371772354,0.40856055428,-0.00546235097616,0.0799154354382,0.999999986959,7.65732305988e-05,-0.000136811205673,-3.873808626e-05,1793247579088167168
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.206005957,634,877.206005957,784,808.206005957,651,629,652.206005957,0.40916918292,-0.00546925921687,0.0799199573746,0.999999988442,6.82427705518e-05,-0.000130146486128,-3.89990640377e-05,1793247579104834048
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.7810803,634,877.7810803,784,808.7810803,651,629,652.7810803,0.409843953563,-0.00548282105097,0.0799478518459,0.999999993971,5.48320697472e-05,-8.75842029696e-05,-3.71668387745e-05,1793247579121500672
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680.364056741,659.635943259,634,878,784,809,651.364056741,629,652.635943259,0.410526523053,-0.00550329892548,0.0799781718817,0.999999998273,2.79729233627e-05,-3.85280509967e-05,-3.44681374415e-05,1793247579138167040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680.95189039,659.04810961,634,878,784,809,651.95189039,629,652.04810961,0.411213886281,-0.00552802792295,0.0800099828525,0.999999999381,-7.15265813503e-06,1.45197242206e-05,-3.12368341246e-05,1793247579154833664
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680.466585083,659.533414917,634,878,784,809,651.466585083,629,652,0.411879083137,-0.00552759055428,0.0799875615859,0.999999999101,-5.24429900018e-06,-2.48927341325e-05,-3.39186726771e-05,1793247579171500544
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,783.886865373,809,651,629,652,0.412551476114,-0.00552546951003,0.0799587243957,0.999999996752,-2.55019634283e-06,-7.13538721238e-05,-3.73895668615e-05,1793247579188166912
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,783.312214166,809,651,629,652,0.413261284683,-0.00552563123179,0.0799234344786,0.999999992691,-1.01171741478e-05,-0.000112948376011,-4.19291435644e-05,1793247579204833536
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,783.262505938,809,651.262505938,629,652.262505938,0.414016051398,-0.00553008173639,0.0799107838781,0.999999991247,-2.1450136802e-05,-0.000122780824461,-4.43977773942e-05,1793247579221500416
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,783.837308084,809,651.837308084,629,652.837308084,0.414824303697,-0.00553963448981,0.0799250666549,0.999999993824,-3.72633906661e-05,-9.48268210951e-05,-4.44026671934e-05,1793247579238167040
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784,809,651.574596011,629,652.574596011,0.415622120033,-0.00554271119202,0.0799427066441,0.999999995661,-3.92132035311e-05,-7.24581148075e-05,-4.34736331368e-05,1793247579254833920
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679.981767874,660,634,878.018232126,784,809.018232126,651,629.018232126,652,0.416416180417,-0.00554343978325,0.0799605795374,0.999999997015,-3.61199955326e-05,-5.36410667306e-05,-4.22854213129e-05,1793247579271500544
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.404748534,660,634,878.595251466,784,809.595251466,651,629.595251466,652,0.417221396291,-0.0055505582627,0.0799449705622,0.999999995049,-4.62042864646e-05,-7.60985429611e-05,-4.44536621542e-05,1793247579288167168
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.342492813,660,634,878.828753594,784.171246406,809.828753594,651.171246406,629.828753594,652,0.418062116814,-0.00555759581475,0.0799451096286,0.999999994923,-5.62387607331e-05,-6.98442217453e-05,-4.5961834362e-05,1793247579304833792
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680.489668995,660,634,878.255165502,784.744834498,809.255165502,651.744834498,629.255165502,652,0.418986255096,-0.00556444322831,0.0799822485592,0.99999999675,-6.61561905246e-05,3.86817630328e-06,-4.59191818079e-05,1793247579321500672
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.672122736,660,634,878,784.672122736,809,651.672122736,629,652.327877264,0.419877926902,-0.00556795969924,0.0799902448573,0.999999996089,-7.1780506891e-05,2.19688817971e-05,-4.67560768688e-05,1793247579338167296
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680.081503566,660,634,878,784.081503566,809,651.081503566,629,652.918496434,0.420743581904,-0.00556880694478,0.0799748879306,0.999999996088,-7.39645697816e-05,-4.49441514153e-06,-4.82977907199e-05,1793247579354833664
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.499243926,784,809.499243926,651,629.499243926,653,0.421640497761,-0.00555475680471,0.0799690808288,0.999999996726,-6.2700721562e-05,-1.44563199101e-05,-4.90673958418e-05,1793247579371500544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.922208616,879,784,809.922208616,651,630,652.922208616,0.422546470774,-0.00553742461561,0.0799692035321,0.999999997571,-4.6464203484e-05,-1.57748894463e-05,-4.9503120171e-05,1793247579388167168
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.347618942,879,784,809.347618942,651,630,652.347618942,0.423478324794,-0.00551436298365,0.0799974322184,0.999999998519,-1.22195456971e-05,2.123482865e-05,-4.85959669005e-05,1793247579404833792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.463776466,660,633,878.768111767,784,809.231888233,651,629.768111767,652.231888233,0.424383596804,-0.00550562677442,0.0799966989791,0.99999999883,9.01451850004e-08,5.06401910572e-06,-4.81079119476e-05,1793247579421500672
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,681.63785388,660,633,878.18107306,784,809.81892694,651,629.18107306,652.81892694,0.425248157046,-0.00551883078955,0.0799516088508,0.999999994327,-2.11948513195e-05,-9.2555892324e-05,-4.82617304082e-05,1793247579438168320
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681.599868676,660.400131324,633.400131324,878.400131324,784,810,651.400131324,629,653,0.426174565038,-0.00552629147199,0.0799219594879,0.999999990485,-3.37204111447e-05,-0.000123628230164,-5.10720170557e-05,1793247579454835200
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681.021266612,660.978733388,633.978733388,878.978733388,784,810,651.978733388,629,653,0.427128558956,-0.00553119045259,0.0798991971787,0.999999989773,-4.23389946245e-05,-0.000125018320847,-5.50671694311e-05,1793247579471501312
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.442955712,634,879,784,810,651.442955712,629.557044288,653,0.428068162951,-0.0055323118229,0.0799048313364,0.999999989852,-3.94569864221e-05,-0.000125766451633,-5.40585530419e-05,1793247579488168192
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.133935129,633.866064871,879,784,810.133935129,651,630,653,0.429011469605,-0.00553299775127,0.0799172035987,0.999999991035,-3.75507926073e-05,-0.000117132963196,-5.29217508382e-05,1793247579504835072
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.706214713,633.293785287,879,784,810.706214713,651,630,653,0.429968691369,-0.00553273031868,0.0799480821777,0.999999994805,-4.02744818708e-05,-7.78753713078e-05,-5.19903053202e-05,1793247579521501440
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.712306025,633.287693975,879,784,810.712306025,651,630,653,0.430948082307,-0.00553079149908,0.0799851054037,0.999999997614,-4.02795665607e-05,-2.36182348133e-05,-5.0907463546e-05,1793247579538167808
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.121122004,633.878877996,879,784,810.121122004,651,630,653,0.431950859575,-0.00552708952361,0.0800286106516,0.999999996987,-3.7416779225e-05,4.64620059728e-05,-4.9664912918e-05,1793247579554834176
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,634,879,784.460296089,810,651,630,653,0.43283886199,-0.00552517093568,0.0799964550024,0.999999998121,-3.3663127683e-05,-7.00459825552e-06,-5.07435250902e-05,1793247579571501056
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.039035614,633.960964386,879,784.960964386,810.039035614,651,630,652.960964386,0.433700757259,-0.00552428354688,0.0799460145603,0.999999994164,-3.09372359641e-05,-8.91796513572e-05,-5.25518384589e-05,1793247579588167424
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.615541799,633.384458201,879,784.384458201,810.615541799,651,630,652.384458201,0.434610390057,-0.00553126731745,0.079912247155,0.999999989154,-4.55229175976e-05,-0.000128311353065,-5.61721403096e-05,1793247579604834048
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681.191035435,660.808964565,633,879,784,811,651,630,652.191035435,0.435522215486,-0.00553726195598,0.0799026972185,0.999999987146,-5.87348266457e-05,-0.0001373600393,-5.82245738011e-05,1793247579621500928
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681.764502165,660.235497835,633,879,784,811,651,630,652.764502165,0.436438430475,-0.00554127646549,0.0799416279042,0.99999999226,-6.91966013101e-05,-8.61859445326e-05,-5.71383132102e-05,1793247579638167808
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.651364899,660,633.348635101,879,784,811,651,630,652.651364899,0.437372969443,-0.00554402065493,0.0799805557609,0.99999999577,-6.80094340904e-05,-2.85159185939e-05,-5.49643997037e-05,1793247579654834944
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681.05979975,660,633.94020025,879,784,811,651,630,652.05979975,0.438320276563,-0.00554587968108,0.0800194816441,0.999999996356,-5.87052463521e-05,3.36804898015e-05,-5.20326061523e-05,1793247579671501824
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.478064527,745.521935473,715,681.521935473,660,633.478064527,879,784.521935473,811,651,630,652.521935473,0.439206064421,-0.00554929503606,0.080028788085,0.99999999482,-7.19277638461e-05,4.88121456044e-05,-5.29514261147e-05,1793247579688168448
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.101465124,745.898534876,715,682,660.101465124,633,879,784.898534876,811,651,630.101465124,653,0.440060566593,-0.00555116189389,0.0800199904707,0.999999994319,-8.39021850761e-05,3.64010642923e-05,-5.47425813593e-05,1793247579704835072
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.675866895,745.324133105,715,682,660.675866895,633,879,784.324133105,811,651,630.675866895,653,0.440801489839,-0.00554499532052,0.0799423338646,0.999999992045,-7.82514927283e-05,-7.97192552809e-05,-5.85814121544e-05,1793247579721501184
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.749476803,661,633,879,784.250523197,811.250523197,651,630.749476803,653,0.441543467648,-0.00554078357668,0.079873092474,0.999999979031,-7.19110063863e-05,-0.000181287836602,-6.24577539114e-05,1793247579738167552
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.174490891,661,633,879,784.825509109,811.825509109,651,630.174490891,653,0.442286811205,-0.00553910361202,0.079814749975,0.999999960854,-6.46771410997e-05,-0.00026400986529,-6.63826778407e-05,1793247579754834176
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.410906933,715,681.410906933,661,633,879.410906933,784.589093067,812,651,630.410906933,653,0.443119269667,-0.00554129125729,0.0798509552664,0.999999974659,-6.79616102892e-05,-0.000204660409341,-6.46267716878e-05,1793247579771501056
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.999174315,715,682,661,633.000825685,879.999174315,784,811.999174315,651,630.999174315,653,0.443990435085,-0.00554517094899,0.0799283203327,0.999999991817,-7.58238317123e-05,-8.34758378227e-05,-6.03980652928e-05,1793247579788167936
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.420087578,715,682,661,633.579912422,879.420087578,784,811.420087578,651,630.420087578,653,0.444777967795,-0.00555393530343,0.0799821725913,0.999999995091,-8.02121921704e-05,-6.93344286929e-06,-5.77594974268e-05,1793247579804834304
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765.398740135,745,714.601259865,683,659,631,879.398740135,783,813,651,630,653,0.454176854352,-0.00557372962324,0.0797282725582,0.999999909558,-0.000129994689947,-0.000398800569354,-7.03082679343e-05,1793247580121501696
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+249,4.150000000,HOLD_POSE2,765.821697821,745.178302179,714,683,658,630,879.178302179,782,812.178302179,651,630,653,0.456413648992,-0.00558220038531,0.0796620913525,0.999999855479,-0.000140460586319,-0.0005149702631,-6.41702856106e-05,1793247580827395072
+250,4.166666667,HOLD_POSE2,765.242454948,745.757545052,714,683,658,630,879.757545052,782,812.757545052,651,630,653,0.456413090167,-0.00558052032964,0.0796621458596,0.999999855299,-0.000140273438582,-0.000515332212306,-6.44783658431e-05,1793247580844061440
+251,4.183333333,HOLD_POSE2,765,745.664131705,714,683,657.664131705,630,880,782,813,651,630,653,0.4564133599,-0.00557955389166,0.0796624048673,0.999999855357,-0.0001397790978,-0.000515342906196,-6.45676823259e-05,1793247580860728064
+252,4.200000000,HOLD_POSE2,765,745.086470542,714,683,657.086470542,630,880,782,813,651,630,653,0.456414226114,-0.00557910118987,0.0796628110957,0.999999855586,-0.000139063607583,-0.000515100730023,-6.44995099321e-05,1793247580877394688
+253,4.216666667,HOLD_POSE2,765.49707575,745.49707575,714,683,657.49707575,630,880,782,813,651,630,653,0.456414048293,-0.00557885214489,0.0796626819144,0.999999855469,-0.000139621404941,-0.000515179620852,-6.44801382479e-05,1793247580894061056
+254,4.233333333,HOLD_POSE2,766,745.918602382,714,683,658,630,880,782,813,651,630,653,0.456413866882,-0.00557882459644,0.0796624650042,0.99999985533,-0.000140344445835,-0.000515256955557,-6.44542680355e-05,1793247580910727424
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+256,4.266666667,HOLD_POSE2,766,745,714.24360349,683,658,630,880,781.75639651,813,651,630,653,0.456414743967,-0.0055808150534,0.0796619778431,0.999999855177,-0.000140764352114,-0.000515478147994,-6.41311906382e-05,1793247580944060416
+257,4.283333333,HOLD_POSE2,766,745,714.818696817,683,658,630,880,781.181303183,813,651,630,653,0.456413359284,-0.00558136150659,0.0796614854212,0.999999854439,-0.000140415068216,-0.000517043707939,-6.38106171163e-05,1793247580960727296
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+262,4.366666667,HOLD_POSE2,765,745,714.724320573,683,657.275679427,630,880,781,812.724320573,651,629,653,0.456415447524,-0.00557877193725,0.0796618501837,0.999999854975,-0.000139822312056,-0.000516112040995,-6.42504149037e-05,1793247581044060160
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,658,630,879,781,813,651,630,653,0.456414547996,-0.00557596538191,0.0796615918074,0.999999854895,-0.000138200372509,-0.000516672187328,-6.45047376958e-05,1793247581081095168
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,630,880,781,812.158852543,651,630,653,0.456414995543,-0.00557965591702,0.0796625851293,0.999999855579,-0.000137294521636,-0.000515653598952,-6.39873635331e-05,1793247581114428928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,630,880,781,812.747305805,651,630,653,0.45641462841,-0.00557935913038,0.079661929019,0.999999855411,-0.000137081497604,-0.000516032213591,-6.40121092339e-05,1793247581131095552
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.331703022,745,714,683,657.331703022,630,879.668296978,781,813,651,630,653,0.456415332787,-0.00557928987728,0.0796619266736,0.999999855373,-0.000137834039381,-0.000515901738734,-6.40411886252e-05,1793247581147761920
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.913047602,745,714,683,657.913047602,630,879.086952398,781,813,651,630,653,0.456416843586,-0.00557939186721,0.0796624163554,0.999999855431,-0.000139313271422,-0.000515388120239,-6.40735295751e-05,1793247581164428288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.512876901,745.487123099,714.487123099,683,657.512876901,630,879.487123099,781,813,651,630,653,0.456416377001,-0.00558042358668,0.0796625426589,0.999999855573,-0.00014042038644,-0.000514892236255,-6.3427362098e-05,1793247581181095168
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714.350480808,683,657.649519192,630.649519192,880,781,812.350480808,651,630,653,0.456414356289,-0.00557976087237,0.0796618159745,0.999999855556,-0.000139092514046,-0.000515260384539,-6.36288566826e-05,1793247581214428160
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.766186629,714,683,657.766186629,630.766186629,880,781.233813371,812.233813371,651.233813371,630,653,0.456411128294,-0.0055794104781,0.0796600684112,0.999999854107,-0.000139391126745,-0.00051792295449,-6.41235265799e-05,1793247581231094784
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.390596685,745.390596685,714.390596685,683,657,630,880,781.609403315,812.609403315,651.609403315,630,653,0.456384382673,-0.00558025615107,0.0796471021338,0.999999842725,-0.000142998952922,-0.000538461308522,-6.45105680376e-05,1793247581264428800
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,657,630,879,781.119712354,812.880287646,651,630,653,0.456247254569,-0.0055750093962,0.0795994864791,0.99999979521,-0.000136018215555,-0.000622000757363,-6.47574758128e-05,1793247581314428416
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.026848772,745,714,683.026848772,657.026848772,630,880,782,812,651,630,653,0.455858933265,-0.00556762267377,0.0795895149019,0.999999791529,-0.000127707196429,-0.000630522097443,-5.54431012973e-05,1793247581397761792
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+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.695272824,683,660,632.695272824,879.304727176,784,811,651,630,653,0.445350915243,-0.00544315024326,0.0798077527696,0.999999954577,9.08559581247e-05,-0.000286404379771,2.37344827219e-05,1793247581847761152
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.718672374,683,660,633,879,784,811,650.718672374,630,653,0.444653809751,-0.00543295322954,0.0798411427333,0.999999964378,0.000105411665,-0.00024366611662,2.7566767665e-05,1793247581864428032
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.137509756,683,660,633,879,784,811,650.137509756,630,653,0.443909140651,-0.00542278001359,0.0798520903876,0.999999961497,0.000134439315313,-0.000240788915671,3.08585617735e-05,1793247581881095168
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659.561926746,633,879,784,810.561926746,650.438073254,630,652.561926746,0.443118601735,-0.00541770548695,0.0798344118264,0.999999954402,0.00013515449718,-0.000268258193375,3.10970589391e-05,1793247581897761792
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.011973329,714.011973329,683,659.023946657,633,879,784,810.011973329,651,630.011973329,652.011973329,0.442313039215,-0.00541429283784,0.0798081073011,0.999999945006,0.000127591108081,-0.000304607346546,3.03856296126e-05,1793247581914428160
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.588063933,714.588063933,683,660.176127866,633,879,784,810.588063933,651,630.588063933,652.588063933,0.441469485925,-0.00541472207933,0.0797934259549,0.999999939294,0.000143436537108,-0.000316175108952,2.95064631943e-05,1793247581931094528
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.831898244,715,683,660.831898244,633,879,784,811,651,630.831898244,653,0.440618312912,-0.00541750842414,0.0797643026425,0.999999925159,0.000148408782716,-0.000356101382007,2.91214691469e-05,1793247581947761152
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.241955143,715,683,660.241955143,633,879,784,811,651,630.241955143,653,0.439748018707,-0.00542620977925,0.0796989380771,0.999999882467,0.000126095420116,-0.000467191645233,2.99765710665e-05,1793247581964427776
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+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.080101338,633,879,784,811,651,630,652.080101338,0.438003028001,-0.00543478930375,0.0796989727668,0.999999888299,0.000122088448345,-0.000455561328422,3.0984323669e-05,1793247581997762048
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.495219651,745,715,683,659.495219651,633,879.495219651,784,810.504780349,651,630,652.495219651,0.437182626517,-0.00543092606101,0.0797716203467,0.999999929644,0.000129952457366,-0.00035012694997,3.51590663966e-05,1793247582014428928
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.930129976,745,715,683,660,633,879.930129976,784,810.069870024,651,630,653,0.436359546454,-0.00542642830391,0.0798453680823,0.999999959738,0.000138644962869,-0.000244388584932,3.9700200443e-05,1793247582031095808
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.356514963,745,715,683,660,633,879.356514963,784,810.643485037,651,630,653,0.435456146553,-0.00542548267011,0.0798624453697,0.999999964622,0.000147948946629,-0.000216929543071,4.25252716851e-05,1793247582047761920
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,810.775317394,651,630,652.775317394,0.434543378356,-0.00542336637525,0.0798617970959,0.999999963822,0.000155818920376,-0.000214812296458,4.39627832102e-05,1793247582064428288
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,879,784,810.181667892,651,630,652.181667892,0.433615225687,-0.00541932765649,0.0798320404513,0.999999953719,0.000161334008274,-0.000254310565474,4.31216871151e-05,1793247582081095168
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,878.5992216,784,810,651,630,652,0.432609574675,-0.00541800630663,0.0797768913997,0.999999921963,0.000163298667465,-0.000357346424235,4.13631068252e-05,1793247582097761280
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,878.021715523,784,810,651,630,652,0.431569749965,-0.00541788321095,0.0797105452865,0.999999866566,0.000163697723131,-0.000488399880081,3.91999511771e-05,1793247582114427904
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633,878.552140629,784,810,651,630,652,0.430647757082,-0.00541824255095,0.0797149354029,0.999999871876,0.000166989139572,-0.000476083197744,4.13327298541e-05,1793247582131095040
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.280846711,683,660,633,878.280846711,784,809.280846711,651,630,652.719153289,0.428889899715,-0.005423602722,0.0798171047503,0.999999939998,0.000165299227308,-0.000300598687879,4.81806056539e-05,1793247582164428800
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.303945066,682.696054934,660,633.303945066,878.303945066,784,809.303945066,651,630,652.696054934,0.427983946373,-0.00542699153978,0.0798509125442,0.999999955397,0.000165416355786,-0.000243488713689,5.0556475613e-05,1793247582181095424
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.884206017,682.115793983,660,633.884206017,878.884206017,784,809.884206017,651,630,652.115793983,0.427031041103,-0.00542968496201,0.0798434462537,0.999999951945,0.000168881253942,-0.00025486397642,5.13257829439e-05,1793247582197762048
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.461188436,660,633.538811564,878.538811564,784,810,651,630,652,0.426062598625,-0.00542789539266,0.0798052838692,0.99999993466,0.000171688420615,-0.000314371506826,4.87235864332e-05,1793247582214428416
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.962861127,659.962861127,633.037138873,878,784,809.962861127,651,630,652,0.425089338652,-0.00542438888111,0.0797606211656,0.999999909749,0.000175458546722,-0.000384237123919,4.55848239903e-05,1793247582231094528
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,634,878,784,809.780495168,651,629.219504832,652,0.422280869803,-0.00540072260033,0.0797473297672,0.999999900112,0.000207223875995,-0.000393275874185,4.65753655169e-05,1793247582281094656
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.635578702,682,659.364421298,634,878,784,809.635578702,651,629.364421298,652,0.421443773224,-0.00539842814157,0.0797988114822,0.999999930657,0.000211262344791,-0.000302886435052,4.81105976828e-05,1793247582297761792
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.056208041,682,659.943791959,634,878,784,809.056208041,651,629.943791959,652,0.420626988726,-0.00539622995906,0.0798655289675,0.999999956798,0.000218529828236,-0.000189851423987,5.10447766469e-05,1793247582314428416
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.518596629,682,659.481403371,634,878,784,809.518596629,651,629.481403371,652.518596629,0.419745126899,-0.00539138219259,0.0798582274627,0.999999952757,0.000221846419486,-0.00020673958732,5.02970415147e-05,1793247582331094528
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.809471906,659,634,878,784,810,651,629.095264047,652.904735953,0.4188536006,-0.00538727688082,0.0798395056138,0.999999944511,0.000223078090654,-0.000242536374881,4.88962960742e-05,1793247582347760640
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.631750403,659,634,878,784,810,651,629.684124799,652.315875201,0.417948226472,-0.00538849345764,0.0798028157543,0.999999929468,0.000215706432724,-0.000303979903952,4.61617181729e-05,1793247582364427520
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.730623588,680,659,634,878,784,809.730623588,651,630,652,0.417077189421,-0.00538827100187,0.0797906982707,0.999999920314,0.000216151037246,-0.000332533275486,4.55232928104e-05,1793247582381094144
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.149548198,680,659,634,878,784,809.149548198,651,630,652,0.416245884313,-0.00538638342253,0.0798070138081,0.99999992125,0.000225639942774,-0.000323029011143,4.73103533811e-05,1793247582397760768
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.427525353,680.427525353,659,634,878,784,809,651,630,652,0.415419687653,-0.00539581802278,0.0797922694329,0.999999913844,0.000219447368077,-0.000349020973307,4.83738187811e-05,1793247582414427648
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,878,784,809,651,629.996799921,652,0.41459588943,-0.00540918051934,0.0797669756439,0.999999902362,0.000207750747564,-0.000386908314494,4.91653677114e-05,1793247582431094272
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,634,878,784,809,651,629.423265799,652,0.413884042062,-0.00542327902013,0.0797799248687,0.999999919965,0.000183660609726,-0.000352428775758,4.61873771192e-05,1793247582447760896
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.84535179,659,634,878,784,809,651,629,652,0.41316687335,-0.00543153007529,0.0797924610674,0.99999993207,0.000170902906309,-0.00032352960123,4.45089509293e-05,1793247582464427776
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.255100673,659,634,878,784,809,651,629,652,0.412434715663,-0.00542331043328,0.0798038338846,0.999999932699,0.000190065654197,-0.00031034882318,4.64910517947e-05,1793247582481094400
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.669195488,715,680,659,634,878,784,809,651,629,652,0.411723363841,-0.00541875512214,0.0798016952108,0.999999927169,0.000203235040814,-0.000319459733952,4.79848908016e-05,1793247582497761024
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.086598258,715,680,659,634,878,784,809,651,629,652,0.4110278485,-0.00541698892649,0.0797892722297,0.999999916657,0.000211842563621,-0.000345538022632,4.91070878853e-05,1793247582514427648
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.487237612,744.487237612,715,680,659,634,877.512762388,784,808.512762388,651,629,652,0.410359541084,-0.0054150303084,0.0797913286332,0.99999991789,0.00021186144488,-0.000342000778133,4.86890135283e-05,1793247582531094272
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.939000086,745,715,680.060999914,659,634,877,784,808.060999914,651,629,652,0.409706501821,-0.00541311759996,0.079798329075,0.999999922364,0.000211302920143,-0.000329072277751,4.83098469895e-05,1793247582547760896
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.352698466,745,715,680.647301534,659,634,877,784,808.647301534,651,629,652,0.409144036927,-0.00541188955325,0.0798261351974,0.999999935666,0.000218685211832,-0.000279798249529,5.05815579573e-05,1793247582564427264
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.769140734,715,681,658.769140734,634,877.230859266,784,808.769140734,651,629,652,0.408564750312,-0.00541045331088,0.0798388235756,0.999999940362,0.000222336809835,-0.000259211739277,5.14956649096e-05,1793247582581094144
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.458722128,634,878,783.541277872,808.458722128,651,629,652,0.406339734849,-0.00540190984609,0.0797655765981,0.999999899894,0.000222874177956,-0.00038527150087,4.58891145255e-05,1793247582647760896
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.069280795,715,679.069280795,659,634,877.930719205,784,808,651,629,652,0.402564370162,-0.0053993589612,0.0798389870873,0.999999928729,0.000241225278247,-0.000285798151706,5.16825237892e-05,1793247582831094784
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.494557667,634,877.494557667,784,808,651,629,652,0.402359689359,-0.00540037217396,0.0798363081838,0.999999930015,0.000232252491261,-0.000288910307219,5.05877908682e-05,1793247582847761408
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.081434665,658,634,877.081434665,784.081434665,808.081434665,651,629,652,0.402166623306,-0.00540124045077,0.07983414705,0.999999931762,0.000222481734447,-0.00029076142361,4.93505315185e-05,1793247582864428032
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.669491693,658,634,877.669491693,784.669491693,808.669491693,651,629,652,0.402012560027,-0.00540003788514,0.0798379567986,0.999999934512,0.000220545726062,-0.000282465085247,5.04928497202e-05,1793247582881095168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.253695011,634,877.746304989,784.746304989,808.746304989,651,629,652,0.401865129069,-0.00539916726697,0.0798415463005,0.999999936277,0.000220200044791,-0.000276215891586,5.16027684471e-05,1793247582897762048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.832952888,634,877.167047112,784.167047112,808.167047112,651,629,652,0.401726209272,-0.00539872263187,0.0798448531632,0.99999993684,0.000221895205732,-0.000272593767434,5.26711093658e-05,1793247582914428416
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.588874538,634,877,784,808,651,629,652,0.40159955344,-0.00539877472891,0.0798425801756,0.999999932353,0.000237740635605,-0.000275782080085,5.21386653227e-05,1793247582931095040
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.011141795,634,877,784,808,651,629,652,0.401477867545,-0.00539902812507,0.0798380459714,0.999999925392,0.000259320416673,-0.000281730300491,5.09575082335e-05,1793247582947761664
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,652,0.401384638828,-0.00539914757027,0.0798348223897,0.999999925146,0.000253099383926,-0.000289464876145,4.31133107466e-05,1793247582964428032
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.264795577,877.735204423,784,808.735204423,651,629,652,0.401226408905,-0.00540304025666,0.0798265811056,0.999999924978,0.000239325544602,-0.000302102158569,3.87580572638e-05,1793247582997761280
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.681983602,658,633.318016398,877.681983602,784,808.681983602,651,629,652,0.401168995323,-0.00540299791955,0.0798248623401,0.99999992497,0.000237352057169,-0.000303536666153,3.98672338392e-05,1793247583014428416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.107786991,658,633.892213009,877.107786991,784,808.107786991,651,629,652,0.401122353523,-0.00540044789028,0.0798255352641,0.999999924986,0.000239395623063,-0.000301755067391,4.07540539653e-05,1793247583031095552
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.468707859,658.468707859,634,877.468707859,784,808.468707859,651,629,652,0.401084447562,-0.00540166869564,0.0798258774616,0.999999925113,0.000239200253902,-0.000301391933225,4.14795777098e-05,1793247583047762176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,808.95323803,651,629,652,0.40104965848,-0.00540342030779,0.0798261269014,0.999999925231,0.000238672664222,-0.000301333704905,4.20924614122e-05,1793247583064428800
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,808.363239531,651,629,652,0.401027625282,-0.00540121479235,0.0798261866709,0.999999924951,0.000240296507488,-0.000301009440199,4.18298313648e-05,1793247583081095168
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.777443422,659,633.777443422,878,784,808,651,629,652,0.401009723446,-0.00540062303731,0.0798266571911,0.999999925406,0.000240157352534,-0.000299592499928,4.19177210844e-05,1793247583097761792
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.198379053,659,633.198379053,878,784,808,651,629,652,0.400998439537,-0.00540261632462,0.0798277856825,0.99999992703,0.000237194094918,-0.000296425230135,4.25670996287e-05,1793247583114428416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,633.379155073,878,784,808,651,629,652,0.40099016023,-0.00540408995961,0.0798291811398,0.999999928144,0.000235235717475,-0.000294179811692,4.28303700226e-05,1793247583131094784
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,633.955891756,878,784,808,651,629,652,0.400983446652,-0.00540529279838,0.0798307157159,0.999999928995,0.000233800993521,-0.000292414779571,4.2892435467e-05,1793247583147761152
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.540432922,658.459567078,634,877.459567078,784,808,651,629,652,0.400979851297,-0.00540333911894,0.0798314225384,0.99999992884,0.000235701030083,-0.000291465831105,4.25818635404e-05,1793247583164428032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.875924123,715,680,658,634,877,784,808,651,629,652,0.400977094193,-0.00540184639842,0.0798320048463,0.999999928776,0.000237116889438,-0.000290572878029,4.23143708825e-05,1793247583181094912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.29793174,715,680,658,634,877,784,808,651,629,652,0.400976459035,-0.00540299633659,0.0798323824082,0.99999992937,0.000235751148721,-0.000289637537501,4.2317372464e-05,1793247583197761792
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.281026131,715,680,658,634,877,784,808,651,629,652,0.400976315573,-0.00540362223295,0.0798333295262,0.999999929816,0.000235612801883,-0.000288194498293,4.24101524692e-05,1793247583214428672
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.86101117,715,680,658,634,877,784,808,651,629,652,0.400976695184,-0.0054036906476,0.0798348825449,0.999999930102,0.000236780170943,-0.000286211363133,4.25984398193e-05,1793247583231095296
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,652,0.400975351893,-0.0054040893978,0.0798349336867,0.999999930351,0.000235078552571,-0.000286778941336,4.23480293241e-05,1793247583247762176
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.014175627,634,877.014175627,784,808.014175627,651,629,652,0.400973494944,-0.00540454965294,0.0798345102324,0.999999930558,0.000232626464805,-0.000288111128464,4.1965197442e-05,1793247583264428544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.600387681,634,877.600387681,784,808.600387681,651,629,652,0.400972822355,-0.00540329056881,0.0798340363633,0.999999929757,0.00023637871327,-0.000287857437054,4.18181529313e-05,1793247583281094912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.815616484,659,634,877.815616484,784,808.815616484,651,629,652,0.400972566453,-0.00540236397044,0.0798338675421,0.999999929244,0.000239153771052,-0.000287358037129,4.17523998855e-05,1793247583297761280
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.23636682,659,634,877.23636682,784,808.23636682,651,629,652,0.400973202907,-0.00540214940635,0.0798343519955,0.99999992937,0.000239836127884,-0.00028633244065,4.1860736422e-05,1793247583314428160
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.341441018,659,634,877.341441018,784,808,651,629,652,0.400974019185,-0.00540277404563,0.0798353740737,0.999999930177,0.000238107664942,-0.000284953774882,4.18504043857e-05,1793247583331095040
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.918254906,659,634,877.918254906,784,808,651,629,652,0.400974959424,-0.00540397719098,0.0798367667644,0.999999931444,0.00023471729979,-0.000283331720315,4.17582679881e-05,1793247583347761920
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.505886467,658.505886467,634,877.505886467,784,808,651,629,652,0.400974209861,-0.00540298528231,0.0798363061514,0.999999931064,0.000235668183402,-0.000283873522715,4.18036019269e-05,1793247583364428544
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.071377707,658.071377707,634,877,784,808,651,629,652,0.400973346282,-0.00540192241161,0.0798356488658,0.999999930574,0.000236815996592,-0.000284644746167,4.18085912235e-05,1793247583381095168
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.659969353,658.659969353,634,877,784,808,651,629,652,0.400973678338,-0.00540297166784,0.0798357838925,0.999999931254,0.000234196593901,-0.00028448938809,4.13567570738e-05,1793247583397761536
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.755899395,634,877,784,808,651,629,652,0.400974149615,-0.00540407076464,0.0798362168707,0.999999931686,0.00023303668997,-0.000283934302312,4.12810754662e-05,1793247583414428160
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.177869867,634,877,784,808,651,629,652,0.400974811347,-0.00540523804335,0.0798370574455,0.999999931784,0.000233873375765,-0.000282832390173,4.17199693872e-05,1793247583431094784
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,652,0.400973779329,-0.00540451824133,0.0798362729589,0.999999931218,0.000235315514988,-0.000283626569077,4.17968970233e-05,1793247583447761408
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,808,651,629,652,0.400971994444,-0.00540295963721,0.079834766137,0.999999930352,0.000237026776488,-0.000285263555127,4.17129316476e-05,1793247583464428288
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.5503856,784,808,651,629,652,0.400972006137,-0.00540352453778,0.0798353092179,0.999999930721,0.000236257177239,-0.000284621512138,4.16032827829e-05,1793247583481095168
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.872404407,784,808,651,629,652,0.400971905519,-0.00540398341797,0.0798356428232,0.999999930989,0.000235652034831,-0.000284185563827,4.15731101076e-05,1793247583497761792
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.281060882,784,808,651,629,652,0.400971124595,-0.00540373534475,0.0798349046136,0.999999930704,0.000236020358233,-0.00028484384566,4.18356846958e-05,1793247583514428160
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..897c3b526164b04b1136d94babc74ee2f55645a2
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+1,0.016666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+2,0.033333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+3,0.050000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+4,0.066666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+5,0.083333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+6,0.100000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+7,0.116666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+8,0.133333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+9,0.150000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+10,0.166666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+11,0.183333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+12,0.200000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+13,0.216666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+14,0.233333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+15,0.250000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+16,0.266666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+17,0.283333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+18,0.300000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+19,0.316666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+20,0.333333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+21,0.350000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+22,0.366666667,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+23,0.383333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+24,0.400000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+26,0.433333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+27,0.450000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+29,0.483333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
+30,0.500000000,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+32,0.533333333,pose1_baseline,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106561,1.06966588344
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+380,6.333333333,pose2_to_pose3_retreat,0.583374571865,-7.21714813745e-05,1.07004247892,0.553946363994,0.00860228923071,1.06966586659
+381,6.350000000,pose2_to_pose3_retreat,0.583341283939,-7.21007877486e-05,1.07004260495,0.553913074828,0.00860235535118,1.06966598421
+382,6.366666667,pose2_to_pose3_retreat,0.583314769128,-7.20853014007e-05,1.07004251133,0.553886560031,0.00860237100072,1.06966589326
+383,6.383333333,pose2_to_pose3_retreat,0.583294388194,-7.21118529414e-05,1.07004255828,0.553866179794,0.00860234698233,1.06966594408
+384,6.400000000,pose2_to_pose3_retreat,0.583279140179,-7.21405475955e-05,1.07004261595,0.553850931707,0.00860231786323,1.06966599766
+385,6.416666667,pose2_to_pose3_retreat,0.583268579869,-7.21210487983e-05,1.07004260015,0.553840371012,0.0086023359215,1.06966597884
+386,6.433333333,pose2_to_pose3_retreat,0.58326101766,-7.20293131632e-05,1.07004249159,0.553832808768,0.00860242780945,1.06966587649
+387,6.450000000,pose2_to_pose3_retreat,0.583256014365,-7.20612201452e-05,1.07004241378,0.553827805258,0.00860239512747,1.06966579766
+388,6.466666667,pose2_to_pose3_retreat,0.583252695674,-7.20970553745e-05,1.07004241335,0.553824486537,0.00860235907742,1.06966579461
+389,6.483333333,pose2_to_pose3_retreat,0.583250735048,-7.21343510778e-05,1.07004261413,0.553822526416,0.0086023232003,1.06966598865
+390,6.500000000,pose2_to_pose3_retreat,0.583249778931,-7.21525386535e-05,1.07004271204,0.553821570545,0.0086023057045,1.06966608327
+391,6.516666667,pose2_to_pose3_retreat,0.583249141743,-7.2164659462e-05,1.07004277729,0.553820933521,0.00860229404472,1.06966614633
+392,6.533333333,pose2_to_pose3_retreat,0.583248652684,-7.21615472321e-05,1.07004272117,0.553820444391,0.00860229697871,1.06966609168
+393,6.550000000,pose2_to_pose3_retreat,0.583248169871,-7.21513737819e-05,1.07004260503,0.553819961395,0.00860230667185,1.06966597879
+394,6.566666667,pose2_to_pose3_retreat,0.583247672132,-7.21408857857e-05,1.0700424853,0.553819463467,0.00860231666469,1.06966586241
+395,6.583333333,pose2_to_pose3_retreat,0.583247208491,-7.21311162964e-05,1.07004237377,0.55381899965,0.00860232597295,1.069665754
+396,6.600000000,pose2_to_pose3_retreat,0.583247031558,-7.21273881051e-05,1.07004233121,0.55381882265,0.00860232952513,1.06966571263
+397,6.616666667,pose2_to_pose3_retreat,0.583246837131,-7.21232912876e-05,1.07004228444,0.55381862815,0.00860233342853,1.06966566717
+398,6.633333333,pose2_to_pose3_retreat,0.58324666574,-7.21264832751e-05,1.07004226455,0.553818456797,0.00860233040795,1.06966564817
+399,6.650000000,pose2_to_pose3_retreat,0.583246592292,-7.21409051695e-05,1.07004229695,0.553818383566,0.00860231671556,1.06966568046
+400,6.666666667,pose2_to_pose3_retreat,0.583246547514,-7.21496976301e-05,1.07004231671,0.55381833892,0.00860230836785,1.06966570015
+401,6.683333333,pose2_to_pose3_retreat,0.58324653523,-7.21521097585e-05,1.07004232213,0.553818326672,0.00860230607773,1.06966570555
+402,6.700000000,pose2_to_pose3_retreat,0.583246521283,-7.21548482445e-05,1.07004232828,0.553818312767,0.00860230347777,1.06966571168
+403,6.716666667,pose2_to_pose3_retreat,0.583246480734,-7.21628103581e-05,1.07004234618,0.553818272337,0.0086022959184,1.06966572951
+404,6.733333333,pose2_to_pose3_retreat,0.583246353412,-7.21878107941e-05,1.07004240235,0.55381814539,0.00860227218256,1.06966578549
+405,6.750000000,pose2_to_pose3_retreat,0.583246195917,-7.22187359152e-05,1.07004247184,0.553817988359,0.00860224282172,1.06966585473
+406,6.766666667,pose2_to_pose3_retreat,0.583245984559,-7.22602374696e-05,1.0700425651,0.553817777624,0.00860220341944,1.06966594766
+407,6.783333333,pose2_to_pose3_retreat,0.58324566866,-7.22297694667e-05,1.07004232254,0.553817460826,0.00860223093912,1.06966570746
+408,6.800000000,pose2_to_pose3_retreat,0.583245514553,-7.22209450094e-05,1.07004237472,0.553817305726,0.00860223623746,1.06966575603
+409,6.816666667,pose2_to_pose3_retreat,0.583245504999,-7.22358364147e-05,1.07004250482,0.553817296124,0.00860222106556,1.06966588344
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fa3ff19129efd39322721c6f3ea5257221f0baa
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02b4648129834200db44614f32c25325786335927dc36fa10940498499e067b2
+size 25655511
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80aa232fe9ba92144ab7df5b849ba99bd96be053
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+41,0.683333333,BASELINE,765,745,715,680,658,634,878,784.803558393,808.196441607,651.803558393,629,652,0.400916565668,-0.0154385097253,0.0599209617715,0.999999969978,-0.000100962897149,-0.000219157442768,-4.26747138713e-05,1793247585814574336
+42,0.700000000,BASELINE,765,745,715,680,658,634,878,785,808.379438272,652,629,652,0.400915846471,-0.0154390018825,0.0599204260783,0.9999999696,-0.000101911439415,-0.000220472667658,-4.25040347415e-05,1793247585831240704
+43,0.716666667,BASELINE,765,745,715,680,658,634,878,785,808.954139275,652,629,652,0.400915757195,-0.0154393215131,0.0599206227769,0.999999969452,-0.000102795563042,-0.000220782375378,-4.22399484066e-05,1793247585847906816
+44,0.733333333,BASELINE,765,744.458476163,715,680,658.541523837,634,877.458476163,785,809,652,629,652,0.40091689512,-0.0154395273937,0.0599222863104,0.99999996995,-0.000102390862813,-0.000218673597697,-4.23914204871e-05,1793247585864573696
+45,0.750000000,BASELINE,765,744.128702273,715,680,658.871297727,634,877.128702273,785,809,652.128702273,629,652,0.400918038067,-0.0154396947533,0.0599235475618,0.999999970396,-0.000102044749765,-0.000216762535645,-4.25338181768e-05,1793247585881240576
+46,0.766666667,BASELINE,765,744.711274816,715,680,658.288725184,634,877.711274816,785,809,652.711274816,629,652,0.400918823421,-0.0154397610548,0.0599229415758,0.999999970473,-0.000102299389805,-0.000216288335353,-4.25171299529e-05,1793247585897906944
+47,0.783333333,BASELINE,765.288935716,745,715,680,658,634,877.711064284,785,809,652.711064284,629,652,0.40091894952,-0.0154394457651,0.0599226926669,0.999999970466,-0.000102239015602,-0.000216366396529,-4.24359884713e-05,1793247585914573824
+48,0.800000000,BASELINE,765.861770658,745,715,680,658,634,877.138229342,785,809,652.138229342,629,652,0.400918427855,-0.0154387555356,0.0599227946109,0.999999970375,-0.000101869118256,-0.000216987092546,-4.22915172263e-05,1793247585931240448
+49,0.816666667,BASELINE,766,745,715,680,658,634,877.438033667,785,809,652,629,652,0.400918144307,-0.0154390901545,0.0599229421578,0.999999970426,-0.000101851591526,-0.000216796541511,-4.21129922581e-05,1793247585947907072
+50,0.833333333,BASELINE,765.984276197,745,715,680,658,634,878,785,808.984276197,652,629,652.015723803,0.400917916914,-0.0154397329846,0.0599230649261,0.999999970502,-0.000102002650466,-0.00021640699431,-4.19436404122e-05,1793247585964573696
+51,0.850000000,BASELINE,765.394283859,745,715,680,658,634,878,785,808.394283859,652,629,652.605716141,0.400916974421,-0.0154397275822,0.0599217529925,0.999999969866,-0.000104217645007,-0.000218173230559,-4.25048844264e-05,1793247585981240320
+52,0.866666667,BASELINE,765,744.80796816,715.19203184,680,658,634,878,785,808.19203184,652,629.19203184,653,0.400916716784,-0.0154395966719,0.059921279894,0.999999969677,-0.00010434320866,-0.000218942468604,-4.26899800975e-05,1793247585997906688
+53,0.883333333,BASELINE,765,744.22905963,715.77094037,680,658,634,878,785,808.77094037,652,629.77094037,653,0.400917838889,-0.0154392129071,0.0599224967535,0.99999997039,-0.000100259303037,-0.000217703105448,-4.21172689795e-05,1793247586014573568
+54,0.900000000,BASELINE,765,744.346912761,715.653087239,680,658.346912761,634,878,785.346912761,809,652,629.653087239,652.653087239,0.400917876935,-0.0154394758819,0.0599223755485,0.999999970446,-9.93216426544e-05,-0.000217935750714,-4.17984524217e-05,1793247586031240960
+55,0.916666667,BASELINE,765,744.920962724,715.079037276,680,658.920962724,634,878,785.920962724,809,652,629.079037276,652.079037276,0.400917205205,-0.0154401623021,0.0599213782607,0.999999970079,-0.000100443950892,-0.000219132176883,-4.16458704765e-05,1793247586047908608
+56,0.933333333,BASELINE,765,745,715.493916811,680,658.506083189,634,878,786,809,652,629,652,0.400917600485,-0.0154411788144,0.059921698614,0.999999970019,-0.000103163578845,-0.000218148542179,-4.15967165305e-05,1793247586064574720
+57,0.950000000,BASELINE,765,745,715.930688488,680,658,634,878,785.930688488,809,651.930688488,629,652,0.400918212439,-0.0154419168934,0.0599223200852,0.999999970065,-0.000105568591097,-0.000216780541706,-4.1614761505e-05,1793247586081240832
+58,0.966666667,BASELINE,765,745,715.335447214,680,658,634,878,785.335447214,809,651.335447214,629,652,0.400919175768,-0.0154401423251,0.0599236300381,0.999999970603,-0.000103651107182,-0.000215137240157,-4.20173988723e-05,1793247586097907200
+59,0.983333333,BASELINE,765,745,715,679.748574892,658,634,878,785,809,651.251425108,629,652,0.400918805003,-0.0154394592403,0.0599236034191,0.99999997062,-0.000102950937515,-0.000215339831557,-4.23120091199e-05,1793247586114573824
+60,1.000000000,BASELINE,765,745,715,679.172508521,658,634,878,785,809,651.827491479,629,652,0.40091671165,-0.015440185484,0.0599218510123,0.999999969963,-0.000103822569382,-0.000217925848257,-4.24671343057e-05,1793247586131240960
+61,1.016666667,BASELINE,765.401215653,745,715,679.401215653,658.802431305,634,878,785.401215653,809,651.598784347,629,652,0.400917397566,-0.01544047247,0.0599218855521,0.999999970014,-0.0001042758764,-0.000217473892563,-4.24687825452e-05,1793247586147907840
+62,1.033333333,BASELINE,765.973938575,745,715,679.973938575,659.947877149,634,878,785.973938575,809,651.026061425,629,652,0.400919271533,-0.015440571687,0.0599226839563,0.999999970367,-0.000104550362445,-0.000215723297572,-4.24048241324e-05,1793247586164574720
+63,1.050000000,BASELINE,765.435418492,745,715,680,658.870836985,634,878,785.435418492,808.435418492,651.564581508,629,652,0.400917953342,-0.0154401323615,0.0599220815537,0.999999970194,-0.000103123086229,-0.000217189459482,-4.24953928737e-05,1793247586181241344
+64,1.066666667,BASELINE,765,744.84679157,715,680,658,634,878,785,808.15320843,652,629,652,0.400917238011,-0.015439774784,0.0599217421384,0.999999970105,-0.000102161725154,-0.000218040778897,-4.25524575395e-05,1793247586197907456
+65,1.083333333,BASELINE,765,744.266172128,715,680,658,634,878,785,808.733827872,652,629,652,0.400918629052,-0.0154397168865,0.0599223226915,0.999999970331,-0.000102726473953,-0.000216749030345,-4.24955029991e-05,1793247586214573824
+66,1.100000000,BASELINE,765,744.311005173,715,680,658.311005173,634,877.688994827,785,808.688994827,652,629,652,0.400918845606,-0.0154401224504,0.0599222496402,0.999999970368,-0.00010299614474,-0.000216479897466,-4.23396901431e-05,1793247586231240704
+67,1.116666667,BASELINE,765,744.885268754,715,680,658.885268754,634,877.114731246,785,808.114731246,652,629,652,0.400918067984,-0.0154409203231,0.0599216233285,0.999999970247,-0.00010301603905,-0.000217076384253,-4.21001961007e-05,1793247586247907328
+68,1.133333333,BASELINE,765.465306686,744.534693314,715,680,658.534693314,634,877,785,808.465306686,652,629,652,0.400917258576,-0.0154395639942,0.0599216430464,0.99999997019,-0.00010241907617,-0.000217610984362,-4.21454867568e-05,1793247586264574208
+69,1.150000000,BASELINE,765.952960566,744.047039434,715,680,658,634,877,785,808.952960566,652,629,652,0.400916664768,-0.0154378471869,0.0599218805224,0.999999970193,-0.000101651280415,-0.000217936043298,-4.22399071542e-05,1793247586281241088
+70,1.166666667,BASELINE,765.368335369,744.631664631,715,680,658,634,877,785,808.368335369,652,629,652,0.400918625621,-0.0154381573265,0.0599227632932,0.999999970708,-0.000100691232087,-0.000216042962925,-4.20832186768e-05,1793247586297907968
+71,1.183333333,BASELINE,765,744.786260739,715,680,658.213739261,634,877.213739261,785,808.213739261,652,629,652,0.400919591983,-0.0154386281939,0.0599230723894,0.999999970906,-0.000100512833451,-0.000215208227605,-4.20873826518e-05,1793247586314574592
+72,1.200000000,BASELINE,765,744.208529558,715,680,658.791470442,634,877.791470442,785,808.791470442,652,629,652,0.400918864755,-0.0154393727763,0.0599224045341,0.999999970569,-0.000101665561998,-0.000216175823695,-4.23654737819e-05,1793247586331240960
+73,1.216666667,BASELINE,765.364164004,744.364164004,715,680,659,634,878,785.364164004,809,652,629.364164004,652.364164004,0.400918330528,-0.0154393518451,0.0599222803706,0.999999970492,-0.000101817999511,-0.000216457504404,-4.23665470094e-05,1793247586347907584
+74,1.233333333,BASELINE,765.934012223,744.934012223,715,680,659,634,878,785.934012223,809,652,629.934012223,652.934012223,0.40091790531,-0.0154388985426,0.0599224632907,0.999999970564,-0.00010140546053,-0.000216351771787,-4.2211157172e-05,1793247586364574208
+75,1.250000000,BASELINE,765.474458203,744.474458203,715,680,658.474458203,634,878,785.474458203,809,652,629.474458203,652.474458203,0.400918074088,-0.0154388537136,0.0599223385888,0.999999970537,-0.000101143939193,-0.000216609047706,-4.21459746395e-05,1793247586381240576
+76,1.266666667,BASELINE,765.117145002,744.117145002,715,680,658.117145002,634,877.882854998,785,809,652,629.117145002,652,0.400917984456,-0.0154389624451,0.059922055461,0.999999970434,-0.000101061726349,-0.000217129272274,-4.21003125868e-05,1793247586397907456
+77,1.283333333,BASELINE,765.697804376,744.697804376,715,680,658.697804376,634,877.302195624,785,809,652,629.697804376,652,0.400916564557,-0.0154394671097,0.0599213048884,0.999999970081,-0.000101610737264,-0.000218501811915,-4.20851434256e-05,1793247586414574336
+78,1.300000000,BASELINE,765.723773217,745,715,680,658.723773217,634,877,785,808.723773217,652,629.723773217,652,0.400916365113,-0.0154399797968,0.0599210852777,0.999999970017,-0.000101643487368,-0.000218803065514,-4.19514034448e-05,1793247586431241216
+79,1.316666667,BASELINE,765.147778457,745,715,680,658.147778457,634,877,785,808.147778457,652,629.147778457,652,0.400917490136,-0.0154405011901,0.0599214418798,0.999999970269,-0.000101115978738,-0.000217941733538,-4.16889875482e-05,1793247586447907840
+80,1.333333333,BASELINE,765.42677602,745,715,680,658,634,877.42677602,785,808.42677602,652,629,652,0.400917970095,-0.0154394851022,0.0599217548088,0.999999970425,-0.000100617319191,-0.000217401027588,-4.19889939763e-05,1793247586464574208
+81,1.350000000,BASELINE,765.999145444,745,715,679.999145444,658,634,878,785,809,651.999145444,629,652,0.400918227349,-0.0154379423437,0.0599220520706,0.999999970546,-0.000100132271079,-0.00021697126101,-4.24823464148e-05,1793247586481241088
+82,1.366666667,BASELINE,765.410584041,745,715,679.410584041,658,634,878,785,809,651.410584041,629,652,0.400918422084,-0.0154390940787,0.0599219396957,0.999999970392,-0.000102161293393,-0.000216741355526,-4.24617547727e-05,1793247586497907712
+83,1.383333333,BASELINE,765.176255919,745,715,679.176255919,658,634,878,785,808.823744081,651.176255919,629,652,0.400918471383,-0.0154398763992,0.0599217803767,0.999999970333,-0.000102988444808,-0.00021663376996,-4.23845335784e-05,1793247586514574336
+84,1.400000000,BASELINE,765.759124718,745,715,679.759124718,658,634,878,785,808.240875282,651.759124718,629,652,0.400918185169,-0.0154398065004,0.0599215127602,0.999999970503,-0.000101042945414,-0.000216808369794,-4.21766710635e-05,1793247586531240704
+85,1.416666667,BASELINE,765.663668468,745,715,680,658.336331532,634,878,785,808.336331532,652,629,652,0.400918164084,-0.0154404540773,0.0599216946831,0.99999997046,-0.000101739875299,-0.00021671869816,-4.19792123393e-05,1793247586547907072
+86,1.433333333,BASELINE,765.090449577,745,715,680,658.909550423,634,878,785,808.909550423,652,629,652,0.400918329737,-0.0154416069919,0.0599221932287,0.999999970264,-0.000104297939431,-0.000216442892999,-4.17890812974e-05,1793247586564573952
+87,1.450000000,BASELINE,765.493946541,744.506053459,715,680,658.506053459,634,878,785.493946541,809,651.506053459,629,652,0.400917043196,-0.0154413800202,0.0599215329355,0.999999969899,-0.000104721491978,-0.000217875425262,-4.20228447028e-05,1793247586581240576
+88,1.466666667,BASELINE,765.920586354,744.079413646,715.079413646,679.920586354,658,634,878,785.920586354,808.920586354,651.079413646,629,652,0.400916024114,-0.0154409259746,0.0599209151742,0.999999969657,-0.000104437202436,-0.000219068951679,-4.22709778672e-05,1793247586597907200
+89,1.483333333,BASELINE,765.341556085,744.658443915,715.658443915,679.341556085,658,634,878,785.341556085,808.341556085,651.658443915,629,652,0.400918399433,-0.0154406698264,0.0599219309347,0.9999999704,-0.000102215631866,-0.000216745173849,-4.21098652493e-05,1793247586614573824
+90,1.500000000,BASELINE,765.236523532,744.763476468,715.763476468,679.236523532,658.236523532,634,878,785,808.236523532,651.763476468,629,652,0.400919154775,-0.0154406700484,0.0599220092055,0.999999970612,-0.000101312281016,-0.000216212887432,-4.20015616532e-05,1793247586631240704
+91,1.516666667,BASELINE,765.813235788,744.186764212,715.186764212,679.813235788,658.813235788,634,878,785,808.813235788,651.186764212,629,652,0.400917580124,-0.015441039004,0.0599207390972,0.999999970068,-0.000102304908654,-0.000218257280039,-4.19692126008e-05,1793247586647908352
+92,1.533333333,BASELINE,765.609659117,744.390340883,715,680,658.609659117,634,878,785,809,651.390340883,629,652,0.400916558016,-0.015440632296,0.0599202033228,0.99999996991,-0.000101752719788,-0.000219234452011,-4.19725538055e-05,1793247586664575232
+93,1.550000000,BASELINE,765.032365821,744.967634179,715,680,658.032365821,634,878,785,809,651.967634179,629,652,0.400915800546,-0.0154398540865,0.0599200192551,0.999999969938,-0.000100460646506,-0.000219700482544,-4.19929887321e-05,1793247586681241600
+94,1.566666667,BASELINE,765,745,715,679.445613079,658.554386921,634,878,785,808.445613079,652,629,652,0.400918030276,-0.015440755215,0.0599222067791,0.999999970537,-0.000101182984469,-0.000216693560534,-4.16208516523e-05,1793247586697907968
+95,1.583333333,BASELINE,765,745,715,679.139645845,658.860354155,634,878,785,808,651.860354155,629,652,0.400919810546,-0.0154413382121,0.0599238024937,0.999999970997,-0.000101617335706,-0.00021440245785,-4.13696386461e-05,1793247586714574336
+96,1.600000000,BASELINE,765,745,715,679.718440419,658.281559581,634,878,785,808,651.281559581,629,652,0.400919619438,-0.0154406071041,0.0599230941602,0.999999970944,-0.000100769793399,-0.00021501109398,-4.15720241173e-05,1793247586731241472
+97,1.616666667,BASELINE,765,744.703617754,715,680,658,634,878,785,808,651.296382246,629,652,0.400919965365,-0.0154406969666,0.059923092393,0.999999970996,-0.000100767345574,-0.000214781369075,-4.15107670289e-05,1793247586747908096
+98,1.633333333,BASELINE,765,744.126483738,715,680,658,634,878,785,808,651.873516262,629,652,0.400920820008,-0.0154415645037,0.0599237599295,0.999999971147,-0.000101565424064,-0.000213757496212,-4.11997712329e-05,1793247586764574720
+99,1.650000000,BASELINE,765,744.447862071,715,680,658,634,878,785,808.447862071,652,629,652,0.400920016578,-0.015441003376,0.0599233459673,0.999999971041,-0.000100952558582,-0.000214521245295,-4.13078097073e-05,1793247586781241088
+100,1.666666667,BASELINE,765,745,715,680,658,634,878,785,808.977963911,652,629,652,0.400918800165,-0.0154400772686,0.0599226533784,0.999999970861,-0.00010000762905,-0.000215755495466,-4.15367129204e-05,1793247586797907200
+101,1.683333333,BASELINE,765,745,715,680,658,634,878,785,808.388049815,652,629,652,0.400918933772,-0.0154400789666,0.0599226029046,0.999999970685,-0.00010071057811,-0.000216184946124,-4.18494896398e-05,1793247586814573824
+102,1.700000000,BASELINE,765,745,715.198845408,679.801154592,658,634.198845408,878,785,808.198845408,652,629,652,0.400918611508,-0.015439954455,0.0599222824635,0.99999997054,-0.00010087382595,-0.000216751059793,-4.1992796879e-05,1793247586831240448
+103,1.716666667,BASELINE,765,745,715.779937289,679.220062711,658,634.779937289,878,785,808.779937289,652,629,652,0.400917412911,-0.0154395873268,0.0599214430561,0.999999970455,-9.99995899098e-05,-0.000217579884808,-4.18103278323e-05,1793247586847907328
+104,1.733333333,BASELINE,765.356578709,745,715.643421291,679.356578709,658,634.643421291,878,785,809,652,629,652,0.400917752873,-0.0154398375475,0.0599212786756,0.999999970439,-9.98986419529e-05,-0.000217691385947,-4.18731509434e-05,1793247586864574208
+105,1.750000000,BASELINE,765.930507437,745,715.069492563,679.930507437,658,634.069492563,878,785,809,652,629,652,0.400919030652,-0.0154404640688,0.0599215257529,0.999999970464,-0.000100269046169,-0.000217365647496,-4.20854901291e-05,1793247586881241088
+106,1.766666667,BASELINE,766,745,715,680,658,634,878,785,809,652,629,652,0.400919080524,-0.0154400824082,0.0599219447126,0.999999970642,-0.000100502399322,-0.000216445521146,-4.20335271756e-05,1793247586897907712
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,785,808,652,629,652,0.40091821668,-0.0154378874064,0.0599218784865,0.99999997064,-9.91532691184e-05,-0.000217032563149,-4.22629965818e-05,1793247586940443648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.577732583,745,715,680,658.422267417,634,878,785,808.577732583,652,629,652,0.400917245199,-0.015439522449,0.0599211145808,0.999999970319,-0.000100459994068,-0.00021793503674,-4.21244437876e-05,1793247586957110016
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.845777108,745,715,680,658,634,878,785,808.845777108,652,629,652,0.400916980258,-0.0154405432191,0.0599207669588,0.999999970196,-0.000101118815652,-0.000218213393203,-4.20116691153e-05,1793247586973776640
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.272660878,745,715,680,658,634,878,785,808.272660878,652,629,652,0.400918634387,-0.0154398955303,0.0599215500276,0.999999970617,-0.00010001783132,-0.000216796550776,-4.19689117972e-05,1793247586990443520
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,808,652,629,652,0.400919947316,-0.015439973817,0.0599221070426,0.99999997087,-9.96539410627e-05,-0.000215808569378,-4.1906648171e-05,1793247587007110144
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,808,652,629,652,0.400920950608,-0.0154407109207,0.0599224589153,0.999999970972,-9.99589578844e-05,-0.00021520977604,-4.18266827277e-05,1793247587023776512
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.516674838,785,808.483325162,651.516674838,629,652,0.400928118669,-0.0154415880788,0.0599251586201,0.999999972069,-0.000101356551277,-0.000209463214883,-4.14023092993e-05,1793247587040443136
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.062916517,634,877,785,808.937083483,651.062916517,629,652,0.400937571634,-0.0154423276469,0.0599283671828,0.999999973435,-0.000102591674478,-0.000202302200577,-4.09841758746e-05,1793247587057110016
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.634535418,634,877,785,808.365464582,651.634535418,629,652,0.400955469429,-0.015441726897,0.0599318703689,0.999999975631,-0.000100735662236,-0.000192079703013,-4.11768103945e-05,1793247587073776384
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.207934332,745,715,680,658.792065668,634,877.207934332,785,808,652,629,652,0.400980328479,-0.0154423891478,0.0599362234675,0.999999978345,-9.9507840564e-05,-0.000178107668216,-4.10628132872e-05,1793247587090442752
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.78448874,745,715,680,658.21551126,634,877.78448874,785,808,652,629,652,0.401017528239,-0.0154452904103,0.0599420832665,0.999999981843,-9.93936574757e-05,-0.000157488561381,-4.04052283154e-05,1793247587107109376
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,878,785,808.373143863,652,629,652,0.401060022888,-0.0154468050079,0.0599461387909,0.999999984651,-9.99168826825e-05,-0.000138137690811,-4.04069444917e-05,1793247587123776000
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,878,785,808.969022114,652,629,652,0.401105678128,-0.0154474918876,0.059949117321,0.99999998694,-0.000100820585105,-0.000119543844846,-4.08022059648e-05,1793247587140442624
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658.545849876,634,878,785,808.454150124,652,629,652,0.401159470244,-0.0154514004737,0.0599503361971,0.999999986698,-0.000104544422647,-0.000118158306706,-4.13909983937e-05,1793247587157109248
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.878656812,745,715,680,658.878656812,634,878,785,808,652,629,652,0.401219612225,-0.0154548595386,0.0599521938119,0.999999986805,-0.000106571142625,-0.000115225612789,-4.18942177309e-05,1793247587173775872
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.304245247,745,715,680,658.304245247,634,878,785,808,652,629,652,0.401301797157,-0.0154559805418,0.0599567966277,0.999999988643,-0.000101683777119,-0.00010299274803,-4.20383005522e-05,1793247587190443008
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.723128222,715,680,658,634,878,785,808.276871778,652,629,652,0.401392049966,-0.0154598478528,0.0599604859087,0.999999989434,-0.000102485428537,-9.40660939553e-05,-4.22030807891e-05,1793247587207109888
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.134459941,715,680,658,634,878,785,808.865540059,652,629,652,0.401491388332,-0.0154668078921,0.059963146421,0.999999989137,-0.000109693712223,-8.88626981451e-05,-4.2391169218e-05,1793247587223776512
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.447874398,715,679.552125602,658,634,877.552125602,785,809,652,629,652,0.401606412409,-0.0154721966922,0.0599616012207,0.99999998893,-0.000111546362636,-8.83891469582e-05,-4.34130682188e-05,1793247587240442880
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.028070637,658,634,877.028070637,785,809,652,629,652,0.401727528841,-0.0154772929394,0.0599589559502,0.999999988783,-0.000111945125054,-8.89262489904e-05,-4.46570750127e-05,1793247587257109248
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.603141051,658,634,877.603141051,785,809,652,629,652,0.4018768792,-0.0154857522396,0.0599591353085,0.999999989015,-0.000114907298645,-8.18727682958e-05,-4.54192512609e-05,1793247587273775872
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.177562783,745,715,680,658.177562783,634,878,785,809,652,629,652,0.402038395973,-0.015494412452,0.0599596166978,0.999999989074,-0.000118942009702,-7.46981789175e-05,-4.60907555284e-05,1793247587290442752
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.750539891,745,715,680,658.750539891,634,878,785,809,652,629,652,0.4022270061,-0.0155035200747,0.0599607706794,0.999999988796,-0.000125365152621,-6.72538937199e-05,-4.65603423837e-05,1793247587307109376
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.665249749,715,680,659,634,878,785,808.665249749,652,629,652,0.402438323752,-0.0155129503174,0.0599621157827,0.999999988517,-0.000131491881657,-5.8827392738e-05,-4.70628783794e-05,1793247587323775744
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.072377499,715,680,659,634,878,785,808.072377499,652,629,652,0.402667150931,-0.0155226293296,0.0599636082581,0.999999988197,-0.000137390050093,-4.96435158686e-05,-4.75908211197e-05,1793247587340442368
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.491710408,744.508289592,715,679.491710408,658.491710408,634,878,785,808.508289592,652,629,652,0.402924273538,-0.01553412094,0.0599669893924,0.999999984012,-0.000167789018057,-3.95928127668e-05,-4.74899505904e-05,1793247587357110016
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.086814195,658.086814195,634,878,785,809,652,629,652,0.403188179131,-0.0155449857775,0.0599688656632,0.999999979179,-0.000195763545981,-3.25628956845e-05,-4.75293646032e-05,1793247587373777408
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.662829758,658.662829758,634,878,785,809,652,629,652,0.403468135437,-0.0155508984112,0.059960782053,0.999999979655,-0.000190877902872,-4.32344504462e-05,-4.88520140752e-05,1793247587390443264
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.243246821,745,715,680,658.756753179,634,878,785,809,652,629,652,0.403763933548,-0.0155547724581,0.059950425546,0.999999980089,-0.00018409604108,-5.8477813534e-05,-5.01133951615e-05,1793247587407109376
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.829877305,745,715,680,658.170122695,634,878,785,809,652,629,652,0.404082095006,-0.0155557686974,0.0599368604645,0.999999980222,-0.000174637349007,-8.01750497882e-05,-5.12882855595e-05,1793247587423776256
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.590242886,745,715.409757114,680,658.409757114,634,878,785,809,652,629,652.409757114,0.40442422982,-0.0155488501683,0.059923468919,0.999999980198,-0.000162249009243,-0.000102358314909,-5.29277541087e-05,1793247587440443392
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.013120406,745,715.986879594,680,658.986879594,634,878,785,809,652,629,652.986879594,0.404776156548,-0.0155386988506,0.0599101482545,0.99999997967,-0.000148664054522,-0.000124740098026,-5.47569796337e-05,1793247587457110528
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.435447932,680,659,634,878,785,809,652,629,652.435447932,0.405203278494,-0.0155427418313,0.0599163231892,0.999999979178,-0.000158717820433,-0.00011619588661,-5.43159356917e-05,1793247587473776896
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.141887022,745,715,680,659,634,878,785,809,652,629,652,0.40564791709,-0.0155475844563,0.0599280272459,0.999999979973,-0.000166431350856,-9.75084773167e-05,-5.33609373641e-05,1793247587490443520
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.718149405,745,715,680,659,634,878,785,809,652,629,652,0.406140826134,-0.015553864237,0.0599552698154,0.99999998379,-0.000165296942321,-4.99709936671e-05,-5.09941941023e-05,1793247587507110144
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,785,809,652,629.300653965,652.300653965,0.406659943598,-0.0155580881131,0.059981917145,0.999999985769,-0.000161441938173,-4.4559960106e-06,-4.87617039324e-05,1793247587523776512
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,785,809,652,629.889134446,652.889134446,0.407204151354,-0.0155603438006,0.0600079946341,0.999999986136,-0.000154982412959,3.91228108849e-05,-4.66577386558e-05,1793247587540443136
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.529504243,745,715,680,659,634,878.470495757,785,809,652,629.529504243,652.529504243,0.407728740485,-0.0155592747481,0.0600071324322,0.999999987163,-0.000150987147859,2.60567168064e-05,-4.68902021664e-05,1793247587557110016
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.04971583,745,715,680,659,634,878.95028417,785.04971583,809,652,629,652,0.40825229906,-0.0155575121556,0.0599993056428,0.999999987841,-0.000148456356756,-6.8031203341e-07,-4.77269384022e-05,1793247587573776640
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.623781889,745,715,680,659,634,878.376218111,785.623781889,809,652,629,652,0.408813018944,-0.0155565744336,0.059983977254,0.999999986182,-0.000155338311036,-3.29263807312e-05,-4.92168810746e-05,1793247587590443776
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.801283646,745,715,680,659.198716354,634,878.198716354,785.801283646,809,651.801283646,629.198716354,652.198716354,0.409401864797,-0.0155564900265,0.0599757362578,0.999999985378,-0.000155777057411,-4.94678351866e-05,-5.03132045579e-05,1793247587607110656
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.224697897,745,715,680,659.775302103,634,878.775302103,785.224697897,809,651.224697897,629.775302103,652.775302103,0.410044193595,-0.0155580282418,0.0599809723051,0.999999987701,-0.000143963711499,-3.61461538892e-05,-5.06610408389e-05,1793247587623777280
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.639362415,634,878.639362415,785,809.360637585,651,629.639362415,653,0.41072232237,-0.0155599824662,0.0599882243985,0.9999999883,-0.000143335013055,-1.73988141162e-05,-5.05162083265e-05,1793247587640443648
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.048439815,634,878.048439815,785,809.951560185,651,629.048439815,653,0.411423311183,-0.0155622023331,0.0599967638373,0.999999987508,-0.000149848268071,4.81307762865e-06,-5.00567822861e-05,1793247587657110272
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.531494859,745,715,680,659,634,878.531494859,785,810,651.531494859,629.531494859,652.468505141,0.412101348244,-0.0155616189407,0.0599797101757,0.999999987723,-0.000145649182648,-2.64218848065e-05,-5.13961125104e-05,1793247587673776896
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.890575813,745,715,680,659.109424187,633.890575813,879,785,809.890575813,651.890575813,630,652,0.412777599001,-0.0155601692263,0.0599569464636,0.999999986273,-0.000140591638468,-6.96504886682e-05,-5.32615160466e-05,1793247587690443520
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.316991161,745,715,680,659.683008839,633.316991161,879,785,809.316991161,651.316991161,630,652,0.413454965692,-0.015556106489,0.0599196554104,0.999999978855,-0.000135950120375,-0.000143510385584,-5.66771325381e-05,1793247587707110144
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.736380848,633.263619152,879,785.263619152,809.263619152,651,630,652,0.414196238468,-0.015556793589,0.059914884551,0.999999977126,-0.000137274072522,-0.000153655830334,-5.73888551207e-05,1793247587723776768
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.147091074,633.852908926,879,785.852908926,809.852908926,651,630,652,0.415016459823,-0.0155633485567,0.0599502885815,0.999999984227,-0.000145967664869,-8.50895335526e-05,-5.47602336669e-05,1793247587740443392
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.434451106,745,715,680.434451106,659,634,878.565548894,785.565548894,810.434451106,651,630,652.434451106,0.41587715617,-0.0155691748136,0.0599909494598,0.999999987718,-0.000147419157626,-1.56051903638e-05,-5.08816763988e-05,1793247587757110272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.986603295,745,715,680.986603295,659.013396705,634,878.013396705,785,810.986603295,651,630,653,0.416750060217,-0.0155746124003,0.0600320756387,0.999999986826,-0.000146473989501,5.20551598176e-05,-4.67243389717e-05,1793247587773777152
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.408476301,745,715,680.408476301,659.591523699,634,878.591523699,785,810.408476301,651,630,653,0.41757003214,-0.0155738838658,0.0600191045526,0.999999987718,-0.000146048180122,2.99534250642e-05,-4.83418619351e-05,1793247587790443520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.168408857,744.831591143,715,680,660,634,879,785,810.168408857,651.168408857,630,652.831591143,0.418395137495,-0.0155742571789,0.0600030450284,0.999999987736,-0.000148193593841,3.68937312614e-06,-5.05215094353e-05,1793247587807109888
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.742303955,744.257696045,715,680,660,634,879,785,810.742303955,651.742303955,630,652.257696045,0.419232602818,-0.0155772834644,0.0599795493212,0.999999985757,-0.000156529867177,-3.25964920726e-05,-5.40546115745e-05,1793247587823776256
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+229,3.816666667,POSE1_TO_POSE2_PRESS,766,744,715,681,660,632,880.227970816,782.772029184,814,651,630.227970816,653,0.454665400662,-0.0156202407951,0.0598515533541,0.999999953357,-0.000197162473603,-0.000225111620321,-6.11339577981e-05,1793247588973776640
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879,783,814,651,630,653,0.454670198787,-0.0156218549452,0.0598498170123,0.999999952143,-0.000201067972335,-0.000227236693258,-6.04106546932e-05,1793247589023775744
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,880,782,814,651,630,653,0.454668127467,-0.0156196274719,0.059846203382,0.999999951324,-0.000197916065121,-0.000233430914849,-6.07536224205e-05,1793247589073776128
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766.013483376,745,715,681,660,632,879.986516624,782.986516624,814,651,630.986516624,653,0.454668832726,-0.0156182476623,0.0598457424148,0.999999952018,-0.000194374776973,-0.000233554225631,-6.02954430619e-05,1793247589123776512
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766.246037297,745,715,681,660,632,880.507925406,782.753962703,814,651,630,653,0.454669627373,-0.0156199814864,0.0598454743953,0.999999950962,-0.000198781792771,-0.000234512763937,-5.97074264218e-05,1793247589173776384
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.764584226,660,632.235415774,880,783,813,651,631,653,0.452397250129,-0.0154996663144,0.0597505643077,0.999999919418,-0.000131756083841,-0.00037540042277,-5.36496664721e-05,1793247589992267008
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c1d5044034b7bd4884840c627049669d3fb0ad2
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+362,6.033333333,pose2_to_pose3_retreat,0.584698898808,-0.010072220694,1.05004239933,0.555270692018,-0.00139775650459,1.04966578209
+363,6.050000000,pose2_to_pose3_retreat,0.584527275874,-0.0100721699874,1.05004235867,0.55509906773,-0.00139771009362,1.04966574842
+364,6.066666667,pose2_to_pose3_retreat,0.584364792883,-0.0100721653231,1.0500424097,0.554936584051,-0.00139770776736,1.04966579939
+365,6.083333333,pose2_to_pose3_retreat,0.584211551393,-0.0100721982493,1.05004247843,0.55478334303,-0.00139773944608,1.04966586023
+366,6.100000000,pose2_to_pose3_retreat,0.584069722132,-0.010072208012,1.05004240891,0.554641514261,-0.00139774772133,1.04966578654
+367,6.116666667,pose2_to_pose3_retreat,0.583940428761,-0.010072159338,1.05004236825,0.554512219591,-0.00139770310525,1.04966575401
+368,6.133333333,pose2_to_pose3_retreat,0.583825972456,-0.0100720994187,1.05004270705,0.554397763741,-0.00139764203831,1.04966608357
+369,6.150000000,pose2_to_pose3_retreat,0.583725855961,-0.0100721131664,1.050042605,0.554297647756,-0.00139765394789,1.04966598408
+370,6.166666667,pose2_to_pose3_retreat,0.583640034115,-0.0100721523649,1.05004257358,0.554211826614,-0.00139769064864,1.04966595547
+371,6.183333333,pose2_to_pose3_retreat,0.583566566761,-0.0100721106724,1.05004263093,0.554138358257,-0.00139765235551,1.04966601304
+372,6.200000000,pose2_to_pose3_retreat,0.583503906416,-0.0100719768445,1.0500426331,0.554075694951,-0.00139752859388,1.04966601471
+373,6.216666667,pose2_to_pose3_retreat,0.583450666479,-0.0100719931655,1.05004263731,0.554022455666,-0.00139754273463,1.04966601809
+374,6.233333333,pose2_to_pose3_retreat,0.583405449982,-0.01007199622,1.05004251187,0.553977240018,-0.00139754260147,1.04966589978
+375,6.250000000,pose2_to_pose3_retreat,0.583368236798,-0.0100720378172,1.05004263923,0.553940028282,-0.00139757949062,1.04966602232
+376,6.266666667,pose2_to_pose3_retreat,0.583336937443,-0.010072055673,1.05004267751,0.553908729121,-0.00139759697508,1.04966605406
+377,6.283333333,pose2_to_pose3_retreat,0.583311311132,-0.0100720393635,1.05004256583,0.553883101494,-0.00139758517797,1.04966594126
+378,6.300000000,pose2_to_pose3_retreat,0.583291336932,-0.0100720517041,1.05004263925,0.553863126596,-0.00139759977441,1.04966601727
+379,6.316666667,pose2_to_pose3_retreat,0.583276286684,-0.0100720180486,1.05004242244,0.553848076909,-0.00139756411251,1.04966580291
+380,6.333333333,pose2_to_pose3_retreat,0.583265560546,-0.0100719985105,1.05004237635,0.553837350411,-0.00139754556657,1.0496657621
+381,6.350000000,pose2_to_pose3_retreat,0.58325832959,-0.0100720448282,1.05004248564,0.553830119359,-0.00139759222844,1.04966587103
+382,6.366666667,pose2_to_pose3_retreat,0.583254141256,-0.0100721066105,1.05004262212,0.553825931127,-0.00139765378737,1.04966600464
+383,6.383333333,pose2_to_pose3_retreat,0.583251686318,-0.0100720988628,1.05004257408,0.553823476174,-0.00139764616831,1.04966595492
+384,6.400000000,pose2_to_pose3_retreat,0.583250513582,-0.010072094708,1.05004254982,0.55382230343,-0.00139764207761,1.04966592985
+385,6.416666667,pose2_to_pose3_retreat,0.58324972054,-0.0100720918983,1.05004253341,0.553821510382,-0.00139763931135,1.04966591289
+386,6.433333333,pose2_to_pose3_retreat,0.583249135546,-0.0100720896595,1.05004252522,0.553820925331,-0.00139763728408,1.04966590431
+387,6.450000000,pose2_to_pose3_retreat,0.583248695711,-0.0100720877078,1.0500425254,0.553820485367,-0.0013976357813,1.0496659042
+388,6.466666667,pose2_to_pose3_retreat,0.583248076341,-0.0100720849596,1.05004252565,0.553819865816,-0.0013976336651,1.04966590404
+389,6.483333333,pose2_to_pose3_retreat,0.583247333538,-0.0100720816637,1.05004252596,0.553819122796,-0.00139763112717,1.04966590385
+390,6.500000000,pose2_to_pose3_retreat,0.583247110716,-0.010072080675,1.05004252605,0.553818899908,-0.00139763036585,1.04966590379
+391,6.516666667,pose2_to_pose3_retreat,0.58324697261,-0.0100720800622,1.0500425261,0.553818761762,-0.00139762989399,1.04966590375
+392,6.533333333,pose2_to_pose3_retreat,0.583246792216,-0.0100720797013,1.05004252237,0.553818581431,-0.00139762928799,1.04966590075
+393,6.550000000,pose2_to_pose3_retreat,0.583246590627,-0.01007208037,1.05004250892,0.553818380194,-0.00139762863603,1.04966589018
+394,6.566666667,pose2_to_pose3_retreat,0.583246347147,-0.0100720811778,1.05004249267,0.55381813714,-0.0013976278486,1.04966587741
+395,6.583333333,pose2_to_pose3_retreat,0.583246294053,-0.0100720813539,1.05004248912,0.553818084138,-0.00139762767689,1.04966587462
+396,6.600000000,pose2_to_pose3_retreat,0.583246242597,-0.0100720815246,1.05004248569,0.553818032773,-0.00139762751048,1.04966587192
+397,6.616666667,pose2_to_pose3_retreat,0.583246153241,-0.0100720818211,1.05004247973,0.553817943573,-0.0013976272215,1.04966586724
+398,6.633333333,pose2_to_pose3_retreat,0.5832460125,-0.010072082288,1.05004247033,0.553817803078,-0.00139762676634,1.04966585986
+399,6.650000000,pose2_to_pose3_retreat,0.583245950868,-0.0100720824925,1.05004246622,0.553817741554,-0.00139762656701,1.04966585662
+400,6.666666667,pose2_to_pose3_retreat,0.583245932646,-0.0100720825529,1.050042465,0.553817723363,-0.00139762650808,1.04966585567
+401,6.683333333,pose2_to_pose3_retreat,0.583245838798,-0.0100720828643,1.05004245874,0.55381762968,-0.00139762620457,1.04966585075
+402,6.700000000,pose2_to_pose3_retreat,0.583245656418,-0.0100721116337,1.05004243767,0.553817446761,-0.001397657084,1.04966582315
+403,6.716666667,pose2_to_pose3_retreat,0.583245498894,-0.010072155174,1.05004241659,0.5538172886,-0.00139770321255,1.0496657922
+404,6.733333333,pose2_to_pose3_retreat,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.00139774019238,1.04966579301
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d2c1c51644ca7cbe6e1d00f6fbb76befbe5d0dbc
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a1bdfee36449e068516eed687eeef96800821a9c97d910f694abc4e3c05321
+size 25727316
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fa1d9765b28884fd3e97cd6aea0375dc4a5700d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+36,0.600000000,BASELINE,765.072060859,745,715,680,658,634,877,785,809,652,629,652,0.400974983534,-0.0153615038226,0.0598419745452,0.999999936747,0.000238807947256,-0.000263162063196,1.49068147466e-05,1793247592654423552
+37,0.616666667,BASELINE,765.503102325,745,715,679.496897675,658,634,877.503102325,785,809,651.496897675,629,652,0.400974482812,-0.0153607343565,0.0598419699955,0.999999936685,0.000238445656959,-0.000263739669864,1.46648070692e-05,1793247592671089664
+38,0.633333333,BASELINE,766,745,715,679,658,634,877.92284722,785,809.07715278,651.07715278,629,652,0.40097412844,-0.0153599131562,0.0598421149883,0.99999993669,0.000238001935784,-0.000264136163043,1.44043091751e-05,1793247592687756032
+39,0.650000000,BASELINE,766,745,715,679,658,634,877.348969023,785,809.651030977,651.651030977,629,652,0.400975510427,-0.0153594379711,0.0598430699168,0.999999936899,0.000238983478984,-0.000262452002314,1.44043645382e-05,1793247592704422656
+40,0.666666667,BASELINE,766,745,715.232484513,679,658,634,877,785,809.767515487,651.767515487,629,652,0.400975867336,-0.0153596571607,0.0598433100638,0.999999936996,0.000239177561015,-0.000261903915063,1.44540391885e-05,1793247592721089280
+41,0.683333333,BASELINE,766,745,715.825691908,679,658,634,877,785,809.174308092,651.174308092,629,652,0.400974633735,-0.0153609537419,0.0598424411559,0.99999993692,0.000238149818538,-0.000263118559093,1.45807031066e-05,1793247592737756160
+42,0.700000000,BASELINE,765.59323124,745,715.59323124,679.40676876,658,634,877,785,809,651.40676876,629,652,0.400974519895,-0.0153613913775,0.0598425228128,0.999999937275,0.000236770203713,-0.000263012609761,1.46089902981e-05,1793247592754423040
+43,0.716666667,BASELINE,765.01720204,745,715.01720204,679.98279796,658,634,877,785,809,651.98279796,629,652,0.400974871998,-0.0153614715976,0.0598430000089,0.999999937808,0.000235244171405,-0.000262357148646,1.45963419732e-05,1793247592771090176
+44,0.733333333,BASELINE,765,744.441022842,715,680,658,634,877.558977158,785,809,652,629,652,0.400973677201,-0.0153603518471,0.0598418923057,0.999999936683,0.000238017408471,-0.000264138912177,1.45593707164e-05,1793247592787756288
+45,0.750000000,BASELINE,765,744.138363978,715,680,658,634,877.861636022,785,809,652,629,652,0.400972696583,-0.0153594302975,0.0598411331644,0.999999935853,0.000240034763923,-0.000265456355448,1.44829846995e-05,1793247592804422400
+46,0.766666667,BASELINE,765,744.728201909,715,680,658,634,877.271798091,785,809,652,629,652,0.40097257019,-0.0153592759935,0.0598416705511,0.999999936185,0.000239153895208,-0.000265013949321,1.42804335503e-05,1793247592821089280
+47,0.783333333,BASELINE,765.312401532,745,715,680,658.312401532,634,877,785,809.312401532,652,629,652,0.40097330771,-0.0153597718524,0.0598419526392,0.999999936688,0.000238121470586,-0.000264044669427,1.4259118846e-05,1793247592837755904
+48,0.800000000,BASELINE,765.891782701,745,715,680,658.891782701,634,877,785,809.891782701,652,629,652,0.400974783534,-0.0153608233432,0.0598420165481,0.999999937336,0.000236959525562,-0.000262625120991,1.43926895319e-05,1793247592854422784
+49,0.816666667,BASELINE,766,745,715,679.5364618,658.5364618,634,877,785,809.5364618,652,629,652,0.400975656458,-0.0153618030858,0.0598430742948,0.999999937859,0.000235825423163,-0.000261635365583,1.46578070743e-05,1793247592871089408
+50,0.833333333,BASELINE,765.965977884,745,715,679.034022116,658,634,877,785,809,652,629,652,0.400976269741,-0.0153627128842,0.0598442107478,0.99999993831,0.000234708410479,-0.000260901373595,1.49285973582e-05,1793247592887756032
+51,0.850000000,BASELINE,765.387818241,745,715,679.612181759,658,634,877,785,809,652,629,652,0.400974945108,-0.0153627675829,0.0598429552067,0.999999938068,0.000233762445408,-0.000262679153494,1.48068872309e-05,1793247592904422912
+52,0.866666667,BASELINE,765.195303365,745,715,679.804696635,658,634,877,785,809,652,629,652,0.400973831352,-0.0153630122015,0.0598422356383,0.99999993778,0.000233665713801,-0.000263863487386,1.47399684751e-05,1793247592921089536
+53,0.883333333,BASELINE,765.788534873,745,715,679.211465127,658,634,877,785,809,652,629,652,0.400973147256,-0.0153636437798,0.0598426081072,0.999999937402,0.000235299284729,-0.000263838682411,1.47846864559e-05,1793247592937755904
+54,0.900000000,BASELINE,766,745,715,679.370570712,658.370570712,634,877,784.629429288,809,651.629429288,629.370570712,652,0.400973891703,-0.0153626238514,0.0598431278176,0.999999937139,0.000237343257122,-0.000263004429153,1.47620888201e-05,1793247592954422784
+55,0.916666667,BASELINE,766,745,715,679.946405113,658.946405113,634,877,784.053594887,809,651.053594887,629.946405113,652,0.400975427438,-0.0153606891331,0.0598437290867,0.999999936935,0.000239614555893,-0.000261721812505,1.47022042326e-05,1793247592971089408
+56,0.933333333,BASELINE,766,745,715,680,658.477504234,634,877,784.522495766,809,651.522495766,629.477504234,652,0.400974837141,-0.015360688315,0.059843008915,0.999999937225,0.000238098190457,-0.000262016016449,1.44043371243e-05,1793247592987756032
+57,0.950000000,BASELINE,766,744.899326122,715,679.899326122,658,634,877,785,809,652,629,652.100673878,0.400974408655,-0.0153610010608,0.059842392328,0.999999937598,0.000236250604744,-0.000262274851558,1.42062396998e-05,1793247593004422656
+58,0.966666667,BASELINE,766,744.311167616,715,679.311167616,658,634,877,785,809,652,629,652.688832384,0.40097582019,-0.0153618711324,0.0598429339883,0.999999938144,0.000234681394646,-0.000261578848939,1.46095100516e-05,1793247593021089280
+59,0.983333333,BASELINE,766,744.273079321,715,679.273079321,658.273079321,634,877.273079321,785,809,652,629.273079321,653,0.400976428573,-0.0153625374499,0.0598436638963,0.999999938542,0.00023372522316,-0.000260898564533,1.48613080278e-05,1793247593037756160
+60,1.000000000,BASELINE,766,744.852932132,715,679.852932132,658.852932132,634,877.852932132,785,809,652,629.852932132,653,0.400976134703,-0.0153629748729,0.0598446052791,0.999999938776,0.000233457730473,-0.000260235937664,1.49429441078e-05,1793247593054423552
+61,1.016666667,BASELINE,766,745,715,680,658.569126762,634,877.569126762,785,809,651.569126762,629.569126762,652.569126762,0.400974974102,-0.0153629451845,0.0598439987842,0.999999938039,0.000235590689544,-0.000261147113214,1.48962008794e-05,1793247593071090176
+62,1.033333333,BASELINE,766,744.991895212,715,679.991895212,658.008104788,634,877,785,809,651.008104788,629,652,0.400973553064,-0.0153627630135,0.059842888557,0.99999993699,0.000238453130998,-0.000262567287623,1.48070013656e-05,1793247593087756544
+63,1.050000000,BASELINE,766,744.418838394,715,679.418838394,658.581161606,634,877,785,809,651.581161606,629,652,0.400974508623,-0.0153630165033,0.0598433302195,0.999999937835,0.000235304633253,-0.000262188591834,1.47993045895e-05,1793247593104422912
+64,1.066666667,BASELINE,765.840888006,744,715,679.159111994,658.840888006,634,877,785,809,652,629,652,0.400975459288,-0.0153630612051,0.0598437655018,0.999999938322,0.000233823129332,-0.000261653238369,1.48346610499e-05,1793247593121089280
+65,1.083333333,BASELINE,765.249647313,744,715,679.750352687,658.249647313,634,877,785,809,652,629,652,0.400976396663,-0.0153625388642,0.059844183456,0.999999937854,0.000236868976788,-0.000260692421862,1.49869448312e-05,1793247593137755904
+66,1.100000000,BASELINE,765.333991296,744.333991296,715,680,658.333991296,634,877.333991296,785,809,652,629,652,0.40097634881,-0.0153622214561,0.0598441525115,0.999999937787,0.000237286024255,-0.000260573995298,1.49449885988e-05,1793247593154422784
+67,1.116666667,BASELINE,765.912074034,744.912074034,715,680,658.912074034,634,877.912074034,785,809,652,629,652,0.400975580922,-0.0153620538194,0.0598437934975,0.999999938015,0.000235781861097,-0.000261071214092,1.47610755909e-05,1793247593171089408
+68,1.133333333,BASELINE,766,745,715,679.511071226,658.511071226,634,877.511071226,785,809,652,629,652,0.400975187356,-0.0153624733274,0.0598436358343,0.999999937944,0.000235326981903,-0.000261761333433,1.46291703209e-05,1793247593187756032
+69,1.150000000,BASELINE,766,744.933244631,715,679,658,634,877.066755369,785,809,652,629,652,0.400974918417,-0.015362924218,0.059843536008,0.999999937817,0.000235211202407,-0.000262355216259,1.45468819434e-05,1793247593204422400
+70,1.166666667,BASELINE,766,744.346125542,715,679,658,634,877.653874458,785,809,652,629,652,0.400975097539,-0.015362798729,0.0598436054761,0.999999937675,0.000236271511231,-0.000261929192497,1.47786386347e-05,1793247593221089024
+71,1.183333333,BASELINE,766,744.23783808,715,679.23783808,658,634,878,785,809,652,629,652,0.40097511635,-0.0153626646255,0.0598434480551,0.999999937634,0.000236572433302,-0.000261818087551,1.47195095357e-05,1793247593237755648
+72,1.200000000,BASELINE,766,744.817269766,715,679.817269766,658,634,878,785,809,652,629,652,0.400974904914,-0.0153625181497,0.0598429647659,0.999999937738,0.000235782690569,-0.000262159282928,1.42425973868e-05,1793247593254422272
+73,1.216666667,BASELINE,765.605293649,745,715,680,658,634,877.605293649,785.394706351,809,651.605293649,629,652,0.400975068785,-0.0153626869204,0.0598432075037,0.999999937742,0.000236024357932,-0.000261916360112,1.44086987811e-05,1793247593271089664
+74,1.233333333,BASELINE,765.028776091,745,715,680,658,634,877.028776091,785.971223909,809,651.028776091,629,652,0.400975405531,-0.0153630009012,0.059843784667,0.9999999377,0.000236741117559,-0.000261404378433,1.48709876558e-05,1793247593287756800
+75,1.250000000,BASELINE,765.544021822,745,715,680,659.088043644,634,877,785.455978178,809,651.544021822,629.544021822,652,0.400976263323,-0.0153619480485,0.0598439901733,0.999999937418,0.000238672371252,-0.000260728697538,1.48528870745e-05,1793247593304423168
+76,1.266666667,BASELINE,766,744.879431923,715,680,659.758863847,634,877,785,809,652,630,652,0.400976794003,-0.0153612845489,0.0598441106911,0.999999937251,0.000239821326429,-0.000260315580067,1.48431483085e-05,1793247593321089280
+77,1.283333333,BASELINE,766,744.287466385,715,680,658.574932771,634,877,785,809,652,630,652,0.400975938715,-0.0153624240982,0.0598439752608,0.999999937596,0.000237662185021,-0.000260962658617,1.49647770108e-05,1793247593337756416
+78,1.300000000,BASELINE,765.702151634,744.297848366,715,680,658.297848366,634,877,785.297848366,809,652,629.702151634,652,0.400975519093,-0.0153625136998,0.059843962004,0.999999937607,0.000237316184576,-0.00026123571109,1.49152689523e-05,1793247593354423552
+79,1.316666667,BASELINE,765.123115677,744.876884323,715,680,658.876884323,634,877,785.876884323,809,652,629.123115677,652,0.400975510766,-0.0153616120847,0.0598440640867,0.999999937306,0.00023868190336,-0.000261155659385,1.4704197021e-05,1793247593371090432
+80,1.333333333,BASELINE,765.453722997,745,715,680,659,634,877.453722997,785.546277003,809,652,629,652,0.400974945691,-0.015362091765,0.0598434215991,0.999999937307,0.000237529323095,-0.000262209239221,1.45786057744e-05,1793247593387756800
+81,1.350000000,BASELINE,766,745,715,680,658.969511188,634,877.969511188,785,809,652,629,652,0.400974326022,-0.0153628565233,0.0598426528715,0.99999993738,0.000235878070894,-0.000263421963615,1.44788622875e-05,1793247593404422912
+82,1.366666667,BASELINE,766,745,715,680,658.383258451,634,877.383258451,785,809,652,629,652,0.400975451682,-0.0153620185625,0.059843248036,0.999999937375,0.000237532803428,-0.000261955491018,1.44295160625e-05,1793247593421089280
+83,1.383333333,BASELINE,766,745,715,680,658,634,877,785,809.200261574,652,629.200261574,652,0.400975671116,-0.0153614603647,0.0598436039932,0.999999937424,0.000238035460981,-0.00026131411776,1.43863226717e-05,1793247593437755904
+84,1.400000000,BASELINE,766,745,715,680,658,634,877,785,809.778622269,652,629.778622269,652,0.400974179571,-0.0153614303667,0.0598435083207,0.999999937581,0.000236362970946,-0.000262230553509,1.43547459852e-05,1793247593454422528
+85,1.416666667,BASELINE,765.642086067,745,715,680,658,634,876.642086067,785,809.642086067,652,629.642086067,652,0.400974869444,-0.0153623027939,0.0598441340912,0.999999938399,0.000233833421826,-0.000261374851628,1.43720262212e-05,1793247593471089408
+86,1.433333333,BASELINE,765.062217112,745,715,680,658,634,876.062217112,785,809.062217112,652,629.062217112,652,0.40097691209,-0.0153637348468,0.059845207254,0.999999939619,0.000230772380311,-0.000259420184795,1.44196043554e-05,1793247593487756544
+87,1.450000000,BASELINE,765.510382537,745,715,680,658.510382537,634,877.020765074,785,809,652,629,652,0.400976222189,-0.0153635872486,0.0598442895045,0.99999993887,0.000232823079186,-0.000260465179091,1.45346521636e-05,1793247593504423168
+88,1.466666667,BASELINE,766,745,715,680,658.91522179,634,878,785,809,652,629,652,0.400975234716,-0.0153632604593,0.0598432195877,0.999999937948,0.000235346949468,-0.000261729448509,1.46308531823e-05,1793247593521090048
+89,1.483333333,BASELINE,766,745,715,680,658.32490638,634,878,785,809,652,629,652,0.400974431244,-0.0153629972883,0.0598426691874,0.999999937441,0.000237028752937,-0.000262151392988,1.45663138307e-05,1793247593537756160
+90,1.500000000,BASELINE,765.739301351,745,715,680,658,634,878,785,809,651.739301351,629,652,0.400973906785,-0.0153623155382,0.0598423965089,0.99999993709,0.000238096183667,-0.000262532740634,1.43924112331e-05,1793247593554422528
+91,1.516666667,BASELINE,765.159462682,745,715,680,658,634,878,785,809,651.159462682,629,652,0.400973723888,-0.0153611213752,0.0598424638095,0.999999936932,0.000238411516291,-0.000262864390742,1.40846292027e-05,1793247593571089152
+92,1.533333333,BASELINE,765.414451458,745,715,680,658.414451458,634,877.585548542,785,809.414451458,651.414451458,629,652,0.40097499605,-0.0153615297079,0.0598434337533,0.999999937657,0.000236667724562,-0.000261673461701,1.42227607093e-05,1793247593587755776
+93,1.550000000,BASELINE,765.986118272,745,715,680,658.986118272,634,877.013881728,785,809.986118272,651.986118272,629,652,0.400976820165,-0.0153625459209,0.0598447460999,0.999999938708,0.000234142837837,-0.000259904967281,1.453004217e-05,1793247593604422400
+94,1.566666667,BASELINE,766,744.435541295,715,680,658.435541295,634,877,785,809.435541295,652,629,652,0.400976252465,-0.0153615897387,0.059844189456,0.999999937992,0.000236169650515,-0.000260836970621,1.42935728587e-05,1793247593621089280
+95,1.583333333,BASELINE,766,744,715,679.853834624,658,634,877,785,809,652,629.146165376,652,0.400975396416,-0.0153610644233,0.0598433954498,0.999999937313,0.000237767107242,-0.000261993704574,1.41520350635e-05,1793247593637755904
+96,1.600000000,BASELINE,766,744,715,679.262378604,658,634,877,785,809,652,629.737621396,652,0.400973843263,-0.0153620012808,0.0598420200266,0.999999936893,0.000237711434553,-0.000263630329322,1.43409310753e-05,1793247593654422528
+97,1.616666667,BASELINE,765.678341938,744.321658062,715,679.321658062,658.321658062,634,877,785,809,652,629.678341938,652,0.400974095938,-0.0153620773792,0.0598421832194,0.99999993711,0.000237658694652,-0.000262844714424,1.45215935904e-05,1793247593671089152
+98,1.633333333,BASELINE,765.100220875,744.899779125,715,679.899779125,658.899779125,634,877,785,809,652,629.100220875,652,0.400975788431,-0.0153614671806,0.0598435731749,0.99999993783,0.000237608293112,-0.000260127809896,1.46956913983e-05,1793247593687755776
+99,1.650000000,BASELINE,765,744.526251698,715,680,658.526251698,634,877,785,809,652,629,652,0.400974950418,-0.0153600573972,0.0598433055563,0.999999937082,0.000239425326795,-0.00026135080256,1.43738084746e-05,1793247593704422400
+100,1.666666667,BASELINE,765,744.048270313,715,680,658,634,877,785,809,652,629,652,0.40097381501,-0.0153588473571,0.0598427990594,0.9999999362,0.000241216908474,-0.000263092693519,1.40247943302e-05,1793247593721089280
+101,1.683333333,BASELINE,765,744.63878354,715,680,658,634,877,785,809,652,629,652,0.400975300137,-0.015361764773,0.0598435140106,0.999999937335,0.000238323309307,-0.000261382079384,1.45394240765e-05,1793247593737755904
+102,1.700000000,BASELINE,765.224886886,745,715,680,658,634.224886886,877,785,809,651.775113114,629,652.224886886,0.400976275879,-0.0153631126337,0.0598440251818,0.999999938091,0.000236238022293,-0.000260372777963,1.47073253115e-05,1793247593754422272
+103,1.716666667,BASELINE,765.804043187,745,715,680,658,634.804043187,877,785,809,651.195956813,629,652.804043187,0.400976449174,-0.0153619879383,0.0598442153338,0.999999938263,0.000235426088041,-0.000260468270544,1.43290172032e-05,1793247593771088896
+104,1.733333333,BASELINE,765.618453351,745,715,679.618453351,658.381546649,634.618453351,877,785,809,651.381546649,629,653,0.400975881414,-0.0153620174097,0.0598438419569,0.99999993808,0.000235395104582,-0.000261191139517,1.44458908983e-05,1793247593787755520
+105,1.750000000,BASELINE,765.041795051,745,715,679.041795051,658.958204949,634.041795051,877,785,809,651.958204949,629,653,0.4009749347,-0.0153626370877,0.059843180408,0.999999937714,0.000235763476146,-0.000262234830196,1.48159858621e-05,1793247593804422144
+106,1.766666667,BASELINE,765,745,715,679.533796051,659,634,877,785,809,652,629,652.466203949,0.400974980289,-0.0153624375794,0.0598438438841,0.99999993771,0.000236474058609,-0.000261603281471,1.49324433485e-05,1793247593821089536
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,877,785,809,652,629,652,0.400975514197,-0.0153638476175,0.0598442429603,0.999999937793,0.000236682979548,-0.000261095428125,1.49812986224e-05,1793247593862968320
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,680,658.419448397,634,877.580551603,785,809,652,629,652,0.400974660924,-0.0153643458788,0.0598441145441,0.999999937658,0.000236975221764,-0.000261334856998,1.51760785657e-05,1793247593879635200
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.159543032,744.159543032,715,680,658.159543032,634.159543032,877.840456968,785,809.159543032,652,629.159543032,652,0.400974244857,-0.0153643534411,0.0598440346772,0.999999937506,0.000237401623537,-0.000261530503748,1.52045192616e-05,1793247593896302080
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.734472515,744.734472515,715,680,658.734472515,634.734472515,877.265527485,785,809.734472515,652,629.734472515,652,0.400974967098,-0.0153630834191,0.0598440812131,0.999999937306,0.000238177323375,-0.000261612159356,1.47998789121e-05,1793247593912968704
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.690255852,745,715,680,659,634.690255852,877,785,809.380511704,652,629.690255852,652,0.400975863422,-0.0153617490358,0.059844323651,0.999999937507,0.000238586396778,-0.000260477334334,1.46540524036e-05,1793247593929635328
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.11469062,745,715,680,659,634.11469062,877,785,808.229381241,652,629.11469062,652,0.400976909143,-0.015360359418,0.0598447342112,0.999999938048,0.000238680832921,-0.000258298530911,1.47303388338e-05,1793247593946301952
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.527035248,658.527035248,634,877,785,808.472964752,652,629,652,0.400977122056,-0.0153603878755,0.0598446713018,0.999999937577,0.000240287593638,-0.000258633513731,1.47272455175e-05,1793247593962968320
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.062166396,745,715,679.062166396,658,634,877,785,809,652,629,652,0.400977114763,-0.0153608156716,0.0598444775221,0.999999936965,0.000241826989194,-0.000259565369688,1.47056034173e-05,1793247593979634688
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.63925497,745,715,679.63925497,658,634,877,785,809,652,629,652,0.40097700015,-0.0153616281661,0.0598441756865,0.999999937299,0.000239691119908,-0.000260259559783,1.4693943996e-05,1793247593996301056
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.784866455,715,679.784866455,658.430267089,634,877.215133545,785,809,652,629,652,0.400979274813,-0.0153619663489,0.059845158262,0.999999937686,0.000239254365183,-0.000259167591907,1.47402997655e-05,1793247594012967680
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.211005568,715,679.211005568,659.577988864,634,877.788994432,785,809,652,629,652,0.400985533507,-0.0153615136342,0.059848282546,0.999999938154,0.000241650822259,-0.000255097270656,1.48833937517e-05,1793247594029634304
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.6263715,744,715,679.3736285,659.6263715,634,877.6263715,785,809,652,629.3736285,652,0.401010397216,-0.0153639982699,0.0598590175947,0.999999943409,0.000239077298235,-0.000236148859674,1.60397015615e-05,1793247594046300928
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.035472617,744,715,679.964527383,659.035472617,634,877.035472617,785,809,652,629.964527383,652,0.401046080012,-0.0153681910172,0.0598741784136,0.999999950808,0.000233613658303,-0.000208548623526,1.77852078855e-05,1793247594062967808
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,715,680,658.457200695,634,877.542799305,785,809,652,629.457200695,652,0.401102328825,-0.0153712162555,0.0598930831542,0.999999957094,0.00023362207126,-0.000175653691083,1.9442040694e-05,1793247594079634432
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.120544345,744.120544345,715,680,658,634,877.879455655,785,809,652,629.120544345,652,0.401163747862,-0.0153743128122,0.0599115287157,0.99999996191,0.000233848847222,-0.00014509403975,2.10490151631e-05,1793247594096301056
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.699352286,744.699352286,715,680,658,634,877.300647714,785,809,652,629.699352286,652,0.401239828863,-0.0153779639575,0.059927319663,0.999999964693,0.000233577183276,-0.000124697739689,2.24879770605e-05,1793247594112967936
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.724537079,715,680,658,634,877,785,809.275462921,651.724537079,629.724537079,652,0.401321201254,-0.0153822786627,0.0599386464875,0.999999967025,0.000231964599189,-0.000107739260279,2.31275658127e-05,1793247594129634816
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.151341844,715,680,658,634,877,785,809.848658156,651.151341844,629.151341844,652,0.401408292804,-0.0153873105722,0.0599451482929,0.999999969075,0.000228902690318,-9.44965282943e-05,2.29031571984e-05,1793247594146301184
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.564605037,744.435394963,715,680,658,634,877,785,810,651.435394963,629.435394963,652,0.401508216624,-0.0153923654265,0.059947477069,0.999999970001,0.000227623961675,-8.77085059065e-05,2.21796392066e-05,1793247594162967808
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.026442126,745,715,680,658,634,877,785,809.973557874,651.973557874,629.973557874,652,0.401613665955,-0.0153974155071,0.0599481183739,0.999999970516,0.000226976845264,-8.3653426351e-05,2.12339548669e-05,1793247594179634176
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.606031108,745,715,680,658,634,877,785,809.393968892,651.393968892,629.393968892,652,0.401738400196,-0.0154021935278,0.0599447771401,0.999999970337,0.000226160034895,-8.83276159667e-05,1.93864755697e-05,1793247594196300800
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.815870728,658,634,877,785,809.184129272,651.184129272,629,652,0.401874728733,-0.0154081909526,0.0599425313938,0.999999970842,0.000223607323986,-8.94683375997e-05,1.7648886632e-05,1793247594212967424
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.240936823,658,634,877,785,809.759063177,651.759063177,629,652,0.402035665535,-0.0154167764972,0.0599426107623,0.999999972791,0.000217370256163,-8.31094598646e-05,1.61445344011e-05,1793247594229634048
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.340256194,658,634,877,785,809.659743806,652,629,652,0.402213787625,-0.0154259357175,0.0599437505242,0.9999999746,0.00021126087064,-7.71464921615e-05,1.47191761068e-05,1793247594246300672
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.92596443,658,634,877,785,809.07403557,652,629,652,0.402404306756,-0.0154355087736,0.0599456552266,0.999999976294,0.000205243591187,-7.14691230876e-05,1.33508018453e-05,1793247594262967040
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.492415256,745,715,679.492415256,658,634,877,785,809,652,629,652,0.402639440584,-0.015446005036,0.0599469902019,0.99999997828,0.000198289481187,-6.32145550137e-05,1.11933427385e-05,1793247594279633920
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.087958323,745,715,679.087958323,658.087958323,634,877,784.912041677,809,651.912041677,629,652,0.402884018548,-0.015456564448,0.0599479119711,0.999999980145,0.000191101970629,-5.57783281618e-05,8.89826780214e-06,1793247594296300800
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.664691034,745,715,679.664691034,658.664691034,634,877,784.335308966,809,651.335308966,629,652,0.403145204419,-0.0154667324812,0.0599469956869,0.999999981656,0.000183370729849,-5.49617078291e-05,6.47293525119e-06,1793247594312968192
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.759015229,745,715,679.759015229,658.759015229,634,877.240984771,784.240984771,809,651,629,652,0.403418328056,-0.0154755493238,0.0599418626722,0.999999982831,0.000174697065066,-6.17042009133e-05,3.32043523833e-06,1793247594329635328
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.183331211,745,715,679.183331211,658.183331211,634,877.816668789,784.816668789,809,651,629,652,0.403708031816,-0.0154824895224,0.0599308731195,0.999999983318,0.000164714485616,-7.89454054852e-05,-8.42013937289e-07,1793247594346301696
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.401266903,745,715,679.401266903,658,633.598733097,877.197466194,785,809.401266903,651,629.401266903,652.401266903,0.404016742095,-0.0154828391772,0.0599203866466,0.999999986668,0.000130339641796,-9.82786264562e-05,-4.15409374863e-06,1793247594362968320
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.990030212,745,715,679.990030212,658,633.009969788,876.019939576,785,809.990030212,651,629.990030212,652.990030212,0.404334333371,-0.0154801093271,0.0599101352436,0.999999989367,8.45672422654e-05,-0.000118589364585,-7.0688289294e-06,1793247594379635200
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.42993249,715,680,658,633.57006751,876.57006751,784.42993249,809.42993249,651,629.42993249,652.42993249,0.404720064074,-0.0154688208668,0.0599015845499,0.999999985985,0.000102600456358,-0.000131638097697,-1.31948284358e-05,1793247594396301824
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.852136073,744,715,680,658.147863927,634,877,784.147863927,809,651.147863927,629.147863927,652.147863927,0.405121139941,-0.0154632176726,0.0598985588832,0.999999984214,0.0001124150605,-0.000136403885825,-1.81115818996e-05,1793247594412968192
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.280333617,744,715,680,658.719666383,634,877,784.719666383,809,651.719666383,629.719666383,652.719666383,0.405562846511,-0.0154743372992,0.0599112899527,0.999999988314,9.55151061923e-05,-0.000117780400421,-1.94027312616e-05,1793247594429634304
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.293702317,744.293702317,715,680,659,634,877.293702317,785,809.293702317,652,630,652.706297683,0.406042494782,-0.0154847508583,0.0599345759946,0.999999994043,7.16085965803e-05,-7.98422813631e-05,-2.030542601e-05,1793247594446300928
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.869886467,744.869886467,715,680,659,634,877.869886467,785,809.869886467,652,630,652.130113533,0.406558635296,-0.0154944853256,0.0599680137725,0.999999998672,4.09632050433e-05,-2.33274145837e-05,-2.08345066038e-05,1793247594462967552
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.540885429,715,680,659,634,877.540885429,785,809.540885429,652,629.540885429,652.459114571,0.40708562714,-0.0154988405318,0.0599905334087,0.999999999046,3.59822997671e-05,1.07642855518e-05,-2.23076226607e-05,1793247594479634176
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.0506942,715,680,659,634,877,785,809,651.9493058,629.0506942,652.9493058,0.40761681952,-0.0155012302832,0.0600071094211,0.999999998559,3.47934727771e-05,3.28292176749e-05,-2.43848241226e-05,1793247594496300800
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.627200844,715,680,659,634,877,785,809,651.372799156,629.627200844,652.372799156,0.408158750979,-0.0154995086069,0.0599950691535,0.999999999541,-4.7098850482e-06,-2.00996653651e-06,-2.98716042685e-05,1793247594512967680
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.203382335,715,680,659,634,877.203382335,785,809.203382335,651,630,652,0.408714275021,-0.0154979044599,0.0599834028502,0.99999999852,-2.55134482265e-05,-3.29760168029e-05,-3.49428348225e-05,1793247594529634560
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.778968735,715,680,659,634,877.778968735,785,809.778968735,651,630,652,0.40929467442,-0.0154965153996,0.0599724209285,0.99999999754,-1.20950614458e-05,-5.68539557629e-05,-3.92535799964e-05,1793247594546301184
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.64568059,715,679.64568059,659.70863882,634,877.64568059,785,810,651,629.64568059,652,0.409929248651,-0.0154988786083,0.0599752782614,0.999999998009,-7.13376991579e-06,-4.84295610255e-05,-3.98281852405e-05,1793247594562967808
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.07047689,715,679.07047689,660.859046221,634,877.07047689,785,810,651,629.07047689,652,0.41059759569,-0.0155035809982,0.0599867630475,0.99999999905,-7.44466955456e-06,-1.98677473615e-05,-3.80736641159e-05,1793247594579634176
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.478288101,745,715,679.521711899,659.956576202,634,878.043423798,784.478288101,810,651.521711899,629.521711899,652,0.411275296884,-0.0155055373692,0.0599894893205,0.999999999327,1.3116134131e-05,-1.14287269435e-05,-3.2305513086e-05,1793247594596300800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.112901287,744.887098713,715,680,659,634,878.887098713,784.112901287,810,651.887098713,630,652,0.4119551427,-0.0155059892844,0.0599846931403,0.999999998967,2.99280285147e-05,-1.87897095524e-05,-2.85769042773e-05,1793247594612967424
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.690223478,744.309776522,715,680,659,634,878.309776522,784.690223478,810,651.309776522,630,652,0.412638437368,-0.0155018298737,0.0599539840112,0.999999996015,1.93303324599e-05,-7.95859764557e-05,-3.55433500494e-05,1793247594629634048
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.734504377,744.265495623,715,680,659,633.734504377,878,784.734504377,810,651,630,652,0.413338771415,-0.0154992491693,0.0599279468041,0.999999990792,1.23900864143e-05,-0.0001287026217,-4.12148388138e-05,1793247594646300672
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.161605795,744.838394205,715,680,659,633.161605795,878,784.161605795,810,651,630,652,0.414058834521,-0.0154984963626,0.0599073189577,0.999999985427,9.68460171491e-06,-0.000164296075602,-4.5386968199e-05,1793247594662967552
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.586143026,714.586143026,679.586143026,659,633,878,784.413856974,810,651,630,652,0.414885340498,-0.0155049289205,0.0599400444614,0.999999993772,-1.20053434103e-08,-0.000102872654187,-4.32905689448e-05,1793247594679633920
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.009672768,714.009672768,679.009672768,659,633,878,784.990327232,810,651,630,652,0.41575367012,-0.0155141847623,0.0599937336425,0.999999999167,-1.24555742219e-05,-3.32921778214e-06,-3.87311296735e-05,1793247594696300800
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.58448392,744.58448392,714.58448392,679.58448392,659.58448392,633.58448392,878,784.41551608,810,651,630,652.58448392,0.416575688765,-0.0155200219792,0.0600167852014,0.999999998834,-1.28376499225e-05,2.92416694961e-05,-3.62127119713e-05,1793247594712967168
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.82663773,715,680,660,634,878,784.17336227,810,651,630,652.82663773,0.417405036453,-0.0155235724859,0.0600261658328,0.999999998336,-1.48668464302e-05,4.27497509247e-05,-3.57575061503e-05,1793247594729633792
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.250716926,715,680,660,634,878,784.749283074,810,651,630,652.250716926,0.418253237798,-0.0155219485731,0.0600050157689,0.999999998868,-2.11987327107e-05,1.46467067875e-05,-4.00123327794e-05,1793247594746300672
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.323063071,715,680,660,634,878,785,810.323063071,651,630,652.323063071,0.419090897502,-0.0155230806472,0.0599801818218,0.999999998406,-2.59210989979e-05,-2.46733783934e-05,-4.36726756203e-05,1793247594762967552
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.895192581,715,680,660,634,878,785,810.895192581,651,630,652.895192581,0.419920430058,-0.0155263374575,0.059952507775,0.999999995831,-2.94026007131e-05,-7.26412735242e-05,-4.6874699154e-05,1793247594779634944
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.484298615,660,633.515701385,878.484298615,785,811,651.484298615,630,652.515701385,0.420729921528,-0.0155240745694,0.0599172004074,0.999999989407,-3.03180481927e-05,-0.000133164861361,-5.03447509535e-05,1793247594796302080
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633.075138738,878.924861262,785,811,652,630,652.075138738,0.421548849549,-0.0155210452433,0.0598848455998,0.999999980361,-3.0519634869e-05,-0.000188366641612,-5.35224166684e-05,1793247594812968704
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633.65213111,878.34786889,785,811,652,630,652.65213111,0.422460824101,-0.0155211649296,0.059883645148,0.999999980178,-2.97970730215e-05,-0.000189216463779,-5.43457420835e-05,1793247594829635328
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.77171542,715,680.77171542,660,633.77171542,878.22828458,785,811,651.77171542,630,653,0.423418071958,-0.0155240207698,0.0599131298475,0.999999988179,-3.1525951497e-05,-0.000140897748114,-5.28730263609e-05,1793247594846301952
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.196835535,715,680.196835535,660,633.196835535,878.803164465,785,811,651.196835535,630,653,0.424444056594,-0.0155310308026,0.0599892025794,0.999999998008,-3.69767529072e-05,-1.79284149419e-05,-4.79143231657e-05,1793247594862968320
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.387889867,715,680,660,633,878.612110133,784.612110133,811,651,630.387889867,653,0.425405096191,-0.015536584139,0.0600270461264,0.999999996969,-4.41321964371e-05,4.52554195568e-05,-4.54545780905e-05,1793247594879634688
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.977741477,715,680,660,633,878.022258523,784.022258523,811,651,630.977741477,653,0.42633232094,-0.01554137902,0.0600449849652,0.999999994669,-5.21751919777e-05,7.73108659688e-05,-4.42959604065e-05,1793247594896301312
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633,878.557261078,784.557261078,811.557261078,651.557261078,630.442738922,653,0.42725440689,-0.0155451495651,0.0600245398065,0.999999995587,-5.90946150335e-05,5.59623018305e-05,-4.69365505924e-05,1793247594912967680
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.135447868,660,633.135447868,879,785,811.864552132,652,630.135447868,653,0.428164375919,-0.0155473026983,0.0599996354693,0.999999996342,-6.49011147079e-05,2.4832807265e-05,-4.98813380326e-05,1793247594929634304
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.710623089,660,633.710623089,879,785,811.289376911,652,630.710623089,653,0.429035661925,-0.0155443353639,0.0599651413045,0.999999995829,-6.72375870228e-05,-3.12511863855e-05,-5.33300062615e-05,1793247594946301440
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633.713967553,879,785,811,651.713967553,631,653,0.429929429957,-0.0155413561185,0.0599369738896,0.999999993155,-6.5770261168e-05,-7.89182790605e-05,-5.59930783372e-05,1793247594962968576
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633.13832116,879,785,811,651.13832116,631,653,0.430845961465,-0.0155383648133,0.059915212446,0.999999989529,-6.04515085745e-05,-0.000118063076806,-5.78607174275e-05,1793247594979635200
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,811.447976211,651.447976211,631,653,0.431815343805,-0.0155416166132,0.0599526728823,0.999999995277,-6.37748636829e-05,-4.76783254961e-05,-5.57353396615e-05,1793247594996301568
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.962997912,745,715,681,660,633,879.037002088,785,811.962997912,651.962997912,631,653,0.432796127334,-0.015546628641,0.0600056891247,0.999999994919,-6.96393282159e-05,5.0546419576e-05,-5.25084254772e-05,1793247595012968192
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.383362393,745,715,681,660,633,879.616637607,785,811.383362393,651.383362393,631,653,0.433698966333,-0.0155484965341,0.0600121379119,0.999999994824,-7.26838118526e-05,4.90054806427e-05,-5.16486036443e-05,1793247595029634816
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.194749467,745,715,680.805250533,660,633.194749467,879.805250533,784.805250533,811,651,631,653,0.434591924801,-0.0155496226653,0.0600055857263,0.999999995306,-7.55710286164e-05,3.03006799119e-05,-5.25199276464e-05,1793247595046301184
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.769885402,745,715,680.230114598,660,633.769885402,879.230114598,784.230114598,811,651,631,653,0.435465584684,-0.0155492999809,0.059973639921,0.999999995094,-7.81510706655e-05,-2.19287355657e-05,-5.67725415375e-05,1793247595062967808
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.655241383,879,784.344758617,811,651,631,653,0.436325651568,-0.0155488421573,0.0599474422679,0.999999992878,-7.93772094181e-05,-6.6125825303e-05,-5.97523172987e-05,1793247595079634688
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.080543428,879,784.919456572,811,651,631,653,0.437176652447,-0.0155482942017,0.0599250783897,0.9999999894,-7.97003520848e-05,-0.000104965692117,-6.18831638904e-05,1793247595096301568
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680.509443123,660,633.509443123,879,785,811.509443123,651,631,653,0.43797588785,-0.0155432982667,0.0599025902155,0.999999983165,-7.845926606e-05,-0.000153038937434,-6.39797409825e-05,1793247595112968448
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.099468129,634,879,785,812,651,631,653,0.438785671377,-0.0155399275124,0.0598923956642,0.999999978685,-7.91076109053e-05,-0.000179189602469,-6.52848162707e-05,1793247595129635072
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.677684381,634,879,785,812,651,631,653,0.439686833651,-0.0155478683037,0.0599414688214,0.999999989685,-9.00770696623e-05,-9.25815770511e-05,-6.28072141099e-05,1793247595146301696
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,879,784.746065158,812,651,631,653,0.44055705084,-0.0155542615788,0.0599855799816,0.999999993177,-9.81911511004e-05,-2.03982492472e-05,-5.98960553509e-05,1793247595162968320
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,879,784.172290723,812,651,631,653,0.44138829157,-0.0155587057037,0.0600234413336,0.999999992568,-0.000102708787078,3.3616672924e-05,-5.64388177948e-05,1793247595179634688
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.598509121,879.401490879,784,812.401490879,651,631,653,0.442163185762,-0.0155597528661,0.0600138712244,0.999999992592,-0.000105587369716,1.86461446844e-05,-5.76086295963e-05,1793247595196301568
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.024724395,879.975275605,784,812.975275605,651,631,653,0.442913899746,-0.0155593422729,0.0599839466113,0.999999992011,-0.000107762577247,-2.59284604436e-05,-6.07640705638e-05,1793247595212968448
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.4298943,633,880,784,813,651,630.4298943,653,0.443631433339,-0.0155588443072,0.0599696139921,0.999999990867,-0.000112443462671,-4.1592640484e-05,-6.2390063686e-05,1793247595229635072
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.840353723,745,715,681,660,633,879.840353723,784.159646277,813,651,630.159646277,653,0.444338072528,-0.015558455309,0.059961840698,0.99999999012,-0.00011499097635,-5.03738323543e-05,-6.32452096283e-05,1793247595246301696
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.266976996,745,715,681,660,633,879.266976996,784.733023004,813,651,630.733023004,653,0.44502035063,-0.0155583589005,0.059969246626,0.999999990821,-0.000111717354827,-4.46912519513e-05,-6.22811549274e-05,1793247595262968832
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.307300078,745,715,681,660,633,879,785,813,651.307300078,631,653,0.445668643655,-0.0155565809126,0.0599623542338,0.999999989958,-0.000109621190752,-6.4503681932e-05,-6.25028194496e-05,1793247595279635712
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.882361622,745,715,681,660,633,879,785,813,651.882361622,631,653,0.446287324232,-0.015553337705,0.0599430032072,0.999999986401,-0.000108550987201,-0.000106530819779,-6.37576431979e-05,1793247595296302080
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.469336542,633.469336542,879,785,813,652,631,653,0.446918145721,-0.0155539421622,0.0599407202651,0.999999986397,-0.000110513581477,-0.000103776309016,-6.49884428785e-05,1793247595312968448
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.941501476,633.941501476,879,785,813.058498524,652,631,653,0.447550886098,-0.0155559223126,0.0599458675994,0.999999987676,-0.000113717821006,-8.582779434e-05,-6.5958477386e-05,1793247595329635072
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.360175592,633.360175592,879,785,813.639824408,652,631,653,0.448172870619,-0.0155613537925,0.059978191653,0.999999989971,-0.000121048315069,-3.50142618744e-05,-6.46531566406e-05,1793247595346301184
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.218788027,633,879,785,813.781211973,651.781211973,631,653,0.448748423388,-0.0155637073199,0.0599926968747,0.999999989798,-0.000126493511935,-1.39286607724e-05,-6.4873491957e-05,1793247595362967552
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.793904294,633,879,785,813.206095706,651.206095706,631,653,0.449248355208,-0.0155610479516,0.0599781815244,0.999999988562,-0.000128868226735,-4.12593407801e-05,-6.75785812109e-05,1793247595379633920
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879,784.632771223,813.367228777,651,631,653,0.449709655093,-0.0155576015551,0.0599479198135,0.999999985163,-0.000128755133054,-8.94161217843e-05,-7.14211656407e-05,1793247595396301056
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879,784.060447389,813.939552611,651,631,653,0.450149379324,-0.0155537156078,0.0599088638537,0.999999977892,-0.000127252613215,-0.000149204156964,-7.5899034332e-05,1793247595412968448
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,744.471287177,715,681.528712823,660.471287177,633,879,784,814,651,631,653,0.450579828178,-0.0155555371488,0.0598883864007,0.999999972951,-0.000136826866506,-0.000170897948395,-7.85477461096e-05,1793247595429635072
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,744.117657553,715,681.882342447,660,633,879,784,814,651,631,653,0.451003609744,-0.01555818262,0.0598745553278,0.999999969267,-0.000146712660012,-0.000182993840366,-8.03387032439e-05,1793247595446301696
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+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715.276010038,681,660.276010038,633,879,784,814,651,631,653,0.451792887716,-0.0155649540301,0.0598879624711,0.999999975472,-0.000136209950695,-0.000158921151997,-7.24402943438e-05,1793247595479634944
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.578693417,744.578693417,715,680.578693417,659,634,878,785,810,651,630,652,0.413061360352,-0.0153540788296,0.0598253691951,0.999999927658,0.000226783735266,-0.000304592137532,2.18138730731e-05,1793247597843702272
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.789691864,745,715,679.789691864,659,634,877.210308136,785,810.789691864,651,630,652,0.407332105919,-0.0153497243513,0.0598326187227,0.999999930602,0.000241387289342,-0.00028291762903,2.20214732155e-05,1793247597993702656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.627852423,659,634,877,785,810.627852423,651,629.627852423,652,0.406809153724,-0.0153493370174,0.0598213250272,0.999999927379,0.000237431347131,-0.000297415098977,2.02902712305e-05,1793247598010368768
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.542936381,659,634,877,785,810,651,629.542936381,652,0.405856351502,-0.0153514417361,0.0598187379006,0.999999932033,0.000219339326535,-0.00029578962752,1.82583195778e-05,1793247598043701504
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877,785,810,651.124559431,629.875440569,652.124559431,0.405413858477,-0.0153520017691,0.059822311813,0.999999934227,0.000219971331677,-0.0002877842384,1.84206417402e-05,1793247598060367872
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,633.725104701,877,785,809.725104701,652,629.274895299,653,0.404583455082,-0.0153488368601,0.0598026782588,0.999999914923,0.000263248362242,-0.000317027269808,1.86346962933e-05,1793247598093701376
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,633.151851346,877,785,809.151851346,652,629.848148654,653,0.404181573046,-0.0153463552964,0.059779713367,0.999999904523,0.000252663362925,-0.000356122005767,1.71041728689e-05,1793247598110368000
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+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,658.076844723,634,878,785,810,651.076844723,629.923155277,652,0.402341392301,-0.0153492456835,0.0598348263045,0.999999946,0.000201966701832,-0.000259101947252,8.75118833139e-06,1793247598227034880
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.336825884,659,634,877,785,809,651.663174116,629.336825884,652,0.401798773052,-0.0153514484873,0.0598174642014,0.99999993545,0.000204861995952,-0.000295037491891,9.20787489919e-06,1793247598277034752
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634,877,785,809,652,629.813314383,652,0.40154199708,-0.0153593491545,0.0598215246051,0.999999927294,0.000239557267739,-0.000296440717266,1.21225703482e-05,1793247598310368256
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634,877,785,809.397102933,651.602897067,629.602897067,652,0.401443591461,-0.01536212905,0.0598256420847,0.999999927874,0.000243732393264,-0.000290982545557,1.32279700051e-05,1793247598327034880
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.853762941,745,715,679.146237059,658,634,877,785,809.853762941,651.853762941,629,652,0.401214640628,-0.0153575076644,0.0598319590349,0.999999931519,0.000241353890466,-0.00028018883629,1.43016229168e-05,1793247598377035008
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.277546221,745,715,679.722453779,658,634,877,785,809.277546221,651.277546221,629,652,0.40116455286,-0.0153573545724,0.0598351626923,0.999999933984,0.000238871013316,-0.000273425758573,1.4532956459e-05,1793247598393701632
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.698137491,658.301862509,634,877.301862509,785,809,651.301862509,629,652,0.401120615655,-0.0153570552667,0.0598363658034,0.99999993481,0.000237688807443,-0.000271416968093,1.47507537604e-05,1793247598410368000
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.625471593,658,634,877,785,809,651.625471593,629,652,0.401009360402,-0.0153569145054,0.059831542482,0.999999932465,0.000237740797453,-0.000279885595834,1.4601577841e-05,1793247598477034752
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,744.355675219,715,679.355675219,659,634,877,785,809.355675219,651.355675219,629.644324781,652,0.400980742213,-0.0153574482197,0.0598327696869,0.999999933154,0.000235868898001,-0.000279017024679,1.44286372025e-05,1793247598527034624
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03c73ddf3ae5df7ef76a0c5b517c8995d3e595e1
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1bd24356595e56bfb611f9817e0f4bf2a7adf81a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6bf7f908c7269af549b190b2f7eea8c886fff7b9066476617cbc33a18aa0650
+size 25729215
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0623e9b2f1069358a1e569af864efc1f5942aa44
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+20,0.333333333,BASELINE,766,745,715,679.621555889,659,634.378444111,877.378444111,785,809,652,629.621555889,652,0.400973042415,-0.0153633846392,0.0598415018503,0.999999937542,0.000234012106878,-0.000264471303172,1.4432798858e-05,1793247599367352064
+21,0.350000000,BASELINE,766,745,715,680,658.791314186,634,877,785,809.208685814,652,629.791314186,652,0.400974401714,-0.0153632903367,0.0598427600379,0.999999938067,0.000233717439612,-0.000262735991267,1.45806777167e-05,1793247599384018944
+22,0.366666667,BASELINE,766,745,715,680,658.211826452,634,877,785,809.788173548,652,629.211826452,652,0.400974557557,-0.0153632807628,0.0598432207728,0.999999938328,0.000233552271472,-0.000261890190185,1.45074232426e-05,1793247599400685824
+23,0.383333333,BASELINE,765.635693796,745,715,680,658,634,877,785,809.635693796,652,629,652,0.400973743331,-0.0153633475084,0.0598427289599,0.99999993818,0.000233469570505,-0.00026253488577,1.43870662622e-05,1793247599417352448
+24,0.400000000,BASELINE,765.061494099,745,715,680,658,634,877,785,809.061494099,652,629,652,0.400972370205,-0.0153634582253,0.0598416883408,0.999999937795,0.000233434382637,-0.000264038324686,1.42395713634e-05,1793247599434018816
+25,0.416666667,BASELINE,765.513768432,745,715,679.486231568,658,634,876.486231568,785,809,652,629,652,0.400971924987,-0.0153623174564,0.0598415483233,0.999999937281,0.000234949377023,-0.000264644467955,1.41528166675e-05,1793247599450685440
+26,0.433333333,BASELINE,765.90831513,745,715.09168487,679.09168487,658.09168487,634,876.09168487,785,809,651.90831513,629.09168487,652,0.400971689107,-0.0153616585107,0.0598414502559,0.99999993698,0.00023574005283,-0.000265079072488,1.41033427847e-05,1793247599467352064
+27,0.450000000,BASELINE,765.316620407,745,715.683379593,679.683379593,658.683379593,634,876.683379593,785,809,651.316620407,629.683379593,652,0.400971987918,-0.0153644458219,0.0598409918796,0.999999937931,0.000231566628132,-0.000265165102666,1.42174520315e-05,1793247599484018688
+28,0.466666667,BASELINE,765.267991627,745,715.732008373,679.732008373,659,634,877.267991627,785,809.267991627,651.267991627,629.732008373,652,0.400972727141,-0.0153652809761,0.05984141375,0.99999993856,0.000229855741182,-0.000264275595914,1.43107922789e-05,1793247599500685312
+29,0.483333333,BASELINE,765.844451198,745,715.155548802,679.155548802,659,634,877.844451198,785,809.844451198,651.844451198,629.155548802,652,0.400973973292,-0.0153638691278,0.0598428488156,0.99999993883,0.000230979323484,-0.000262263211271,1.43802266588e-05,1793247599517351936
+30,0.500000000,BASELINE,765.580261894,745,715,679.419738106,659,634,877.580261894,785,809.580261894,652,629,652,0.400972668439,-0.0153637664757,0.0598420783562,0.999999938352,0.000231357056711,-0.000263756706068,1.42391541285e-05,1793247599534018816
+31,0.516666667,BASELINE,765.00540836,745,715,679.99459164,659,634,877.00540836,785,809.00540836,652,629,652,0.400970420855,-0.015364147641,0.0598404928386,0.999999937592,0.000231459159234,-0.000266545808768,1.40202881604e-05,1793247599550685696
+32,0.533333333,BASELINE,765.583358738,745,715,679.416641262,659,634,877,785,809,652,629.583358738,652,0.400970556321,-0.0153630870553,0.0598405267147,0.999999937268,0.000233162855947,-0.000266279991706,1.39105824832e-05,1793247599567352064
+33,0.550000000,BASELINE,766,745,715,679.169547352,659,634,877,785.169547352,809,651.830452648,629.830452648,652,0.40097083112,-0.0153624456319,0.0598406362169,0.999999937145,0.000234098417028,-0.000265930697277,1.37697535776e-05,1793247599584018944
+34,0.566666667,BASELINE,766,745,715,679.749179667,659,634,877,785.749179667,809,651.250820333,629.250820333,652,0.400971388181,-0.0153628511582,0.059840891436,0.999999937499,0.000233139293034,-0.000265449673044,1.35511391751e-05,1793247599600685568
+35,0.583333333,BASELINE,766,745,715,679.672462102,659,634,877.327537898,785.672462102,809.327537898,651,629,652,0.40097186924,-0.0153637479681,0.0598411239948,0.999999937936,0.000231567232744,-0.000265178479874,1.36274676392e-05,1793247599617352192
+36,0.600000000,BASELINE,766,745,715,679.09507569,659,634,877.90492431,785.09507569,809.90492431,651,629,652,0.400972292324,-0.015365019533,0.0598413392682,0.999999938431,0.000229527619669,-0.000265067347457,1.39287808447e-05,1793247599634019072
+37,0.616666667,BASELINE,765.522694619,745,715,679.477305381,658.522694619,634.477305381,877.522694619,785,809.522694619,651.477305381,629,652,0.400971749814,-0.0153650319719,0.0598413466787,0.999999938735,0.000228565095783,-0.000264749251819,1.39972326661e-05,1793247599650685696
+38,0.633333333,BASELINE,765,745,715,679.949671774,658.050328226,634.949671774,877,785,809,652,629,652,0.400971273343,-0.015364714336,0.0598413648873,0.999999938904,0.000228322383529,-0.00026431828717,1.40208271195e-05,1793247599667352320
+39,0.650000000,BASELINE,765,745,715,679.359170311,658.640829689,634.359170311,877,785,809,652,629,652,0.400973548637,-0.0153635179981,0.0598419387766,0.999999938019,0.000233526564875,-0.000263113780402,1.40556431991e-05,1793247599684018944
+40,0.666666667,BASELINE,765.227440372,745,715,679.227440372,658.772559628,634,877,785,809,652,629,652,0.400974138298,-0.0153630475698,0.0598421109322,0.999999937637,0.00023560031742,-0.000262714280446,1.41381407662e-05,1793247599700685568
+41,0.683333333,BASELINE,765.8080101,745,715,679.8080101,658.1919899,634,877,785,809,652,629,652,0.400972110802,-0.0153637042064,0.0598416593465,0.999999938064,0.000232813691084,-0.000263564653383,1.4294669749e-05,1793247599717352448
+42,0.700000000,BASELINE,766,745,715,680,658.38545048,634,877,785,809,652,629,652.38545048,0.40097162365,-0.0153631299271,0.0598415702431,0.999999937906,0.000232962104206,-0.000264045546877,1.40261498652e-05,1793247599734019072
+43,0.716666667,BASELINE,766,745,715,680,658.961344691,634,877,785,809,652,629,652.961344691,0.400971897554,-0.0153619474756,0.0598416602354,0.99999993746,0.000234560664438,-0.000264343887598,1.35476214377e-05,1793247599750685696
+44,0.733333333,BASELINE,766,745,715.53471509,680,658.46528491,634,877,785,809.53471509,652,629,652.46528491,0.40097201151,-0.0153624475467,0.059841432079,0.999999937746,0.000233301399383,-0.000264367427918,1.37038931681e-05,1793247599767352320
+45,0.750000000,BASELINE,766,745,715.888521098,680,658.111478902,634,877,785,809.888521098,652,629,652.111478902,0.400972463031,-0.0153628492079,0.059841453582,0.99999993804,0.000232504503369,-0.000263947386511,1.38796520608e-05,1793247599784018944
+46,0.766666667,BASELINE,766,745,715.296341914,680,658.703658086,634,877,785,809.296341914,652,629,652.703658086,0.400974419767,-0.0153623045062,0.0598426503319,0.999999938144,0.000234588020549,-0.000261699866828,1.39424881012e-05,1793247599800685568
+47,0.783333333,BASELINE,766,745,715,680,659,634,877,785,809,652,629,652.711564958,0.400974615464,-0.0153628146649,0.0598427509669,0.999999938294,0.00023400695128,-0.000261639899559,1.4056476686e-05,1793247599817352192
+48,0.800000000,BASELINE,766,745,715,680,659,634,877,785,809,652,629,652.134202788,0.400973047116,-0.0153643814835,0.0598417536171,0.999999938487,0.000230756749882,-0.000263771216512,1.42217050916e-05,1793247599834019072
+49,0.816666667,BASELINE,766,745,715,680,659,634,877,785,809,652,629,652.441527728,0.400973406121,-0.0153647873589,0.0598423292525,0.999999938526,0.000231796612824,-0.00026270484519,1.43136377309e-05,1793247599850685440
+50,0.833333333,BASELINE,765.982850639,745,715,679.982850639,658.982850639,634,877,785,809,652,629.017149361,652.982850639,0.400974344206,-0.0153648096613,0.0598433729371,0.999999938527,0.000234022460139,-0.000260716583568,1.43766775198e-05,1793247599867352064
+51,0.850000000,BASELINE,765.39439424,745,715,679.39439424,658.39439424,634,877,785,809,652,629.60560576,652.39439424,0.400975129626,-0.0153637658546,0.0598441400931,0.999999939004,0.00023247774986,-0.000260276455718,1.42166310367e-05,1793247599884018688
+52,0.866666667,BASELINE,765.19216343,745,715,679.19216343,658,634,877,785,809,652,629.80783657,652.19216343,0.400975353476,-0.0153634652125,0.059844288735,0.999999939248,0.000231479551591,-0.000260233042598,1.41148913119e-05,1793247599900685312
+53,0.883333333,BASELINE,765.77486226,745,715,679.77486226,658,634,877,785,809,652,629.22513774,652.77486226,0.400974436044,-0.0153646749103,0.0598431803655,0.999999939023,0.000231592034501,-0.000260995876282,1.41316489254e-05,1793247599917351936
+54,0.900000000,BASELINE,766,745,715,680,658,634,877,785,809,651.648242507,629,652.648242507,0.400973650585,-0.01536466045,0.0598428155229,0.999999938841,0.000231352406093,-0.000261908711085,1.40911150834e-05,1793247599934018816
+55,0.916666667,BASELINE,766,745,715,680,658,634,877,785,809,651.075001519,629,652.075001519,0.400972948225,-0.0153638752005,0.0598429188407,0.999999938684,0.000230891071403,-0.000262915993803,1.40145077754e-05,1793247599950685696
+56,0.933333333,BASELINE,765.500316863,744.500316863,715,679.500316863,658,634,877,785,809.499683137,651.499683137,629,652,0.400972836483,-0.0153640834701,0.059842854082,0.999999938687,0.000230929893679,-0.000262871200448,1.39985054922e-05,1793247599967352320
+57,0.950000000,BASELINE,765.076946679,744.076946679,715,679.076946679,658,634,876.923053321,785,809.923053321,651.923053321,629,652,0.400973087014,-0.0153644039853,0.0598429106568,0.999999938804,0.000231033891722,-0.000262335412103,1.40131422698e-05,1793247599984018944
+58,0.966666667,BASELINE,765.670051325,744.670051325,715,679.670051325,658,634,876.329948675,785,809.329948675,651.329948675,629,652,0.400975171273,-0.0153644742136,0.0598439508566,0.999999939515,0.000231070042357,-0.000259568392021,1.41721082782e-05,1793247600000685568
+59,0.983333333,BASELINE,765.744377256,745,715,679.744377256,658.255622744,634,876.511245488,785,809,651.255622744,629,652,0.400975301374,-0.0153641188272,0.059844132131,0.99999993948,0.000231677784669,-0.000259161243791,1.41929702811e-05,1793247600017352192
+60,1.000000000,BASELINE,765.168251025,745,715,679.168251025,658.831748975,634,877.663497949,785,809,651.831748975,629,652,0.400972981323,-0.0153632297992,0.0598432364726,0.99999993851,0.000233002196878,-0.000261712936577,1.40406755098e-05,1793247600034018816
+61,1.016666667,BASELINE,765,745,715,679.407241345,659,634,878,785,809.407241345,652,629.407241345,652,0.400972713203,-0.0153632026727,0.0598430133949,0.999999938476,0.000232607257968,-0.000262204347417,1.37794880407e-05,1793247600050685696
+62,1.033333333,BASELINE,765,745,715,679.982472209,659,634,878,785,809.982472209,652,629.982472209,652,0.400973291516,-0.0153635310859,0.0598430677607,0.999999938831,0.000231503076236,-0.000261845879331,1.34733816836e-05,1793247600067352320
+63,1.050000000,BASELINE,765.570621133,745,715,680,659,634.570621133,877.429378867,785,809.429378867,652,629.429378867,652,0.400973671319,-0.0153632623908,0.0598434152825,0.99999993884,0.000232241442585,-0.000261142876122,1.37564316814e-05,1793247600084019200
+64,1.066666667,BASELINE,765.843026323,745,715,680,658.843026323,634.843026323,877,785,809.156973677,652,629,652,0.400974126299,-0.0153631330236,0.0598435895098,0.99999993891,0.000232503673122,-0.000260631340754,1.39036411454e-05,1793247600100685824
+65,1.083333333,BASELINE,765.262614741,745,715,680,658.262614741,634.262614741,877,785,809.737385259,652,629,652,0.400974800902,-0.0153634301165,0.0598432714204,0.999999939178,0.000231325314039,-0.000260665500908,1.36344715865e-05,1793247600117352448
+66,1.100000000,BASELINE,765.315833435,744.684166565,715,680,658.315833435,634,877,785,810,652,629,652,0.400974946526,-0.015363425925,0.0598436472433,0.999999939295,0.000231363505632,-0.000260189751256,1.3496414587e-05,1793247600134019072
+67,1.116666667,BASELINE,765.892659102,744.107340898,715,680,658.892659102,634,877,785,810,652,629,652,0.400974655024,-0.015363172764,0.0598445964879,0.999999939286,0.000232407006541,-0.00025929263235,1.34667038228e-05,1793247600150685696
+68,1.133333333,BASELINE,765.533174467,744.466825533,715.466825533,680,659,634,877,784.533174467,809.533174467,652,629,652.466825533,0.400973525971,-0.0153639222081,0.0598435709481,0.999999938679,0.000232796286371,-0.000261261103151,1.38025585261e-05,1793247600167352320
+69,1.150000000,BASELINE,765.041605927,745,716,680,659,634,877,784.041605927,809,652,629.041605927,652.958394073,0.400972274014,-0.0153648679613,0.0598421677149,0.999999938007,0.000232874366757,-0.00026373322873,1.41778224386e-05,1793247600184018944
+70,1.166666667,BASELINE,765.632518805,745,716,680,659,634,877,784.632518805,809,652,629.632518805,652.367481195,0.400971927625,-0.0153653790561,0.0598417390016,0.999999938362,0.000230818623975,-0.000264204880775,1.39698995353e-05,1793247600200685568
+71,1.183333333,BASELINE,766,745,715.781163995,680,659,634,877,785,809,652,629.781163995,652,0.400972393816,-0.0153650862161,0.0598419769051,0.999999938572,0.000230724372918,-0.000263499756513,1.37807930485e-05,1793247600217352448
+72,1.200000000,BASELINE,766,745,715.202405277,680,659,634,877,785,809,652,629.202405277,652,0.400974196469,-0.0153634711331,0.0598433112031,0.999999938539,0.000233856215067,-0.000260859171476,1.3622634158e-05,1793247600234018816
+73,1.216666667,BASELINE,765.625368519,744.625368519,715,679.625368519,659,634,877,785,809,652,629,652,0.400974037611,-0.0153628712111,0.0598433571808,0.999999938468,0.00023401181551,-0.000260987886725,1.367770153e-05,1793247600250685696
+74,1.233333333,BASELINE,765.049257877,744.049257877,715,679.049257877,659,634,877,785,809,652,629,652,0.40097282384,-0.0153628172492,0.0598427102919,0.99999993838,0.000232566774295,-0.000262605949208,1.38474433338e-05,1793247600267352320
+75,1.250000000,BASELINE,765.535995071,744.535995071,715,679.535995071,658.464004929,634,877,785,809,652,629,652,0.400972318517,-0.0153632320501,0.0598418943642,0.999999937771,0.0002343545884,-0.000263333761005,1.38243107515e-05,1793247600284018944
+76,1.266666667,BASELINE,766,744.879321536,715,680,658,634,877,785,809,652,629,652,0.400972179382,-0.0153633013743,0.0598414198455,0.999999937377,0.000235825280958,-0.000263524185138,1.37158252556e-05,1793247600300685568
+77,1.283333333,BASELINE,766,744.300050713,715,680,658,634,877,785,809,652,629,652,0.400973180097,-0.0153618912989,0.0598423027791,0.999999937993,0.000234942271831,-0.000261988770426,1.33515150666e-05,1793247600317352192
+78,1.300000000,BASELINE,765.721471322,744.278528678,715,680,658,634,877,785,809,652,629.278528678,652,0.400974309365,-0.0153622050694,0.0598431969093,0.999999938774,0.000233719262032,-0.000260099920997,1.32540090272e-05,1793247600334018816
+79,1.316666667,BASELINE,765.143634983,744.856365017,715,680,658,634,877,785,809,652,629.856365017,652,0.400975576778,-0.0153643712895,0.0598441030715,0.999999939729,0.00023213088666,-0.000257831269776,1.34432114625e-05,1793247600350685440
+80,1.333333333,BASELINE,765.414647807,745,715,680,658.414647807,634,877.414647807,785,809,652,629.585352193,652,0.400975132659,-0.0153649313713,0.0598442021404,0.999999939705,0.000231692583036,-0.000258303483855,1.37141866288e-05,1793247600367352320
+81,1.350000000,BASELINE,765.966462273,745,715,680,658.966462273,634,877.966462273,785,809,652,629.033537727,652,0.400974122362,-0.0153649601383,0.0598440342208,0.999999939357,0.000231634726252,-0.000259682383702,1.40122124597e-05,1793247600384018944
+82,1.366666667,BASELINE,765.423754083,744.423754083,715.576245917,680,658.423754083,634,877.423754083,785,809,652,629,652,0.40097371378,-0.0153642876846,0.0598438477609,0.999999939337,0.00023126180257,-0.00026009882096,1.39122307931e-05,1793247600400685568
+83,1.383333333,BASELINE,765.17938652,744.17938652,715.82061348,679.82061348,658,634,877,785,809,652,629,652.17938652,0.400973370617,-0.0153639842895,0.0598436433481,0.999999939251,0.000231183293779,-0.00026050100888,1.38337576903e-05,1793247600417352192
+84,1.400000000,BASELINE,765.759318362,744.759318362,715.240681638,679.240681638,658,634,877,785,809,652,629,652.759318362,0.400973086586,-0.0153646062696,0.0598434015274,0.999999938973,0.000231807696286,-0.000261010444989,1.38608177839e-05,1793247600434018816
+85,1.416666667,BASELINE,765.662003801,745,715,679.337996199,658,634,877,785,809,652,629,652.662003801,0.400973469984,-0.0153647830811,0.0598431758347,0.999999938886,0.00023166501861,-0.000261474690256,1.37795711544e-05,1793247600450685696
+86,1.433333333,BASELINE,765.084215653,745,715,679.915784347,658,634,877,785,809,652,629,652.084215653,0.400974326891,-0.0153646440671,0.0598429615839,0.999999938934,0.000230978134626,-0.000261906874776,1.36214861442e-05,1793247600467352320
+87,1.450000000,BASELINE,765,745,715,679.510405818,658,634,877,785,809,651.510405818,629,652,0.400975682064,-0.0153643294612,0.059844146333,0.999999939342,0.000231989365006,-0.000259438869066,1.37582299027e-05,1793247600484018944
+88,1.466666667,BASELINE,765.064601868,745,715,679.064601868,658,634,877,785,809,651.064601868,629.064601868,652,0.400976782331,-0.0153640323592,0.0598453534101,0.999999939745,0.000232956312355,-0.000256997127113,1.39374521021e-05,1793247600500685568
+89,1.483333333,BASELINE,765.654880189,745,715,679.654880189,658,634,877,785,809,651.654880189,629.654880189,652,0.400975116593,-0.0153641214821,0.0598447997996,0.999999939686,0.000231205255302,-0.000258795728538,1.40529877106e-05,1793247600517352192
+90,1.500000000,BASELINE,765.759923145,745,715,680,658,634,877.240076855,785,809,652,629.759923145,652,0.400973129164,-0.0153642285658,0.0598437999908,0.999999939302,0.000230714344559,-0.000260708111924,1.40615575111e-05,1793247600534018816
+91,1.516666667,BASELINE,765.181880185,745,715,680,658,634,877.818119815,785,809,652,629.181880185,652,0.400970688879,-0.0153643609337,0.0598421720503,0.999999938465,0.000231997393973,-0.000262780670728,1.39195471164e-05,1793247600550685440
+92,1.533333333,BASELINE,765.394956622,745,715,680,658,634,877.605043378,785,809,652,629,652,0.400970726937,-0.0153641667437,0.0598421238858,0.999999938291,0.00023197454206,-0.000263459463834,1.39279358063e-05,1793247600567352320
+93,1.550000000,BASELINE,765.971239728,745,715,680,658,634,877.028760272,785,809,652,629,652,0.400971902814,-0.0153638226293,0.0598428010039,0.999999938424,0.000231352144681,-0.000263498372588,1.40053734269e-05,1793247600584018944
+94,1.566666667,BASELINE,765.442087848,744.442087848,715,679.442087848,658,634,877,785,809,652,629.557912152,652,0.400973039396,-0.0153640527822,0.0598434603624,0.999999938901,0.000231393182914,-0.000261653142593,1.38565852241e-05,1793247600600685568
+95,1.583333333,BASELINE,765,744,715,679.143170893,658.143170893,634,877,785,809,652,629.856829107,652,0.400973956979,-0.0153645727575,0.0598440644291,0.999999939381,0.000231126563838,-0.000260055201679,1.37957847728e-05,1793247600617352192
+96,1.600000000,BASELINE,765,744,715,679.72246112,658.72246112,634,877,785,809,652,629.27753888,652,0.400974213744,-0.0153658836869,0.0598445029107,0.99999993982,0.000229816621013,-0.000259512015797,1.40392056667e-05,1793247600634018816
+97,1.616666667,BASELINE,765.300952616,744,715,680,659,634,877,785,809,651.699047384,629,652,0.40097390259,-0.0153659248399,0.0598440330431,0.999999939647,0.000229914019864,-0.00026009302107,1.40589430835e-05,1793247600650685696
+98,1.633333333,BASELINE,765.878709437,744,715,680,659,634,877,785,809,651.121290563,629,652,0.400973069087,-0.0153647981031,0.059842727712,0.999999938907,0.000231305835501,-0.000261708012538,1.38729453505e-05,1793247600667352064
+99,1.650000000,BASELINE,766,744.453976576,715,679.546023424,659,634,877,785,809,651,629,652,0.400973471811,-0.01536428474,0.0598431658604,0.99999993914,0.000231236983721,-0.000260880557062,1.38036230825e-05,1793247600684018944
+100,1.666666667,BASELINE,766,744.970526535,715,679.029473465,658.970526535,634,877,785,809,651.029473465,629,652,0.400974158709,-0.0153640119423,0.0598440071186,0.999999939605,0.000230779649366,-0.000259501765665,1.37580444095e-05,1793247600700685312
+101,1.683333333,BASELINE,766,744.378002435,715,679.621997565,658.378002435,634,877,785,809,651.621997565,629,652,0.400973999091,-0.0153652212444,0.0598436990793,0.999999939588,0.000230315450685,-0.000259988678786,1.35737926048e-05,1793247600717352192
+102,1.700000000,BASELINE,766,744,715,679.791236747,658,634,877.208763253,785,809,652,629,652,0.40097388499,-0.0153655631473,0.0598435271289,0.999999939585,0.000229933117693,-0.00026034729039,1.3439547376e-05,1793247600734018816
+103,1.716666667,BASELINE,766,744,715,679.214617849,658,634,877.785382151,785,809,652,629,652,0.400973851096,-0.0153643766312,0.0598435949768,0.999999939606,0.000229695037897,-0.000260479825582,1.33934172966e-05,1793247600750685184
+104,1.733333333,BASELINE,766,744.359332462,715,679,658.359332462,634,877.640667538,785,809,652,629,652,0.400973046767,-0.0153640410182,0.0598430022,0.999999939131,0.000230244636933,-0.000261805419621,1.35214346094e-05,1793247600767352064
+105,1.750000000,BASELINE,766,744.931700717,715,679,658.931700717,634,877.068299283,785,809,652,629,652,0.400971785674,-0.0153642098762,0.0598420177615,0.999999938359,0.000231261223487,-0.000263838337007,1.37526978848e-05,1793247600784018688
+106,1.766666667,BASELINE,766,745,715,679.521721007,658.478278993,634,877.521721007,785,809,652,629,652,0.400971967721,-0.0153638275143,0.0598423778169,0.999999938222,0.000232691201215,-0.000263103674591,1.37108020011e-05,1793247600800685568
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877,785,809,652,630,652,0.400974413568,-0.0153659844194,0.0598442677948,0.999999939885,0.000229678659238,-0.000259361642875,1.44611007717e-05,1793247600842929408
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.575058285,715,679,658,634,877,785,809,652,629.424941715,652,0.400973876138,-0.0153645156853,0.0598443576287,0.999999939359,0.000231279798199,-0.000259982846475,1.41397177946e-05,1793247600859596032
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634.150109165,877,785,809.150109165,652,629.150109165,652.150109165,0.400973900218,-0.0153638042524,0.0598446878309,0.999999939101,0.000232428617239,-0.000259963195815,1.39636229672e-05,1793247600876262656
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634.725139217,877,785,809.725139217,652,629.725139217,652.725139217,0.400975513795,-0.0153652365469,0.0598456984551,0.999999939603,0.000232297033943,-0.000258129449806,1.41988018826e-05,1793247600892929280
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.691440386,745,715,679.308559614,658,634.691440386,877,785,809.691440386,651.691440386,629.691440386,652.691440386,0.400975683326,-0.0153650993757,0.0598453944015,0.999999939641,0.000232233315856,-0.000258042941982,1.41111616704e-05,1793247600909596160
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.100337103,745,715,679.899662897,658,634.100337103,877,785,809.100337103,651.100337103,629.100337103,652.100337103,0.400974530565,-0.0153635250669,0.0598438865162,0.999999939255,0.000232231740986,-0.000259556355529,1.37279205416e-05,1793247600926262784
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.481007244,745,715,679.518992756,658.481007244,634,877,785,809,651.481007244,629,652,0.400973464932,-0.0153654106211,0.05984355521,0.999999939687,0.000229561832554,-0.00026025077164,1.40240168465e-05,1793247600942929408
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.940101539,715,679,658.940101539,634.059898461,877,785,809,652,629,652,0.400972952357,-0.0153678166395,0.0598436848566,0.999999940242,0.000226785147881,-0.00026052962022,1.44478790069e-05,1793247600959596288
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.365147834,715,679,658.365147834,634.634852166,877,785,809,652,629,652,0.400977042243,-0.0153686155032,0.0598457096917,0.999999940492,0.000227781312354,-0.000258674902329,1.47760827097e-05,1793247600976262912
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.209149585,715,679,658,634.790850415,877,785,809,652,629,652,0.400987410385,-0.0153689214232,0.0598502776075,0.999999942194,0.000228306720809,-0.000251511848126,1.51400976446e-05,1793247600992929280
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.782304741,715,679,658,634.217695259,877,785,809,652,629,652,0.401008705252,-0.0153683694202,0.0598592715204,0.999999946246,0.000228012821675,-0.000235110124121,1.55664386899e-05,1793247601009595904
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.368208884,658.368208884,634,877,785,809.368208884,652,629.368208884,652,0.401050197159,-0.0153700603267,0.0598749868001,0.999999952414,0.000228488862163,-0.000206586290852,1.6917237356e-05,1793247601026262528
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.961920981,658.961920981,634,877,785,809.961920981,652,629.961920981,652,0.401104058398,-0.0153731248647,0.0598948184665,0.999999958943,0.000229436438723,-0.000170638477954,1.88342042574e-05,1793247601042929152
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.459790748,658.459790748,634,877,785,810,652,630,652,0.401170066745,-0.0153774605656,0.0599115595654,0.999999963091,0.000226442803294,-0.000148726779711,2.05341920875e-05,1793247601059596032
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,877,785,809.883108722,651.883108722,629.883108722,652,0.40124123931,-0.015381972295,0.0599271211049,0.999999966663,0.000223624390642,-0.000127211960891,2.19787187343e-05,1793247601076262656
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658,634,877,785,809.308576727,651.308576727,629.308576727,652,0.401329371094,-0.0153868321262,0.0599388937962,0.999999969629,0.000222549466204,-0.000103484898601,2.24813086373e-05,1793247601092929280
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.734816102,744.734816102,715,679.265183898,658.265183898,634,877,785,809,651,629,652,0.401421228703,-0.0153915724584,0.0599466891727,0.999999971298,0.000221569953429,-8.83223484863e-05,2.25808790658e-05,1793247601109596160
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.161950499,744.161950499,715,679.838049501,658.838049501,634,877,785,809,651,629,652,0.401517409223,-0.0153961741404,0.0599498698377,0.999999971946,0.000220701142961,-8.3096842518e-05,2.2212842957e-05,1793247601126262784
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.427530281,744.427530281,715,679.572469719,658.572469719,634,877,785,809.427530281,651,629,652,0.40162841055,-0.015401415224,0.0599479260888,0.999999972124,0.000219572794673,-8.42906447306e-05,2.08635871572e-05,1793247601142929408
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.977224437,715,679.022775563,658.022775563,634,877,785,810,651.022775563,629,652,0.401746448635,-0.0154069259499,0.059944114213,0.999999972134,0.000218335916283,-8.77216826228e-05,1.91358075292e-05,1793247601159596032
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.401026757,715,679.598973243,658.598973243,634,877,785,810,651.598973243,629,652,0.40189353764,-0.015412865324,0.0599439839932,0.999999972781,0.00021694739604,-8.40391573728e-05,1.76071811477e-05,1793247601176263680
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.173908696,715,680,658.826091304,634,877,785,810,652,629.173908696,652,0.402050717535,-0.0154203869634,0.0599437014706,0.999999973947,0.000213114021792,-8.01944993983e-05,1.60356618996e-05,1793247601192930816
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.745954396,715,680,658.254045604,634,877,785,810,652,629.745954396,652,0.402230998937,-0.015431530953,0.0599430702746,0.999999976267,0.000203683533466,-7.59786641861e-05,1.43659462916e-05,1793247601209597184
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.672123712,745,715,680,658,634,877,785,809.672123712,652,630,652,0.40242869541,-0.0154407853394,0.059942476496,0.999999977805,0.000197211906341,-7.3107403684e-05,1.235994737e-05,1793247601226263808
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.082311812,745,715,680,658,634,877,785,809.082311812,652,630,652,0.402640304549,-0.0154485301504,0.0599419126096,0.999999978762,0.000193104069529,-7.1310303975e-05,1.00852964042e-05,1793247601242930176
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.498309033,745,715,680,658.498309033,634,877,785,809,651.501690967,629.501690967,652,0.402896411518,-0.0154604148959,0.0599444270307,0.999999980969,0.000184870495638,-6.1803537583e-05,8.07880637359e-06,1793247601259596800
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.923308917,745,715,679.923308917,658.923308917,634,877,785,809.076691083,651,629,652,0.403161392355,-0.0154721412892,0.0599460936044,0.999999982831,0.000177151498905,-5.40312472585e-05,5.9372149268e-06,1793247601276263168
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+135,2.250000000,POSE1_TO_POSE2_PRESS,765.22482061,745,715,679.22482061,658.22482061,634,877.22482061,785,810,651.22482061,629,652,0.403726114432,-0.0154825870271,0.0599298086491,0.999999981587,0.000173979447598,-8.09782976252e-05,-5.88133309155e-07,1793247601309596672
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.801067996,745,715,679.801067996,658.801067996,634,877.801067996,785,810,651.801067996,629,652,0.404035902481,-0.0154831571711,0.0599172027459,0.999999980971,0.000166055998952,-0.000102324795157,-3.70247916757e-06,1793247601326263808
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+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.988607932,634,877.011392068,785,809.011392068,651.011392068,629,652,0.404721348779,-0.0154612450317,0.0598947981391,0.999999986297,8.27025275452e-05,-0.00014266031204,-1.46303961729e-05,1793247601359596288
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.437152355,659.437152355,634,877,785,809.562847645,651,629.562847645,652.562847645,0.405148089144,-0.0154679254856,0.0598980492279,0.99999998647,8.70281662453e-05,-0.000138479274112,-1.757142507e-05,1793247601376263168
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+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.713703644,659,634,878.427407287,785,809.286296356,651.713703644,629.286296356,653,0.406080313421,-0.0154873164615,0.0599370987517,0.999999994774,6.33141808832e-05,-7.75572553298e-05,-2.06705381813e-05,1793247601409596672
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.704697131,659,634,878.704697131,785,809.295302869,652,629.295302869,652.704697131,0.406587289168,-0.0154948316513,0.0599655455672,0.999999998277,4.54209599438e-05,-3.02886589433e-05,-2.15967864859e-05,1793247601426263552
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.118003525,659,634,878.118003525,785,809.881996475,652,629.881996475,652.118003525,0.407111591807,-0.0154986012913,0.0599930822256,0.999999999069,3.20234459146e-05,1.78925100429e-05,-2.27173032004e-05,1793247601442930432
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.464850649,659.464850649,634,877.535149351,785,809.535149351,652,629.535149351,652,0.407642883138,-0.0154997243545,0.059998819008,0.999999999276,2.13756504316e-05,1.78353549136e-05,-2.59581564561e-05,1793247601459597568
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.953868455,634,877.046131545,785,809.046131545,651.953868455,629,652,0.408178986707,-0.0155000303112,0.0599978247782,0.999999999489,1.05766777491e-05,4.0207697701e-06,-2.99144497181e-05,1793247601476264704
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.379532822,634,877.620467178,785,809.620467178,651.379532822,629,652,0.408750043666,-0.0154986099607,0.0599826052233,0.999999998906,-9.88013514434e-06,-2.82548231933e-05,-3.59500166984e-05,1793247601492931072
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,785,810,651.195045915,629.195045915,652,0.409342358694,-0.0154984823553,0.0599738883186,0.999999997735,-2.43656247446e-05,-4.71809635122e-05,-4.13593856678e-05,1793247601509597696
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,785,810,651.770098253,629.770098253,652,0.409976090617,-0.015500873395,0.059977840477,0.999999997788,-2.72172308903e-05,-4.00984682699e-05,-4.55487376969e-05,1793247601526263808
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,877.64510964,785,810,652,630,652,0.410632513239,-0.0155067319809,0.0599838884238,0.999999997272,-4.92064963042e-05,-2.49193111022e-05,-4.91237241851e-05,1793247601542930432
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,877.053829981,785,810,652,630,652,0.411304049908,-0.015514900268,0.0599913323562,0.9999999951,-8.39431853988e-05,-4.34704001461e-06,-5.2289487046e-05,1793247601559597312
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.475023958,715,679.475023958,659,634,877.524976042,785,810,652,629.475023958,652,0.411993175166,-0.0155152137134,0.0599831339168,0.999999999169,-1.04186262216e-05,-1.91852897329e-05,-3.44252136708e-05,1793247601576264192
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744,715,679.102082807,659,634,878,785,810,651.897917193,629.102082807,652.102082807,0.412682931739,-0.015512565442,0.0599673033757,0.999999996949,5.69044221575e-05,-4.96841888984e-05,-1.99062616774e-05,1793247601592931072
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744,715,679.677104963,659,634,878,785,810,651.322895037,629.677104963,652.677104963,0.41336745142,-0.0154998406605,0.0599233724967,0.999999989217,4.52607893661e-05,-0.00013630600538,-3.0644268292e-05,1793247601609597440
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.258008266,715,680,659,634,878,785,810.258008266,651.258008266,629.741991734,653,0.41410683458,-0.0154948938268,0.0599111726822,0.999999986021,3.2389156345e-05,-0.000159654094545,-3.76816826947e-05,1793247601626264064
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.846443536,715,680,659,634,878,785,810.846443536,651.846443536,629.153556464,653,0.414916480603,-0.0154999080831,0.0599396103217,0.999999993841,1.79448419793e-05,-0.000101968559098,-3.99798102488e-05,1793247601642930432
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659.428876307,634,878.428876307,785,810.571123693,652,629.428876307,653,0.415761792799,-0.0155091458582,0.0599818653978,0.999999998883,2.86226510024e-06,-2.80023640687e-05,-3.79671598881e-05,1793247601659597056
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.99086966,633.99086966,878.99086966,785,810,651.99086966,629.99086966,653,0.416619212649,-0.0155197129292,0.060028119685,0.99999999807,-1.21854424473e-05,5.01965279679e-05,-3.45119147464e-05,1793247601676263168
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.414295485,633.414295485,878.414295485,785,810,651.414295485,629.414295485,653,0.417446422943,-0.0155202096253,0.0600196983597,0.999999998707,-1.10594272642e-05,3.41754400993e-05,-3.60005424119e-05,1793247601692930048
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.839261084,715,680,659.160738916,633.160738916,878,785,810.160738916,651,629.160738916,653,0.418281071795,-0.0155210017474,0.0600063122027,0.99999999913,-1.26384268677e-05,1.10971861596e-05,-3.81664566099e-05,1793247601709596928
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.268157738,715,680,659.731842262,633.731842262,878,785,810.731842262,651,629.731842262,653,0.41913471114,-0.0155225480878,0.0599802508938,0.999999998442,-2.11232952266e-05,-2.99979229556e-05,-4.20614746877e-05,1793247601726263040
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.315289123,715,680,660,634,878,785,811,651.315289123,630,653,0.419972968361,-0.0155222675753,0.0599502455036,0.99999999588,-2.44514053612e-05,-7.4371819385e-05,-4.59388296241e-05,1793247601742929408
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.909662036,715,680,660,634,878,785,811,651.909662036,630,653,0.420797609774,-0.0155203699913,0.059916748941,0.999999991091,-2.32149185347e-05,-0.000121647990621,-4.9800549481e-05,1793247601759596032
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.509737388,744.509737388,715,680,660,633.509737388,878.490262612,785,811,652,630,653,0.421635229437,-0.0155180366519,0.0598874204073,0.999999981587,-1.97770267526e-05,-0.000183510591701,-5.25184409576e-05,1793247601776262656
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.068104417,744.068104417,715,680,660,633,879,785,811,652,630.068104417,653,0.422495775009,-0.0155165107078,0.0598697865557,0.999999972774,-1.721596707e-05,-0.000226288358276,-5.43038873172e-05,1793247601792929536
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.643781887,744.643781887,715,680,660,633,879,785,811,652,630.643781887,653,0.423509847844,-0.015521584244,0.0599337440673,0.999999992664,-2.41304006191e-05,-0.000107345217712,-5.06678412341e-05,1793247601809596160
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.781339937,745,715,680,660,633.218660063,879,785,811,652,630.781339937,653,0.424511794492,-0.0155270879597,0.059990848907,0.999999998385,-3.08276995518e-05,-7.62532198064e-06,-4.71398853068e-05,1793247601826262784
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.207759056,745,715,680,660,633.792240944,879,785,811,652,630.207759056,653,0.425494058527,-0.0155332899274,0.0600368307566,0.999999996497,-3.71725551754e-05,6.08921404244e-05,-4.37873774754e-05,1793247601842929408
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.376871681,745,715,680,660,634,879,785,811,651.623128319,630.376871681,653,0.426432426044,-0.0155368842658,0.0600412141299,0.999999995448,-4.00493888813e-05,7.43743943283e-05,-4.43572547609e-05,1793247601859596288
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.967777861,745,715,680,660,634,879,785,811,651.032222139,630.967777861,653,0.427345863613,-0.0155389976682,0.0600219727244,0.999999996448,-4.09566491365e-05,5.66008244995e-05,-4.71547492445e-05,1793247601876262912
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.451688926,745,715,680.548311074,660,633.451688926,879,785,811.548311074,651.548311074,630.451688926,653,0.428246727926,-0.0155392984639,0.0599952916333,0.999999997149,-5.35292135113e-05,1.6430065723e-05,-5.06612716939e-05,1793247601892929280
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.873152545,660,633,879,785,811.873152545,651.873152545,630,653,0.429138091145,-0.0155381989445,0.0599656691644,0.999999996167,-6.1164638495e-05,-3.17005945224e-05,-5.40454625226e-05,1793247601909595904
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.299542028,660,633,879,785,811.299542028,651.299542028,630,653,0.429998545055,-0.0155325356488,0.0599271982738,0.999999991844,-4.90415865045e-05,-0.000103316781847,-5.68547672218e-05,1793247601926262784
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.281241251,745,715,680.281241251,660,633,879.281241251,785,811.281241251,651.281241251,630,653,0.430926666334,-0.0155310509886,0.0599248584416,0.999999991855,-4.77147320088e-05,-0.00010346194265,-5.75154371861e-05,1793247601942929152
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.869863933,745,715,680.869863933,660,633,879.869863933,785,811.869863933,651.869863933,630,653,0.431928744322,-0.0155341333507,0.059962007899,0.999999996424,-5.81875364894e-05,-2.54931439286e-05,-5.58277657488e-05,1793247601959595776
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680.547114405,660,633,879.547114405,785,812,651.547114405,630.452885595,653,0.432893012109,-0.015537584725,0.0599942992918,0.999999996438,-6.02141328256e-05,2.4924024385e-05,-5.36315957269e-05,1793247601976262656
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680.033899593,660,633.033899593,879,785,812,651.033899593,630.966100407,653,0.433842022383,-0.0155409231447,0.0600218724385,0.999999994917,-5.99430165532e-05,6.24941311643e-05,-5.16465918782e-05,1793247601992929536
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.608250724,660,633.608250724,879,785,812,651.608250724,630.391749276,653,0.43471888225,-0.0155407909188,0.0599962073799,0.999999996394,-6.12605105565e-05,1.99224986918e-05,-5.53291872987e-05,1793247602009595904
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681.182352488,660,633.817647512,878.817647512,785,812.182352488,651.817647512,630.182352488,653,0.435587974511,-0.0155395979566,0.0599698220226,0.999999996018,-6.20618015728e-05,-2.55555887418e-05,-5.88097791252e-05,1793247602026262528
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681.755919374,660,633.244080626,878.244080626,785,812.755919374,651.244080626,630.755919374,653,0.436440402508,-0.0155361293178,0.0599418913496,0.999999993195,-6.17556441426e-05,-7.72691188527e-05,-6.18569983441e-05,1793247602042929152
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.660171156,660,633,878.339828844,785,813,651,631,653,0.437273550523,-0.0155328360373,0.0599159575491,0.999999988036,-6.06606421642e-05,-0.00012707120095,-6.40463507619e-05,1793247602059595776
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.068600023,660,633,878.931399977,785,813,651,631,653,0.43809241604,-0.0155296726609,0.0598915030163,0.999999980716,-5.89812709114e-05,-0.000175457295579,-6.5600202608e-05,1793247602076262656
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,813,651,631,653,0.438971581234,-0.0155355438813,0.0599086032378,0.999999984485,-6.84884977576e-05,-0.000148867852768,-6.4632613167e-05,1793247602092929280
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681.091474631,660.091474631,633,879,785,813,651,631,653,0.439856228191,-0.0155421701244,0.0599365462901,0.999999989469,-7.89208573643e-05,-0.00010420469747,-6.30407589502e-05,1793247602109595904
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681.665367614,660.665367614,633,879,785,813,651,631,653,0.44072807055,-0.0155465282228,0.0599929253364,0.999999994336,-8.64934809616e-05,-1.60912902892e-05,-5.99009506011e-05,1793247602126262528
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.510067339,661,633,879,785,813,651.24496633,631,653,0.441561618627,-0.0155486954772,0.0600193014132,0.999999994039,-8.82534799585e-05,2.71190629188e-05,-5.82965422741e-05,1793247602142929408
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680.334909807,661,633,879,785,813,651.832545096,631,653,0.442341607854,-0.0155477985943,0.060003715023,0.999999994888,-8.18838823448e-05,7.52753436259e-06,-5.88395610127e-05,1793247602159596032
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680.41615096,660.58384904,633,879,785,813,652,631,653,0.443091848061,-0.015547868992,0.0599823062647,0.999999994234,-8.56545610805e-05,-2.35988772479e-05,-6.03259951081e-05,1793247602176262656
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.998173334,660.001826666,633,879,785,813,652,631,653,0.443830230829,-0.0155483249328,0.0599585767981,0.999999991939,-9.34669984196e-05,-5.93229186288e-05,-6.21884601337e-05,1793247602192929280
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715.573253971,681,661.146507941,633.573253971,879.573253971,785,813.573253971,651.426746029,631,653,0.444548724453,-0.0155488959887,0.0599645819692,0.99999999262,-9.22663151336e-05,-4.84632893979e-05,-6.24311171609e-05,1793247602209595904
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715.851894745,681,661.70378949,633.851894745,879.851894745,785,814,651,631,653,0.445244930091,-0.0155487912365,0.0599647627486,0.999999992428,-9.22755007961e-05,-5.14693530468e-05,-6.30938533899e-05,1793247602226262784
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.277640364,681,660.555280729,633.277640364,879.277640364,785,814,651,631,653,0.445877185962,-0.0155467409121,0.0599479154132,0.999999988803,-9.5847539001e-05,-9.47937192081e-05,-6.49799738543e-05,1793247602242930176
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.303892543,633,879,784.696107457,814,651,631,653,0.446521014157,-0.0155443596705,0.0599367004982,0.999999986589,-9.66076115839e-05,-0.000113945368087,-6.71150365345e-05,1793247602259597312
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.892238353,633,879,784.107761647,814,651,631,653,0.447175674384,-0.0155416686797,0.0599307577122,0.999999986997,-9.47355931406e-05,-0.000110470567868,-6.94831171667e-05,1793247602276263680
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681.474968232,661,633,879,784.474968232,814,651.474968232,631,653,0.447827894314,-0.0155432436169,0.0599586850862,0.999999990652,-9.88606456198e-05,-6.47278971903e-05,-6.8788702048e-05,1793247602292930304
+195,3.250000000,POSE1_TO_POSE2_PRESS,766.055671841,745,715,681.944328159,661,633,879,784.944328159,814,651.944328159,631.055671841,653,0.448468790587,-0.0155455570716,0.0599901981505,0.999999992088,-0.000104757608824,-1.61016157992e-05,-6.77515943191e-05,1793247602309596928
+196,3.266666667,POSE1_TO_POSE2_PRESS,766.629240291,745,715,681.370759709,661,633,879,784.370759709,814,651.370759709,631.629240291,653,0.449009437001,-0.0155458422289,0.0599844165066,0.999999990571,-0.000114628527963,-2.88183918229e-05,-6.99147216749e-05,1793247602326264064
+197,3.283333333,POSE1_TO_POSE2_PRESS,766.797927632,745,715,681,661,633,879.202072368,784,814,651,631.797927632,653,0.449521224247,-0.0155463086577,0.0599666300479,0.999999988237,-0.000121481574282,-5.86117765021e-05,-7.30300658762e-05,1793247602342930944
+198,3.300000000,POSE1_TO_POSE2_PRESS,766.226441803,745,715,681,661,633,879.773558197,784,814,651,631.226441803,653,0.449980253281,-0.0155471064733,0.0599268972929,0.99999998227,-0.000122817571782,-0.000119623327711,-7.78861807071e-05,1793247602359597824
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.359629884,661,633,879.640370116,784,814.359629884,651,631,653,0.450438287277,-0.0155476523062,0.0598972684639,0.999999975103,-0.00013176626549,-0.000160449042825,-8.17727791967e-05,1793247602376264192
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.955273879,661,633,879.044726121,784,814.955273879,651,631,653,0.450895668304,-0.0155480327707,0.0598742705292,0.999999968093,-0.000145710939535,-0.0001880274162,-8.50231142683e-05,1793247602392930560
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.425724151,660,632,879.425724151,782,814,651.574275849,630,653,0.455649661652,-0.0155730934297,0.0598259629597,0.999999956278,-0.000138140611876,-0.000252983546243,-6.60272001918e-05,1793247603473686528
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879,782,814,652,630,653,0.455649856387,-0.015573460521,0.0598260620577,0.999999956278,-0.000138792648421,-0.000252669985954,-6.58707941504e-05,1793247603490353152
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.013524078,783,812.013524078,651,630.013524078,653,0.452236773391,-0.0154412409899,0.0597310982388,0.999999916057,-7.75084212265e-05,-0.000398583777116,-5.48664780788e-05,1793247603973686528
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632.13690119,879.72619762,784,813,651,630.86309881,653,0.451500101671,-0.0154436386728,0.0597692214804,0.999999936221,-7.6191229761e-05,-0.000345712613363,-4.72847943879e-05,1793247604007021568
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632.711328019,878.577343963,784,813,651,630.288671981,653,0.451078656507,-0.0154411483201,0.0597768327548,0.999999941728,-4.45267637448e-05,-0.000335615778705,-4.38578329859e-05,1793247604023687680
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..443dc8f32abc11a77e6e442295f26ef9eb69e60f
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58c47c09f4c295265158efb3c47221ebe5d0ec08
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbeaf464f16ae78da9fc5924a42589f93939d98e69875cdad4ec200cca13a69b
+size 25848117
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2f219a08ea74642b9b15a5e7359b7e21c08fa69
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+4,0.066666667,BASELINE,765,745,715,679.666895488,658.666895488,634,876.333104512,785,809,652,629.666895488,652,0.400972547168,-0.0153647569888,0.0598395692756,0.999999939107,0.000224903033505,-0.00026656388771,1.21743580737e-05,1793247606080796672
+5,0.083333333,BASELINE,765,745,715,679.09381035,658.09381035,634,876.90618965,785,809,652,629.09381035,652,0.400972060384,-0.0153646311646,0.0598394810852,0.999999939109,0.000225129681782,-0.00026637259638,1.2033094574e-05,1793247606097463040
+6,0.100000000,BASELINE,765,745,715,679.49453413,658.49453413,634,877,785,809,651.50546587,629,652,0.4009728205,-0.0153658457395,0.059840264962,0.999999939817,0.000223401945368,-0.000265149126349,1.23819590513e-05,1793247606114129920
+7,0.116666667,BASELINE,765.084161388,745,715,680,659,634,877,785,809,651.084161388,629.084161388,652,0.400973802344,-0.0153669475053,0.0598412312428,0.999999940498,0.000222013016872,-0.000263727288609,1.27443005079e-05,1793247606130796544
+8,0.133333333,BASELINE,765.663757707,745,715,680,659,634,877,785,809,651.663757707,629.663757707,652,0.40097465271,-0.0153658407451,0.0598422664617,0.999999940229,0.000224870461788,-0.000262327023996,1.26212361311e-05,1793247606147463168
+9,0.150000000,BASELINE,766,745,715,680,658.758708679,634,877,785,809,652,630,652.241291321,0.400974626443,-0.0153654931101,0.0598426005719,0.999999940147,0.000225575918569,-0.000262040739966,1.25061379766e-05,1793247606164129792
+10,0.166666667,BASELINE,766,745,715,680,658.184025155,634,877,785,809,652,630,652.815974845,0.400973388929,-0.0153661943583,0.0598419659603,0.999999940328,0.000223307973233,-0.00026329364296,1.24020467611e-05,1793247606180796416
+11,0.183333333,BASELINE,766,745,715,679.610416913,658.389583087,634,877,785,809.389583087,651.610416913,629.610416913,652.610416913,0.400972634693,-0.0153653624245,0.0598414232806,0.999999939862,0.000224277047517,-0.000264237620774,1.23960436727e-05,1793247606197463808
+12,0.200000000,BASELINE,766,745,715,679.037315148,658.962684852,634,877,785,809.962684852,651.037315148,629.037315148,652.037315148,0.400972108111,-0.0153638082635,0.0598409239065,0.999999939088,0.000226770965928,-0.000265036075078,1.24362463884e-05,1793247606214131456
+13,0.216666667,BASELINE,765.448363518,745,715,679.551636482,659,634,877,785,809.448363518,651.551636482,629,652,0.400972501821,-0.0153654739895,0.0598414014951,0.999999939873,0.000224409584129,-0.000264083346348,1.24508150914e-05,1793247606230798080
+14,0.233333333,BASELINE,765,744.860125635,715,679.860125635,658.860125635,634,877,785,809,651.860125635,629,652,0.400972848574,-0.0153667345531,0.0598417238009,0.999999940333,0.000223058370569,-0.000263480073007,1.25308162969e-05,1793247606247464704
+15,0.250000000,BASELINE,765,744.277639196,715,679.277639196,658.277639196,634,877,785,809,651.277639196,629,652,0.400972843923,-0.0153660034301,0.0598413394308,0.99999993944,0.000225973713228,-0.000264368531408,1.28235184441e-05,1793247606264131328
+16,0.266666667,BASELINE,765.299731459,744.299731459,715,679.299731459,658.299731459,634,877,785,809,651.299731459,629,652,0.400972287028,-0.0153651670873,0.0598409272206,0.99999993896,0.000227165822706,-0.000265167802541,1.26923817489e-05,1793247606280797952
+17,0.283333333,BASELINE,765.872442888,744.872442888,715,679.872442888,658.872442888,634,877,785,809,651.872442888,629,652,0.400971227179,-0.0153642349156,0.0598404896552,0.999999938862,0.000226788500016,-0.000265885846453,1.21752344563e-05,1793247606297464832
+18,0.300000000,BASELINE,766,745,715.446388013,679.553611987,659,634,877,785,809,652,629,652,0.400971204621,-0.0153642212437,0.0598402491564,0.999999939103,0.000225479483212,-0.000266100514346,1.1982411519e-05,1793247606314131456
+19,0.316666667,BASELINE,766,745,715.978560684,679,658.978560684,634,876.978560684,785,809.021439316,652,629,652.021439316,0.400971492547,-0.0153644912612,0.0598401057659,0.999999939444,0.000223939528162,-0.000266123130785,1.18896568367e-05,1793247606330798080
+20,0.333333333,BASELINE,766,745,715.383366402,679,658.383366402,634,876.383366402,785,809.616633598,652,629,652.616633598,0.40097213513,-0.0153653098189,0.0598410499639,0.999999939905,0.000223363929551,-0.000264866234039,1.19878333147e-05,1793247606347464704
+21,0.350000000,BASELINE,766,744.795877443,715,679.204122557,658,634,876.204122557,785,809.795877443,652,629,652.795877443,0.40097283694,-0.0153663713819,0.0598419352509,0.999999940336,0.000223210075653,-0.000263356503495,1.22132199471e-05,1793247606364131328
+22,0.366666667,BASELINE,766,744.22233365,715,679.77766635,658,634,876.77766635,785,809.22233365,652,629,652.22233365,0.400973645941,-0.015367872736,0.0598427139205,0.99999994071,0.000223819495879,-0.000261389194189,1.2668831651e-05,1793247606380798208
+23,0.383333333,BASELINE,766,744.353909059,715,680,658.353909059,634,877,785,809,652,629,652,0.400973444402,-0.0153675873119,0.0598423520731,0.9999999407,0.000223090563997,-0.000262054726998,1.25750293003e-05,1793247606397464576
+24,0.400000000,BASELINE,766,744.931860374,715,680,658.931860374,634,877,785,809,652,629,652,0.40097260314,-0.0153661707671,0.0598412682212,0.999999940442,0.000221514387892,-0.000264386981257,1.21334202302e-05,1793247606414130688
+25,0.416666667,BASELINE,766,745,715,679.480051224,658.480051224,634,876.480051224,785,809,652,629,652.519948776,0.400973498729,-0.0153669989028,0.0598421327285,0.999999940836,0.000221497421128,-0.000262892535665,1.24031473277e-05,1793247606430797568
+26,0.433333333,BASELINE,765.892672732,744.892672732,714.892672732,679.107327268,658,634,876.107327268,785,809.107327268,651.892672732,629,652.892672732,0.400974314112,-0.0153678842359,0.0598429115331,0.999999941142,0.000221771017705,-0.000261481878498,1.26724936967e-05,1793247606447464192
+27,0.450000000,BASELINE,765.314355124,744.314355124,714.314355124,679.685644876,658,634,876.685644876,785,809.685644876,651.314355124,629,652.314355124,0.400973758805,-0.0153677039946,0.0598421714677,0.999999940688,0.000222405183408,-0.000262683397005,1.25229478184e-05,1793247606464131072
+28,0.466666667,BASELINE,765.262757024,744.262757024,714.262757024,680,658,634,877.262757024,785,810,651.262757024,629,652.262757024,0.400973993574,-0.015367086014,0.0598420325379,0.999999940452,0.00022320038434,-0.000262911417646,1.24604306476e-05,1793247606480797696
+29,0.483333333,BASELINE,765.838433545,744.838433545,714.838433545,680,658,634,877.838433545,785,810,651.838433545,629,652.838433545,0.40097516925,-0.0153659467262,0.0598426095052,0.999999940475,0.00022418736341,-0.000261980091611,1.25015566883e-05,1793247606497463552
+30,0.500000000,BASELINE,766,744.587018558,715,679.587018558,658,634,877.174037117,785,809.587018558,651.587018558,629,652.587018558,0.400974802614,-0.0153657953765,0.0598425710714,0.999999940464,0.000224421450846,-0.000261827249677,1.24206950326e-05,1793247606514129664
+31,0.516666667,BASELINE,766,744.012911012,715,679.012911012,658,634,876.025822025,785,809.012911012,651.012911012,629,652.012911012,0.400973834238,-0.0153660294743,0.0598422925367,0.999999940439,0.000224361795044,-0.000261978135967,1.22922394644e-05,1793247606530796288
+32,0.533333333,BASELINE,765.419351495,744.580648505,715.580648505,679.580648505,658,634,876.580648505,785,809,651.580648505,629.580648505,652,0.400974635723,-0.0153659623224,0.0598428146649,0.999999940799,0.000223393419971,-0.000261428243308,1.2354496302e-05,1793247606547463168
+33,0.550000000,BASELINE,765,744.830227148,715.830227148,679.830227148,658,634,876.830227148,785,809.169772852,652,629.830227148,652,0.400975092348,-0.0153662101176,0.0598432073476,0.99999994111,0.000222412091155,-0.000261073138196,1.24247702353e-05,1793247606564129792
+34,0.566666667,BASELINE,765,744.252826314,715.252826314,679.252826314,658,634,876.252826314,785,809.747173686,652,629.252826314,652,0.400974623199,-0.0153672307475,0.0598432450014,0.999999941283,0.000221449856487,-0.000261224431837,1.2503758717e-05,1793247606580796416
+35,0.583333333,BASELINE,765.322513183,744.322513183,715,679,658,634,876.322513183,785,809.677486817,652,629,652.322513183,0.400974321862,-0.0153668281718,0.0598430441821,0.999999941026,0.00022237335954,-0.000261424632254,1.24858078156e-05,1793247606597463040
+36,0.600000000,BASELINE,765.896247068,744.896247068,715,679,658,634,876.896247068,785,809.103752932,652,629,652.896247068,0.400974151244,-0.0153653169943,0.0598426576048,0.99999994043,0.00022476575238,-0.000261662928477,1.23923462733e-05,1793247606614129664
+37,0.616666667,BASELINE,766,744.519311665,715,679,658,634.480688335,877.480688335,785,809,651.519311665,629.480688335,652.519311665,0.400974228654,-0.0153656329665,0.0598426903723,0.999999940463,0.000224716306183,-0.000261575534539,1.24133291911e-05,1793247606630796544
+38,0.633333333,BASELINE,766,744.067025667,715,679,658,634.932974333,878,785,809,651.067025667,630,652,0.400974410844,-0.0153662389475,0.0598428310651,0.999999940666,0.000224017873317,-0.000261400174281,1.24193888157e-05,1793247606647463168
+39,0.650000000,BASELINE,766,744.649764728,715,679,658,634.350235272,878,785,809,651.649764728,630,652,0.400974977935,-0.015365972765,0.0598430898705,0.999999941092,0.000222473635394,-0.000261101190129,1.21162309659e-05,1793247606664129792
+40,0.666666667,BASELINE,766,745,715,679,658,634,877.770614824,785,809.229385176,652,629.770614824,652,0.400974575181,-0.0153660633945,0.0598428225285,0.99999994103,0.000222034444933,-0.000261718545925,1.20412011581e-05,1793247606680796672
+41,0.683333333,BASELINE,766,745,715,679,658,634,877.195692178,785,809.804307822,652,629.195692178,652,0.400972711487,-0.0153666915126,0.059841762617,0.999999940229,0.000223259857787,-0.000263716242842,1.23098151376e-05,1793247606697463296
+42,0.700000000,BASELINE,765.6217981,744.6217981,715,679,658.3782019,634,877.3782019,785,810,652,629,652,0.400972675634,-0.0153663177872,0.0598415983697,0.999999939757,0.000225511128364,-0.00026358372595,1.24524905835e-05,1793247606714129920
+43,0.716666667,BASELINE,765.048434806,744.048434806,715,679,658.951565194,634,877.951565194,785,810,652,629,652,0.400973582992,-0.0153654270863,0.059841896307,0.999999939449,0.000228291766476,-0.000262351966773,1.25301786697e-05,1793247606730796544
+44,0.733333333,BASELINE,765.540343235,744.540343235,715,679,659,634,877.459656765,785,810,651.459656765,629,652,0.400973680609,-0.0153656871865,0.0598429501348,0.999999939942,0.000227322458911,-0.000261301333241,1.27276459876e-05,1793247606747463168
+45,0.750000000,BASELINE,766,745,715,679.128324477,658.871675523,634,876.871675523,785,809.871675523,651.128324477,629,652,0.400973911621,-0.0153663085143,0.0598438173544,0.999999940524,0.000225840098743,-0.000260350197821,1.28669817708e-05,1793247606764129792
+46,0.766666667,BASELINE,766,745,715,679.708491886,658.291508114,634,876.291508114,785,809.291508114,651.708491886,629,652,0.400974875409,-0.0153678278765,0.0598437819279,0.999999941163,0.00022376954813,-0.000259690559357,1.2762715741e-05,1793247606780796416
+47,0.783333333,BASELINE,766,745,715,679.713238214,658.286761786,634,876.573523571,785.286761786,809.286761786,652,629,652,0.400975696509,-0.0153684383326,0.0598437989431,0.99999994156,0.000222284939055,-0.000259439996229,1.2628835788e-05,1793247606797463040
+48,0.800000000,BASELINE,766,745,715,679.136884481,658.863115519,634,877.726231037,785.863115519,809.863115519,652,629,652,0.400976373513,-0.0153681309126,0.0598438689178,0.999999941718,0.000221392054152,-0.000259602545679,1.24650496281e-05,1793247606814129920
+49,0.816666667,BASELINE,765.554038094,745,715,679.445961906,658.554038094,634,877.554038094,785.554038094,809.554038094,652,629,652,0.400976156873,-0.0153679319702,0.0598436886548,0.999999941493,0.00022226206075,-0.000259723790002,1.25485481909e-05,1793247606830796544
+50,0.833333333,BASELINE,765.030549163,744.969450837,715,680,658.030549163,634,877,785,809,652,629,652,0.400975701189,-0.0153678624346,0.0598435203504,0.999999941227,0.000223417225551,-0.00025974713531,1.27045307016e-05,1793247606847463168
+51,0.850000000,BASELINE,765.610079474,744.389920526,715,680,658.610079474,634,877,785,809,652,629,652,0.400975951838,-0.0153695112059,0.0598449676192,0.999999942411,0.000219829251415,-0.000258242394742,1.27789365277e-05,1793247606864129792
+52,0.866666667,BASELINE,766,744,715.18936714,680,659,634,877,785,809,652,629,652.18936714,0.400975864543,-0.0153699299612,0.0598455289536,0.999999942885,0.000218207803984,-0.000257786260095,1.26746200733e-05,1793247606880796672
+53,0.883333333,BASELINE,766,744,715.76815579,680,659,634,877,785,809,652,629,652.76815579,0.400975082286,-0.0153678192665,0.05984426842,0.99999994192,0.000220630394173,-0.000259486517086,1.22027725833e-05,1793247606897463296
+54,0.900000000,BASELINE,766,744.343781791,715.656218209,679.656218209,658.656218209,634,877,785,809.343781791,651.656218209,629,652.656218209,0.400974495593,-0.0153668404122,0.0598438352853,0.999999941592,0.000221050654655,-0.00026039990334,1.2012687372e-05,1793247606914129920
+55,0.916666667,BASELINE,766,744.917294342,715.082705658,679.082705658,658.082705658,634,877,785,809.917294342,651.082705658,629,652.082705658,0.400974039583,-0.0153666179056,0.0598439550565,0.999999941694,0.000220132866503,-0.000260787466413,1.20108886561e-05,1793247606930796544
+56,0.933333333,BASELINE,765.495701461,744.495701461,715,679,658,634,876.495701461,785,810,651.504298539,629,652,0.400974459762,-0.0153660686528,0.0598432449565,0.999999941189,0.000222051109446,-0.000261103858966,1.17978530461e-05,1793247606947463168
+57,0.950000000,BASELINE,765,744.091996362,715,679.091996362,658.183992725,634,876.091996362,785,809.908003638,651.908003638,629,652,0.400974903649,-0.0153657836122,0.0598426089692,0.999999940736,0.000223901052019,-0.000261267593119,1.1681025612e-05,1793247606964130048
+58,0.966666667,BASELINE,765,744.671325049,715,679.671325049,659.342650097,634,876.671325049,785,809.328674951,651.328674951,629,652,0.400974691004,-0.0153671898517,0.0598431063602,0.999999941113,0.0002228576151,-0.000260686179898,1.22624015465e-05,1793247606980796672
+59,0.983333333,BASELINE,765.250236354,744.749763646,715.250236354,679.749763646,659.749763646,634,877.250236354,785,809.250236354,651.250236354,629,652.250236354,0.400974530559,-0.0153675759559,0.0598434965739,0.99999994127,0.000223068751885,-0.000259891990438,1.25084055012e-05,1793247606997463296
+60,1.000000000,BASELINE,765.828600441,744.171399559,715.828600441,679.171399559,659.171399559,634,877.828600441,785,809.828600441,651.828600441,629,652.828600441,0.400974438561,-0.0153666243862,0.059843746249,0.999999941135,0.000224924974933,-0.000258818793538,1.23146459073e-05,1793247607014129920
+61,1.016666667,BASELINE,765.597169609,744,715.597169609,679,658.597169609,634,878,785,810,651.597169609,629,652.597169609,0.400974543724,-0.0153666856162,0.0598439148339,0.99999994117,0.000224375922326,-0.000259165952853,1.22141479496e-05,1793247607030796544
+62,1.033333333,BASELINE,765.02468085,744,715.02468085,679,658.02468085,634,878,785,810,651.02468085,629,652.02468085,0.400974731924,-0.0153671734028,0.0598440492663,0.999999941274,0.000222813849862,-0.000260111317636,1.21529286111e-05,1793247607047463424
+63,1.050000000,BASELINE,765.565226096,744.565226096,715,679,658.565226096,634,877.434773904,785,809.434773904,651,629.565226096,652,0.400974954153,-0.0153684107548,0.0598435818762,0.999999941809,0.000220287036864,-0.000260205329506,1.2203273193e-05,1793247607064129792
+64,1.066666667,BASELINE,766,745,715,679,659,634,877,785,809,651.152753112,629.847246888,652,0.40097467053,-0.015368983862,0.0598432115019,0.999999942076,0.000218767137773,-0.000260463343247,1.21522228388e-05,1793247607080796672
+65,1.083333333,BASELINE,766,745,715,679,659,634,877,785,809,651.731455426,629.268544574,652,0.400972972075,-0.0153676105659,0.0598431872629,0.999999941556,0.000220176201554,-0.000261285630134,1.18044186181e-05,1793247607097463296
+66,1.100000000,BASELINE,766,744.693131001,715,679.306868999,658.693131001,634,876.693131001,785,809.306868999,652,629,652,0.400972861114,-0.015367471261,0.0598432625438,0.999999941416,0.000220742202661,-0.000261341477212,1.19098799554e-05,1793247607114129920
+67,1.116666667,BASELINE,766,744.120564955,715,679.879435045,658.120564955,634,876.120564955,785,809.879435045,652,629,652,0.400974124655,-0.0153684003855,0.0598434239923,0.999999941605,0.00022057825292,-0.000260733716014,1.24077932053e-05,1793247607130796544
+68,1.133333333,BASELINE,766,744.465345779,715,680,658,634,876.465345779,785,810,652,629,652,0.400974363442,-0.0153680682918,0.0598435298265,0.999999941402,0.000221134641303,-0.000261035917333,1.24619978075e-05,1793247607147463424
+69,1.150000000,BASELINE,765.94607535,745,715,679.94607535,658.05392465,634,877,785,810,652,629,652,0.40097439044,-0.0153675796999,0.0598436687633,0.999999941167,0.000221808907004,-0.000261366115901,1.24223002782e-05,1793247607164130304
+70,1.166666667,BASELINE,765.366191006,745,715,679.366191006,658.633808994,634,877,785,810,652,629,652,0.400975017764,-0.0153688459208,0.059844275257,0.999999941635,0.000221758842395,-0.000259601995817,1.26210874953e-05,1793247607180797184
+71,1.183333333,BASELINE,765,745,715,679.212260971,658.787739029,634,877,785,810,652,629,652,0.400975310169,-0.0153691643169,0.0598445082563,0.999999941799,0.000221997901538,-0.000258763978365,1.26738128725e-05,1793247607197463808
+72,1.200000000,BASELINE,765,745,715,679.788258498,658.211741502,634,877,785,810,652,629,652,0.400975028646,-0.0153678584935,0.0598441012247,0.999999941444,0.00022273241152,-0.000259512956955,1.24762424774e-05,1793247607214130432
+73,1.216666667,BASELINE,765.364915249,745,715,679.635084751,658.364915249,634,877,785,809.635084751,652,629,652,0.40097442621,-0.0153665155645,0.0598434922718,0.999999941225,0.000222801028615,-0.000260313460348,1.20854995566e-05,1793247607230796800
+74,1.233333333,BASELINE,765.941955171,745,715,679.058044829,658.941955171,634,877,785,809.058044829,652,629,652,0.400973637228,-0.015365151066,0.0598427659423,0.999999941086,0.000222482563153,-0.000261143914982,1.15824657555e-05,1793247607247463424
+75,1.250000000,BASELINE,766,745,715,679,658.470525889,634,877,785,809.529474111,652,629,652,0.400974412031,-0.0153661858118,0.059843255221,0.999999941401,0.00022241335439,-0.000259979517901,1.19065695743e-05,1793247607264129792
+76,1.266666667,BASELINE,765.883669629,745,715,679.116330371,658,634,877,785,809.883669629,651.883669629,629.116330371,652,0.400975060331,-0.0153672299024,0.059843781417,0.999999941661,0.000222367316654,-0.00025899865132,1.22482132197e-05,1793247607280796416
+77,1.283333333,BASELINE,765.304118898,745,715,679.695881102,658,634,877,785,809.304118898,651.304118898,629.695881102,652,0.400974508486,-0.0153672427167,0.0598439132522,0.99999994151,0.00022230253976,-0.000259636985527,1.22913392589e-05,1793247607297463040
+78,1.300000000,BASELINE,765.273532267,745,715,680,658,634,877,785,809,651.273532267,630,652,0.400973684719,-0.0153673643486,0.0598434557894,0.999999940914,0.000223291667483,-0.000261074939748,1.2367305888e-05,1793247607314129920
+79,1.316666667,BASELINE,765.849085985,745,715,680,658,634,877,785,809,651.849085985,630,652,0.400972560709,-0.0153676061318,0.0598423476514,0.999999939821,0.000225444467063,-0.000263395796696,1.24795335471e-05,1793247607330796544
+80,1.333333333,BASELINE,766,745,715,680,658,634,877.432724084,785,809.432724084,652,629.567275916,652,0.400972965904,-0.0153669544153,0.0598424116571,0.999999939939,0.000225716345574,-0.00026272541042,1.22658465625e-05,1793247607347463424
+81,1.350000000,BASELINE,766,745,715,679.980996569,658,634.019003431,877.980996569,785,809.980996569,652,629,652,0.400973945552,-0.0153660378922,0.0598429249357,0.999999940497,0.000225293053835,-0.000260970500266,1.1946926816e-05,1793247607364130048
+82,1.366666667,BASELINE,766,745,715,679.401557227,658,634.598442773,877.401557227,785,809.401557227,652,629,652,0.400975838956,-0.0153666766503,0.0598444026098,0.99999994139,0.000224082230214,-0.000258582807771,1.1940469654e-05,1793247607380796672
+83,1.383333333,BASELINE,766,745,715,679,658.177703989,635,877.177703989,785,809,652,629,652,0.400976438885,-0.0153671801015,0.0598449233568,0.999999941828,0.000222986556263,-0.000257830135968,1.20006656099e-05,1793247607397463040
+84,1.400000000,BASELINE,766,745,715,679,658.756563213,635,877.756563213,785,809,652,629,652,0.400974118878,-0.0153673781062,0.0598432839031,0.99999994125,0.000222150824995,-0.000260768416894,1.22113266566e-05,1793247607414129664
+85,1.416666667,BASELINE,766,744.667922186,715,679.332077814,658.667922186,634.667922186,877.667922186,785,809.332077814,652,629,652,0.400974185296,-0.0153681288367,0.059843246167,0.999999941298,0.000222062216464,-0.000260650271327,1.24406621304e-05,1793247607430796544
+86,1.433333333,BASELINE,766,744.094835018,715,679.905164982,658.094835018,634.094835018,877.094835018,785,809.905164982,652,629,652,0.40097598369,-0.0153692807146,0.0598443708962,0.9999999418,0.000222515841039,-0.000258313888342,1.26835507751e-05,1793247607447463424
+87,1.450000000,BASELINE,766,744.491820142,715,680,658,634,877,785,809.508179858,651.508179858,629.491820142,652,0.400977025132,-0.0153688789268,0.0598451908324,0.999999942147,0.000222348014721,-0.000257123507167,1.245230436e-05,1793247607464129792
+88,1.466666667,BASELINE,766,745,715,680,658.079770412,634,877,785.079770412,809.079770412,651,629.920229588,652,0.400977694303,-0.015368303552,0.0598457530113,0.999999942422,0.000221982875933,-0.00025637943748,1.22113115411e-05,1793247607480796416
+89,1.483333333,BASELINE,766,745,715,680,658.658984343,634,877,785.658984343,809.658984343,651,629.341015657,652,0.400976972446,-0.0153685702654,0.0598450797777,0.999999942441,0.000221153909746,-0.000257006936653,1.24979480917e-05,1793247607497463296
+90,1.500000000,BASELINE,766,745,715.237409424,679.762590576,659,634,877.237409424,785.762590576,809.762590576,651.237409424,629,652,0.400975925812,-0.015367674354,0.0598440872781,0.999999941787,0.000222527520752,-0.000258362454888,1.24719249559e-05,1793247607514129920
+91,1.516666667,BASELINE,766,745,715.814705099,679.185294901,659,634,877.814705099,785.185294901,809.185294901,651.814705099,629,652,0.400974414211,-0.0153651139755,0.0598426377026,0.999999940153,0.00022705444264,-0.000260760238642,1.19982838076e-05,1793247607530796544
+92,1.533333333,BASELINE,765.611276921,744.611276921,715.611276921,679,658.611276921,634,877.611276921,785,809,651.611276921,629,652,0.400973981025,-0.0153653992543,0.0598427130018,0.999999940123,0.000226922046056,-0.000260993438181,1.19902342757e-05,1793247607547463424
+93,1.550000000,BASELINE,765.038808225,744.038808225,715.038808225,679,658.038808225,634,877.038808225,785,809,651.038808225,629,652,0.400974057596,-0.0153670296473,0.0598435090943,0.999999940853,0.000224587235367,-0.000260203460036,1.22022653289e-05,1793247607564130048
+94,1.566666667,BASELINE,765,744,715,679.551463545,658,634,877.551463545,785,809.551463545,651,629,652,0.400973314236,-0.0153682078142,0.059843536106,0.999999940858,0.000224009629494,-0.000260665525266,1.25083313283e-05,1793247607580796672
+95,1.583333333,BASELINE,765.140007499,744.140007499,715,680,658,634,877.859992501,785,809.859992501,651.140007499,629,652,0.400972776669,-0.0153687920952,0.0598434642511,0.999999940856,0.000223628992867,-0.000260994776947,1.26757767828e-05,1793247607597463040
+96,1.600000000,BASELINE,765.719073251,744.719073251,715,680,658,634,877.280926749,785,809.280926749,651.719073251,629,652,0.400973071447,-0.0153676171023,0.0598432577427,0.999999940993,0.000223465314167,-0.000260622002295,1.23870688529e-05,1793247607614129664
+97,1.616666667,BASELINE,765.703528784,745,715,679.703528784,658,634,877,785,809,652,629,652,0.40097405144,-0.0153673481487,0.0598438464521,0.999999941428,0.000222761544642,-0.000259556080071,1.2296550257e-05,1793247607630796544
+98,1.633333333,BASELINE,765.127702356,745,715,679.127702356,658,634,877,785,809,652,629,652,0.400975677088,-0.0153679329264,0.0598451844695,0.999999942141,0.000221548865054,-0.000257837027389,1.23927790608e-05,1793247607647463168
+99,1.650000000,BASELINE,765,745,715,679,658.456016635,634,877,785,809.456016635,652,629.456016635,652,0.40097617092,-0.0153677799286,0.0598452666064,0.999999941899,0.000223587586395,-0.000257016547564,1.24057991304e-05,1793247607664129792
+100,1.666666667,BASELINE,765.041531719,745,715,679.041531719,658.958468281,634,877,785,810,652,629.958468281,652,0.400976306751,-0.01536754287,0.0598450025328,0.999999941434,0.000226208883535,-0.000256531441192,1.24058553691e-05,1793247607680796672
+101,1.683333333,BASELINE,765.62117676,745,715,679.62117676,658.37882324,634,877,785,810,652,629.37882324,652,0.40097598307,-0.0153689407336,0.0598448897815,0.999999941706,0.000224373352872,-0.00025707388084,1.25451731924e-05,1793247607697463296
+102,1.700000000,BASELINE,766,745,715,679.799787085,658,634,877,785,809.799787085,651.799787085,629,652,0.400975387055,-0.0153694731907,0.0598445488284,0.9999999418,0.000222819812818,-0.000258060789053,1.24490910724e-05,1793247607714129920
+103,1.716666667,BASELINE,766,745,715,679.221899576,658,634,877,785,809.221899576,651.221899576,629,652,0.400974277322,-0.0153683731751,0.0598437774032,0.999999941561,0.00022179821013,-0.000259886127061,1.1908958769e-05,1793247607730796544
+104,1.733333333,BASELINE,766,744.64644174,715,679,658,634,876.64644174,785,809,651.35355826,629,652,0.400972863946,-0.0153682852401,0.0598428395774,0.999999941192,0.000221391532488,-0.000261641744812,1.20440646411e-05,1793247607747463168
+105,1.750000000,BASELINE,766,744.072498347,715,679,658,634,876.072498347,785,809,651.927501653,629,652,0.400971261299,-0.01536882817,0.0598417980281,0.999999940741,0.000221368158864,-0.000263353903686,1.26000698474e-05,1793247607764130048
+106,1.766666667,BASELINE,766,744.515043887,715,679.515043887,658.515043887,634.515043887,876.515043887,785,809,652,629,652,0.400973063725,-0.0153680531099,0.0598428394662,0.999999941334,0.000221297837828,-0.000261163336831,1.23359091311e-05,1793247607780796416
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878,785,809,652,629,652,0.400974127372,-0.0153691622182,0.059843596828,0.999999941867,0.000220455644753,-0.000259831628384,1.23303258736e-05,1793247607823162624
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634.552880253,877.447119747,785,809,652,629,652.552880253,0.40097500137,-0.0153684920705,0.0598445693248,0.999999941734,0.000221933952661,-0.000259083717637,1.23911633503e-05,1793247607839830016
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634.886001964,876.886001964,785,809,652,629,652.886001964,0.400975597779,-0.0153681403148,0.0598452438067,0.999999941709,0.000222638091938,-0.000258574943394,1.24139046336e-05,1793247607856497152
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634.290058494,876.290058494,785,809,652,629,652.290058494,0.400975020637,-0.0153691346138,0.0598446583817,0.999999942149,0.000220069306552,-0.000259077157799,1.22755880171e-05,1793247607873163776
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.694398805,745,715,680,658.694398805,634,876,785,809,652,629,652,0.400973771861,-0.0153690397709,0.0598438485191,0.999999941901,0.000219795557898,-0.000260268310387,1.21445053356e-05,1793247607889830400
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.09900825,745,715,680,658.09900825,634,876,785,809,652,629,652,0.400971886202,-0.0153679121384,0.0598428258314,0.999999941001,0.000221698100711,-0.000262112755399,1.20202823131e-05,1793247607906497024
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.479492764,745,715,680,658,634.479492764,876.958985528,785,809,652,629.479492764,652,0.400971475768,-0.0153681371763,0.059842504585,0.999999940789,0.000221835762468,-0.000262814696621,1.18277145438e-05,1793247607923164160
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.945377012,658.054622988,634.945377012,878,785,809,652,629.945377012,652,0.40097190402,-0.0153685538918,0.0598426225268,0.999999940849,0.000221576410604,-0.000262808963927,1.17065078041e-05,1793247607939830784
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.370265879,658.629734121,634.370265879,878,785,809,652,629.370265879,652,0.400977520078,-0.0153682261691,0.0598455922184,0.999999942186,0.000220888350951,-0.00025823143335,1.23951775659e-05,1793247607956496640
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.21051637,658.78948363,634,877.78948363,785,809,652,629,652,0.400988965681,-0.0153683530056,0.0598507855184,0.999999944318,0.000221107832343,-0.000249607628004,1.31202081539e-05,1793247607973162496
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+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877.371327566,785,809,651.628672434,629,652,0.401053421014,-0.0153716530735,0.0598758357232,0.999999954132,0.000223202728416,-0.000204156250055,1.54069237432e-05,1793247608006496256
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+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877.478007858,785,809,651.521992142,629,652,0.401173763466,-0.0153786859477,0.0599128066904,0.99999996487,0.000220891957446,-0.000145288358363,1.88998628116e-05,1793247608039829504
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+123,2.050000000,POSE1_TO_POSE2_PRESS,765.270106982,744.729893018,715,679.729893018,658.729893018,634,877,785,809.270106982,651.270106982,629,652.270106982,0.401424371961,-0.0153924540937,0.0599485615611,0.999999972849,0.000215675865345,-8.5775375109e-05,2.06990354225e-05,1793247608089829376
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.863354032,744.136645968,715,679.136645968,658.136645968,634,877,785,809.863354032,651.863354032,629,652.863354032,0.40151903483,-0.0153980351163,0.0599511817422,0.999999973114,0.000216230260782,-8.11793294637e-05,2.06489203265e-05,1793247608106496000
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744,715,679.444345818,658.444345818,634,877.444345818,785,809.555654182,652,629.444345818,652.555654182,0.401626980827,-0.0154026173833,0.0599467553313,0.999999973133,0.000213844781706,-8.74043652925e-05,1.91138134296e-05,1793247608123162624
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744,715,679.978369437,659,634,877.978369437,785,809,652,630,652,0.401740259962,-0.0154070443379,0.0599404549135,0.999999973039,0.000210585267347,-9.63412668558e-05,1.71512224546e-05,1793247608139829248
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744,715,679.402095691,659,634,877.402095691,785,809,652,630,652,0.4018883586,-0.0154151529936,0.0599401754271,0.999999974144,0.000207473814208,-9.17769564955e-05,1.56226423039e-05,1793247608156495872
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.177684236,715,679.177684236,658.822315764,634,877,785,809,652,630,652,0.402046142472,-0.0154237464471,0.0599402631414,0.999999975513,0.000203151991268,-8.66371564224e-05,1.4067300909e-05,1793247608173162496
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.765558214,715,679.765558214,658.234441786,634,877,785,809,652,630,652,0.402226284995,-0.0154334590706,0.0599411985502,0.999999977494,0.000196035991362,-8.01688205744e-05,1.24501805375e-05,1793247608189829120
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,785,809,652,629.651830735,652,0.402431824589,-0.0154433401988,0.0599432586801,0.999999979553,0.000188724480466,-7.18471621397e-05,1.07273898999e-05,1793247608206495744
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,785,809,652,629.072710676,652,0.402654210816,-0.0154533331021,0.0599460648701,0.999999981588,0.000181283280724,-6.22961403177e-05,8.93450494141e-06,1793247608223162368
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.497582335,658,634,877,785,809.502417665,652,629,652,0.402909816682,-0.0154636431528,0.0599494769322,0.999999983031,0.000176406903065,-5.26446603543e-05,6.84747863276e-06,1793247608239829248
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658.077357568,634,877,785,810,652,629.077357568,652,0.403171947682,-0.0154735030593,0.0599511708204,0.999999984077,0.000172200344129,-4.66134463871e-05,4.52122452486e-06,1793247608256496128
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658.654784548,634,877,785,810,652,629.654784548,652,0.403445426588,-0.0154801586979,0.0599411954175,0.999999983506,0.000169943180889,-6.40782774129e-05,9.21518814804e-07,1793247608273162752
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.237034516,745,715,679.237034516,659,634,877,785,809.762965484,652,630,652.237034516,0.403732016811,-0.0154839336681,0.0599313054423,0.999999982371,0.000169782526385,-8.01602943633e-05,-2.41687051115e-06,1793247608289829120
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.826454507,745,715,679.826454507,659,634,877,785,809.173545493,652,630,652.826454507,0.404038098853,-0.0154834261152,0.0599215424684,0.999999980631,0.000172738630062,-9.4186560753e-05,-5.36677570044e-06,1793247608306495744
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.592186567,745,715,680,658.592186567,634,877,785,809.407813433,652,630,652.592186567,0.404373534297,-0.0154725272441,0.0599089241148,0.99999998513,0.000127014509676,-0.000116113738548,-1.11349877136e-05,1793247608323162368
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.014191557,745,715,680,658.014191557,634,877,785,809.985808443,652,630,652.014191557,0.404721218983,-0.0154572920495,0.0598951142043,0.999999987989,6.09760082422e-05,-0.000141337985781,-1.80792861606e-05,1793247608339828992
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.440056124,744.440056124,715,680,658.559943876,634,877,784.440056124,810,652,630,652,0.405148299442,-0.0154636824658,0.0598990545084,0.99999998782,7.04856253809e-05,-0.000137709224986,-2.07082268278e-05,1793247608356495872
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.137554437,744.137554437,715,679.862445563,659,634,877,784.137554437,810,652,629.862445563,652,0.405589280423,-0.015471510098,0.0599088174487,0.999999989126,7.68375535068e-05,-0.000123793982941,-2.27644668742e-05,1793247608373162752
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.726897805,744.726897805,715,679.273102195,659,634,877,784.726897805,810,652,629.273102195,652,0.406069352831,-0.0154822703222,0.0599362370101,0.999999994433,6.65724634009e-05,-7.84788008683e-05,-2.32964703254e-05,1793247608389829376
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.688973656,715,679.311026344,659,634,877,785,809.688973656,652,629,652.311026344,0.406579828261,-0.0154904649001,0.0599645385377,0.999999997929,5.12250324563e-05,-3.0725464463e-05,-2.39491158477e-05,1793247608406496000
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.109348517,715,679.890651483,659,634,877,785,809.109348517,652,629,652.890651483,0.407116559445,-0.0154964438165,0.0599936017243,0.999999999016,3.14885489102e-05,1.91334392002e-05,-2.47059465216e-05,1793247608423162624
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744,715,680,659,634,877.467723275,785,809.467723275,652,629.467723275,653,0.407644497836,-0.0154958988047,0.0599981310248,0.999999999222,2.17472795936e-05,1.72573150756e-05,-2.80090957769e-05,1793247608439829248
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744.043941262,715,679.956058738,659,634,878,785,810,652,629.956058738,652.956058738,0.408173607549,-0.0154939386251,0.0599958286417,0.999999999398,1.31477253459e-05,1.71243917481e-06,-3.20804047625e-05,1793247608456496128
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.617027518,715,679.382972482,659,634,878,785,810,652,629.382972482,652.382972482,0.408741442886,-0.0154932040062,0.0599799539095,0.999999998657,-9.69002459533e-06,-3.35736060226e-05,-3.82722198075e-05,1793247608473162752
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.803657559,715,679.196342441,659,634,878,785,810,651.803657559,629,652.196342441,0.409329393861,-0.015493889993,0.0599713579671,0.999999997258,-2.55464564778e-05,-5.39651343268e-05,-4.38185462676e-05,1793247608489829632
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.211795406,715,679.788204594,659,634,878,785,810,651.211795406,629,652.788204594,0.409957866512,-0.0154974377018,0.059977424698,0.999999997488,-2.73394532743e-05,-4.43525768949e-05,-4.80645756107e-05,1793247608506496256
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,744.372035515,715,680,659,634,878,785,810,651.372035515,629,652.627964485,0.410624178396,-0.0155018187176,0.0599855638391,0.999999997026,-5.12128143466e-05,-2.45752750793e-05,-5.21689127272e-05,1793247608523162880
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,744.951390945,715,680,659,634,878,785,810,651.951390945,629,652.048609055,0.411311576489,-0.0155066641006,0.0599948578481,0.999999994602,-8.73906436793e-05,8.66415615513e-07,-5.61942904367e-05,1793247608539829504
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.474037339,744.474037339,715,680,659,634,878,785,810,651.474037339,629.525962661,652,0.411991280256,-0.0155083170728,0.0599807909746,0.999999997888,-3.94272471671e-05,-2.53469104901e-05,-4.50287751766e-05,1793247608556496128
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.100536907,744.100536907,715,680,659,634,878,785,810,651,630,652.100536907,0.412672332244,-0.0155068812273,0.059960302445,0.999999997221,1.4095151599e-05,-6.47153662266e-05,-3.42191505375e-05,1793247608573162496
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.677197821,744.677197821,715,680,659,634,878,785,810,651,630,652.677197821,0.413363106246,-0.0154922019793,0.0599195345951,0.999999987483,5.74489142828e-05,-0.000143979447907,-3.16837873696e-05,1793247608589829120
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.260494472,633.739505528,878.260494472,785,810,651.260494472,630,652.739505528,0.414108079643,-0.0154863202661,0.0599096378756,0.999999983731,7.13538050368e-05,-0.000162558891196,-3.19555886564e-05,1793247608606495744
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659.852229088,633.147770912,878.852229088,785,810,651.852229088,630,652.147770912,0.414921972123,-0.0154916253396,0.0599389963316,0.999999992811,4.781203964e-05,-0.00010397283799,-3.57969302105e-05,1793247608623162368
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.566815457,715,680,660,633.433184543,878.566815457,785,810,652,630,652,0.415766214979,-0.0155038293163,0.0599815254059,0.999999998675,2.19079184662e-05,-3.06258042717e-05,-3.51007728854e-05,1793247608639829248
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.989509803,744,715,680,659.989509803,633.989509803,878,784.989509803,810.010490197,651.989509803,630,652,0.416619967827,-0.0155180595588,0.0600274085698,0.999999998395,-4.2335009279e-06,4.58867672175e-05,-3.29735079882e-05,1793247608656495872
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.4155335,744,715,680,659.4155335,633.4155335,878,784.4155335,810.5844665,651.4155335,630,652,0.417441925669,-0.0155177868479,0.060017982161,0.999999998977,-8.85246475573e-07,2.85277620678e-05,-3.50991335557e-05,1793247608673162496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.161864448,715,680,659.161864448,633.161864448,878,784.161864448,811,651,630,652,0.418270227338,-0.0155176128121,0.0600043288443,0.999999999271,-7.23247812007e-07,5.9365229899e-06,-3.77013569465e-05,1793247608689829376
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.748235995,715,680,659.748235995,633.748235995,878,784.748235995,811,651,630,652,0.419115166332,-0.0155176975627,0.0599795900031,0.999999998636,-8.91755132441e-06,-3.03768169701e-05,-4.15535097739e-05,1793247608706496000
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.330931451,785,811,651.330931451,630,652.330931451,0.419960118227,-0.0155169007929,0.0599512045574,0.999999996309,-1.27149145779e-05,-7.17074125065e-05,-4.55956005852e-05,1793247608723162368
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.910860932,785,811,651.910860932,630,652.910860932,0.420805079789,-0.0155154407532,0.0599200753502,0.999999991851,-1.32039504289e-05,-0.000116813068354,-4.9780603509e-05,1793247608739828992
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.510971658,634,879,785,811,651.510971658,630,652.510971658,0.421645133659,-0.0155134577815,0.059889778648,0.99999998239,-9.40668016041e-06,-0.000180061945529,-5.20584899354e-05,1793247608756495872
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.066512456,659.066512456,633.933487544,879,785,811,651,630,652,0.422504752862,-0.0155122602484,0.0598706799811,0.999999973234,-6.34955247959e-06,-0.000225042838576,-5.3367209127e-05,1793247608773162752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.641220712,659.641220712,633.358779288,879,785,811,651,630,652,0.423520673186,-0.0155177896281,0.0599359858818,0.999999993103,-1.48957378894e-05,-0.000105267529494,-4.99174316072e-05,1793247608789829376
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.221420807,744.778579193,715,680.778579193,660,633.221420807,878.778579193,785,811,651,630,652.221420807,0.42451905193,-0.0155228378458,0.0599926578386,0.999999998626,-2.24344334979e-05,-6.36677393293e-06,-4.69568747495e-05,1793247608806496000
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.810746025,744.189253975,715,680.189253975,660,633.810746025,878.189253975,785,811,651,630,652.810746025,0.425488284412,-0.0155270865835,0.0600349839722,0.999999996922,-2.8299123895e-05,5.78496329698e-05,-4.48091886587e-05,1793247608823162624
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.393270392,715,680,660,633.606729608,878.393270392,785,811,651,630,653,0.426438643331,-0.0155294416624,0.0600371531828,0.99999999614,-2.96003717256e-05,6.89989043012e-05,-4.56501670019e-05,1793247608839829248
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.972577578,715,680,660,633.027422422,878.972577578,785,811,651,630,653,0.427380074042,-0.0155309009447,0.0600203261344,0.999999996925,-2.87428800079e-05,5.50447317024e-05,-4.79049350185e-05,1793247608856495872
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.547415777,879,785,811.547415777,651,630,653,0.428276388592,-0.0155299880856,0.0599938534422,0.999999997824,-3.85535783402e-05,1.52144760922e-05,-5.13156260293e-05,1793247608873162496
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.122046631,660,633.877953369,879,785,811.877953369,651,630.122046631,653,0.429164192923,-0.0155286635045,0.0599641809841,0.999999996963,-4.47310493875e-05,-3.31000595382e-05,-5.45642702203e-05,1793247608889829376
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.696732024,660,633.303267976,879,785,811.303267976,651,630.696732024,653,0.430028749161,-0.0155262490988,0.0599244189598,0.999999991902,-3.54678810167e-05,-0.000108112048546,-5.69989094322e-05,1793247608906497280
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,811.279592711,651,631,653,0.43096491057,-0.0155269775049,0.059921862859,0.999999991735,-3.66253684228e-05,-0.000108995379732,-5.75173225556e-05,1793247608923164160
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,811.871588016,651,631,653,0.431981079879,-0.0155312175285,0.0599608787566,0.999999996851,-4.94263641792e-05,-2.7051135362e-05,-5.5894642489e-05,1793247608939830272
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,812,651,631,653,0.432953429083,-0.0155334229696,0.0599957748892,0.999999996844,-5.05774838925e-05,2.92613722063e-05,-5.38321320419e-05,1793247608956497152
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680.966937003,660,633,879,785,812.033062997,651,631,653,0.433908860549,-0.0155349121866,0.0600260231059,0.999999994802,-4.87209608482e-05,7.29384911321e-05,-5.19788911587e-05,1793247608973163776
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680.393852521,660,633,879,785,812.606147479,651,631,653,0.434786224686,-0.0155339081952,0.0599989952168,0.999999996842,-5.04472378041e-05,2.62047670686e-05,-5.55335785923e-05,1793247608989830912
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633,879,785,813,651,630.815729311,653,0.435660994161,-0.0155333761696,0.0599710674969,0.999999996636,-5.22671025772e-05,-2.30262978872e-05,-5.88690220801e-05,1793247609006497536
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633,879,785,813,651,630.226533657,653,0.436530062171,-0.0155338812633,0.0599411624419,0.999999993599,-5.42926219986e-05,-7.77451444727e-05,-6.17226895426e-05,1793247609023163904
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,744.643313204,715,680,660,633,879,784.643313204,813,651,630.356686796,653,0.437368069799,-0.0155309354709,0.0599140261016,0.999999988069,-5.16467127954e-05,-0.000130960648596,-6.35893959475e-05,1793247609039830528
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,744.063825142,715,680,660,633,879,784.063825142,813,651,630.936174858,653,0.438186675781,-0.0155258341127,0.0598886192163,0.999999980048,-4.60828366718e-05,-0.00018323709965,-6.48396055876e-05,1793247609056497408
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.510839194,715,680,660,633,879,784.510839194,813,651,631,653,0.439072977994,-0.0155287949115,0.0599085177407,0.999999985369,-5.63650222072e-05,-0.000147964589173,-6.4734331532e-05,1793247609073163776
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.08702109,633,879,785,813.08702109,651,631,653,0.439964334243,-0.0155333943381,0.0599387002326,0.999999991019,-6.85667863941e-05,-9.57827870336e-05,-6.3922844092e-05,1793247609089829888
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715.513383499,682,660,632,879.486616501,781.486616501,815.486616501,651,630,653,0.456127055349,-0.0155687992401,0.0598042992417,0.999999950763,-0.000132580157297,-0.000275733017369,-6.97724403691e-05,1793247610106496512
+245,4.083333333,HOLD_POSE2,766,745,715,682,660,631,879,781,815,651,630,654,0.456127478281,-0.0155692534906,0.0598047003875,0.999999950344,-0.000135403769721,-0.000275985021113,-6.93483772606e-05,1793247610150509568
+246,4.100000000,HOLD_POSE2,766,745,715,682,660,631.595162585,879,781,815,651,630,653.404837415,0.456127403006,-0.0155695650976,0.0598041385972,0.999999949934,-0.000136364997154,-0.00027692838905,-6.96208380525e-05,1793247610167175936
+247,4.116666667,HOLD_POSE2,766.184523599,745,715,682,660,632,879.184523599,781.184523599,815,651,630,653,0.456126978258,-0.015569693376,0.0598034653873,0.999999949638,-0.000136413690235,-0.000277936833476,-6.97543980563e-05,1793247610183842304
+248,4.133333333,HOLD_POSE2,766.761544297,745,715,682,660,632,879.761544297,781.761544297,815,651,630,653,0.456125810151,-0.0155694316991,0.0598025551782,0.999999949587,-0.000134521346751,-0.000279083701205,-6.95925045392e-05,1793247610200508928
+249,4.150000000,HOLD_POSE2,766.669768613,745,715,682,660,632,880,782,815,651.330231387,630,653,0.456125479526,-0.0155688897741,0.0598021575082,0.999999949703,-0.000133265392281,-0.000279273041646,-6.95720174714e-05,1793247610217175296
+250,4.166666667,HOLD_POSE2,766.106951026,745,715,682,660,632,880,782,815,651.893048974,630,653,0.456125738752,-0.015568150467,0.0598021208261,0.99999994994,-0.00013245765487,-0.000278787983269,-6.96511247892e-05,1793247610233841920
+251,4.183333333,HOLD_POSE2,766,745,715,682,660,632,880,781.52292082,815,652,630,653,0.456125826096,-0.0155684863797,0.0598021950138,0.99999994957,-0.00013387060901,-0.000279355401542,-6.9989492391e-05,1793247610250508544
+252,4.200000000,HOLD_POSE2,766,745,715,682,660,632,879.933834007,781.066165993,815,651.933834007,630,653,0.456125892564,-0.0155690715846,0.0598023402908,0.999999949108,-0.000135704776791,-0.000280048770197,-7.02854131849e-05,1793247610267175168
+253,4.216666667,HOLD_POSE2,766,745,715,682,660,632,879.344114885,781.655885115,815,651.344114885,630,653,0.45612611293,-0.0155696333233,0.059802842259,0.999999949076,-0.000136749384415,-0.000279784924534,-6.97641716491e-05,1793247610283841792
+254,4.233333333,HOLD_POSE2,766,745,715.241246644,681.758753356,660,632,879.241246644,782,815,651.241246644,630,653,0.456125871537,-0.01556946153,0.0598027824791,0.999999948987,-0.000136966040706,-0.000280041865009,-6.95957063581e-05,1793247610300508672
+255,4.250000000,HOLD_POSE2,766,745,715.820502725,681.179497275,660,632,879.820502725,782,815,651.820502725,630,653,0.456124983175,-0.0155682619888,0.0598019356368,0.999999948816,-0.000136022658545,-0.000281028476295,-6.99215140981e-05,1793247610317175296
+256,4.266666667,HOLD_POSE2,766,745,715.603631405,681.396368595,660.396368595,632,879.603631405,781.603631405,815,652,630,653,0.456124740228,-0.0155687311234,0.0598012158852,0.999999948656,-0.000136061415611,-0.000281675025226,-6.9527251055e-05,1793247610333841920
+257,4.283333333,HOLD_POSE2,766,745,715.029287736,681.970712264,660.970712264,632,879.029287736,781.029287736,815,652,630,653,0.45612478708,-0.0155699495168,0.059800553199,0.999999948501,-0.000136541166921,-0.000282168881464,-6.8809666131e-05,1793247610350508544
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+259,4.316666667,HOLD_POSE2,766.12502582,745,715,682,660,632,879.12502582,782,814.87497418,651,630,653,0.456129182882,-0.0155701784683,0.0598044442311,0.999999949451,-0.000138195719101,-0.000277955235747,-6.88606272015e-05,1793247610383841280
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,632,880,781,814,651,630,653,0.456128147505,-0.0155649594449,0.0598032909269,0.99999995034,-0.000129443148063,-0.000278872023157,-6.92397109189e-05,1793247610437335552
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.573308188,745,715,681.573308188,659.573308188,632,879.426691812,781.573308188,814,651,630,653,0.456128641941,-0.015567200816,0.0598033399784,0.999999949968,-0.000132986870298,-0.000278567659714,-6.91337967254e-05,1793247610454002432
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.848704243,745,715,682,660,632,879,782,814.151295757,651.151295757,630,653,0.456128896614,-0.0155688472649,0.0598032726118,0.999999949655,-0.000135551348851,-0.000278478638483,-6.9036930808e-05,1793247610470669568
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879,782,815,652,630,653,0.456127928171,-0.0155693887161,0.059802376451,0.999999949224,-0.000136516490058,-0.000279576204034,-6.89386099618e-05,1793247610504002816
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879,782,815,652,630,653,0.456127339623,-0.0155705618004,0.0598018220463,0.999999948727,-0.000138947473888,-0.000280153154496,-6.89436757381e-05,1793247610520669184
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.481153119,782,815,651.518846881,630,653,0.456126130417,-0.0155698454727,0.059801202112,0.999999948571,-0.000137863144455,-0.000281236993616,-6.89768725253e-05,1793247610537335296
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.942177465,660,632,879.942177465,781.942177465,814.942177465,651,630,653,0.456125016739,-0.0155687947383,0.0598007344054,0.999999948553,-0.000136015899031,-0.000282192734144,-6.8998176853e-05,1793247610554001920
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.353947523,660,632,879.353947523,781.353947523,814.353947523,651,630,653,0.456125894619,-0.0155680716793,0.0598017808405,0.999999949222,-0.000133487283443,-0.000281062565125,-6.8859841103e-05,1793247610570669056
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.809778569,660,632,879,781.809778569,814.809778569,651,630,653,0.456115598483,-0.0155679015986,0.0597954520415,0.999999946462,-0.000135121880955,-0.000289751425919,-6.97289332601e-05,1793247610604002304
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879,781.613183885,815,651.386816115,630.386816115,653.386816115,0.456096228106,-0.015566644163,0.05978626583,0.999999942211,-0.000134232533032,-0.000304297001297,-7.04530357304e-05,1793247610620668928
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879,781.037166431,815,651.962833569,630.962833569,653.962833569,0.456071169602,-0.0155646789882,0.0597750205079,0.999999936718,-0.000131804165584,-0.000322679902224,-7.11981858248e-05,1793247610637335808
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.545361153,781.545361153,814.454638847,651.454638847,630.454638847,653.454638847,0.456020566924,-0.0155626553055,0.059755242974,0.999999925242,-0.000131322798822,-0.000356364695254,-7.26285854668e-05,1793247610654002432
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.871654627,660,632,879.871654627,781.871654627,814.128345373,651,630,653,0.455964692818,-0.015560116408,0.0597355909762,0.999999913432,-0.000130919772881,-0.000387946693614,-7.41176041463e-05,1793247610670668800
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.288643288,660,632,879.288643288,781.288643288,814.711356712,651,630,653,0.455896386021,-0.015555766647,0.0597184684466,0.999999905276,-0.000130318541231,-0.00040834064918,-7.56468487475e-05,1793247610687334912
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879.292543604,781.292543604,815,651.292543604,630,653,0.455821288826,-0.0155511248428,0.0597080027823,0.999999899576,-0.00012896824493,-0.000422369080115,-7.62902395861e-05,1793247610704001536
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879.871941496,781.871941496,815,651.871941496,630,653,0.455739533296,-0.0155461966752,0.0597040645233,0.99999989654,-0.000126883451673,-0.000430155780474,-7.60650044579e-05,1793247610720668416
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.446805369,660,632,879.553194631,782,814.553194631,651.553194631,630,653,0.455649179399,-0.015541217053,0.0597048391827,0.999999897366,-0.000123812078136,-0.000429267231735,-7.52895465955e-05,1793247610737335296
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.020485183,782,814.020485183,651,630,653,0.455555511425,-0.0155361053456,0.0597070563955,0.99999989933,-0.000120373798814,-0.000425817937642,-7.43613335647e-05,1793247610754002688
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.596943757,782,814.596943757,651,630,653,0.455438110268,-0.0155278050359,0.0597121330366,0.999999902671,-0.000114574765005,-0.000419673143303,-7.3524297997e-05,1793247610770668800
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.178049068,715,682,660,632,880,782.178049068,814.821950932,651.178049068,630,653.178049068,0.455311525688,-0.0155200304942,0.0597164279952,0.999999905222,-0.000109469215262,-0.000415109467485,-7.25010220493e-05,1793247610787335168
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.769955167,715,682,660,632,880,782.769955167,814.230044833,651.769955167,630,653.769955167,0.455163595188,-0.0155134780484,0.0597189060116,0.999999906071,-0.000105975599833,-0.000414220942486,-7.10448493218e-05,1793247610804001792
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.646689274,715,682,660,632,880,782.646689274,814.353310726,652,630.353310726,653.646689274,0.454993886227,-0.0155057683782,0.0597222405274,0.999999906857,-0.000102896098925,-0.000413353865937,-6.95434964238e-05,1793247610820668160
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745.068769463,715,682,660,632,880,782.068769463,814.931230537,652,630.931230537,653.068769463,0.454810332101,-0.0154973230288,0.0597261195432,0.999999907601,-0.000100079861358,-0.000412500424654,-6.80134211389e-05,1793247610837335040
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.494678967,782,815,651.494678967,631,653,0.454597127172,-0.015486636556,0.059724172116,0.999999905807,-9.43282544502e-05,-0.000418342850316,-6.6911351675e-05,1793247610854002176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632.081173169,879,782,814.918826831,651,630.918826831,653,0.454375998391,-0.0154755409848,0.059722240463,0.999999903998,-8.78972396326e-05,-0.000424210667743,-6.57522683251e-05,1793247610870669056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632.671314311,879,782,814.328685689,651,630.328685689,653,0.454130296775,-0.0154637782881,0.0597253420781,0.999999904656,-7.96921704342e-05,-0.000424567028748,-6.38732246133e-05,1793247610887335168
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,879,782.256655382,814,651,630,653.256655382,0.453864267475,-0.0154536654579,0.0597266550326,0.999999905049,-7.4165673685e-05,-0.00042489232815,-6.22007032478e-05,1793247610904001280
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.587330446,660.412669554,633,879,783,813.587330446,651,630,653.587330446,0.453242707665,-0.015440463756,0.0597188275803,0.999999902209,-7.142885191e-05,-0.000432335166747,-5.97132223275e-05,1793247610937334528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.011649694,660.988350306,633,879,783,813.011649694,651,630,653.011649694,0.45289756646,-0.0154364367363,0.0597095829816,0.999999897946,-7.14759083791e-05,-0.000442205649771,-5.87722724356e-05,1793247610954001152
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,744.950558516,715,681.950558516,660,633,879,784,812.049441484,651,631,653,0.447031623992,-0.015397259561,0.0597844482878,0.999999947057,8.1825418713e-05,-0.000314619144148,-1.43458942458e-05,1793247611154001408
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,714.47551189,681.47551189,660,633,879,784,812,651,631,653,0.446366254632,-0.0153967317676,0.0598072353462,0.999999953602,9.45672529932e-05,-0.000289476410709,-7.50188854022e-06,1793247611170668032
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,714.100897782,681,660,633,879,784,812.100897782,651,631,653,0.445681848906,-0.0153953459303,0.0598194151865,0.999999955247,0.000104970375155,-0.000280152095361,-1.5488360269e-06,1793247611187334656
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,714.691076038,681,660,633,879,784,812.691076038,651,631,653,0.444934563758,-0.0153902842069,0.0597810480874,0.999999936539,0.000108088189931,-0.000339468376737,-1.20312559005e-07,1793247611204002304
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,744.433726944,715,681,660,633,878.433726944,784,812,651,630.433726944,653,0.442711561856,-0.0153871517164,0.059765466301,0.999999926109,0.000159726329892,-0.000349513591621,1.04889733491e-05,1793247611254001664
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,879,784.655732499,811.344267501,651,630.344267501,653,0.435012829636,-0.0153825540042,0.059733777199,0.999999910386,9.770434664e-05,-0.000411805922967,-9.83969843445e-06,1793247611404003840
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.759427226,745,715,681,660,633,879,784.759427226,811.240572774,651,630.240572774,652.759427226,0.434120059206,-0.0153831103371,0.0597365047075,0.999999917039,0.000124065570203,-0.000387963316207,-3.85272437698e-06,1793247611420668928
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,744.677232748,714.677232748,680,659,634,878,785,810.677232748,651,630,652,0.417641009401,-0.0153612890453,0.059739496607,0.999999897254,0.000199467076409,-0.000406908342036,1.13811673648e-05,1793247611720667648
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.405550329,634,877,785,809.405550329,652,629.405550329,652.405550329,0.403476982854,-0.0153468265518,0.0597627104214,0.999999890945,0.000273143717888,-0.000378296340078,1.98468941855e-05,1793247612120668416
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.174010984,745,715,680,658.174010984,634,877.174010984,785,809.174010984,652,629,652.174010984,0.403201777716,-0.0153473076767,0.0597716616617,0.999999896342,0.000280283739303,-0.000358170382322,2.16909051527e-05,1793247612137334784
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.765642883,745,715,680,658.765642883,634,877.765642883,785,809.765642883,652,629,652.765642883,0.402970383804,-0.0153481610284,0.0597942131265,0.999999909734,0.000279245611923,-0.000319269605029,2.49148676293e-05,1793247612154001408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.650212453,715,679.650212453,658.650212453,634,878,785,810,652,629,652.650212453,0.40274379669,-0.0153479870725,0.0598127269391,0.9999999181,0.000280692590508,-0.000290233206918,2.78673066104e-05,1793247612170668032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.070979041,715,679.070979041,658.070979041,634,878,785,810,652,629,652.070979041,0.402520362609,-0.0153471392463,0.0598285922246,0.999999923445,0.000283769693674,-0.000267667421367,3.06416379671e-05,1793247612187334656
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.504056138,715,679.504056138,658.504056138,634,877.495943862,785,809.495943862,652,629.504056138,652,0.40232126964,-0.0153456495715,0.0598323052991,0.999999924317,0.000283894214716,-0.000264128807159,3.17149323819e-05,1793247612204001792
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.919680444,634,877,785,809,652,629.919680444,652,0.402128645787,-0.0153440987675,0.0598330166495,0.999999924174,0.000283136828431,-0.000265415843056,3.22548411568e-05,1793247612220668928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.331953715,634,877,785,809,652,629.331953715,652,0.401955414967,-0.0153427280499,0.0598254861505,0.999999921173,0.000279412991408,-0.000280401787315,3.09258780935e-05,1793247612237335552
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.747758598,658.252241402,634,876.747758598,785.252241402,809,652,629,652,0.401796098703,-0.0153438947408,0.05982153646,0.99999992704,0.000247201753888,-0.000290355835243,2.2457783821e-05,1793247612254001920
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.168147001,658.831852999,634,876.168147001,785.831852999,809,652,629,652,0.401654841385,-0.0153483545943,0.0598222341035,0.99999994099,0.000178018290535,-0.000293779260697,4.72420508159e-06,1793247612270668032
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.591062287,744.591062287,715,679,658.591062287,634,876.408937713,785.591062287,809,651.591062287,629.408937713,652,0.401540361045,-0.0153594012642,0.0598264321351,0.99999994256,0.000178269326353,-0.000288267256979,1.61847716455e-06,1793247612287334912
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.015010212,744.015010212,715,679,658.015010212,634,876.984989788,785.015010212,809,651.015010212,629.984989788,652,0.40143682325,-0.0153731396682,0.0598320606172,0.999999939638,0.00020689510591,-0.000279103747251,4.49049125776e-06,1793247612304002048
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.559253864,744,715,679,658.559253864,634,877,785,809,651,629.440746136,652,0.401356035617,-0.0153706430098,0.0598325992468,0.999999939597,0.00020803448291,-0.000278391108942,5.18055550128e-06,1793247612320668672
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,744.137336066,715,679.137336066,658.862663934,634,877,785,809,651,629,652,0.401279920213,-0.0153678796837,0.0598327700625,0.999999939688,0.000208259590014,-0.000277882509874,5.6933818938e-06,1793247612337335040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,744.72818436,715,679.72818436,658.27181564,634,877,785,809,651,629,652,0.401217223562,-0.0153656700988,0.0598321759575,0.999999939925,0.000207893952198,-0.000277301074611,5.8137025038e-06,1793247612354002432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,744.688509921,715,680,658,634,877,785,809,651.311490079,629,652,0.401161774112,-0.0153649397686,0.059831985406,0.999999939845,0.000207329982336,-0.000277998292492,6.41696296617e-06,1793247612370669312
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.46592712,715,679.53407288,658,634,877,785,809,652,629,652,0.401074990387,-0.015363645872,0.0598311613474,0.999999938578,0.000208099274721,-0.000281927961824,7.48365287317e-06,1793247612404002048
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.204884302,745,715,679.795115698,658.204884302,634,877,785.795115698,809,651.795115698,629,652,0.400993714116,-0.0153613431265,0.0598312630444,0.999999937766,0.000212395742489,-0.000281597953502,7.62961342643e-06,1793247612470668032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.373521278,744.626478722,715,679.626478722,658.373521278,634,877,785.626478722,809,652,629,652,0.400986815026,-0.0153630963446,0.0598328761989,0.999999938931,0.000210688582081,-0.000278720922262,7.98780630724e-06,1793247612487335168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.951081824,744.048918176,715,679.048918176,658.951081824,634,877,785.048918176,809,652,629,652,0.400981458147,-0.015366694455,0.0598341368665,0.999999940411,0.000206887414891,-0.000276227333262,8.63140983665e-06,1793247612504002304
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.476603042,744,715,679,658.476603042,634,877,785,809.523396958,652,629,652,0.400977854453,-0.0153658545297,0.0598341671033,0.999999940014,0.000209019347072,-0.000276059691442,8.58759132516e-06,1793247612520668672
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.098597051,744,715,679,658.098597051,634,877,785,809.901402949,652,629,652,0.40097495355,-0.0153648981824,0.0598341787665,0.999999939611,0.000211124198369,-0.00027592033335,8.54866304498e-06,1793247612537335040
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.690665288,744,715,679,658.690665288,634,877,785,809.309334712,652,629,652,0.400974758102,-0.0153654145547,0.0598346673244,0.999999940068,0.000210345694038,-0.000274845309314,8.85257820932e-06,1793247612554001408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,744,715,679.276612108,659,634,877,785,809.276612108,652,629,652,0.400974952268,-0.0153654742676,0.0598352468987,0.999999940516,0.000210553167688,-0.000273046869936,8.96371373193e-06,1793247612570668032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.855861645,659,634,877,785,809.855861645,652,629,652,0.400975572705,-0.0153650343557,0.0598359260529,0.999999940949,0.000211839385927,-0.000270456951836,8.86393178883e-06,1793247612587334656
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.566902333,744.433097667,715,679.566902333,658.566902333,634,877,785,809.566902333,652,629,652.433097667,0.400975745938,-0.0153654820148,0.0598365619928,0.999999941119,0.000211421187932,-0.000270151192946,9.04117344425e-06,1793247612604001280
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.990451712,715,679.009548288,658,634,877,785,809,652,629,652.990451712,0.400975753426,-0.0153661938266,0.0598371713792,0.999999941197,0.000210478724285,-0.000270588160134,9.30178005058e-06,1793247612620667904
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.420941863,715,679.579058137,658,634,877,785,809,652,629,652.420941863,0.400974728699,-0.0153651538517,0.0598370630696,0.999999941001,0.000211902749709,-0.00027020746887,9.06952917449e-06,1793247612637335296
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.155340752,715,680,658,634,877,785,809,652,629,652,0.400973448873,-0.0153645086931,0.0598366153363,0.999999940642,0.000213253379482,-0.000270480524942,8.91114811644e-06,1793247612654002432
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.750812802,715,680,658,634,877,785,809,652,629,652,0.400971446266,-0.0153649821783,0.059835205904,0.99999993982,0.000214396055216,-0.000272605861642,8.96206449367e-06,1793247612670669056
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.336702313,634,877,785,809.336702313,651.663297687,629,652,0.40097126387,-0.0153654869241,0.059835478039,0.999999939783,0.000214649940373,-0.000272540015233,9.06037636325e-06,1793247612687335680
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.915696189,634,877,785,809.915696189,651.084303811,629,652,0.400972391301,-0.0153660141653,0.0598369602326,0.99999994031,0.000214264250255,-0.000270897389609,9.19279410822e-06,1793247612704002304
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.508430983,634,877,784.508430983,809.508430983,651,629,652,0.400972607886,-0.0153662341815,0.0598372980234,0.999999940519,0.000213895965679,-0.000270412682605,9.33411451199e-06,1793247612720668928
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.066335108,745,715,680,658,634,877,784,809,651.066335108,629,652,0.400972763184,-0.0153663247549,0.0598375425123,0.999999940706,0.000213585295878,-0.000269963762032,9.46163030144e-06,1793247612737335808
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.636732725,745,715,680,658,634,877,784,809,651.636732725,629,652,0.40097363228,-0.0153658295707,0.0598385599771,0.999999941134,0.000213689885924,-0.000268287319471,9.4727199414e-06,1793247612754001920
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.783235121,744.783235121,715,679.783235121,658,634,877,784.216764879,809,652,629,652.216764879,0.40097455325,-0.0153656848535,0.0598393741504,0.999999941512,0.000213897903484,-0.000266711215003,9.43923574826e-06,1793247612770668288
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.186305721,744.186305721,715,679.186305721,658,634,877,784.813694279,809,652,629,652.813694279,0.400975565198,-0.0153661547891,0.0598398317889,0.999999941802,0.000214287313322,-0.000265311084261,9.32757750036e-06,1793247612787335680
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.396723512,658,634,876.603276488,784.603276488,809,651.603276488,629,652.603276488,0.400975829508,-0.0153666827717,0.0598399535295,0.999999941838,0.000214546721806,-0.000264962077511,9.42739625433e-06,1793247612804002560
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.973446011,658,634,876.026553989,784.026553989,809,651.026553989,629,652.026553989,0.400975754603,-0.0153672370909,0.0598399228683,0.999999941759,0.000214747146841,-0.000265089980447,9.62316507777e-06,1793247612820669440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.45152178,658,634,876.54847822,784.54847822,809,651.54847822,629.54847822,652,0.400974359068,-0.015366328332,0.0598392760787,0.999999941607,0.00021415025662,-0.00026615180242,9.38782471767e-06,1793247612837335808
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.126037236,744.126037236,715,679,658,634,877,785,809,652,629.873962764,652,0.400973030146,-0.0153656848863,0.0598385486018,0.999999941394,0.000213470246923,-0.000267504363968,9.14484513092e-06,1793247612854002176
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.71313811,744.71313811,715,679,658,634,877,785,809,652,629.28686189,652,0.400972178076,-0.0153662703207,0.0598376347431,0.999999940971,0.000212626948582,-0.000269755601493,8.95003737836e-06,1793247612870668544
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1de97b865b11994c095277665c3e9da2db9347e5
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_04/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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+1,0.016666667,pose1_baseline,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.00139774019237,1.04966579301
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+3,0.050000000,pose1_baseline,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.00139774019237,1.04966579301
+4,0.066666667,pose1_baseline,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.00139774019237,1.04966579301
+5,0.083333333,pose1_baseline,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.00139774019237,1.04966579301
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+386,6.433333333,pose2_to_pose3_retreat,0.583253083442,-0.010072059229,1.05004260572,0.553824873285,-0.00139760651734,1.04966598781
+387,6.450000000,pose2_to_pose3_retreat,0.583251456004,-0.0100720509705,1.05004258625,0.553823245471,-0.00139759952723,1.04966596866
+388,6.466666667,pose2_to_pose3_retreat,0.583250682363,-0.0100720372026,1.05004254013,0.553822471502,-0.00139758689844,1.04966592184
+389,6.483333333,pose2_to_pose3_retreat,0.583250405199,-0.0100720322701,1.0500425236,0.553822194221,-0.00139758237406,1.04966590507
+390,6.500000000,pose2_to_pose3_retreat,0.583250300055,-0.0100720303989,1.05004251733,0.553822089033,-0.00139758065771,1.04966589871
+391,6.516666667,pose2_to_pose3_retreat,0.58325029619,-0.0100720303301,1.0500425171,0.553822085166,-0.00139758059462,1.04966589848
+392,6.533333333,pose2_to_pose3_retreat,0.583250098569,-0.0100720268132,1.05004250532,0.553821887462,-0.00139757736869,1.04966588652
+393,6.550000000,pose2_to_pose3_retreat,0.583249556149,-0.0100720171601,1.05004247297,0.553821344812,-0.00139756851431,1.0496658537
+394,6.566666667,pose2_to_pose3_retreat,0.583248966981,-0.0100720066751,1.05004243785,0.553820755395,-0.00139755889684,1.04966581804
+395,6.583333333,pose2_to_pose3_retreat,0.58324852503,-0.0100719988101,1.05004241149,0.553820313257,-0.0013975516825,1.0496657913
+396,6.600000000,pose2_to_pose3_retreat,0.583248251049,-0.0100720007726,1.05004239298,0.553820039267,-0.00139755366647,1.04966577307
+397,6.616666667,pose2_to_pose3_retreat,0.583248167662,-0.0100720089008,1.05004238494,0.553819955994,-0.00139756138034,1.04966576571
+398,6.633333333,pose2_to_pose3_retreat,0.583247901821,-0.0100720348136,1.05004235932,0.553819690515,-0.0013975859726,1.04966574222
+399,6.650000000,pose2_to_pose3_retreat,0.5832475018,-0.0100720738057,1.05004232077,0.553819291038,-0.00139762297752,1.04966570688
+400,6.666666667,pose2_to_pose3_retreat,0.583247115823,-0.0100721114288,1.05004228358,0.553818905586,-0.00139765868328,1.04966567278
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+402,6.700000000,pose2_to_pose3_retreat,0.5832463614,-0.0100721836227,1.05004221258,0.553818152184,-0.00139772715794,1.04966560775
+403,6.716666667,pose2_to_pose3_retreat,0.583246285927,-0.0100721758306,1.05004222454,0.553818076732,-0.00139771931118,1.04966561931
+404,6.733333333,pose2_to_pose3_retreat,0.583246127761,-0.0100721595009,1.05004224961,0.553817918611,-0.001397702867,1.04966564352
+405,6.750000000,pose2_to_pose3_retreat,0.583245776027,-0.0100721231864,1.05004230536,0.553817566976,-0.00139766629797,1.04966569735
+406,6.766666667,pose2_to_pose3_retreat,0.583245478391,-0.010072086424,1.05004236692,0.553817268698,-0.00139763195712,1.04966575333
+407,6.783333333,pose2_to_pose3_retreat,0.583245445822,-0.010072196494,1.0500424187,0.553817236825,-0.0013977401924,1.04966579301
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95b638dca0968189465f4bcb7eea499e91dfe05f
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7f256095cd4facf5b313026730eb30c2ba2b8e77c97ff215c29d2b7f22170af
+size 25985621
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6627cf16b51fde48dc8a71bfd24626473c513788
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+45,0.750000000,BASELINE,766,744.811303917,715,679.188696083,658,634,877,784.188696083,809,652,629,652,0.400973734215,-0.0153689396806,0.0598404780386,0.999999942063,0.000213169688734,-0.00026519070933,1.03023800694e-05,1793247613745926656
+46,0.766666667,BASELINE,766,744.237346926,715,679.762653074,658,634,877,784.762653074,809,652,629,652,0.400974695202,-0.0153684059433,0.0598413678629,0.999999942696,0.000212257779863,-0.000263545725268,9.90538352761e-06,1793247613762593280
+47,0.783333333,BASELINE,765.664041439,744.335958561,715,679.664041439,658.335958561,634,876.664041439,785,809,652,629,652,0.400974899732,-0.0153687017579,0.0598417259085,0.999999943082,0.000211055569934,-0.000263053830778,9.68203887638e-06,1793247613779260672
+48,0.800000000,BASELINE,765.091195274,744.908804726,715,679.091195274,658.908804726,634,876.091195274,785,809,652,629,652,0.400974570878,-0.0153695824975,0.0598417089922,0.999999943295,0.000209648665854,-0.000263374990632,9.58113779774e-06,1793247613795928064
+49,0.816666667,BASELINE,765.500094303,745,715,679,658.499905697,634,876.500094303,785,809,652,629,652,0.400974232356,-0.0153693760799,0.0598418837429,0.999999942741,0.000212086336901,-0.000263520317229,9.69112978315e-06,1793247613812594688
+50,0.833333333,BASELINE,766,745,715,679.091818649,658.091818649,634,877,785,809.091818649,652,629,652,0.40097408882,-0.015368880303,0.0598421327862,0.999999942261,0.000214610373274,-0.000263296541619,9.80268777542e-06,1793247613829261312
+51,0.850000000,BASELINE,766,745,715,679.667434227,658.667434227,634,877,785,809.667434227,652,629,652,0.40097498232,-0.0153679444644,0.0598425820672,0.999999942968,0.00021375398685,-0.000261303366195,9.712102648e-06,1793247613845928192
+52,0.866666667,BASELINE,766,745,715,680,658.764445897,634,876.764445897,785,809.764445897,651.764445897,629,652,0.400974461939,-0.0153679263224,0.0598421618698,0.999999942952,0.000213372527081,-0.000261676678082,9.66860282178e-06,1793247613862594560
+53,0.883333333,BASELINE,766,745,715,680,658.206582445,634,876.206582445,785,809.206582445,651.206582445,629,652,0.400972006938,-0.0153691638674,0.0598405519626,0.999999941943,0.000213640910857,-0.000265288061403,9.68952995242e-06,1793247613879260928
+54,0.900000000,BASELINE,765.617327406,744.617327406,715,679.617327406,658,634,876.382672594,784.617327406,809,651.382672594,629,652,0.400973007194,-0.0153689440581,0.0598410088469,0.99999994233,0.000213324442127,-0.000264086919044,9.57031765839e-06,1793247613895927552
+55,0.916666667,BASELINE,765.009611525,744.009611525,715,679.009611525,658,634,876.990388475,784.009611525,809,651.990388475,629,652,0.400976039429,-0.0153678672033,0.0598426811762,0.999999943529,0.000212664031507,-0.000260055611502,9.36869173524e-06,1793247613912594176
+56,0.933333333,BASELINE,765.572762654,744,715,679,658,634,877,784.572762654,809,652,629,652,0.400973936347,-0.0153683737216,0.0598411607854,0.99999994295,0.000211932519318,-0.000262864014215,9.31568232276e-06,1793247613929260800
+57,0.950000000,BASELINE,766,744,715,679,658.15281152,634,877,784.84718848,809.15281152,652,629.15281152,652,0.400972796924,-0.0153689291697,0.0598402898688,0.999999942675,0.000211247131463,-0.000264455644611,9.36703762524e-06,1793247613945927424
+58,0.966666667,BASELINE,766,744,715,679,658.72756413,634,877,784.27243587,809.72756413,652,629.72756413,652,0.400974546213,-0.0153695494641,0.0598413539396,0.999999943335,0.000210692256558,-0.000262384046282,9.6999689259e-06,1793247613962594304
+59,0.983333333,BASELINE,765.698109292,744.301890708,715,679.301890708,658.698109292,634,877,784.301890708,809.698109292,652,629.698109292,652,0.400974847809,-0.0153694917242,0.0598417969956,0.999999943113,0.00021188818897,-0.000262263730408,9.79891022827e-06,1793247613979261184
+60,1.000000000,BASELINE,765.124166571,744.875833429,715,679.875833429,658.124166571,634,877,784.875833429,809.124166571,652,629.124166571,652,0.400973844802,-0.0153688229665,0.0598416804176,0.999999942091,0.000214661879896,-0.000263901833167,9.68698900099e-06,1793247613995927808
+61,1.016666667,BASELINE,765.462659637,745,715,680,658.462659637,634,877.462659637,785,809,652,629,652,0.400972996022,-0.0153703132686,0.0598412457417,0.999999942455,0.000212780967575,-0.000264039991001,9.89279555625e-06,1793247614012594432
+62,1.033333333,BASELINE,766,745,715,680,658.947953749,634,877.947953749,785,809.052046251,652,629,652,0.400972471189,-0.0153720928422,0.0598408758453,0.999999943154,0.000210048948967,-0.000263568496945,1.0139352599e-05,1793247614029261056
+63,1.050000000,BASELINE,766,745,715,680,658.368659113,634,877.368659113,785,809.631340887,652,629,652,0.400974796738,-0.0153707647676,0.0598420517888,0.999999943449,0.000211712071624,-0.000261115778268,9.91016270304e-06,1793247614045927936
+64,1.066666667,BASELINE,765.790686182,744.790686182,715,679.790686182,658.209313818,634,876.790686182,785,809.790686182,652,629,652,0.400975924608,-0.0153699524973,0.0598425269875,0.999999943514,0.000212815317871,-0.000259970517659,9.8256917457e-06,1793247614062594304
+65,1.083333333,BASELINE,765.215026561,744.215026561,715,679.215026561,658.784973439,634,876.215026561,785,809.215026561,652,629,652,0.400974956273,-0.0153700429995,0.0598417757267,0.999999943188,0.000212938655599,-0.000261113600025,9.99451117761e-06,1793247614079260672
+66,1.100000000,BASELINE,765.367463942,744.367463942,715,679.367463942,659,634.367463942,876.367463942,784.632536058,809,652,629,652,0.40097492273,-0.0153691166059,0.0598418391856,0.999999943039,0.000213571531134,-0.000261170192797,9.93710951482e-06,1793247614095927552
+67,1.116666667,BASELINE,765.954027322,744.954027322,715,679.954027322,659,634.954027322,876.954027322,784.045972678,809,652,629,652,0.400975446556,-0.0153675838907,0.059842388419,0.999999942995,0.00021450821728,-0.00026057896888,9.74482409606e-06,1793247614112594688
+68,1.133333333,BASELINE,765.465913629,745,715,680,659,634.465913629,877,784.534086371,809,652,629,652.534086371,0.400975088236,-0.0153673962192,0.0598417456668,0.999999942713,0.000214890552273,-0.000261352833739,9.53864780145e-06,1793247614129261568
+69,1.150000000,BASELINE,765,745,715,680,658.886838495,634,877,785,809.113161505,652,629,652.886838495,0.400974306583,-0.0153675900292,0.0598409993412,0.999999942468,0.000214719652627,-0.00026243465023,9.40446134421e-06,1793247614145928192
+70,1.166666667,BASELINE,765,745,715,680,658.309530402,634,877,785,809.690469598,652,629,652.309530402,0.400972096271,-0.0153688793717,0.0598402439718,0.999999942454,0.000212472951949,-0.000264303414783,9.57039585726e-06,1793247614162595072
+71,1.183333333,BASELINE,765.267220928,745,715,680,658,634.267220928,877,785,810,652,629,652.267220928,0.400971676535,-0.0153698412863,0.0598403366754,0.999999942622,0.000211446925457,-0.000264485725754,9.68701224422e-06,1793247614179261440
+72,1.200000000,BASELINE,765.843328758,745,715,680,658,634.843328758,877,785,810,652,629,652.843328758,0.400973326569,-0.0153704247196,0.0598414096864,0.999999943006,0.000211831904425,-0.000262718625957,9.74662068098e-06,1793247614195927808
+73,1.216666667,BASELINE,765.571702847,745,715,680,658.428297153,634.571702847,877,785,809.571702847,652,629,652.571702847,0.400974256193,-0.0153709692308,0.0598421309221,0.999999943388,0.000211125353622,-0.000261821795259,9.95073685602e-06,1793247614212594176
+74,1.233333333,BASELINE,765,745,715,679.983669272,658.983669272,634,877,785,809,652,629,652,0.400974874579,-0.0153714425713,0.0598426758483,0.999999943732,0.000210141394433,-0.000261291416289,1.02004334676e-05,1793247614229260288
+75,1.250000000,BASELINE,765,745,715,679.404067214,658.404067214,634,877,785,809,652,629,652,0.400974039303,-0.0153699625827,0.0598416717133,0.999999942753,0.0002136519642,-0.000262188363136,1.01604976777e-05,1793247614245926912
+76,1.266666667,BASELINE,765.174073463,745,715,679.174073463,658.174073463,634,877,785,809.174073463,652,629,652,0.400973621548,-0.0153691249144,0.0598410504888,0.999999942189,0.000215694644482,-0.000262669580097,1.01629656626e-05,1793247614262593536
+77,1.283333333,BASELINE,765.748850122,745,715,679.748850122,658.748850122,634,877,785,809.748850122,652,629,652,0.400974164894,-0.0153697658162,0.0598413106936,0.9999999426,0.000214358360317,-0.000262193820053,1.02630437495e-05,1793247614279260160
+78,1.300000000,BASELINE,765.669203886,744.669203886,715,679.669203886,659,634,877,785,809.669203886,652,629,652,0.400974476009,-0.0153701931496,0.0598418639061,0.999999943006,0.00021328552712,-0.000261523850085,1.01500724548e-05,1793247614295926784
+79,1.316666667,BASELINE,765.081694175,744.081694175,715,679.081694175,659,634,877,785,809.081694175,652,629,652,0.400974606901,-0.0153704547437,0.0598426445067,0.999999943408,0.000212417144527,-0.000260703163954,9.87176465152e-06,1793247614312593408
+80,1.333333333,BASELINE,765.499032289,744.499032289,715,679,659,634,877,785,809.499032289,652,629.499032289,652,0.400974106661,-0.0153706399138,0.0598421810722,0.999999943227,0.000212484888661,-0.000261337331375,9.97443379169e-06,1793247614329259776
+81,1.350000000,BASELINE,766,744.92184865,715,679.07815135,659,634,877,785,810,651.92184865,630,652.07815135,0.400973586421,-0.0153705786023,0.0598415902612,0.999999942959,0.000212746490437,-0.00026214326901,1.00671139274e-05,1793247614345926912
+82,1.366666667,BASELINE,766,744.345989519,715,679.654010481,659,634,877,785,810,651.345989519,630,652.654010481,0.400973587985,-0.0153690261773,0.0598414678379,0.999999942743,0.00021327979819,-0.00026254669773,9.70431471632e-06,1793247614362594560
+83,1.383333333,BASELINE,765.770261722,744.229738278,715,679.770261722,659,634,877,785,810,651.229738278,629.770261722,652.770261722,0.400973866277,-0.0153690010302,0.0598416821738,0.999999942953,0.000212617463864,-0.000262285437549,9.68560926942e-06,1793247614379261696
+84,1.400000000,BASELINE,765.194731516,744.805268484,715,679.194731516,659,634,877,785,810,651.805268484,629.194731516,652.194731516,0.40097456109,-0.0153712746741,0.0598424033848,0.999999943799,0.000210155501873,-0.000261023716994,1.01848185311e-05,1793247614395928064
+85,1.416666667,BASELINE,765.390805269,745,715,679,659,634,877,785,809.609194731,652,629,652,0.400975022643,-0.0153713793671,0.0598423395668,0.99999994395,0.000209560231378,-0.000260920183104,1.02938889326e-05,1793247614412594176
+86,1.433333333,BASELINE,765.98145915,745,715,679,659,634,877,785,809.01854085,652,629,652,0.400975364912,-0.0153703749095,0.0598418743033,0.999999943748,0.000209919543098,-0.000261408918673,1.02034514795e-05,1793247614429260032
+87,1.450000000,BASELINE,766,745,715.561314822,679.561314822,658.438685178,634,877,785.561314822,809.561314822,652,629,652,0.400975495009,-0.0153693703231,0.0598419577252,0.999999943518,0.000211217666462,-0.000261252611926,9.88543479032e-06,1793247614445926656
+88,1.466666667,BASELINE,765.861146449,744.861146449,715.861146449,679.861146449,658.138853551,634,877,785.861146449,809.861146449,652,629,652,0.400975371377,-0.0153686630063,0.0598420820668,0.999999943332,0.000212205422223,-0.000261174507506,9.6737506604e-06,1793247614462593024
+89,1.483333333,BASELINE,765.289735363,744.289735363,715.289735363,679.289735363,658.710264637,634,877,785.289735363,809.289735363,652,629,652,0.400974478743,-0.015368881759,0.0598422784887,0.999999943286,0.000212131539401,-0.0002614051408,9.81629009207e-06,1793247614479259904
+90,1.500000000,BASELINE,765.283868002,744,715,679.283868002,658.716131998,634,877,785,809,652,629,652,0.40097441801,-0.0153696541748,0.0598425329773,0.999999943435,0.000211787270058,-0.000261106594633,9.94372909773e-06,1793247614495927296
+91,1.516666667,BASELINE,765.859726337,744,715,679.859726337,658.140273663,634,877,785,809,652,629,652,0.40097521298,-0.0153709960957,0.0598428471939,0.999999943786,0.000211164877614,-0.000260263727549,1.00556355991e-05,1793247614512594688
+92,1.533333333,BASELINE,766,744.449560251,715,679.550439749,658.449560251,634,877,785,809.449560251,652,629,652,0.400975024085,-0.0153706574967,0.0598427671055,0.999999943747,0.00021122048339,-0.000260364725644,1.01062885573e-05,1793247614529261056
+93,1.550000000,BASELINE,765.957415907,744.957415907,715,679,658.957415907,634,877,784.957415907,809.957415907,652,629,652,0.400974478957,-0.0153698818494,0.0598424987823,0.999999943567,0.000211462088708,-0.000260860352907,1.0126529407e-05,1793247614545926912
+94,1.566666667,BASELINE,765.380828807,744.380828807,715,679,658.380828807,634,877,784.380828807,809.380828807,652,629,652,0.400973439846,-0.0153704120954,0.0598414623272,0.999999943175,0.000211298153159,-0.000262492993534,1.00127643794e-05,1793247614562594048
+95,1.583333333,BASELINE,765,744.195956251,715,679,658,634,877,784.195956251,809,651.804043749,629,652,0.400973404734,-0.0153703477425,0.0598411588313,0.999999942991,0.000211715541809,-0.00026286489078,9.87017271638e-06,1793247614579260928
+96,1.600000000,BASELINE,765,744.773126517,715,679,658,634,877,784.773126517,809,651.226873483,629,652,0.400975322807,-0.0153691266548,0.0598422812368,0.999999943208,0.000213263840679,-0.000260784133467,9.67150158961e-06,1793247614595927296
+97,1.616666667,BASELINE,765.346021701,745,715,679.346021701,658.346021701,634,877,785,809,651.346021701,629.346021701,652.346021701,0.400975437514,-0.0153693451435,0.0598421788125,0.999999943376,0.000212509058944,-0.000260761475912,9.59489302864e-06,1793247614612593920
+98,1.633333333,BASELINE,765.916148048,745,715,679.916148048,658.916148048,634,877,785,809,651.916148048,629.916148048,652.916148048,0.400974384251,-0.0153704959894,0.0598412831142,0.999999943508,0.000210262662388,-0.000262071768747,9.59733960268e-06,1793247614629260288
+99,1.650000000,BASELINE,765.490177925,744.490177925,715,680,658.490177925,634,877,785,809,652,629.490177925,652.490177925,0.400974215439,-0.015371133005,0.0598416005073,0.99999994372,0.000209690299435,-0.00026171907271,9.67753247828e-06,1793247614645926912
+100,1.666666667,BASELINE,765.09999908,744.09999908,715,680,658.09999908,634,877,785,809.09999908,651.90000092,629,652,0.400974259817,-0.0153712117244,0.0598420265611,0.999999943849,0.00020968324496,-0.000261228722295,9.69631787143e-06,1793247614662593536
+101,1.683333333,BASELINE,765.655733448,744.655733448,715,680,658.655733448,634,877,785,809.655733448,651.344266552,629,652,0.400974580727,-0.0153691498686,0.059841994497,0.999999943539,0.000210936958557,-0.000261417912741,9.3741469553e-06,1793247614679260416
+102,1.700000000,BASELINE,766,745,715,680,658.772937919,634,877,785,809.772937919,651.227062081,629,652,0.400974932579,-0.0153679449377,0.0598422080485,0.999999943412,0.000211752798863,-0.000261249517915,9.23946123631e-06,1793247614695927296
+103,1.716666667,BASELINE,766,745,715,680,658.176222109,634,877,785,809.176222109,651.823777891,629,652,0.400975334804,-0.0153681350681,0.0598428214587,0.999999943584,0.000211855787765,-0.000260498979505,9.40999869354e-06,1793247614712594432
+104,1.733333333,BASELINE,765.583949686,744.583949686,715,679.583949686,658.416050314,634,877.416050314,785,809,652,629,652,0.400975194988,-0.0153693853388,0.0598435074552,0.999999943681,0.000211540803898,-0.000260369365102,9.84171385997e-06,1793247614729261056
+105,1.750000000,BASELINE,765,744.00632727,715,679.00632727,658.99367273,634,877.99367273,785,809,652,629,652,0.400974822779,-0.0153710574511,0.0598441971103,0.999999943742,0.000211048782874,-0.000260513519807,1.03700952582e-05,1793247614745927424
+106,1.766666667,BASELINE,765,744.584549836,715,679.584549836,658.415450164,634,877.415450164,785,809,652,629,652,0.40097397771,-0.0153707007497,0.0598424679387,0.99999994353,0.000210387605918,-0.000261882391705,9.74251751718e-06,1793247614762593792
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,785,810,652,630,653,0.400974144358,-0.0153692752348,0.0598420990021,0.999999943395,0.000212199340726,-0.000260948691788,9.30813020178e-06,1793247614803703040
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658.576758836,634,877,785,809.423241164,652,629.423241164,652.423241164,0.400974824765,-0.0153717037303,0.0598424816688,0.999999943979,0.000209917108998,-0.000260529772995,1.00178993104e-05,1793247614820370432
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658.842786769,634,877,785,809,652,629,652,0.40097530216,-0.0153734503619,0.0598427460897,0.999999944379,0.00020837955612,-0.000260209082226,1.05681901309e-05,1793247614837037568
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658.252143759,634,877,785,809,652,629,652,0.40097521986,-0.0153733171262,0.0598426845123,0.999999944283,0.000208895048702,-0.000260159201598,1.06788066712e-05,1793247614853703168
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,785,809,651.668066376,629.331933624,652,0.400974900485,-0.0153725218461,0.0598424243625,0.999999943974,0.000209859374281,-0.000260577871036,1.04689901974e-05,1793247614870369280
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,785,809,651.088879678,629.911120322,652,0.400974404516,-0.0153712334177,0.0598420162988,0.999999943505,0.000211158029739,-0.000261345557375,1.00204872994e-05,1793247614887035904
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.511912256,744.511912256,715,679.511912256,658,634,877,785,809,651.488087744,629.511912256,652,0.400974727565,-0.015370675299,0.0598426446654,0.999999943314,0.000212106596476,-0.000261307944332,1.00575513343e-05,1793247614903703296
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.063924635,744,715,679,658,634,877,785,809.063924635,652,629,652,0.400975195484,-0.0153703527681,0.0598434019493,0.999999943272,0.000212571631742,-0.000261086145614,1.01346072561e-05,1793247614920370432
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.633995483,744,715,679,658,634,877,785,809.633995483,652,629,652,0.400975634915,-0.0153708473765,0.0598436923961,0.999999944016,0.000209710614931,-0.000260561835421,9.83138000994e-06,1793247614937037056
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658.429040064,634.214520032,877,785,809.785479968,651.785479968,629,652,0.400977154597,-0.0153717913934,0.0598442108043,0.999999944542,0.000208027078596,-0.000259891608858,9.85688762999e-06,1793247614953703424
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,715,679,659.62758764,634.81379382,877,785,809.18620618,651.18620618,629,652,0.400980611772,-0.0153735414498,0.0598451380739,0.999999944688,0.000208455420102,-0.00025895967313,1.04719997746e-05,1793247614970369792
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.395937588,715,679,660,634.604062412,876.208124824,785,809,651.395937588,629,652,0.40100177148,-0.0153745892495,0.0598543207344,0.999999948448,0.000209864621049,-0.000242742352992,1.16805796451e-05,1793247614987036672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.970359388,715,679,660,634.029640612,875.059281225,785,809,651.970359388,629,652,0.401030911291,-0.01537532048,0.0598672248322,0.999999953382,0.000211715982342,-0.000219634553282,1.31566881398e-05,1793247615003703552
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.546560887,658.906878225,634,876.639682662,785,809,652,629,652,0.401085224406,-0.0153776420818,0.0598862804899,0.999999960545,0.000210259544235,-0.000185721369552,1.4448242004e-05,1793247615020370432
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.87415135,715,679.87415135,658.12584865,634,877.87415135,784.87415135,809,652,629,652,0.401144321941,-0.015380328505,0.0599049858344,0.999999966103,0.000209209869945,-0.000154202151194,1.57424819956e-05,1793247615037037312
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.283830259,715,679.283830259,658.716169741,634,877.283830259,784.283830259,809,652,629,652,0.401216022509,-0.0153840420272,0.059921163006,0.999999968799,0.000210325673915,-0.000133688170397,1.70836958077e-05,1793247615053703424
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744,715,679.300371225,659,634,877.300371225,784.300371225,809.300371225,652,629,652,0.401297275664,-0.0153881842034,0.0599341697988,0.999999971466,0.000209720576566,-0.000112966327214,1.80009433284e-05,1793247615070369792
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744,715,679.878905523,659,634,877.878905523,784.878905523,809.878905523,652,629,652,0.401387375123,-0.0153927233405,0.0599442406159,0.999999974059,0.000207521813828,-9.20519913226e-05,1.85255707123e-05,1793247615087036416
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744,715,680,658.546569811,634,877.546569811,785,809.546569811,652,629,652,0.401484698523,-0.0153973485875,0.059946471502,0.999999974908,0.000205513290505,-8.73140144724e-05,1.80005476687e-05,1793247615103703040
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.027653805,715,679.972346195,658.027653805,634,877,785.027653805,809.027653805,652,629.027653805,652,0.401584737737,-0.0154020853406,0.0599464387315,0.999999975356,0.000203478219324,-8.7127004652e-05,1.7151513189e-05,1793247615120369408
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.617331406,715,679.382668594,658.617331406,634,877,785.617331406,809.617331406,652,629.617331406,652,0.4017011065,-0.015408625014,0.0599425799913,0.999999975637,0.000199880093645,-9.24014567487e-05,1.53646342494e-05,1793247615137036544
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.796747705,715,679.203252295,659,634,877,785.796747705,809.796747705,652,629.796747705,652,0.401830693073,-0.0154154241976,0.0599402661692,0.999999976262,0.000196293115574,-9.35767280061e-05,1.37089114484e-05,1793247615153703680
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.217771388,715,679.782228612,659,634,877,785.217771388,809.217771388,652,629.217771388,652,0.401984713546,-0.0154227031005,0.059940808221,0.999999977553,0.000192726744926,-8.71744177821e-05,1.22956388112e-05,1793247615170370560
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.64029573,744.35970427,715,679.64029573,658.64029573,634,877,785,809.35970427,651.64029573,629,652,0.402163166028,-0.0154319519956,0.0599430734232,0.999999978844,0.000189291151692,-7.97280098964e-05,1.11524657915e-05,1793247615187036928
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.063724766,744.936275234,715,679.063724766,658.063724766,634,877,785,809.936275234,651.063724766,629,652,0.402356348652,-0.0154423886051,0.0599463775175,0.999999980095,0.000185934404171,-7.16521120425e-05,1.01721364372e-05,1793247615203703040
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.510387919,744.489612081,715,679,658,634.510387919,877.510387919,785,809.489612081,651.510387919,629,652,0.402581949394,-0.0154524103946,0.0599467043055,0.999999982223,0.000177062356463,-6.43593683225e-05,7.77831939015e-06,1793247615220369920
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634.91319243,877.91319243,785,809.08680757,652,629,652,0.402814716667,-0.0154622321791,0.059946549575,0.999999984156,0.000168180197981,-5.81114515374e-05,5.20287526739e-06,1793247615237036544
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634.321580755,877.321580755,785,809.678419245,652,629,652,0.403065734192,-0.015471190638,0.0599457460581,0.99999998503,0.000163224489256,-5.73735260679e-05,2.59258982077e-06,1793247615253703424
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.2638534,715,679.2638534,658,634,877,785,809.7361466,652,629,652,0.403330758973,-0.0154793660298,0.0599413891332,0.999999985332,0.000159101790196,-6.34261855972e-05,-4.080101409e-07,1793247615270370304
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.84193069,715,679.84193069,658,634,877,785,809.15806931,652,629,652,0.403612465028,-0.0154866088639,0.0599328004429,0.999999984821,0.000155971125384,-7.75657753592e-05,-3.87343679641e-06,1793247615287037184
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,784.582947725,809,651.582947725,629,652,0.403919719756,-0.0154820366226,0.0599220131796,0.999999982709,0.000158932019375,-9.62488285743e-05,-7.73072714626e-06,1793247615303703808
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,658,634,877,784.008938528,809,651.008938528,629,652,0.404236589677,-0.0154730177975,0.0599103984874,0.99999997965,0.000164185461298,-0.00011664180627,-1.17354946577e-05,1793247615320370688
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.43520634,745,715,680,658.56479366,634,877,784.56479366,809.56479366,651,629.56479366,652,0.404605616916,-0.0154644657476,0.0599000104416,0.999999985565,0.0001033714409,-0.000133787732802,-1.68713687142e-05,1793247615337037056
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.856259121,659,634,877,785,810,651.143740879,629.856259121,652.143740879,0.404989841146,-0.0154604376843,0.0598942928198,0.999999987785,5.74016206312e-05,-0.000143794969866,-2.14034755135e-05,1793247615353703424
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.260913682,659,634,877,785,810,651.739086318,629.260913682,652.739086318,0.405419219025,-0.0154705998695,0.0599031877587,0.99999998918,6.13527050806e-05,-0.000131535269832,-2.39824537411e-05,1793247615370369792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.323379539,745,715,679.323379539,659,634,877.323379539,785,810,651.676620461,629,652.676620461,0.405886746817,-0.0154800746611,0.0599239115586,0.99999999318,5.78737547091e-05,-9.81952659908e-05,-2.54436974986e-05,1793247615387036416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.899050209,745,715,679.899050209,659,634,877.899050209,785,810,651.100949791,629,652.100949791,0.406384038086,-0.0154890131699,0.0599538638862,0.999999997309,4.85981116884e-05,-4.84090323793e-05,-2.60329181767e-05,1793247615403703040
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,877.525714405,785,810,651.474285595,629.474285595,652.474285595,0.406912632352,-0.0154916636096,0.0599786659328,0.999999998917,3.62248735742e-05,-9.80794609609e-06,-2.75389598301e-05,1793247615420370176
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,877.100900958,785,810,652,630,653,0.407447162287,-0.015492949313,0.059999868961,0.999999999089,2.21775809665e-05,2.14969114893e-05,-2.94733562858e-05,1793247615437037568
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680,659,634,878.274972582,785,810,652,630,653,0.40797402477,-0.015493941751,0.0599944418114,0.999999999422,-2.66884510661e-06,4.97741627942e-07,-3.38900845445e-05,1793247615453704192
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.778205747,745,715,680,659,634,878.556411493,784.778205747,810,651.778205747,630,652.778205747,0.408518838866,-0.0154941705331,0.0599857606691,0.999999998733,-2.14459976326e-05,-2.38442466914e-05,-3.88023520967e-05,1793247615470370816
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.198302209,745,715,680,659,634,877.396604419,784.198302209,810,651.198302209,630,652.198302209,0.409092637627,-0.0154931663154,0.0599718256262,0.999999997111,-3.04236918681e-05,-5.35835526804e-05,-4.45147177806e-05,1793247615487037184
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.379658921,745,715,680,659.379658921,634,877,784.379658921,810,651.379658921,630,652.379658921,0.409712937133,-0.0154957697576,0.0599712149545,0.99999999666,-3.75805547696e-05,-5.33522704658e-05,-4.9213040194e-05,1793247615503703552
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.956610646,745,715,680,659.956610646,634,877,784.956610646,810,651.956610646,630,652.956610646,0.410357401107,-0.0155002479493,0.0599775283995,0.999999996911,-4.37912077839e-05,-3.75465307416e-05,-5.33844067126e-05,1793247615520369920
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.46820247,715,680,659.46820247,634,877.53179753,785,810,651.46820247,630,652.46820247,0.411047113912,-0.0155023999316,0.0599843519134,0.999999995493,-7.22733215418e-05,-2.04713829157e-05,-5.80636895801e-05,1793247615537036544
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.890473432,744,715,680,659,634,878.109526568,785,810,651.109526568,630,652.109526568,0.411737473402,-0.0155039307199,0.0599861763526,0.999999995484,-7.50862067268e-05,-1.3860420111e-05,-5.65891562147e-05,1793247615553703424
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.30097531,744,715,680,659,634,878.69902469,785,810,651.69902469,630,652.69902469,0.412414541568,-0.0155035682651,0.0599659118813,0.99999999727,4.25263524474e-05,-5.35583895375e-05,-2.79661268018e-05,1793247615570370560
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.283430023,744.283430023,715,680,659,633.716569977,878.716569977,785,810.283430023,651.716569977,629.716569977,653,0.413102698472,-0.0154970550654,0.0599399012493,0.999999989529,9.80809439681e-05,-0.000104890953354,-1.78837217629e-05,1793247615587037440
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.862522836,744.862522836,715,680,659,633.137477164,878.137477164,785,810.862522836,651.137477164,629.137477164,653,0.413802422784,-0.0154841256562,0.0599078964512,0.999999981508,8.88991766111e-05,-0.000168360263069,-2.7142146477e-05,1793247615603704064
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.560883429,745,715,680,659.439116571,633.439116571,878.439116571,785,810.560883429,651.439116571,629.439116571,653,0.414608524798,-0.0154904179714,0.0599287310488,0.999999989611,6.34930875918e-05,-0.00012556588301,-3.13135727177e-05,1793247615620370432
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.014832891,744.985167109,715,680,660,634,879,785,810.014832891,652,630,652.985167109,0.415447554704,-0.0155025575553,0.0599659482167,0.999999997611,3.32737252157e-05,-5.02516564473e-05,-3.38392403219e-05,1793247615637037056
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.586815434,744.413184566,715,680,660,634,879,785,810.586815434,652,630,652.413184566,0.416279524173,-0.0155095680987,0.0600006639217,0.999999999341,1.19729421525e-05,4.00663130408e-06,-3.40304358464e-05,1793247615653703680
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.165130904,715,680,660,634,878.834869096,785,810.834869096,652,630,652.165130904,0.41711835529,-0.015514512949,0.0600224596845,0.99999999865,-2.86170136036e-06,3.84291029431e-05,-3.48630341661e-05,1793247615670370048
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.759924304,715,680,660,634,878.240075696,785,810.240075696,652,630,652.759924304,0.417975040024,-0.0155140829668,0.0600106383911,0.999999999076,-8.71766237668e-07,2.12397528547e-05,-3.73645312721e-05,1793247615687036672
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,878,784.655867996,810.344132004,651.655867996,630,653,0.418822441532,-0.0155150094564,0.0599892385346,0.999999999069,-3.94825588265e-06,-1.45766262278e-05,-4.04222144108e-05,1793247615703703808
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,878,784.078824803,810.921175197,651.078824803,630,653,0.419663560044,-0.0155168540168,0.0599613558334,0.999999996999,-1.04537408847e-05,-6.29999212014e-05,-4.38563283653e-05,1793247615720370944
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744.502643786,715,680,659.502643786,634,878,784.497356214,811,651,630,653,0.420492614566,-0.0155154616887,0.0599267409906,0.999999992228,-1.14839606197e-05,-0.000114608569915,-4.77099688874e-05,1793247615737037568
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744.074991239,715,680,659.074991239,633.925008761,878.074991239,785,811,651.074991239,630,653,0.421327878786,-0.0155135450714,0.0598937234264,0.999999985118,-1.10361245424e-05,-0.000164327218749,-5.13716233593e-05,1793247615753704192
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744.663517041,715,680,659.663517041,633.336482959,878.663517041,785,811,651.663517041,630,653,0.422218736706,-0.0155115451143,0.0598789377553,0.999999979028,-6.39875578695e-06,-0.000197652143254,-5.3264040938e-05,1793247615770370816
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,744.751898073,715,680,660,633,879,785,811,651.751898073,630,653,0.423164066171,-0.0155145402797,0.0599013423939,0.999999985178,-8.92297818345e-06,-0.000163819720674,-5.22340584674e-05,1793247615787037440
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,744.172574321,715,680,660,633,879,785,811,651.172574321,630,653,0.424182116538,-0.0155242040493,0.0599733969565,0.999999997847,-2.10080901408e-05,-4.03306850834e-05,-4.73026038995e-05,1793247615803703552
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,744.404121067,715,680,660.404121067,633,878.595878933,785,811,651.404121067,630,653,0.425157868367,-0.0155292566552,0.0600158302792,0.999999998159,-2.87734184919e-05,2.9334960485e-05,-4.4642676912e-05,1793247615820369920
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,744.979701266,715,680,660.979701266,633,878.020298734,785,811,651.979701266,630,653,0.426115673853,-0.0155323528514,0.0600456959972,0.999999995575,-3.47059628651e-05,7.61645911251e-05,-4.29465064358e-05,1793247615837036544
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.556763167,660.443236833,633,878.556763167,785,811,651.443236833,630.556763167,653,0.427053632123,-0.0155349140412,0.0600273461098,0.999999996426,-3.5852545211e-05,6.15502851528e-05,-4.55490638841e-05,1793247615853703168
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.863440701,660,633,879,785,811.136559299,651,630.863440701,653,0.427982365218,-0.0155361544813,0.0600045979352,0.999999997442,-3.7631262156e-05,3.67298758458e-05,-4.8495002804e-05,1793247615870370048
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.274771651,660,633,879,785,811.725228349,651,630.274771651,653,0.428882958309,-0.0155330870368,0.059973123597,0.999999997655,-4.20820258148e-05,-1.44437855266e-05,-5.20575243282e-05,1793247615887036928
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.691607787,744.691607787,715,680,660,633,879,784.691607787,812,651,630,653,0.429776149447,-0.0155305093924,0.0599415605489,0.999999995191,-4.12092775836e-05,-7.01555085489e-05,-5.47553821917e-05,1793247615903703808
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.113262947,744.113262947,715,680,660,633,879,784.113262947,812,651,630,653,0.430662861201,-0.015528360497,0.0599099198498,0.999999989327,-3.56765669738e-05,-0.00012983964317,-5.66963522549e-05,1793247615920370176
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.463585983,744.463585983,715,680.463585983,660,633,879,784.463585983,812,651,630.463585983,653,0.431659596562,-0.0155343485726,0.0599462685524,0.999999995694,-4.54863008869e-05,-5.94249099727e-05,-5.48711269918e-05,1793247615937036800
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,812,651.040780848,630.959219152,653,0.432675135306,-0.0155419061649,0.0599962879351,0.999999996286,-5.82210805183e-05,3.61787064072e-05,-5.22526841881e-05,1793247615953703168
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,812,651.62748288,630.37251712,653,0.433583699433,-0.0155439469935,0.0600076597661,0.999999995873,-6.00945347101e-05,4.48418736318e-05,-5.12938885208e-05,1793247615970370048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.211558076,633,879,785,812,651.788441924,630.211558076,653,0.434498408926,-0.015544982229,0.0600043365568,0.999999996237,-6.1118265129e-05,3.31743791878e-05,-5.18670137801e-05,1793247615987036928
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.79106469,633,879,785,812,651.20893531,630.79106469,653,0.435423806783,-0.0155442685052,0.0599754552676,0.999999996546,-6.06641291454e-05,-1.38528475933e-05,-5.51045044311e-05,1793247616003703552
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.631031561,633,879,785,812.368968439,651.368968439,630.631031561,653,0.436304982572,-0.0155434858834,0.0599496795179,0.999999994886,-6.01558870698e-05,-5.71229613883e-05,-5.78536789192e-05,1793247616020370176
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660.054031574,633,879,785,812.945968426,651.945968426,630.054031574,653,0.437161225047,-0.0155426644155,0.0599256547333,0.999999991574,-5.9617138927e-05,-9.82747392705e-05,-6.03275310737e-05,1793247616037036800
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,813,651.479294692,630.520705308,653,0.437983513918,-0.0155411252514,0.0598983613108,0.999999983894,-6.08561534094e-05,-0.000157277825263,-6.141378892e-05,1793247616053703424
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,813.097828647,651.097828647,631,653,0.438818601702,-0.0155410141901,0.0598833299906,0.999999977221,-6.46886782665e-05,-0.000193782467762,-6.18150389302e-05,1793247616070370048
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,633,879,785,813.688142865,651.688142865,631,653,0.439735781094,-0.0155484657191,0.0599317281878,0.999999989174,-8.06527219534e-05,-0.000107741490314,-5.94895559982e-05,1793247616087036672
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.273355826,633,879,785,813.726644174,652,630.726644174,653,0.440641979287,-0.0155539240923,0.0599770274603,0.999999993859,-8.91363046523e-05,-3.33836223877e-05,-5.67564007056e-05,1793247616103703296
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.852855609,633,879,785,813.147144391,652,630.147144391,653,0.44153587906,-0.0155571502367,0.0600188560989,0.999999994194,-8.92421689077e-05,2.78897792148e-05,-5.35666744787e-05,1793247616120369664
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680.571687843,661,633,879,785,813.428312157,651.571687843,630.428312157,653,0.442338360359,-0.0155585607397,0.0600097372036,0.999999994584,-8.7261618959e-05,1.75873833858e-05,-5.39230644119e-05,1793247616137036288
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.002396583,660.997603417,633,879,785,814,651,631,653,0.443109656985,-0.0155593505643,0.0599833438184,0.999999994737,-8.46084364555e-05,-1.69946036313e-05,-5.54812995723e-05,1793247616153702912
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.57740626,660.42259374,633,879,785,814,651,631,653,0.443863726602,-0.0155594815639,0.0599723829498,0.999999993782,-9.09010608768e-05,-3.24745605956e-05,-5.5842065074e-05,1793247616170370048
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680.842952714,660.157047286,633.157047286,879,785,814,651,631,653,0.444604527948,-0.0155591717977,0.059964284105,0.999999992755,-9.54401651432e-05,-4.67813554276e-05,-5.65094262758e-05,1793247616187036928
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680.250470517,660.749529483,633.749529483,879,785,814,651,631,653,0.445308541385,-0.0155576399488,0.0599641206073,0.99999999212,-9.51173983045e-05,-5.78354025719e-05,-5.80268657761e-05,1793247616203704064
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.666779577,715,680.333220423,660.666779577,633.666779577,879,785,814,651,631,653,0.445997509413,-0.01555699184,0.0599505426047,0.999999989553,-9.98408032728e-05,-8.5196722852e-05,-6.05622902639e-05,1793247616220370688
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.089526906,715,680.910473094,660.089526906,633.089526906,879,785,814,651,631,653,0.446675458973,-0.0155569909339,0.0599271405592,0.999999984352,-0.000108259745903,-0.000124500589311,-6.38432306154e-05,1793247616237036800
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,744.486822144,715,681,660.486822144,633,879,785,814,651,631,653,0.447363407272,-0.0155559275044,0.0599394100344,0.999999987561,-0.000105763396756,-9.73730404454e-05,-6.48897667524e-05,1793247616253703680
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.937351667,745,715,681,660.937351667,633,879.062648333,785,814,651,631,653,0.448046682302,-0.0155551020447,0.0599585325519,0.99999999072,-0.000103825580158,-5.91713795183e-05,-6.54156364869e-05,1793247616270370304
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.364433151,745,715,681,660.364433151,633,879.635566849,785,814,651,631,653,0.448676944555,-0.0155578034199,0.0599801407627,0.999999989897,-0.000122756396706,-3.00923832992e-05,-6.50413277377e-05,1793247616287037184
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21648898,745,715,681,660.21648898,633,879.78351102,784.78351102,814.21648898,651.21648898,631,653,0.449269136794,-0.0155593428001,0.0599823491448,0.999999988582,-0.000132429350808,-3.02144826239e-05,-6.62212331268e-05,1793247616303704064
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.811401394,745,715,681,660.811401394,633,879.188598606,784.188598606,814.811401394,651.811401394,631,653,0.449794782458,-0.0155588510087,0.0599506465613,0.999999986303,-0.000125919529538,-8.13801940121e-05,-7.01179098642e-05,1793247616320370688
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.392405618,660.607594382,633,879.392405618,784,815,651.607594382,631,653,0.450304911619,-0.0155585127326,0.0599167794576,0.999999980652,-0.000129410607938,-0.000128081614126,-7.44542810406e-05,1793247616337037312
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.966954131,660.033045869,633,879.966954131,784,815,651.033045869,631,653,0.450807838531,-0.0155582457137,0.0598819076458,0.999999972506,-0.000137543802705,-0.000172710848754,-7.8994745432e-05,1793247616353704192
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.755295311,633,879,784.877647655,815,652,631,653.877647655,0.451744549399,-0.0155650203726,0.0598735237068,0.999999966711,-0.000165211352574,-0.000180972729599,-8.08167411806e-05,1793247616387037184
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.577986621,633,879,784.288993311,815,652,631,653.288993311,0.452196113726,-0.0155696419292,0.0598929618058,0.999999972197,-0.000164445937123,-0.000148963637637,-7.98391058073e-05,1793247616403703552
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715.295441112,681,660,632.704558888,879,783.704558888,815,651.704558888,631,653,0.452618504526,-0.0155745902167,0.0599032080791,0.99999997497,-0.000161675451755,-0.000133895104321,-7.74200467193e-05,1793247616420369920
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715.875805804,681,660,632.124194196,879,783.124194196,815,651.124194196,631,653,0.453012760332,-0.0155798536034,0.0599045897493,0.999999975836,-0.000156971275957,-0.000135164057631,-7.3610877878e-05,1793247616437036288
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715.549835255,681,660,632.450164745,879,783,815,651.450164745,631,653,0.453349885326,-0.0155791131116,0.0598877226415,0.999999977359,-0.000115968815829,-0.000167865426652,-6.04465560642e-05,1793247616453703424
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.976998792,879.023001208,783,815,652,630.976998792,653,0.453670370264,-0.0155768175933,0.059866029982,0.999999974962,-6.7455045885e-05,-0.00020845836336,-4.55127967396e-05,1793247616470370816
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632.401456954,879.598543046,783,815,652,630.401456954,653,0.453964767904,-0.0155764331135,0.0598477664698,0.99999996875,-7.58989600879e-05,-0.00023305179502,-4.92572775906e-05,1793247616487037184
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.179794322,660,632,879.820205678,783,815,652,630,653,0.454255028407,-0.0155775647695,0.0598377257372,0.999999965023,-8.43699675319e-05,-0.000245182063498,-5.21685930628e-05,1793247616503703552
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.774212048,660,632,879.225787952,783,815,652,630,653,0.454535748222,-0.0155821927841,0.0598466475459,0.999999968149,-9.29034535725e-05,-0.000228571047874,-5.31585467063e-05,1793247616520369920
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681.641862958,660,632,879,783,815,651.641862958,630.358137042,653,0.454801424583,-0.0155855614349,0.0598579075361,0.999999971257,-0.000106688048571,-0.000207833046302,-5.39381779441e-05,1793247616537036288
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+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,879,782.91546839,815,651.08453161,630,653,0.455466229142,-0.0155966503771,0.0598665708391,0.999999968581,-0.000152282331614,-0.000191007851291,-5.62561637629e-05,1793247616587036416
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+226,3.766666667,POSE1_TO_POSE2_PRESS,766,744.048398353,715,681.048398353,660,632,879,781.048398353,815,651.951601647,630.951601647,653,0.456505282794,-0.0155997265263,0.0597923677228,0.999999941239,-0.000161616103165,-0.000294948263054,-6.63953045201e-05,1793247616787037184
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,744.621840872,715,681.621840872,660,632,879,781.621840872,815,651.378159128,630.378159128,653,0.456528209925,-0.01560025592,0.0597913304206,0.999999940538,-0.000163750588939,-0.000296090598404,-6.66317429236e-05,1793247616803703552
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681.797169597,660,632,879,782,815,651,630,653,0.456546794255,-0.0156001763454,0.0597895880365,0.999999939646,-0.000165043744039,-0.000298356708971,-6.6720459297e-05,1793247616820369920
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681.20156559,660,632,879,782,815,651,630,653,0.45655696891,-0.015598917526,0.0597864802876,0.999999938379,-0.000164707693157,-0.000302798968778,-6.65231173874e-05,1793247616837036288
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879,782,815,651,630,653,0.45656445989,-0.0155977413664,0.0597842621871,0.999999937718,-0.000162756545237,-0.000306100068151,-6.6153544243e-05,1793247616853702912
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879,782,815,651,630,653,0.456570578067,-0.0155966074906,0.0597824991756,0.999999937361,-0.000159979214027,-0.000308817420608,-6.56958683052e-05,1793247616870369792
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681.529741492,660,632,879,782,815,651,630,653,0.456574768532,-0.0155969558718,0.0597832582761,0.999999936837,-0.000163350750195,-0.000308673567242,-6.60537115925e-05,1793247616887036672
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,879,781.893635359,815,651,630,653,0.456578254547,-0.0155972360303,0.0597837631986,0.999999936337,-0.000166290103745,-0.000308662478407,-6.63355300404e-05,1793247616903703552
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660.28194077,632,879,781,815,651,630,653,0.456580521781,-0.0155956176417,0.0597811516453,0.999999935886,-0.000164117631423,-0.00031136939466,-6.58954480064e-05,1793247616937037312
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.864533861,632,879,781,815,651,630,653,0.456582027798,-0.0155941204881,0.0597807744187,0.999999935804,-0.000163845637369,-0.00031172284783,-6.61499409064e-05,1793247616953703680
+237,3.950000000,POSE1_TO_POSE2_PRESS,766.439181315,745.439181315,715,681.560818685,660.560818685,631.560818685,879,781,815,651,630,653,0.45658143628,-0.0155943014529,0.0597797722419,0.999999935426,-0.000163624062461,-0.000313101605443,-6.58975466617e-05,1793247616970370304
+238,3.966666667,POSE1_TO_POSE2_PRESS,766.988468485,745.988468485,715,681,660,631.011531515,879,781,815,651,630,653,0.456580259796,-0.015594962221,0.0597786125445,0.999999934974,-0.000163398739976,-0.00031474349188,-6.54986579216e-05,1793247616987037184
+239,3.983333333,POSE1_TO_POSE2_PRESS,766.410713532,745.410713532,715,681,660,631.589286468,879,781,815,651,630,653,0.456581564239,-0.015594217858,0.0597790153099,0.999999935383,-0.000162239340907,-0.000314052640098,-6.54472745268e-05,1793247617003703808
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.170055542,660,632,879,781.170055542,815,651.170055542,630,653.170055542,0.456582328247,-0.0155933934132,0.0597788558522,0.999999935445,-0.000161549902266,-0.000314192542853,-6.55377995924e-05,1793247617020370432
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.758235559,660,632,879,781.758235559,815,651.758235559,630,653.758235559,0.456581763459,-0.015592372067,0.0597773140274,0.999999934652,-0.000162015980028,-0.000316375065359,-6.59772424285e-05,1793247617037037312
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,879.342310254,782,815,652,630,653.657689746,0.456580966303,-0.01559230635,0.0597763144113,0.999999934226,-0.000161915553947,-0.000317775093045,-6.59504164263e-05,1793247617053703680
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,879.92351981,782,815,652,630,653.07648019,0.456580006978,-0.0155929075692,0.0597756932044,0.999999934058,-0.000161419763199,-0.000318629015273,-6.55981800551e-05,1793247617070369792
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,879.501455673,781.501455673,815,652,630,653,0.456580498506,-0.0155934032709,0.0597758783638,0.999999934032,-0.000162166502285,-0.000318332066814,-6.55957248962e-05,1793247617087036416
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681.927495061,660,632,879,781,815,651.927495061,630,653.072504939,0.45658109673,-0.0155938769539,0.0597760892502,0.999999933979,-0.000163116044149,-0.000318006284177,-6.56313974542e-05,1793247617103702784
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+247,4.116666667,HOLD_POSE2,767,745,715,681,660,632,880,781,815,651,629,653,0.456578012429,-0.0155938440578,0.059773536158,0.999999932638,-0.000162016445495,-0.000322882020234,-6.49705783046e-05,1793247617158726656
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+256,4.266666667,HOLD_POSE2,766.215113238,745,715,681,660,632,879.215113238,781.215113238,815,651.784886762,630,653,0.45658226693,-0.0155941817906,0.0597746305817,0.999999933143,-0.000164460218714,-0.000320114188043,-6.47516895798e-05,1793247617308724992
+257,4.283333333,HOLD_POSE2,766.801964631,745,715,681,660,632,879.801964631,781.801964631,815,651.198035369,630,653,0.45658078413,-0.0155933703352,0.0597738704476,0.999999932375,-0.000165518953343,-0.00032186246725,-6.52546334388e-05,1793247617325391616
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+260,4.333333333,HOLD_POSE2,766.460676512,745,715,681.539323488,660,632,879,781,815,651,630,653,0.456580742297,-0.0155913083692,0.0597733728131,0.999999932968,-0.000161322036776,-0.000322201458656,-6.49974461517e-05,1793247617375391744
+261,4.350000000,HOLD_POSE2,766,745,715,682,660,632,879,781,815,651,630,653,0.456579706028,-0.0155921860984,0.0597723884595,0.999999932432,-0.000161989721876,-0.000323512314751,-6.50805056017e-05,1793247617392058368
+262,4.366666667,HOLD_POSE2,766,745,715,682,660,632,879,781,815,651,630,653,0.456581770136,-0.0155914047679,0.0597740046313,0.999999933184,-0.000161571669708,-0.000321358379882,-6.52284919964e-05,1793247617408725248
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879,781,815,651,630,654,0.456586062504,-0.0155932338835,0.0597767472168,0.999999934719,-0.000161285587544,-0.000317003226418,-6.3701144387e-05,1793247617474683904
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.575634723,660,632,879.575634723,781,815,651,630,653.424365277,0.456585015316,-0.0155920251915,0.0597758188641,0.99999993396,-0.000161815368286,-0.000318948683709,-6.45493767876e-05,1793247617491350784
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.275210715,745,715,682,660,632,879.275210715,781,815,651,630,653,0.456584766227,-0.0155924761483,0.0597752569032,0.999999933845,-0.00016273194271,-0.000318847061056,-6.45382839386e-05,1793247617524684288
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745.30831213,715,682,660,632,879.30831213,781,815,651,630,653,0.456583977253,-0.0155922317262,0.0597748469577,0.999999933668,-0.000161939183791,-0.000319837627996,-6.43684303643e-05,1793247617541350656
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631.06042099,879,781.06042099,815,651,629.93957901,653,0.456580364972,-0.0155924347451,0.0597722532399,0.999999932633,-0.000160433617304,-0.000323813061891,-6.43375302689e-05,1793247617591350784
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.368513455,660,631,879,781.368513455,815,651.631486545,630,653.262973091,0.456496421394,-0.0155861043155,0.059734300562,0.999999910913,-0.000158492063082,-0.000385311253843,-6.77506698052e-05,1793247617658017280
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.570665215,659,634,878,785,810,651,630,652,0.412969413701,-0.0153576944533,0.0598225772398,0.999999930204,0.000218851198604,-0.000302060807097,2.13418673775e-05,1793247618841351936
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.852797961,659,634,878,785,810.147202039,651.147202039,630,652,0.412199726502,-0.0153537735083,0.0597958217305,0.999999914995,0.000216777164969,-0.000350242608344,1.86601392465e-05,1793247618858019072
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.278170767,659,634,878,785,810.721829233,651.721829233,630,652,0.411447791138,-0.0153520747571,0.0597466072264,0.999999883911,0.000220595359509,-0.000428171130577,1.35948452189e-05,1793247618874685184
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.69587691,634,878,785,810.69587691,651.69587691,629.69587691,652,0.410769786684,-0.015351474051,0.0597349994481,0.999999877926,0.000221678496884,-0.000441435884383,1.18538623109e-05,1793247618891351552
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.106389311,634,878,785,810.106389311,651.106389311,629.106389311,652,0.410161153061,-0.0153519036618,0.0597586787827,0.999999898041,0.000220195278175,-0.000394025384579,1.32321444128e-05,1793247618908018432
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.524767159,745,715,680,658.475232841,634,877.524767159,785,810,651,629,652,0.409561955938,-0.0153550452546,0.05980083395,0.999999919548,0.000224794314084,-0.000331749828041,1.77324885916e-05,1793247618924685312
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.054697789,745,715,680,659,634,877,785,810,651,629.054697789,652.054697789,0.40896752292,-0.0153584687518,0.0598437718597,0.999999936884,0.000229071179416,-0.000270652677127,2.25039443407e-05,1793247618941352192
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.794845277,634,877,785,810,651,629.794845277,652.794845277,0.40783520703,-0.015357787216,0.0598564673027,0.999999945459,0.000216302213142,-0.000248503793982,2.32608275821e-05,1793247618974684928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,658.220490881,634,877,785,810,651,629.220490881,652.220490881,0.407281488947,-0.0153539405535,0.0598384067107,0.999999935326,0.000233636984858,-0.000272565382677,2.16683050017e-05,1793247618991352576
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.534934742,744.534934742,715,680.534934742,658.465065258,634,877,785,810,651.465065258,629.465065258,652,0.405818111372,-0.0153550088387,0.0598206900189,0.999999932793,0.000220862786508,-0.000291922458773,2.03830544923e-05,1793247619041351936
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744.269678227,715,680,658,634,877,785.730321773,810,652,629.730321773,652,0.404555486924,-0.0153540244073,0.0598072906251,0.999999918225,0.000261503344881,-0.000307733676499,2.15799970236e-05,1793247619091352064
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.982951926,745,715,679.982951926,658.017048074,634,877,784.017048074,810,651.982951926,629,652.017048074,0.403474432132,-0.0153474846338,0.0597566081516,0.999999885631,0.000274765919447,-0.000390983619452,1.93368258737e-05,1793247619141351936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.406051241,745,715,679.406051241,658.593948759,634,877,784.593948759,810,651.406051241,629,652.593948759,0.403212421901,-0.0153505294095,0.0597747801253,0.999999898537,0.000274469813673,-0.000356503036914,2.23101115701e-05,1793247619158018560
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.17021412,745,715,679.17021412,659,634,877,785,810,651.17021412,629,653,0.402964377324,-0.0153525768025,0.0597942508607,0.9999999106,0.000273808244434,-0.000321228062218,2.53175099201e-05,1793247619174685184
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.744969445,745,715,679.744969445,659,634,877,785,810,651.744969445,629,653,0.402749524406,-0.0153522537545,0.0598168083094,0.999999922182,0.000272278093004,-0.000284065092386,2.84059820812e-05,1793247619191351552
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.923684877,634,877.923684877,785,809.923684877,652,629.923684877,652,0.401958444763,-0.0153426556421,0.0598265682758,0.999999923618,0.000272950997009,-0.000278082840923,3.05164326068e-05,1793247619258019072
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,658.349153279,634,877.349153279,785,809.349153279,652,629.349153279,652,0.401797289997,-0.0153439217019,0.0598223557363,0.999999922073,0.000266597554895,-0.000289687459005,2.93358642932e-05,1793247619274685696
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.180740155,744,715,679.180740155,658.819259845,634,877.819259845,785,809.819259845,652,629,652,0.401542659101,-0.015360425284,0.0598261470307,0.999999938529,0.000194918477389,-0.000291387623734,6.50439050392e-06,1793247619308018688
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.40132435,715,679,659,634,877.59867565,785,809.59867565,652,629,652.40132435,0.401446647663,-0.0153671806703,0.0598290683234,0.999999940813,0.000190909552801,-0.000286221156277,2.25652285632e-06,1793247619324685056
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.558062462,659,634,877,785,809.558062462,652,629,653,0.401287206691,-0.0153706974798,0.0598325919042,0.99999994051,0.000204948143538,-0.000277420187515,3.90220681397e-06,1793247619358018048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.134988162,745,715,680,659,634,877,785,810,652,629,652.865011838,0.401220660016,-0.015369486964,0.059833798093,0.999999941625,0.000202802700241,-0.000274951694688,4.72516404687e-06,1793247619374684928
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.707918786,715,680,658.707918786,634,877,785,809.707918786,652,629,652,0.401118842043,-0.0153677746322,0.0598344713393,0.999999942051,0.000201200607838,-0.000274549903761,6.15107855522e-06,1793247619408019200
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.119430867,715,680,658.119430867,634,877,785,809.119430867,652,629,652,0.401079830535,-0.0153658192844,0.0598330962479,0.999999941348,0.000202155859416,-0.000276417396083,5.60392546072e-06,1793247619424685056
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744.460002015,715,679.539997985,658.460002015,634,877,785,809.460002015,652,629,652,0.401050842327,-0.0153641449359,0.0598317744754,0.999999940335,0.000204174712386,-0.000278580322976,5.90132164254e-06,1793247619441351424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,744.963008804,715,679.036991196,658.963008804,634.036991196,876.963008804,785,809.963008804,652,629,652,0.401024917655,-0.0153627303189,0.0598304375359,0.999999939256,0.000206253847788,-0.00028090310497,6.37562429374e-06,1793247619458018048
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.813518675,744,715,680,658.186481325,634.813518675,876.186481325,785,809.186481325,652,629,652.186481325,0.400991393028,-0.0153655142475,0.0598280915313,0.999999938249,0.000204105032568,-0.000286009815755,6.51866937098e-06,1793247619491351296
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.239989028,744,715,680,658.760010972,634.239989028,876.760010972,785,809.760010972,652,629,652.760010972,0.400983513939,-0.0153672652008,0.0598299162951,0.999999939297,0.000202558563079,-0.000283410604911,7.37211863196e-06,1793247619508017664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.346663885,744,715,679.653336115,659,634,877,785,810,652,629.346663885,652.653336115,0.400979701523,-0.0153675233335,0.0598315662253,0.99999994022,0.000202745152589,-0.0002799896312,7.72679926695e-06,1793247619524684544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.942759219,744,715,679.057240781,659,634,877,785,810,652,629.942759219,652.057240781,0.400978815157,-0.0153667073526,0.0598330903593,0.999999941044,0.000204178712036,-0.000275977383129,7.72260607618e-06,1793247619541351424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744.522675356,715.522675356,679.522675356,659,634,877,785,810,651.477324644,629.477324644,652.522675356,0.400977469757,-0.0153670552192,0.0598333593192,0.999999941291,0.000204337751544,-0.000274969690313,7.48722181712e-06,1793247619558018304
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.323270325,679.323270325,658.323270325,634,877,785,810,651.676729675,629,652.323270325,0.400975804163,-0.0153686929645,0.0598344239695,0.999999942135,0.000202545666301,-0.000273220169014,7.463480628e-06,1793247619591351808
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.257615361,658,634,877,785,809.742384639,652,629,652.257615361,0.400976127386,-0.0153689114345,0.0598354657543,0.999999942668,0.000202328960255,-0.000271420951589,7.58074098231e-06,1793247619608018176
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.844484049,658,634,877,785,809.155515951,652,629,652.844484049,0.400977423782,-0.015368050469,0.0598368022862,0.999999943127,0.000203806731019,-0.000268607509377,7.64017926401e-06,1793247619624684800
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.574312623,745,715,680,658.425687377,634,876.574312623,785,809,652,629.425687377,652.574312623,0.40097681435,-0.0153686700525,0.0598368637997,0.999999943209,0.000203489650859,-0.000268535955762,7.93172730244e-06,1793247619641351424
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.004820391,745,715,679.995179609,658.995179609,634,876.004820391,785,809,652,629.995179609,652,0.400975532323,-0.0153698092119,0.0598364757139,0.999999943157,0.0002025347703,-0.000269436001387,8.30422140556e-06,1793247619658018304
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5dc6afd7a278b3bff7f201619ca9e1fd851a7a9
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e31246a206fbbe0874797a2bf3b895284a744032
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89a582a4f48720fc5f90549a6035ebc7d773ca0e678d3de3469bf5b586f900fc
+size 25777117
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..459fca232a89da81174b36b10008d6c940c9d4d1
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+24,0.400000000,BASELINE,766,745,715,679,659,634,877.928881118,785.071118882,810,653,629,652.071118882,0.400935728571,-0.0154411111248,0.0499293241846,0.999999975475,4.65472020906e-05,-0.000214070953997,-3.25255557328e-05,1793247621551852800
+25,0.416666667,BASELINE,766,745,715,679,659,634.505307696,877.494692304,785.505307696,810,653,629,652.505307696,0.400934780023,-0.0154412512997,0.0499285891221,0.999999975185,4.76922352448e-05,-0.000215155086855,-3.26165511431e-05,1793247621568519168
+26,0.433333333,BASELINE,766,745,715,679,659,634.915627929,877,786,810,653,629.084372071,652.915627929,0.400933992486,-0.0154410843176,0.0499277873705,0.999999974862,4.92151181218e-05,-0.000216284904826,-3.27731431992e-05,1793247621585185792
+27,0.450000000,BASELINE,766,745,715,679,659,634.323249886,877,786,810,653,629.676750114,652.323249886,0.400933714393,-0.0154389484642,0.0499270344424,0.999999974527,5.06597810179e-05,-0.000217425395969,-3.32632211413e-05,1793247621601852416
+28,0.466666667,BASELINE,766,745,715.262478815,679,659.262478815,634,877,786,810,652.737521185,629.737521185,652,0.40093438075,-0.0154383619967,0.0499275260418,0.99999997468,5.00850888585e-05,-0.000216857173489,-3.32218820661e-05,1793247621618519040
+29,0.483333333,BASELINE,766,745,715.840220956,679,659.840220956,634,877,786,810,652.159779044,629.159779044,652,0.400936181484,-0.0154396364968,0.0499295124436,0.999999975413,4.70849490863e-05,-0.000214236614865,-3.25422579374e-05,1793247621635185664
+30,0.500000000,BASELINE,766,745,716,679,659.584812034,634,877,786,809.584812034,652,629,652,0.400936787055,-0.0154397821217,0.0499296541841,0.999999975512,4.77615053358e-05,-0.000213641748508,-3.2431722831e-05,1793247621651852544
+31,0.516666667,BASELINE,766,745,716,679,659.010905915,634,877,786,809.010905915,652,629,652,0.400936935739,-0.0154394961999,0.0499290907469,0.999999975369,4.98435898729e-05,-0.000213821264326,-3.25387392255e-05,1793247621668519168
+32,0.533333333,BASELINE,766,745,715.436900534,679,659,634,877.563099466,785.436900534,809.563099466,652,629.563099466,652,0.400935614086,-0.0154396971563,0.0499285206272,0.999999975135,4.89883111654e-05,-0.000215092230636,-3.26306404791e-05,1793247621685185792
+33,0.550000000,BASELINE,766,745,715,679.142223379,659,634,878.142223379,785,810,652.142223379,629.857776621,652,0.400934933477,-0.0154398296275,0.0499284308214,0.999999975086,4.8558041703e-05,-0.000215408116524,-3.2688557307e-05,1793247621701852416
+34,0.566666667,BASELINE,766,745,715,679.737651619,659,634,878.737651619,785,810,652.737651619,629.262348381,652,0.400936386357,-0.0154397138121,0.0499298719826,0.999999975632,4.96634098811e-05,-0.000212613198547,-3.26391133565e-05,1793247621718519040
+35,0.583333333,BASELINE,766,745,715,679.678469674,659,634,878.678469674,785.321530326,810,653,629,652,0.400936787346,-0.0154401599864,0.0499301566967,0.99999997569,4.99117645662e-05,-0.000212318933824,-3.24083340891e-05,1793247621735186176
+36,0.600000000,BASELINE,766,745,715,679.103687827,659,634,878.103687827,785.896312173,810,653,629,652,0.400936359819,-0.0154410488086,0.0499295305422,0.999999975366,4.94850975985e-05,-0.000213994294021,-3.20347270922e-05,1793247621751853824
+37,0.616666667,BASELINE,766,745,715.466126348,679,659,634.466126348,878,786,810,652.533873652,629.466126348,652.466126348,0.400937668773,-0.0154411224113,0.0499300148636,0.999999975629,4.89646098386e-05,-0.000212891837098,-3.19681950573e-05,1793247621768520704
+38,0.633333333,BASELINE,766,745,715.963538944,679,659,634.963538944,877.963538944,785.963538944,810,652,629.963538944,652.963538944,0.400939123591,-0.0154409472115,0.0499305821441,0.999999975952,4.85198447503e-05,-0.000211468275558,-3.19879767443e-05,1793247621785187072
+39,0.650000000,BASELINE,766,745,715.368477697,679,659,634.368477697,877.368477697,785.368477697,810,652,629.368477697,652.368477697,0.400936957618,-0.015439709193,0.0499286758327,0.999999975247,4.95515523296e-05,-0.000214492136835,-3.22946570688e-05,1793247621801853440
+40,0.666666667,BASELINE,766,745,715,679,659,634,877,785.221113123,810,652,629,652.221113123,0.40093631572,-0.0154388771645,0.0499280282421,0.999999975009,5.00534530943e-05,-0.000215460837125,-3.2459110899e-05,1793247621818519808
+41,0.683333333,BASELINE,766,745,715,679,659,634,877,785.801807719,810,652,629,652.801807719,0.400938152323,-0.0154387053705,0.049929427625,0.999999975538,4.96937644323e-05,-0.000213087366462,-3.23922712817e-05,1793247621835186432
+42,0.700000000,BASELINE,766,745,715,679,659,634,877.378421927,786,810,652.378421927,629,652.621578073,0.400938399625,-0.0154393471257,0.0499299644417,0.999999975846,4.83434765884e-05,-0.000211938779751,-3.24375983006e-05,1793247621851852800
+43,0.716666667,BASELINE,766,745,715,679,659,634,877.952921879,786,810,652.952921879,629,652.047078121,0.400937823436,-0.0154404104185,0.0499300543227,0.99999997604,4.64799131849e-05,-0.000211424862534,-3.25410440795e-05,1793247621868519168
+44,0.733333333,BASELINE,766,745,715,679,659,634,878,786,810,653,629.526910101,652,0.400937740545,-0.0154410630505,0.0499299157186,0.999999975826,4.71825940536e-05,-0.000212338775836,-3.21696961787e-05,1793247621885186048
+45,0.750000000,BASELINE,766,745,715,679.103904285,659,634,878,786,809.896095715,653,630,652,0.400937484995,-0.0154411798321,0.0499297119726,0.999999975543,4.85092736005e-05,-0.000213404812677,-3.19134937837e-05,1793247621901853184
+46,0.766666667,BASELINE,766,745,715,679.695213229,659,634,878,786,809.304786771,653,630,652,0.40093621297,-0.0154389549418,0.0499292983219,0.999999975116,5.16885467387e-05,-0.000214586593287,-3.23962302723e-05,1793247621918519808
+47,0.783333333,BASELINE,766,745,715,680,659,634,878,786,809.270206594,653,630,652,0.400936564388,-0.0154386723841,0.0499295835706,0.999999975255,5.17538577191e-05,-0.000213908973441,-3.24630684236e-05,1793247621935186688
+48,0.800000000,BASELINE,766,745,715,680,659,634,878,786,809.827844399,653,630,652,0.400938642737,-0.0154404559748,0.0499306122709,0.999999975995,4.85067039832e-05,-0.000211253423753,-3.20874963988e-05,1793247621951853568
+49,0.816666667,BASELINE,765.581374141,745,715,679.581374141,659,634,878,786,810,653,629.581374141,652,0.400938319381,-0.0154413624475,0.0499301924572,0.999999976038,4.74336056794e-05,-0.000211304124642,-3.20243067833e-05,1793247621968519936
+50,0.833333333,BASELINE,765,745,715,679,659,634,877.977299227,786,809.977299227,653,629,652,0.400937020225,-0.0154418473327,0.0499292052015,0.999999975795,4.72712810459e-05,-0.000212474247022,-3.21099674974e-05,1793247621985186304
+51,0.850000000,BASELINE,765,745,715,679,659,634,877.409447977,786,809.409447977,653,629,652,0.400938045576,-0.0154416149418,0.0499301261816,0.999999976065,4.56643506401e-05,-0.000211502633258,-3.24199477935e-05,1793247622001852928
+52,0.866666667,BASELINE,765.165982884,745,715,679,659,634,877,786,809.165982884,653,629.165982884,652,0.400938574665,-0.01544135819,0.049930558255,0.999999976183,4.4990574525e-05,-0.000211066664275,-3.25728046214e-05,1793247622018519808
+53,0.883333333,BASELINE,765.761005833,745,715,679,659,634,877,786,809.761005833,653,629.761005833,652,0.400937820997,-0.0154410384692,0.0499297265806,0.999999975911,4.67288579186e-05,-0.000212015254203,-3.23195215846e-05,1793247622035186688
+54,0.900000000,BASELINE,766,745,715,679.343496678,659,634,877,786,810,652.656503322,629.656503322,652,0.400937749542,-0.0154403405439,0.0499292121911,0.999999975721,4.77844446332e-05,-0.000212680372058,-3.22894875497e-05,1793247622051853568
+55,0.916666667,BASELINE,766,745,715,679.917574976,659,634,877,786,810,652.082425024,629.082425024,652,0.400938136042,-0.0154393887383,0.0499289107878,0.999999975587,4.83817522982e-05,-0.000213155201424,-3.24093155762e-05,1793247622068520192
+56,0.933333333,BASELINE,766,745,715,679.506132405,659,634,877,786,810,652,629.493867595,652,0.400938544046,-0.0154409493518,0.0499295729809,0.999999975847,4.89747761862e-05,-0.000211845998269,-3.20735448011e-05,1793247622085186816
+57,0.950000000,BASELINE,766,745,715.071770228,679.071770228,659,634,877.071770228,785.928229772,810,652.071770228,629.928229772,652,0.400938713916,-0.0154426764131,0.0499301298076,0.999999976082,4.93097331876e-05,-0.000210704843824,-3.17513692831e-05,1793247622101853440
+58,0.966666667,BASELINE,766,745,715.658562074,679.658562074,659,634,877.658562074,785.341437926,810,652.658562074,629.341437926,652,0.400937149063,-0.0154425753502,0.0499287712788,0.999999975677,4.77979610018e-05,-0.000212915872631,-3.2074858361e-05,1793247622118519808
+59,0.983333333,BASELINE,766,745,716,679.757278034,659,634,878,785.242721966,809.757278034,653,629,652,0.400936112572,-0.0154419845668,0.0499276724996,0.999999975387,4.7064058142e-05,-0.000214395497461,-3.2326607257e-05,1793247622135186176
+60,1.000000000,BASELINE,766,745,716,679.176780723,659,634,878,785.823219277,809.176780723,653,629,652,0.400935811357,-0.0154407122813,0.0499269351917,0.999999975267,4.74126491003e-05,-0.000214857290415,-3.24785215407e-05,1793247622151853056
+61,1.016666667,BASELINE,765.599196748,745,715.599196748,679,659,634,877.599196748,785.599196748,809.400803252,652.599196748,629,652,0.40093687125,-0.0154401712879,0.0499279322424,0.999999975517,4.86298780532e-05,-0.000213431495378,-3.23782684532e-05,1793247622168519680
+62,1.033333333,BASELINE,765.022888509,745,715.022888509,679,659,634,877.022888509,785.022888509,809.977111491,652.022888509,629,652,0.40093852715,-0.0154399505151,0.0499296887395,0.999999975923,5.02274689207e-05,-0.000211179157349,-3.21675955151e-05,1793247622185186304
+63,1.050000000,BASELINE,765.551118593,745,715,679,659,634,877,785.551118593,809.448881407,652.551118593,629.551118593,652,0.400938163113,-0.0154406338684,0.0499291931365,0.999999975875,4.78612877341e-05,-0.000211936037021,-3.22906745053e-05,1793247622201852672
+64,1.066666667,BASELINE,766,745,715,679,659,634,877,786,809.129620756,653,629.870379244,652.129620756,0.400938149981,-0.0154412280569,0.0499290251899,0.999999975914,4.59426498333e-05,-0.000212165898655,-3.2351386207e-05,1793247622218519040
+65,1.083333333,BASELINE,766,745,715,679,659,634,877,786,809.724602624,653,629.275397376,652.724602624,0.400939696592,-0.0154413678802,0.049930367987,0.999999976353,4.62193255181e-05,-0.000210056854213,-3.21386317847e-05,1793247622235185664
+66,1.100000000,BASELINE,766,745,715,679,659,634,877,786,810,653,629,652.691099161,0.400940159237,-0.0154415844702,0.0499304983442,0.999999976472,4.62867992791e-05,-0.000209495790073,-3.20037901138e-05,1793247622251852288
+67,1.116666667,BASELINE,766,745,715,679,659,634,877,786,810,653,629,652.116007461,0.40093968779,-0.0154418672129,0.0499295838985,0.999999976318,4.61739962732e-05,-0.000210268675834,-3.19360886484e-05,1793247622268519168
+68,1.133333333,BASELINE,766.458656392,745.458656392,715,679,659,634,877,786,810,653,629,652,0.400939684128,-0.0154410936192,0.0499302665241,0.999999976388,4.70943571323e-05,-0.000209725605644,-3.19652804398e-05,1793247622285185792
+69,1.150000000,BASELINE,766.965968385,745.965968385,715,679.034031615,659,634.034031615,877.034031615,786,810,653,629.034031615,652,0.400939683062,-0.0154401143106,0.0499311647937,0.999999976465,4.82914683719e-05,-0.000209074177033,-3.20301753604e-05,1793247622301852416
+70,1.166666667,BASELINE,766.377236626,745.377236626,715,679.622763374,659,634.622763374,877.622763374,786,810,653,629.622763374,652,0.400937797603,-0.0154401327685,0.0499289999667,0.999999975754,4.97441047699e-05,-0.000212076696872,-3.22779326818e-05,1793247622318519296
+71,1.183333333,BASELINE,766,745,715,679.791304849,659,635,878,786,810,653,629.791304849,652.208695151,0.400937117419,-0.0154403000607,0.0499281576135,0.999999975515,4.98607577114e-05,-0.000213149951384,-3.24182222609e-05,1793247622335185920
+72,1.200000000,BASELINE,766,745,715,679.210367206,659,635,878,786,810,653,629.210367206,652.789632794,0.400938587044,-0.0154407328238,0.0499296741118,0.999999976129,4.75944623404e-05,-0.000210782041011,-3.23668253004e-05,1793247622351852544
+73,1.216666667,BASELINE,766,745,715.367393545,679,659,634.632606455,878,785.632606455,810,653,629,653,0.400938640253,-0.015440807909,0.049929833872,0.999999976202,4.68081413301e-05,-0.000210610101091,-3.23679392273e-05,1793247622368519168
+74,1.233333333,BASELINE,766,745,715.94335079,679,659,634.05664921,878,785.05664921,810,653,629,653,0.400937889385,-0.015440679946,0.0499292234327,0.999999975972,4.68619792743e-05,-0.000211684780169,-3.23988627855e-05,1793247622385185536
+75,1.250000000,BASELINE,766,745,715.48139779,679,659,634,878,785.51860221,810,652.48139779,629.51860221,652.48139779,0.400936688748,-0.0154418463036,0.0499281674993,0.999999975592,4.62825379375e-05,-0.000213597309362,-3.24176112144e-05,1793247622401852416
+76,1.266666667,BASELINE,766,745,715,679,659,634,878,786,810,652,629.904157376,652.095842624,0.400935515422,-0.0154427358698,0.0499272248926,0.999999975256,4.56842803414e-05,-0.000215283543071,-3.24720852835e-05,1793247622418519040
+77,1.283333333,BASELINE,766,745,715,679,659,634,878,786,810,652,629.316311321,652.683688679,0.400934734164,-0.0154414797373,0.0499271135144,0.999999975251,4.53440588293e-05,-0.000215338914412,-3.27167731008e-05,1793247622435185664
+78,1.300000000,BASELINE,766,745,715,679,659,634,877.732256753,786,810,652,629,652.732256753,0.400934401121,-0.0154407629918,0.0499268754053,0.999999975159,4.63819495785e-05,-0.000215552074769,-3.26757621964e-05,1793247622451852544
+79,1.316666667,BASELINE,766,745,715,679,659,634,877.152618936,786,810,652,629,652.152618936,0.400934590205,-0.0154406745792,0.0499264896673,0.99999997496,4.90252057091e-05,-0.000215949043817,-3.23019403394e-05,1793247622468519168
+80,1.333333333,BASELINE,766.424948608,745,715,679,659,634,877.424948608,786,810,652,629,652,0.400935555104,-0.015439757657,0.0499271456384,0.999999975068,5.16557528704e-05,-0.000214839504881,-3.22455288282e-05,1793247622485185792
+81,1.350000000,BASELINE,766.99819773,745,715.00180227,679,659,634,878.00180227,785.99819773,810,652,629.00180227,652.00180227,0.400936796325,-0.01543855376,0.0499281720412,0.999999975281,5.42632811041e-05,-0.00021319255359,-3.2301402524e-05,1793247622501852160
+82,1.366666667,BASELINE,766.41292726,745,715.58707274,679,659,634,878.58707274,785.41292726,810,652,629.58707274,652.58707274,0.400937727238,-0.0154403085863,0.049928589517,0.999999975748,5.08890897996e-05,-0.00021187651627,-3.19820512061e-05,1793247622518519040
+83,1.383333333,BASELINE,765.82828516,745,716,679,659,634,878.65657032,785.17171484,810,652.17171484,630,652.82828516,0.400938381298,-0.0154412293689,0.0499287992322,0.999999976002,4.87507092699e-05,-0.000211192634038,-3.19004411365e-05,1793247622535185664
+84,1.400000000,BASELINE,765.245148493,745,716,679,659,634,877.490296985,785.754851507,810,652.754851507,630,652.245148493,0.400938372031,-0.0154401518168,0.0499285111613,0.99999997577,4.95732808061e-05,-0.00021202336962,-3.23884494414e-05,1793247622551852288
+85,1.416666667,BASELINE,765,745,715.667465788,678.667465788,659,634,877,786,810,652.667465788,629.667465788,652.332534212,0.400938316655,-0.0154400513299,0.0499285299089,0.999999975725,4.8929773755e-05,-0.000212362443393,-3.25316667892e-05,1793247622568518912
+86,1.433333333,BASELINE,765,745,715.093738968,678.093738968,659,634,877,786,810,652.093738968,629.093738968,652.906261032,0.400938227834,-0.0154406595247,0.0499287711969,0.999999975814,4.72228954158e-05,-0.00021234490661,-3.24248014791e-05,1793247622585185536
+87,1.450000000,BASELINE,765.482221055,745,715.482221055,678.964442111,659,634,877.482221055,785.517778945,810,652.482221055,629,653,0.400937394284,-0.0154412865038,0.0499284570879,0.999999975714,4.66569531737e-05,-0.000212950193863,-3.23771880252e-05,1793247622601852416
+88,1.466666667,BASELINE,766,745,715.940258558,680,659,634,877.940258558,785.059741442,810,653,629,653,0.400936558373,-0.0154418067312,0.0499281239234,0.999999975604,4.64258670232e-05,-0.000213520187514,-3.23299719553e-05,1793247622618519040
+89,1.483333333,BASELINE,766,745,715.352807569,680,659,634,877.352807569,785.647192431,810,653,629,653,0.40093698633,-0.0154413515916,0.0499285805418,0.999999975747,4.71844340269e-05,-0.000212704003775,-3.21840518857e-05,1793247622635185408
+90,1.500000000,BASELINE,766,745,715.231924636,679.768075364,659,634,877,786,810,652.768075364,629,653,0.400937043905,-0.0154411924331,0.0499286553297,0.999999975733,4.79879569598e-05,-0.000212622631548,-3.19763228518e-05,1793247622651852032
+91,1.516666667,BASELINE,766,745,715.812568852,679.187431148,659,634,877,786,810,652.187431148,629,653,0.400936544578,-0.0154414783089,0.0499281560011,0.999999975482,4.88590751136e-05,-0.00021364611469,-3.16756584859e-05,1793247622668518656
+92,1.533333333,BASELINE,766,745,716,679,659,634,877.389593746,785.610406254,810,652,629,652.610406254,0.400936554914,-0.0154419610979,0.0499278217448,0.999999975461,4.74259886516e-05,-0.000214039972204,-3.18590015212e-05,1793247622685185536
+93,1.550000000,BASELINE,766,745,716,679,659,634,877.964893485,785.035106515,810,652,629,652.035106515,0.400936808188,-0.0154425377486,0.0499275661728,0.999999975545,4.48945668612e-05,-0.00021413370884,-3.22730542774e-05,1793247622701852160
+94,1.566666667,BASELINE,766,745,715.460216164,679.539783836,659,634,877.460216164,785.539783836,810,652.539783836,629,652.539783836,0.400936097612,-0.0154416023489,0.0499273326598,0.999999975339,4.68563409605e-05,-0.000214686213787,-3.2205266442e-05,1793247622718518784
+95,1.583333333,BASELINE,766,745,715,679.882377968,659,634,877,786,810,653,629,652.882377968,0.400935926132,-0.015440923031,0.0499274634536,0.999999975287,4.82783159594e-05,-0.00021462315566,-3.21321323019e-05,1793247622735185664
+96,1.600000000,BASELINE,766,745,715,679.292599608,659,634,877,786,810,653,629,652.292599608,0.400938170134,-0.015441666131,0.0499290508866,0.999999975943,4.63612681271e-05,-0.000211969432975,-3.21632381982e-05,1793247622751852288
+97,1.616666667,BASELINE,766,745,715,679.29262902,659,634,877,785.70737098,810,653,629,652.29262902,0.400939273961,-0.0154412761937,0.0499296648842,0.9999999762,4.62047056409e-05,-0.000210749250611,-3.23995259761e-05,1793247622768518912
+98,1.633333333,BASELINE,766,745,715,679.873377985,659,634,877,785.126622015,810,653,629,652.873377985,0.400939255181,-0.0154397706777,0.0499293204458,0.999999976071,4.77815015745e-05,-0.000210940519532,-3.28378340185e-05,1793247622785185792
+99,1.650000000,BASELINE,766,745,715.448496836,679.551503164,659,634,877,785.448496836,810,653,629,652.551503164,0.400938469599,-0.0154409419061,0.0499288312379,0.999999975964,4.68511381179e-05,-0.000211719868511,-3.24150225374e-05,1793247622801852416
+100,1.666666667,BASELINE,766,745,715.977412953,679,659,634,877.022587047,786,810,652.977412953,629,652,0.400937497396,-0.0154427442275,0.0499283158832,0.999999975857,4.53169488868e-05,-0.000212655804425,-3.17870051742e-05,1793247622818518784
+101,1.683333333,BASELINE,766,745,715.389784315,679,659,634,877.610215685,786,810,652.389784315,629,652,0.400937205213,-0.0154416634184,0.0499281562183,0.99999997565,4.61651326114e-05,-0.000213407006822,-3.2031949542e-05,1793247622835185664
+102,1.700000000,BASELINE,766,745.19580673,715.19580673,679,659,634,877.80419327,786,810,652,629,652.19580673,0.400936524055,-0.0154414027216,0.0499277982657,0.999999975488,4.6553731956e-05,-0.000214059569341,-3.21608410654e-05,1793247622851852288
+103,1.716666667,BASELINE,766,745.777383333,715.777383333,679,659,634,877.222616667,786,810,652,629,652.777383333,0.400935076556,-0.0154427577743,0.0499270496555,0.999999975417,4.60368781181e-05,-0.000214517795786,-3.20610903124e-05,1793247622868519168
+104,1.733333333,BASELINE,766,745.645188429,715.645188429,679,659,634.354811571,877,786,810,652.354811571,629,653,0.400936027078,-0.0154432554581,0.0499277822538,0.999999975673,4.60018424086e-05,-0.000213336002011,-3.20131449691e-05,1793247622885185792
+105,1.750000000,BASELINE,766,745.070332833,715.070332833,679,659,634.929667167,877,786,810,652.929667167,629,653,0.400938464784,-0.0154432214264,0.0499294334552,0.999999976128,4.62656165224e-05,-0.000211137114473,-3.19973278549e-05,1793247622901852416
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,659,634,877,785,810,653,629,652,0.400937896871,-0.015440311178,0.0499286355371,0.999999975877,4.67325476482e-05,-0.000212189296829,-3.22140768797e-05,1793247622934011904
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.386094563,745.386094563,715.613905437,679,659,634,877.613905437,785.613905437,809.386094563,653,629,652,0.40093663149,-0.0154406988133,0.0499274793899,0.999999975584,4.605688972e-05,-0.000213682481461,-3.24021315988e-05,1793247622950678528
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.21587592,745,715.78412408,679,659,634,877.78412408,785.78412408,809.21587592,652.78412408,629,652.21587592,0.400936194653,-0.0154411605357,0.0499270882055,0.999999975441,4.65728046779e-05,-0.000214247396378,-3.23709042624e-05,1793247622967345152
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.797619102,745,715.202380898,679,659,634,877.202380898,785.202380898,809.797619102,652.202380898,629,652.797619102,0.400937162032,-0.0154417478211,0.0499279934824,0.999999975548,4.9108201408e-05,-0.000213239076784,-3.19680369642e-05,1793247622984011776
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.373784865,659,634,877.373784865,785,809.626215135,652.373784865,629,652.626215135,0.400938703888,-0.0154412299121,0.0499288700599,0.999999975877,4.90580979247e-05,-0.000211713658819,-3.18870012282e-05,1793247623000678400
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.946975171,659,634,877.946975171,785,809.053024829,652.946975171,629,652.053024829,0.400940552213,-0.0154401224079,0.049929731327,0.999999976323,4.76286906879e-05,-0.000209912381088,-3.19776550912e-05,1793247623017345024
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,659.530502876,634,878,785.530502876,809.530502876,653,629,652.530502876,0.400942021756,-0.0154414697987,0.049930244564,0.999999976567,4.66765563303e-05,-0.000208960621741,-3.19829679078e-05,1793247623034011648
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.115183369,679.884816631,659.884816631,634.115183369,877.884816631,786,809.884816631,652.884816631,629,652.884816631,0.400944785046,-0.0154427740746,0.049931068638,0.999999977003,4.58516952344e-05,-0.000207055160674,-3.19304002122e-05,1793247623050678528
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.70026776,679.29973224,659.29973224,634.70026776,877.29973224,786,809.29973224,652.29973224,629,652.29973224,0.400952983822,-0.0154428815496,0.0499333055338,0.999999978289,4.53475750136e-05,-0.000200905700198,-3.16771942228e-05,1793247623067345152
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.280639516,716,679,659,634.719360484,877,786,809.280639516,652,629.280639516,652,0.400967934486,-0.0154437812428,0.0499371036409,0.999999980384,4.45332504612e-05,-0.00019046042319,-3.1208901701e-05,1793247623084012288
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.856061111,716,679,659,634.143938889,877,786,809.856061111,652,629.856061111,652,0.400989977293,-0.0154455130772,0.049942541635,0.999999983192,4.33930891502e-05,-0.000175502846415,-3.05146835763e-05,1793247623100679680
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.57298317,716,679,659,634,877,786,810,652,629.57298317,652,0.401021432007,-0.0154467917408,0.0499481613693,0.999999986398,4.34805278101e-05,-0.000156257654802,-2.99462890456e-05,1793247623117346560
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.003517181,716,679,659,634,877,786,810,652,629.003517181,652,0.401056026454,-0.0154479192307,0.049953841731,0.999999989409,4.39774832023e-05,-0.000135582150347,-2.94198681228e-05,1793247623134013184
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.409993822,679,659,634,877.590006178,786,810,652,629,652,0.401103105291,-0.0154491418897,0.0499586252157,0.999999992178,4.55679480351e-05,-0.000112765638012,-2.91878542013e-05,1793247623150679552
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.820029261,785.820029261,809.820029261,652,629.179970739,652.179970739,0.401153687785,-0.0154514153985,0.0499626310518,0.999999994152,4.51184910875e-05,-9.39034266534e-05,-2.90089780108e-05,1793247623167345664
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.238341975,785.238341975,809.238341975,652,629.761658025,652.761658025,0.401211917693,-0.0154560332117,0.0499649135242,0.999999995258,4.01005122809e-05,-8.38973908347e-05,-2.8944627692e-05,1793247623184012288
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,658.660615681,634,877,785,809.339384319,652.339384319,629.660615681,652.660615681,0.401279876596,-0.0154603980861,0.04996586322,0.999999995651,3.93878839758e-05,-7.96439142047e-05,-2.8338191403e-05,1793247623200679168
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,658.085639047,634,877,785,809.914360953,652.914360953,629.085639047,652.085639047,0.401354589127,-0.0154645873765,0.0499658877345,0.999999995607,4.16639252715e-05,-7.93837244459e-05,-2.73554522621e-05,1793247623217346048
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,658.483536488,634.483536488,877.483536488,785.483536488,810,652.516463512,629.483536488,652.483536488,0.40144587174,-0.0154697541149,0.0499667078049,0.999999995734,3.91022740555e-05,-7.92604855298e-05,-2.6851008142e-05,1793247623234012928
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.945729455,877.945729455,786,809.945729455,652.054270545,629.945729455,653,0.4015425933,-0.0154753021561,0.0499677539118,0.999999995899,3.57155415429e-05,-7.89492589686e-05,-2.63181559852e-05,1793247623250679808
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.349282748,877.349282748,786,809.349282748,652.650717252,629.349282748,653,0.401664680241,-0.0154829505406,0.0499696672337,0.999999996239,3.25442387986e-05,-7.65205452245e-05,-2.46652520081e-05,1793247623267346176
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.760400291,809.239599709,653,629,652.760400291,0.401797916955,-0.0154906629154,0.0499704546291,0.999999996427,2.85107650344e-05,-7.60340661488e-05,-2.35048447607e-05,1793247623284012800
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.182207393,809.817792607,653,629,652.182207393,0.401946910091,-0.0154984657183,0.049969650908,0.999999996399,2.32589042719e-05,-7.82922793815e-05,-2.30404152851e-05,1793247623300679168
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.392000051,659,634.392000051,877,785.392000051,810,653,629.392000051,652,0.402120865293,-0.0155085674996,0.0499683273836,0.999999996445,1.79717977485e-05,-7.93473425756e-05,-2.2154068008e-05,1793247623317345792
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.964373691,659,634.964373691,877,785.964373691,810,653,629.964373691,652,0.402306306471,-0.0155197271257,0.0499667646786,0.99999999651,1.26684728985e-05,-7.98487925388e-05,-2.10735808464e-05,1793247623334012416
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.554584202,679.445415798,659,634.445415798,877.554584202,785.445415798,810,653,629.445415798,652,0.402515835812,-0.0155297181464,0.0499672617426,0.999999996517,6.94695626422e-06,-8.08025730604e-05,-1.9692963582e-05,1793247623350679296
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.857097403,745,715.857097403,679.142902597,658.857097403,634,877.857097403,785,809.857097403,652.857097403,629.142902597,652.142902597,0.402741772214,-0.0155398680148,0.0499700814721,0.999999996912,2.02091938398e-06,-7.65069000212e-05,-1.78622849196e-05,1793247623367346176
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.278164567,745,715.278164567,679.721835433,658.278164567,634,877.278164567,785,809.278164567,652.278164567,629.721835433,652.721835433,0.403012892119,-0.0155507392399,0.0499795710596,0.999999998318,-3.93224541833e-07,-5.61022722176e-05,-1.4719143882e-05,1793247623384013056
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.299668384,745,715,679.700331616,658.299668384,634,877,785.299668384,809.299668384,652,630,652.700331616,0.403303997134,-0.0155585830256,0.0499883792482,0.999999999253,1.64254635538e-06,-3.69243273465e-05,-1.12802891097e-05,1793247623400679936
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.876484075,745,715,679.123515925,658.876484075,634,877,785.876484075,809.876484075,652,630,652.123515925,0.403613585297,-0.0155636268936,0.0499965572467,0.999999999763,7.79380629684e-06,-1.88808773266e-05,-7.56794466437e-06,1793247623417346560
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.460277397,679,659,634,877.460277397,785.539722603,810,652,629.539722603,652,0.403946392796,-0.0155573835393,0.0500002826195,0.999999999594,2.58411581714e-05,-1.02600201235e-05,-6.27030105046e-06,1793247623434012672
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.954539228,679,659,634,877.954539228,785,810,652,629,652,0.404289426774,-0.0155491378628,0.0500029427118,0.99999999899,4.44672490844e-05,-3.51547822235e-06,-5.42321956079e-06,1793247623450679040
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.375357682,679,659,634,877.375357682,785,810,652,629,652,0.404678243449,-0.0155534922929,0.050007340114,0.999999999427,3.1832239513e-05,1.13435665924e-05,-2.14121221341e-06,1793247623467345920
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.203879267,810,652.203879267,629,652,0.405072362458,-0.0155571392777,0.0500064708708,0.999999999619,2.39422842451e-05,1.36986512749e-05,5.46450761235e-07,1793247623484012544
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.783218183,810,652.783218183,629,652,0.405476246088,-0.0155594834461,0.0499959026869,0.999999999666,2.47907197631e-05,-6.97328822323e-06,2.1395816299e-06,1793247623500679680
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.640641798,810,652.640641798,629,652.359358202,0.405895853128,-0.0155587610899,0.0499783187995,0.999999998408,3.84933826318e-05,-4.11360256944e-05,3.29835812034e-06,1793247623517346304
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.066414425,810,652.066414425,629,652.933585575,0.406324861623,-0.0155562051829,0.0499565400481,0.999999994723,5.98819065188e-05,-8.33652474285e-05,4.19742351425e-06,1793247623534012928
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.520442,810,652,629.520442,653,0.406813911305,-0.0155556854353,0.0499465683689,0.999999991841,8.02198236945e-05,-9.92062308216e-05,6.39354740426e-06,1793247623550679296
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.107023287,659.107023287,634,877.107023287,785.892976713,810.107023287,652.107023287,630,653,0.407326313349,-0.0155563227662,0.0499433341322,0.999999989761,9.99814455157e-05,-0.000101942585645,9.43391005239e-06,1793247623567345920
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.68512357,659.68512357,634,877.68512357,785.31487643,810.68512357,652.68512357,630,653,0.407906940227,-0.0155608809766,0.0499629586708,0.999999991007,0.000117811235416,-6.21880780172e-05,1.54436254301e-05,1793247623584012544
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.737317592,659.737317592,634,877.737317592,785,811,652.737317592,629.737317592,652.737317592,0.408506956502,-0.0155647022844,0.0499859284605,0.999999990663,0.000133554346065,-1.93023852626e-05,2.15353780983e-05,1793247623600679168
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.160406483,659.160406483,634,877.160406483,785,811,652.160406483,629.160406483,652.160406483,0.409130166931,-0.0155676420865,0.0500128999405,0.999999988467,0.000146801306321,2.73289241444e-05,2.77252659082e-05,1793247623617345792
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.415128133,679.415128133,659,634,877.415128133,785,810.584871867,652,629.415128133,652.415128133,0.409749080935,-0.0155694151595,0.0500186433444,0.999999987264,0.000153148420699,3.23877431066e-05,3.11117273956e-05,1793247623634012416
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.990132613,679.990132613,659,634,877.990132613,785,810.009867387,652,629.990132613,652.990132613,0.410366340263,-0.0155707388956,0.0500162112784,0.999999986913,0.000156838229626,2.14359431462e-05,3.34185183496e-05,1793247623650679040
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.419160242,679.419160242,659,634,878,785,810.580839758,652.580839758,629.419160242,653,0.41097630104,-0.0155670884626,0.0499803903261,0.999999987034,0.000148571024603,-5.56927768705e-05,2.75247814745e-05,1793247623667345408
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.168460378,659.168460378,634,878,785.168460378,811,653,629.168460378,653,0.411619629032,-0.0155644708366,0.0499543289538,0.99999998387,0.000142628190636,-0.000106663051677,2.32304203715e-05,1793247623684011776
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.747882435,659.747882435,634,878,785.747882435,811,653,629.747882435,653,0.41234466764,-0.0155645846314,0.04995349841,0.999999985385,0.000142864999881,-9.10006240916e-05,2.31870583791e-05,1793247623700678400
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.675578067,745,715,680,659.675578067,634,878.324421933,785.675578067,811,652.675578067,630,652.675578067,0.413104330683,-0.0155669844914,0.0499702527184,0.999999987642,0.00014542831064,-5.43117072229e-05,2.48187514342e-05,1793247623717345024
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.1012589,745,715,680,659.1012589,634,878.8987411,785.1012589,811,652.1012589,630,652.1012589,0.413890664473,-0.0155711452724,0.0500005523683,0.999999988397,0.000149783689521,-1.42640668893e-06,2.774071362e-05,1793247623734011648
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679.5159007,659.4840993,634,879,785,811,652,630.4840993,652,0.414648496545,-0.0155647090453,0.0499871755064,0.999999986113,0.000162845321578,-2.51211252563e-05,2.49917722065e-05,1793247623750678272
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.070747594,745,715,679,660,633.929252406,879,785,811,652,630.858504812,652.070747594,0.415405122711,-0.0155559743435,0.0499650278664,0.999999982135,0.000176740960089,-6.35869430852e-05,2.11991830568e-05,1793247623767345152
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.649689902,745,715,679,660,633.350310098,879,785,811,652,629.700620197,652.649689902,0.416196910392,-0.0155470228675,0.0499470336284,0.999999978951,0.000183240966476,-9.04094439271e-05,1.86292702458e-05,1793247623784011776
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715.228413984,679.228413984,660,633.228413984,879,785,811,652,629.228413984,653,0.417018883304,-0.0155423429245,0.0499470182145,0.999999978649,0.000186744233314,-8.65866416276e-05,1.82090919827e-05,1793247623800678656
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.806803668,679.806803668,660,633.806803668,879,785,811,652,629.806803668,653,0.417887105952,-0.0155442078211,0.0499745499397,0.999999981903,0.00018565589799,-3.58091320219e-05,2.1082735179e-05,1793247623817345280
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.616490665,679.616490665,660,634,878.616490665,785.383509335,811,652,630,653,0.418729496766,-0.0155455932959,0.0499840271188,0.999999982249,0.000184955399151,-2.78201260019e-05,2.2773797723e-05,1793247623834011904
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.040629643,679.040629643,660,634,878.040629643,785.959370357,811,652,630,653,0.419558931425,-0.0155467383134,0.0499844489179,0.999999981852,0.000184449422475,-4.12919831979e-05,2.38717289187e-05,1793247623850678528
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.545609457,679,660,633.454390543,878.545609457,785.454390543,811.545609457,652,630,653,0.420442989349,-0.0155458317217,0.0499731459616,0.999999980607,0.000191142985897,-4.1563981197e-05,2.28595759218e-05,1793247623867345152
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.869092203,745,715.869092203,679,660,633.130907797,878.869092203,785,811.869092203,652,630,653,0.421343866444,-0.0155455447251,0.0499705769262,0.999999979926,0.000196997390773,-2.86759813794e-05,2.27598894726e-05,1793247623884011776
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.289715767,745,715.289715767,679,660,633.710284233,878.289715767,785,811.289715767,652,630,653,0.422288157916,-0.0155479138948,0.0500009779748,0.999999979696,0.000198104685731,2.58633006123e-05,2.63349054371e-05,1793247623900678656
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679.287730677,660,634,878.287730677,785,811.287730677,652,630,653,0.423197727328,-0.0155472557804,0.0500055809084,0.99999997913,0.000199995159194,3.15564560507e-05,2.73062797117e-05,1793247623917345792
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679.863246832,660,634,878.863246832,785,811.863246832,652,630,653,0.42407256818,-0.0155435698056,0.0499843808172,0.999999979066,0.000202668960621,-1.16058116338e-05,2.56735168623e-05,1793247623934013440
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.437341272,634,879,785,812,652,630,653,0.425002536845,-0.0155495348641,0.0499943123114,0.999999980488,0.000195542967477,8.0766802546e-06,2.68512330283e-05,1793247623950680064
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.011335163,745,715,680,660.988664837,633.988664837,878.988664837,785,812.011335163,652,630,653,0.425949062296,-0.0155583621849,0.0500135960578,0.999999981288,0.000185634561875,4.61443814582e-05,2.88858690275e-05,1793247623967346944
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.602865453,745,715,680,660.397134547,633.397134547,878.397134547,785,812.602865453,652,630,653,0.426863579935,-0.0155597286825,0.0500149237005,0.999999981311,0.000189647381615,2.2678292154e-05,2.99455745023e-05,1793247623984013312
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.19049065,745,715,680.19049065,660,633,878.19049065,785,812.80950935,652,630.19049065,653,0.427765127571,-0.0155565729705,0.0500020778999,0.999999980187,0.000196345987067,-1.4204401762e-05,2.95468600688e-05,1793247624000679936
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.770138029,745,715,680.770138029,660,633,878.770138029,785,812.229861971,652,630.770138029,653,0.428640178507,-0.0155441787563,0.0499602769201,0.999999974834,0.000208531431187,-7.84961138465e-05,2.61687136103e-05,1793247624017346304
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.653480193,745,715,680.653480193,660,633.346519807,879.346519807,785,812.346519807,652,631,653,0.42957137324,-0.0155396290755,0.0499551397107,0.999999974407,0.00021128734859,-7.66881582665e-05,2.57235428477e-05,1793247624034012928
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.07924443,745,715,680.07924443,660,633.92075557,879.92075557,785,812.92075557,652,631,653,0.430539462911,-0.0155402344407,0.0499740961487,0.999999977535,0.000207846639489,-3.14427152281e-05,2.72057811255e-05,1793247624050679552
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879.493471799,785,813,652,631,653,0.431415337275,-0.0155403153499,0.0499602237279,0.999999975654,0.000210624323729,-5.99557937236e-05,2.7117336386e-05,1793247624067345920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.907170796,745,715.092829204,680,660,633.907170796,879.092829204,784.907170796,813,652,631,653,0.43229025611,-0.0155405287915,0.0499453060655,0.999999972532,0.000214594098726,-9.03006262446e-05,2.70324702542e-05,1793247624084012288
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.327781369,745,715.672218631,680,660,633.327781369,879.672218631,784.327781369,813,652,631,653,0.433237545815,-0.0155418769757,0.0499524571137,0.999999973153,0.000219594198422,-6.83543873905e-05,2.82843501885e-05,1793247624100679680
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.25088795,745,716,680,660,633.25088795,879.74911205,784.25088795,813.25088795,652,631,653,0.434166496964,-0.0155423376624,0.0499658820754,0.999999973766,0.000222728751102,-4.43515546621e-05,2.98852974432e-05,1793247624117346816
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.828619231,745,716,680,660,633.828619231,879.171380769,784.828619231,813.828619231,652,631,653,0.435071557758,-0.0155416421651,0.0499874803552,0.999999974373,0.000223432970124,-1.76694989874e-05,3.19409910068e-05,1793247624134013440
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715.596172069,680,660,634,879,784.596172069,814,652,631,653,0.435907605727,-0.0155379646067,0.0499724503394,0.999999972176,0.000226000086269,-6.02226142054e-05,3.07600778467e-05,1793247624150679808
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715.022027317,680,660,634,879,784.022027317,814,652,631,653,0.436714547074,-0.0155330293464,0.0499419721218,0.999999964592,0.000229352889313,-0.000131976073995,2.82141063862e-05,1793247624167345920
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.552746864,633.447253136,879.552746864,784,814,652,631,653,0.437606847125,-0.0155350406834,0.0499595437897,0.999999970363,0.000228901793783,-7.74906217346e-05,2.95332617172e-05,1793247624184012288
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.868055353,633,880,784.131944647,814,652,631,653,0.438491559643,-0.0155369822924,0.0499766983364,0.999999973137,0.000227810301618,-2.97873827295e-05,3.06625349355e-05,1793247624200678656
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.273433861,633,880,784.726566139,814,652,631,653,0.439337724046,-0.0155377075679,0.0499856680509,0.999999973942,0.000225005361726,-2.35274026997e-05,3.05852388751e-05,1793247624217345536
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633,879.689760192,785,814,652,631,653,0.440143839541,-0.0155392303831,0.0499799594121,0.999999974479,0.000221208319154,-3.46570317087e-05,3.01192002311e-05,1793247624234012416
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633,879.115406667,785,814,652,631,653,0.44091586051,-0.0155414321607,0.0499617547797,0.999999974284,0.000216566678591,-6.05908034536e-05,2.93222167818e-05,1793247624250679040
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715.469318063,680.469318063,660.469318063,633.469318063,879,785,814.469318063,652,631,653,0.441688827352,-0.0155455553094,0.0499742038391,0.999999975578,0.000215791529779,-3.60322370859e-05,3.1286134235e-05,1793247624267346432
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,716,681,661,633.944138173,879,785,815,652,631,653,0.442458049454,-0.0155496061839,0.0499931963287,0.999999976063,0.000216170167816,-1.47033980394e-06,3.37985993678e-05,1793247624284013568
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,716,681,661,633.36498497,879,785,815,652,631,653,0.443189963693,-0.0155484540843,0.0500012779859,0.999999975542,0.000218249212844,7.86026672984e-06,3.49461302809e-05,1793247624300679680
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,716,681,661,633,879.205844504,785,815,652,631,653,0.443888918629,-0.0155458645126,0.0499926011705,0.999999974851,0.000221281909979,-1.13272107058e-05,3.47049563788e-05,1793247624317345792
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,716,681,661,633,879.762488793,785,815,652,631,653,0.444531704506,-0.0155408252036,0.0499553646016,0.999999970831,0.000225939818756,-7.91151471764e-05,3.20971546419e-05,1793247624334012416
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.66176683,681,660.66176683,633,879.66176683,785,815,652,631,653,0.44519989531,-0.0155394183561,0.049942815676,0.999999969884,0.000227366462542,-8.71184140906e-05,3.0775462836e-05,1793247624350679040
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715.071807462,681,660.071807462,633,879.071807462,785,815,652,631,653,0.445886993404,-0.0155407149269,0.0499486402508,0.99999997263,0.000226388274079,-5.06276154138e-05,3.04109439478e-05,1793247624367345920
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680.487811345,660.512188655,633,880.024377309,785,815,652,631,653,0.446543950887,-0.0155436303519,0.0499706817306,0.999999974854,0.000221713749958,-1.17940169415e-05,3.15739043495e-05,1793247624384012800
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,880.902761599,785,815,652,631,653.097238401,0.447177080444,-0.0155455165014,0.0499869332196,0.999999975472,0.000218610050471,1.46569580593e-05,3.24221178651e-05,1793247624400679680
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,880.308094408,785,815,652,631,653.691905592,0.44770968452,-0.015540989671,0.0499620689584,0.999999973672,0.000226162455249,-2.38969997406e-05,3.05773437705e-05,1793247624417346560
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680.276547712,661,633,880,785,815,652,631,653.723452288,0.448239514607,-0.0155376265119,0.0499426765733,0.999999971592,0.000230304735946,-5.40953126374e-05,2.91354441932e-05,1793247624434013440
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680.850411839,661,633,880,785,815,652,631,653.149588161,0.448766362344,-0.0155355144159,0.0499291670033,0.999999970139,0.000230780792318,-7.53104700915e-05,2.81266751156e-05,1793247624450679808
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715.423923326,681,661.423923326,633,880,785,815.423923326,652,631,653,0.449272495722,-0.0155337159376,0.0499378454068,0.999999970494,0.000232973329691,-6.25807711355e-05,2.86303067271e-05,1793247624467346176
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715.997310527,681,661.997310527,633,880,785,815.997310527,652,631,653,0.449771325821,-0.0155320280322,0.0499543466873,0.999999971048,0.000235771051683,-3.78830374818e-05,2.9667169738e-05,1793247624484012288
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+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632.42061861,880,784,815,651.57938139,630.42061861,653,0.454706561741,-0.0155317339981,0.0498491844929,0.999999954013,0.000196131847456,-0.000230585374455,1.83641362709e-05,1793247625563051008
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766.157384913,745,715,681,660,632.157384913,880,784,815,651.842615087,630,653,0.454705680497,-0.0155312300473,0.049848519117,0.99999995373,0.000196280328114,-0.000231713793996,1.7959720666e-05,1793247625579717888
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766.731738102,745,715,681,660,632.731738102,880,784,815,651.268261898,630,653,0.454705968983,-0.0155318945977,0.0498493443823,0.999999953674,0.000196798280377,-0.000231500309475,1.81664844131e-05,1793247625596384512
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766.115862965,745,715,681,660.884137035,633,880,784,815,651,630,653,0.454706597022,-0.0155292224709,0.0498485961352,0.999999953049,0.000200029754989,-0.000231449448807,1.79139793384e-05,1793247625629717760
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766.472217731,745.472217731,715.472217731,681,661,633,880,784,815,651.472217731,630.472217731,653.472217731,0.454707304106,-0.015530904619,0.0498490498809,0.999999953551,0.000198378194304,-0.000230690763211,1.80348034216e-05,1793247625646384128
+267,4.450000000,POSE2_TO_POSE3_RETREAT,767,745.938098533,715.938098533,680.938098533,661,633,880,784,815,652,630.938098533,653.938098533,0.454707798296,-0.0155330607537,0.0498495650026,0.999999954134,0.00019626724306,-0.000229960010004,1.81724685393e-05,1793247625663050752
+268,4.466666667,POSE2_TO_POSE3_RETREAT,767,745.358798495,715.358798495,680.358798495,661,633,880,784,815,652,630.358798495,653.358798495,0.454705703468,-0.0155315560578,0.0498480857722,0.999999953555,0.000197884499835,-0.000231123821798,1.77185466336e-05,1793247625679717376
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.623164117,681.623164117,661,633,880,784.623164117,815,652,630.623164117,653,0.454653186301,-0.015527504982,0.0498232787988,0.999999943609,0.000196244339392,-0.000272071742281,1.57415580952e-05,1793247625729719296
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.036627841,681.036627841,661,633,880,784.036627841,815,652,630.036627841,653,0.454616311961,-0.0155268088078,0.0498072705256,0.999999935219,0.000197427403449,-0.000300642692923,1.41100879024e-05,1793247625746388480
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.122084986,745,715.122084986,681,660.877915014,633,880,784,814.122084986,652,631,653,0.454488112721,-0.0155192539473,0.0497628943813,0.999999911654,0.000195907477334,-0.000371787868854,9.28197254697e-06,1793247625779717376
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.696989996,745,715.696989996,681,660.303010004,633,880,784,814.696989996,652,631,653,0.45441727136,-0.0155140552882,0.049748724073,0.999999905704,0.000200422830279,-0.000385181341293,7.62263389383e-06,1793247625796384000
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,766.153707146,745,716,680.153707146,660.846292854,632.153707146,880,784,815,652,630.153707146,653,0.454260177135,-0.0155041362705,0.0497397457385,0.999999901184,0.000205562679385,-0.000394123387318,6.52847515992e-06,1793247625829717248
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.566056517,680.433943483,660.566056517,632,880,784,814.566056517,652,630,653,0.454164794417,-0.0154985360696,0.0497414130091,0.999999902143,0.000207413869827,-0.000390716323841,5.92077209052e-06,1793247625846383872
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.816798705,633,879.816798705,784,815,652,630.816798705,653.183201295,0.453790078212,-0.015476638884,0.0497528371241,0.999999904901,0.00022034499601,-0.000376327111149,4.89119449645e-06,1793247625896383744
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.33469303,633,879.33469303,784,814.66530697,652,630,653.66530697,0.45344158129,-0.0154574834057,0.049759432465,0.999999904749,0.000227987908903,-0.000372164075635,4.15003402401e-06,1793247625929717248
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.335223339,681,660.335223339,633,879.335223339,784.335223339,814,652,630.335223339,653.335223339,0.452527647988,-0.015414652787,0.0497752997052,0.999999905779,0.000239713556861,-0.000361910892474,3.32169041026e-07,1793247625996384000
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766.011864578,745,715,680,660,633,880,784.011864578,814,652,631,653.988135422,0.451234155798,-0.015400177363,0.049771566382,0.999999912578,0.000202048639791,-0.000366017662135,-7.21787475119e-06,1793247626063050496
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,633,879.126779508,785,813,652,631,653,0.449134101039,-0.0153833339401,0.0498205004005,0.999999955234,0.000150087642104,-0.000258424560321,-1.49400016973e-05,1793247626146384128
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.774344604,745,715,680.774344604,660,634,879,785,812,651.225655396,631,652.225655396,0.432013932644,-0.0153368424103,0.0497858242026,0.999999939864,3.55506617501e-05,-0.000340238403587,-5.69728894946e-05,1793247626529717248
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.199969563,745,715,680.199969563,660,634,879,785,812,651.800030437,631,652.800030437,0.431116592676,-0.0153387750047,0.0497974453758,0.999999945378,3.00417031836e-05,-0.000323940598343,-5.83370668276e-05,1793247626546383872
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbc160facbd629db8bd02d29b33e86b28005bef7
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..284c014e232d7c979790b08b1cf55066b4c719ed
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25882709
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b8bbaf8f4d0a7008f149594fca6dd511d8a72b0
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/franka_data.csv
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+2,0.033333333,BASELINE,766,745,715,678.84642446,659,634,877,785.84642446,810,652.84642446,630,652,0.400976674757,-0.015388229617,0.0498488943462,0.999999960348,-7.71428352868e-05,-0.000265141088847,-5.52532880765e-05,1793247628107500288
+3,0.050000000,BASELINE,766,745,715,678.259766188,659,634,877,785.259766188,810,652.259766188,630,652,0.400976562244,-0.015388184516,0.0498485571736,0.999999960503,-7.48406618819e-05,-0.00026521301832,-5.52711772282e-05,1793247628124166400
+4,0.066666667,BASELINE,766,745,715,678.323030038,659,634,877,785,809.676969962,652,629.676969962,652,0.400976184976,-0.0153885375592,0.0498484515848,0.999999960468,-7.43539588205e-05,-0.000265529902488,-5.50470110761e-05,1793247628140832768
+5,0.083333333,BASELINE,766,745,715,678.902757239,659,634,877,785,809.097242761,652,629.097242761,652,0.40097559732,-0.0153892069894,0.0498485300251,0.999999960283,-7.53099269506e-05,-0.000266041440918,-5.46304946703e-05,1793247628157499136
+6,0.100000000,BASELINE,766,745,715,679,659,634,876.518306213,785.481693787,809.481693787,652,629,652,0.400976894045,-0.015390591119,0.0498489465058,0.999999960666,-7.69921151475e-05,-0.00026416490374,-5.43749191464e-05,1793247628174165504
+7,0.116666667,BASELINE,766,745,715,679,659,634,876.060032006,786,810,652,629,652.060032006,0.400978221925,-0.0153917218822,0.0498492990961,0.99999996105,-7.84803256289e-05,-0.000262295306398,-5.42407641496e-05,1793247628190831616
+8,0.133333333,BASELINE,766,745,715,679,659,634,876.634607719,786,810,652,629,652.634607719,0.400976561611,-0.0153894463727,0.0498485201143,0.999999960517,-7.70513912223e-05,-0.000264610547598,-5.48693010783e-05,1793247628207498240
+9,0.150000000,BASELINE,766,745,715.213962924,679,659.213962924,634,877,785.786037076,809.786037076,652,629,652.786037076,0.400975091108,-0.0153884513432,0.0498478416586,0.999999960014,-7.69949147204e-05,-0.000266443647621,-5.52471690496e-05,1793247628224165376
+10,0.166666667,BASELINE,766,745,715.801666669,679,659.801666669,634,877,785.198333331,809.198333331,652,629,652.198333331,0.40097395216,-0.0153896929992,0.0498473387974,0.999999959569,-7.93357861665e-05,-0.000267434564865,-5.51871796845e-05,1793247628240832512
+11,0.183333333,BASELINE,766,745,716,679,659.615838105,634,877,785.384161895,809.384161895,652,629,652,0.400974713724,-0.015389520213,0.049847785877,0.999999959765,-7.83222531464e-05,-0.000267040400454,-5.49983951817e-05,1793247628257499392
+12,0.200000000,BASELINE,766,745,716,679,659.035995885,634,877,785.964004115,809.964004115,652,629,652,0.40097644335,-0.0153886269534,0.0498487168273,0.999999960282,-7.56000892615e-05,-0.000265940717886,-5.47440063678e-05,1793247628274166272
+13,0.216666667,BASELINE,765.459706039,745,715.459706039,679,659,634,877,785.459706039,810,652.540293961,629.540293961,652,0.40097640552,-0.0153885814066,0.0498484041246,0.999999960289,-7.59779411663e-05,-0.000265744204726,-5.50462665694e-05,1793247628290832640
+14,0.233333333,BASELINE,765.11628052,745,715,678.88371948,659,634,877,785,809.88371948,652.88371948,630,652,0.400976430892,-0.0153886979841,0.0498483422212,0.999999960338,-7.64369830542e-05,-0.000265388326962,-5.52390561607e-05,1793247628307498496
+15,0.250000000,BASELINE,765.691997921,745,715,678.308002079,659,634,877,785,809.308002079,652.308002079,630,652,0.400977168191,-0.0153892334428,0.0498495964859,0.999999960685,-7.640611685e-05,-0.00026416659064,-5.48537439475e-05,1793247628324165376
+16,0.266666667,BASELINE,766,745,715,678.272906327,659,634,877,785,809.272906327,652,630,652,0.400977434972,-0.0153897884867,0.049850064616,0.999999960813,-7.64747552986e-05,-0.000263687527068,-5.47245056895e-05,1793247628340832000
+17,0.283333333,BASELINE,766,745,715,678.859786863,659,634,877,785,809.859786863,652,630,652,0.400977160428,-0.015390366063,0.0498496283113,0.999999960691,-7.66578722046e-05,-0.000264062896273,-5.48898762997e-05,1793247628357498368
+18,0.300000000,BASELINE,766,745,715,679,659,634,877,785,810,652,630,652,0.400976979255,-0.0153892295711,0.0498492825516,0.999999960708,-7.49161141143e-05,-0.000264446333186,-5.51312845877e-05,1793247628374165760
+19,0.316666667,BASELINE,766,745,715.019757338,679,659,634.019757338,877,785.019757338,810,652,629.980242662,652,0.400976800021,-0.0153876347068,0.0498489910383,0.999999960758,-7.27423925768e-05,-0.000264811876142,-5.53815970737e-05,1793247628390832896
+20,0.333333333,BASELINE,766,745,715.596602096,679,659,634.596602096,877,785.596602096,810,652,629.403397904,652,0.400975849009,-0.0153882868153,0.0498494276577,0.999999960624,-7.54261650215e-05,-0.000264601464238,-5.52099563533e-05,1793247628407499264
+21,0.350000000,BASELINE,766,745,715.827189058,679,659,634.827189058,877,786,810,652,629,652,0.40097569545,-0.0153886178206,0.0498498619353,0.999999960665,-7.68708827604e-05,-0.000264075002966,-5.50007791851e-05,1793247628424165888
+22,0.366666667,BASELINE,766,745,715.25245928,679,659,634.25245928,877,786,810,652,629,652,0.400977396582,-0.0153882020131,0.0498502907666,0.999999961123,-7.54338414776e-05,-0.000262813482981,-5.47043008254e-05,1793247628440832000
+23,0.383333333,BASELINE,766,745,715,679,659,634,877,785.66909986,810,652,629,652,0.400977424216,-0.0153887840847,0.0498499953424,0.999999961184,-7.54374579061e-05,-0.000262610686291,-5.45515239065e-05,1793247628457498368
+24,0.400000000,BASELINE,766,745,715,679,659,634,877,785.078980114,810,652,629,652,0.400976140871,-0.0153901478719,0.049849132553,0.999999960936,-7.65696525016e-05,-0.000263237269095,-5.45113193796e-05,1793247628474165248
+25,0.416666667,BASELINE,766,745,715,679,659,634,877,785,810,652,629,652,0.400976362677,-0.0153912101141,0.0498497270377,0.999999960758,-7.7833576157e-05,-0.000263531048915,-5.45717523108e-05,1793247628490831616
+26,0.433333333,BASELINE,766,745,715,678.919222787,659,634,877,785.080777213,809.919222787,652,629,652,0.40097667544,-0.0153920737439,0.0498504054899,0.999999960609,-7.88688180144e-05,-0.000263771023719,-5.46516253633e-05,1793247628507498496
+27,0.450000000,BASELINE,766,745,715,678.348759571,659,634,877,785.651240429,809.348759571,652,629,652,0.400976129703,-0.0153920158118,0.0498502279191,0.999999960581,-7.83943577468e-05,-0.000263996564169,-5.47550794425e-05,1793247628524165888
+28,0.466666667,BASELINE,766,744.775791043,715,678.224208957,659,634,877,785.775791043,809,652.224208957,629,652.224208957,0.400976395338,-0.0153913899631,0.0498503705401,0.99999996087,-7.68149637282e-05,-0.000263367628496,-5.47490996006e-05,1793247628540833024
+29,0.483333333,BASELINE,766,744.198881472,715,678.801118528,659,634,877,785.198881472,809,652.801118528,629,652.801118528,0.400977937334,-0.0153898707311,0.0498510168511,0.999999961647,-7.34974107455e-05,-0.000261394525924,-5.45709704679e-05,1793247628557499392
+30,0.500000000,BASELINE,766,744.388941744,715,679,659,634,877,785,809.388941744,652.611058256,629.388941744,652.611058256,0.400978149866,-0.0153893364059,0.0498508957242,0.999999961808,-7.26333498627e-05,-0.00026104558496,-5.44309203771e-05,1793247628574165760
+31,0.516666667,BASELINE,766,744.982506634,715,679,659,634,877,785,809.982506634,652.017493366,629.982506634,652.017493366,0.400977662963,-0.0153893202424,0.0498503708465,0.999999961652,-7.30600769232e-05,-0.000261551119216,-5.43109037637e-05,1793247628590832128
+32,0.533333333,BASELINE,766,745,715,679,659,634,877,785.560863304,810,652,630,652,0.400977188012,-0.015389172073,0.0498499284974,0.999999961306,-7.29343214194e-05,-0.000262862223514,-5.4514366191e-05,1793247628607498752
+33,0.550000000,BASELINE,766,745,715.137973431,679,659,634,877,786,810,652,630,652,0.400977021144,-0.0153892671574,0.0498496550914,0.999999961089,-7.33075567633e-05,-0.000263545534047,-5.46947780518e-05,1793247628624165120
+34,0.566666667,BASELINE,766,745,715.712599991,679,659,634,877,786,810,652,630,652,0.400977828136,-0.0153901447685,0.0498499084191,0.999999961299,-7.53130749854e-05,-0.000262164608309,-5.47711529165e-05,1793247628640831744
+35,0.583333333,BASELINE,766,745,715.705847773,679,659,634,877,785.705847773,810,652,630,652,0.400977765408,-0.0153906471981,0.0498500862721,0.999999961271,-7.64092487181e-05,-0.000261933788976,-5.48583010536e-05,1793247628657498880
+36,0.600000000,BASELINE,766,745,715.117365609,679,659,634,877,785.117365609,810,652,630,652,0.400976832433,-0.0153907742197,0.0498501886048,0.99999996101,-7.6595528829e-05,-0.000262853770712,-5.49562289814e-05,1793247628674165760
+37,0.616666667,BASELINE,766,745,715,679,659,634,877.465455219,785.465455219,810,652,630,652,0.400977342731,-0.0153909808078,0.0498502351448,0.999999961206,-7.70674164917e-05,-0.000262030158768,-5.4677375196e-05,1793247628690832640
+38,0.633333333,BASELINE,766,745,715,679,658.953741968,634,878,786,809.953741968,652,630,652.046258032,0.400978065831,-0.015391043318,0.0498502309089,0.999999961467,-7.72899797397e-05,-0.000261029525951,-5.43715013649e-05,1793247628707499520
+39,0.650000000,BASELINE,766,745,715,679,658.379869521,634,878,786,809.379869521,652,630,652.620130479,0.400977115128,-0.0153892364051,0.0498498060622,0.999999961194,-7.38572311814e-05,-0.000262964166858,-5.48280506242e-05,1793247628724165632
+40,0.666666667,BASELINE,766,745,715.195288729,679,658.195288729,634,877.609422541,786,809.195288729,652,630,652.804711271,0.40097658366,-0.0153882084164,0.0498496710135,0.999999961057,-7.17946320519e-05,-0.000264016689819,-5.50111043659e-05,1793247628740832256
+41,0.683333333,BASELINE,766,745,715.772964628,679,658.772964628,634,876.454070744,786,809.772964628,652,630,652.227035372,0.400976873082,-0.0153887056087,0.0498501034072,0.99999996121,-7.24148687628e-05,-0.000263341972261,-5.46586372804e-05,1793247628757498880
+42,0.700000000,BASELINE,766,745,715.641098579,679,659,634,876.358901421,785.641098579,810,652,629.641098579,652,0.400977525429,-0.0153889913591,0.0498506268798,0.999999961376,-7.3837803804e-05,-0.00026228483556,-5.47880630359e-05,1793247628774165248
+43,0.716666667,BASELINE,766,745,715.049812984,679,659,634,876.950187016,785.049812984,810,652,629.049812984,652,0.400978412765,-0.0153891402036,0.0498512093248,0.999999961548,-7.57804759352e-05,-0.000260980087279,-5.52295083836e-05,1793247628790832128
+44,0.733333333,BASELINE,766,745,715,679,659,634,877,785,810,652,629,652,0.400977400766,-0.0153897179517,0.0498506514601,0.999999961287,-7.49214338169e-05,-0.000262291437507,-5.49131944649e-05,1793247628807498752
+45,0.750000000,BASELINE,766,745,715,679,659,634,877,785.103419958,810,652,629,652,0.400976475539,-0.0153900644442,0.0498501260748,0.999999961107,-7.37937197898e-05,-0.00026336130655,-5.45922747574e-05,1793247628824165632
+46,0.766666667,BASELINE,766,745,715,679,659,634,877,785.678590727,810,652,629,652,0.400976743155,-0.0153891760783,0.0498502273613,0.999999961492,-7.26161619981e-05,-0.000262231843933,-5.45683300863e-05,1793247628840832000
+47,0.783333333,BASELINE,766,745,715,679.260211177,659,634,877,786,810.260211177,652.260211177,629.260211177,652,0.400977004474,-0.0153888862501,0.0498504826091,0.999999961645,-7.22348502413e-05,-0.00026175445798,-5.45558573227e-05,1793247628857498880
+48,0.800000000,BASELINE,766,745,715,679.850000745,659,634,877,786,810.850000745,652.850000745,629.850000745,652,0.400977257817,-0.015389354518,0.0498509328615,0.999999961508,-7.28620479898e-05,-0.00026210297943,-5.45579146496e-05,1793247628874165760
+49,0.816666667,BASELINE,766,745,715,679.568247372,659.431752628,634,877,786,810.568247372,652.568247372,630,652,0.400978018784,-0.0153903356281,0.0498513498411,0.999999961601,-7.50167157116e-05,-0.000261150509813,-5.44999710261e-05,1793247628890832640
+50,0.833333333,BASELINE,766,745,715,679,659.98929525,634,877.01070475,785.98929525,810,652.01070475,629.98929525,652,0.400978937811,-0.0153914985033,0.0498517434315,0.999999961763,-7.76469229737e-05,-0.000259777038172,-5.44162458671e-05,1793247628907499008
+51,0.850000000,BASELINE,766,745,715,679,659.413421793,634,877.586578207,785.413421793,810,652.586578207,629.413421793,652,0.400979060884,-0.0153930230369,0.0498515013122,0.99999996181,-7.7878373376e-05,-0.00025960345412,-5.40518030103e-05,1793247628924165376
+52,0.866666667,BASELINE,766,745,715,679,659,634,877.834765301,785,810,653,629.165234699,652,0.400979146525,-0.0153937250299,0.04985135471,0.999999961825,-7.73487565062e-05,-0.000259749510051,-5.38199418384e-05,1793247628940832000
+53,0.883333333,BASELINE,766,745,715,679,659,634,877.249026326,785,810,653,629.750973674,652,0.400979136908,-0.0153923337465,0.0498514511885,0.999999961758,-7.48823064702e-05,-0.000260709014866,-5.39254866073e-05,1793247628957498880
+54,0.900000000,BASELINE,766,745,715,679.332899363,659,634,877,785.332899363,810,652.667100637,629.667100637,652,0.400978809191,-0.0153912241319,0.0498515052996,0.999999961812,-7.32816858192e-05,-0.000260935645878,-5.40249372942e-05,1793247628974165760
+55,0.916666667,BASELINE,766,745,715,679.912004793,659,634,877,785.912004793,810,652.087995207,629.087995207,652,0.400978246213,-0.0153903228342,0.0498515280766,0.999999961959,-7.23214162978e-05,-0.000260620257258,-5.41198809087e-05,1793247628990832384
+56,0.933333333,BASELINE,766,745,715,680,659,634,877.490540169,786,810,652,629.490540169,652,0.400978837095,-0.0153904214259,0.0498516223932,0.99999996202,-7.4238730257e-05,-0.000259794123966,-5.43685346799e-05,1793247629007498752
+57,0.950000000,BASELINE,766,745,715,679.931597739,659,634,877.931597739,785.931597739,810,652,629.931597739,652,0.40097952942,-0.0153906912744,0.0498517328911,0.999999962068,-7.61491348799e-05,-0.000259009421009,-5.45912288493e-05,1793247629024165120
+58,0.966666667,BASELINE,766,745,715,679.357954612,659,634,877.357954612,785.357954612,810,652,629.357954612,652,0.400979443962,-0.0153909027753,0.0498518682297,0.999999962172,-7.42001612358e-05,-0.000259206682022,-5.44187490433e-05,1793247629040832000
+59,0.983333333,BASELINE,766,745,715.221563922,679,659.221563922,634,877,785,810,652,629,652.221563922,0.400979590666,-0.0153910026455,0.0498521386132,0.999999962361,-7.33378043092e-05,-0.000258766147639,-5.42243295377e-05,1793247629057498624
+60,1.000000000,BASELINE,766,745,715.810833319,679,659.810833319,634,877,785,810,652,629,652.810833319,0.400980122666,-0.0153909172547,0.049852633116,0.99999996269,-7.42787863223e-05,-0.000257267133838,-5.39934990781e-05,1793247629074164992
+61,1.016666667,BASELINE,766,745,715.606577613,679,659.606577613,634,877,785.393422387,809.606577613,652,629,652.606577613,0.400979468858,-0.0153909316077,0.0498520433084,0.999999962271,-7.51706892972e-05,-0.000258596848036,-5.41817422237e-05,1793247629090831872
+62,1.033333333,BASELINE,766,745,715.027147009,679,659.027147009,634,877,785.972852991,809.027147009,652,629,652.027147009,0.400978254406,-0.015390993119,0.0498509408442,0.999999961491,-7.60393878813e-05,-0.000261263971353,-5.45681213734e-05,1793247629107498752
+63,1.050000000,BASELINE,766,745,715,679,659,634,877,786,809.54883066,652,629,652,0.400977732942,-0.0153916777963,0.049851259432,0.999999961558,-7.5950787672e-05,-0.000261120950207,-5.41493778951e-05,1793247629124165888
+64,1.066666667,BASELINE,765.875406385,745,715,679,659,634,877,785.875406385,810,652,629.124593615,652,0.400977403714,-0.0153922506604,0.0498515274564,0.999999961649,-7.59338927753e-05,-0.000260841608717,-5.38343216712e-05,1793247629140832768
+65,1.083333333,BASELINE,765.299806308,745,715,679,659,634,877,785.299806308,810,652,629.700193692,652,0.400977647037,-0.0153923079017,0.0498513596035,0.999999961677,-7.63468894597e-05,-0.000260568818409,-5.40378493596e-05,1793247629157498880
+66,1.100000000,BASELINE,765.282815899,745,715,679,659,634,877.282815899,785.282815899,810,652,629.717184101,652,0.400978419681,-0.0153923378964,0.049851561055,0.999999961843,-7.65139599365e-05,-0.00025986224951,-5.41478395485e-05,1793247629174166528
+67,1.116666667,BASELINE,765.873071595,745,715,679,659,634,877.873071595,785.873071595,810,652,629.126928405,652,0.400979767733,-0.0153923382724,0.0498521639653,0.999999962155,-7.64136921518e-05,-0.000258684134293,-5.41561482065e-05,1793247629190835968
+68,1.133333333,BASELINE,766,744.545500874,715,679,659.454499126,634,877.545500874,785.545500874,809.545500874,652,629,652,0.400978888907,-0.0153922696143,0.0498517947882,0.999999961941,-7.58045496975e-05,-0.000259670782906,-5.42381671011e-05,1793247629207501056
+69,1.150000000,BASELINE,766,744.03319277,715.03319277,679,659.96680723,634,877,785.03319277,809.03319277,652,629,652,0.400977432896,-0.0153921441985,0.0498511795981,0.9999999616,-7.5036927016e-05,-0.000261184292957,-5.43367086046e-05,1793247629224165632
+70,1.166666667,BASELINE,766,744.606750873,715.606750873,679,659.393249127,634,877,785.606750873,809.606750873,652,629,652,0.400976511951,-0.0153914026698,0.0498508947223,0.999999961564,-7.39587859138e-05,-0.000261620495959,-5.43754990389e-05,1793247629240832000
+71,1.183333333,BASELINE,766,745,715.818808672,679,659,634,877,786,809.818808672,652,629.181191328,652,0.400976020794,-0.0153908587238,0.0498508710075,0.999999961627,-7.29928758453e-05,-0.000261655871276,-5.4344014787e-05,1793247629257498624
+72,1.200000000,BASELINE,766,745,715.242443717,679,659,634,877,786,809.242443717,652,629.757556283,652,0.400976466997,-0.0153907457007,0.0498514168782,0.999999961909,-7.22717385687e-05,-0.000260817051804,-5.415926326e-05,1793247629274165248
+73,1.216666667,BASELINE,766,745,715.342603651,679,659,634,877.342603651,785.657396349,809,652,629.657396349,652,0.400976642441,-0.0153911531965,0.0498513433901,0.999999961971,-7.33486232244e-05,-0.000260271861319,-5.41924173207e-05,1793247629290831872
+74,1.233333333,BASELINE,766,745,715.933954855,679,659,634,877.933954855,785.066045145,809,652,629.066045145,652,0.4009766213,-0.0153919386154,0.0498508202162,0.999999961869,-7.57309626544e-05,-0.000259939860356,-5.43837818543e-05,1793247629307498496
+75,1.250000000,BASELINE,766,745,715.485277586,679,658.485277586,634,878,785,809.514722414,652,629.514722414,652,0.400977223611,-0.0153935282913,0.0498510453952,0.999999961617,-7.87907978778e-05,-0.000260030932672,-5.42430045896e-05,1793247629324165120
+76,1.266666667,BASELINE,766,745,715,679,658.093188223,634,877.906811777,785.093188223,809.906811777,652,629.906811777,652,0.400978036855,-0.0153946958219,0.049851418403,0.999999961468,-8.09099456223e-05,-0.000259985336921,-5.4085783348e-05,1793247629340831744
+77,1.283333333,BASELINE,766,745,715,679,658.666649176,634,877.333350824,785.666649176,809.333350824,652,629.333350824,652,0.400979533226,-0.0153931665692,0.049852068379,0.999999961986,-7.77419881354e-05,-0.00025896124327,-5.40590314346e-05,1793247629357498368
+78,1.300000000,BASELINE,766,745,715,679,659,634,877.246504952,786,809.246504952,652.246504952,629,652.246504952,0.400979788826,-0.0153919224681,0.0498521955713,0.999999962132,-7.59218546325e-05,-0.000258951727658,-5.40012534641e-05,1793247629374164992
+79,1.316666667,BASELINE,766,745,715,679,659,634,877.83523877,786,809.83523877,652.83523877,629,652.83523877,0.400978321832,-0.0153910742504,0.0498515969703,0.99999996177,-7.5972938458e-05,-0.000260350775688,-5.39004012609e-05,1793247629390831616
+80,1.333333333,BASELINE,766,745,715.417063893,679,659.417063893,634,877.582936107,785.582936107,809.582936107,652.582936107,629.417063893,652.582936107,0.400978314074,-0.0153916125813,0.0498518415905,0.999999961898,-7.63524544476e-05,-0.000259724702154,-5.40081612526e-05,1793247629407497984
+81,1.350000000,BASELINE,766,745,715.996204256,679,659.996204256,634,877.003795744,785.003795744,809.003795744,652.003795744,629.996204256,652.003795744,0.400978873393,-0.0153926897431,0.0498524138974,0.999999962215,-7.68596034649e-05,-0.000258311640078,-5.41969906561e-05,1793247629424164608
+82,1.366666667,BASELINE,765.427573438,745,715.427573438,679,659.427573438,634,877,785.572426562,809.572426562,652,629.427573438,652,0.400977592837,-0.0153914066434,0.049851468961,0.999999961801,-7.60514847384e-05,-0.000260138631027,-5.42328522498e-05,1793247629440831488
+83,1.383333333,BASELINE,765.148397696,745,715,679,659,634,877,786,809.851602304,652,629,652,0.400976773874,-0.0153905338882,0.0498509082737,0.999999961634,-7.50679223628e-05,-0.000261078265981,-5.41739500003e-05,1793247629457498112
+84,1.400000000,BASELINE,765.723701783,745,715,679,659,634,877,786,809.276298217,652,629,652,0.400977317724,-0.015390886396,0.0498514817792,0.999999962196,-7.36046108795e-05,-0.000259403687049,-5.38453369362e-05,1793247629474164736
+85,1.416666667,BASELINE,766,745,715,679,659,634,877,786,809.306426853,652.306426853,629.306426853,652,0.400977511171,-0.0153913090718,0.0498517382225,0.999999962277,-7.38292525263e-05,-0.000259048234791,-5.37463476945e-05,1793247629490831360
+86,1.433333333,BASELINE,766,745,715,679,659,634,877,786,809.896009292,652.896009292,629.896009292,652,0.400977380824,-0.0153917965869,0.0498517016826,0.999999961914,-7.56136575508e-05,-0.000259911729606,-5.38595437535e-05,1793247629507497984
+87,1.450000000,BASELINE,766.477571876,745,715,679.477571876,659,634,877,786,810,652.522428124,630,652,0.400977179923,-0.0153920101104,0.0498518427408,0.999999961898,-7.58421221626e-05,-0.00025988024081,-5.39818811342e-05,1793247629524164864
+88,1.466666667,BASELINE,766.943116151,745,715,679.943116151,659,634,877,786,810,652,630,652,0.400977022794,-0.0153920531533,0.0498519851356,0.999999961968,-7.57127726186e-05,-0.000259621675444,-5.41128292624e-05,1793247629540831488
+89,1.483333333,BASELINE,766.368655084,745,715,679.368655084,659,634,877,786,810,652,630,652,0.400977401409,-0.0153910789043,0.0498517936339,0.999999962135,-7.53595410591e-05,-0.000259040887762,-5.43043130033e-05,1793247629557498112
+90,1.500000000,BASELINE,765.789827474,745,715,679,659,634,877.210172526,786,810.210172526,652.210172526,629.789827474,652,0.400977903395,-0.0153906690669,0.0498517002085,0.999999962217,-7.49578902089e-05,-0.000258833640223,-5.43450676505e-05,1793247629574164736
+91,1.516666667,BASELINE,765.203178247,745,715,679,659,634,877.796821753,786,810.796821753,652.796821753,629.203178247,652,0.400978626371,-0.0153912702455,0.0498517824648,0.999999962146,-7.44695071524e-05,-0.00025929550571,-5.41158250842e-05,1793247629590831616
+92,1.533333333,BASELINE,765.380880482,745,715,679,659,634,878,786,810.619119518,653,629.380880482,652,0.400978420904,-0.0153915264597,0.049851492517,0.999999962048,-7.37888367915e-05,-0.000259864355632,-5.41288462535e-05,1793247629607498240
+93,1.550000000,BASELINE,765.963566717,745,715,679,659,634,878,786,810.036433283,653,629.963566717,652,0.400977723511,-0.0153915998982,0.0498510053604,0.999999961935,-7.30062848618e-05,-0.00026048989024,-5.42702284429e-05,1793247629624164864
+94,1.566666667,BASELINE,765.465445163,745,715,679,659,634,876.930890326,786,810,653,629.465445163,652,0.400977308528,-0.0153911222245,0.0498513535497,0.999999961949,-7.28359500173e-05,-0.000260518626174,-5.41090644754e-05,1793247629640832768
+95,1.583333333,BASELINE,765.099059034,745,715,679,659,634,876.099059034,786,810,652.900940966,629.099059034,652.099059034,0.4009767717,-0.0153908207079,0.0498514404226,0.999999961865,-7.30415915514e-05,-0.000260805519343,-5.40019657189e-05,1793247629657500672
+96,1.600000000,BASELINE,765.638222731,745,715,679,659,634,876.638222731,786,810,652.361777269,629.638222731,652.638222731,0.40097560985,-0.0153914651385,0.0498501187735,0.999999961306,-7.47362261392e-05,-0.000262416212586,-5.42247222506e-05,1793247629674166016
+97,1.616666667,BASELINE,766,745,715,679,659,634,877.208990692,786,810,652,630,652.791009308,0.400974754114,-0.0153918228215,0.0498494810544,0.999999960959,-7.57283947997e-05,-0.000263412204213,-5.44178622002e-05,1793247629690831872
+98,1.633333333,BASELINE,766,745,715,679,659,634,877.844215096,786,810,652,630,652.155784904,0.400974522692,-0.0153915956865,0.0498502382017,0.999999961053,-7.52878935277e-05,-0.000263154520051,-5.45505995148e-05,1793247629707498752
+99,1.650000000,BASELINE,766,745,715,679,659,634,878,785.560023489,810,652,629.560023489,652,0.400976132707,-0.015390875028,0.0498509802064,0.999999961487,-7.4899459652e-05,-0.00026156516462,-5.47616995981e-05,1793247629724165376
+100,1.666666667,BASELINE,766,745,715.022626835,679,659,634,877.977373165,785,810,652.022626835,629.022626835,652.022626835,0.40097827647,-0.015390082573,0.0498517228031,0.999999962023,-7.44968622579e-05,-0.000259580300652,-5.4971168092e-05,1793247629740832000
+101,1.683333333,BASELINE,766,745,715.598230888,679,659,634,877.401769112,785,810,652.598230888,629.598230888,652.598230888,0.400978841677,-0.0153914545497,0.0498526001174,0.999999962413,-7.33346555007e-05,-0.000258504399264,-5.45184838298e-05,1793247629757499392
+102,1.700000000,BASELINE,766,745,715.826792065,679,659,634,877.173207935,785.173207935,810,653,629.826792065,652.826792065,0.400979036291,-0.0153927830608,0.0498529885941,0.999999962548,-7.32517909181e-05,-0.000258090659668,-5.41136468798e-05,1793247629774166272
+103,1.716666667,BASELINE,766,745,715.253264239,679,659,634,877.746735761,785.746735761,810,653,629.253264239,652.253264239,0.400978374386,-0.0153940111133,0.0498522472648,0.999999962095,-7.56635127966e-05,-0.000259207315096,-5.38193951731e-05,1793247629790832384
+104,1.733333333,BASELINE,766,745,715,679,659,634,877.669245735,785.669245735,810,652.669245735,629,652,0.400978290131,-0.0153936086777,0.0498519524606,0.999999961957,-7.62477971495e-05,-0.000259540161391,-5.39486595926e-05,1793247629807499008
+105,1.750000000,BASELINE,766,745,715,679,659,634,877.076931144,785.076931144,810,652.076931144,629,652,0.400978662681,-0.0153919168528,0.0498520107681,0.999999962072,-7.53869449838e-05,-0.000259253171892,-5.44128403436e-05,1793247629824165376
+106,1.766666667,BASELINE,766,745,715.501357891,679,659,634,877,785,810.501357891,652,629,652,0.400978174102,-0.0153921544804,0.0498514822739,0.999999961838,-7.63709449455e-05,-0.000259892943759,-5.42875101816e-05,1793247629840832512
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678,658,634,877,786,810,652,630,652,0.400977669272,-0.0153914472865,0.0498521019181,0.999999962125,-7.39071747673e-05,-0.000259545983645,-5.40784859209e-05,1793247629884371968
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678.592372358,658.592372358,634,877,786,810,652,629.407627642,652,0.400977409269,-0.0153919981986,0.0498516623242,0.999999962002,-7.44318337857e-05,-0.000259901860181,-5.39222887856e-05,1793247629901038336
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.819327541,715,679,659,634,877,786,809.819327541,652,629,652,0.400977839302,-0.0153924518297,0.0498517697637,0.999999962044,-7.52347884097e-05,-0.000259527109539,-5.38311610578e-05,1793247629917704960
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.240012508,715,679,659,634,877,786,809.240012508,652,629,652,0.400979791858,-0.0153926908165,0.0498530841982,0.999999962447,-7.66517851277e-05,-0.000257540275411,-5.38836049111e-05,1793247629934371584
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.338322448,715,679,659,634,876.661677552,786,809.338322448,652,629,652,0.400980165943,-0.0153917696826,0.0498533032654,0.999999962606,-7.52720793551e-05,-0.000257314508274,-5.39631731201e-05,1793247629951037696
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.91596409,715,679,659,634,876.08403591,786,809.91596409,652,629,652,0.400979423464,-0.0153900279139,0.0498527475024,0.999999962584,-7.19140696835e-05,-0.000258334467446,-5.40619282847e-05,1793247629967703808
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.510012974,715,679,659,634,876.489987026,786,809.510012974,652,629.489987026,652,0.400977614515,-0.015390342786,0.0498521070946,0.999999962013,-7.35312177796e-05,-0.000260061381164,-5.41707566808e-05,1793247629984370688
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744,715,679,659,634,877,785.934812531,809,652,629.934812531,652,0.400976211271,-0.0153909941175,0.0498517501808,0.99999996154,-7.55132947757e-05,-0.000261301695737,-5.42209507696e-05,1793247630001037824
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744,715,679,659,634,877,785.345182411,809,652,629.345182411,652,0.40097953271,-0.0153915353786,0.049853789952,0.99999996265,-7.3616911771e-05,-0.000257658949221,-5.37856262587e-05,1793247630017704704
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.240315119,715,679,659,633.759684881,877.240315119,785,809.240315119,652,629.240315119,652,0.400985792922,-0.0153925147717,0.0498561402126,0.999999963891,-7.36896307906e-05,-0.000252857964651,-5.33962202143e-05,1793247630034371328
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.819977008,715,679,659,633.180022992,877.819977008,785,809.819977008,652,629.819977008,652,0.400996202949,-0.0153941128469,0.049858928912,0.999999965301,-7.6542900818e-05,-0.000246421443091,-5.307165525e-05,1793247630051037952
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.603742389,659,633.396257611,877.603742389,785,809.603742389,652,629.603742389,652,0.401029097874,-0.01539584136,0.0498710591567,0.999999971075,-7.67249283862e-05,-0.000221937783419,-5.20259870352e-05,1793247630067704576
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.028984883,659,633.971015117,877.028984883,785,809.028984883,652,629.028984883,652,0.401072121444,-0.0153976286309,0.0498873974341,0.99999997793,-7.57036568569e-05,-0.000189324532141,-5.06554874986e-05,1793247630084371200
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.557406568,659,634,877,785,809,652,629,652,0.401132576212,-0.0154009317113,0.0499044136107,0.999999984214,-7.70824153236e-05,-0.000152549456074,-4.85627692619e-05,1793247630101037824
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.142533925,809.142533925,652,629,652,0.401196435705,-0.0154044808274,0.0499200508534,0.999999988411,-7.80840095688e-05,-0.000122158089198,-4.64602416029e-05,1793247630117704704
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.721893785,809.721893785,652,629,652,0.40126789261,-0.0154085372593,0.0499313517249,0.999999989733,-7.75390724501e-05,-0.000112008348851,-4.44451994368e-05,1793247630134371328
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.699490833,810,652,629.300509167,652,0.401347384424,-0.0154127952171,0.0499379134229,0.99999999075,-7.74385314366e-05,-0.000103154023474,-4.31498695503e-05,1793247630151038208
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.12156276,810,652,629.87843724,652,0.401434293764,-0.0154172392159,0.0499401000913,0.999999991514,-7.77482404418e-05,-9.54955777143e-05,-4.25189514401e-05,1793247630167704832
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.546289924,745,715,679,659,634,877,785,810,652,630,652,0.401539447564,-0.0154244571541,0.0499412812974,0.999999991392,-8.13817740651e-05,-9.40731267569e-05,-4.17607315364e-05,1793247630184371456
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.028976384,745,715,679,659,634.028976384,876.971023616,785,810,652,630,652,0.401650475079,-0.0154324338223,0.0499421795659,0.999999991024,-8.58014217967e-05,-9.44195215421e-05,-4.09343136417e-05,1793247630201038080
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.617781486,745,715,679,659,634.617781486,876.382218514,785,810,652,630,652,0.401781091493,-0.0154407936408,0.0499427858904,0.999999990634,-8.83033816951e-05,-9.6847738669e-05,-3.94454376127e-05,1793247630217704448
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.796811677,745,715,679,659,634.796811677,876.203188323,785.203188323,810,652,630,652,0.401921852578,-0.0154490790308,0.0499422137048,0.999999990119,-9.04008732156e-05,-0.000100606762199,-3.83082161338e-05,1793247630234370816
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.217692242,745,715,679,659,634.217692242,876.782307758,785.782307758,810,652,630,652,0.402081382924,-0.0154572267155,0.0499394610859,0.99999998937,-9.1750032841e-05,-0.000106827991564,-3.78216123532e-05,1793247630251037440
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.359666015,785.640333985,809.640333985,652,630,652,0.402264847028,-0.0154665500114,0.0499398792069,0.999999989327,-9.20026192199e-05,-0.000107472593045,-3.64856465622e-05,1793247630267704064
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.935963548,785.064036452,809.064036452,652,630,652,0.402462726762,-0.0154765813939,0.0499422071055,0.999999989718,-9.15947254041e-05,-0.00010475831964,-3.46380989419e-05,1793247630284370944
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.511219648,744.488780352,715.511219648,679,659,634,877.488780352,785,809.511219648,652.511219648,630,652.511219648,0.402704873062,-0.0154896249547,0.0499469873025,0.999999990298,-9.45654672003e-05,-9.70316054469e-05,-3.23436733706e-05,1793247630301037824
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.088476025,715.911523975,679,659,634,877.088476025,785.088476025,810,652.911523975,630,652.911523975,0.402957695979,-0.0155025005567,0.0499528616195,0.999999991087,-9.68729237409e-05,-8.6903179218e-05,-2.9818386663e-05,1793247630317704704
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.677792658,715.322207342,679,659,634,877.677792658,785.677792658,810,652.322207342,630,652.322207342,0.403239632039,-0.0155122938661,0.0499631941434,0.9999999931,-9.30348463698e-05,-6.67262425148e-05,-2.63024788434e-05,1793247630334371328
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.738030741,785.738030741,810,652,629.738030741,652,0.403538944826,-0.0155152189679,0.0499710535949,0.999999995286,-7.93347986384e-05,-5.09839065036e-05,-2.31041134046e-05,1793247630351037696
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.160054468,785.160054468,810,652,629.160054468,652,0.403859218708,-0.0155098591208,0.0499759298398,0.999999997526,-5.37385010906e-05,-4.05909204304e-05,-2.02887916652e-05,1793247630367704320
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,810,652,629,652,0.404213370279,-0.0155018401996,0.0499812873872,0.999999999099,-2.54058068541e-05,-2.85467176313e-05,-1.84654325799e-05,1793247630384370688
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,810,652,629,652,0.404580496218,-0.0154928029143,0.0499868292621,0.999999999721,3.97486390124e-06,-1.58701369657e-05,-1.70219724631e-05,1793247630401037568
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.43174954,745,715,679,659,634,877,785.56825046,810,652,629,652.56825046,0.404983378957,-0.0155026368563,0.0499830311663,0.999999999651,1.0842833259e-05,-1.98318260994e-05,-1.36626589477e-05,1793247630417704192
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.14586353,745,715,679,659,634,877,786,810.14586353,652,629.14586353,652.85413647,0.405385680556,-0.0155098725093,0.0499752053456,0.999999999174,2.09795476594e-05,-3.30593506732e-05,-1.09485636481e-05,1793247630434371072
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.741822598,745,715,679,659,634,877,786,810.741822598,652,629.741822598,652.258177402,0.405785525335,-0.0155087403688,0.0499551243634,0.999999996301,4.16204697642e-05,-7.45700076501e-05,-1.02609888023e-05,1793247630451038208
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.325593414,634,877,786,810.674406586,652,630,652,0.406221943999,-0.0155076589115,0.0499386578497,0.999999992572,6.4437292035e-05,-0.000103053032921,-9.15465252629e-06,1793247630467704832
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659.900048416,634,877,786,810.099951584,652,630,652,0.40668631731,-0.0155066161928,0.0499249539893,0.999999988626,8.8917227448e-05,-0.000121578621901,-7.72824326277e-06,1793247630484371200
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.524770691,745,715,679,659.524770691,634,877.475229309,786,810,652,630,652,0.407205730394,-0.0155094206846,0.049926437872,0.999999986641,0.000111376286844,-0.000119584306196,-3.52448067374e-06,1793247630501037824
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.051641563,745,715,679.051641563,659,634,878,786,810,652,630,652,0.407743416694,-0.0155129037394,0.0499331091172,0.999999985088,0.000133739021993,-0.000109255294026,1.38966984299e-06,1793247630517704448
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.639247011,745,715,679.639247011,659,634,878,786,810,652,630,652,0.408350425597,-0.0155150185824,0.0499604144157,0.999999985607,0.000159520072126,-5.72845834523e-05,7.60480899256e-06,1793247630534371328
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715.224804289,680,659.224804289,634,878,786,810.224804289,652,629.775195711,652.224804289,0.408967145632,-0.0155182369395,0.0499833498623,0.99999998285,0.000183808752473,-1.80674036917e-05,1.37161555173e-05,1793247630551037952
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715.807104421,680,659.807104421,634,878,786,810.807104421,652,629.192895579,652.807104421,0.409599308792,-0.0155232101637,0.0499993361341,0.999999978645,0.000205724185357,8.68423650638e-07,1.96624450959e-05,1793247630567704576
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.61655204,679.61655204,659.61655204,634,878,786,811,652,629.38344796,653,0.410213102652,-0.0155266683103,0.0499923545225,0.999999973661,0.000227663842158,-1.78759121112e-05,2.29844040815e-05,1793247630584371456
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.043159177,679.043159177,659.043159177,634,878,786,811,652,629.956840823,653,0.410817797071,-0.0155293759473,0.0499739955323,0.999999967005,0.000249615497582,-5.5285505902e-05,2.50063736298e-05,1793247630601038592
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,785.471416379,810.471416379,652,629.471416379,653,0.411463924045,-0.0155233349808,0.0499465187161,0.999999978214,0.000177843408482,-0.000106382777297,2.50347389503e-05,1793247630617705216
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659.10408252,634,878,785,810.10408252,652,629,653,0.412138110703,-0.015519353868,0.0499281118746,0.999999985002,0.000101932991561,-0.000138201712418,2.24837236341e-05,1793247630634371584
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659.697886103,634,878,785,810.697886103,652,629,653,0.41292845356,-0.0155284151683,0.0499558723398,0.999999996319,4.2445643026e-05,-7.40715743053e-05,8.55991761918e-06,1793247630651037440
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,660,634,878.284884392,785,811,652,629,653,0.413703936481,-0.0155378491692,0.0499713129411,0.999999998652,2.59983422039e-05,-4.4711087495e-05,4.50509957714e-06,1793247630667704064
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,660,634,878.864834255,785,811,652,629,653,0.414464028504,-0.0155476691913,0.0499739933998,0.999999997159,5.41292289883e-05,-5.13628275669e-05,1.06719615505e-05,1793247630684370688
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,660,634,879,785,811,652,629.441813259,652.558186741,0.41521792185,-0.0155468683913,0.0499504156455,0.999999992182,8.70599449026e-05,-8.89788909042e-05,1.17689855311e-05,1793247630701037312
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.017638532,660,634,879,785,811,652,630,652.017638532,0.415972280499,-0.015542873182,0.0499201999358,0.999999983659,0.000121013691617,-0.000133821366192,1.14219393684e-05,1793247630717703936
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.585635852,660,634,879,785,811,652,630,652.585635852,0.416799935001,-0.0155399126109,0.0499318470706,0.999999983798,0.000141376122159,-0.000110538667362,1.40892116852e-05,1793247630734371072
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.838638046,745,715,679.838638046,660,634,879,785,811,652,630,653,0.41764376745,-0.0155385761107,0.0499475739697,0.9999999843,0.000156601538286,-8.12006835219e-05,1.68110488963e-05,1793247630751037952
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.24206668,745,715,679.24206668,660,634,879,785,811,652,630,653,0.418531233401,-0.0155416198931,0.0499743044028,0.999999986698,0.000157971908981,-3.55309887619e-05,1.96800529635e-05,1793247630767704576
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.34499168,660,634,879,785,811.34499168,652,630,653,0.419388111426,-0.0155437807063,0.0499721704427,0.999999986906,0.000154414718298,-4.38944184094e-05,2.04449263516e-05,1793247630784371456
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.925554243,660,634,879,785,811.925554243,652,630,653,0.420224103041,-0.015545338601,0.04995032699,0.999999984953,0.000147492837647,-8.91533219822e-05,1.97730347422e-05,1793247630801038080
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.500823872,745,715,680,660,634,879,785,812,652,630,653,0.421148195145,-0.0155481244275,0.0499661305632,0.999999987489,0.000150868473546,-4.23177092291e-05,2.16608500156e-05,1793247630817704192
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715.076864751,679.923135249,660,634,879.076864751,785,811.923135249,652,630,653,0.422081527717,-0.0155504942092,0.0499850572955,0.999999987558,0.000155612926142,1.01946911836e-05,2.37530837791e-05,1793247630834370560
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715.663177193,679.336822807,660,634,879.663177193,785,811.336822807,652,630,653,0.422990214792,-0.0155489093936,0.0499879816223,0.999999986937,0.000159390601673,1.0548681783e-05,2.47047042848e-05,1793247630851037184
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.752217889,679.247782111,660,634,879.752217889,785,811.247782111,652,630.247782111,653,0.423901462693,-0.0155488858951,0.0499843840885,0.999999986483,0.000162503690724,2.28973416883e-06,2.49126705285e-05,1793247630867704064
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.169918129,679.830081871,660,634,879.169918129,785,811.830081871,652,630.830081871,653,0.424816167959,-0.0155509702488,0.0499719817326,0.999999985988,0.000164719556868,-1.75970901659e-05,2.41166682303e-05,1793247630884371456
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,785,812,652,630.593656561,653,0.425750165465,-0.0155556719474,0.0499838476569,0.999999985891,0.000165792906796,-6.84044833206e-06,2.61603041456e-05,1793247630901038336
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,785,812,652,630.01988301,653,0.426692112107,-0.0155614520991,0.0500057131058,0.999999985588,0.00016639549313,1.6542555803e-05,2.93739871587e-05,1793247630917704960
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.445840677,745,715,680,660.554159323,634,879.554159323,785,812,652,630.554159323,653,0.427546841996,-0.015554466811,0.049973339939,0.999999983933,0.000167714422308,-5.67387663881e-05,2.80331352063e-05,1793247630934371072
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.132650939,745,715,680,661,633.867349061,879.867349061,785,812,652,630.867349061,653,0.428425417827,-0.0155475669601,0.0499457896966,0.99999997862,0.000171250710585,-0.000112800386343,2.66218523867e-05,1793247630951037440
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.726580858,745,715,680,661,633.273419142,879.273419142,785,812,652,630.273419142,653,0.42939780232,-0.0155425576909,0.0499417811331,0.999999978341,0.000182408203435,-9.69159906687e-05,2.55341874309e-05,1793247630967704064
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.687757273,745,715,680.312242727,660.687757273,633,879,785,812,652,630.312242727,653,0.430348260651,-0.0155403807739,0.0499426485642,0.99999997795,0.000190434483207,-8.48511553475e-05,2.52167282254e-05,1793247630984370432
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.109148687,745,715,680.890851313,660.109148687,633,879,785,812,652,630.890851313,653,0.431280014313,-0.0155406200606,0.0499476755751,0.999999977615,0.000195789608903,-7.60446849077e-05,2.5556310859e-05,1793247631001037312
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.465183176,745,715,680.534816824,660,633.465183176,879,785,812.465183176,652,631,653,0.43218236802,-0.0155405714762,0.0499358991917,0.999999976836,0.000192163421248,-9.3679515492e-05,2.50015715889e-05,1793247631017704448
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.96038763,745,715,680,660.03961237,633.96038763,879,785,813,652,631,653,0.433079529407,-0.0155405225487,0.0499232393358,0.999999975842,0.00018714641294,-0.000112653566448,2.45112322245e-05,1793247631034371584
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.370802549,745,715,680,660.629197451,633.370802549,879,785,813,652,631,653,0.433999502768,-0.0155413980961,0.0499525544429,0.999999979114,0.000191810914584,-6.48692534091e-05,2.78018631405e-05,1793247631051038208
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.784900141,715,680,660.784900141,633,879,785,813,652,630.784900141,653,0.434904832975,-0.0155407576421,0.0499688156605,0.999999978593,0.000199646243899,-4.53204379846e-05,3.00391350661e-05,1793247631067704832
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.2052392,715,680,660.2052392,633,879,785,813,652,630.2052392,653,0.435785345442,-0.0155375477996,0.0499629525534,0.999999974171,0.000212855638266,-7.36264281921e-05,3.04911265832e-05,1793247631084371200
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.372781963,744,715,680,660,633,879,785,813.372781963,652,630.372781963,653,0.436653528923,-0.0155347928225,0.0499517693556,0.999999971353,0.000217358166993,-9.58185264849e-05,2.94609998509e-05,1793247631101037568
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.949904248,744,715,680,660,633,879,785,813.949904248,652,630.949904248,653,0.437514954221,-0.01553228718,0.049937669952,0.999999969482,0.000217088029133,-0.000114659295048,2.76184504161e-05,1793247631117704192
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,744.530691491,715,680,660,633,879,785,814,652,631,653,0.438372362822,-0.0155363968655,0.0499575490783,0.999999975774,0.000206484577815,-7.01636026449e-05,2.98759405697e-05,1793247631134370816
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680.112052417,660.112052417,633,879.112052417,785,814,652,631,653,0.439220423524,-0.0155406699696,0.0499736459781,0.999999979429,0.000197406242569,-3.41571937461e-05,3.17153714518e-05,1793247631151037184
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680.694358917,660.694358917,633,879.694358917,785,814,652,631,653,0.44003085588,-0.0155429899479,0.0499603153558,0.999999978031,0.000198850522645,-5.90438729101e-05,3.01647543516e-05,1793247631167704320
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680.725134505,661,633,879.725134505,784.725134505,814,652,631,653,0.440846212474,-0.0155458273954,0.049955550949,0.999999977222,0.000200286778604,-6.77307716057e-05,2.92076259012e-05,1793247631184371456
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+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.573584825,633,879,784,814,651.573584825,631,653,0.44245311838,-0.0155491856559,0.0499792143899,0.999999978691,0.000202531871901,-2.54688720647e-05,3.08326526832e-05,1793247631217704704
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715.665584395,680.665584395,661,633.665584395,879,785,814.334415605,652,631,653.334415605,0.445934204137,-0.0155387001914,0.0499389734082,0.999999974806,0.000211769340757,-6.80299893316e-05,3.02287703153e-05,1793247631301037568
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715.088021461,680.088021461,661,633.088021461,879,785,814.911978539,652,631,653.911978539,0.446645252587,-0.0155404536489,0.049967869954,0.999999975392,0.000219268617,-1.00149709491e-05,3.22136818639e-05,1793247631317704704
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680.348230389,661,633,880,785,815,652,631,652.651769611,0.448340123543,-0.0155347273276,0.0499259187541,0.999999966022,0.000246247351842,-7.92806551148e-05,3.21515606636e-05,1793247631367704576
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680.236505784,661,633,880,785,815,652,631,653.236505784,0.448870551497,-0.0155334781263,0.0499177183191,0.99999996297,0.00025375453085,-9.27180537733e-05,3.27294212088e-05,1793247631384371200
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680.815591193,661,633,880,785,815,652,631,653.815591193,0.449407883373,-0.0155342997766,0.0499290917611,0.999999962606,0.000260409544705,-7.59659259474e-05,3.46984505757e-05,1793247631401037312
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879.609969898,785,815.390030102,651.609969898,631,653.609969898,0.449931281606,-0.0155338623687,0.0499495376167,0.999999961843,0.000269738585502,-4.64523188012e-05,3.73843378474e-05,1793247631417703936
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879.037701972,785,815.962298028,651.037701972,631,653.037701972,0.450448169527,-0.0155328366779,0.0499742224714,0.999999959835,0.000280317040046,-1.09760312948e-05,4.04051702347e-05,1793247631434370816
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+208,3.466666667,POSE1_TO_POSE2_PRESS,766.386061127,745,715,681,661,632.386061127,880,784,815,651.613938873,631,653.386061127,0.453204698404,-0.0155460207301,0.0499218066558,0.999999979941,0.000158863928437,-0.000120073456694,2.15012117987e-05,1793247631567703808
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,744.24135206,715,681,660.24135206,632.75864794,880,784,815,652,630,653,0.455162275658,-0.0155368276533,0.0498209287838,0.9999999464,0.000181422766307,-0.0002720831658,1.60453056785e-05,1793247632117704448
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,744,715,681,660,632.657346946,879.657346946,783.657346946,815,652,630,653,0.455161938206,-0.0155373953902,0.0498207015031,0.999999946484,0.000180396032442,-0.000272446947404,1.61910938964e-05,1793247632134371072
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,744,715,681,660,632.077416779,879.077416779,783.077416779,815,652,630,653,0.455162639038,-0.0155389750403,0.0498203742981,0.999999946958,0.000177470199004,-0.000272607527179,1.6554302777e-05,1793247632151037696
+244,4.066666667,HOLD_POSE2,766,745,715,680,660,632,880,784,815,652,630,653,0.455162947833,-0.0155359428533,0.0498186034244,0.999999946965,0.000175177729713,-0.000274127129094,1.54090959591e-05,1793247632182304000
+245,4.083333333,HOLD_POSE2,766.587762917,745,715.587762917,680.587762917,660.587762917,632,880,784,815,652,630,653,0.45516317195,-0.0155361185842,0.0498193046438,0.999999946759,0.000176717404841,-0.000273877028018,1.56542951433e-05,1793247632198971392
+246,4.100000000,HOLD_POSE2,766.82705335,745,715.82705335,681,661,632,880,784,815,651.82705335,630,653,0.455163596324,-0.0155359562817,0.0498197707488,0.999999946628,0.000177799279557,-0.000273650052705,1.57333408186e-05,1793247632215638528
+247,4.116666667,HOLD_POSE2,766.247926933,745,715.247926933,681,661,632,880,784,815,651.247926933,630,653,0.455164491021,-0.0155350000796,0.0498196846676,0.999999946679,0.000177805971771,-0.000273477390147,1.54221610389e-05,1793247632232305152
+248,4.133333333,HOLD_POSE2,766.329855179,745,715.329855179,681,660.670144821,632,880,784,815,651.329855179,630,653,0.455164501271,-0.0155354174835,0.0498197359923,0.999999946598,0.000178046822256,-0.000273603129045,1.56109183864e-05,1793247632248971520
+249,4.150000000,HOLD_POSE2,766.906630947,745,715.906630947,681,660.093369053,632,880,784,815,651.906630947,630,653,0.455163849449,-0.0155368631314,0.0498198901753,0.99999994642,0.000178462957236,-0.00027395224314,1.61739150473e-05,1793247632265637888
+250,4.166666667,HOLD_POSE2,766.51849388,745,716,681,660,632,880,784,815,652,630,653,0.455163378498,-0.0155373950427,0.0498192848942,0.99999994641,0.000177954940281,-0.000274309769983,1.63273067869e-05,1793247632282304256
+251,4.183333333,HOLD_POSE2,766,745,715.942474066,681,660,632,879.942474066,784,815.057525934,652,630,653.057525934,0.455163139881,-0.0155374539114,0.0498187261041,0.999999946428,0.00017756175981,-0.000274497732718,1.63206039794e-05,1793247632298970624
+252,4.200000000,HOLD_POSE2,766,745,715.352460877,681,660,632,879.352460877,784,815.647539123,652,630,653.647539123,0.455164728479,-0.015534767717,0.0498199554784,0.999999946408,0.00017988382315,-0.000273101089004,1.5564310473e-05,1793247632315636992
+253,4.216666667,HOLD_POSE2,766.233722951,745,715,681,660,632,879.233722951,784,815.766277049,652,630,653.766277049,0.455165329148,-0.0155336124704,0.0498205910145,0.999999946559,0.000179902743756,-0.000272553819805,1.5216063939e-05,1793247632332303872
+254,4.233333333,HOLD_POSE2,766.814225034,745,715,681,660,632,879.814225034,784,815.185774966,652,630,653.185774966,0.455164464008,-0.0155347287201,0.0498203454616,0.999999946966,0.000176504448037,-0.000273266783642,1.54732444268e-05,1793247632348971264
+255,4.250000000,HOLD_POSE2,767,745,715,681,660,632,879.609647024,784,815,652,630,653,0.455164476232,-0.0155346454798,0.0498204600119,0.999999946921,0.000176514534486,-0.0002734290597,1.54231706901e-05,1793247632365637888
+256,4.266666667,HOLD_POSE2,767,745,715,681,660,632,879.035577683,784,815,652,630,653,0.45516490138,-0.0155339977098,0.0498207440418,0.999999946664,0.000178128747212,-0.000273332159222,1.52284903438e-05,1793247632382304768
+257,4.283333333,HOLD_POSE2,767,745,715,681,660,632,879.53688875,784,815,652,630.53688875,653,0.455165148776,-0.0155341349122,0.0498202174712,0.999999947166,0.000175706718648,-0.000273076069001,1.49941538115e-05,1793247632398971136
+258,4.300000000,HOLD_POSE2,766.885966229,745,715,680.885966229,660,632,880,784,815,651.885966229,630.885966229,653,0.455165419451,-0.0155345150882,0.0498197809471,0.999999947545,0.000173726303238,-0.000272957001966,1.49552025055e-05,1793247632415637504
+259,4.316666667,HOLD_POSE2,766.288539406,745,715,680.288539406,660,632,880,784,815,651.288539406,630.288539406,653,0.455165838586,-0.0155357053905,0.0498199531577,0.999999947216,0.000174748327745,-0.000273463364987,1.57556022603e-05,1793247632432303872
+260,4.333333333,HOLD_POSE2,766,745,715,680.298129699,660,632,879.701870301,784,815,651.298129699,630,653,0.455165642411,-0.015535552072,0.0498195892062,0.999999946998,0.000175136104182,-0.000274001336667,1.59402931835e-05,1793247632448970496
+261,4.350000000,HOLD_POSE2,766,745,715,680.87474972,660,632,879.12525028,784,815,651.87474972,630,653,0.45516487146,-0.0155341436442,0.0498187244126,0.999999946885,0.00017493141376,-0.000274568834747,1.55498352216e-05,1793247632465637376
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,633,880,784,815,652,630,653,0.455165251027,-0.0155333538962,0.0498188171529,0.999999946665,0.000174862288681,-0.000275428913355,1.52468910671e-05,1793247632498307328
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.587748595,680,660.412251405,632.412251405,880,784,815,652,630,653,0.455165410787,-0.0155337975149,0.0498191813329,0.999999946732,0.000175348959429,-0.000274854703242,1.55791238011e-05,1793247632514973952
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.826475841,680.173524159,660,632,880,784,815,651.826475841,630,653,0.455165742377,-0.0155337943703,0.0498196667208,0.999999946833,0.000175974102053,-0.000274090351537,1.55654485468e-05,1793247632531640320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.245334906,680.754665094,660,632,880,784,815,651.245334906,630,653,0.455166477606,-0.015532741757,0.0498204368318,0.999999947009,0.000176924522015,-0.000272879347772,1.47392184943e-05,1793247632548306688
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.330282899,632,880,784,815,651.330282899,630,653,0.455166638964,-0.0155325851083,0.0498205101683,0.999999947174,0.000176755431093,-0.000272386683927,1.46302735753e-05,1793247632564972800
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.901865553,632,880,784,815,651.901865553,630,653,0.455166381061,-0.0155330830381,0.0498200744515,0.999999947334,0.00017576844218,-0.000272418828576,1.50453665134e-05,1793247632581639424
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.478059392,744.521940608,715.478059392,681,660.521940608,632,879.521940608,784,815,652,630,653,0.455166069194,-0.0155335985148,0.0498195961289,0.999999947182,0.000175789767064,-0.00027295506142,1.51763074695e-05,1793247632598306304
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.943425475,744.056574525,715.943425475,681,660.056574525,632,879.056574525,784,815,652,630,653,0.455165103443,-0.0155340148179,0.0498188378828,0.999999946839,0.000175918601171,-0.000274124484083,1.51923551739e-05,1793247632614972928
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766.352000951,744.647999049,715.352000951,681,660.647999049,632,879.647999049,784,815,652,630,653,0.455158061683,-0.0155334591594,0.0498155167552,0.999999945282,0.000175087958609,-0.000280292226577,1.46790281745e-05,1793247632631639808
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766.233990444,745,715,681,660.766009556,632.233990444,880,784,815,652,630,653,0.455145158173,-0.0155329302896,0.0498094378595,0.99999994246,0.000174136979265,-0.00029078954505,1.40853864007e-05,1793247632648306688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.811993992,745,715,681,660.188006008,632.811993992,880,784,815,652,630,653,0.455123636708,-0.0155324408043,0.0497993044893,0.99999993762,0.000173009080647,-0.000307652212098,1.33736657668e-05,1793247632664973312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766.610648104,745,715.389351896,681,660,633,879.610648104,784,815,652,630,653,0.45508237633,-0.0155303895923,0.0497811343892,0.999999927884,0.000172458150915,-0.00033816162917,1.16663435913e-05,1793247632681639680
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.033601395,745,715.966398605,681,660,633,879.033601395,784,815,652,630,653,0.455031600415,-0.015527585519,0.0497590900228,0.999999914725,0.000172185360208,-0.000375249734252,9.47907184428e-06,1793247632698305792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.447255806,681,660,632.447255806,879,784,815,652,630,653,0.454969916853,-0.0155235594547,0.0497388224674,0.999999903277,0.000175445614805,-0.000403245974769,7.59761147441e-06,1793247632714972160
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.862199987,660.137800013,632,879,783.862199987,814.862199987,652,630,653,0.454904316925,-0.0155190558681,0.0497207174,0.999999892685,0.000178611611845,-0.000427428535552,5.71395576752e-06,1793247632731638784
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.283115523,660.716884477,632,879,783.283115523,814.283115523,652,630,653,0.454828335132,-0.0155132650426,0.0497091855673,0.999999886325,0.000180776211959,-0.000441198563215,3.76271792082e-06,1793247632748305664
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.294543781,660.705456219,632,879.589087563,783.294543781,814.294543781,652,630,653,0.454746261723,-0.0155080627699,0.0497041719611,0.99999988365,0.00018359752143,-0.000446077364471,2.70879114693e-06,1793247632764972288
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.870839785,660.129160215,632,880.741679571,783.870839785,814.870839785,652,630,653,0.454658361253,-0.0155034234905,0.0497053935062,0.999999884622,0.000187047020327,-0.000442451070094,2.51320679845e-06,1793247632781638912
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766.446141658,745,715,681,660,632,880.553858342,784,815,652,630.446141658,653,0.454556914872,-0.0154979107895,0.0497104128591,0.999999887031,0.000188725202971,-0.000436249992703,2.67566107443e-06,1793247632798305536
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766.978272836,744.978272836,715,681,660.021727164,632,880,784,815,652,630.978272836,653,0.454450865161,-0.0154920555352,0.0497167472389,0.999999889959,0.000190022902838,-0.000428911373292,2.93372075028e-06,1793247632814972160
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766.387743979,744.387743979,715,681,660.612256021,632,880,784,815,652,630.387743979,653,0.454326740155,-0.0154838374481,0.0497287883745,0.999999896462,0.00019475485209,-0.000411263690196,2.98710838894e-06,1793247632831638784
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,744.199011241,715,681,660.800988759,632,880,784,815,651.800988759,630,653,0.454189350531,-0.0154754335099,0.0497395244474,0.999999901921,0.00019916012903,-0.000395582075149,2.98371414932e-06,1793247632848305664
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,744.778550841,715,681,660.221449159,632,880,784,815,651.221449159,630,653,0.454026597715,-0.0154666742075,0.0497477651153,0.999999905806,0.000202940777078,-0.000383659770813,2.87174757016e-06,1793247632864972288
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.35543632,632,879.64456368,784,815,651.35543632,630,653,0.453835796106,-0.0154564526176,0.0497531638309,0.999999907147,0.000207353470912,-0.000377761492176,2.40520114797e-06,1793247632881638912
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,744.494112422,715,681,661,632.505887578,879,784,814.494112422,652,630,653,0.45339004269,-0.0154353813759,0.0497597925276,0.99999990672,0.000212455074844,-0.000376060441686,7.31230820168e-07,1793247632914972160
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,744.083307929,715,680.916692071,661,633,879,784,814,652,630.083307929,653,0.453144209737,-0.0154258026426,0.0497631649418,0.999999906992,0.000212220762368,-0.000375469675186,-2.57945034764e-07,1793247632931638784
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,633,879,784.62302072,813,652,631,653,0.445793311317,-0.0153724283655,0.0497414694068,0.999999927728,3.29191333042e-05,-0.000376611531051,-4.03047952875e-05,1793247633198307072
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634,877.706580941,785,809.293419059,652,629.293419059,652,0.40412152345,-0.015364389735,0.049816773909,0.999999938814,-0.000132004766392,-0.000317319627125,-6.52258164465e-05,1793247634114972416
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634,877.131491418,785,809.868508582,652,629.868508582,652,0.403800427687,-0.0153692679232,0.0498433957248,0.999999948445,-0.000137618199292,-0.000283257336238,-6.27469615895e-05,1793247634131639040
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,744.55582232,715,679,659,634,877.44417768,785,810,652.44417768,629.55582232,652,0.4035010453,-0.015373361641,0.0498538355487,0.999999957794,-8.83417041341e-05,-0.000269777737169,-6.18736018613e-05,1793247634148305664
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744,715,679,659,634,877.979496523,785,810,652.979496523,629.020503477,652,0.40320868494,-0.0153771011682,0.049858844481,0.999999963052,-2.5363694864e-05,-0.000263563524136,-6.15426497802e-05,1793247634164972288
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,744,715,679,659,634,877.389707074,785,810,652.389707074,629.610292926,652,0.402932587831,-0.0153774628271,0.0498462439989,0.999999955488,-3.37138983681e-05,-0.000289675445702,-6.3058280085e-05,1793247634181639168
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.197470995,715,679,659,634,877,785,809.802529005,652,630,652,0.402667586873,-0.0153771645715,0.049833634022,0.999999947767,-4.11623608002e-05,-0.000313995788616,-6.46418552675e-05,1793247634198305536
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.779562727,715,679,659,634,877,785,809.220437273,652,630,652,0.402424198286,-0.0153755809785,0.0498210055534,0.999999940646,-4.68544716158e-05,-0.000334826612217,-6.63577687975e-05,1793247634214972160
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634.354950433,877,785,809.354950433,652,629.645049567,652,0.402208706048,-0.0153767323321,0.0498135426984,0.999999937774,-2.62397270399e-05,-0.000346614351771,-6.01778678284e-05,1793247634231639040
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634.926251926,877,785,809.926251926,652,629.073748074,652,0.4020102173,-0.0153795507031,0.0498092284114,0.999999936471,1.04096954164e-05,-0.000352890109801,-4.91852729211e-05,1793247634248305664
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.498012517,745,715,679,659,634.498012517,877,785.501987483,810,652,629.501987483,652.501987483,0.401852241911,-0.0153730053053,0.0498078320611,0.999999936882,1.5408706273e-05,-0.000351445595102,-4.98435617578e-05,1793247634264972544
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.670987556,745,715,679,659,634.670987556,877,785.329012444,810,652,630,652.329012444,0.401588168886,-0.0153656059546,0.0498111901557,0.999999940956,8.4606137357e-06,-0.000339409175285,-5.30910497701e-05,1793247634298305792
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634.744074414,877,785.255925586,810,652,629.744074414,652,0.401483418414,-0.0153665947696,0.0498165822047,0.999999944791,1.47510924805e-06,-0.000327921897249,-5.36923317886e-05,1793247634314972416
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634.166339403,877,785.833660597,810,652,629.166339403,652,0.401393913753,-0.0153694300497,0.0498241154692,0.999999949603,-6.30895973346e-06,-0.000312837456502,-5.37361830829e-05,1793247634331639040
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,658.590676945,634,877,785.590676945,810,652,629,652,0.401318932401,-0.015374890455,0.0498311754554,0.99999995347,-1.71879567609e-05,-0.000299896936733,-5.31692048709e-05,1793247634348305920
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.887451834,715,679,659,634,877,786,810,652,629.887451834,652,0.401034603742,-0.015387197174,0.0498325464596,0.999999954494,-4.47937041453e-05,-0.00029338016649,-5.4164786055e-05,1793247634448305664
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.223008696,659.776991304,634,876.776991304,785,810,652,630,652,0.400991797666,-0.015388847334,0.0498437479566,0.999999960309,-4.32885696892e-05,-0.00027336855208,-5.27120043008e-05,1793247634514972672
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.799278637,659.200721363,634,876.200721363,785,810,652,630,652,0.400987903154,-0.0153875918407,0.0498445199947,0.999999960777,-4.20599335871e-05,-0.000271766077671,-5.31013219791e-05,1793247634531640064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634.374630521,876.374630521,785,809.625369479,652,629.625369479,652,0.400985197833,-0.0153874916997,0.0498445864198,0.999999960772,-4.43017876509e-05,-0.000271377793723,-5.33660976342e-05,1793247634548306944
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634.949491708,876.949491708,785,809.050508292,652,629.050508292,652,0.400983128105,-0.0153880090656,0.0498442757125,0.9999999605,-4.83985321593e-05,-0.000271638464329,-5.35643086718e-05,1793247634564973568
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.462012915,659,634.462012915,877.537987085,785.537987085,809.537987085,652,629,652,0.400982370819,-0.015389093973,0.0498452692653,0.999999961092,-4.67080127727e-05,-0.000269832050187,-5.31555145824e-05,1793247634581639936
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,678,659,634,877.87447495,785.87447495,810,652,629,652,0.40098211917,-0.0153900628281,0.0498462929417,0.999999961717,-4.49325380812e-05,-0.000267880413034,-5.27873351272e-05,1793247634598306304
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,659,634,877.295146344,785.295146344,810,652,629,652,0.400983238476,-0.0153904144865,0.049846971329,0.99999996219,-4.48652766424e-05,-0.00026612359792,-5.27773699735e-05,1793247634614972672
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.282280135,659,634,877.282280135,785.282280135,810,652.282280135,629.282280135,652,0.400983455718,-0.0153903510404,0.049847750006,0.999999962455,-4.43976770352e-05,-0.000265216804055,-5.27072749294e-05,1793247634631639296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.857731174,659,634,877.857731174,785.857731174,810,652.857731174,629.857731174,652,0.400982736093,-0.0153898564746,0.0498486328421,0.999999962508,-4.35142936376e-05,-0.000265192826249,-5.25747300976e-05,1793247634648305664
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634,877.56867785,786,809.56867785,652.56867785,629.56867785,652.43132215,0.400981779471,-0.0153904660262,0.0498485273711,0.999999962509,-4.43626824609e-05,-0.000265082734059,-5.23906109651e-05,1793247634664972544
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634,877.004448476,785.995551524,809.004448476,652,629,652.995551524,0.400980754496,-0.0153914244221,0.0498481010154,0.999999962493,-4.57662410337e-05,-0.000264945710756,-5.21928703674e-05,1793247634681639168
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,659,634,877.596910349,785.403089651,809.596910349,652,629,652.403089651,0.400980983067,-0.0153905616201,0.0498481640429,0.999999962487,-4.53732609377e-05,-0.000264987290919,-5.24335714282e-05,1793247634698306304
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.814952924,715,679,659,634,877.814952924,785.185047076,810,652,629,652,0.400981510566,-0.0153904255864,0.0498485131432,0.99999996265,-4.51902135215e-05,-0.000264390522503,-5.24880294827e-05,1793247634714973440
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.236022556,715,679,659,634,877.236022556,785.763977444,810,652,629,652,0.400982674351,-0.0153918365205,0.0498494711661,0.999999963171,-4.5454019854e-05,-0.000262434992594,-5.21460586237e-05,1793247634731639808
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.660340137,744.339659863,715,679,659,634,877.339659863,786,810,652,629,652,0.400982565269,-0.0153919201716,0.0498499620147,0.999999963251,-4.56806025371e-05,-0.000262092935693,-5.21379385111e-05,1793247634748306176
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.086893297,744.913106703,715,679,659,634,877.913106703,786,810,652,629,652,0.400981580075,-0.0153910902575,0.0498501313085,0.999999963029,-4.58815642707e-05,-0.000262861428044,-5.23596069911e-05,1793247634764972544
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.500575064,744.499424936,715.500575064,679,659,634,877.499424936,785.499424936,810,652,629,652,0.400981750089,-0.0153911373885,0.0498505346067,0.999999963279,-4.50684089376e-05,-0.00026210350681,-5.20902483302e-05,1793247634781639168
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,744,715.911095358,679,659,634,877,785,809.911095358,652.088904642,629.088904642,652,0.400981965039,-0.015391235005,0.0498507375118,0.999999963518,-4.40788169236e-05,-0.00026140402224,-5.18505807527e-05,1793247634798305792
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,744,715.33182748,679,659,634,877,785,809.33182748,652.66817252,629.66817252,652,0.400981289931,-0.0153907471646,0.0498496046256,0.999999963244,-4.31150044827e-05,-0.000262530413791,-5.22583537867e-05,1793247634814972416
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,744.245858609,715,679,659,634,877,785.245858609,809.245858609,652.754141391,629.754141391,652,0.400981242137,-0.01539123669,0.049849282348,0.99999996315,-4.33678391041e-05,-0.000262844581214,-5.22603860134e-05,1793247634831639296
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,744.821423537,715,679,659,634,877,785.821423537,809.821423537,652.178576463,629.178576463,652,0.400982035597,-0.0153930369023,0.0498500471289,0.999999963299,-4.52522464116e-05,-0.000262069523451,-5.17183034968e-05,1793247634848306432
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.397097143,679.397097143,659,634,877,786,810,652.397097143,629,652,0.400982257266,-0.0153930630061,0.0498505088819,0.99999996347,-4.54812345954e-05,-0.000261358555685,-5.17979456104e-05,1793247634864973312
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.972819601,679.972819601,659,634,877,786,810,652.972819601,629,652,0.400982221728,-0.0153922910665,0.0498508343245,0.999999963653,-4.49655692036e-05,-0.000260676417428,-5.21572567494e-05,1793247634881639936
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.437531329,679.437531329,659,634,877,786,810,653,629,652.562468671,0.400981049725,-0.0153923845087,0.0498501878112,0.999999963441,-4.51278337353e-05,-0.000261452959221,-5.21909828593e-05,1793247634898306304
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ef1e2e9f84cc318ad83b927bdf52882f943f4301
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
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+1,0.016666667,pose1_baseline,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
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+6,0.100000000,pose1_baseline,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
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+12,0.200000000,pose1_baseline,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
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+14,0.233333333,pose1_baseline,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
+15,0.250000000,pose1_baseline,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
+16,0.266666667,pose1_baseline,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
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+378,6.300000000,pose2_to_pose3_retreat,0.583309079226,-0.0100721292737,1.04004236902,0.553880869327,-0.00139767544918,1.03966575657
+379,6.316666667,pose2_to_pose3_retreat,0.583289176318,-0.0100721671452,1.04004240988,0.553860967646,-0.00139770952011,1.03966578908
+380,6.333333333,pose2_to_pose3_retreat,0.583274512836,-0.0100721898326,1.04004236704,0.553846305298,-0.00139772785694,1.03966575788
+381,6.350000000,pose2_to_pose3_retreat,0.583264257057,-0.0100721221827,1.04004245225,0.553836049192,-0.00139766133616,1.03966584262
+382,6.366666667,pose2_to_pose3_retreat,0.583257663978,-0.0100721712971,1.04004250945,0.553829457077,-0.00139770746359,1.03966589338
+383,6.383333333,pose2_to_pose3_retreat,0.583253147088,-0.0100722363266,1.04004252195,0.553824941017,-0.00139776993635,1.03966589992
+384,6.400000000,pose2_to_pose3_retreat,0.583250321019,-0.010072212949,1.04004243882,0.553822113786,-0.0013977504735,1.03966581745
+385,6.416666667,pose2_to_pose3_retreat,0.583248397557,-0.0100722168275,1.0400423417,0.553820189471,-0.00139775697689,1.03966572658
+386,6.433333333,pose2_to_pose3_retreat,0.583247240094,-0.0100722358474,1.04004224907,0.553819031442,-0.00139777754313,1.03966564259
+387,6.450000000,pose2_to_pose3_retreat,0.583246699598,-0.0100722296319,1.04004222453,0.553818490711,-0.00139777199196,1.03966562106
+388,6.466666667,pose2_to_pose3_retreat,0.583246526567,-0.0100722017647,1.04004224872,0.553818317657,-0.00139774423822,1.03966564449
+389,6.483333333,pose2_to_pose3_retreat,0.583246487632,-0.010072195494,1.04004225417,0.553818278716,-0.00139773799305,1.03966564976
+390,6.500000000,pose2_to_pose3_retreat,0.583246428898,-0.0100721860347,1.04004226238,0.553818219974,-0.00139772857225,1.03966565772
+391,6.516666667,pose2_to_pose3_retreat,0.583246293355,-0.010072164205,1.04004228134,0.553818084412,-0.00139770683155,1.03966567607
+392,6.533333333,pose2_to_pose3_retreat,0.583246069343,-0.010072128127,1.04004231267,0.553817860369,-0.00139767090049,1.0396657064
+393,6.550000000,pose2_to_pose3_retreat,0.583245876145,-0.010072097012,1.04004233969,0.553817667145,-0.00139763991216,1.03966573257
+394,6.566666667,pose2_to_pose3_retreat,0.583245870013,-0.0100720960243,1.04004234054,0.553817661012,-0.00139763892855,1.0396657334
+395,6.583333333,pose2_to_pose3_retreat,0.583245791966,-0.0100720834545,1.04004235146,0.553817582954,-0.00139762640995,1.03966574396
+396,6.600000000,pose2_to_pose3_retreat,0.583245726073,-0.0100720753339,1.04004238628,0.553817517017,-0.00139761848629,1.03966577772
+397,6.616666667,pose2_to_pose3_retreat,0.583245687697,-0.0100720750018,1.04004245175,0.553817478552,-0.00139761854025,1.03966584121
+398,6.633333333,pose2_to_pose3_retreat,0.583245664958,-0.010072074805,1.04004249054,0.553817455761,-0.00139761857222,1.03966587882
+399,6.650000000,pose2_to_pose3_retreat,0.583245595692,-0.0100720742055,1.04004260871,0.553817386335,-0.00139761866961,1.03966599341
+400,6.666666667,pose2_to_pose3_retreat,0.583245529491,-0.0100720736326,1.04004272165,0.553817319983,-0.00139761876269,1.03966610293
+401,6.683333333,pose2_to_pose3_retreat,0.5832455067,-0.0100720734354,1.04004276054,0.553817297139,-0.00139761879474,1.03966614063
+402,6.700000000,pose2_to_pose3_retreat,0.58324548819,-0.0100720686103,1.04004268743,0.553817279007,-0.00139761259968,1.03966606951
+403,6.716666667,pose2_to_pose3_retreat,0.583245478964,-0.0100720660725,1.04004264801,0.553817269982,-0.00139760933467,1.03966603116
+404,6.733333333,pose2_to_pose3_retreat,0.583245470331,-0.0100720636977,1.04004261113,0.553817261537,-0.00139760627932,1.03966599528
+405,6.750000000,pose2_to_pose3_retreat,0.583245463416,-0.0100720617954,1.04004258158,0.553817254772,-0.00139760383189,1.03966596653
+406,6.766666667,pose2_to_pose3_retreat,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685719,1.03966588462
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f2d638afbf8ec2b22b9666a39921e95e211c8ed
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00036436a1016e817dccc0eadcb20485e4b69621fef8caa59b7ce181a66f3fec
+size 25817396
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d60a0e2e395f4fb6cd43e38aa2b12921cd2b50e4
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+41,0.683333333,BASELINE,766,745,715,679,659,634,877,786,810,652,629.775703327,652,0.40098121764,-0.0153941481476,0.0498533143517,0.999999964663,-4.64293501203e-05,-0.000256656362014,-5.14365676788e-05,1793247635708958464
+42,0.700000000,BASELINE,765.641000619,744.641000619,715,679,659,634,877,786,810,652,630,652,0.400983175404,-0.0153943123204,0.0498543677344,0.999999965229,-4.58156072015e-05,-0.000254566252501,-5.13769596101e-05,1793247635725625344
+43,0.716666667,BASELINE,765.053266388,744.053266388,715,679,659,634,877,786,810,652,630,652,0.40098492414,-0.015394264248,0.0498552464123,0.999999965863,-4.40489315037e-05,-0.000252378721564,-5.13686176909e-05,1793247635742292480
+44,0.733333333,BASELINE,765.528991866,744.528991866,715,679,659,634,877,786,810,652.528991866,629.471008134,652,0.400984038713,-0.0153940065058,0.0498547265345,0.999999965789,-4.30256357019e-05,-0.000252846497797,-5.13774492155e-05,1793247635758959104
+45,0.750000000,BASELINE,766.109327109,745,715,678.890672891,659,634,877,786,810,652.890672891,629,652,0.400982917495,-0.0153936704276,0.0498539845967,0.99999996556,-4.24461175996e-05,-0.000253826868612,-5.14749204728e-05,1793247635775625728
+46,0.766666667,BASELINE,766.683802426,745,715,678.316197574,659,634,877,786,810,652.316197574,629,652,0.400981910021,-0.0153930899636,0.0498528909001,0.999999964975,-4.34395026952e-05,-0.00025586222181,-5.19422404303e-05,1793247635792292096
+47,0.783333333,BASELINE,766.742808847,745,715,678.257191153,659,634.257191153,877,786,810,652,629.257191153,652,0.400982386361,-0.0153931060262,0.0498530383983,0.999999965041,-4.40128149237e-05,-0.000255522638984,-5.18582232154e-05,1793247635808958720
+48,0.800000000,BASELINE,766.170750306,745,715,678.829249694,659,634.829249694,877,786,810,652,629.829249694,652,0.400984679266,-0.015393852389,0.0498547054343,0.999999965902,-4.40718512518e-05,-0.000252275530681,-5.10992291338e-05,1793247635825625600
+49,0.816666667,BASELINE,766,744.5842437,715.4157563,679,659,634.5842437,877.4157563,786,810,652.4157563,629.5842437,652,0.400984603053,-0.0153942510919,0.0498546576539,0.999999965922,-4.38731767022e-05,-0.000252249332889,-5.10068940229e-05,1793247635842292224
+50,0.833333333,BASELINE,766,744.008194733,716,679,659,634,877.991805267,786,809.991805267,652.991805267,629,652.008194733,0.400983513067,-0.0153944970091,0.0498538800278,0.999999965582,-4.35770869077e-05,-0.000253604467141,-5.11957216968e-05,1793247635858958592
+51,0.850000000,BASELINE,766,744.585658665,716,679,659,634,877.414341335,786,809.414341335,652.414341335,629,652.585658665,0.400982023542,-0.0153944051686,0.0498530872331,0.99999996502,-4.41310482081e-05,-0.00025571580199,-5.1211571206e-05,1793247635875625984
+52,0.866666667,BASELINE,766,745,715.836691732,678.836691732,659,634,877,785.836691732,809.163308268,652,629,652.836691732,0.400980826887,-0.0153941692434,0.0498524086281,0.99999996461,-4.43587210729e-05,-0.000257250372756,-5.13287045361e-05,1793247635892293120
+53,0.883333333,BASELINE,766,745,715.258570549,678.258570549,659,634,877,785.258570549,809.741429451,652,629,652.258570549,0.400980374138,-0.0153935673341,0.0498520200714,0.999999964599,-4.37576014698e-05,-0.000257319927615,-5.17031049203e-05,1793247635908960000
+54,0.900000000,BASELINE,766,745,715.323812618,678.323812618,659,634,876.676187382,785,810,652,629,652,0.400980430014,-0.0153937095418,0.0498520670527,0.999999964674,-4.39384924256e-05,-0.00025697572274,-5.18090716166e-05,1793247635925626368
+55,0.916666667,BASELINE,766,745,715.909644421,678.909644421,659,634,876.090355579,785,810,652,629,652,0.400980897452,-0.0153944538661,0.0498524664579,0.999999964818,-4.47521622422e-05,-0.000256296716241,-5.16978300312e-05,1793247635942291968
+56,0.933333333,BASELINE,766,745,715.507400152,679,659,634,876.492599848,785.492599848,810,652,629,652,0.40098210595,-0.01539428361,0.0498535211038,0.999999965164,-4.37989323134e-05,-0.000255172022109,-5.13799531975e-05,1793247635958958592
+57,0.950000000,BASELINE,766,745,715,679,659.073956077,634,877,785.926043923,810,652,629,652,0.40098313453,-0.0153941725939,0.049854444141,0.999999965438,-4.30573968661e-05,-0.000254289124095,-5.10690913562e-05,1793247635975624960
+58,0.966666667,BASELINE,766,745,715,679,659.648044579,634,877,785.351955421,810,652,629,652,0.400982032504,-0.015395590078,0.0498536691059,0.999999964978,-4.59264485521e-05,-0.00025559102184,-5.10604973229e-05,1793247635992291584
+59,0.983333333,BASELINE,766,745,715,679,659.778487765,634,877,785.221512235,810,652,629.221512235,652,0.400981078756,-0.0153954675377,0.0498529523375,0.99999996466,-4.66780156265e-05,-0.000256681613356,-5.11413564176e-05,1793247636008958720
+60,1.000000000,BASELINE,766,745,715,679,659.206003711,634,877,785.793996289,810,652,629.793996289,652,0.400980359943,-0.0153929049286,0.0498523278888,0.999999964573,-4.40745656486e-05,-0.000257437404019,-5.13639482111e-05,1793247636025626368
+61,1.016666667,BASELINE,766,745,715,679,659.381278639,634.381278639,877,786,809.618721361,652,629.618721361,652,0.400981701885,-0.0153934391407,0.0498532062132,0.999999965112,-4.30217251117e-05,-0.000255568280267,-5.10800080119e-05,1793247636042292992
+62,1.033333333,BASELINE,766,745,715,679,659.976879282,634.976879282,877,786,809.023120718,652,629.023120718,652,0.400984202204,-0.015395714119,0.049854929267,0.999999965998,-4.28405037758e-05,-0.000252223655718,-5.05113391501e-05,1793247636058959104
+63,1.050000000,BASELINE,766,745,715,679,659.445310067,634.445310067,877,786,809.554689933,652,629,652,0.400982839771,-0.0153937098119,0.0498537698847,0.999999965511,-4.19683739935e-05,-0.000254220226841,-5.08719639398e-05,1793247636075625472
+64,1.066666667,BASELINE,766,745,715,679,659,634,877,786,810,652.131477042,629.131477042,652,0.400981494351,-0.015392544942,0.0498528539558,0.999999965069,-4.20725368995e-05,-0.000255879754517,-5.11527159538e-05,1793247636092291840
+65,1.083333333,BASELINE,766,745,715,679,659,634,877,786,810,652.707233291,629.707233291,652,0.400980733584,-0.0153948006551,0.0498531540653,0.999999964975,-4.557001902e-05,-0.000255671435794,-5.10367431323e-05,1793247636108958464
+66,1.100000000,BASELINE,766,745,715,678.718385963,659,634,877,786,810,652.718385963,630,652,0.400981427055,-0.0153951843114,0.0498542774274,0.999999965351,-4.61733289449e-05,-0.000254095457713,-5.10078771585e-05,1793247636125625088
+67,1.116666667,BASELINE,766,745,715,678.145428277,659,634,877,786,810,652.145428277,630,652,0.400983625008,-0.0153936312322,0.0498562524849,0.999999966211,-4.378247438e-05,-0.000251104568401,-5.10691275338e-05,1793247636142291712
+68,1.133333333,BASELINE,766,745,715,678.443560043,659,634,877,785.556439957,810,652,630,652,0.400984635794,-0.0153940220988,0.0498566013454,0.999999966433,-4.41882730344e-05,-0.000250146356291,-5.10706907008e-05,1793247636158958848
+69,1.150000000,BASELINE,765.963184573,745,715,679,659,634,877,785,810,652,629.963184573,652,0.400985073542,-0.0153949614319,0.0498563019747,0.999999966399,-4.54066976886e-05,-0.000250064907537,-5.10694285611e-05,1793247636175625728
+70,1.166666667,BASELINE,765.387294739,745,715,679,659,634,877,785,810,652,629.387294739,652,0.400983033599,-0.0153942492896,0.0498546106113,0.999999965761,-4.45944417991e-05,-0.000252697154057,-5.13240883939e-05,1793247636192292608
+71,1.183333333,BASELINE,765,745,715,679,659,634,877,785.188093971,810,652,629.188093971,652,0.400981737311,-0.0153941025326,0.0498536707998,0.999999965365,-4.42162976006e-05,-0.000254308108875,-5.14000049676e-05,1793247636208959232
+72,1.200000000,BASELINE,765,745,715,679,659,634,877,785.762453692,810,652,629.762453692,652,0.400981968177,-0.0153951168385,0.0498542743593,0.999999965481,-4.47296357224e-05,-0.000253821761419,-5.11088582612e-05,1793247636225625344
+73,1.216666667,BASELINE,765.344644413,745,715,679,659,634,877,785.655355587,810,652.344644413,630,652.344644413,0.400982622238,-0.0153955739886,0.0498545987236,0.999999965643,-4.43558697135e-05,-0.000253281178162,-5.09469660454e-05,1793247636242291712
+74,1.233333333,BASELINE,765.932358112,745,715,679,659,634,877,785.067641888,810,652.932358112,630,652.932358112,0.400983574768,-0.0153956381903,0.0498547261783,0.999999965837,-4.33564507989e-05,-0.000252702343747,-5.08762338821e-05,1793247636258958592
+75,1.250000000,BASELINE,766,745,715,679,659,634,877,785.515122409,809.484877591,653,629.484877591,652.484877591,0.400982894632,-0.015394710437,0.0498543846606,0.999999965694,-4.31055785018e-05,-0.000253243782748,-5.11926214993e-05,1793247636275625216
+76,1.266666667,BASELINE,766,745,715,679,659,634,877,786,809.09590993,652.90409007,629,652,0.400982266398,-0.0153940098559,0.0498540470694,0.999999965536,-4.34259324061e-05,-0.000253755184571,-5.14751188203e-05,1793247636292291840
+77,1.283333333,BASELINE,766,745,715,679,659,634,877,786,809.670050548,652.329949452,629,652,0.400982955779,-0.0153950853185,0.0498540331973,0.999999965516,-4.61091110723e-05,-0.000253390288983,-5.13375741167e-05,1793247636308958976
+78,1.300000000,BASELINE,766,745,715,679,659,634,877,786,810,652,629,652,0.400983413536,-0.0153957329856,0.0498541859749,0.999999965626,-4.76185785896e-05,-0.000252699611056,-5.12132217835e-05,1793247636325626112
+79,1.316666667,BASELINE,766,745,715,679,659,634,877,786,810,652,629,652,0.400983558322,-0.0153958026182,0.0498545639284,0.999999965921,-4.75421355516e-05,-0.000251568738331,-5.11066949006e-05,1793247636342292480
+80,1.333333333,BASELINE,766,745,715,679,659.405526698,634,877,785.594473302,810,652,629,652.405526698,0.400983287685,-0.0153965529627,0.0498547571599,0.999999965863,-4.67051587766e-05,-0.000252004106013,-5.08602977975e-05,1793247636358958848
+81,1.350000000,BASELINE,765.99916642,745,715,679,659.99916642,634,877.00083358,785.00083358,810,652,629.00083358,653,0.400982822034,-0.0153976166806,0.0498548632006,0.999999965639,-4.55101344753e-05,-0.000253171402226,-5.05492950835e-05,1793247636375625472
+82,1.366666667,BASELINE,765.420604814,745,715,679,659.420604814,634,877.579395186,785.579395186,810,652,629.579395186,653,0.400981955813,-0.0153950557982,0.0498544614081,0.999999965646,-4.28705781776e-05,-0.000253548035796,-5.08342051304e-05,1793247636392291840
+83,1.383333333,BASELINE,765.156932198,745,715,679,659,634,877.843067802,786,810,652,630,652.843067802,0.40098144002,-0.0153934247797,0.0498542226116,0.999999965648,-4.10925687132e-05,-0.000253794732127,-5.10166255996e-05,1793247636408958208
+84,1.400000000,BASELINE,765.731741065,745,715,679,659,634,877.268258935,786,810,652,630,652.268258935,0.400981857344,-0.0153942697877,0.0498544178382,0.999999965657,-4.16086724593e-05,-0.000253695433637,-5.09261384448e-05,1793247636425624832
+85,1.416666667,BASELINE,766,745,715.305653857,679,659,634,877,786,810,652,630,652,0.400982839658,-0.0153944971848,0.0498548434246,0.999999965863,-4.1980626059e-05,-0.000252810649782,-5.09654403564e-05,1793247636442291712
+86,1.433333333,BASELINE,766,745,715.878782468,679,659,634,877,786,810,652,630,652,0.400984316389,-0.0153941841166,0.0498554705966,0.999999966242,-4.22264352185e-05,-0.000251238495232,-5.11183194391e-05,1793247636458958848
+87,1.450000000,BASELINE,766,745,715.53294853,679,659,634,877,785.53294853,810,652,629.53294853,652,0.400981142154,-0.0153951395146,0.049853432794,0.999999965306,-4.41923033745e-05,-0.000254611785634,-5.10650511601e-05,1793247636475625728
+88,1.466666667,BASELINE,766,745,715,679,659,634,877,785,809.94206261,652,629.05793739,652,0.400977452343,-0.0153961047293,0.0498511635188,0.99999996421,-4.6230972825e-05,-0.000258536668596,-5.10082821291e-05,1793247636492292608
+89,1.483333333,BASELINE,766,745,715,679,659,634,877,785,809.364138625,652,629.635861375,652,0.400980331923,-0.015394104361,0.0498532324041,0.999999965034,-4.47821869318e-05,-0.000255506487986,-5.14163701375e-05,1793247636508958976
+90,1.500000000,BASELINE,766,745,715,679,659,634,877,785,809.212066434,652,629.787933566,652,0.400981761852,-0.0153935122622,0.04985427518,0.999999965467,-4.34728498914e-05,-0.000254013760318,-5.15139995256e-05,1793247636525625344
+91,1.516666667,BASELINE,766,745,715,679,659,634,877,785,809.785343603,652,629.214656397,652,0.400980722604,-0.0153953188556,0.0498535701936,0.999999965248,-4.24010349013e-05,-0.0002551397619,-5.10828276643e-05,1793247636542291712
+92,1.533333333,BASELINE,766,745,715,679.368072786,659,634,877,785.368072786,810,652,629,652,0.400980556067,-0.0153960772213,0.0498532008247,0.999999965101,-4.36088900678e-05,-0.000255542437965,-5.09380176876e-05,1793247636558958336
+93,1.550000000,BASELINE,766,745,715,679.956459633,659,634,877,785.956459633,810,652,629,652,0.400980911902,-0.0153962081589,0.0498530323434,0.999999964992,-4.61812670588e-05,-0.000255512159604,-5.09646127603e-05,1793247636575624960
+94,1.566666667,BASELINE,765.466236809,745,715,679.466236809,659,634,877,786,809.466236809,652,629.533763191,652,0.400981082065,-0.0153950639091,0.0498530564795,0.999999965095,-4.50422165187e-05,-0.000255283306763,-5.11010776769e-05,1793247636592292096
+95,1.583333333,BASELINE,765.10958057,745,715.10958057,679,659,634,877,785.89041943,809.10958057,652,629.89041943,652,0.400981163744,-0.0153942159478,0.0498531988465,0.999999965215,-4.36848483878e-05,-0.000255034799876,-5.1184348472e-05,1793247636608959232
+96,1.600000000,BASELINE,765.682857167,745,715.682857167,679,659,634,877,785.317142833,809.682857167,652,629.317142833,652,0.400980933779,-0.015395052959,0.0498537763792,0.999999965335,-4.26587006642e-05,-0.000254770275017,-5.10053723466e-05,1793247636625625856
+97,1.616666667,BASELINE,766,745,715.74056218,679,659,634,877,785.25943782,810,652.25943782,629.25943782,652,0.400980871564,-0.0153957467279,0.0498540964707,0.999999965404,-4.30166143203e-05,-0.000254453373624,-5.09328965642e-05,1793247636642292480
+98,1.633333333,BASELINE,766,745,715.159890507,679,659,634,877,785.840109493,810,652.840109493,629.840109493,652,0.400981017055,-0.0153962631354,0.0498540978006,0.999999965407,-4.50882618785e-05,-0.000254071620035,-5.0992288674e-05,1793247636658958592
+99,1.650000000,BASELINE,766,745,715,679,659,634,877,785.569743312,810,652.569743312,630,652,0.400981055883,-0.0153959973918,0.0498542682834,0.999999965406,-4.46285308669e-05,-0.000254145047242,-5.10604283021e-05,1793247636675624960
+100,1.666666667,BASELINE,765.976736465,745,715,678.976736465,659,634,877,785,809.976736465,652,630,652,0.400981108499,-0.0153954642777,0.0498545078446,0.999999965418,-4.32447151245e-05,-0.00025432454518,-5.11210275592e-05,1793247636692291328
+101,1.683333333,BASELINE,765.401314627,745,715,678.401314627,659,634,877,785,809.401314627,652,630,652,0.400982450375,-0.0153956392978,0.0498548614039,0.999999965806,-4.27581027884e-05,-0.000252916387533,-5.09237635739e-05,1793247636708957952
+102,1.700000000,BASELINE,765.170811718,745,715,678.170811718,659,634,876.829188282,785.170811718,809.170811718,652,629.829188282,652,0.400982853414,-0.0153952309031,0.049854699669,0.999999965912,-4.20299736149e-05,-0.000252607293677,-5.09845726076e-05,1793247636725624832
+103,1.716666667,BASELINE,765.735341923,745,715,678.735341923,659,634,876.264658077,785.735341923,809.735341923,652,629.264658077,652,0.400981092449,-0.015393477746,0.0498533501885,0.999999965367,-4.07451517683e-05,-0.000254831525811,-5.16402361632e-05,1793247636742291712
+104,1.733333333,BASELINE,766,745,715,679,659,634,876.320001946,785.679998054,809.679998054,652,629.320001946,652.320001946,0.400980704872,-0.0153930924916,0.0498533583222,0.9999999653,-4.09357676804e-05,-0.0002550171774,-5.18746454067e-05,1793247636758958336
+105,1.750000000,BASELINE,766,745,715,679,659,634,876.922428007,785.077571993,809.077571993,652,629.922428007,652.922428007,0.400981529404,-0.0153939145067,0.0498545646453,0.999999965655,-4.24285605393e-05,-0.000253403639226,-5.17372683092e-05,1793247636775624960
+106,1.766666667,BASELINE,766,745,715,679,659,634,877,785.504578331,809.504578331,652,629.495421669,652.495421669,0.400982630026,-0.0153953520337,0.0498544526714,0.999999965824,-4.49949655209e-05,-0.000252347945417,-5.14580821686e-05,1793247636792292096
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,659,634,878,785,810,652,629,652,0.400982316874,-0.0153949879692,0.0498537791774,0.999999965422,-4.48245353451e-05,-0.000254019705993,-5.12011489256e-05,1793247636835553792
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.415225657,678.415225657,659,634,877.415225657,785,809.415225657,652,629,652,0.400981419108,-0.015394092764,0.0498539944067,0.999999965476,-4.00751545735e-05,-0.00025465708089,-5.08999188983e-05,1793247636852220416
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678,659,634,876.83143998,785,809.16856002,652,629.16856002,652,0.400980966515,-0.0153938454423,0.0498543397608,0.999999965572,-3.7551650706e-05,-0.000254713386978,-5.06579049224e-05,1793247636868887552
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678,659,634,876.250075432,785,809.749924568,652,629.749924568,652,0.400981604156,-0.0153951847911,0.049855003791,0.99999996581,-4.0479332127e-05,-0.000253346652117,-5.05609113616e-05,1793247636885554688
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.669985245,745,715,678.330014755,659,634,876.330014755,785,810,652.330014755,629.669985245,652,0.400981898318,-0.0153956815362,0.0498548882557,0.999999965822,-4.15990896446e-05,-0.000253106624891,-5.06271045428e-05,1793247636902221568
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.090857052,745,715,678.909142948,659,634,876.909142948,785,810,652.909142948,629.090857052,652,0.400981933202,-0.0153955422371,0.049854184261,0.999999965668,-4.13541257623e-05,-0.000253717099156,-5.08164801331e-05,1793247636918888192
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.485422188,745,715,678.514577812,659,634,877.485422188,785.485422188,810,652.514577812,629,652,0.400980834159,-0.0153945657002,0.0498537780604,0.999999965518,-3.93794081578e-05,-0.000254636961202,-5.07319584398e-05,1793247636935554560
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678.060846734,659,634,877.939153266,785.939153266,810,652,629.060846734,652,0.400979926921,-0.0153936327653,0.0498535337519,0.999999965397,-3.76667683678e-05,-0.000255392371228,-5.06254466018e-05,1793247636952220672
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678.633541042,659,634,877.366458958,785.366458958,810,652,629.633541042,652,0.400982408122,-0.0153943771531,0.0498541851531,0.999999965547,-4.08663525031e-05,-0.00025428010933,-5.07626866613e-05,1793247636968887296
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.213538736,678.786461264,659,634,877,785,810,652.213538736,629.786461264,652.213538736,0.400989009528,-0.0153955000899,0.0498569709455,0.99999996664,-4.32714667698e-05,-0.000249580249591,-5.05741189621e-05,1793247636985553920
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.806513733,678.193486267,659,634,877,785,810,652.806513733,629.193486267,652.806513733,0.401002932114,-0.0153972956687,0.0498635493302,0.999999969337,-4.42648898592e-05,-0.000238505599435,-4.98066245361e-05,1793247637002220544
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.610142269,678.389857731,659,634,877,785.389857731,810,652.610142269,629.389857731,652.610142269,0.401033476041,-0.0153986096241,0.0498747107151,0.999999974595,-4.44427396283e-05,-0.000215593700413,-4.85281720461e-05,1793247637018887424
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.031462846,678.968537154,659,634,877,785.968537154,810,652.031462846,629.968537154,652.031462846,0.401072070264,-0.0153996903126,0.0498880918074,0.999999980443,-4.42255788634e-05,-0.00018694860794,-4.70022446518e-05,1793247637035554304
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,786,810,652,630,652,0.401138758291,-0.0154038751339,0.0499083846624,0.999999987482,-4.51137204877e-05,-0.000144896823807,-4.47935119059e-05,1793247637052220928
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.11874701,634,876.88125299,785.88125299,809.88125299,652.11874701,629.88125299,652,0.401207240991,-0.0154082564803,0.049926695208,0.999999992026,-4.60702125895e-05,-0.000109575785068,-4.26429282879e-05,1793247637068887552
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659.707954015,634,876.292045985,785.292045985,809.292045985,652.707954015,629.292045985,652,0.401276434415,-0.0154127093374,0.0499355776661,0.999999992652,-4.70457216154e-05,-0.000103974999519,-4.08782611649e-05,1793247637085553920
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659.707770909,634,876.292229091,785.292229091,809.292229091,653,629.292229091,652,0.401354515515,-0.0154176533435,0.0499417397572,0.999999993363,-4.83885715339e-05,-9.68185164033e-05,-3.94831548226e-05,1793247637102220544
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.128342903,634,876.871657097,785.871657097,809.871657097,653,629.871657097,652,0.401441331302,-0.0154230800441,0.0499452283066,0.999999994122,-5.00924391987e-05,-8.81331144764e-05,-3.84512480683e-05,1793247637118887168
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,786,810,652.552140667,630,652,0.401544734891,-0.0154282397164,0.0499466895321,0.999999994342,-4.99392662988e-05,-8.60629367681e-05,-3.76281783847e-05,1793247637135554048
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.976446943,809.976446943,652,630,652,0.401653760412,-0.015433446116,0.04994751236,0.999999994392,-4.93994223061e-05,-8.61182373838e-05,-3.68695985194e-05,1793247637152220672
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.39098868,809.39098868,652,630,652,0.401784313671,-0.0154415798297,0.0499468660158,0.999999993749,-5.2239990096e-05,-9.19782373562e-05,-3.62320071479e-05,1793247637168887552
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,809.19256356,652,629.80743644,652,0.40192359032,-0.0154500995146,0.0499444580272,0.999999992916,-5.50184430058e-05,-9.93702607889e-05,-3.55856035361e-05,1793247637185554176
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,809.772283597,652,629.227716403,652,0.402080405667,-0.0154593952084,0.0499385081845,0.999999991695,-5.76720112064e-05,-0.000109842475864,-3.4921482651e-05,1793247637202221056
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,809.64890589,652,629,652,0.402263973465,-0.0154700916545,0.0499382867318,0.99999999144,-6.17596999196e-05,-0.00011032173469,-3.36979682557e-05,1793247637218887936
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,809.070683706,652,629,652,0.402464847843,-0.0154816942693,0.0499417710604,0.999999991812,-6.67751430849e-05,-0.000104336400434,-3.21125736959e-05,1793247637235554816
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.493026836,659,634,877,785.506973164,809.506973164,652,629,652,0.402703676857,-0.0154920075878,0.0499484587122,0.999999993064,-6.38016260586e-05,-9.44776152335e-05,-2.95692730218e-05,1793247637252220928
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.08399345,659,634,877,785.91600655,810,652,629.08399345,652,0.402954231646,-0.0155022637207,0.0499554211472,0.999999994346,-6.01183426091e-05,-8.35133743451e-05,-2.68133115519e-05,1793247637268887296
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.65776107,659,634,877,785.34223893,810,652,629.65776107,652,0.403242338362,-0.0155132334197,0.0499613845076,0.999999995596,-5.87840431738e-05,-6.9248673428e-05,-2.3595202667e-05,1793247637285553920
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.239930121,785,810,652,630,652,0.403544036195,-0.0155153827645,0.049967725809,0.999999997151,-4.64253821382e-05,-5.57675440245e-05,-2.08060179223e-05,1793247637302220800
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.834517883,785,810,652,630,652,0.403865823999,-0.0155044941208,0.0499746257713,0.999999998724,-1.7770834368e-05,-4.34446677986e-05,-1.86508563994e-05,1793247637318887424
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.586177024,785,810,652,629.586177024,652,0.4042154153,-0.0154981230428,0.0499817240778,0.999999999402,7.63274739117e-06,-2.94225231111e-05,-1.64643417806e-05,1793247637335554304
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.012765617,785,810,652,629.012765617,652,0.404575728852,-0.0154934941382,0.0499888988744,0.999999999284,3.17826122949e-05,-1.47450656713e-05,-1.42657360649e-05,1793247637352221696
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678.437222216,659,634,877,785,810,652,629,652,0.404973077094,-0.0155022156262,0.0499860356936,0.999999999012,3.94245680766e-05,-1.73268433449e-05,-1.09892398403e-05,1793247637368888576
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.142232653,659,634,877.142232653,785,810,652,629,652,0.405372076706,-0.0155094653765,0.0499776066456,0.999999998247,4.94684766502e-05,-3.14430884593e-05,-8.31906559969e-06,1793247637385555456
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.733893515,659,634,877.733893515,785,810,652,629,652,0.405773629715,-0.015511104189,0.0499523127187,0.999999994378,6.82897978662e-05,-8.07643078112e-05,-7.64230573161e-06,1793247637402221824
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.317973304,679,659,634,878,785,810,652,629.317973304,652,0.406212933485,-0.0155107947339,0.0499350268498,0.99999998954,9.0583759001e-05,-0.000112587803045,-6.23795217276e-06,1793247637418888192
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.895856426,679,659,634,878,785,810,652,629.895856426,652,0.406683094587,-0.0155088927746,0.0499242867254,0.999999984832,0.000115716241056,-0.000130108749991,-4.23886703898e-06,1793247637435554816
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.5279092,679,659,634,877.5279092,785,810,652,629.5279092,652.4720908,0.407204999865,-0.0155098621075,0.0499281451508,0.999999983029,0.000139417376987,-0.000120433346894,-6.52098858909e-07,1793247637452221184
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.952255866,745,715,679,659,634,877,785.047744134,810,652,629.047744134,652.952255866,0.407744088685,-0.0155116595871,0.0499366876091,0.999999981511,0.000162956006692,-0.000102034477183,3.48839633371e-06,1793247637468887808
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.379008077,745,715,679,659,634,877,785.620991923,810,652,629.620991923,652.379008077,0.408347109721,-0.0155156247437,0.0499614625947,0.99999998082,0.000188169327287,-5.34243716324e-05,9.88197973888e-06,1793247637485554944
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.201290633,745,715.201290633,679.201290633,659.201290633,634,877.201290633,785.798709367,810,652,629.798709367,652.201290633,0.408959573174,-0.0155199487854,0.0499824151368,0.999999976889,0.000213719898006,-1.69572175167e-05,1.60442152744e-05,1793247637502221824
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.795347338,745,715.795347338,679.795347338,659.795347338,634,877.795347338,785.204652662,810,652,629.204652662,652.795347338,0.409590461,-0.0155249730976,0.0499959091779,0.999999970972,0.000239928523521,-4.18386317589e-06,2.17550355554e-05,1793247637518888704
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.621814173,679.621814173,659.621814173,634,878,785,810.378185827,652,629,652.621814173,0.410211257632,-0.0155262687688,0.0499912442295,0.999999964309,0.000265145878739,-2.09919711273e-05,2.52899560105e-05,1793247637535555328
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.044871475,679.044871475,659.044871475,634,878,785,810.955128525,652,629,652.044871475,0.410826750783,-0.0155256048395,0.0499770357609,0.99999995619,0.000289842267311,-5.33467193866e-05,2.76813245708e-05,1793247637552221440
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.528992882,634,878,785,811,652,629,652,0.411467421544,-0.015523990392,0.0499491635716,0.999999968592,0.00022597751754,-0.000104515494814,2.87574053587e-05,1793247637568888064
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.894255929,745,715,679,660,634,878.105744071,785,811,652,629,652.105744071,0.412137639198,-0.0155230429675,0.0499305594294,0.999999976806,0.000164310464088,-0.000135850380662,3.05858690727e-05,1793247637585554688
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.303060186,745,715,679,660,634,878.696939814,785,811,652,629,652.696939814,0.412933753274,-0.0155255257262,0.0499597932505,0.999999986161,0.000147019995937,-6.88474571334e-05,3.63776125036e-05,1793247637602221056
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,878.718379077,785,811,652,629.281620923,653,0.413709584393,-0.0155298283941,0.049975669521,0.999999990914,0.000124963934645,-3.70015895388e-05,3.44372611239e-05,1793247637618887936
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,878.14054997,785,811,652,629.85945003,653,0.414464082047,-0.0155360452382,0.0499774963568,0.999999994024,9.78954327224e-05,-4.21338175647e-05,2.43643125561e-05,1793247637635555072
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679.436646955,660,634,878,785,811,652,630,653,0.415225695026,-0.0155444181031,0.0499562431225,0.999999994461,6.8522008799e-05,-7.87511163269e-05,1.3454492704e-05,1793247637652221696
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.027109597,745,715,679.986445202,660,633.986445202,878,785,811,652,630,653,0.415991090902,-0.0155532685645,0.049928516287,0.999999991529,4.00865380213e-05,-0.00012380281061,2.68453430694e-06,1793247637668888064
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.173834015,745,715,679.413082992,660,633.413082992,878,785,811,652,630,653,0.416818268503,-0.0155532235203,0.0499398083813,0.999999991757,8.09847098892e-05,-9.92435767674e-05,8.79980039614e-06,1793247637685554432
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.834255237,745,715,679,660,633,878,785.165744763,811,652,630,653,0.417661798666,-0.0155520953247,0.0499542714824,0.999999990405,0.00011827528101,-7.06457184037e-05,1.44854678921e-05,1793247637702220800
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.241341325,745,715,679,660,633,878,785.758658675,811,652,630,653,0.418547473761,-0.0155481755544,0.049976907126,0.999999988621,0.000146268085594,-3.16392325244e-05,1.90639431045e-05,1793247637718887424
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.342390925,715.342390925,679,660,633.342390925,878.342390925,785.657609075,811.342390925,652,630,653,0.419397419907,-0.0155463822096,0.0499721194646,0.999999986399,0.000157311848074,-4.50364439073e-05,2.0635376383e-05,1793247637735553792
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.919820286,715.919820286,679,660,633.919820286,878.919820286,785.080179714,811.919820286,652,630,653,0.420222839444,-0.0155460485758,0.0499485067392,0.99999998306,0.000156720732115,-9.4406815464e-05,2.01425887589e-05,1793247637752220416
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.505436261,715.505436261,679,660,633.505436261,879,785,812,652,630,653,0.421155811881,-0.0155483465048,0.0499668966146,0.999999988085,0.000146410889176,-4.38882479531e-05,2.16111456292e-05,1793247637768887552
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931075888,745,715,679.068924112,660,633.068924112,879.068924112,785.068924112,812.068924112,652,630.068924112,653,0.422099442298,-0.0155504983466,0.0499894043237,0.999999990111,0.000137911806014,1.46103895795e-05,2.33241761068e-05,1793247637785554944
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+166,2.766666667,POSE1_TO_POSE2_PRESS,765.225832299,745,715,680,660.225832299,634,879.774167701,786,812.774167701,652,631,653,0.423902350982,-0.0155485075509,0.0499890283196,0.999999985866,0.000166189793339,4.87260299802e-06,2.49928334693e-05,1793247637818888192
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.820176851,745,715,680,660.820176851,634,879.179823149,786,812.179823149,652,631,653,0.424833135656,-0.0155519411589,0.0499751442475,0.99999998493,0.000171159529844,-1.58977365983e-05,2.43268237069e-05,1793247637835554560
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+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.551583502,634,879,785,811.448416498,652,630,653,0.427588464596,-0.0155567051724,0.0499802427888,0.999999985225,0.00016135732403,-5.16634756971e-05,2.90597808607e-05,1793247637885554176
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+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715.483269323,680.483269323,660.483269323,633,879.483269323,784.516730677,813.483269323,652,631,653,0.438501916927,-0.0155382697067,0.0499648377141,0.999999977622,0.00020031819708,-6.11381174624e-05,2.98400261614e-05,1793247638085554944
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.423556893,744.576443107,715,680.423556893,660.423556893,633,879,785,814,652,631,653,0.442585286371,-0.0155500877903,0.0499830763425,0.999999978603,0.000203103124355,-2.2269922414e-05,3.23734911203e-05,1793247638168887552
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680.671731351,661,633,879,785,815,652,631,653,0.44612270092,-0.0155408830607,0.0499445686065,0.99999997451,0.000215713141736,-5.84730549713e-05,3.20847433345e-05,1793247638252221440
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680.092724999,661,633,879,785,815,652,631,653,0.44682554342,-0.0155447839073,0.0499698209105,0.999999974766,0.000221752199271,-8.98445569963e-06,3.4832838944e-05,1793247638268888064
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,744.516934357,715,680,660.516934357,633,879.483065643,785.483065643,815,652,631,653,0.447444060958,-0.0155442310566,0.0499585377292,0.999999972737,0.000229318235391,-2.64095975645e-05,3.52297160286e-05,1793247638285554176
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+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715.894160786,680.105839214,660.894160786,632.894160786,880.894160786,783.105839214,815.105839214,652,630,653,0.455641205434,-0.0155432586194,0.0498193543116,0.999999946157,0.000166731404393,-0.00028229693556,1.3968431834e-05,1793247638935553536
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.490267679,680.490267679,660,632,880,784,814.490267679,651.490267679,630,653,0.454047499989,-0.0154444562852,0.0497366183768,0.999999899938,0.000199877008993,-0.000400201249238,-3.37354577221e-06,1793247639866376960
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.009554428,660,633,879,784,814,652,631,653,0.452326581654,-0.0154096707528,0.0497711480952,0.999999917565,0.000175773957794,-0.000365922495418,-8.65711882017e-06,1793247639966376960
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7340adae0510b3425d319181493d6c76319b747c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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+382,6.366666667,pose2_to_pose3_retreat,0.583260835693,-0.010072255539,1.04004250083,0.553832628862,-0.00139779173817,1.03966587848
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+389,6.483333333,pose2_to_pose3_retreat,0.583246933617,-0.0100721729382,1.04004238343,0.553818724637,-0.00139771611953,1.03966576833
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+392,6.533333333,pose2_to_pose3_retreat,0.583246579836,-0.0100721144249,1.04004238155,0.55381837039,-0.0013976591743,1.03966576671
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7cdd2da06707eb3feab486339dc451f78f08316
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48950c26e0491c7fd33c7b28e123a73d49b2b8db938813893c3e61c3c12cc067
+size 25937480
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5968676f904923eaebea7402f96a45b831a94867
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+23,0.383333333,BASELINE,766,745,715,679,659,634,877,785.347709432,810,652.652290568,629.652290568,652,0.400984790747,-0.0153946999735,0.0498528125368,0.999999966543,-2.97915611971e-05,-0.000252594978714,-4.71390068066e-05,1793247642389146880
+24,0.400000000,BASELINE,766,745,715,679,659,634,877,785.927028775,810,652.072971225,629.072971225,652,0.400984719546,-0.0153966444752,0.0498527944631,0.99999996657,-3.32472756746e-05,-0.000252111663602,-4.68404091343e-05,1793247642405813504
+25,0.416666667,BASELINE,766,745,715,678.496601037,659,634,877,785.496601037,809.496601037,652,629.503398963,652,0.400984530753,-0.0153966533151,0.0498527388185,0.999999966456,-3.34527456657e-05,-0.000252469939845,-4.72098880582e-05,1793247642422480128
+26,0.433333333,BASELINE,766.079067281,745,715.079067281,678.079067281,659,634,877,785.079067281,809.079067281,652.079067281,630,652,0.400984301419,-0.0153963388242,0.0498526629925,0.999999966326,-3.30036898837e-05,-0.000252969003411,-4.75901496073e-05,1793247642439146752
+27,0.450000000,BASELINE,766.653003025,745,715.653003025,678.653003025,659,634,877,785.653003025,809.653003025,652.653003025,630,652,0.400983924405,-0.0153957465837,0.0498524947427,0.999999966228,-3.1389715572e-05,-0.00025359013477,-4.74353082915e-05,1793247642455813632
+28,0.466666667,BASELINE,766.766194674,745,716,679,659,634,877,786,810,653,629.766194674,652,0.400983878199,-0.0153950842661,0.0498526059261,0.999999966277,-2.99855200545e-05,-0.000253576595981,-4.73824771205e-05,1793247642472480256
+29,0.483333333,BASELINE,766.174893214,745,716,679,659,634,877,786,810,653,629.174893214,652,0.40098433781,-0.0153943147984,0.0498531443724,0.999999966553,-2.89020834017e-05,-0.000252592625344,-4.748562287e-05,1793247642489146624
+30,0.500000000,BASELINE,766,745,715.592677693,679,659,634,877,786,810,652.592677693,629,652,0.400985080502,-0.0153945311636,0.0498533755237,0.999999966736,-2.94188327904e-05,-0.000251818623959,-4.74305309607e-05,1793247642505813504
+31,0.516666667,BASELINE,766,745,715.01427832,679,659,634,877,786,810,652.01427832,629,652,0.40098594209,-0.0153951615828,0.0498534776098,0.999999966879,-3.06076670107e-05,-0.000251132810558,-4.73089785727e-05,1793247642522480384
+32,0.533333333,BASELINE,766,745,715,679,659,634,877,785.439766571,810,652,629.560233429,652,0.400983944551,-0.0153948757006,0.049852280822,0.999999966274,-3.09759901055e-05,-0.000253414706606,-4.76798713612e-05,1793247642539147008
+33,0.550000000,BASELINE,766,745,715,679,659,634,877,785.134875356,810,652.134875356,630,652,0.400982221821,-0.0153945239899,0.0498513409856,0.999999965789,-3.12406615432e-05,-0.000255231478167,-4.79912180066e-05,1793247642555813632
+34,0.566666667,BASELINE,766,745,715,679,659,634,877,785.710263715,810,652.710263715,630,652,0.400981632992,-0.0153940330258,0.0498513477461,0.999999965772,-3.12346278441e-05,-0.000255283786936,-4.80673735671e-05,1793247642572480256
+35,0.583333333,BASELINE,766,745,715,679,659.293807794,634,877.293807794,785.706192206,810,653,629.706192206,652,0.400982886278,-0.0153942405787,0.0498522452698,0.999999966201,-3.16284793334e-05,-0.00025356640151,-4.79717574291e-05,1793247642589146880
+36,0.600000000,BASELINE,766,745,715,679,659.885624271,634,877.885624271,785.114375729,810,653,629.114375729,652,0.400986008015,-0.0153951566359,0.0498540462931,0.999999967073,-3.24279336054e-05,-0.000250054018642,-4.7701913594e-05,1793247642605813760
+37,0.616666667,BASELINE,766.466362564,745,715,679,659.533637436,634,877.533637436,785.466362564,810,653,629.466362564,652,0.40098640128,-0.0153957041412,0.049854452484,0.999999967051,-3.23696646367e-05,-0.000250166016325,-4.76200426077e-05,1793247642622480640
+38,0.633333333,BASELINE,766.955873398,745,715,679,659,634,877,786,810,652.955873398,629.955873398,652,0.400986041831,-0.0153960323095,0.0498544794739,0.999999966816,-3.21034997212e-05,-0.000251139404128,-4.75965234707e-05,1793247642639147520
+39,0.650000000,BASELINE,766.381955264,745,715,679,659,634,877,786,810,652.381955264,629.381955264,652,0.400984492793,-0.0153947871086,0.0498539655279,0.999999966595,-3.18082829471e-05,-0.000252030350435,-4.7732939291e-05,1793247642655813888
+40,0.666666667,BASELINE,765.807344788,745,715,679,659,634,877,785.807344788,810,652,629,652,0.400983401179,-0.0153945329823,0.0498533823813,0.99999996637,-3.1979561209e-05,-0.000252904210704,-4.77210248295e-05,1793247642672480512
+41,0.683333333,BASELINE,765.23135677,745,715,679,659,634,877,785.23135677,810,652,629,652,0.400983219718,-0.0153962508315,0.0498526615436,0.999999966136,-3.30790409534e-05,-0.000253744074241,-4.74139724182e-05,1793247642689147136
+42,0.700000000,BASELINE,765.355002824,745,715,679,659,634,877,785.355002824,810,652,629,652,0.400982945373,-0.0153964980052,0.0498524765138,0.999999966001,-3.37700686595e-05,-0.000254201111289,-4.73164520189e-05,1793247642705813760
+43,0.716666667,BASELINE,765.948325009,745,715,679,659,634,877,785.948325009,810,652,629,652,0.400982608675,-0.0153957578897,0.049852651181,0.999999965934,-3.41868956042e-05,-0.000254401150448,-4.73595939929e-05,1793247642722480384
+44,0.733333333,BASELINE,766,745,715,679,659,634,877,785.477596604,809.477596604,652,629,652.522403396,0.400983841477,-0.0153950180731,0.0498528197628,0.999999966362,-3.21464006435e-05,-0.000252935706387,-4.7610470036e-05,1793247642739147008
+45,0.750000000,BASELINE,766,744.904067732,715.095932268,679,659,634,877.095932268,785.095932268,809.095932268,652,629,653,0.400984850054,-0.0153946942782,0.0498529603576,0.999999966727,-3.01903606265e-05,-0.000251704626657,-4.77392114607e-05,1793247642755813632
+46,0.766666667,BASELINE,766,744.324047653,715.675952347,679,659,634,877.675952347,785.675952347,809.675952347,652,629,653,0.40098397158,-0.015396469644,0.049852962656,0.999999966576,-2.98434947564e-05,-0.000252457978569,-4.71516370612e-05,1793247642772480512
+47,0.783333333,BASELINE,766,744.259844792,715.740155208,679,659,634.259844792,877.740155208,786,810,652,629.259844792,652.740155208,0.4009834616,-0.0153969844987,0.0498528322743,0.999999966385,-3.07077519098e-05,-0.000253117015572,-4.71121176725e-05,1793247642789147392
+48,0.800000000,BASELINE,766,744.848639529,715.151360471,679,659,634.848639529,877.151360471,786,810,652,629.848639529,652.151360471,0.400983418114,-0.0153959036123,0.0498525339263,0.99999996614,-3.31052275532e-05,-0.000253656654919,-4.77664072432e-05,1793247642805814016
+49,0.816666667,BASELINE,766,745,715,679,659,634.569538288,877,785.569538288,810,652,629.569538288,652.430461712,0.400984474476,-0.0153958493621,0.0498531972546,0.999999966524,-3.33130954609e-05,-0.000252110803466,-4.77646149598e-05,1793247642822480896
+50,0.833333333,BASELINE,766,745,715,679,659,634,877,785.009798218,810,652.009798218,629,653,0.400985875344,-0.0153961649026,0.0498541648681,0.999999967106,-3.28194120053e-05,-0.000249903481409,-4.75368951928e-05,1793247642839147520
+51,0.850000000,BASELINE,766,745,715,679,659,634,877,785.584922384,810,652.584922384,629,653,0.400985195678,-0.0153973202358,0.0498534896925,0.999999966703,-3.55621736233e-05,-0.000251166521284,-4.7372015628e-05,1793247642855813888
+52,0.866666667,BASELINE,766,745,715,679,659,634,877,786,810,653,629,652.839817711,0.40098459128,-0.0153981301674,0.0498530705283,0.999999966447,-3.70601756488e-05,-0.000252000505722,-4.72009576023e-05,1793247642872480256
+53,0.883333333,BASELINE,766,745,715,679,659,634,877,786,810,653,629,652.264205806,0.400984182092,-0.0153980443067,0.0498533153244,0.999999966589,-3.53299179868e-05,-0.000251721743258,-4.70138758709e-05,1793247642889146880
+54,0.900000000,BASELINE,766,744.680418214,715,678.680418214,659,634,877,785.680418214,810,653,629,652.319581786,0.400983890648,-0.0153976144671,0.0498535629986,0.999999966651,-3.32415777556e-05,-0.000251766554366,-4.69813580579e-05,1793247642905814016
+55,0.916666667,BASELINE,766,744.089694167,715,678.089694167,659,634,877,785.089694167,810,653,629,652.910305833,0.400983699103,-0.0153968927861,0.0498538131147,0.999999966642,-3.08494301929e-05,-0.000252085894494,-4.70799766713e-05,1793247642922481408
+56,0.933333333,BASELINE,766,744.489194983,715,678.489194983,659,634,877,785.489194983,810,652.510805017,629,652.510805017,0.400983488284,-0.0153970047659,0.0498532642547,0.999999966418,-3.06965139573e-05,-0.000252988724109,-4.70976269086e-05,1793247642939147520
+57,0.950000000,BASELINE,766,745,715,679,659,634,877.065776953,786,810,652,629,652,0.400983381759,-0.0153971184699,0.0498527463518,0.999999966245,-3.0580378497e-05,-0.000253689891735,-4.70777435519e-05,1793247642955813888
+58,0.966666667,BASELINE,766,745,715,679,659,634,877.640898936,786,810,652,629,652,0.400984109556,-0.01539608987,0.0498535757412,0.999999966762,-2.76449401119e-05,-0.000252020628198,-4.68794598484e-05,1793247642972480512
+59,0.983333333,BASELINE,766,745,715.207326289,678.792673711,659,634,877.792673711,785.792673711,810,652.207326289,629.207326289,652,0.400984114111,-0.0153954011109,0.0498537116806,0.999999966878,-2.72465929952e-05,-0.00025158220853,-4.69900585795e-05,1793247642989147136
+60,1.000000000,BASELINE,766,745,715.759300262,678.240699738,659,634,877.240699738,785.240699738,810,652.759300262,629.759300262,652,0.40098291639,-0.0153952772843,0.0498526948676,0.999999966331,-3.10657647468e-05,-0.000253189874949,-4.7614126249e-05,1793247643005813760
+61,1.016666667,BASELINE,766,745,715.649653063,678.350346937,659,634,877,785.350346937,810,652.649653063,630,652,0.400983568105,-0.0153957733225,0.0498531209366,0.999999966476,-3.26745592643e-05,-0.000252408703176,-4.76390100198e-05,1793247643022480384
+62,1.033333333,BASELINE,766,745,715.028392586,678.971607414,659,634,877,785.971607414,810,652.028392586,630,652,0.400985649938,-0.0153967486849,0.0498546627462,0.99999996716,-3.25741303376e-05,-0.000249780309202,-4.72005615155e-05,1793247643039147008
+63,1.050000000,BASELINE,766,745,715,679,659,634,877.549777234,786,810,652,629.450222766,652,0.400984708898,-0.0153977027492,0.0498542916313,0.999999966962,-3.43185484392e-05,-0.000250371007269,-4.7044224757e-05,1793247643055813632
+64,1.066666667,BASELINE,766,745,715,678.874221554,659,634,877.874221554,785.874221554,810,652,629.125778446,652,0.400983713644,-0.0153978898359,0.0498538607715,0.999999966758,-3.4986258125e-05,-0.000251094194584,-4.7024773584e-05,1793247643072480512
+65,1.083333333,BASELINE,766,745,715,678.298595852,659,634,877.298595852,785.298595852,810,652,629.701404148,652,0.40098304225,-0.0153953374715,0.0498535438787,0.999999966692,-3.14871297237e-05,-0.000251739865235,-4.74465744013e-05,1793247643089147136
+66,1.100000000,BASELINE,766,745,715,678.283899108,659,634,877.283899108,785.283899108,810,652,629.716100892,652,0.400983041437,-0.0153948726086,0.0498535407495,0.999999966719,-3.08895604704e-05,-0.000251677393747,-4.75989314297e-05,1793247643105813504
+67,1.116666667,BASELINE,766,745,715,678.87379804,659,634,877.87379804,785.87379804,810,652,629.12620196,652,0.400983763408,-0.0153966577532,0.0498538758094,0.999999966852,-3.34194284971e-05,-0.000250851653284,-4.746086923e-05,1793247643122480384
+68,1.133333333,BASELINE,766,745,715,679,659,634,877.544608605,785.544608605,809.544608605,652,629.455391395,652,0.400984505104,-0.0153972621131,0.0498542031824,0.999999967024,-3.36285403527e-05,-0.000250154663189,-4.73687364999e-05,1793247643139146752
+69,1.150000000,BASELINE,766,745,715,679,659,634,877,785.03450052,809.03450052,652,630,652,0.400985168231,-0.0153975177029,0.0498545085597,0.999999967185,-3.33064970798e-05,-0.000249568828256,-4.72944643949e-05,1793247643155813376
+70,1.166666667,BASELINE,766,745,715,679,659,634,877,785.610099756,809.610099756,652,630,652,0.400984514892,-0.0153973435228,0.0498545017742,0.99999996699,-3.456024876e-05,-0.000250176747353,-4.7304261292e-05,1793247643172480256
+71,1.183333333,BASELINE,766,745,715,679.184963323,659,634,877,785.815036677,810,652,629.815036677,652,0.400984392484,-0.0153970927004,0.0498546341975,0.99999996695,-3.50431122113e-05,-0.000250267328162,-4.73186967893e-05,1793247643189146880
+72,1.200000000,BASELINE,766,745,715,679.758282359,659,634,877,785.241717641,810,652,629.241717641,652,0.400985384835,-0.0153966809572,0.0498550589084,0.999999967236,-3.39073909726e-05,-0.000249271686828,-4.73428716624e-05,1793247643205813504
+73,1.216666667,BASELINE,766,745,715,679.657144113,659,634,877,785,809.657144113,652,629,652,0.400985451526,-0.0153958173061,0.0498547446541,0.999999967197,-3.28675789665e-05,-0.000249555776526,-4.7411774612e-05,1793247643222480128
+74,1.233333333,BASELINE,766,745,715,679.064366766,659,634,877,785,809.064366766,652,629,652,0.400984843465,-0.0153946242413,0.0498538917382,0.999999966919,-3.18976791297e-05,-0.000250772713758,-4.75132816559e-05,1793247643239146752
+75,1.250000000,BASELINE,766,745,715.515715474,679,659,634,877,785.515715474,809.515715474,652.515715474,629,652,0.400984459512,-0.015395069665,0.0498536323753,0.999999966817,-3.1851500694e-05,-0.000251204917444,-4.7398273868e-05,1793247643255813376
+76,1.266666667,BASELINE,766,745,715.906232012,678.906232012,659,634,877,786,810,652.906232012,629.093767988,652.093767988,0.400984104767,-0.0153957933228,0.0498535054536,0.999999966739,-3.233137101e-05,-0.000251486012915,-4.7240349613e-05,1793247643272480000
+77,1.283333333,BASELINE,766,745,715.330662865,678.330662865,659,634,877,786,810,652.330662865,629.669337135,652.669337135,0.400983759835,-0.0153969210838,0.0498536875414,0.999999966664,-3.49360437518e-05,-0.000251481843154,-4.69974269916e-05,1793247643289146624
+78,1.300000000,BASELINE,766,745,715,678,659,634,877,785.750291066,809.750291066,652,629.750291066,652.750291066,0.400983561172,-0.015396933143,0.0498536642964,0.99999996666,-3.49636252776e-05,-0.000251475149384,-4.70907739357e-05,1793247643305813504
+79,1.316666667,BASELINE,766,745,715,678,659,634,877,785.163434962,809.163434962,652,629.163434962,652.163434962,0.400983559994,-0.0153954388254,0.0498533638192,0.999999966751,-3.1511719508e-05,-0.000251465047798,-4.7638138826e-05,1793247643322480128
+80,1.333333333,BASELINE,766,744.595666519,715,678.404333481,659,634,877,785,809.404333481,652.404333481,629,652,0.400983382625,-0.0153950076805,0.0498531788824,0.999999966704,-2.97766776412e-05,-0.000251839475949,-4.77642013958e-05,1793247643339146752
+81,1.350000000,BASELINE,766,744.035265614,715,678.964734386,659,634,877,785,809.964734386,652.964734386,629,652,0.400983137249,-0.0153949869061,0.0498530385426,0.999999966606,-2.87043224478e-05,-0.000252362327538,-4.77276468384e-05,1793247643355813632
+82,1.366666667,BASELINE,766,744.558685424,715,679,659,634,877,785.558685424,810,652.441314576,629.558685424,652,0.400985174895,-0.0153968049546,0.0498547295811,0.999999967151,-3.27956680064e-05,-0.000249701127819,-4.76552794586e-05,1793247643372480000
+83,1.383333333,BASELINE,766,745.149214112,715,678.850785888,659,634,877,786,810,652,629.850785888,652,0.400986435147,-0.0153979046838,0.049855717694,0.999999967462,-3.53560719096e-05,-0.000248106464826,-4.7625589051e-05,1793247643389146880
+84,1.400000000,BASELINE,766,745.723572408,715,678.276427592,659,634,877,786,810,652,629.276427592,652,0.400985043592,-0.0153966059212,0.0498543525998,0.999999967041,-3.25664593199e-05,-0.000250159838975,-4.77243472505e-05,1793247643405813504
+85,1.416666667,BASELINE,766,745.386998548,715,678,659,634,877,785.693499274,810,652,629.306500726,652,0.400983636939,-0.01539709379,0.0498533542069,0.999999966619,-3.36202578824e-05,-0.000251723432109,-4.76228873442e-05,1793247643422480384
+86,1.433333333,BASELINE,766,744.205239021,715,678,659,634,877,785.102619511,810,652,629.897380489,652,0.400982216279,-0.0153992393401,0.0498526960487,0.999999966186,-3.82400695832e-05,-0.000252832594044,-4.73356600664e-05,1793247643439146752
+87,1.450000000,BASELINE,766,744.461330002,715,678.461330002,659,634,877,785.461330002,810,652,629.538669998,652,0.400983511839,-0.0153978924994,0.0498537080006,0.999999966679,-3.51957306276e-05,-0.000251294899544,-4.74705091702e-05,1793247643455813632
+88,1.466666667,BASELINE,766,745,715,679,659,634,877,786,810,652,629,652,0.400985328004,-0.0153958995503,0.0498550209454,0.999999967324,-3.07363158132e-05,-0.000249268939719,-4.76728086653e-05,1793247643472480256
+89,1.483333333,BASELINE,766,745,715,679,659,634,877,786,810,652,629,652,0.400985763866,-0.015396319988,0.0498549605346,0.999999967353,-3.16507781183e-05,-0.000249110927634,-4.7291423581e-05,1793247643489146880
+90,1.500000000,BASELINE,766,745,715,679,659,634,877,786,809.791594836,652,629.208405164,652,0.400985495681,-0.0153964215158,0.0498546727685,0.999999967223,-3.20125561661e-05,-0.00024962342364,-4.70975611235e-05,1793247643505813760
+91,1.516666667,BASELINE,766,745,715,679,659,634,877,786,809.217903293,652,629.782096707,652,0.400983993462,-0.0153959640675,0.049853986501,0.999999966813,-3.1405605571e-05,-0.000251311166326,-4.72323827948e-05,1793247643522481152
+92,1.533333333,BASELINE,766,745,715.368792934,679,659,634,877,786,809.368792934,652,630,652,0.400983516027,-0.0153957136983,0.0498537722456,0.999999966724,-3.05726746277e-05,-0.000251741908626,-4.73704818107e-05,1793247643539147776
+93,1.550000000,BASELINE,766,745,715.963453965,679,659,634,877,786,809.963453965,652,630,652,0.400983666224,-0.015395590155,0.0498538470752,0.999999966832,-2.96013414321e-05,-0.000251402798259,-4.7510588057e-05,1793247643555814144
+94,1.566666667,BASELINE,766,745,715.458277203,679,659,634,877,786,810.541722797,652.541722797,629.458277203,652.541722797,0.400982806951,-0.0153957958113,0.0498531633799,0.999999966633,-2.91906503843e-05,-0.000252225116549,-4.75757548375e-05,1793247643572480768
+95,1.583333333,BASELINE,766,745,715,679,659,634,877.118202224,786,810.881797776,653,629.118202224,653,0.400981988208,-0.0153962182894,0.0498525567946,0.999999966414,-2.95695514138e-05,-0.000253040254028,-4.76269784065e-05,1793247643589147136
+96,1.600000000,BASELINE,766,745,715,679,659,634,877.691922462,786,810.308077538,653,629.691922462,653,0.400981580388,-0.0153973932655,0.0498524387801,0.999999966186,-3.28498415428e-05,-0.000253534637036,-4.76433794679e-05,1793247643605813760
+97,1.616666667,BASELINE,766,745,715,679,659,634.266253191,877.733746809,786,809.733746809,652.733746809,629.733746809,652.733746809,0.400981548895,-0.0153974931227,0.0498524335376,0.999999966133,-3.38716927124e-05,-0.000253598491343,-4.76950052992e-05,1793247643622480640
+98,1.633333333,BASELINE,766,745,715,679,659,634.841291898,877.158708102,786,809.158708102,652.158708102,629.158708102,652.158708102,0.400981953848,-0.0153963461172,0.0498525590818,0.999999966292,-3.22743328569e-05,-0.000253163042585,-4.77874828422e-05,1793247643639147776
+99,1.650000000,BASELINE,766,745,715,679,659,634.57006691,877,786,809.42993309,652,629.42993309,652.42993309,0.400982415019,-0.0153961911398,0.0498525488912,0.999999966185,-3.31611922412e-05,-0.000253494608209,-4.76542036055e-05,1793247643655814656
+100,1.666666667,BASELINE,766,745,715.023067708,679,659,634,877,786,810,652,630,653,0.400982916011,-0.0153963995424,0.0498525552266,0.999999966011,-3.48760571829e-05,-0.000253990734381,-4.74372523677e-05,1793247643672481024
+101,1.683333333,BASELINE,766,745,715.599600961,679,659,634,877,786,810,652,630,653,0.400983858249,-0.0153962531373,0.0498541995503,0.999999966707,-3.37358421396e-05,-0.000251419809281,-4.7277597536e-05,1793247643689147904
+102,1.700000000,BASELINE,766,745,715.824732105,679,659,634,877,785.824732105,810,652,629.824732105,652.824732105,0.40098447059,-0.015396369004,0.0498550402592,0.999999967117,-3.30510091538e-05,-0.000249877510668,-4.72671064879e-05,1793247643705814528
+103,1.716666667,BASELINE,766,745,715.251034618,679,659,634,877,785.251034618,810,652,629.251034618,652.251034618,0.400984332989,-0.0153970810827,0.0498540541422,0.999999966891,-3.34013783943e-05,-0.000250673548429,-4.75957036082e-05,1793247643722480640
+104,1.733333333,BASELINE,766,745,715,678.668721157,659,634,877,785.331278843,810,652,629.331278843,652,0.400985158466,-0.01539673576,0.0498547957382,0.99999996721,-3.28299315197e-05,-0.000249471650628,-4.7596217632e-05,1793247643739146752
+105,1.750000000,BASELINE,766,745,715,678.07970433,659,634,877,785.92029567,810,652,629.92029567,652,0.400986733225,-0.0153955677694,0.0498568815106,0.999999967948,-3.15413032716e-05,-0.00024671534068,-4.73414800258e-05,1793247643755813632
+106,1.766666667,BASELINE,766,745,715,678.501615249,659,634,877,785.498384751,810,652.501615249,630,652,0.400985971002,-0.0153956002079,0.0498560192986,0.999999967557,-3.22483568376e-05,-0.000248191926675,-4.7409832502e-05,1793247643772480768
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678,659,635,877,786,810,653,629,652,0.400981672268,-0.0153970308444,0.049853293073,0.999999966483,-3.00157674585e-05,-0.000252837072737,-4.69708826985e-05,1793247643815813632
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.413364711,745,715.586635289,678.586635289,659,634.413364711,877,785.413364711,810,652.413364711,629.586635289,652,0.400983652971,-0.0153957467838,0.0498534634409,0.999999966777,-2.99849655514e-05,-0.000251581112774,-4.74655217304e-05,1793247643832480512
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.344186891,745,715.827906554,679,659,634,877,785.172093446,810,652,629.827906554,652,0.400984560767,-0.0153949543797,0.0498535209385,0.999999966911,-2.99509351483e-05,-0.000250993431623,-4.77811595127e-05,1793247643849147136
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.509486964,745,715.245256518,679,659,634,877,785.754743482,810,652,629.245256518,652,0.40098290897,-0.0153953349015,0.0498533091659,0.999999966665,-2.99092026419e-05,-0.000252000036797,-4.76697611275e-05,1793247643865813248
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.335541581,744.66777079,715,679,659,634,877,786,809.66777079,652.33222921,629,652,0.400983272705,-0.0153950774964,0.0498539247428,0.999999966856,-3.01642770368e-05,-0.000251231725481,-4.75390460381e-05,1793247643882479360
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.188078225,744.094039112,715,679,659,634,877,786,809.094039112,652.905960888,629,652,0.400985101563,-0.0153943563726,0.0498551417326,0.999999967364,-3.06351048875e-05,-0.000249173200296,-4.7394289349e-05,1793247643899145984
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.481457461,744.481457461,715,679,659,634,877.481457461,785.518542539,809.481457461,652.518542539,629,652,0.400983960054,-0.0153951890179,0.0498541730328,0.999999966967,-3.13259650408e-05,-0.000250642201679,-4.75684309391e-05,1793247643915813120
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.941110616,745,715,679,659,634,877.941110616,785,810,652,629,652,0.400982625293,-0.0153962758186,0.0498530453288,0.999999966476,-3.20207950871e-05,-0.000252472354336,-4.77637373734e-05,1793247643932480000
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.349295603,745,715,679,659,634,877.349295603,785,810,652,629,652,0.400984811372,-0.0153969061016,0.0498543563054,0.999999966765,-3.23611944888e-05,-0.000251312641125,-4.7584823713e-05,1793247643949146624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.23676395,745,715,679,659,634,877.23676395,785.23676395,810,652,629,652,0.40099343892,-0.0153972213625,0.0498580485606,0.999999968366,-3.17775603672e-05,-0.000245038955696,-4.70637837504e-05,1793247643965813504
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.814533985,745,715,679,659,634,877.814533985,785.814533985,810,652,629,652,0.40101134398,-0.0153970829038,0.0498651705207,0.999999971721,-2.98630603711e-05,-0.00023139972486,-4.60499865564e-05,1793247643982480384
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.609523676,715,679,659,634,877.609523676,786,810,652,629.390476324,652.390476324,0.401049019841,-0.0153993189145,0.0498794033636,0.999999977756,-3.06545091145e-05,-0.000203886075807,-4.44896664338e-05,1793247643999146752
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.034445351,715,679,659,634,877.034445351,786,810,652,629.965554649,652.965554649,0.401096042569,-0.015402677482,0.0498969979558,0.999999984136,-3.2725224865e-05,-0.000169813140644,-4.26709714194e-05,1793247644015812864
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.538513986,715,679,659,634,877,786,810,652,629.461486014,652.461486014,0.401162951673,-0.0154072565628,0.0499141841631,0.999999989057,-3.50124476927e-05,-0.000137913897755,-4.05047160768e-05,1793247644032479744
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.11565486,678.88434514,659,634,877,786,810,652,629,652,0.401233018936,-0.0154121321888,0.0499301027995,0.999999992546,-3.7017939821e-05,-0.000109867530668,-3.83051865754e-05,1793247644049146368
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.710687553,678.289312447,659,634,877,786,810,652,629,652,0.401310924793,-0.0154179146482,0.0499408753349,0.99999999391,-3.77985111321e-05,-9.72169018812e-05,-3.60595236078e-05,1793247644065813248
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.703654662,715.703654662,678.296345338,659,634,877,785.703654662,810,652,629,652.296345338,0.401394801878,-0.0154224407535,0.0499469349339,0.999999994672,-3.84234298847e-05,-8.92913617967e-05,-3.4744285979e-05,1793247644082479872
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.126868674,715.126868674,678.873131326,659,634,877,785.126868674,810,652,629,652.873131326,0.401484329716,-0.0154257779323,0.0499485345365,0.999999994971,-3.89010498223e-05,-8.58373182985e-05,-3.43095384167e-05,1793247644099146752
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.448166651,715,679,659,634,877,785.448166651,810,652,629.448166651,653,0.401591944947,-0.0154334392794,0.0499484728183,0.999999994794,-4.10394814234e-05,-8.72618032637e-05,-3.336184208e-05,1793247644115813632
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.976664462,810,652,630,653,0.40170562825,-0.0154421761683,0.0499478796871,0.999999994462,-4.35830795822e-05,-9.01779142396e-05,-3.23034129253e-05,1793247644132480512
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.38625338,810,652,630,653,0.401842828803,-0.0154474186644,0.0499457568051,0.999999993892,-4.45920069131e-05,-9.59121533079e-05,-3.20690187411e-05,1793247644149146624
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.200084038,785,810,652,630,652.799915962,0.401991884045,-0.0154545864499,0.0499439138265,0.999999993351,-4.62723784251e-05,-0.000100808079713,-3.15410494736e-05,1793247644165812992
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.778714279,785,810,652,630,652.221285721,0.402163367585,-0.0154653967593,0.0499426004073,0.999999992904,-4.92230792726e-05,-0.000104117971528,-3.04576549526e-05,1793247644182479616
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.356185805,745,715,679,659,634,878,785.356185805,810,652,629.643814195,652,0.402356320071,-0.0154773897901,0.0499442062011,0.999999992966,-5.20392981164e-05,-0.000102648661733,-2.86843250658e-05,1793247644199146240
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.932939851,745,715,679,659,634,878,785.932939851,810,652,629.067060149,652,0.40256256723,-0.0154901152228,0.049947619719,0.999999993326,-5.47722391962e-05,-9.82198292194e-05,-2.64837522456e-05,1793247644215812864
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.493200369,745,715,679,659,634,877.493200369,785.493200369,810,652,629,652,0.402807868637,-0.0154985847712,0.0499520555921,0.999999994329,-5.12191208826e-05,-9.01051013842e-05,-2.44831564156e-05,1793247644232479744
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.082837054,715,679,659,634,877.082837054,785.082837054,810,652,629,652,0.403065061683,-0.0155062298434,0.0499572643073,0.99999999547,-4.61095043786e-05,-8.02394959194e-05,-2.22436934998e-05,1793247644249146880
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.674592785,715,679,659,634,877.674592785,785.674592785,810,652,629,652,0.403363744437,-0.0155122497379,0.0499663946854,0.999999997205,-3.65184607552e-05,-6.25965269582e-05,-1.83750794562e-05,1793247644265813248
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.739705738,715.260294262,679,659,634,877.739705738,785.739705738,810,652.260294262,629.260294262,652,0.403679842931,-0.0155112011678,0.0499753462757,0.999999998671,-1.86656150931e-05,-4.55461719304e-05,-1.53287814191e-05,1793247644282479872
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.161400988,715.838599012,679,659,634,877.161400988,785.161400988,810,652.838599012,629.838599012,652,0.404017218819,-0.01550151681,0.0499840794344,0.999999999442,9.28095888542e-06,-2.9219834856e-05,-1.32871354743e-05,1793247644299146496
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.585533512,745,715.585533512,679,659,634,877,785,810,653,630,652.414466488,0.404377687429,-0.0154980394787,0.0499895349823,0.999999999348,3.04502076915e-05,-1.59421013099e-05,-1.10761600121e-05,1793247644315812608
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.010609622,745,715.010609622,679,659,634,877,785,810,653,630,652.989390378,0.404747096194,-0.0154969651486,0.049993721629,0.999999998754,4.89956683316e-05,-3.84461073846e-06,-8.79963002074e-06,1793247644332479232
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.562134966,745,715,679,659,634.562134966,877.562134966,785,810,653,629.437865034,652.437865034,0.405140303566,-0.0155063266205,0.0499841870724,0.999999998034,5.85827159782e-05,-2.15027614725e-05,-6.07066905088e-06,1793247644349146112
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.860015299,878,785.139984701,810,652.860015299,629,652,0.40553996823,-0.0155129657562,0.0499714670136,0.99999999642,7.11329717318e-05,-4.56699952609e-05,-3.84237953726e-06,1793247644365812992
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634.265454545,878,785.734545455,810,652.265454545,629,652,0.405959148786,-0.0155101274416,0.049949240307,0.999999991616,9.38526656018e-05,-8.91576821926e-05,-3.26755647285e-06,1793247644382480128
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,785.680743703,810,652,629.319256297,652,0.406412316474,-0.0155081957061,0.0499331897343,0.999999986037,0.000118311747355,-0.0001180037578,-1.81627570368e-06,1793247644399147008
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,878,785.103977661,810,652,629.896022339,652,0.406892897974,-0.0155069952102,0.0499221207828,0.999999980489,0.0001441738089,-0.000135040023846,3.41949363107e-07,1793247644415813632
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877.529559997,785.470440003,810,652,630,652,0.407430413038,-0.0155095626937,0.0499309240345,0.999999979159,0.000168399422787,-0.000115336331223,4.62304105151e-06,1793247644432480256
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.04438061,634,877,785.95561939,810,652,629.95561939,652,0.407985231524,-0.015513182809,0.0499450035552,0.999999977775,0.000192097985819,-8.63559016356e-05,9.49933029513e-06,1793247644449146880
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659.618792313,634,877,785.381207687,810,652,629.381207687,652,0.408597165299,-0.0155194776674,0.0499699019766,0.99999997609,0.000213800247133,-4.30831209531e-05,1.59082205236e-05,1793247644465813504
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659.799797142,634,877.200202858,785.200202858,810,652.200202858,629.200202858,652.200202858,0.409216354055,-0.0155246712166,0.0499888195723,0.999999971789,0.000236266224175,-1.16690022715e-05,2.15336837233e-05,1793247644482479872
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.204577331,634,877.795422669,785.795422669,810,652.795422669,629.795422669,652.795422669,0.409849857455,-0.0155276917905,0.0499959364981,0.999999965803,0.00026023907555,-3.65301648286e-06,2.5613379662e-05,1793247644499146752
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715.377380218,679,659.377380218,634,878,785.622619782,810.377380218,652.622619782,630,653,0.410466646254,-0.0155272760268,0.0499830392362,0.999999957364,0.000288359283074,-3.63041318246e-05,2.83352669741e-05,1793247644515813632
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715.952392375,679,659.952392375,634,878,785.047607625,810.952392375,652.047607625,630,653,0.411074681689,-0.015525060672,0.0499596606543,0.999999944697,0.000318651436544,-9.02523838953e-05,3.03460771856e-05,1793247644532480256
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,716,679,660,634,878,785,811,652,629.471934183,653,0.411749699436,-0.0155230092403,0.0499429096914,0.999999933143,0.000346573110386,-0.000112135260507,3.20577938301e-05,1793247644549146624
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.893424902,745,715.893424902,679,659.893424902,634,878.106575098,785,811,652,629,653,0.412452918064,-0.0155223233,0.0499354090016,0.999999934081,0.000342056152506,-0.000116754625152,3.46854034031e-05,1793247644565812480
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.302293721,745,715.302293721,679,659.302293721,634,878.697706279,785,811,652,629,653,0.413256864667,-0.0155277784499,0.0499672456994,0.999999979319,0.000191026042402,-5.60434587197e-05,4.15999777323e-05,1793247644582478848
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.282667206,745,715,679,659.282667206,634,878.717332794,785,811,652,629.282667206,652.717332794,0.414033078994,-0.0155331905922,0.0499778630354,0.999999996077,7.33091466089e-05,-3.82714002011e-05,3.17415260052e-05,1793247644599145472
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.861170494,745,715,679,659.861170494,634,878.138829506,785,811,652,629.861170494,652.138829506,0.414780269153,-0.0155385577241,0.0499662724478,0.999999997804,-9.54255745554e-06,-6.54388862851e-05,4.32862946449e-06,1793247644615812096
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.564107216,745,715,679,660,634,878.435892784,785,811,652,630,652.435892784,0.415547193435,-0.0155464606774,0.0499456557461,0.999999995206,-9.06321544904e-06,-9.7494664882e-05,2.80541457368e-08,1793247644632478720
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.009467011,745,715,679.009467011,659.990532989,634,878.990532989,785,811,652,630,653,0.416321582557,-0.0155549812801,0.0499229099234,0.999999991397,1.80552637839e-05,-0.000129887877382,3.08861691419e-06,1793247644649145344
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.585786226,745,715,679.585786226,659.414213774,634,878.414213774,785,811,652,630,653,0.417169842932,-0.0155525414655,0.049943330595,0.999999993799,6.47465366229e-05,-9.0065732328e-05,9.93882702309e-06,1793247644665812224
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.833526619,659.166473381,634,878.166473381,785,811,652,630,653,0.418025438341,-0.0155499986009,0.0499627560703,0.999999992506,0.000107536616111,-5.62491148837e-05,1.61393764375e-05,1793247644682478848
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679.241678485,659.758321515,634,878.758321515,785,811,652,630,653,0.418899776265,-0.0155471924222,0.049979638607,0.999999989222,0.000140358317829,-3.77778957586e-05,2.06799048147e-05,1793247644699145728
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.659130163,715,679.340869837,660,633.659130163,879,784.659130163,811.340869837,652,630.340869837,653,0.419761769529,-0.015546310151,0.0499733346428,0.999999986079,0.000159092408287,-4.5407970127e-05,2.16921797625e-05,1793247644715812096
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,744.083000368,715,679.916999632,660,633.083000368,879,784.083000368,811.916999632,652,630.916999632,653,0.420615242775,-0.0155467557136,0.0499510279267,0.999999983141,0.000168103575379,-7.10525146028e-05,2.02693409829e-05,1793247644732478720
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,744.492342936,715,680,660,633.492342936,879.492342936,784.492342936,812,652,630.507657064,653,0.421553485386,-0.0155495134513,0.0499730680446,0.999999988209,0.00015026833333,-2.24261970887e-05,2.23455610327e-05,1793247644749145344
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.930732431,660.069267569,634,880,785,812,652,630,653,0.42249710458,-0.0155521014175,0.0499979325995,0.999999990474,0.000132777331011,2.84391958838e-05,2.4749273307e-05,1793247644765812224
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.340929861,660.659070139,634,880,785,812,652,630,653,0.423373906897,-0.0155504890202,0.0499879302421,0.999999988154,0.000151829938292,2.18934562633e-06,2.51882526554e-05,1793247644782478848
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,678.75522719,661,634,879.510454379,785,812,652,630,653,0.42428658304,-0.015551575915,0.0499821201631,0.999999986121,0.000164293123637,-1.08055852119e-05,2.5458215425e-05,1793247644799145472
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678.175140875,661,634,878.35028175,785,812,652,630,653,0.425248402746,-0.0155563605613,0.0499820530717,0.999999985592,0.000167729483443,-5.64264729522e-06,2.54966430047e-05,1793247644815812352
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678.803011689,660.598494155,634,878.401505845,785,811.598494155,652,630.401505845,653,0.426191899125,-0.0155596448607,0.0499935575905,0.999999987222,0.000157404323585,2.95710196624e-06,2.77595350867e-05,1793247644832478976
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.953329776,660.023335112,634,878.976664888,785,811.023335112,652,630.976664888,653,0.427127470521,-0.0155622802527,0.0500100668859,0.999999989476,0.000141127240381,1.30432882654e-05,3.09845186969e-05,1793247644849145600
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.453089071,879.546910929,785,811.546910929,652,630.453089071,653,0.427989776926,-0.0155552296841,0.0499704256512,0.999999985066,0.0001585679125,-6.2537186647e-05,2.85350280052e-05,1793247644865812224
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.878000389,660.121999611,633,879.878000389,785,812.121999611,652,630,653,0.42887223577,-0.0155489169671,0.0499389608046,0.999999977111,0.000176416400753,-0.000118146970601,2.63846597117e-05,1793247644882479104
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.283345292,660.716654708,633,879.283345292,785,812.716654708,652,630,653,0.429844772968,-0.0155470497213,0.0499483724181,0.999999978152,0.000190320860441,-8.23507094311e-05,2.63228172307e-05,1793247644899145728
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.302514209,660.697485791,633,879,785,813,652,630.302514209,653,0.43080140526,-0.0155465548299,0.0499493346985,0.999999978456,0.000191586976351,-7.54243925508e-05,2.63523234226e-05,1793247644915812352
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.880368178,660.119631822,633,879,785,813,652,630.880368178,653,0.431743561311,-0.0155473090163,0.0499426066375,0.999999978715,0.000181350033459,-9.47746732579e-05,2.64649725776e-05,1793247644932478976
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.453050097,879,784.546949903,813,652,631,653,0.432669684122,-0.0155465882796,0.0499423027096,0.999999979469,0.000179954505677,-8.90875630496e-05,2.72462865338e-05,1793247644949145600
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,784.024579624,813.024579624,652,631,653,0.433592313623,-0.0155455524238,0.0499448062259,0.99999998026,0.000181485806412,-7.57809002712e-05,2.82788018743e-05,1793247644965812480
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,784.600548029,813.600548029,652,631,653,0.434530478933,-0.015546085768,0.0499726642064,0.999999979406,0.00019689238642,-3.81832783845e-05,3.10302833905e-05,1793247644982479104
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,784.816376363,813.816376363,652,631,653.183623637,0.435436147651,-0.0155448604631,0.0499834913676,0.999999976551,0.000211443713042,-3.36768132161e-05,3.25019781833e-05,1793247644999145472
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,784.21721723,813.21721723,652,631,653.78278277,0.436268277613,-0.0155396553815,0.0499557782348,0.999999969002,0.000224059626533,-0.000104054764549,3.10775495584e-05,1793247645015812096
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.634019166,745,715,680,660,633.634019166,879,784.365980834,813.365980834,652,631,653.634019166,0.437168658212,-0.0155385629449,0.0499528966358,0.999999972537,0.000209063244701,-0.000101363362466,3.07206070541e-05,1793247645032478976
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.059898484,745,715,680,660,633.059898484,879,784.940101516,813.940101516,652,631,653.059898484,0.43810785412,-0.0155398094434,0.049964137176,0.999999981983,0.000178363255615,-5.71161073651e-05,3.09707630814e-05,1793247645049145600
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.514880459,744.485119541,715,680.514880459,660,633.514880459,879.514880459,785,814,652,631,653,0.438977565802,-0.0155423114403,0.0499750007802,0.999999981806,0.000183805251627,-4.02797692146e-05,3.13232279033e-05,1793247645065812224
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,744.091995026,715,680.908004974,660,633.908004974,879.908004974,784.908004974,814.091995026,652,631,653,0.439827813316,-0.0155448038497,0.0499811054806,0.999999980381,0.000192776725118,-3.31122708598e-05,3.1279169782e-05,1793247645082479104
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.681321605,715,680.318678395,660,633.318678395,879.318678395,784.318678395,814.681321605,652,631,653,0.440616591674,-0.0155464538178,0.0499617205771,0.999999978105,0.000198069512386,-6.09540274523e-05,2.90270550722e-05,1793247645099145728
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.266873685,879.266873685,784.266873685,814.733126315,652,631,653,0.441426277584,-0.0155486062182,0.0499591989226,0.999999978162,0.000197797541819,-6.08246510658e-05,2.91837813605e-05,1793247645115812352
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.847981391,879.847981391,784.847981391,814.152018609,652,631,653,0.442260581316,-0.0155513502141,0.0499765331296,0.999999980862,0.000190973271684,-2.77602848869e-05,3.21768301295e-05,1793247645132478976
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680.425332103,660.425332103,633.574667897,880,785,814,652.425332103,631,653,0.443052736416,-0.0155492764436,0.0499858939254,0.999999981174,0.000190346352119,-1.59734498452e-05,3.41427332764e-05,1793247645149145856
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,744.998628458,715,681,660.998628458,633,880,785,814.001371542,652.998628458,631,653,0.443829698584,-0.0155454921968,0.0499923290282,0.99999998087,0.000191940539902,-1.18804320453e-05,3.57356294096e-05,1793247645165812480
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,744.414207851,715,681,660.414207851,633,880,785,814.585792149,652.414207851,631,653,0.444495926642,-0.015540165903,0.0499558896955,0.999999975824,0.000204373398037,-7.392013511e-05,3.34567604223e-05,1793247645182479104
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,744.168610516,715,681,660.168610516,633,880,785,815,652,631,653,0.44518094951,-0.0155376285053,0.0499326856618,0.999999970883,0.000214488301235,-0.000105874290133,3.19343557048e-05,1793247645199145728
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,744.74753,715,681,660.74753,633,880,785,815,652,631,653,0.445911709156,-0.0155418778072,0.0499416893503,0.99999997342,0.000218962530058,-6.46161201412e-05,3.22527853689e-05,1793247645215812352
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.677495257,715,681,661,633,880,785,815,652,631,653,0.446606291667,-0.0155444221501,0.0499529498738,0.999999973474,0.000224795582195,-3.72823014562e-05,3.36003807085e-05,1793247645232479232
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.105571338,715,681,661,633,880,785,815,652,631,653,0.447272895409,-0.015545647909,0.049965955791,0.999999972309,0.000231679522927,-2.07173199175e-05,3.57439136665e-05,1793247645249145856
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,744,715,680.525086112,661,633,879.525086112,785,815,652,631,653,0.447888909257,-0.0155435490586,0.0499452143138,0.999999968703,0.000241868552877,-5.33218230308e-05,3.53678216104e-05,1793247645265812480
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.645459563,715,680,661,633,879.645459563,784.354540437,815,651.354540437,631,653,0.449051746331,-0.0155383911906,0.0499201380526,0.999999960209,0.000264221295792,-9.2132567533e-05,3.57804014394e-05,1793247645299145728
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,744.769093914,715,680.230906086,661,633,880,784,815,651.230906086,631,653,0.449615242278,-0.0155374610746,0.049931521071,0.999999958511,0.000275154194873,-7.62385943836e-05,3.81596975099e-05,1793247645315812352
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,744.186940902,715,680.813059098,661,633,880,784,815,651.813059098,631,653,0.450180368974,-0.0155386988323,0.0499595121487,0.999999957684,0.000285418154119,-3.70244580298e-05,4.24052662088e-05,1793247645332478720
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,744.389348047,715,680.610651953,660.610651953,633,879.610651953,784.389348047,815,652,631,653,0.450702423751,-0.0155386057725,0.049978543876,0.999999956017,0.000292775410766,-1.41414146083e-05,4.52527805637e-05,1793247645349146112
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.334012796,660.334012796,632,880,783,815,651.334012796,629.334012796,653,0.456123111518,-0.0155410736057,0.0498054717199,0.999999939436,0.00016265225549,-0.000307431360526,1.25913659068e-05,1793247646496638464
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.912082106,660.912082106,632,880,783,815,651.912082106,629.912082106,653,0.456124115309,-0.0155398722826,0.0498063555727,0.99999993933,0.000165494057913,-0.000306257402294,1.25754625271e-05,1793247646513305088
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766.942641438,744.942641438,715,680,660.057358562,632,880,783,815,651.057358562,630,653,0.456123735286,-0.0155395544254,0.0498066778042,0.999999939943,0.000161984091119,-0.000306134329643,1.25083767729e-05,1793247646546638592
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766.349615629,744.349615629,715,680,660.650384371,632,880,783,815,651.650384371,630,653,0.456121149501,-0.0155405172497,0.0498048804182,0.99999993913,0.000162037320141,-0.000308739827202,1.28247290827e-05,1793247646563305216
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.607769389,744.392230611,715,681,660.607769389,632,880,784,815,652,630,653,0.456077932901,-0.015538290078,0.0497825061438,0.999999928133,0.000162433730033,-0.00034239494069,1.07093080096e-05,1793247646613305600
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.162335383,661,633,879.162335383,784,814,651.837664617,630.162335383,653,0.45209097645,-0.0154130709843,0.0497749558109,0.999999922272,0.000153163307674,-0.00036316304674,-1.05136625858e-05,1793247646979972608
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633.249027138,879,785.750972862,812,652,630.249027138,653,0.43375734426,-0.015352183791,0.0497751115283,0.999999928654,-3.19461682871e-05,-0.000370428184656,-6.67480092995e-05,1793247647413305600
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.597716,744.597716,715,680,660,633.597716,879,785,812,652,630.597716,652.597716,0.431967326,-0.0153381782503,0.0497921157674,0.999999942313,8.62202853498e-05,-0.000326074675115,-4.01922695731e-05,1793247647446639104
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db0c64d9fffe7af45d77d1d70bf24098334d8f3e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_05/fem_node.csv
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--- /dev/null
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_05/franka_data.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_05/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,766,745,715,679,659,634,877,786,810,652,629,652,0.400979706441,-0.0153940555509,0.0498489120801,0.99999996425,-2.15219674987e-05,-0.000262414578922,-4.66461109954e-05,1793247648987439872
+1,0.016666667,BASELINE,766,745,715,679,659,634.602257483,877.602257483,786,810,652,629,652,0.400981471573,-0.0153939339815,0.0498496608084,0.999999965058,-2.12429891723e-05,-0.000259296870887,-4.68784829447e-05,1793247649004106496
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+3,0.050000000,BASELINE,766,745,715,678.209593803,659,634.209593803,877.209593803,786,810,652,629.790406197,652,0.40098239983,-0.015392077996,0.049851181898,0.999999965645,-1.80950245498e-05,-0.000257230229287,-4.70628543193e-05,1793247649037439488
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+6,0.100000000,BASELINE,766,744.473553726,715,678.526446274,659,634,877,785.526446274,810,652.526446274,629,652,0.400982239898,-0.0153927348262,0.0498510519464,0.999999965792,-1.950044065e-05,-0.000256534220565,-4.71793884487e-05,1793247649087439872
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+9,0.150000000,BASELINE,766,745,715.741646248,679,659,634,877,785.258353752,809.258353752,652,629.258353752,652,0.400982439884,-0.0153919722269,0.049850866624,0.999999965495,-1.83580389926e-05,-0.000257716474866,-4.74838684627e-05,1793247649137439744
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+20,0.333333333,BASELINE,766,745,715,679,659,634,877,785.356371988,810,652.356371988,629.356371988,652,0.40098394062,-0.0153928742154,0.0498523965085,0.999999966383,-2.06603033055e-05,-0.00025414508027,-4.70847811917e-05,1793247649320773376
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+27,0.450000000,BASELINE,766,745,715,678.298113051,659,634,877,786,810,652,629,653,0.400981686832,-0.0153933471609,0.0498511518955,0.999999966026,-1.77137082203e-05,-0.000255806275419,-4.6882392612e-05,1793247649437439744
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+29,0.483333333,BASELINE,766,744.124969446,715,678.875030554,659,634,877,785.124969446,810,652,629,652.124969446,0.400983356394,-0.0153929565335,0.049852644813,0.99999996641,-1.77672963449e-05,-0.00025433664179,-4.66663845678e-05,1793247649470772736
+30,0.500000000,BASELINE,766,744.456325479,715.456325479,679,659,634,877,785.456325479,810,652.456325479,629.456325479,652,0.400984128321,-0.0153934712084,0.0498531211973,0.999999966656,-1.78293681716e-05,-0.000253366160525,-4.66454903405e-05,1793247649487439360
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+32,0.533333333,BASELINE,766,745,715.388330852,678.388330852,659,634,876.388330852,785.388330852,810,653,630,652.611669148,0.400983437261,-0.015394892656,0.0498524895306,0.999999966505,-2.03840471316e-05,-0.000253773213433,-4.66312421967e-05,1793247649520773632
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+35,0.583333333,BASELINE,766,744.358099956,715,679,659,634,876.641900044,785.358099956,810,652,629.358099956,652.358099956,0.400981811931,-0.0153926475749,0.0498519514557,0.999999966131,-1.87175227013e-05,-0.000255309637986,-4.69471717402e-05,1793247649570773760
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+39,0.650000000,BASELINE,766,745,715,679,659,634,877,785.667979624,810,652.332020376,629,652,0.400982111057,-0.0153938063526,0.0498519132238,0.99999996611,-1.88207419448e-05,-0.000255317320942,-4.73214063401e-05,1793247649637440768
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+42,0.700000000,BASELINE,766,745,715.582271832,678.582271832,659,634,877,785.582271832,810,652,629.417728168,653,0.4009845917,-0.0153951246158,0.0498538181904,0.999999966872,-2.1105379439e-05,-0.000252292883069,-4.64598943267e-05,1793247649687443712
+43,0.716666667,BASELINE,766,745,715.003314058,678.003314058,659,634,877,785.003314058,810,652,629.996685942,653,0.400984201202,-0.0153932646025,0.0498528011516,0.999999966797,-1.64080937106e-05,-0.000252829086788,-4.70650314995e-05,1793247649704107264
+44,0.733333333,BASELINE,766,745,715,678,659,634,877,785.579226663,810,652,630,652.420773337,0.400984299593,-0.0153929063131,0.0498527099988,0.999999966734,-1.78578669514e-05,-0.000253029010997,-4.67992649054e-05,1793247649720773888
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+51,0.850000000,BASELINE,766,745,715,679,659,634,877.632583513,786,810,652.367416487,629.367416487,652,0.400985029886,-0.0153961557275,0.0498535261023,0.999999967041,-2.19772291694e-05,-0.000251532255978,-4.65401975557e-05,1793247649837440512
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+53,0.883333333,BASELINE,766,745,715,679,659,634,877.197476464,786,809.197476464,652,629.802523536,652,0.400984610189,-0.0153949378938,0.0498533154755,0.999999966784,-2.16004403393e-05,-0.000252512277999,-4.69333086204e-05,1793247649870773248
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+60,1.000000000,BASELINE,766,744.136221541,715.136221541,679,658.136221541,634,877,785.136221541,810,652,630,652,0.400982978255,-0.0153926263042,0.0498529846313,0.999999966796,-1.98096900927e-05,-0.000252640946433,-4.67693429426e-05,1793247649987440896
+61,1.016666667,BASELINE,766,744.446110622,715,679,658.446110622,634,877,785,809.553889378,652,629.553889378,652,0.400982866723,-0.0153940021687,0.0498527716844,0.999999966764,-2.042490751e-05,-0.000252719351539,-4.67677570097e-05,1793247650004107264
+62,1.033333333,BASELINE,766,745,715,679,659,634,877,785.025056619,809,652,629,652,0.400982893475,-0.0153961540401,0.0498526695972,0.999999966712,-2.15191844348e-05,-0.000252842024132,-4.67301129906e-05,1793247650020773888
+63,1.050000000,BASELINE,766,745,715,679,659,634,877,785.598673548,809,652,629,652,0.400982489641,-0.0153957510834,0.0498521442693,0.999999966321,-2.14696034909e-05,-0.00025437317749,-4.68083398727e-05,1793247650037440000
+64,1.066666667,BASELINE,765.826948561,745,715,679,659,634.173051439,877,786,809.173051439,652,629,652,0.400982380095,-0.0153946519789,0.0498518866527,0.999999966134,-2.06556437124e-05,-0.000255145912399,-4.69710031444e-05,1793247650054106368
+65,1.083333333,BASELINE,765.250798147,745,715,679,659,634.749201853,877,786,809.749201853,652,629,652,0.400982956047,-0.0153919312962,0.0498522526315,0.99999996642,-1.80611710072e-05,-0.000254152018168,-4.73303490985e-05,1793247650070772992
+66,1.100000000,BASELINE,765.334454736,745,715,679,659.334454736,634.665545264,877,785.665545264,810,652,629,652,0.400983348219,-0.0153911825692,0.0498526000841,0.999999966611,-1.74826670035e-05,-0.000253423518661,-4.74194604726e-05,1793247650087439872
+67,1.116666667,BASELINE,765.926724241,745,715,679,659.926724241,634.073275759,877,785.073275759,810,652,629,652,0.400983598722,-0.0153919539264,0.0498529332559,0.999999966732,-1.84581746089e-05,-0.00025289959899,-4.7300261234e-05,1793247650104107008
+68,1.133333333,BASELINE,766,745,715,678.495394979,660,634,877,785,810,652,629.504605021,652,0.400983246803,-0.0153928844182,0.0498528019857,0.999999966718,-1.97602078452e-05,-0.0002528522576,-4.73215300901e-05,1793247650120773888
+69,1.150000000,BASELINE,766,745,715,678.076713224,659.923286776,634,877,785,809.923286776,652.076713224,630,652,0.400982598,-0.0153937155464,0.0498524841256,0.999999966628,-2.08418721662e-05,-0.000253108695702,-4.73803074498e-05,1793247650137440768
+70,1.166666667,BASELINE,766,745,715,678.625785727,659.374214273,634,877,785,809.374214273,652.625785727,630,652,0.40098064487,-0.0153937965003,0.0498514211124,0.999999966197,-2.02827523875e-05,-0.000254821327701,-4.75479246724e-05,1793247650154107136
+71,1.183333333,BASELINE,766,745,715,679,658.802454364,634,877.197545636,785,809.197545636,652.802454364,629.802454364,652,0.400979928253,-0.01539398732,0.0498509400883,0.99999996595,-1.9960273273e-05,-0.000255806187905,-4.75932489776e-05,1793247650170773504
+72,1.200000000,BASELINE,766,745,715,679,658.182140997,634,877.817859003,785,809.817859003,652.182140997,629.182140997,652,0.400981857898,-0.0153944132637,0.0498517045796,0.999999966103,-2.01442291164e-05,-0.000255233542854,-4.7376854047e-05,1793247650187439872
+73,1.216666667,BASELINE,765.590806633,745,715,678.590806633,658.409193367,634,877.590806633,785,810,652,629.409193367,652,0.400983024721,-0.015395048059,0.0498523100181,0.999999966504,-2.04240571945e-05,-0.000253690874007,-4.70703185508e-05,1793247650204106496
+74,1.233333333,BASELINE,765.011518394,745,715,678.011518394,658.988481606,634,877.011518394,785,810,652,629.988481606,652,0.400983874452,-0.0153957696705,0.0498528493408,0.999999967005,-2.07437377537e-05,-0.000251744982448,-4.67263131347e-05,1793247650220773120
+75,1.250000000,BASELINE,765.542959262,745,715.542959262,678.542959262,659,634,877,785.542959262,810,652,629.457040738,652,0.400983249033,-0.0153951946168,0.0498528493393,0.999999966812,-1.98342900145e-05,-0.000252590189917,-4.66979317699e-05,1793247650237439744
+76,1.266666667,BASELINE,766,745,715.895402511,679,659,634,877.104597489,786,810,652,629.104597489,652,0.400982697076,-0.0153947442253,0.0498528047861,0.999999966639,-1.93250756366e-05,-0.000253309415057,-4.67179685214e-05,1793247650254106880
+77,1.283333333,BASELINE,766,745,715.297629091,679,659,634,877.702370909,786,810,652,629.702370909,652,0.400982632594,-0.0153950056453,0.0498526017603,0.999999966635,-2.08205271613e-05,-0.000253167656945,-4.69361056242e-05,1793247650270773248
+78,1.300000000,BASELINE,766,745,715,678.702835978,659,634,877.702835978,785.702835978,810,652,629.702835978,652,0.400982454392,-0.0153946533953,0.0498525963548,0.999999966653,-2.012751469e-05,-0.000253139765761,-4.70018763828e-05,1793247650287439616
+79,1.316666667,BASELINE,766,745,715,678.110998232,659,634,877.110998232,785.110998232,810,652,629.110998232,652,0.400982163423,-0.015393692618,0.0498527869135,0.999999966689,-1.72643779391e-05,-0.00025322478728,-4.69165576471e-05,1793247650304105984
+80,1.333333333,BASELINE,765.530778623,745,715,678.469221377,659,634,877,785.469221377,810,652,629,652,0.400982609793,-0.0153940432226,0.0498530342533,0.999999966759,-1.85056120109e-05,-0.000252830094479,-4.70718370095e-05,1793247650320772608
+81,1.350000000,BASELINE,765.046536279,745,715,679,659,634,877,786,810,652,629.046536279,652,0.400983092993,-0.0153947510905,0.0498532009784,0.99999996681,-2.04829607313e-05,-0.000252448620144,-4.72287304729e-05,1793247650337438976
+82,1.366666667,BASELINE,765.621322229,745,715,679,659,634,877,786,810,652,629.621322229,652,0.400982062158,-0.0153960780642,0.0498523038288,0.99999996658,-2.00612120992e-05,-0.000253474225232,-4.67734886807e-05,1793247650354106880
+83,1.383333333,BASELINE,766,745,715,678.799538711,659,634,877,786,810,652.200461289,630,652,0.400981552213,-0.0153965790669,0.0498519637069,0.999999966479,-2.02352563709e-05,-0.000253893356399,-4.65903117916e-05,1793247650370774528
+84,1.400000000,BASELINE,766,745,715,678.211993854,659,634,877,786,810,652.788006146,630,652,0.400982048087,-0.0153954851497,0.0498526991855,0.999999966626,-2.1559755329e-05,-0.00025314140833,-4.69324824072e-05,1793247650387441152
+85,1.416666667,BASELINE,766,745,715,678.370341596,659,634,877,786,809.629658404,652.629658404,629.629658404,652,0.400983077382,-0.0153950631714,0.0498535971768,0.999999967003,-2.08906676728e-05,-0.000251710234733,-4.69077522572e-05,1793247650404107520
+86,1.433333333,BASELINE,766,745,715,678.949736366,659,634,877,786,809.050263634,652.050263634,629.050263634,652,0.400984407786,-0.0153950204945,0.0498545869045,0.999999967504,-1.90962253662e-05,-0.000249895646912,-4.66759112187e-05,1793247650420773888
+87,1.450000000,BASELINE,766,745,715.526934089,679.526934089,659,634,877,785.473065911,809.526934089,652,629.526934089,652,0.40098385089,-0.0153948124206,0.0498538315651,0.999999967265,-1.97576008099e-05,-0.00025082165174,-4.65630474987e-05,1793247650437440512
+88,1.466666667,BASELINE,766,745,716,679.896374406,659,634.103625594,877.103625594,785.103625594,810,652.103625594,629.896374406,652,0.400983114168,-0.0153945927686,0.0498530213277,0.99999996696,-2.068087923e-05,-0.000251958320795,-4.65707295907e-05,1793247650454107136
+89,1.483333333,BASELINE,766,745,716,679.321037227,659,634.678962773,877.678962773,785.678962773,810,652.678962773,629.321037227,652,0.400982374957,-0.0153943919315,0.0498527157825,0.999999966684,-2.1734429105e-05,-0.000252868877871,-4.70756978901e-05,1793247650470773248
+90,1.500000000,BASELINE,766,745,715.739647345,679,659,634.739647345,877.739647345,785.739647345,810,653,629.260352655,652,0.400982335659,-0.0153944044901,0.0498526996017,0.999999966658,-2.19978215246e-05,-0.000252933296159,-4.71602620023e-05,1793247650487439616
+91,1.516666667,BASELINE,766,745,715.150616362,679,659,634.150616362,877.150616362,785.150616362,810,653,629.849383638,652,0.400983179957,-0.0153946864469,0.0498530487247,0.999999966949,-2.12636913663e-05,-0.000251929519085,-4.67140930786e-05,1793247650504106240
+92,1.533333333,BASELINE,766,745,715,679,659,634,877,785,810,653,630,652,0.400983671407,-0.015395725405,0.0498532738762,0.999999967029,-2.17076145456e-05,-0.000251607660708,-4.6512108303e-05,1793247650520772864
+93,1.550000000,BASELINE,766,745,715,679,659,634,877.009738677,785,810,652.990261323,629.990261323,652,0.400984048931,-0.0153969976234,0.0498534691577,0.999999967044,-2.25542472922e-05,-0.00025149618949,-4.63964145307e-05,1793247650537439488
+94,1.566666667,BASELINE,766,745,715,679,659,634,877.585843838,785,810,652.414156162,629.414156162,652,0.400984850623,-0.0153967109101,0.0498544041898,0.999999967403,-2.32840967805e-05,-0.000249995683062,-4.64204179739e-05,1793247650554106624
+95,1.583333333,BASELINE,766,745,715,679,659,634.164758763,877.835241237,785,809.835241237,652,629,652,0.400985251074,-0.015396083414,0.0498549954143,0.999999967613,-2.33643010408e-05,-0.000249120631393,-4.65481281518e-05,1793247650570773760
+96,1.600000000,BASELINE,766,745,715,679,659,634.750859291,877.249140709,785,809.249140709,652,629,652,0.40098462542,-0.0153945844252,0.0498547074112,0.99999996745,-2.17831512322e-05,-0.000249845070732,-4.69410501995e-05,1793247650587440128
+97,1.616666667,BASELINE,766,745,715,679,659,635,877,785,809.332763827,652,629,652.332763827,0.40098422301,-0.0153943544131,0.0498548057566,0.999999967431,-2.07784271344e-05,-0.000250017400432,-4.68882615162e-05,1793247650604106752
+98,1.633333333,BASELINE,766,745,715,679,659,635,877,785,809.911565904,652,629,652.911565904,0.400983985662,-0.0153950626547,0.0498551897594,0.999999967519,-2.01998996161e-05,-0.000249781512373,-4.6505924104e-05,1793247650620773376
+99,1.650000000,BASELINE,766,745,715,679,659.487081937,634.512918063,877,785.487081937,810,652,629,652.512918063,0.400983433124,-0.0153955241754,0.0498541272923,0.999999967145,-2.05893556147e-05,-0.000251234537657,-4.65559880451e-05,1793247650637440000
+100,1.666666667,BASELINE,766,744.937578832,715,679,659.937578832,634,877,786,809.937578832,652,629,652,0.400983006809,-0.0153958464945,0.0498530312388,0.999999966782,-2.11226262314e-05,-0.000252609469935,-4.66731753923e-05,1793247650654106624
+101,1.683333333,BASELINE,766,744.35879993,715,679,659.35879993,634,877,786,809.35879993,652,629,652,0.40098409484,-0.0153953853782,0.0498538152271,0.999999967225,-2.14014968438e-05,-0.00025081884987,-4.67005531339e-05,1793247650670773248
+102,1.700000000,BASELINE,766,744.218262121,715,679,659.218262121,634,877,785.781737879,809.218262121,652.218262121,629,652,0.400985040445,-0.015395028583,0.0498544197564,0.999999967514,-2.18838944384e-05,-0.000249626580118,-4.6693026145e-05,1793247650687439872
+103,1.716666667,BASELINE,766,744.792523823,715,679,659.792523823,634,877,785.207476177,809.792523823,652.792523823,629,652,0.400985753746,-0.0153948419426,0.0498547315765,0.999999967553,-2.26982576248e-05,-0.000249410258444,-4.662856729e-05,1793247650704106752
+104,1.733333333,BASELINE,766,745,715,679,659.619543914,634,877,785.380456086,810,652.619543914,629,652,0.400985296274,-0.0153948159767,0.0498543246697,0.999999967375,-2.20475718493e-05,-0.00025014842476,-4.67911901018e-05,1793247650720773888
+105,1.750000000,BASELINE,766,745,715,679,659.023878693,634,877,785.976121307,810,652.023878693,629,652,0.400984176543,-0.0153948808981,0.0498535112073,0.999999967072,-2.05681652284e-05,-0.000251426507595,-4.70822641284e-05,1793247650737440512
+106,1.766666667,BASELINE,766.553853233,745,715,679,659,634,877,786,810,652,629.553853233,652,0.400984075384,-0.015394889799,0.0498533268298,0.999999967057,-2.01984993167e-05,-0.000251529973181,-4.7019985566e-05,1793247650754106624
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678,659,634,877,785,810,652,630,652,0.400982143162,-0.0153971725128,0.0498524485275,0.999999966715,-2.39617214138e-05,-0.000252569964739,-4.69406882661e-05,1793247650796198144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.408781314,745,715.591218686,678,659,634,877,785.591218686,810,652,630,652,0.400982160065,-0.0153947026926,0.0498525451519,0.999999966703,-2.13638056339e-05,-0.000252828557746,-4.70640718439e-05,1793247650812865280
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.179149224,745,715.820850776,678.179149224,659,634,877,785.820850776,810,652,629.820850776,652,0.400982305463,-0.0153936093141,0.0498528640703,0.999999966749,-2.02219077385e-05,-0.000252748370374,-4.70258197111e-05,1793247650829532160
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.759712233,745,715.240287767,678.759712233,659,634,877,785.240287767,810,652,629.240287767,652,0.400982738772,-0.015395600083,0.0498536810756,0.999999966934,-2.23424608121e-05,-0.00025190908898,-4.66253957722e-05,1793247650846199040
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.662924059,715,679,659,634,877,785,810,652,629,652,0.400983285937,-0.0153959178859,0.0498538182847,0.999999967055,-2.25321833323e-05,-0.000251407330009,-4.6652847009e-05,1793247650862865664
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.087819594,715,679,659,634,877,785,810,652,629,652,0.4009839135,-0.0153950543121,0.0498534754508,0.999999967132,-2.13584362759e-05,-0.000251143914899,-4.69824453068e-05,1793247650879532032
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.503173954,744.496826046,715,679,658.503173954,634,877,785,810,652,629,652,0.400983730193,-0.0153961511273,0.0498533896702,0.999999967092,-2.20276605257e-05,-0.000251282452968,-4.6779623615e-05,1793247650896198400
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.082166657,745,715,679,658.082166657,634,877.082166657,785.082166657,810,652,629,652,0.400983610283,-0.0153971905081,0.0498534697772,0.999999967049,-2.28113474873e-05,-0.00025143128742,-4.65282936764e-05,1793247650912864512
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.661310306,745,715,679,658.661310306,634,877.661310306,785.661310306,810,652,629,652,0.400984757726,-0.0153957455673,0.0498542730359,0.999999967116,-2.22784074175e-05,-0.00025120424669,-4.65639344231e-05,1793247650929530880
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.76040488,745,715,679,659,634,877.76040488,786,809.76040488,652,629,652,0.400988193436,-0.015395065339,0.0498557748834,0.999999967645,-2.18693457321e-05,-0.000249123387421,-4.65758297605e-05,1793247650946197504
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.183329818,745,715,679,659,634,877.183329818,786,809.183329818,652,629,652,0.400994852267,-0.0153954622411,0.0498582607228,0.999999968809,-2.16347720763e-05,-0.000244431345731,-4.65542786727e-05,1793247650962864640
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.393082347,745,715,678.606917653,659,634,877,785.606917653,809.393082347,652,629,652.393082347,0.40101768448,-0.0153957362012,0.0498676392382,0.999999973039,-2.04419439994e-05,-0.000226766153289,-4.56130251995e-05,1793247650979531776
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+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.555962155,659,634,877,785,810,652,629,653,0.401105076269,-0.0154009837171,0.0498978570944,0.999999985191,-2.08766808213e-05,-0.00016556844932,-4.20576141118e-05,1793247651012865280
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.141473884,810,652,629,652.858526116,0.401166686465,-0.0154059909957,0.0499149768293,0.999999990181,-2.29188283152e-05,-0.000132384418852,-3.98312500929e-05,1793247651029531648
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.721200313,810,652,629,652.278799687,0.401237819564,-0.0154100826972,0.0499296329883,0.999999992391,-2.42132056055e-05,-0.000114959278673,-3.76225848009e-05,1793247651046198272
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.700515998,659,634,877.299484002,785.700515998,810,652,629.299484002,652,0.40131521021,-0.0154146008908,0.0499399542448,0.999999994003,-2.47507742903e-05,-0.000100453966865,-3.59240973957e-05,1793247651062864896
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678.123569001,659,634,877.876430999,785.123569001,810,652,629.876430999,652,0.401398398282,-0.0154195142164,0.0499462593426,0.999999995166,-2.45871822984e-05,-8.8653790019e-05,-3.46982747234e-05,1793247651079531008
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.449850927,659,634,877.550149073,785,809.550149073,652,629.550149073,652,0.401496035093,-0.015426161382,0.0499503325126,0.999999995495,-2.79480794614e-05,-8.41793868682e-05,-3.38073309462e-05,1793247651096197632
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.976946007,715,678.976946007,659,634,876.976946007,785.023053993,809.023053993,652.023053993,629,652,0.401598464546,-0.0154332550659,0.0499535930789,0.999999995579,-3.21310758187e-05,-8.19769743805e-05,-3.29931509576e-05,1793247651112864256
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.385384806,715,678.385384806,659,634,876.385384806,785.614615194,809.614615194,652.614615194,629,652,0.401721968629,-0.0154397065405,0.0499518159475,0.999999995206,-3.28985223978e-05,-8.6564336872e-05,-3.18212044597e-05,1793247651129531392
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744,715,678.201766801,659,634,876.201766801,786,810,652.798233199,629.201766801,652,0.401854716288,-0.0154472872705,0.0499492768486,0.999999994663,-3.41277211474e-05,-9.25085182583e-05,-3.08448891744e-05,1793247651146198528
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744,715,678.780675928,659,634,876.780675928,786,810,652.219324072,629.780675928,652,0.402004742019,-0.015456978803,0.0499453134808,0.999999993788,-3.62200265639e-05,-0.000100988863819,-3.02342477118e-05,1793247651162865152
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744,715,678.641580642,659,634,877,785.641580642,810,652,630,652,0.402176344571,-0.0154675356339,0.049943904143,0.999999993494,-3.88833023422e-05,-0.000103250052674,-2.89840058757e-05,1793247651179531520
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744,715,678.064548157,659,634,877,785.064548157,810,652,630,652,0.402361107634,-0.0154786202431,0.0499440526016,0.999999993575,-4.18948341107e-05,-0.000101717950333,-2.73436482299e-05,1793247651196198144
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744,715,678.520209755,659,634,877,785,809.479790245,652,629.479790245,652,0.402579484508,-0.0154884598367,0.0499450698271,0.999999993499,-4.22312337194e-05,-0.000102719881502,-2.58302236577e-05,1793247651212864512
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744,715,679,659,634,877,785,809.105462105,652,629,652,0.402812132565,-0.0154983342837,0.0499478246256,0.999999993848,-4.17002671149e-05,-9.99542820291e-05,-2.39828560063e-05,1793247651229530880
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744,715,679,659,634,877,785,809.688547178,652,629,652,0.403090238994,-0.0155090767567,0.0499579530883,0.999999995942,-3.87670608364e-05,-7.86806148957e-05,-2.0550702139e-05,1793247651246197760
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.265540962,715,679,659,634,877,785,810,652,629,652,0.403382471829,-0.0155131556697,0.0499669282672,0.999999997684,-2.78333251218e-05,-5.96815158888e-05,-1.71881554056e-05,1793247651262864384
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.835550454,715,679,659,634,877,785,810,652,629,652,0.403690901945,-0.0155095941627,0.0499745810935,0.999999998936,-7.72620471783e-06,-4.32904316631e-05,-1.39054202238e-05,1793247651279531008
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678.589984951,659,634,877,785,810,652,629,652,0.404025439866,-0.0155014422904,0.0499798612191,0.999999999173,1.89023370748e-05,-3.38511181906e-05,-1.22998110932e-05,1793247651296198144
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.01371388,659,634,877,785,810,652,629,652,0.404370564171,-0.0154914290819,0.0499841792437,0.999999998404,4.81752339255e-05,-2.72306619927e-05,-1.13742558663e-05,1793247651312865280
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.418975611,715,678.581024389,659,634,877,785,810,652.581024389,629.581024389,652,0.404770921524,-0.0154975049093,0.0499879250374,0.999999997899,6.21636604129e-05,-1.66071863753e-05,-7.90092917488e-06,1793247651329531648
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.170744579,715,679,659,634,877,785.170744579,810,652.829255421,629.829255421,652.170744579,0.405170902253,-0.0155043934738,0.0499854653605,0.999999997021,7.48939288897e-05,-1.80419798258e-05,-4.83704254201e-06,1793247651346198272
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.747462961,715,679,659,634,877,785.747462961,810,652.252537039,629.252537039,652.747462961,0.405566786009,-0.0155122819,0.0499682843063,0.999999995169,8.55186354769e-05,-4.8379350776e-05,-2.89434306757e-06,1793247651362864640
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.676063848,810,652,629,652.676063848,0.405989991579,-0.0155138355855,0.0499504299356,0.999999991379,0.000103994392075,-8.01470134217e-05,-1.64035501906e-06,1793247651379531264
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785.099781598,810,652,629,652.099781598,0.406434480871,-0.015510454512,0.0499320510498,0.999999985345,0.000128586113664,-0.000113028875739,-9.22872610286e-07,1793247651396197888
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,810,652,629,652,0.406917707833,-0.0155081135708,0.0499233690676,0.999999979543,0.000154162874603,-0.000130946712444,1.22682904082e-06,1793247651412864768
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.952743814,745,715,679,659,634,877.047256186,785,810,652,629,652,0.407418539145,-0.0155065154913,0.0499193023924,0.999999974013,0.000179809444918,-0.000140097951756,3.96330221903e-06,1793247651429532160
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.357157672,745,715,679,659,634,877.642842328,785,810,652,629,652,0.408029515489,-0.0155110097803,0.049945227202,0.999999975649,0.000203872610766,-8.38868924238e-05,1.00282871099e-05,1793247651446199040
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,633.768875966,877.768875966,785,810,652,629,652,0.408644159469,-0.0155159345836,0.0499691636605,0.999999973219,0.000227712362183,-3.80228879984e-05,1.62105295194e-05,1793247651462865664
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,633.191536091,877.191536091,785,810,652,629,652,0.409264297405,-0.0155215042822,0.0499901216359,0.999999968161,0.00025121744573,-7.65841911982e-06,2.2568419322e-05,1793247651479532032
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.617733427,715,679,659,633.382266573,877.764533146,785,810.382266573,652,629,652.382266573,0.409879125355,-0.0155251736592,0.0499931340104,0.999999961243,0.000276992041872,-7.6977310394e-06,2.70203879965e-05,1793247651496198400
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.045686864,715,679,659,633.954313136,878.908626272,785,810.954313136,652,629,652.954313136,0.410491317092,-0.0155278996028,0.0499872371147,0.999999953098,0.000303893359013,-2.28312990984e-05,3.05261432315e-05,1793247651512865024
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.541882893,744,715,679,659,634,879,785.541882893,811,652,629,653,0.411097666113,-0.015525387156,0.0499565117856,0.999999940468,0.000331613288028,-9.0114574717e-05,3.12322044188e-05,1793247651529531648
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.128930511,715,679,659.128930511,634,878.871069489,785.871069489,811,652,629.128930511,653,0.411740533166,-0.0155234473601,0.049933577796,0.999999925642,0.000358997697418,-0.000136995961814,3.26814797782e-05,1793247651546198016
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.709430147,715,679,659.709430147,634,878.290569853,785.290569853,811,652,629.709430147,653,0.412513077864,-0.0155251057145,0.0499454802843,0.999999920535,0.000384958114147,-9.65676547386e-05,3.75849197812e-05,1793247651562864896
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,659.71239364,634,878,785,811,652,629.71239364,653,0.413287807404,-0.015528789111,0.0499625400095,0.999999948815,0.000311391728772,-6.07170525535e-05,4.14643532813e-05,1793247651579531776
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659.136545909,634,878,785,811,652,629.136545909,653,0.414064726704,-0.015534502021,0.0499847683599,0.999999989051,0.000138078790206,-2.94542561528e-05,4.43175190676e-05,1793247651596198656
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,659.438227618,634,878.438227618,785,811,652,629.438227618,653,0.41481620149,-0.0155419851778,0.0499664723616,0.999999997117,3.97474100456e-05,-5.96776120508e-05,2.49868007805e-05,1793247651612865280
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.986986835,745,715,679,660,633.986986835,878.986986835,785,811,652,630,653,0.415560942791,-0.0155499335829,0.0499361610603,0.999999993623,-3.28866794196e-05,-0.000108041937963,-5.63121191213e-07,1793247651629532160
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.396859171,745,715,679,660,633.396859171,878.396859171,785,811,652,630,653,0.416357809042,-0.0155541129096,0.0499316015391,0.999999993566,5.23475596954e-07,-0.000113368301987,3.8708269168e-06,1793247651646198784
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,633.189863513,878.189863513,785,811,652,630,653,0.417188939122,-0.0155552318501,0.0499385278568,0.999999994222,3.93437516884e-05,-9.96218285045e-05,9.14953125985e-06,1793247651662865408
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,633.769594343,878.769594343,785,811,652,630,653,0.418090426783,-0.0155500665679,0.0499690392924,0.999999994794,8.92732133766e-05,-4.67110311343e-05,1.616286481e-05,1793247651679531776
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.346481261,745,715,679.346481261,660,634,879,785,811.346481261,652,630,652.653518739,0.418946127465,-0.0155458841667,0.04997283591,0.999999990688,0.000126470956188,-4.72925560914e-05,1.97891840485e-05,1793247651696198144
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.921492387,745,715,679.921492387,660,634,879,785,811.921492387,652,630,652.078507613,0.419771628232,-0.015542350048,0.0499590121399,0.999999984264,0.00015527119248,-8.3156202304e-05,2.11815180805e-05,1793247651712864768
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,785,812,652,630,652.507037314,0.420656656255,-0.0155455739023,0.0499611534685,0.999999984522,0.000163774490325,-6.06428087381e-05,2.13573764693e-05,1793247651729531136
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,785,812,652,630,653,0.421558750602,-0.0155494570187,0.0499681443764,0.999999985736,0.000165042229783,-2.8620238595e-05,2.16920235944e-05,1793247651746197504
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,879,785,812,652,630,653,0.422500877839,-0.0155511992155,0.0499872970223,0.999999989155,0.000145251036613,4.85923578374e-06,2.38633000387e-05,1793247651762864128
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.251047093,679.748952907,660,634,879,785,812,652,630,653,0.423438036488,-0.0155522663625,0.0499906076804,0.999999989549,0.00014212734514,9.27499085837e-06,2.48271712736e-05,1793247651779530752
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.830303556,679.169696444,660,634,879,785,812,652,630,653,0.424368699527,-0.0155524509754,0.0499732071324,0.999999986484,0.000160794105393,-2.43060447204e-05,2.42125274178e-05,1793247651796197376
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715.594739132,679.405260868,660,634,879,785,812,652,630.405260868,653,0.42531394467,-0.0155565482113,0.0499817539525,0.999999985782,0.000166155146313,-1.26129669375e-05,2.58537917824e-05,1793247651812864000
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.021563156,679.978436844,660,634,879,785,812,652,630.978436844,653,0.426265231681,-0.0155622665969,0.0500010517625,0.999999985658,0.000166003116664,1.78389128891e-05,2.84297653931e-05,1793247651829530624
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.432942064,879,785,812,651.432942064,630.432942064,653,0.42714436582,-0.0155570677591,0.0499940153895,0.999999986575,0.000159723925422,-2.17789452353e-05,2.93989215608e-05,1793247651846197248
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.845880893,745,715,680,660,633,879,785,812.154119107,651.154119107,630.154119107,653,0.428035066346,-0.0155515314315,0.0499796099191,0.999999984748,0.000160447342139,-6.25225556732e-05,2.91907774941e-05,1793247651862863872
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.264813701,745,715,680,660,633,879,785,812.735186299,651.735186299,630.735186299,653,0.428965622162,-0.0155462424224,0.0499476420079,0.999999978362,0.000181233240391,-9.87967811588e-05,2.58952258861e-05,1793247651879530496
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.312000344,744.687999656,715,680,660,633.312000344,879,785,813,652,630.687999656,653,0.429926611493,-0.0155450793605,0.0499394756796,0.99999997608,0.000192749562764,-0.000100292634949,2.50971746018e-05,1793247651896197376
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.885253003,744.114746997,715,680,660,633.885253003,879,785,813,652,630.114746997,653,0.430913084167,-0.015547371145,0.0499512395189,0.999999977705,0.000196504039627,-7.26669480424e-05,2.63903960114e-05,1793247651912864000
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.539086876,744.460913124,715,679.539086876,660,633.539086876,879,785,813,652,630,653,0.431841217695,-0.0155459692598,0.0499417918752,0.999999978858,0.000183241436372,-8.9453161193e-05,2.65627558322e-05,1793247651929530624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.961882019,715,679.038117981,660,633.038117981,879,785,813,652,630.038117981,653,0.43275603723,-0.0155438683021,0.049929463944,0.99999997916,0.000168078479324,-0.000112784841882,2.66276505454e-05,1793247651946197248
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.371014391,715,679.628985609,660,633.628985609,879,785,813,652,630.628985609,653,0.433689506065,-0.0155450346662,0.0499523468501,0.999999979628,0.000187114628449,-6.98586125516e-05,2.92018757617e-05,1793247651962863872
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.215754794,744.215754794,715,680.215754794,660.215754794,633.784245206,879.215754794,784.784245206,813,652,631,653,0.434614198616,-0.0155442117072,0.0499689513721,0.999999977621,0.00020452457437,-4.42471681367e-05,3.11341652155e-05,1793247651979530752
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.795607725,744.795607725,715,680.795607725,660.795607725,633.204392275,879.795607725,784.204392275,813,652,631,653,0.435524080856,-0.015540031656,0.0499749607775,0.999999974321,0.000219190216134,-4.78553733465e-05,3.19831530965e-05,1793247651996197376
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766.811954794,745,715,681,660.811954794,632,879.811954794,783,815,652,630,653.188045206,0.456616423211,-0.0155510924284,0.0498076267005,0.999999940413,0.000163984186143,-0.000303401723657,1.52065521006e-05,1793247653012864768
+241,4.016666667,POSE1_TO_POSE2_PRESS,766.232402613,745,715,681,660.232402613,632,879.232402613,783,815,652,630,653.767597387,0.456617774687,-0.0155509747435,0.0498077411338,0.999999940609,0.000164210643472,-0.000302616019673,1.55244219677e-05,1793247653029531392
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879.344289249,783,815,651.655710751,629.655710751,653.655710751,0.45661870707,-0.0155509040413,0.0498082967088,0.999999940888,0.000163269160899,-0.000302207680224,1.54043025576e-05,1793247653046198016
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,879.91906622,783,815,651.08093378,629.08093378,653.08093378,0.456619358886,-0.0155508647919,0.0498091476102,0.999999941221,0.000161545789807,-0.000302051971096,1.49909670352e-05,1793247653062865152
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,880,783,815,651.504834209,629.504834209,653,0.45661941552,-0.0155508599389,0.0498086348234,0.999999941048,0.000162328384959,-0.000302192920737,1.52802360048e-05,1793247653079532032
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660,632,880,783,815.091136454,651.908863546,630,653,0.456619303515,-0.0155508359617,0.0498080821038,0.999999940785,0.000163411574682,-0.000302458847311,1.56494467435e-05,1793247653096198656
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+247,4.116666667,HOLD_POSE2,766,745,715,681,660,632,880,783,815,652,630,653,0.456620493561,-0.0155493814387,0.0498088128442,0.999999940902,0.000163666599608,-0.000301969942917,1.49430609815e-05,1793247653151307520
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+250,4.166666667,HOLD_POSE2,766,744.744022715,715.744022715,681,660,632,880,783,815,652,629.744022715,653,0.456619645782,-0.0155475285174,0.0498074186436,0.999999939948,0.00016617618625,-0.000303749570047,1.50386278145e-05,1793247653201308160
+251,4.183333333,HOLD_POSE2,766,745,715.67131369,681,660,632,880,783,815,652,630,653,0.456619579019,-0.0155471305271,0.0498076289157,0.999999940138,0.00016511626591,-0.000303706297439,1.49675936148e-05,1793247653217974528
+252,4.200000000,HOLD_POSE2,766,745,715.090538942,681,660,632,880,783,815,652,630,653,0.456618507043,-0.0155480852728,0.0498070551678,0.999999940188,0.000162706458536,-0.000304833180083,1.50819413368e-05,1793247653234640384
+253,4.216666667,HOLD_POSE2,766.485919017,745,715,681,660,632,880,783,815,652,630,653,0.456618094354,-0.0155478728554,0.0498065889037,0.999999939906,0.000162365795348,-0.00030595768725,1.46857322582e-05,1793247653251306496
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+256,4.266666667,HOLD_POSE2,766,744.766846633,715,681.766846633,660,632.766846633,880,783.766846633,815.233153367,651.766846633,630,653.233153367,0.456620136203,-0.0155468793865,0.0498063697714,0.99999993985,0.000165037337444,-0.000304714662798,1.45617268679e-05,1793247653301305600
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+261,4.350000000,HOLD_POSE2,766.880225033,745,715,681,660.119774967,632,880.119774967,783.119774967,815,651.119774967,630,653,0.456621927622,-0.0155461642243,0.0498068209819,0.999999939524,0.000167101238263,-0.000304645970768,1.48232114422e-05,1793247653384638976
+262,4.366666667,HOLD_POSE2,766.289937916,745,715,681,660.710062084,632,880.710062084,783.710062084,815,651.710062084,630,653,0.456620792057,-0.0155460938813,0.0498064920771,0.999999939573,0.000166614841782,-0.000304763065829,1.46125547859e-05,1793247653401305344
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,744.09794665,715,681,660,632.90205335,880,783,815,652,629.09794665,653,0.45662133058,-0.0155477607844,0.0498070119823,0.999999939632,0.000165443037133,-0.000305181133184,1.5134881271e-05,1793247653521582592
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,744.48098554,715.48098554,681,660.48098554,633,880,783,815.48098554,652,629.48098554,653,0.456622253027,-0.0155478687857,0.0498079247279,0.999999940221,0.000164859053075,-0.00030355489534,1.53070044164e-05,1793247653538248960
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,716,680.364568775,660.364568775,632.364568775,879.364568775,783,815.364568775,652,630,653,0.456618310113,-0.0155456792407,0.0498057157084,0.999999938983,0.000165429696745,-0.000307343459247,1.43993449663e-05,1793247653571582464
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766.210610602,745,715.789389398,680.210610602,660,632,879.421221205,783,815,652,629.789389398,653,0.456611089971,-0.0155441510305,0.0498014325002,0.999999936825,0.000166048276476,-0.000313990292723,1.37075680327e-05,1793247653588249088
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,767,745,715,681,660.370054005,632,880.259891989,783,815,651.629945995,629,653,0.456571046367,-0.0155426006066,0.0497813680435,0.999999926943,0.000165309486731,-0.00034443017087,1.24379978648e-05,1793247653621582592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,767,745,715,681,660.962409099,632,879.075181802,783,815,651.037590901,629,653,0.456533257501,-0.0155417138089,0.0497638369021,0.999999916911,0.000164956778845,-0.000372625372011,1.08266121895e-05,1793247653638249216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766.459876548,745,715,681,660.459876548,632,879,783,815,651,629.540123452,653,0.456473314258,-0.0155368816093,0.0497410542035,0.999999901926,0.000167231509935,-0.000410008522783,8.59045683942e-06,1793247653654915584
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.699642658,715,679.699642658,660,633,878.699642658,785,811,651.699642658,630,653,0.428606038034,-0.0153448801137,0.0497729427652,0.999999935977,1.74495723323e-05,-0.000352884300828,-5.66922122762e-05,1793247654521582848
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_06/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fcf89ac8d9444eba2eed40fdcd8bdfb9f64334e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_06/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685723,1.03966588462
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+361,6.016666667,pose2_to_pose3_retreat,0.58619072022,-0.0100723170138,1.04004232319,0.556762512375,-0.00139785691802,1.03966569382
+362,6.033333333,pose2_to_pose3_retreat,0.585906129517,-0.0100722441324,1.04004247644,0.556477921229,-0.00139778510143,1.03966585756
+363,6.050000000,pose2_to_pose3_retreat,0.585640346669,-0.0100720834318,1.0400423268,0.55621213659,-0.00139763015954,1.03966571519
+364,6.066666667,pose2_to_pose3_retreat,0.58538632959,-0.0100721452484,1.04004237547,0.555958120455,-0.00139768888855,1.0396657612
+365,6.083333333,pose2_to_pose3_retreat,0.585142110467,-0.0100722695647,1.04004247121,0.555713903173,-0.00139780711693,1.03966585342
+366,6.100000000,pose2_to_pose3_retreat,0.584908925617,-0.0100722010899,1.04004237859,0.555480717754,-0.00139774042154,1.03966576422
+367,6.116666667,pose2_to_pose3_retreat,0.58469046208,-0.0100721258232,1.04004237779,0.555262253374,-0.00139766800362,1.03966576353
+368,6.133333333,pose2_to_pose3_retreat,0.584488254942,-0.0100722744267,1.04004237822,0.555060048841,-0.00139780766049,1.03966576654
+369,6.150000000,pose2_to_pose3_retreat,0.584309200844,-0.0100722723429,1.04004252687,0.554880992737,-0.00139781275372,1.03966590669
+370,6.166666667,pose2_to_pose3_retreat,0.584150407502,-0.0100720134593,1.04004252157,0.554722196226,-0.00139756454036,1.03966590335
+371,6.183333333,pose2_to_pose3_retreat,0.584012008597,-0.0100720857062,1.04004252475,0.554583798741,-0.00139763202976,1.03966590523
+372,6.200000000,pose2_to_pose3_retreat,0.58389079231,-0.0100721337445,1.04004245249,0.554462582716,-0.00139767926318,1.03966583102
+373,6.216666667,pose2_to_pose3_retreat,0.583786276243,-0.0100721274688,1.04004231784,0.554358066941,-0.00139767165651,1.03966570415
+374,6.233333333,pose2_to_pose3_retreat,0.583694302347,-0.0100721377547,1.04004224166,0.554266093707,-0.00139767955058,1.03966563151
+375,6.250000000,pose2_to_pose3_retreat,0.583613878398,-0.0100721907749,1.04004232002,0.554185670011,-0.0013977321256,1.03966570065
+376,6.266666667,pose2_to_pose3_retreat,0.583544186142,-0.0100721873357,1.04004252124,0.554115976217,-0.00139773391112,1.03966590171
+377,6.283333333,pose2_to_pose3_retreat,0.58348366818,-0.010071976672,1.04004262648,0.55405545554,-0.00139753247318,1.03966600646
+378,6.300000000,pose2_to_pose3_retreat,0.583431788429,-0.0100722341571,1.04004248767,0.554003580441,-0.00139777428308,1.03966586521
+379,6.316666667,pose2_to_pose3_retreat,0.583387810163,-0.0100723152074,1.0400425685,0.553959603968,-0.00139784934731,1.03966594383
+380,6.333333333,pose2_to_pose3_retreat,0.583351537902,-0.0100721896989,1.04004253678,0.553923330212,-0.00139772867432,1.03966591756
+381,6.350000000,pose2_to_pose3_retreat,0.583322875408,-0.0100720712119,1.04004241234,0.55389466584,-0.00139761625625,1.03966580004
+382,6.366666667,pose2_to_pose3_retreat,0.583300615467,-0.0100720566627,1.04004247265,0.553872404862,-0.0013976053172,1.03966585826
+383,6.383333333,pose2_to_pose3_retreat,0.583283839587,-0.0100720294969,1.04004229385,0.553855627933,-0.00139758185821,1.03966567605
+384,6.400000000,pose2_to_pose3_retreat,0.583271440833,-0.0100721838531,1.04004233428,0.553843233829,-0.00139772007884,1.03966572478
+385,6.416666667,pose2_to_pose3_retreat,0.583263324523,-0.0100722248814,1.04004239319,0.553835118485,-0.00139775811779,1.0396657771
+386,6.433333333,pose2_to_pose3_retreat,0.583257550796,-0.01007220976,1.04004244239,0.553829344003,-0.0013977460139,1.03966581581
+387,6.450000000,pose2_to_pose3_retreat,0.58325391389,-0.0100721392561,1.04004242857,0.553825705218,-0.0013976817355,1.03966580546
+388,6.466666667,pose2_to_pose3_retreat,0.583251439313,-0.0100721027247,1.04004242151,0.553823229545,-0.00139764884754,1.03966580011
+389,6.483333333,pose2_to_pose3_retreat,0.583249803365,-0.0100721413514,1.04004242972,0.553821593878,-0.00139768663187,1.03966580585
+390,6.500000000,pose2_to_pose3_retreat,0.583248812758,-0.0100721647408,1.04004243469,0.55382060344,-0.00139770951124,1.03966580932
+391,6.516666667,pose2_to_pose3_retreat,0.583248279891,-0.0100721773224,1.04004243736,0.553820070665,-0.00139772181848,1.03966581119
+392,6.533333333,pose2_to_pose3_retreat,0.583248178996,-0.0100721797047,1.04004243787,0.553819969787,-0.00139772414878,1.03966581155
+393,6.550000000,pose2_to_pose3_retreat,0.583248124362,-0.010072180479,1.04004243829,0.553819915158,-0.00139772490766,1.03966581192
+394,6.566666667,pose2_to_pose3_retreat,0.583248080755,-0.0100721761992,1.04004244005,0.553819871516,-0.00139772073601,1.03966581395
+395,6.583333333,pose2_to_pose3_retreat,0.583248053645,-0.0100721735384,1.04004244115,0.553819844384,-0.00139771814252,1.0396658152
+396,6.600000000,pose2_to_pose3_retreat,0.583247832373,-0.0100721518212,1.0400424501,0.553819622933,-0.00139769697445,1.03966582548
+397,6.616666667,pose2_to_pose3_retreat,0.583247132749,-0.0100720831553,1.0400424784,0.553818922743,-0.00139763004468,1.03966585798
+398,6.633333333,pose2_to_pose3_retreat,0.583246867071,-0.0100720570799,1.04004248915,0.553818656851,-0.00139760462855,1.03966587032
+399,6.650000000,pose2_to_pose3_retreat,0.583246735175,-0.0100720441347,1.04004249448,0.553818524848,-0.00139759201064,1.03966587645
+400,6.666666667,pose2_to_pose3_retreat,0.583246699655,-0.0100720406485,1.04004249592,0.553818489299,-0.00139758861261,1.0396658781
+401,6.683333333,pose2_to_pose3_retreat,0.583246522006,-0.0100720232128,1.04004250311,0.553818311507,-0.0013975716178,1.03966588635
+402,6.700000000,pose2_to_pose3_retreat,0.583246117056,-0.0100720433357,1.04004254578,0.553817907553,-0.00139758830016,1.03966593044
+403,6.716666667,pose2_to_pose3_retreat,0.583245985279,-0.0100720655665,1.04004256656,0.553817776447,-0.00139760824687,1.0396659514
+404,6.733333333,pose2_to_pose3_retreat,0.583245806411,-0.0100720957414,1.04004259476,0.553817598489,-0.00139763532151,1.03966597986
+405,6.750000000,pose2_to_pose3_retreat,0.583245627634,-0.0100721137581,1.04004263373,0.553817420289,-0.00139765137312,1.03966601901
+406,6.766666667,pose2_to_pose3_retreat,0.58324552432,-0.010072077115,1.04004269804,0.553817316017,-0.00139761798716,1.03966608317
+407,6.783333333,pose2_to_pose3_retreat,0.583245481006,-0.0100720617526,1.040042725,0.553817272301,-0.00139760399024,1.03966611006
+408,6.800000000,pose2_to_pose3_retreat,0.583245458539,-0.010072053784,1.04004273899,0.553817249626,-0.00139759673001,1.03966612401
+409,6.816666667,pose2_to_pose3_retreat,0.583245443709,-0.0100720563742,1.04004249737,0.553817235494,-0.00139759685719,1.03966588462
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fb284549d1dd5a38e5acadcc81fc7f1d3daac90
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a155cffc5e517ca3a901192bccd1b032b178b47ec4570fd25d7f7719eea7685a
+size 25737173
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aca401da937e675e576f9416b98420b48becc8c8
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+30,0.500000000,BASELINE,765,744.41467849,715.58532151,678.58532151,659,634,877,784,810,651.58532151,629,653,0.401000692236,-0.015491232962,0.069837642618,0.999999981497,6.80474107098e-05,-0.0001797448383,8.25534396041e-06,1793247657931441408
+31,0.516666667,BASELINE,765,744.989751339,715.010248661,678.010248661,659,634,877,784,810,651.010248661,629,653,0.401000237798,-0.0154907083904,0.0698372070901,0.999999981443,6.7898768467e-05,-0.000180094342413,8.3048470565e-06,1793247657948108288
+32,0.533333333,BASELINE,765.56447834,745,715,678.56447834,659,634,877,784,810,651,629,652.43552166,0.400999784991,-0.0154910812004,0.0698382049892,0.99999998134,6.84261832721e-05,-0.000180462058901,8.49502711657e-06,1793247657964775168
+33,0.550000000,BASELINE,766,745,715.14341192,679,659,634,877.14341192,784.14341192,809.85658808,651,629,652,0.400999257003,-0.0154914513367,0.0698385628567,0.999999981211,6.85570175734e-05,-0.000181114600884,8.63896872187e-06,1793247657981441792
+34,0.566666667,BASELINE,766,745,715.735526433,679,659,634,877.735526433,784.735526433,809.264473567,651,629,652,0.400998493697,-0.0154917621624,0.0698368368371,0.999999981009,6.74086629889e-05,-0.000182657261688,8.63025452075e-06,1793247657998108416
+35,0.583333333,BASELINE,765.683542408,745,716,679,659,634,878,785,809,651.316457592,629,652.316457592,0.40099811423,-0.0154918554865,0.069836369637,0.999999980962,6.71595683958e-05,-0.000183010478972,8.57044946098e-06,1793247658014775040
+36,0.600000000,BASELINE,765.111638452,745,716,679,659,634,878,785,809,651.888361548,629,652.888361548,0.400998044599,-0.0154917732421,0.0698369185631,0.999999981041,6.76363614472e-05,-0.000182403570863,8.4694035692e-06,1793247658031441664
+37,0.616666667,BASELINE,765,744.534477371,715.534477371,678.534477371,659.465522629,634,877.534477371,785,809.465522629,651.534477371,629,652.534477371,0.400999184642,-0.0154911415764,0.0698378519741,0.99999998121,6.82746664268e-05,-0.000181232076982,8.57301298128e-06,1793247658048108288
+38,0.633333333,BASELINE,765,744,715,678.044696916,659.955303084,634,877,785,810,651.044696916,629,652,0.401000394775,-0.0154903842483,0.0698386734579,0.999999981355,6.88596687047e-05,-0.000180202317714,8.70028744264e-06,1793247658064775168
+39,0.650000000,BASELINE,765,744,715,678.632845667,659.367154333,634,877,785,810,651.632845667,629,652,0.400998889662,-0.0154897193353,0.0698370001816,0.999999980966,6.83202712492e-05,-0.000182560869092,8.51174775057e-06,1793247658081441792
+40,0.666666667,BASELINE,765.218725112,744,715,679,659,634.218725112,877,785,810,652,629,652,0.400998097464,-0.0154895259952,0.0698364415621,0.999999980838,6.77932954644e-05,-0.000183458310461,8.39298883346e-06,1793247658098108416
+41,0.683333333,BASELINE,765.800834354,744,715,679,659,634.800834354,877,785,810,652,629,652,0.400998489683,-0.0154901161137,0.0698377348041,0.999999981152,6.72869567486e-05,-0.00018192830206,8.39016186641e-06,1793247658114775040
+42,0.700000000,BASELINE,765.620676722,744.379323278,715,678.620676722,659,634.620676722,877.379323278,785,810,652,629,652,0.400998946995,-0.0154906571387,0.0698379554412,0.999999981125,6.84041839482e-05,-0.000181657215083,8.4383336101e-06,1793247658131441664
+43,0.716666667,BASELINE,765.044070712,744.955929288,715,678.044070712,659,634.044070712,877.955929288,785,810,652,629,652,0.400999438161,-0.0154911726306,0.0698376182257,0.999999980919,7.03658136537e-05,-0.000182040882218,8.51302933908e-06,1793247658148108288
+44,0.733333333,BASELINE,765,744.470434812,715.529565188,678.529565188,659,634,877.470434812,785,810,651.470434812,629,652,0.400997839064,-0.0154929706564,0.0698366796488,0.999999980884,6.76156096717e-05,-0.000183262777591,8.6155261166e-06,1793247658164775168
+45,0.750000000,BASELINE,765,744.105805537,715.894194463,679,659,634,877,785,810,651.105805537,629,652,0.400996622613,-0.0154942569395,0.0698359726631,0.999999980893,6.51226811992e-05,-0.000184115125292,8.62780170351e-06,1793247658181441792
+46,0.766666667,BASELINE,765,744.695069371,715.304930629,679,659,634,877,785,810,651.695069371,629,652,0.400997945006,-0.015492719934,0.0698365512887,0.999999981078,6.55870566399e-05,-0.000182961927362,8.21731599026e-06,1793247658198108160
+47,0.783333333,BASELINE,765.27944422,745,715.27944422,679,659,634,877.27944422,785,809.72055578,652,628.72055578,652.27944422,0.400999056576,-0.0154917554703,0.0698372721693,0.999999981262,6.58830755171e-05,-0.000181857590408,8.01178616158e-06,1793247658214774784
+48,0.800000000,BASELINE,765.85857599,745,715.85857599,679,659,634,877.85857599,785,809.14142401,652,628.14142401,652.85857599,0.400999942051,-0.015491405024,0.0698381456099,0.999999981445,6.59985419031e-05,-0.000180805653846,8.02605945767e-06,1793247658231441664
+49,0.816666667,BASELINE,766,745,715.559345295,679,659,634,877.559345295,785,809.440654705,652,628.440654705,652.559345295,0.400999896801,-0.0154918452677,0.0698384930252,0.999999981551,6.48473170533e-05,-0.000180629943619,8.16237122257e-06,1793247658248108288
+50,0.833333333,BASELINE,765.977027755,744.977027755,715,679,659,634,877.022972245,785,810,651.977027755,629,652,0.400999498749,-0.0154924991452,0.069838618561,0.999999981605,6.34648830942e-05,-0.000180810815341,8.33064869693e-06,1793247658264775168
+51,0.850000000,BASELINE,765.411555156,744.411555156,715,679,659,634,877.588444844,785,810,651.411555156,629,652,0.400997870738,-0.0154921649703,0.0698375179817,0.999999981074,6.62874330126e-05,-0.000182726761885,8.32263467406e-06,1793247658281441792
+52,0.866666667,BASELINE,765,744,715,679,659,634,877.838402567,785,810,651.161597433,629,652,0.400997131665,-0.0154916285487,0.0698369288464,0.999999980756,6.85036762205e-05,-0.000183645463294,8.28549895766e-06,1793247658298108416
+53,0.883333333,BASELINE,765,744,715,679,659,634,877.24471472,785,810,651.75528528,629,652,0.400998769494,-0.0154905513463,0.069837707246,0.999999981036,6.90987343682e-05,-0.000181897661453,8.17049563997e-06,1793247658314775040
+54,0.900000000,BASELINE,765,744,715,679,659,634,877.337741593,785,810,652,629.337741593,652.337741593,0.401000153299,-0.0154904333355,0.069838531661,0.999999981288,6.89694932007e-05,-0.000180554041273,8.18561060664e-06,1793247658331441920
+55,0.916666667,BASELINE,765,744,715,679,659,634,877.912321857,785,810,652,629.912321857,652.912321857,0.401001358971,-0.0154909879503,0.0698393883441,0.999999981522,6.83323427362e-05,-0.000179493850419,8.29197001492e-06,1793247658348108544
+56,0.933333333,BASELINE,765,744.48920985,715,679,659,634,877.51079015,785,809.51079015,652,629.51079015,652.51079015,0.400999525324,-0.0154910903627,0.0698377917442,0.999999981213,6.76051535503e-05,-0.000181484259768,8.17608287504e-06,1793247658364775168
+57,0.950000000,BASELINE,765.067938719,745,715,678.932061281,659,634,877,785,809.067938719,652,629,652,0.400997496875,-0.0154910568869,0.0698361667478,0.999999980877,6.70272397179e-05,-0.000183546291047,8.05096074377e-06,1793247658381441792
+58,0.966666667,BASELINE,765.657612997,745,715,678.342387003,659,634,877,785,809.657612997,652,629,652,0.400998175447,-0.0154906051959,0.0698377162633,0.999999981123,6.77201989802e-05,-0.000181939744614,8.16225763454e-06,1793247658398108416
+59,0.983333333,BASELINE,765.757075953,744.757075953,715,678,659,634,877,785,810,651.757075953,628.757075953,652,0.400998831825,-0.0154906626367,0.0698383989158,0.999999981291,6.73127029327e-05,-0.000181164447307,8.14772887733e-06,1793247658414775040
+60,1.000000000,BASELINE,765.177806021,744.177806021,715,678,659,634,877,785,810,651.177806021,628.177806021,652,0.400999457475,-0.0154914250072,0.0698378813343,0.999999981353,6.53815471449e-05,-0.000181540074209,7.95898544064e-06,1793247658431441664
+61,1.016666667,BASELINE,765,744,715,678,659,634,877,785,810,651,628.397432762,652,0.401000705197,-0.0154915606726,0.0698380356406,0.999999981441,6.53230134206e-05,-0.000181075362957,7.94053208748e-06,1793247658448108544
+62,1.033333333,BASELINE,765,744,715,678,659,634,877,785,810,651,628.970886138,652,0.401002228432,-0.0154914187739,0.069838487522,0.999999981541,6.60938530269e-05,-0.000180238470893,7.9974992145e-06,1793247658464775168
+63,1.050000000,BASELINE,765,744,715,678.547103748,659,634,877,785,810.547103748,651.547103748,629,652,0.4010008764,-0.0154899435118,0.0698382811633,0.999999981319,6.90390973754e-05,-0.000180368354914,7.93855923664e-06,1793247658481441792
+64,1.066666667,BASELINE,765.126739715,744,715,679,659,634,877.126739715,785,810.873260285,651.873260285,629,652,0.400999471236,-0.0154888621091,0.0698379927347,0.999999981098,7.10754921028e-05,-0.000180804187039,7.90979178637e-06,1793247658498108416
+65,1.083333333,BASELINE,765.718372188,744,715,679,659,634,877.718372188,785,810.281627812,651.281627812,629,652,0.400998435272,-0.0154894870069,0.0698375324046,0.99999998097,6.93515541767e-05,-0.00018217259572,8.01443936099e-06,1793247658514775040
+66,1.100000000,BASELINE,765.696360466,744,715,679,659,634,877.696360466,785,810,651,629,652,0.400998344132,-0.0154901106118,0.0698375168541,0.999999980966,6.78585782225e-05,-0.000182754038903,8.05792392384e-06,1793247658531441408
+67,1.116666667,BASELINE,765.116875633,744,715,679,659,634,877.116875633,785,810,651,629,652,0.400999111327,-0.015490733042,0.0698379053694,0.999999981076,6.65754227807e-05,-0.000182620552932,8.04584414461e-06,1793247658548108032
+68,1.133333333,BASELINE,765,744.460028886,715,678.539971114,659.460028886,634,877,785,810,651.460028886,629,652.460028886,0.400998971157,-0.0154900833805,0.0698373895141,0.999999981004,6.77797915656e-05,-0.000182579327424,7.92202705988e-06,1793247658564774656
+69,1.150000000,BASELINE,765,745,715.036183038,678,659.963816962,634,877,785,810,652,629,652.963816962,0.400998619739,-0.0154892012351,0.0698367236036,0.999999980892,6.94807184931e-05,-0.000182556601539,7.78312519627e-06,1793247658581441536
+70,1.166666667,BASELINE,765,745,715.6108711,678,659.3891289,634,877,785,810,652,629,652.3891289,0.400998536122,-0.0154896422171,0.0698372249372,0.999999980927,6.92185871749e-05,-0.000182462297342,7.83985836366e-06,1793247658598108160
+71,1.183333333,BASELINE,765,745,715.809226221,678.190773779,659,634,877,785,810,652,629,652,0.400998083436,-0.0154899344902,0.0698372979494,0.999999980893,6.86599311738e-05,-0.000182856716341,7.90560837646e-06,1793247658614774784
+72,1.200000000,BASELINE,765,745,715.218388065,678.781611935,659,634,877,785,810,652,629,652,0.400996856794,-0.0154899149118,0.0698364727453,0.999999980713,6.74794445787e-05,-0.000184276017999,7.99026728057e-06,1793247658631441408
+73,1.216666667,BASELINE,765.364201229,745,715.364201229,679,659,634,877,785,810,652,629,652,0.400997760176,-0.0154896985863,0.0698370343354,0.999999980805,6.84437662447e-05,-0.000183417941353,7.91632350993e-06,1793247658648108288
+74,1.233333333,BASELINE,765.941953724,745,715.941953724,679,659,634,877,785,810,652,629,652,0.400999912507,-0.0154893668971,0.0698384090795,0.999999981052,7.06657073501e-05,-0.000181224512126,7.74938223904e-06,1793247658664775168
+75,1.250000000,BASELINE,765.48292456,745,715.48292456,679,659,634,877.51707544,785,810,651.48292456,629,652,0.40099957971,-0.015489960596,0.0698384848847,0.999999981079,6.98999160256e-05,-0.000181367429788,7.90729126757e-06,1793247658681441792
+76,1.266666667,BASELINE,765,744.905851967,715,679,659,634,877.905851967,784.905851967,810,651,629,652,0.400999037307,-0.0154905444732,0.0698383594034,0.999999981078,6.879156935e-05,-0.000181787726667,8.05979410188e-06,1793247658698108160
+77,1.283333333,BASELINE,765,744.316984099,715,679,659,634,877.316984099,784.316984099,810,651,629,652,0.400998852012,-0.0154905336305,0.06983793857,0.999999981065,6.76366983025e-05,-0.00018229436532,7.99323417517e-06,1793247658714774784
+78,1.300000000,BASELINE,765,744.267580295,715,679,659,634,877.267580295,784.267580295,810,651,629,652.267580295,0.40099918088,-0.0154906811067,0.0698376642777,0.999999981088,6.73462396835e-05,-0.000182279199777,7.92389110226e-06,1793247658731441408
+79,1.316666667,BASELINE,765,744.847127311,715,679,659,634,877.847127311,784.847127311,810,651,629,652.847127311,0.401000109204,-0.015491013164,0.0698375608349,0.999999981153,6.80635829789e-05,-0.000181655672718,7.85130321731e-06,1793247658748108032
+80,1.333333333,BASELINE,765,745,715,679,659,634,877.577135402,784.577135402,810,651.422864598,629,652.577135402,0.400999733689,-0.015490339463,0.069837535398,0.999999980992,6.99811883541e-05,-0.000181815083646,7.8896002799e-06,1793247658764774656
+81,1.350000000,BASELINE,765,745,715,679,659,634,877.002763053,784.002763053,810,651.997236947,629,652.002763053,0.400998891023,-0.0154893054099,0.0698375379097,0.999999980744,7.23288345376e-05,-0.000182255012626,7.96762619812e-06,1793247658781441536
+82,1.366666667,BASELINE,765.571175028,745,715,679,659,634,877.571175028,784.571175028,810,652,629,652,0.400999056619,-0.0154912561952,0.0698381197511,0.99999998117,6.8081710992e-05,-0.000181544674749,8.12162800056e-06,1793247658798108160
+83,1.383333333,BASELINE,765.849943528,744.849943528,715,679,659,634,877.849943528,785,810,652,629,652,0.400999458025,-0.0154924096467,0.0698387789361,0.999999981531,6.54296628757e-05,-0.000180527347233,8.2056770155e-06,1793247658814775040
+84,1.400000000,BASELINE,765.256447354,744.256447354,715,679,659,634,877.256447354,785,810,652,629,652,0.401000541887,-0.0154911642185,0.0698396584078,0.999999981731,6.7585508308e-05,-0.00017861924963,8.08191964886e-06,1793247658831441664
+85,1.416666667,BASELINE,765,744.328440352,715,679,659,634,877,785,809.671559648,651.671559648,629,652,0.401000102872,-0.0154900661946,0.0698388694895,0.999999981473,6.86506616542e-05,-0.000179658197491,7.94483822785e-06,1793247658848108288
+86,1.433333333,BASELINE,765,744.906778174,715,679,659,634,877,785,809.093221826,651.093221826,629,652,0.400998505158,-0.0154890803251,0.0698368111583,0.999999980864,6.88859497509e-05,-0.000182939437554,7.7976190603e-06,1793247658864774912
+87,1.450000000,BASELINE,765,744.517430627,715,679,659,634,877,785,809.482569373,651.482569373,629,652,0.40099913012,-0.0154900693818,0.0698374761362,0.999999981025,6.84046512019e-05,-0.000182226667511,7.95652272294e-06,1793247658881441536
+88,1.466666667,BASELINE,765,744.059092927,715,678.940907073,659,634,877,785,809.940907073,651.940907073,629,652,0.400999940496,-0.0154912797808,0.0698384803621,0.999999981275,6.79120992919e-05,-0.000181031727747,8.1478252496e-06,1793247658898108160
+89,1.483333333,BASELINE,765,744.646540023,715,678.353459977,659,634,877,785,809.353459977,651.353459977,629,652,0.400998589771,-0.0154910759944,0.0698378387705,0.999999980985,6.85501351969e-05,-0.000182387990773,8.10284275905e-06,1793247658914774784
+90,1.500000000,BASELINE,765,745,715,678,659,634,877,784.76934543,809.23065457,651,629,652,0.400997993921,-0.015491282747,0.0698376389258,0.999999980873,6.90445114524e-05,-0.000182814781065,8.12620711347e-06,1793247658931441408
+91,1.516666667,BASELINE,765,745,715,678,659,634,877,784.190265071,809.809734929,651,629,652,0.400998538382,-0.015492109658,0.069838106382,0.999999981031,6.93218760094e-05,-0.000181837513774,8.25281591813e-06,1793247658948108032
+92,1.533333333,BASELINE,765,744.612226865,715,678.387773135,659,634,877.77554627,784.387773135,810,651.387773135,629,652,0.400999328843,-0.0154912379812,0.069838323168,0.999999981111,6.98844087575e-05,-0.000181192907991,8.01036411189e-06,1793247658964774656
+93,1.550000000,BASELINE,765,744.03469858,715,678.96530142,659,634,878.93060284,784.96530142,810,651.96530142,629,652,0.401000239684,-0.0154895351077,0.0698384172896,0.999999981152,7.05864873831e-05,-0.000180711088629,7.58731406208e-06,1793247658981441280
+94,1.566666667,BASELINE,765,744,715,679,659,634,877.377958389,785,810,651.459319463,629,652,0.400999945662,-0.0154889514301,0.0698382463354,0.999999981058,7.124643289e-05,-0.000180965110849,7.66422454592e-06,1793247658998108160
+95,1.583333333,BASELINE,765,744,715,679,659,634,876.118630435,785,810,651,629,652.118630435,0.400999507978,-0.0154890196549,0.0698381422879,0.999999981025,7.09259356836e-05,-0.000181270893872,7.77458124735e-06,1793247659014774784
+96,1.600000000,BASELINE,765,744,715,679,659,634,876.70731106,785,810,651,629,652.70731106,0.400998806224,-0.0154913874504,0.0698383704833,0.999999981254,6.67312950923e-05,-0.000181595397229,7.89083352276e-06,1793247659031441408
+97,1.616666667,BASELINE,765,744,715,678.708659691,659,634,877.291340309,784.708659691,810,651,629,652.708659691,0.400998578459,-0.0154915940197,0.0698388132112,0.999999981395,6.55716312555e-05,-0.000181237152696,7.92073915005e-06,1793247659048108032
+98,1.633333333,BASELINE,765,744,715,678.129229953,659,634,877.870770047,784.129229953,810,651,629,652.129229953,0.400998819394,-0.0154896634784,0.0698394680776,0.99999998146,6.74130790723e-05,-0.000180203778599,7.86526160902e-06,1793247659064774400
+99,1.650000000,BASELINE,765,744.446976788,715.446976788,678.446976788,659,634,877.553023212,784.446976788,810,651.446976788,629,652,0.400998476517,-0.0154901815767,0.0698386393671,0.99999998132,6.69722372504e-05,-0.000181155010831,7.65126886185e-06,1793247659081441536
+100,1.666666667,BASELINE,765,745,715.977300609,678.977300609,659.022699391,634,877.022699391,785,810,652,629,652,0.400998036034,-0.0154913721156,0.0698374681977,0.999999981133,6.59376536212e-05,-0.0001825695438,7.41291868826e-06,1793247659098108416
+101,1.683333333,BASELINE,765,745,715.390620255,678.390620255,659.609379745,634,877.609379745,785,810,652,629,652,0.400999334143,-0.0154918063055,0.0698383692065,0.999999981322,6.64283427152e-05,-0.000181340973744,7.69991463412e-06,1793247659114775040
+102,1.700000000,BASELINE,765,744.806521426,715,678,660,634,878,785,810,652,629,652,0.401000032299,-0.0154920497221,0.0698390940928,0.999999981482,6.65224050509e-05,-0.000180410949455,7.89118633194e-06,1793247659131441664
+103,1.716666667,BASELINE,765,744.227565966,715,678,660,634,878,785,810,652,629,652,0.400999535137,-0.0154919130514,0.0698394680813,0.999999981589,6.58262483141e-05,-0.000180075732739,7.89174186435e-06,1793247659148108288
+104,1.733333333,BASELINE,765,744,715,678.35094828,659.64905172,634.35094828,877.64905172,785,810,651.64905172,629,652,0.400999258977,-0.0154912337293,0.0698395745158,0.999999981463,6.73275303423e-05,-0.000180208922806,8.07552651755e-06,1793247659164774912
+105,1.750000000,BASELINE,765,744,715,678.929176844,659.070823156,634.929176844,877.070823156,785,810,651.070823156,629,652,0.400999125941,-0.0154902029765,0.0698395076777,0.999999981181,7.025191233e-05,-0.000180645461315,8.37797357503e-06,1793247659181441536
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,715,678,659,633,877,785,810,651,629,652,0.401001421596,-0.015489967269,0.0698395805866,0.999999981354,6.81691319977e-05,-0.000180505252554,7.86347558306e-06,1793247659212673792
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.592222321,715,678.592222321,659,633.592222321,877,785,810,651,629,652.592222321,0.400999723592,-0.0154879985504,0.0698383959836,0.999999980931,7.13589195953e-05,-0.000181631105918,7.4984857154e-06,1793247659229341440
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.180379323,745,715.180379323,679,659,634,877,785,810,651.180379323,629.180379323,653,0.40099875559,-0.0154872791633,0.0698378793466,0.999999980767,7.27001556517e-05,-0.000182005670813,7.4296533546e-06,1793247659246008576
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.759548666,745,715.759548666,679,659,634,877,785,810,651.759548666,629.759548666,653,0.400999401507,-0.0154893218489,0.0698388394762,0.999999981191,6.99545386078e-05,-0.000180719256509,8.01557811088e-06,1793247659262674944
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.662207114,716,679,659,634,877.337792886,785,810,652,629.662207114,652.662207114,0.400999390566,-0.0154892844715,0.0698389304236,0.999999981099,7.02019335432e-05,-0.000181135556012,7.92562284333e-06,1793247659279341568
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.084619661,716,679,659,634,877.915380339,785,810,652,629.084619661,652.084619661,0.400998913329,-0.0154877704855,0.0698384043505,0.999999980639,7.25740270581e-05,-0.000182760588916,7.35586952269e-06,1793247659296008192
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744,715.510776097,678.510776097,659,634,877.510776097,785,810,652,629.489223903,652.489223903,0.400998902386,-0.0154887678077,0.069838338932,0.999999980789,7.22145932366e-05,-0.000182067855916,7.65500994569e-06,1793247659312674816
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.93567858,744.06432142,715.06432142,678.06432142,659,634,877.06432142,785,810,652,629.93567858,652.93567858,0.400998861807,-0.0154898442982,0.0698383754558,0.999999980955,7.17155111306e-05,-0.000181331436229,8.05069985393e-06,1793247659329341440
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.345062543,744.654937457,715.654937457,678.654937457,659,634,877.654937457,785,810,652,629.345062543,652.345062543,0.40099792383,-0.0154880413965,0.0698385991034,0.999999980402,7.39102584561e-05,-0.000183492895081,8.01600947919e-06,1793247659346007808
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,716,679,659,634,877.759954562,785,810,651.759954562,629,652,0.400998306286,-0.015487768842,0.0698390895033,0.999999979854,7.39439076928e-05,-0.000186440611416,7.98052827453e-06,1793247659362674688
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,716,679,659,634,877.182586792,785,810,651.182586792,629,652,0.401000544272,-0.0154896467984,0.0698399547551,0.999999979308,7.09406873311e-05,-0.000190493210921,7.943935764e-06,1793247659379341824
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.604600396,679,659,634,877,785,810,651.395399604,629,652,0.401013861656,-0.0154899436498,0.0698458761863,0.999999979652,7.11752009677e-05,-0.000188576811466,8.32765963666e-06,1793247659396008448
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715.026327835,679,659,634,877,785,810,651.973672165,629,652,0.401032303279,-0.0154895092377,0.0698541361088,0.999999980393,7.29071715592e-05,-0.000183899740674,8.90578051414e-06,1793247659412675328
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659.556952403,634,877,785,810,652,629,652.556952403,0.401078310985,-0.0154939318756,0.0698712779803,0.999999983835,7.01771663708e-05,-0.000165219648041,1.03835107055e-05,1793247659429341696
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.860047153,715.139952847,679,659.860047153,634,877,785,810,651.860047153,629,653,0.401130104794,-0.0154978095622,0.0698878689144,0.999999986953,6.84076429527e-05,-0.00014587550869,1.15979213324e-05,1793247659446008320
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.278682422,715.721317578,679,659.278682422,634,877,785,810,651.278682422,629,653,0.401196000795,-0.0154992377453,0.0699013859367,0.999999989449,7.03387707683e-05,-0.000126543662918,1.1846478308e-05,1793247659462674688
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.301075752,715.698924248,679,659.301075752,634,877,785,810,651.301075752,629,653,0.401268734579,-0.0155017492581,0.0699112040769,0.99999999103,6.99019065505e-05,-0.000113675604494,1.14735820645e-05,1793247659479341312
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.879354718,715.120645282,679,659.879354718,634,877,785,810,651.879354718,629,653,0.40134776397,-0.0155052582025,0.0699176166216,0.999999991982,6.72848101748e-05,-0.000106758815755,1.05285081107e-05,1793247659496007936
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.45524322,744.54475678,715.45524322,679,659.54475678,634.45524322,877,785,810,651.54475678,629,652.54475678,0.401441466706,-0.0155078796999,0.069920151673,0.999999992212,6.81874000101e-05,-0.000104159594416,8.83967167063e-06,1793247659512674560
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.03115855,716,679,659,634.96884145,877.03115855,785,810,651.03115855,629,652,0.401540325095,-0.0155102164903,0.0699215373805,0.999999992221,7.0028130763e-05,-0.000102986320744,6.90978028401e-06,1793247659529341184
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.618808446,716,679,659,634.381191554,877.618808446,785,810,651.618808446,629,652,0.40166217539,-0.0155116468724,0.0699206526178,0.999999991676,7.20519504454e-05,-0.000106951612787,4.17658266315e-06,1793247659546008064
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.796460582,745,715.796460582,679,659,634,877.796460582,785,810,651.796460582,629,652.203539418,0.401795143158,-0.0155139191982,0.069920800903,0.999999991389,7.33112772212e-05,-0.000108841071329,1.41937657328e-06,1793247659562674944
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.217118988,745,715.217118988,679,659,634,877.217118988,785,810,651.217118988,629,652.782881012,0.401948637503,-0.0155177460352,0.0699228565416,0.999999991609,7.31590929177e-05,-0.000106897843093,-1.38215691689e-06,1793247659579341312
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.638881172,715,679,659,634,877,785,810,651.361118828,629,652.638881172,0.40211890129,-0.0155194324083,0.0699233638974,0.999999991617,7.14050195549e-05,-0.000107884026483,-5.2585050088e-06,1793247659596007936
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.061304913,715,679,659,634,877,785,810,651.938695087,629,652.061304913,0.402299216824,-0.015519835771,0.0699229432007,0.999999991474,6.8690761435e-05,-0.000110626121761,-9.77910558756e-06,1793247659612674560
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744,715,678.487033121,659,634,877,785,810,651.487033121,629,652,0.40251984839,-0.0155211700854,0.069928376717,0.999999992568,6.46353245139e-05,-0.000102452919256,-1.38006936768e-05,1793247659629341184
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.089335835,744,715.089335835,678.089335835,659,634,877,784.910664165,810,651,629,652,0.402751714468,-0.0155217203439,0.0699345693581,0.999999993898,5.69843755156e-05,-9.29360174352e-05,-1.78694402482e-05,1793247659646007552
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.679666419,744,715.679666419,678.679666419,659,634,877,784.320333581,810,651,629,652,0.403019736277,-0.0155172536806,0.0699411207071,0.999999995837,3.00629411883e-05,-8.31524152118e-05,-2.25349572773e-05,1793247659662674432
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.735409284,744,716,679,659,634,877.264590716,784.264590716,810,651.264590716,629,652,0.403302331635,-0.0155134214379,0.0699464323273,0.999999996656,1.62792482579e-05,-7.53443761549e-05,-2.73175511251e-05,1793247659679341312
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.156899224,744,716,679,659,634,877.843100776,784.843100776,810,651.843100776,629,652,0.403602217528,-0.0155103418934,0.0699502730909,0.999999996875,1.80826162518e-05,-6.98802124856e-05,-3.22390485948e-05,1793247659696008448
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.420857817,716,679,659.420857817,634,877.579142183,785,810,651.579142183,629,652,0.403928451332,-0.0155126288092,0.0699521183475,0.999999996879,2.2694062206e-05,-6.83769294446e-05,-3.24129307785e-05,1793247659712674816
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.998334615,716,679,659.998334615,634,877.001665385,785,810,651.001665385,629,652,0.4042644903,-0.0155169128117,0.0699532209914,0.999999996787,2.83505126074e-05,-6.83476576065e-05,-3.08200245538e-05,1793247659729341184
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,716,679,660,634,877.581904428,785,810,651.581904428,629,652,0.404639114903,-0.015520274028,0.0699614465418,0.999999997973,1.20612525333e-05,-5.40120328545e-05,-3.14863073065e-05,1793247659746007808
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.835424741,715.835424741,679,659.835424741,634,878,785,810,652,629,652,0.405029388179,-0.0155227693271,0.0699681158148,0.999999998548,-4.24231773592e-07,-4.29120397251e-05,-3.25845088432e-05,1793247659762674176
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.255069694,715.255069694,679,659.255069694,634,878,785,810,652,629,652,0.405458913965,-0.0155230837322,0.0699708012902,0.999999998587,-3.13957201634e-06,-4.00910218548e-05,-3.47573939985e-05,1793247659779340800
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.323764469,715.323764469,679,659,634,877.676235531,785,810,652,629,652.323764469,0.405895585331,-0.015521033952,0.0699657173426,0.999999998069,1.09838947975e-07,-5.01964029332e-05,-3.66472703342e-05,1793247659796007680
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.901406106,715.901406106,679,659,634,877.098593894,785,810,652,629,652.901406106,0.40633785989,-0.015517130316,0.0699545410679,0.999999996753,8.03645880104e-06,-7.04379100318e-05,-3.83152279188e-05,1793247659812674304
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.522541774,679,659.477458226,634,877.477458226,785,810,652,629,652.522541774,0.406818601908,-0.0155153811879,0.0699382609151,0.999999994665,9.39161706406e-06,-9.45125058468e-05,-4.06030750655e-05,1793247659829340672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.94565316,715,679,659.94565316,634,878,785,810.05434684,651.94565316,629,652,0.407314019651,-0.0155144161033,0.0699234420142,0.999999992444,9.19640047736e-06,-0.000114853628137,-4.28529489853e-05,1793247659846007296
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.357331073,715,679,659.357331073,634,878,785,810.642668927,651.357331073,629,652,0.407875843642,-0.0155167977141,0.0699333012918,0.999999994911,7.05687491518e-06,-9.0761020475e-05,-4.34762022465e-05,1793247659862673664
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,715,678.772570693,659,634,878,785,810.772570693,651.227429307,629,652,0.408466546556,-0.0155196701846,0.0699451730027,0.99999999701,2.79659505875e-06,-6.35666146286e-05,-4.39436187769e-05,1793247659879340288
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,715,678.193320124,659,634,878,785,810.193320124,651.806679876,629,652,0.409101923623,-0.0155233019894,0.0699601578421,0.999999998515,-4.74438083396e-06,-3.15738903958e-05,-4.41699639828e-05,1793247659896006912
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.384596993,744.384596993,715,678.384596993,659.384596993,634,878,784.615403007,810,652,629,652,0.409719640639,-0.0155274260366,0.069959112953,0.999999998517,-1.04424064132e-05,-3.0751751602e-05,-4.37154063996e-05,1793247659912673792
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.961846141,744.961846141,715,678.961846141,659.961846141,634,878,784.038153859,810,652,629,652,0.410328511371,-0.0155317966576,0.069950038459,0.999999997926,-1.52172619187e-05,-4.55435695067e-05,-4.29197712958e-05,1793247659929340416
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.465434007,744.465434007,715,679,660,634,878,784.534565993,810.534565993,651.465434007,629,652.534565993,0.410986570406,-0.0155421227909,0.0699483106596,0.999999997373,-2.71806414055e-05,-5.20915135902e-05,-4.245325975e-05,1793247659946007040
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.110645025,744.110645025,714.889354975,679,659.889354975,634,878,784.889354975,810.889354975,651,629,652.889354975,0.411663061233,-0.0155523479388,0.0699532382169,0.999999997334,-3.81244652678e-05,-4.64374463647e-05,-4.14963513464e-05,1793247659962673664
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.70273539,744.70273539,714.29726461,679,659.29726461,634,878,784.29726461,810.29726461,651,629,652.29726461,0.412404605593,-0.0155602996369,0.0699848625103,0.999999998319,-4.24181875756e-05,9.77200693197e-06,-3.83042430693e-05,1793247659979340544
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.710612489,745,714.578775022,679.289387511,659.289387511,634,878,784.289387511,810,651,629,652.289387511,0.413169329574,-0.0155638748526,0.0700111562149,0.999999996696,-5.13799874159e-05,5.1688173243e-05,-3.60046726318e-05,1793247659996007168
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.129443528,745,715.741112945,679.870556472,659.870556472,634,878,784.870556472,810,651,629,652.870556472,0.413957425015,-0.0155630373827,0.0700320752375,0.99999999415,-6.50484817465e-05,7.91928190638e-05,-3.46050231763e-05,1793247660012673792
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.555388775,679.555388775,660,634,878,785,810.444611225,651,629,653,0.414677115804,-0.0155565127537,0.0700003166034,0.999999997567,-5.50230021917e-05,2.01789511955e-05,-3.78328973463e-05,1793247660029340416
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.017102812,745,715,679.017102812,660,634,878.017102812,785,811,651,629,653,0.415379280156,-0.0155486383096,0.0699539097895,0.999999996397,-3.88109197599e-05,-6.24589116535e-05,-4.24129989963e-05,1793247660046007040
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.605476136,745,715,679.605476136,660,634,878.605476136,785,811,651,629,653,0.416150760709,-0.0155501117921,0.0699224266128,0.999999992315,-4.27399537789e-05,-0.000106076815856,-4.78680584574e-05,1793247660062673920
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.808218528,879,785,811,651.191781472,629,653,0.416957723633,-0.0155524077021,0.069912128504,0.999999990402,-4.70541688695e-05,-0.000120110824446,-5.05488647723e-05,1793247660079340544
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.226122013,879,785,811,651.773877987,629,653,0.417836900489,-0.0155563774223,0.0699449464008,0.999999994775,-5.21523071117e-05,-7.39354716777e-05,-4.75834907223e-05,1793247660096007168
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.648104225,745,715,679.648104225,660,633,878.648104225,785,811,652,629.351895775,653,0.418731190221,-0.0155584795853,0.0699735476041,0.999999996635,-5.98889823681e-05,-3.23161971553e-05,-4.58147342799e-05,1793247660112674048
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.072677346,745,715,679.072677346,660,633,878.072677346,785,811,652,629.927322654,653,0.419635079915,-0.0155593954393,0.0699994702797,0.999999996574,-6.93017079067e-05,6.40896527073e-06,-4.48060929278e-05,1793247660129340672
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.501289073,633.501289073,878.501289073,785,811,652,630,653,0.420541744499,-0.0155601156326,0.0700229548099,0.999999995431,-7.39749186445e-05,4.23538966934e-05,-4.32728979759e-05,1793247660146007040
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.077103968,745,715.077103968,679.077103968,660.922896032,634,879,785,811,651.922896032,630,653,0.421439970892,-0.0155606625405,0.0700395811675,0.999999993852,-7.73779999816e-05,6.72048278455e-05,-4.23445588617e-05,1793247660162673664
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.666605759,745,715.666605759,679.666605759,660.333394241,634,879,785,811,651.333394241,630,653,0.422279454729,-0.0155602458395,0.0700129734994,0.999999995768,-7.68935273393e-05,2.1000981417e-05,-4.5939744102e-05,1793247660179340544
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.748402312,745,715.748402312,680,660,634,879,785,811,651,629.748402312,653,0.423109082858,-0.0155569122504,0.0699589890602,0.999999993578,-7.77084064349e-05,-6.36854742562e-05,-5.24447407332e-05,1793247660196007168
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.169281127,745,715.169281127,680,660,634,879,785,811,651,629.169281127,653,0.423925881193,-0.0155497815301,0.0698693662303,0.99999997512,-8.02147478e-05,-0.000198467621842,-6.27376560724e-05,1793247660212673792
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.6059611,785,811,651.3940389,629.3940389,653,0.42484591725,-0.0155495690368,0.0698606503322,0.999999973775,-8.1939360642e-05,-0.000203900606827,-6.45058364655e-05,1793247660229340416
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.049167648,785,811,651.950832352,629.950832352,653,0.425808594757,-0.0155522140611,0.0698853523875,0.999999982405,-8.33410869817e-05,-0.000155906968479,-6.27529442361e-05,1793247660246007040
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.542961845,745,715,680,660.542961845,634,878.542961845,785,811,651.457038155,630,653,0.426799909348,-0.0155537771427,0.069949454504,0.999999992847,-7.98551244746e-05,-6.8903927494e-05,-5.6408185011e-05,1793247660262673920
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.86272212,745,715,679.86272212,660.86272212,633.86272212,879,785,811.13727788,651,630.13727788,653,0.427784675674,-0.015555675966,0.0700095476767,0.999999995591,-7.78541922498e-05,1.35630507633e-05,-5.07166817992e-05,1793247660279340544
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.272484521,745,715,679.272484521,660.272484521,633.272484521,879,785,811.727515479,651,630.727515479,653,0.42873868326,-0.0155590283761,0.0700438210931,0.999999993076,-8.23153042755e-05,6.85958492253e-05,-4.86481724107e-05,1793247660296007168
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.688110653,745,715,679.311889347,660.311889347,633.311889347,879,785,812,651,630.688110653,653,0.429673272619,-0.0155606307233,0.0700504793992,0.999999991663,-8.75813412426e-05,8.12026556066e-05,-4.90868697489e-05,1793247660312674048
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.108765171,745,715,679.891234829,660.891234829,633.891234829,879,785,812,651,630.108765171,653,0.430591210114,-0.0155607323295,0.0700334567709,0.999999992641,-9.35376296725e-05,5.74276722454e-05,-5.16755856051e-05,1793247660329340672
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.466560856,745,715,680,660.533439144,634,879,785,812,651,630,653,0.43141950028,-0.0155533421294,0.069957381646,0.999999991653,-8.86531197494e-05,-7.38767797946e-05,-5.81082458293e-05,1793247660346007296
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.041904713,744.958095287,715,680,660,634,879,785,812,651,630,653,0.43223584758,-0.0155451029016,0.0698757097702,0.999999971436,-8.18117225632e-05,-0.000215015206942,-6.48393014142e-05,1793247660362673664
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.62957982,744.37042018,715,680,660,634,879,785,812,651,630,653,0.433166510501,-0.0155483581216,0.0698989084787,0.999999981701,-8.21172586894e-05,-0.00016054094211,-6.38854410306e-05,1793247660379340288
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.785889699,744.214110301,715,680,660.214110301,633.785889699,879.214110301,785,812.214110301,651,630,653,0.434105800082,-0.0155525616114,0.0699379841508,0.999999990744,-8.42648601329e-05,-8.76409440786e-05,-6.10739716157e-05,1793247660396006912
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.206720718,744.793279282,715,680,660.793279282,633.206720718,879.793279282,785,812.793279282,651,630,653,0.435059798294,-0.0155583819047,0.0700041300953,0.999999994333,-8.95531880306e-05,1.66749913752e-05,-5.50952730753e-05,1793247660412673536
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.37159152,879.62840848,784.62840848,813,651,630,653,0.435979648696,-0.0155626747974,0.0700350952988,0.999999991639,-9.71159240611e-05,6.7469470798e-05,-5.23326924461e-05,1793247660429340416
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.949428205,879.050571795,784.050571795,813,651,630,653,0.436880545914,-0.0155661199337,0.0700465340632,0.999999989148,-0.00010594102928,8.85578263118e-05,-5.13551605515e-05,1793247660446007296
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,744.47673143,715,680,660.47673143,633.47673143,879,784.52326857,813,651,630,653,0.437723271939,-0.0155651726285,0.0700158912643,0.999999990649,-0.000110662597814,5.88481932419e-05,-5.4702710921e-05,1793247660462673664
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.099512742,744.099512742,715,680,660.099512742,633,879,785,813,651,630,653,0.438538387451,-0.0155630434575,0.069975079765,0.999999991862,-0.000112924061494,9.12274954033e-06,-5.86556640381e-05,1793247660479340288
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.689493704,744.689493704,715,680,660.689493704,633,879,785,813,651,630,653,0.439244918236,-0.0155571656592,0.0699040429669,0.999999985828,-0.000105000269781,-0.000115240921057,-6.35478747066e-05,1793247660496006912
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.725573105,745,715,680.274426895,660.725573105,633,879,784.725573105,813,651,630.274426895,653,0.439992265723,-0.0155536082688,0.0698644428275,0.999999976453,-0.000100262315791,-0.000180618832086,-6.64748198997e-05,1793247660512673792
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.146248205,745,715,680.853751795,660.146248205,633,879,784.146248205,813,651,630.853751795,653,0.440784961967,-0.0155526289342,0.0698597699349,0.999999976551,-9.90639423057e-05,-0.000180461467428,-6.72182860284e-05,1793247660529340416
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680.56789684,660,633,879,784,813,651,630.56789684,653,0.441631634687,-0.0155590188224,0.0699202260705,0.999999989178,-0.000103039177969,-8.46698066464e-05,-6.21103520627e-05,1793247660546007296
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.010049661,660.010049661,633,879,784,813,651,630.010049661,653,0.442494699328,-0.0155678058085,0.0700017330422,0.999999991685,-0.000108866580038,4.17075532906e-05,-5.51320185799e-05,1793247660562673920
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.583725269,660.583725269,633,879,784,813,651,630.583725269,653,0.443254805898,-0.0155714634118,0.070030354235,0.999999988661,-0.000120586234585,7.22025859554e-05,-5.40759106353e-05,1793247660579340544
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784.161824195,813.161824195,651,630.838175805,653.161824195,0.443986197584,-0.0155740312612,0.0700430642557,0.999999986909,-0.000129883575982,8.00989358392e-05,-5.38186428698e-05,1793247660596007168
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784.751621506,813.751621506,651,630.248378494,653.751621506,0.44464164777,-0.0155737170617,0.0700136943334,0.999999989237,-0.000132774678297,2.82290213576e-05,-5.56740510871e-05,1793247660612673536
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715.336105052,681,661,633,879.336105052,784.663894948,814,651,630,653.663894948,0.445284784496,-0.0155730907839,0.0699851497933,0.999999989701,-0.000131239849282,-1.12965083439e-05,-5.69801218445e-05,1793247660629340160
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715.916722856,681,661,633,879.916722856,784.083277144,814,651,630,653.083277144,0.445918963273,-0.0155722374727,0.0699572057115,0.99999998945,-0.000126485203505,-4.18416298838e-05,-5.78865555273e-05,1793247660646006784
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715.50868955,681,661,633,879.50868955,784,814,651,630.49131045,653,0.446510093426,-0.015570962785,0.0699410592507,0.999999988252,-0.000124872920366,-6.64741098841e-05,-5.90302942192e-05,1793247660662673408
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784.066446689,814,651,630.933553311,653,0.447089860777,-0.0155696267864,0.0699271285755,0.999999986383,-0.000124013192342,-9.07459911427e-05,-6.01630720948e-05,1793247660679340288
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784.653799734,814,651,630.346200266,653,0.447637058847,-0.0155683632752,0.0699150819937,0.999999983148,-0.000124928182646,-0.000119952366346,-6.08984181962e-05,1793247660696007168
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715.237813325,681.237813325,661,633,879,784.762186675,814,651.237813325,630.237813325,653,0.448183255297,-0.0155679775729,0.0699123211151,0.99999998195,-0.000123972091433,-0.000130508594811,-6.08209991471e-05,1793247660712673792
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715.817032727,681.817032727,661,633,879,784.182967273,814,651.817032727,630.817032727,653,0.448728013769,-0.0155688520578,0.0699228908425,0.999999984454,-0.000120329865652,-0.000114290570895,-5.95767701045e-05,1793247660729340416
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715.605950933,681.605950933,661,633,879,784,814.394049067,652,631,653,0.449246855848,-0.0155733546321,0.0699403675249,0.99999998715,-0.000121877187761,-8.69353084388e-05,-5.73381886121e-05,1793247660746007040
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715.029951793,681.029951793,661,633,879,784,814.970048207,652,631,653,0.449753731218,-0.0155795324577,0.0699610334582,0.99999998911,-0.00012582075573,-5.44374835167e-05,-5.46404699807e-05,1793247660762673664
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.546961361,745,715,681.546961361,661,633,879.546961361,784,815,651.453038639,630.453038639,653,0.450179317141,-0.015584532361,0.0699521787395,0.99999998681,-0.000136486712606,-6.79820309371e-05,-5.59429206504e-05,1793247660779340288
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681.872898376,661,633,879.872898376,784,814.872898376,651.127101624,629.872898376,653,0.45058414503,-0.0155891009359,0.0699349685588,0.99999998307,-0.000146846387578,-9.47289306961e-05,-5.76331256799e-05,1793247660796006912
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.281143696,661,633,879.281143696,784,814.281143696,651.718856304,629.281143696,653,0.450929387274,-0.0155923288823,0.0698931324619,0.99999997335,-0.00015473835989,-0.000160507785849,-5.99387308976e-05,1793247660812673536
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.697401632,744.697401632,715,681.302598368,661,633,879,784,814.302598368,651.697401632,629.302598368,653,0.451267143856,-0.0155937205879,0.0698607566742,0.999999964181,-0.000155556462486,-0.000208881557636,-6.17115448067e-05,1793247660829340416
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.120912072,744.120912072,715,681.879087928,661,633,879,784,814.879087928,651.120912072,629.879087928,653,0.451598124913,-0.0155934502545,0.069836943709,0.999999957608,-0.000149971785477,-0.000241501443609,-6.30021127211e-05,1793247660846007808
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,744.454242587,715,682,660.545757413,632.545757413,879.454242587,783.545757413,815,651,630,653,0.451917416374,-0.0155950342316,0.069829815913,0.999999956859,-0.000148640063235,-0.000245239946896,-6.35984915501e-05,1793247660862674432
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.02963364,745,715,682,660,632.02963364,879.97036636,783,815,651,630,653,0.452231606194,-0.0155971521435,0.0698272920921,0.999999957712,-0.000148787568062,-0.00024154665729,-6.39753302522e-05,1793247660879340800
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.616124577,745,715,682,660,632.616124577,879.383875423,783,815,651,630,653,0.452508228769,-0.0156000554122,0.0698280692646,0.999999956538,-0.00015552100375,-0.000242240039387,-6.36888404794e-05,1793247660896007936
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.79981334,745,715,681.79981334,660.20018666,632.79981334,879,783,815,651,630,653,0.452766750548,-0.0156022605914,0.0698252264132,0.999999953925,-0.000162114403996,-0.000248553209917,-6.39606538301e-05,1793247660912674560
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.220353026,745,715,681.220353026,660.779646974,632.220353026,879,783,815,651,630,653,0.452990978526,-0.0156031431698,0.0698155250647,0.999999948433,-0.000168442492301,-0.000265513631673,-6.52902283192e-05,1793247660929341184
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.205771664,632,879.205771664,781.794228336,815,651,629.205771664,653,0.454545524215,-0.0156078634097,0.0697523547952,0.999999914162,-0.000171926365168,-0.000372261729509,-5.9491281408e-05,1793247662021594880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.754740111,745,715,682.377370055,660.377370055,632,879,781.622629945,815,651.377370055,629.377370055,653,0.45450870928,-0.0156055132277,0.0697391112322,0.99999990539,-0.000172496803885,-0.000394674146924,-6.08013794265e-05,1793247662038261504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766.928215021,745,715,682.96410751,660.96410751,632,879,781.03589249,815,651.96410751,629.96410751,653,0.454462647896,-0.0156013106601,0.069722801485,0.99999989393,-0.000172639910545,-0.000422378266149,-6.26995928187e-05,1793247662054928128
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766.456389507,745,715,683,660.456389507,632,879.543610493,781,815,652,629.456389507,653,0.454402666779,-0.0155970920046,0.0697091513908,0.999999888593,-0.000167748632578,-0.000436728185243,-6.27890022718e-05,1793247662071595008
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.877540522,660.122459478,632,879.877540522,781.122459478,815,652,629.122459478,653,0.454338715505,-0.0155931974032,0.0696974335031,0.999999883913,-0.000163562412567,-0.000448884710812,-6.26382978729e-05,1793247662088261376
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.299370911,660.700629089,632,879.299370911,781.700629089,815,652,629.700629089,653,0.454263365232,-0.0155905126084,0.0696922610538,0.999999880734,-0.000163220655291,-0.000456117020929,-6.20326478154e-05,1793247662104928256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.733365466,632,879,782,814.733365466,651.733365466,630,653,0.454181394092,-0.0155875641188,0.0696909866281,0.999999880288,-0.000163190522909,-0.000457244705557,-6.09946279089e-05,1793247662121594880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.180421799,632,879,782,814.180421799,651.180421799,630,653,0.454092313544,-0.0155843324768,0.069693897856,0.999999882796,-0.000163495009821,-0.000451817312274,-5.94923342086e-05,1793247662138261504
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.586498619,745.413501381,715,682,660.413501381,632,879,782,814.413501381,651,630,653,0.453985523843,-0.0155787770691,0.0696974177371,0.999999885937,-0.000159193009655,-0.000446704429182,-5.69081347998e-05,1793247662154928384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.025833663,745.974166337,714.974166337,682,660.974166337,632,879.025833663,782,814.974166337,651,629.974166337,653,0.453868772351,-0.0155721060251,0.0697011238868,0.999999889218,-0.000152761995011,-0.00044195930848,-5.38447064282e-05,1793247662171595008
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.607234478,745.392765522,714.392765522,682,660.392765522,632,879.607234478,782,814.392765522,651,629.392765522,653,0.453722239916,-0.0155656462134,0.0697024963093,0.999999890017,-0.00014852506286,-0.000441847279468,-5.17439818491e-05,1793247662188261632
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.813848244,745,714.186151756,682,660,632,880,781.813848244,814,651,629.186151756,653,0.453564710214,-0.0155579316791,0.0697019976429,0.999999889671,-0.00014307970389,-0.00044466932254,-4.95515576902e-05,1793247662204928256
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.240102113,745,714.759897887,682,660,632,880,781.240102113,814,651,629.759897887,653,0.453384282658,-0.0155476046349,0.0696976031039,0.999999886882,-0.000135118229312,-0.000453600520074,-4.7168202252e-05,1793247662221594880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,814,651,630,653,0.453182682873,-0.0155391300127,0.0696926588873,0.999999884581,-0.000128150446707,-0.000460936199063,-4.41979840704e-05,1793247662238261504
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,814,651,630,653,0.452965846776,-0.0155319884586,0.0696873191027,0.999999882636,-0.000121897759582,-0.000467123686741,-4.08054382145e-05,1793247662254928128
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.499924243,745,715,682,660.499924243,632,879.500075757,781.499924243,814.499924243,651.499924243,630,653,0.452712045055,-0.0155193772593,0.069684291259,0.999999881633,-0.000110637991933,-0.000472322081455,-3.74827047353e-05,1793247662271594752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632,879,782,814.909552826,652,630,653,0.452446677984,-0.0155062874597,0.0696811906342,0.999999880344,-9.86463642641e-05,-0.000477936694183,-3.40172825584e-05,1793247662288261632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,632,879,782,814.333388196,652,630,653,0.452156239828,-0.015496107693,0.0696753827551,0.999999877233,-8.77412628586e-05,-0.000486777477083,-2.97156482002e-05,1793247662304928256
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.758246311,745,715,682,660.758246311,632.241753689,879.241753689,782.241753689,814,652,630.241753689,653,0.451851491432,-0.0154862270473,0.0696739912353,0.999999877783,-5.70083385593e-05,-0.00049047013773,-2.49556085673e-05,1793247662321594624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.184508925,745,715,682,660.184508925,632.815491075,879.815491075,782.815491075,814,652,630.815491075,653,0.451527091787,-0.0154767571646,0.0696786643981,0.999999881178,9.52769236979e-07,-0.000487093234941,-1.95660727332e-05,1793247662338260992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,783,813.598438084,651.598438084,631,653,0.451167314555,-0.0154723104704,0.069684248501,0.999999883165,1.99495688074e-05,-0.000482776293768,-1.41426323084e-05,1793247662354927872
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,880,783,813.006520739,651.006520739,631,653,0.450790767028,-0.0154702449566,0.0696902644235,0.999999885504,2.04758213151e-05,-0.000478013739688,-8.70312000518e-06,1793247662371594752
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.573183884,745,715,682,660.573183884,633,879.426816116,783,813,651,630.426816116,653,0.450390943351,-0.0154745661158,0.0697044108543,0.999999893724,1.50450486445e-05,-0.000460784958754,-1.61825360272e-06,1793247662388261376
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.84815754,661,633,879.15184246,783,813,651,630,653,0.449980949286,-0.0154772554382,0.0697181202922,0.999999901226,1.75560461685e-05,-0.000444087281554,5.21015785659e-06,1793247662404928256
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.272041785,661,633,879.727958215,783,813,651,630,653,0.449543261969,-0.0154751863534,0.0697303556402,0.999999906903,4.24430903866e-05,-0.000429261602496,1.12707795572e-05,1793247662421594880
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.370940653,745,715,682,660.629059347,633,879,784,812,651,631,653,0.446928474519,-0.0154434938962,0.0697696078824,0.999999931747,6.74901475138e-05,-0.000363050223344,1.20601994643e-05,1793247662504928768
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.784246312,744.215753688,715,681.215753688,660.215753688,633,879.784246312,784,812,651,630.215753688,652.215753688,0.445662673811,-0.0154304674151,0.0697281716677,0.999999909077,7.66506291128e-05,-0.000419375733821,9.71916142151e-06,1793247662538261760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.641809318,744.358190682,715,681.358190682,660,633,879.641809318,784,812,651,630.358190682,652.358190682,0.445032296628,-0.0154318652652,0.0697354111311,0.99999991638,7.28243147495e-05,-0.000402282465654,1.02263585937e-05,1793247662554928640
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.069113441,744.930886559,715,681.930886559,660,633,879.069113441,784,812,651,630.930886559,652.930886559,0.444405454194,-0.0154370427655,0.0697583649721,0.999999932505,6.70361232665e-05,-0.000361021684744,1.26394787536e-05,1793247662571596032
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.887438112,745,715,681.112561888,660,633,879,784,812,650.112561888,630,652.887438112,0.442995489857,-0.0154359487888,0.0698066264494,0.999999957773,6.89167374659e-05,-0.000281797024702,1.71830793386e-05,1793247662604928768
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.138191043,633,879,784.861808957,811,651,630,652.138191043,0.42385774854,-0.0153717137759,0.0698311413524,0.999999944564,0.000190971120593,-0.00027208014321,1.93568103115e-05,1793247662971595008
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,744.552051949,715,681,659,633,878.552051949,784.552051949,811,651,630,652.447948051,0.422895228575,-0.0153681956886,0.0697765772566,0.999999913533,0.000195260668195,-0.000366857086002,1.49523550685e-05,1793247662988261376
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.962938922,744,715,680.962938922,659,633.037061078,878.037061078,784.037061078,811,651,629.962938922,652.962938922,0.421922682479,-0.0153637501937,0.0697141627923,0.999999865989,0.000201289066397,-0.000476864091634,1.02976856147e-05,1793247663004928000
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.382094898,744,715,680.382094898,659,633.617905102,878.617905102,784.617905102,811,651,629.382094898,652.382094898,0.420992101051,-0.0153632399737,0.0696864576234,0.99999984425,0.00020519147659,-0.000518971434674,8.02784943228e-06,1793247663021594880
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744,715,680.1965991,659.1965991,634,878.8034009,784.8034009,811,651,629.1965991,652,0.420110741344,-0.0153647794369,0.0696974891797,0.999999855678,0.000203521205433,-0.000497137615877,8.84266179546e-06,1793247663038261504
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744,715,680.771159774,659.771159774,634,878.228840226,784.228840226,811,651,629.771159774,652,0.419324010183,-0.0153702594136,0.069782992047,0.999999919527,0.00019113745821,-0.000352376977737,1.55877074714e-05,1793247663054928128
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.352505167,744,715,680.647494833,660,634,878.352505167,784.352505167,810.647494833,651,629.647494833,652,0.41854111031,-0.01537057184,0.0698426416492,0.999999946876,0.000197697729721,-0.000258241325991,2.17787059151e-05,1793247663071594752
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.938341487,744,715,680.061658513,660,634,878.938341487,784.938341487,810.061658513,651,629.061658513,652,0.417760746502,-0.0153674637474,0.0698851783848,0.999999956593,0.000216797478092,-0.000197615509766,2.76029676526e-05,1793247663088261376
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.48173966,744,715,680,659.48173966,634,878.48173966,785,810.51826034,651,629.51826034,652.51826034,0.416916561433,-0.0153665668333,0.0698595096716,0.999999947585,0.000219435340248,-0.000236764631833,2.49194040549e-05,1793247663104928000
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.902854265,785,810.902854265,651,630,653,0.416067803274,-0.0153658807064,0.0698263242859,0.999999934904,0.000220436040232,-0.000284870224488,2.12059069773e-05,1793247663121594624
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.325636199,785,810.325636199,651,630,653,0.415233545005,-0.015364950893,0.0697956407563,0.999999924047,0.000222915484809,-0.000319237901624,1.73482761617e-05,1793247663138261248
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.251089281,715,680,659,633.748910719,877,785,810.251089281,651,629.748910719,652.748910719,0.414394506609,-0.0153629013572,0.0697663388086,0.999999906729,0.000226577163821,-0.000367399665569,1.4875494145e-05,1793247663154927872
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.827177138,715,680,659,633.172822862,877,785,810.827177138,651,629.172822862,652.172822862,0.413549281099,-0.0153594025039,0.0697388251203,0.999999879116,0.000231769072823,-0.00043341586634,1.41951978624e-05,1793247663171594752
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.407842399,744.592157601,715,679.592157601,659,633.407842399,877.407842399,784.592157601,810.592157601,651,629,652,0.412844424769,-0.0153576356835,0.0697537579011,0.999999891978,0.000228410364171,-0.000404556746603,1.43826384816e-05,1793247663188261376
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.990469399,744.009530601,715,679.009530601,659,633.990469399,877.990469399,784.009530601,810.009530601,651,629,652,0.412199724867,-0.0153566111413,0.0697868815031,0.999999919257,0.000221387209685,-0.000335037942649,1.49419556074e-05,1793247663204928256
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744,715,679.574708134,659,633.425291866,878,784.574708134,810,651,629.574708134,652.574708134,0.411571266661,-0.0153606987972,0.0698431302989,0.99999994629,0.000220747559626,-0.000241402884289,2.03944843674e-05,1793247663221594880
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.842775001,659,633.157224999,878,785,810,651,629.842775001,653,0.410927880914,-0.0153635532661,0.0698804739276,0.999999958476,0.000222774868755,-0.000181218661677,2.40586938331e-05,1793247663238261504
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744,715,679.264936118,659,633.735063882,878,785,810,651,629.264936118,653,0.41024383776,-0.0153628812327,0.0698662129752,0.999999950524,0.000231652928735,-0.000211596196058,2.27210347559e-05,1793247663254928128
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.688546128,744,715,679,659,634,878,784.688546128,810,651,629,652.688546128,0.409564535381,-0.0153604230953,0.0698362085848,0.999999937034,0.000235054859554,-0.000265146207048,1.94382235936e-05,1793247663271594752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.113382956,744,715,679,659,634,878,784.113382956,810,651,629,652.113382956,0.408889247076,-0.0153564526564,0.0697928741602,0.99999991533,0.000233820127491,-0.000338316448405,1.45084440153e-05,1793247663288261632
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.472404245,744,715,679.472404245,659,634,877.527595755,784,810,651,629,652,0.408296594775,-0.0153550294213,0.0697705686492,0.999999904256,0.000231756576186,-0.000370994389743,1.18103094756e-05,1793247663304928256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,744,715,679.940035212,659,633.940035212,877,784,810,651,629,652,0.407730461301,-0.015354527091,0.069757350371,0.99999989833,0.000229741698432,-0.00038788839366,1.00649055318e-05,1793247663321594880
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.359722331,659,633.359722331,877,784,810,651,629,652,0.407218378937,-0.0153565887921,0.0697781820584,0.999999910809,0.000229915102961,-0.000354090844045,1.18320463921e-05,1793247663338261760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.781508507,744,715,679,659,633.218491493,877.218491493,784,809.781508507,651,629,652,0.40671551809,-0.0153576783385,0.0697954313324,0.999999919004,0.000230578847446,-0.000329609047097,1.35341797199e-05,1793247663354928384
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.20671772,744,715,679,659,633.79328228,877.79328228,784,809.20671772,651,629,652,0.406227695042,-0.0153571825685,0.0698068386772,0.999999921662,0.000232042201324,-0.000320318674266,1.5130303557e-05,1793247663371595008
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.367012198,744,715,679.367012198,658.632987802,634,878.367012198,784,809,651,629,652.367012198,0.405752612734,-0.0153544761674,0.0698037419356,0.999999917218,0.000235989958681,-0.000331136315571,1.49021236105e-05,1793247663388261632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.940146362,744,715,679.940146362,658.059853638,634,878.940146362,784,809,651,629,652.940146362,0.405284685854,-0.0153505282282,0.0697924993871,0.999999908394,0.000241333010665,-0.000353247050353,1.36493754521e-05,1793247663404928256
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744,714.469174574,679.469174574,658,634,878.469174574,784,809.530825426,651.530825426,629,652.469174574,0.404905746928,-0.0153512713826,0.0698025958046,0.999999915986,0.000239753011727,-0.000332196146421,1.38781145637e-05,1793247663421594880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.879566829,744,714.120433171,679.120433171,658.120433171,634,877.879566829,784.120433171,810,651.879566829,629,652,0.404545180073,-0.0153526700557,0.0698165245948,0.999999925426,0.000237253335904,-0.000304384395604,1.44529419092e-05,1793247663438261760
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.301796393,744,714.698203607,679.698203607,658.698203607,634,877.301796393,784.698203607,810,651.301796393,629,652,0.404214974325,-0.0153544807138,0.0698355572801,0.999999935969,0.00023432690393,-0.000270011547032,1.56859866367e-05,1793247663454928384
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.725578259,659,634,877,784.725578259,809.725578259,651,629,652,0.403888014755,-0.0153551549985,0.0698444283017,0.999999940773,0.00023276673606,-0.00025299045334,1.64027293218e-05,1793247663471594752
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.151057707,659,634,877,784.151057707,809.151057707,651,629,652,0.403564605123,-0.0153545865815,0.069842186853,0.99999994029,0.000232700671191,-0.000254944684434,1.65548605987e-05,1793247663488261376
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.434358521,659,634,877,784,809.434358521,651,629,652,0.403261807486,-0.0153515148327,0.0698323421024,0.999999933416,0.000243944285134,-0.000270989472333,1.49807521331e-05,1793247663504928000
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.023314804,744.023314804,715,679.976685196,658.976685196,634,877.023314804,784,809.976685196,651,629,652,0.402968060802,-0.0153476990553,0.0698201063733,0.999999924049,0.000258291888334,-0.000291585070565,1.28313904298e-05,1793247663521594624
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.603984434,744.603984434,715,679.396015566,658.396015566,634,877.603984434,784,809.396015566,651,629,652,0.402714911468,-0.0153474442627,0.0698155508474,0.999999923339,0.000250397703064,-0.000300811780724,1.16509506039e-05,1793247663538261248
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.816977933,745,715,679,658.183022067,634,877.816977933,784,809,651,629,652,0.402475334464,-0.0153474253786,0.0698104959485,0.999999922137,0.000244573010387,-0.000309507943322,1.07414870028e-05,1793247663554928128
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.241440413,745,715,679,658.758559587,634,877.241440413,784,809,651,629,652,0.402264865178,-0.0153479124319,0.0698043700775,0.99999992011,0.000243186624148,-0.000317066274164,1.04131685356e-05,1793247663571594752
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.659950126,634,877.340049874,784.340049874,809,651,629,652,0.402073253966,-0.0153467045357,0.0698003309734,0.999999917369,0.000244756377876,-0.000324425122706,1.02606083256e-05,1793247663588261376
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.074157918,634,877.925842082,784.925842082,809,651,629,652,0.401895270813,-0.0153442717579,0.0697977999031,0.999999914088,0.00024846243201,-0.000331639813035,1.02350625211e-05,1793247663604927744
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.505699117,744.494300883,715,679,658,634,877.494300883,784.494300883,809,651,629,652,0.401749589779,-0.0153432563628,0.0697978515168,0.999999914066,0.000249830856549,-0.000330679227544,1.01988147513e-05,1793247663621594624
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,744.084627989,715,679,658.084627989,634,877.084627989,784.084627989,809,651,629,652,0.401612562097,-0.0153428932237,0.0697980855538,0.999999914551,0.000250283516771,-0.000328870256366,1.00624498682e-05,1793247663638261504
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,744.663160816,715,679,658.663160816,634,877.663160816,784.663160816,809,651,629,652,0.401498712069,-0.0153451377865,0.0697971995142,0.999999915232,0.000247369042676,-0.000329025541214,9.35083565015e-06,1793247663654928128
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.759535071,744.759535071,715,679,659,634,877.759535071,785,809,651,629,652,0.401396216915,-0.0153466872285,0.0697970771764,0.999999916139,0.000244404040953,-0.00032851061579,8.31579022333e-06,1793247663671595008
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.183943402,744.183943402,715,679,659,634,877.183943402,785,809,651,629,652,0.401309546621,-0.0153472679073,0.0697980191808,0.999999917363,0.000241368620988,-0.000327061644031,6.8299911823e-06,1793247663688261632
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.399816325,715.399816325,679,659,634,877,785,809.399816325,651,629,652,0.401236515793,-0.0153462322734,0.0697993171418,0.999999917683,0.000243493297812,-0.000324512170324,6.10236546338e-06,1793247663704928256
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.987412285,715.987412285,679,659,634,877,785,809.987412285,651,629,652,0.401169890944,-0.0153444375143,0.0698007822832,0.999999917558,0.000248041490302,-0.000321445829674,5.7308270725e-06,1793247663721594880
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.569395826,744.430604174,715.430604174,679,659,634,877.569395826,784.430604174,809.430604174,651,629,652,0.401120351826,-0.0153444121147,0.0698000724313,0.99999991612,0.000251152476847,-0.000323488644231,6.14187680765e-06,1793247663738261504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.850804229,744,715,679.149195771,658.850804229,634,877.850804229,784.149195771,809,651.149195771,629,652,0.401075595838,-0.0153445729923,0.0697995916951,0.999999915371,0.000252784133177,-0.000324524606966,6.49474224762e-06,1793247663754928128
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.951571753,744,715,679,658.048428247,634,877,784,809.048428247,651.048428247,629,652,0.400970072695,-0.0153449562613,0.0698034435909,0.99999991846,0.000251466862164,-0.000315914677514,6.5351978368e-06,1793247663838261248
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.204840805,658.795159195,634,877,784.204840805,809.795159195,652,629,652,0.400960280025,-0.0153471955404,0.069805648919,0.999999920598,0.000249036711058,-0.000311032451661,6.54008157509e-06,1793247663871594496
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59e85c561e042e40312695ec70bf41e13ba5f133
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8936639b618d3f9da8e000b09af36c76df8b8960
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:059703b35581bfc3f2eb9024009a58669541383bec8244758e1993a919d11996
+size 25803520
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee6064fef4ce9444177d0099f3fd31c5e00fd170
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,408 @@
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+10,0.166666667,BASELINE,765.800527493,744.199472507,715,679,659,634.199472507,877.199472507,785,809.199472507,651.199472507,629,652,0.400954001716,-0.0153523877051,0.0698148792136,0.999999925638,0.00024546096499,-0.00029738828967,5.74213344401e-06,1793247664549283072
+11,0.183333333,BASELINE,765.617608117,744.382391883,715.382391883,679,658.617608117,634,877,785,809,651.382391883,629.382391883,652,0.400955637823,-0.0153530071572,0.0698160307188,0.999999926649,0.000244399834663,-0.000294853697839,5.69370756255e-06,1793247664565949440
+12,0.200000000,BASELINE,765.039350965,744.960649035,715.960649035,679,658.039350965,634,877,785,809,651.960649035,629.960649035,652,0.400958181939,-0.0153533906122,0.0698177944917,0.999999928013,0.000243551544614,-0.000290903779298,5.68641055166e-06,1793247664582616320
+13,0.216666667,BASELINE,765,744.462106344,715.462106344,679,658.537893656,634,877,785,809,651.462106344,629.462106344,652,0.400956957707,-0.0153524599858,0.0698171492704,0.999999927209,0.00024428803871,-0.0002930412811,5.65154885776e-06,1793247664599283712
+14,0.233333333,BASELINE,765,744,715,679,659,634,877,784.885518214,809,651,629,652,0.400955638984,-0.0153515645817,0.0698164863019,0.999999926427,0.000244891417792,-0.000295201117208,5.59375383876e-06,1793247664615950848
+15,0.250000000,BASELINE,765,744,715,679,659,634,877,784.311269492,809,651,629,652,0.400955045862,-0.0153511959917,0.0698164585051,0.999999926387,0.000244495453975,-0.000295665491485,5.45194040263e-06,1793247664632617216
+16,0.266666667,BASELINE,765,744,715,679.270557247,659,634,877,784.270557247,809,651,629,652,0.400955107443,-0.0153516750524,0.0698163960232,0.999999926471,0.000244513399181,-0.000295367533445,5.48121293168e-06,1793247664649283840
+17,0.283333333,BASELINE,765,744,715,679.861353501,659,634,877,784.861353501,809,651,629,652,0.400955943949,-0.0153531574158,0.069816292487,0.999999926699,0.000245021258528,-0.000294167257855,5.71298752861e-06,1793247664665950720
+18,0.300000000,BASELINE,765,744,715,679.557478539,659,634,877,784.557478539,809,651,629,652,0.400956054625,-0.0153532169886,0.0698164549357,0.999999926761,0.000244726143676,-0.000294203556687,5.60902715032e-06,1793247664682617600
+19,0.316666667,BASELINE,765,744,715,679,658.979311456,634,877.020688544,784,809,651,629,652,0.400955991288,-0.0153528682423,0.0698167221026,0.999999926794,0.000244194367529,-0.000294536392733,5.41627680134e-06,1793247664699284480
+20,0.333333333,BASELINE,765,744,715,679,658.402447231,634,877.597552769,784,809,651,629,652,0.400957233301,-0.0153532712406,0.0698176118084,0.999999927415,0.0002439196346,-0.00029264748686,5.60417411003e-06,1793247664715951104
+21,0.350000000,BASELINE,765,744,715,679,658,634,877.822823225,784,809,651,629,652,0.400957910491,-0.0153531667989,0.0698180403956,0.999999927649,0.000243993204581,-0.000291782124515,5.63551904009e-06,1793247664732617728
+22,0.366666667,BASELINE,765,744,715,679,658,634,877.23683142,784,809,651,629,652,0.400957284418,-0.0153518914977,0.0698174050044,0.999999926999,0.0002448704435,-0.000293278471392,5.30563733698e-06,1793247664749284352
+23,0.383333333,BASELINE,765,744.345382887,715,678.654617113,658.345382887,634,877,784,809,651,629,652,0.400956558724,-0.0153508758563,0.0698169289387,0.999999926411,0.000246113553352,-0.000294241771315,5.22912518701e-06,1793247664765950720
+24,0.400000000,BASELINE,765,744.925035017,715,678.074964983,658.925035017,634,877,784,809,651,629,652,0.400955765457,-0.015350036339,0.0698165609415,0.999999925865,0.000247604829342,-0.000294843511762,5.32447066107e-06,1793247664782617088
+25,0.416666667,BASELINE,765.502510752,744.497489248,715,678.502510752,659,634,877,784,809,651,629,652,0.400955811656,-0.0153506434493,0.0698165886237,0.99999992595,0.000247343933109,-0.00029477275466,5.42603199241e-06,1793247664799283712
+26,0.433333333,BASELINE,766,744,715,679,658.920857832,634,877,784,809,651,629,652,0.400955978378,-0.0153514101815,0.0698166363851,0.99999992618,0.000246590582989,-0.00029462195283,5.48123199631e-06,1793247664815950336
+27,0.450000000,BASELINE,766,744,715,679,658.34748002,634,877,784,809,651,629,652,0.400956119069,-0.0153518318412,0.069816442506,0.999999926731,0.000244387223753,-0.000294595089861,5.2411439199e-06,1793247664832616960
+28,0.466666667,BASELINE,765.767282126,744,715,678.767282126,658,634,877,784.232717874,808.767282126,651,629,652,0.400956141439,-0.0153519198718,0.0698166392356,0.999999927113,0.000243153313158,-0.000294319346498,5.12330876185e-06,1793247664849283584
+29,0.483333333,BASELINE,765.176593497,744,715,678.176593497,658,634,877,784.823406503,808.176593497,651,629,652,0.400955981806,-0.0153514947084,0.0698174368062,0.999999927244,0.000243410625771,-0.000293660770908,5.19352522328e-06,1793247664865950464
+30,0.500000000,BASELINE,765,744,715,678.40633379,658,634,877,784.59366621,808.40633379,651,629,652,0.400957811509,-0.0153516868144,0.0698181022242,0.999999927855,0.00024321550784,-0.000291734920277,5.2014383605e-06,1793247664882617088
+31,0.516666667,BASELINE,765,744,715,678.985951187,658,634,877,784.014048813,808.985951187,651,629,652,0.400960489575,-0.015352142159,0.0698187112848,0.999999928666,0.000242827448043,-0.000289268632228,5.18278185028e-06,1793247664899283968
+32,0.533333333,BASELINE,765,744,715,679,658.560616438,634,877,784,809,651,629,652,0.40095869883,-0.0153522496789,0.06981791896,0.999999927593,0.000244619623535,-0.000291456393464,5.4116616134e-06,1793247664915950592
+33,0.550000000,BASELINE,765,744,715,679,659,634,877,784,809,651,629,652,0.400956864744,-0.0153521105104,0.0698171801111,0.999999926693,0.000245886851648,-0.00029347019756,5.4474056542e-06,1793247664932616960
+34,0.566666667,BASELINE,765,744,715,679,659,634,877,784,809,651,629,652,0.400955250634,-0.0153511974774,0.0698167282709,0.999999926532,0.000245271484393,-0.000294542664447,4.83530120505e-06,1793247664949283840
+35,0.583333333,BASELINE,765,744,715,679,659,634,877,784.309544343,809,651.309544343,629,652,0.400954635804,-0.0153514101803,0.0698166733238,0.999999926636,0.000244406377987,-0.00029490612132,4.86946516783e-06,1793247664965950208
+36,0.600000000,BASELINE,765,744,715,679,659,634,877,784.888917456,809,651.888917456,629,652,0.400954892041,-0.0153526041835,0.0698169643471,0.999999926972,0.000243323574729,-0.000294651536657,5.46697907585e-06,1793247664982616832
+37,0.616666667,BASELINE,765,744,715,679,658.533848463,634,877,784.533848463,809,651.533848463,629,652,0.40095568517,-0.0153535942024,0.0698175331269,0.999999927546,0.00024218294793,-0.000293641539557,5.45486414451e-06,1793247664999283712
+38,0.633333333,BASELINE,765,744,715,679,658.042853939,634,877,784.042853939,809,651,629,652,0.4009564853,-0.0153543876591,0.0698180341896,0.999999928053,0.000241298374691,-0.000292643897739,5.32134133818e-06,1793247665015950848
+39,0.650000000,BASELINE,765,744,715,679,658.619254494,634,877,784.619254494,809,651,629,652,0.400955786967,-0.0153533362802,0.0698168718445,0.999999927045,0.000243772529409,-0.000294031065049,5.47668300793e-06,1793247665032617728
+40,0.666666667,BASELINE,765,744,715,679,659,634,877.199635958,785,809.199635958,651,629,652,0.400955213663,-0.0153528369354,0.0698160061777,0.99999992659,0.000244664497812,-0.000294836354217,5.47446116409e-06,1793247665049284096
+41,0.683333333,BASELINE,765,744,715,679,659,634,877.787764251,785,809.787764251,651,629,652,0.400954883667,-0.0153534118512,0.0698157178482,0.999999927221,0.00024247752547,-0.000294509306223,5.16562011267e-06,1793247665065950976
+42,0.700000000,BASELINE,765,744,715,679,659,634,878,785,810,651,629,652,0.400955592354,-0.0153539010667,0.0698165316058,0.999999927459,0.000242255614265,-0.000293881360375,5.2885440954e-06,1793247665082617600
+43,0.716666667,BASELINE,765,744,715,679,659,634,878,785,810,651,629,652,0.4009568875,-0.0153543418942,0.0698179676217,0.999999927476,0.000243143212187,-0.000293083522167,5.65525043497e-06,1793247665099283968
+44,0.733333333,BASELINE,765.52338404,744,715,679,659,634,877.47661596,784.47661596,809.47661596,651,629,652.52338404,0.400955882669,-0.0153541080998,0.0698168468422,0.999999926828,0.000244103381927,-0.0002944945413,5.59120963416e-06,1793247665115950336
+45,0.750000000,BASELINE,765.898649867,744,715,679,658.898649867,634,877.101350133,784.101350133,809,651,629,652.898649867,0.400954925247,-0.0153535892087,0.0698158150088,0.999999926265,0.000245098232284,-0.000295578118487,5.49651191795e-06,1793247665132616704
+46,0.766666667,BASELINE,765.31098653,744,715,679,658.31098653,634,877.68901347,784.68901347,809,651,629,652.31098653,0.400955303615,-0.0153520274092,0.0698164420294,0.999999926446,0.000246224521387,-0.000294026119225,5.46227843533e-06,1793247665149283328
+47,0.783333333,BASELINE,765,744,715,679,658.272868444,634,877.727131556,785,809,651,628.727131556,652,0.400956058155,-0.0153514836273,0.0698171771173,0.99999992694,0.000245678474648,-0.000292801300742,5.37735739562e-06,1793247665165949696
+48,0.800000000,BASELINE,765,744,715,679,658.85244287,634,877.14755713,785,809,651,628.14755713,652,0.400957235514,-0.0153520841038,0.0698180336739,0.999999927785,0.000243252711232,-0.000291944235473,5.23546319385e-06,1793247665182616320
+49,0.816666667,BASELINE,765.431261197,744,715,679,658.568738803,634,877,784.568738803,809,651,628.431261197,652,0.4009566488,-0.0153537685648,0.069817818978,0.999999928052,0.000241724906889,-0.00029229421683,5.43932474575e-06,1793247665199283200
+50,0.833333333,BASELINE,766,744,715,679,658.009747787,634,877,784,809,651.009747787,629,652,0.400955461791,-0.0153557659329,0.0698172327142,0.999999928104,0.000240566643352,-0.000293065417155,5.75240052652e-06,1793247665215949824
+51,0.850000000,BASELINE,766,744,715,679,658.583980701,634,877,784,809,651.583980701,629,652,0.400954403965,-0.0153544432799,0.0698163176651,0.999999927126,0.00024304735212,-0.00029435477061,5.55124807143e-06,1793247665232616448
+52,0.866666667,BASELINE,765.837734614,744,715,679,659,634,877,784.162265386,809,651.837734614,629.162265386,652,0.400953890089,-0.0153536841766,0.0698158096663,0.999999926681,0.000244114183912,-0.000294986332306,5.32402156668e-06,1793247665249283072
+53,0.883333333,BASELINE,765.248795915,744,715,679,659,634,877,784.751204085,809,651.248795915,629.751204085,652,0.400954806519,-0.015354406915,0.0698163719973,0.99999992765,0.000241463256725,-0.000293888244764,5.0282339262e-06,1793247665265949696
+54,0.900000000,BASELINE,765,744,715,679,659,634,877.334314886,784.665685114,809,651,629.665685114,652,0.400955346643,-0.0153548171033,0.0698168073661,0.999999928263,0.00023979814298,-0.000293165115561,4.91476655851e-06,1793247665282616320
+55,0.916666667,BASELINE,765,744,715,679,659,634,877.913162871,784.086837129,809,651,629.086837129,652,0.400955611519,-0.0153549986784,0.069817149869,0.999999928621,0.0002388540981,-0.000292716247975,4.93465653625e-06,1793247665299282688
+56,0.933333333,BASELINE,765.489184718,744,715,679,659,634,877.510815282,784.489184718,809,651.489184718,629,652.489184718,0.400954823422,-0.0153544160045,0.0698168858932,0.999999927575,0.000241659411538,-0.000293978410512,5.23382421448e-06,1793247665315950336
+57,0.950000000,BASELINE,766,744.064566606,715,679,659,634,877,785,809,652,629,652.935433394,0.400954224756,-0.0153537782361,0.0698166859012,0.999999926526,0.000244681109677,-0.0002950406421,5.51627132407e-06,1793247665332617984
+58,0.966666667,BASELINE,766,744.638833808,715,679,659,634,877,785,809,652,629,652.361166192,0.400956588579,-0.0153537703537,0.0698178360028,0.999999927499,0.000244187085752,-0.000292140639785,5.27761138027e-06,1793247665349283840
+59,0.983333333,BASELINE,765.780511513,744.780511513,715,679,658.780511513,634,877,785,809,651.780511513,629,652,0.400957977477,-0.0153534318597,0.069818700412,0.999999928209,0.000243919878906,-0.000289928250876,5.21984536859e-06,1793247665365950208
+60,1.000000000,BASELINE,765.189031165,744.189031165,715,679,658.189031165,634,877,785,809,651.189031165,629,652,0.400957714062,-0.0153525330411,0.0698190806263,0.999999928482,0.000244037084431,-0.000288881237391,5.46866064047e-06,1793247665382617088
+61,1.016666667,BASELINE,765,744.394306109,715,679,658.394306109,634,877,785,809.394306109,651,629,652,0.400957078252,-0.015353297009,0.0698185410923,0.999999928334,0.000242906041323,-0.000290347403998,5.27732404964e-06,1793247665399283456
+62,1.033333333,BASELINE,765,744.973818532,715,679,658.973818532,634,877,785,809.973818532,651,629,652,0.400956267527,-0.0153548419908,0.0698175695507,0.999999927979,0.0002411886935,-0.000292994016029,4.87924729535e-06,1793247665415950080
+63,1.050000000,BASELINE,765,744.452098719,715,679,658.452098719,634,877,784.452098719,809.452098719,651,629,652,0.400955255213,-0.0153548672738,0.0698168173252,0.999999927805,0.000241264324443,-0.00029352498922,4.96175141053e-06,1793247665432617216
+64,1.066666667,BASELINE,765,744.12477111,715.12477111,679,658,634,877,784.12477111,809,651,629,652,0.400954663619,-0.0153545832886,0.0698164036299,0.999999927725,0.000241481658148,-0.00029361633272,5.06190946523e-06,1793247665449284352
+65,1.083333333,BASELINE,765,744.712946394,715.712946394,679,658,634,877,784.712946394,809,651,629,652,0.400955670015,-0.0153534177331,0.0698172087059,0.999999927964,0.000241910194049,-0.000292446665419,5.14318061915e-06,1793247665465950976
+66,1.100000000,BASELINE,765,744.703191003,715.703191003,679,658.296808997,634,877,785,809,651,629.296808997,652,0.400956319259,-0.0153535572397,0.0698178469264,0.999999928075,0.000242623520851,-0.000291468156052,5.40790007979e-06,1793247665482617344
+67,1.116666667,BASELINE,765,744.123439628,715.123439628,679,658.876560372,634,877,785,809,651,629.876560372,652,0.400956628035,-0.0153549408371,0.0698183260868,0.999999928065,0.000243608333381,-0.000290671873977,5.8474973204e-06,1793247665499283712
+68,1.133333333,BASELINE,765,744,715,679,659,634,877,784.54574184,809.45425816,651.45425816,629.54574184,652,0.400956004231,-0.0153548112702,0.0698181130255,0.999999927796,0.000243785808303,-0.00029145513489,5.48933512407e-06,1793247665515950336
+69,1.150000000,BASELINE,765,744,715,679,659,634,877.031205162,784,809.968794838,651.968794838,629,652,0.400955256579,-0.0153542605778,0.0698177531702,0.999999927514,0.000243695745697,-0.000292507632927,4.94174194149e-06,1793247665532616448
+70,1.166666667,BASELINE,765,744,715,679,659,634,877.604757777,784,809.395242223,651.395242223,629,652,0.400956741045,-0.0153535049708,0.0698180965662,0.999999928238,0.000242751630884,-0.000290813132877,4.85256075082e-06,1793247665549283072
+71,1.183333333,BASELINE,765,744,715,679,659,634,877.816465474,784.183534526,809,651,629,652,0.400957661094,-0.0153527238006,0.069818389105,0.999999928489,0.000242898617465,-0.00028982793227,4.76934825555e-06,1793247665565949952
+72,1.200000000,BASELINE,765,744,715,679,659,634,877.226108816,784.773891184,809,651,629,652,0.400957330058,-0.0153518859672,0.0698185689137,0.999999927692,0.000245464136264,-0.000290414962563,4.69936593717e-06,1793247665582616832
+73,1.216666667,BASELINE,765.356633379,744,715,679,658.643366621,634,877,784.643366621,809,651.356633379,629,652,0.400956686588,-0.0153523261338,0.0698182058426,0.999999927589,0.000244972595143,-0.000291183543018,4.82190442656e-06,1793247665599283712
+74,1.233333333,BASELINE,765.93464882,744,715,679,658.06535118,634,877,784.06535118,809,651.93464882,629,652,0.400955849173,-0.0153535596257,0.0698175057761,0.999999927913,0.000242583367712,-0.000292064821664,5.06395123239e-06,1793247665615950848
+75,1.250000000,BASELINE,765.488741624,744,715,679,658,634,877.511258376,784.511258376,809,652,629,652.511258376,0.40095557571,-0.0153542252366,0.0698176474014,0.999999928164,0.000241447416439,-0.000292147386472,5.06101724361e-06,1793247665632616960
+76,1.266666667,BASELINE,765,744,715,679,658.087837643,634,877.912162357,785,809,651.912162357,629,652.912162357,0.400955531822,-0.0153546843631,0.0698179571198,0.999999928367,0.000240803002033,-0.000291982625062,5.05161865696e-06,1793247665649283328
+77,1.283333333,BASELINE,765,744,715,679,658.665246944,634,877.334753056,785,809,651.334753056,629,652.334753056,0.400956366809,-0.0153543961003,0.0698186057102,0.99999992836,0.000242007780139,-0.000291006842491,5.18024461422e-06,1793247665665949952
+78,1.300000000,BASELINE,765,744,715,679,658.752677736,634,877,785,809,651,629,652,0.400956402713,-0.01535368651,0.0698183912756,0.999999928121,0.000242758105079,-0.000291206850273,5.046650265e-06,1793247665682616832
+79,1.316666667,BASELINE,765,744,715,679,658.164165525,634,877,785,809,651,629,652,0.400955336253,-0.0153523956833,0.069816986267,0.999999927561,0.000242881495453,-0.00029302890317,4.55131357212e-06,1793247665699283456
+80,1.333333333,BASELINE,765,744,715,679,658.417321185,634,877,785,809,651,629,652,0.400956084243,-0.0153522569437,0.069817093881,0.999999927775,0.000242518848679,-0.000292599568806,4.5538976889e-06,1793247665715950336
+81,1.350000000,BASELINE,765,744,715,679,658.996090012,634,877,785,809,651,629,652,0.400957534183,-0.0153525639082,0.0698177866781,0.999999928287,0.000241968170357,-0.000291299247982,4.74911071206e-06,1793247665732616960
+82,1.366666667,BASELINE,765,744,715,679,659,634,877,785,809,651.571124848,629,652,0.40095726748,-0.0153541665331,0.0698179887347,0.999999928439,0.000241522736033,-0.00029114124706,5.13841510702e-06,1793247665749283840
+83,1.383333333,BASELINE,765,744,715,679,658.85057231,634,877.14942769,785,809,651.85057231,629,652,0.400957230145,-0.0153551057817,0.0698183560209,0.999999928639,0.000241183677551,-0.000290729204319,5.39542272219e-06,1793247665765950464
+84,1.400000000,BASELINE,765,744,715,679,658.262603845,634,877.737396155,785,809,651.262603845,629,652,0.400957900224,-0.0153540722894,0.0698192180194,0.999999928989,0.000241154710228,-0.000289548796531,5.26029114089e-06,1793247665782617088
+85,1.416666667,BASELINE,765,744,715.321951038,679,658.321951038,634,878,785.321951038,809,651.321951038,629,652.321951038,0.400957752639,-0.0153541627792,0.069819266495,0.999999929124,0.000240700988955,-0.000289463252417,5.18359245471e-06,1793247665799283456
+86,1.433333333,BASELINE,765,744,715.903750762,679,658.903750762,634,878,785.903750762,809,651.903750762,629,652.903750762,0.40095694511,-0.0153551604421,0.0698186583713,0.999999929084,0.000239904446127,-0.000290261379657,5.15405532983e-06,1793247665815949824
+87,1.450000000,BASELINE,765.478399184,744,715.521600816,679,659,634,877.521600816,785.521600816,809,652,629,652.521600816,0.400957663725,-0.0153549122373,0.0698189296498,0.999999928645,0.000242308464372,-0.000289772427736,5.42112010641e-06,1793247665832616704
+88,1.466666667,BASELINE,766,744,715,679,659,634,877,785,809,651.948250411,629,652,0.400958455219,-0.0153544419019,0.0698192936913,0.999999928187,0.000244870165377,-0.000289194272142,5.64501765821e-06,1793247665849283328
+89,1.483333333,BASELINE,766,744,715,679,659,634,877,785,809,651.373692049,629,652,0.400956926706,-0.0153542224557,0.0698188337767,0.999999928422,0.00024261537037,-0.000290292454081,4.83882986895e-06,1793247665865950208
+90,1.500000000,BASELINE,765.793396526,744,715,679,659,634,877,785,809,651,629,652,0.400956222611,-0.0153541763298,0.0698185811332,0.999999928477,0.000241618823612,-0.000290938598897,4.48182922038e-06,1793247665882617088
+91,1.516666667,BASELINE,765.202427641,744,715,679,659,634,877,785,809,651,629,652,0.400957052263,-0.0153544526495,0.0698187140973,0.999999928206,0.000242963124018,-0.00029074377306,4.96049708482e-06,1793247665899283968
+92,1.533333333,BASELINE,765,744,715,679,659,634,877,784.61888943,809,651,629,652,0.400956877328,-0.0153544067496,0.0698181432149,0.999999928062,0.000242816593888,-0.000291361256112,4.99113287216e-06,1793247665915950336
+93,1.550000000,BASELINE,765,744,715,679,659,634,877,784.039222501,809,651,629,652,0.400956179008,-0.0153541929754,0.0698172056327,0.999999927983,0.000241893349971,-0.000292401947284,4.78834663501e-06,1793247665932616704
+94,1.566666667,BASELINE,765,744,715,679,659,634,877,784.53695068,809,651,629,652,0.400956865613,-0.0153546231946,0.0698180488729,0.999999928232,0.000242190195667,-0.000291299918528,5.00759878637e-06,1793247665949283328
+95,1.583333333,BASELINE,765,744.114913396,715,679.114913396,659,634,877,784.885086604,809,651,629,652,0.400957154057,-0.0153549375791,0.0698186020881,0.999999928381,0.000242375679464,-0.000290630339788,5.16361460096e-06,1793247665965949952
+96,1.600000000,BASELINE,765,744.701258058,715,679.701258058,659,634,877,784.298741942,809,651,629,652,0.400955396703,-0.0153545850122,0.0698174352624,0.999999928028,0.000241741036986,-0.00029237284908,4.9345477389e-06,1793247665982616576
+97,1.616666667,BASELINE,765.283937553,745,715,680,658.716062447,634,877,784.283937553,809.283937553,651,629,652,0.400954976266,-0.0153544735486,0.0698170357958,0.999999928019,0.000241309030223,-0.000292756507553,4.95806235779e-06,1793247665999283712
+98,1.633333333,BASELINE,765.86280989,745,715,680,658.13719011,634,877,784.86280989,809.86280989,651,629,652,0.400955944526,-0.0153546125265,0.0698174334088,0.999999928372,0.000241087507535,-0.000291728685227,5.24394124612e-06,1793247666015950848
+99,1.650000000,BASELINE,765.559322484,745,715,679.118644969,658.881355031,634,877.440677516,784.559322484,810,651,629,652,0.400955815828,-0.0153539311149,0.0698179018978,0.999999928184,0.000241942890379,-0.000291665477181,5.15551794791e-06,1793247666032617472
+100,1.666666667,BASELINE,765,745,715,678.018186855,659.981813145,634,878,784.018186855,809.981813145,651,629,652,0.400955353602,-0.0153531100047,0.0698183674598,0.999999927867,0.000242999813291,-0.000291876671977,4.95939020088e-06,1793247666049284096
+101,1.683333333,BASELINE,765,745,715,678.594278819,659.405721181,634,878,784.594278819,809.405721181,651,629,652,0.40095511212,-0.0153558203833,0.0698180679087,0.999999928761,0.000239978153449,-0.000291314387805,5.02575529422e-06,1793247666065950720
+102,1.700000000,BASELINE,765,744.825997989,715,679,659,634,877.825997989,785,809,651,629,652,0.400955272235,-0.015357019266,0.0698180703922,0.999999929305,0.000238375104664,-0.000290759924466,5.04086796519e-06,1793247666082616832
+103,1.716666667,BASELINE,765,744.237627468,715,679,659,634,877.237627468,785,809,651,629,652,0.400956388715,-0.015354618671,0.0698187921411,0.999999929037,0.000240150337654,-0.000290224085745,4.9339280729e-06,1793247666099283200
+104,1.733333333,BASELINE,765,744.345788374,715,679,659,634,877,785,809,651,628.654211626,652,0.400956601815,-0.0153541674057,0.0698186510148,0.999999928899,0.000240417136957,-0.000290480718049,4.68588941698e-06,1793247666115950080
+105,1.750000000,BASELINE,765,744.925847494,715,679,659,634,877,785,809,651,628.074152506,652,0.400956202879,-0.015355036806,0.0698179252928,0.999999928851,0.000239661976444,-0.000291274247408,4.342256696e-06,1793247666132616960
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,715,679,660,634,878,785,810,651,629,652,0.400958474253,-0.0153577662599,0.0698193769781,0.999999929694,0.000238525441096,-0.000289286518607,5.50217501188e-06,1793247666163834368
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659.422684588,634,877.422684588,785,809.422684588,651,629,652,0.400955888334,-0.0153562471093,0.0698181123389,0.999999928709,0.000239939559124,-0.000291515828549,5.35109453597e-06,1793247666180501760
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.158037066,715,679,659,634,877,785,809,651.158037066,629,652,0.400954398897,-0.0153551709383,0.0698174513375,0.999999928112,0.000240920272832,-0.00029275535071,5.22003023808e-06,1793247666197168896
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.748069841,715,679,659,634,877,785,809,651.748069841,629,652,0.400955906702,-0.015355305656,0.0698184403845,0.99999992859,0.000240716272345,-0.000291289279771,5.14368030505e-06,1793247666213835520
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.668844425,715,679,659,634,877,785,809,651.668844425,629,652,0.400956184032,-0.0153554130517,0.0698185351659,0.999999928668,0.000240511338004,-0.000291194184291,4.91609573091e-06,1793247666230501632
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.090935169,715,679,659,634,877,785,809,651.090935169,629,652,0.4009555445,-0.015355500089,0.0698179636039,0.999999928449,0.000240305707833,-0.000292120642716,4.57582181745e-06,1793247666247167488
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.485244329,744,715,679,658.514755671,634,877,784.514755671,809,651,629,652,0.400954637321,-0.0153549832763,0.0698173061676,0.999999927784,0.000241574966072,-0.000293345324876,4.66376690069e-06,1793247666263833856
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.93918492,744,715,679,658.06081508,634,877,784,809,651,629,652,0.400953890641,-0.0153544810854,0.0698168142679,0.999999927161,0.000242896775176,-0.000294372167184,4.8355284677e-06,1793247666280500480
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.366021422,744,715,679,658.633978578,634,877,784,809,651,629,652,0.400954917185,-0.0153550520474,0.0698178520598,0.999999927621,0.000242341035085,-0.000293263107925,5.03974999611e-06,1793247666297167104
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.215558763,715,679,659.215558763,634,877,784.215558763,809,651,629,652,0.40095750897,-0.0153555319935,0.0698193099953,0.999999928456,0.000241241131126,-0.000291314072029,5.11478112368e-06,1793247666313834240
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.812011226,715,679,659.812011226,634,877,784.812011226,809,651,629,652,0.400962866543,-0.0153558511141,0.0698215103271,0.999999929947,0.000239179686219,-0.000287880792204,4.9615319724e-06,1793247666330501632
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.610474102,715,679,659.610474102,634,877,785,809,651,629,652,0.400984993428,-0.0153562821936,0.0698311535899,0.999999934413,0.000239480036207,-0.00027164396575,5.74732966789e-06,1793247666347168512
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.04167519,715,679,659.04167519,634,877,785,809,651,629,652,0.401014838118,-0.0153567648004,0.0698442223419,0.999999939838,0.000240867363933,-0.000249514513003,6.96530851685e-06,1793247666363835136
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.538983939,715,679,659,634,877.538983939,784.461016061,809,651,629,652,0.401069654494,-0.0153614685655,0.0698634627653,0.999999948305,0.000237700372339,-0.0002163705732,8.45750488778e-06,1793247666380500992
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715.12207291,679,659,634,877.87792709,784.12207291,809,651,629,652,0.401128596414,-0.015365822303,0.0698817561266,0.999999954867,0.000235165787717,-0.000186735697974,9.65772116855e-06,1793247666397167104
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715.710867003,679,659,634,877.289132997,784.710867003,809,651,629,652,0.401195763206,-0.0153675618284,0.0698945630464,0.999999956893,0.00023642574369,-0.000173846427065,9.65872156637e-06,1793247666413833728
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.706694923,715.706694923,679,659,634,877,785,809,651,629,652.293305077,0.401269357774,-0.0153698363929,0.0699027840139,0.999999958481,0.000237647597228,-0.000162728254675,9.04103263804e-06,1793247666430500352
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.130389593,715.130389593,679,659,634,877,785,809,651,629,652.869610407,0.401349154283,-0.0153726271988,0.0699065801487,0.999999959695,0.000238832686938,-0.000153318956755,7.82639108416e-06,1793247666447167232
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715.447624896,679,659,634,877,785,809.447624896,651.447624896,629,652.552375104,0.401442605842,-0.0153772534206,0.0699073594931,0.999999960069,0.000236892486626,-0.000153966612728,6.11127654527e-06,1793247666463834368
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,715.973356578,679,658.973356578,634,877,785,809.973356578,651.973356578,629,652,0.401541341928,-0.0153824133858,0.0699073705162,0.99999996026,0.000234010375909,-0.00015716862106,4.21491704506e-06,1793247666480501504
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,715.38368171,679,658.38368171,634,877,785,809.38368171,651.38368171,629,652,0.401667373827,-0.0153875110572,0.069909786674,0.999999961842,0.000230535535468,-0.000152205453982,1.58099682865e-06,1793247666497168128
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.202354443,744,715,679.202354443,658.202354443,634,877,785,809,651,629.202354443,652,0.401806176033,-0.0153932887575,0.069912290923,0.999999963727,0.000225404220123,-0.000147434211431,-1.35916312355e-06,1793247666513834752
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.78161308,744,715,679.78161308,658.78161308,634,877,785,809,651,629.78161308,652,0.401968764122,-0.0154003330753,0.0699149592498,0.999999966175,0.000217187564767,-0.000143020446926,-4.86972310983e-06,1793247666530500864
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.641701438,744,715,679.641701438,658.641701438,634,877,785,809,651.358298562,629.641701438,652,0.402147971781,-0.0154078837711,0.0699178027318,0.999999968583,0.000209728617971,-0.000137020701536,-8.57914001637e-06,1793247666547167488
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.066573084,744,715,679.066573084,658.066573084,634,877,785,809,651.933426916,629.066573084,652,0.402337237037,-0.01541574091,0.069920752212,0.999999970916,0.000202728209161,-0.000130061175399,-1.24088985324e-05,1793247666563833856
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.50908948,744,715,679.50908948,658.50908948,634,878.01817896,785,809,652,629,652.50908948,0.402560282252,-0.0154246141424,0.0699237757392,0.999999973766,0.000192470974845,-0.000122996045524,-1.7158081489e-05,1793247666580500480
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.913035956,744,715,679.913035956,659,634,879,784.913035956,809,651.913035956,629.086964044,652.913035956,0.402792777,-0.0154339251104,0.069927200936,0.999999978352,0.000171770443187,-0.000115373993747,-2.1918879971e-05,1793247666597167104
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+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878.475906976,784.262046512,809,651,629.737953488,652,0.403342152092,-0.0154552482001,0.069940432582,0.999999994118,4.98463508179e-05,-9.14381880653e-05,-3.02925812785e-05,1793247666630501632
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877.319466127,784.840266937,809,651,629.159733063,652,0.403661536699,-0.0154645000584,0.0699501954507,0.999999995342,4.93375656788e-05,-7.53655163728e-05,-3.46685335031e-05,1793247666647168000
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,785,809,651,629,652,0.403992818714,-0.0154717178498,0.0699521143635,0.999999995609,4.41162676891e-05,-7.28006676524e-05,-3.91852333448e-05,1793247666663834624
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,785,809,651,629,652,0.404328641861,-0.015478159255,0.0699510393051,0.999999995513,3.70962438219e-05,-7.53916399119e-05,-4.3755655249e-05,1793247666680501504
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.562746122,715.562746122,679,659,634,877,785,809,651.562746122,629,652,0.40471026118,-0.0154731316503,0.0699542508948,0.999999995025,6.07907212731e-05,-7.0641463639e-05,-3.55554759027e-05,1793247666697167872
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.139870286,745,715.860129714,679,659,634,877.279740573,785,809.139870286,651.860129714,629,652,0.405101110424,-0.0154667953484,0.0699577394034,0.999999994215,7.99746013924e-05,-6.53224328091e-05,-3.01297945568e-05,1793247666713833984
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.735574298,745,715.264425702,679,659,634,878.471148596,785,809.735574298,651.264425702,629,652,0.405519738442,-0.0154567703487,0.0699619149811,0.999999994259,8.29151655945e-05,-5.85184095813e-05,-3.43878501939e-05,1793247666730500608
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.677768131,715,679,659,634,878.355536261,784.677768131,810,651,628.677768131,652,0.405959316588,-0.015458770293,0.0699559029201,0.99999999385,7.8267857614e-05,-6.92134258574e-05,-3.71978905858e-05,1793247666747167488
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.098331347,715,679,659,634,877.196662695,784.098331347,810,651,628.098331347,652,0.406415617134,-0.0154703685254,0.069941759104,0.999999992556,6.75639236228e-05,-9.38761440483e-05,-3.88521281852e-05,1793247666763834368
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744,715,679.475461828,659,634,877,784.475461828,810,651,628.475461828,652,0.406905361508,-0.0154855097299,0.0699285823699,0.99999999199,4.74463233286e-05,-0.000110962055975,-3.81628698238e-05,1793247666780501504
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744,715,679.950436178,659.049563822,634,877,784.950436178,809.950436178,651,629,652,0.407407907487,-0.0155015910459,0.0699178149108,0.999999991449,2.49917686188e-05,-0.000122889312926,-3.70877116118e-05,1793247666797168384
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,744,715,679.360387716,659.639612284,634,877,784.360387716,809.360387716,651,629,652,0.407975513589,-0.0155200275609,0.0699311647273,0.999999994757,-1.96573221753e-06,-9.54495234552e-05,-3.70275578175e-05,1793247666813834240
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.77447341,744,715,679.22552659,659.77447341,634,877.22552659,784,809.22552659,651,629,652,0.408565233821,-0.0155311612129,0.0699441846233,0.999999996886,-1.82972319744e-05,-6.71575514986e-05,-3.71793974361e-05,1793247666830500608
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.195046533,744,715,679.804953467,659.195046533,634,877.804953467,784,809.804953467,651,629,652,0.409189655901,-0.0155308350831,0.0699566868016,0.999999998425,-1.79542224527e-05,-3.75283215802e-05,-3.76639008948e-05,1793247666847167232
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,877.618262,784.381738,810,651.381738,629,652.381738,0.409813246386,-0.0155265308734,0.0699531717197,0.999999998327,-1.1045042624e-05,-4.17991411308e-05,-3.84311248506e-05,1793247666863833856
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,877.042818294,784.957181706,810,651.957181706,629,652.957181706,0.410436414874,-0.0155202080627,0.0699415289825,0.999999997224,-8.03984231183e-07,-6.32718986548e-05,-3.93418099384e-05,1793247666880500224
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,715,679.468299983,659,634,877.531700017,784.468299983,810,651.468299983,629,653,0.411106389865,-0.015518950517,0.0699440381669,0.999999997317,-1.11389670203e-06,-6.12714679706e-05,-4.01218739963e-05,1793247666897167104
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.109355177,715,679,659.109355177,634,878,784,810.109355177,651,629.109355177,652.890644823,0.411791617352,-0.015518859049,0.0699525885862,0.999999997967,-2.11261893022e-06,-4.92254341527e-05,-4.04750762358e-05,1793247666913833728
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.701177959,715,679,659.701177959,634,878,784,810.701177959,651,629.701177959,652.298822041,0.412527536302,-0.0155221156898,0.0699827731237,0.999999999236,-2.40810789903e-06,-1.18434568723e-06,-3.89913214982e-05,1793247666930500352
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.714590822,715,679,660,634,878,784,810.714590822,651,629.714590822,652.285409178,0.413281409831,-0.015525720405,0.0700078320521,0.999999998509,-1.09150602254e-05,3.77681324831e-05,-3.7897557833e-05,1793247666947167232
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.138101925,715,679,660,634,878,784,810.138101925,651,629.138101925,652.861898075,0.414053594753,-0.0155296801107,0.0700276635388,0.999999996647,-2.7796622193e-05,6.74514326667e-05,-3.72015334811e-05,1793247666963834112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.439460396,715,679,660,633.560539604,878,784.439460396,810,651,629,652.560539604,0.414790963055,-0.0155262752126,0.0699914838187,0.999999998862,-2.4297654006e-05,2.51600554608e-06,-4.09785612404e-05,1793247666980500480
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.017625532,745,715,679.017625532,660,633.017625532,878,785,810.017625532,651,629,652.017625532,0.415519230266,-0.0155207997622,0.0699386064806,0.999999994747,-1.49036976888e-05,-9.03136426434e-05,-4.61304938149e-05,1793247666997167104
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.604337148,745,715,679.604337148,660,633.604337148,878,785,810.604337148,651,629,652.604337148,0.416307777949,-0.0155233789685,0.0699163116337,0.999999991122,-2.24718582252e-05,-0.000121382390734,-5.01779228432e-05,1793247667013833728
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,878.188429371,785,811,651.188429371,629.188429371,653,0.417121360663,-0.0155269108565,0.0699123749997,0.999999990365,-2.91447076705e-05,-0.000125356016861,-5.20175060686e-05,1793247667030500608
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,878.767096784,785,811,651.767096784,629.767096784,653,0.417986790987,-0.0155324157525,0.0699464583054,0.999999995529,-3.39633635108e-05,-7.32155262958e-05,-4.92846308372e-05,1793247667047167488
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.654956061,745,715,680,660,634,879,785.345043939,811,651.654956061,629.654956061,653,0.41887255827,-0.0155347779217,0.0699766043304,0.999999997713,-3.99146613349e-05,-2.70901292681e-05,-4.74002249173e-05,1793247667063834368
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.07749409,745,715,680,660,634,879,785.92250591,811,651.07749409,629.07749409,653,0.419772024282,-0.0155350231825,0.0700040982425,0.999999997739,-4.66288948953e-05,1.49835607499e-05,-4.6087339266e-05,1793247667080501248
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.50295339,785.50295339,811,651,629.49704661,653,0.42069534228,-0.0155384648077,0.0700240953735,0.999999996738,-5.21126502215e-05,4.23498106373e-05,-4.48969412659e-05,1793247667097168128
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.073147763,745,715,680,660,633.926852237,878.073147763,785,811,651,630,653,0.4216114938,-0.0155416793312,0.0700364488525,0.999999995755,-5.6691710626e-05,5.7511415956e-05,-4.43774232296e-05,1793247667113835008
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.663483177,745,715,680,660,633.336516823,878.663483177,785,811,651,630,653,0.422450835087,-0.0155397852241,0.0700029740296,0.999999997242,-5.62226569895e-05,2.4986533997e-06,-4.84670944841e-05,1793247667130501120
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.249031407,878.750968593,785,811.249031407,651,630,653,0.423281511467,-0.0155366102591,0.0699471710113,0.999999993189,-5.94191066658e-05,-8.39543612375e-05,-5.51574863368e-05,1793247667147167744
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.828232793,878.171767207,785,811.828232793,651,630,653,0.42410069989,-0.0155317371112,0.0698617648958,0.9999999731,-6.74753409903e-05,-0.000212091391759,-6.52959568895e-05,1793247667163834368
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.595502245,745,715,679.595502245,660,634,878.404497755,785,811.595502245,651,630,653,0.425030977586,-0.0155342633717,0.0698624558276,0.999999974972,-6.93338972622e-05,-0.00020247523115,-6.5204753251e-05,1793247667180500736
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.020475263,745,715,679.020475263,660,634,878.979524737,785,811.020475263,651,630,653,0.426008088542,-0.0155399090945,0.0698994437839,0.999999986717,-6.85796197027e-05,-0.000134784710992,-6.08008961395e-05,1793247667197167616
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.565815733,745,715,679.565815733,660,634,879,785,811,651,630,653,0.426986216644,-0.015540059226,0.06996070699,0.999999994804,-6.49945265146e-05,-5.58282870139e-05,-5.52395625954e-05,1793247667213834496
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.849278868,744.849278868,715.150721132,680,660.150721132,633.849278868,879,784.849278868,811,651,630,653,0.427965319546,-0.0155409033577,0.070014637283,0.999999996537,-6.37550986948e-05,1.66098392356e-05,-5.0839862752e-05,1793247667230501376
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.269501774,744.269501774,715.730498226,680,660.730498226,633.269501774,879,784.269501774,811,651,630,653,0.428947090435,-0.0155443007104,0.0700451415875,0.99999999394,-6.94905837256e-05,6.93082904803e-05,-4.98686297192e-05,1793247667247168000
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744,715.69100332,680,660.69100332,633,879,784.30899668,811,651,630,653,0.429878167696,-0.0155448961912,0.0700430978366,0.999999993788,-7.27679757202e-05,6.7156325706e-05,-5.11707958439e-05,1793247667263834624
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744,715.113615508,680,660.113615508,633,879,784.886384492,811,651,630,653,0.430765212975,-0.0155430579967,0.0700127831996,0.999999995636,-7.39102947123e-05,1.73618875205e-05,-5.44476116225e-05,1793247667280500736
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.461669191,744.461669191,715,680,660,633,879,784.538330809,811.461669191,651,630,653,0.431588991846,-0.0155374601644,0.0699394116809,0.999999989984,-7.05076140746e-05,-0.000106593137158,-6.08121576656e-05,1793247667297167360
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.962644311,745,715,680,660,633,879,784.037355689,812,651,630,653,0.432408193751,-0.0155317092564,0.0698634658624,0.999999968067,-6.65884475406e-05,-0.000234312349794,-6.73073325549e-05,1793247667313833984
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.373410704,745,715,680,660,633,879,784.626589296,812,651,630,653,0.433388753718,-0.0155373039596,0.0699053222592,0.999999984225,-7.1488457127e-05,-0.000149236029681,-6.45570927052e-05,1793247667330500864
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.211578532,633,879,785,812,651,630,653,0.43435887894,-0.0155425065645,0.0699525690425,0.999999993249,-7.69942882425e-05,-6.21044796366e-05,-6.09649762533e-05,1793247667347167744
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.789224373,633,879,785,812,651,630,653,0.435310950414,-0.0155470307727,0.0700091421301,0.999999994538,-8.35482960885e-05,2.85829852502e-05,-5.59162681012e-05,1793247667363834624
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633,879,785,812.365168337,651,630,653,0.436222115855,-0.0155500579351,0.0700334470028,0.999999992123,-8.89222438852e-05,7.00474724089e-05,-5.42315296411e-05,1793247667380501760
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633,879,785,812.940134498,651,630,653,0.437109779758,-0.015552225009,0.0700392130214,0.99999999067,-9.36182192179e-05,8.32321924376e-05,-5.44794715954e-05,1793247667397168384
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633,879,785,812.484111322,651,630.515888678,653,0.437941623781,-0.0155528796937,0.0700067215593,0.999999992381,-9.83220745277e-05,4.78460743729e-05,-5.72884797048e-05,1793247667413834752
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,744.905632422,715,680.094367578,661,633.094367578,879,784.905632422,812.094367578,651,631,653,0.438750707993,-0.0155519542502,0.0699633075526,0.999999993023,-0.000100970682597,-8.48978473648e-06,-6.07250234339e-05,1793247667430501120
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.313257657,715,680.686742343,661,633.686742343,879,784.313257657,812.686742343,651,631,653,0.43947391781,-0.0155436175769,0.0698857164964,0.999999982927,-9.2768275497e-05,-0.000145593804328,-6.59024784013e-05,1793247667447167488
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.272460094,744.272460094,715,681,661,633.727539906,879,784.272460094,813.272460094,651,630.727539906,653,0.440250136865,-0.0155393837004,0.0698535144235,0.999999973646,-8.91311499216e-05,-0.000200203664574,-6.84311356875e-05,1793247667463833856
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.850706533,744.850706533,715,681,661,633.149293467,879,784.850706533,813.850706533,651,630.149293467,653,0.441085848992,-0.0155397544594,0.0698722531416,0.999999980424,-9.06177151369e-05,-0.000162228996814,-6.79870054121e-05,1793247667480500736
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879,785,814,651,630,653,0.441932270538,-0.0155468393077,0.0699381392042,0.999999991994,-9.14183754461e-05,-6.11963489409e-05,-6.25296334964e-05,1793247667497167872
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879,785,813.997388229,651,630,653,0.442781832097,-0.0155562348163,0.0700200888446,0.999999992356,-9.20622527147e-05,6.1224881157e-05,-5.53620619092e-05,1793247667513834752
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879,785,813.472024642,651,630,653,0.443513828695,-0.0155604018048,0.0700328529368,0.999999989943,-0.000109106904096,7.19157457168e-05,-5.5123402325e-05,1793247667530501120
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.9334665,744.9334665,715,681,661,633,879,784.9334665,813.0665335,651,630.0665335,653,0.444241538195,-0.0155638990862,0.0700408908796,0.999999987904,-0.000124265473941,7.56075660891e-05,-5.50792917254e-05,1793247667547167488
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.278142354,744.278142354,715,681,661,633,879,784.278142354,813.721857646,651,630.721857646,653,0.444931309285,-0.015561469773,0.0700071045975,0.999999990707,-0.000122733106218,1.73610943844e-05,-5.67568494504e-05,1793247667563834112
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.331812048,744.331812048,715,681.331812048,661,633,879.331812048,784.331812048,814,651,630.668187952,653,0.445589695663,-0.0155598555753,0.0699765679547,0.999999991091,-0.000117596266912,-2.446796407e-05,-5.82325707102e-05,1793247667580500992
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.908309744,744.908309744,715,681.908309744,661,633,879.908309744,784.908309744,814,651,630.091690256,653,0.446224938208,-0.0155588424621,0.0699484276708,0.99999999073,-0.000109801409622,-5.41904501612e-05,-5.95594531906e-05,1793247667597167616
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681.516541617,661,633,879.516541617,784.516541617,814,651,630.483458383,653,0.446813797264,-0.0155588763273,0.0699343328971,0.999999987725,-0.000116482720087,-8.49831225444e-05,-6.13151719621e-05,1793247667613834496
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879.059958084,784.059958084,814,651,631,653,0.44739343911,-0.0155589550851,0.0699230310941,0.999999983791,-0.00012398126736,-0.000114356443445,-6.30086297537e-05,1793247667630501120
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879.650676233,784.650676233,814,651,631,653,0.447969143249,-0.0155576784005,0.0699129383512,0.999999983067,-0.000114478311145,-0.000129373710103,-6.34329894498e-05,1793247667647167488
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+257,4.283333333,HOLD_POSE2,766,745,715,681.644393708,660,631.644393708,879.355606292,781,815,651,629.644393708,653,0.455063827968,-0.0156018241116,0.0697697333352,0.999999921671,-0.00015880002033,-0.000357898464534,-5.78674492895e-05,1793247668709738752
+258,4.300000000,HOLD_POSE2,766,745,715,682,660,632,879.222978922,781,815,651,630,653,0.455063816158,-0.0156012242765,0.0697699809829,0.999999921714,-0.000158741825146,-0.000357777051148,-5.8036312337e-05,1793247668726405120
+259,4.316666667,HOLD_POSE2,766,745,715,682,660,632,879.800856192,781,815,651,630,653,0.455062970066,-0.0155987925274,0.0697694109927,0.999999921661,-0.000156134886902,-0.000358952215277,-5.87677381243e-05,1793247668743071488
+260,4.333333333,HOLD_POSE2,765.623687767,745,715,682,660,632,879.623687767,781,814.623687767,651,630,653,0.455061812927,-0.015598187097,0.0697685203432,0.999999921098,-0.000155647355403,-0.000360739080533,-5.86912061211e-05,1793247668759737600
+261,4.350000000,HOLD_POSE2,765.049504879,745,715,682,660,632,879.049504879,781,814.049504879,651,630,653,0.455060492235,-0.0155985419728,0.0697674610862,0.999999920267,-0.000156274240126,-0.000362847587407,-5.81898376688e-05,1793247668776403968
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,880,781,815,651,630,653,0.455063977615,-0.0155988441457,0.0697697617833,0.999999922206,-0.000154282448117,-0.000358386992825,-5.78226102875e-05,1793247668806140416
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.420686618,781,815,651,629.420686618,653,0.455061767952,-0.0155979825464,0.0697679461814,0.999999920989,-0.000154423823859,-0.00036163687779,-5.82548736257e-05,1793247668822807296
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.84214089,745,715,682,660,632,879,781,814.84214089,651,629.15785911,653,0.455060171411,-0.0155976076318,0.0697665461767,0.999999920041,-0.000154792022707,-0.000364053929765,-5.85008899752e-05,1793247668839473920
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.265630895,745,715,682,660,632,879,781,814.265630895,651,629.734369105,653,0.455060200898,-0.015598523431,0.0697662483579,0.999999919829,-0.000155761768711,-0.000364262264402,-5.82529693505e-05,1793247668856140288
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.310172506,745,715,682,660,632,879.310172506,781,814,651,630,653,0.455060459264,-0.0155991346081,0.0697664416189,0.999999919818,-0.000156668258508,-0.000363901836819,-5.8260539148e-05,1793247668872806400
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.885372122,745,715,682,660,632,879.885372122,781,814,651,630,653,0.455060913194,-0.0155994855006,0.0697670544833,0.999999919979,-0.000157520698937,-0.000363055429954,-5.84864129274e-05,1793247668889472512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.52746587,660.47253413,632,880,781,814.47253413,651,630,653,0.455060006567,-0.0156000699948,0.0697660436981,0.999999919501,-0.000159034513779,-0.000363715267609,-5.8451447748e-05,1793247668906139136
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.938526223,745,715,681.061473777,660.938526223,632,879.938526223,781,815,651,630,653,0.455058689644,-0.0156005322706,0.0697647107934,0.999999918948,-0.000160208243431,-0.000364740424547,-5.8318300676e-05,1793247668922805504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.359682354,745,715,681.640317646,660.359682354,632,879.359682354,781,815,651,630,653,0.455056769461,-0.0155994766382,0.0697640678178,0.999999919115,-0.000157134453356,-0.000365685145296,-5.79052013764e-05,1793247668939472128
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.217596074,745,715,682,660,632,879,781,814.782403926,651,630,653,0.455048334245,-0.0155978101369,0.0697607450219,0.999999917487,-0.000154941034144,-0.000370998616787,-5.81231459543e-05,1793247668956138752
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.792305281,745,715,682,660,632,879,781,814.207694719,651,630,653,0.455029206722,-0.0155951410935,0.0697530241733,0.99999991282,-0.000154192457454,-0.000383481970577,-5.93767437039e-05,1793247668972805632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.624622656,745,715,682,660,632,879,781,814.375377344,651,630,653.375377344,0.454990811611,-0.0155926592234,0.0697378455753,0.999999903035,-0.000153018348801,-0.000408488676111,-6.04426615617e-05,1793247668989472256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.036817969,745,715,682,660,632,879,781,814.963182031,651,630,653.963182031,0.454941512904,-0.0155902832751,0.0697184466103,0.999999889567,-0.000151603429944,-0.00044058239075,-6.14023707872e-05,1793247669006139136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.541014708,781,815,651,630,653.458985292,0.454880883387,-0.015588218147,0.069702568629,0.999999882267,-0.000152388663794,-0.000456499703198,-6.20567453234e-05,1793247669022805760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.118569855,745,715,681.881430145,660,632,879.881430145,781,814.881430145,651,630,653,0.454816172781,-0.0155855962839,0.0696884388337,0.999999875538,-0.000152195787117,-0.000471013862097,-6.24932326127e-05,1793247669039472384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.697635245,745,715,681.302364755,660,632,879.302364755,781,814.302364755,651,630,653,0.454738552797,-0.0155807315371,0.0696801847856,0.999999869908,-0.000147633192882,-0.000484276619825,-6.21627410579e-05,1793247669056139008
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.272306355,660,632.272306355,879.272306355,781,814,651,629.727693645,653,0.454659012544,-0.0155771421708,0.0696772292892,0.999999868295,-0.000146138434969,-0.000488156810128,-6.12822113791e-05,1793247669072805888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.842175578,660,632.842175578,879.842175578,781,814,651,629.157824422,653,0.454577373921,-0.0155749464774,0.0696800637876,0.999999871203,-0.000147996056612,-0.000481784195722,-5.98006273674e-05,1793247669089472768
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.570018158,745,715,682,660,632.570018158,880,781,814,651,629.429981842,653,0.454470316356,-0.0155697829602,0.0696820426464,0.999999873583,-0.000144498493664,-0.000478175072977,-5.74656680828e-05,1793247669106139648
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,814,651,630,653,0.454352507922,-0.0155635000116,0.0696836170693,0.999999875705,-0.000139048544482,-0.00047565679292,-5.48260775175e-05,1793247669122806528
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,814,651,630,653,0.454211242616,-0.0155576175821,0.0696834184008,0.999999877095,-0.000135882409383,-0.000473886328002,-5.2700476468e-05,1793247669139473152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,814,651,630,653,0.454062384691,-0.0155513537391,0.0696852238254,0.999999879704,-0.000132571285398,-0.000469555109478,-5.03434214143e-05,1793247669156139776
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,880,781,814,651,630,653,0.453897014265,-0.0155442603941,0.0696913877768,0.999999884918,-0.000128944838179,-0.000459654732279,-4.74829975802e-05,1793247669172805888
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.660816141,781.339183859,814,651,630,653,0.453710853493,-0.0155362035142,0.0696947757212,0.999999888031,-0.000122499117668,-0.000454951553096,-4.41739772914e-05,1793247669189472512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.073801728,781.926198272,814,651,630,653,0.453509501879,-0.0155274426102,0.0696961353289,0.999999889602,-0.000113993445988,-0.000454045795504,-4.05371819468e-05,1793247669206139392
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.506273809,745,715,682,660,632,879,782,814,651,630,653,0.453259766754,-0.0155144544322,0.0696916387371,0.999999887698,-0.00010099021773,-0.000461550077536,-3.71085833816e-05,1793247669222805760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.9146089,660,632,879,782.0853911,814,651,630,653,0.452998107901,-0.0155017825281,0.0696866142107,0.999999885307,-8.82336233647e-05,-0.000469550898406,-3.35193099553e-05,1793247669239472128
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.335262372,660,632,879,782.664737628,814,651,630,653,0.45270772242,-0.015494456596,0.06968340725,0.999999884266,-8.06449942366e-05,-0.000473428134088,-2.8827403285e-05,1793247669256139008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.241868542,660.241868542,632,879,782.758131458,814,651,630.241868542,653,0.452402281981,-0.0154880807749,0.0696794408324,0.999999882958,-6.77107846078e-05,-0.00047845942985,-2.4014011849e-05,1793247669272806144
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.81595616,660.81595616,632,879,782.18404384,814,651,630.81595616,653,0.452076162789,-0.0154830099815,0.0696744312614,0.999999881045,-4.74341414103e-05,-0.000485075887056,-1.90337550181e-05,1793247669289473280
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.600517166,632.399482834,879,782.399482834,814,651,630.600517166,653,0.451727594163,-0.0154760123508,0.0696746379877,0.999999881065,-6.52806989162e-06,-0.000487468914854,-1.41797691238e-05,1793247669306139648
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.01253665,632.98746335,879,782.98746335,814,651,630.01253665,653,0.451368432685,-0.015468105534,0.0696773060464,0.999999879975,4.41120850251e-05,-0.000487869098254,-9.38536482331e-06,1793247669322805760
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.569222044,632.430777956,879,783,813.430777956,651,630,653,0.45095283437,-0.0154722156368,0.0696850693008,0.99999988421,3.50008181709e-05,-0.000479941884069,-3.35656847338e-06,1793247669339472384
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.851100755,632.148899245,879,783.148899245,813,651,630.148899245,653.148899245,0.450531884617,-0.0154760278086,0.069694866054,0.999999889614,2.76824299492e-05,-0.000469038956378,2.72463187176e-06,1793247669356139008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.276980809,632.723019191,879,783.723019191,813,651,630.723019191,653.723019191,0.450099163772,-0.0154782415176,0.0697101529918,0.999999898214,2.92015572725e-05,-0.000450156198142,8.87868581311e-06,1793247669372805632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.702802124,745,715,682,660,633,879,784,813,651,631,653.702802124,0.449648039151,-0.0154759638713,0.0697264652715,0.999999907311,4.00541141427e-05,-0.000428455119724,1.41463849724e-05,1793247669389472512
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.128568617,745,715,682,660,633,879,784,813,651,631,653.128568617,0.449179759236,-0.0154694995685,0.0697437333345,0.999999916391,5.96069101353e-05,-0.000404126916807,1.85878613825e-05,1793247669406139648
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.458158138,633,879,784,812.541841862,651,631,653,0.448689574993,-0.0154649605317,0.0697696353809,0.999999933273,4.20762508808e-05,-0.000362705385629,1.13153040862e-05,1793247669422806784
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.047631466,744.952368534,715,682,661,633,879.047631466,784,812,651.047631466,631,653,0.448184298745,-0.0154607504155,0.0697958011235,0.999999948656,1.81988286119e-05,-0.000319925028794,2.14656570684e-06,1793247669439473664
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.627522286,744.372477714,715,682,661,633,879.627522286,784,812,651.627522286,631,653,0.447580989231,-0.0154540093317,0.0697970801119,0.999999948767,4.29455680295e-05,-0.00031706433253,9.55152563375e-06,1793247669456140032
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.221078694,744.778921306,715,682,661,633,879.221078694,784.778921306,812,651.221078694,630.221078694,653,0.446294257241,-0.0154406697755,0.0697495809528,0.999999922185,7.30043610101e-05,-0.000387446769343,1.36089318454e-05,1793247669489473024
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,744.645015075,715,682,660.645015075,633,879,784.645015075,812,651,630,653,0.445638099377,-0.0154387564369,0.0697348706166,0.999999914849,7.16278242865e-05,-0.000406220923169,1.24519059653e-05,1793247669506139648
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,744.067480046,715,682,660.067480046,633,879,784.067480046,812,651,630,653,0.444985802826,-0.0154398038957,0.0697332507914,0.999999916593,6.28481377326e-05,-0.000403416435275,1.08922711238e-05,1793247669522806272
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.520746994,744.520746994,715,682,660,632.479253006,879,784,811.479253006,651,630.520746994,653,0.444320438602,-0.0154433988348,0.0697546642354,0.99999993094,6.39789592091e-05,-0.000365807659335,1.45577401623e-05,1793247669539472640
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.833586524,681.833586524,660,633,879,784,811.833586524,651,630,653,0.438028543824,-0.0154282902937,0.069748148308,0.999999923719,9.13812562179e-05,-0.000379259052163,1.93179092017e-05,1793247669672805376
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.25864948,681.25864948,660,633,879,784,811.25864948,651,630,653,0.437119902886,-0.0154248597288,0.0696981067929,0.999999893802,9.85935831719e-05,-0.000449923371929,1.56006762002e-05,1793247669689472256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.316941585,745,714.316941585,681.316941585,660,633.316941585,879,784.316941585,811,651,630,652.683058415,0.436252387527,-0.0154263285695,0.069699629147,0.999999896155,0.000102368869334,-0.000443782804678,1.63733750269e-05,1793247669706139136
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.893067457,745,714.893067457,681.893067457,660,633.893067457,879,784.893067457,811,651,630,652.106932543,0.435418503345,-0.0154318039815,0.069743318721,0.999999924194,0.000103333457415,-0.000374833751399,2.08177909485e-05,1793247669722805760
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.517691089,660.482308911,634,879,785,811.482308911,651,630,652.482308911,0.434586069822,-0.0154340642421,0.0697937920655,0.999999947314,0.000104973303759,-0.000306094817101,2.5671851208e-05,1793247669739472640
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.92715621,745,715,681.07284379,660.92715621,633.92715621,879,785,811.92715621,651,629.92715621,652.92715621,0.433745457704,-0.0154354150185,0.0698403390281,0.999999963838,0.000107610732434,-0.000244612167463,3.0136952497e-05,1793247669756139520
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.348398658,745,715,681.651601342,660.348398658,633.348398658,879,785,811.348398658,651,629.348398658,652.348398658,0.432845747949,-0.0154355383847,0.0698488787588,0.999999965582,0.000116107720606,-0.000233193227208,3.12522500453e-05,1793247669772805888
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,878.77207535,785,811,651,629.22792465,652.22792465,0.431915447108,-0.0154337360903,0.0698445438495,0.999999962548,0.000124763695579,-0.000241531482761,3.16331192199e-05,1793247669789472512
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,878.199433545,785,811,651,629.800566455,652.800566455,0.430938879647,-0.015429021394,0.0698207371148,0.99999995146,0.000133660126101,-0.000279750858562,3.0903226454e-05,1793247669806138880
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.61518551,715,681.61518551,660,633,878,785,811,651,630,653,0.429948639896,-0.0154232039429,0.0697621831523,0.999999920238,0.000136384506034,-0.000374497435365,2.59922966127e-05,1793247669822805504
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.02473542,715,681.02473542,660,633,878,785,811,651,630,653,0.42895109406,-0.0154167972065,0.0696850611091,0.999999865875,0.000135810688476,-0.000499450780844,1.88471209186e-05,1793247669839472384
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744,714.445209325,681,660.554790675,633,878,785,811,651,630,653,0.428076585791,-0.0154213656196,0.0697257128343,0.999999898421,0.00013193949591,-0.000430427176795,2.19594479846e-05,1793247669856139520
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.133066183,744,714.133066183,681,660.866933817,633.133066183,878,784.866933817,811,651,629.866933817,652.866933817,0.427206538298,-0.0154256798482,0.0697748175728,0.999999930014,0.000130051088943,-0.000349815944885,2.62389954933e-05,1793247669872806400
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.708770505,744,714.708770505,681,660.291229495,633.708770505,878,784.291229495,811,651,629.291229495,652.291229495,0.426333434026,-0.0154275522484,0.0698349110732,0.999999956806,0.000135237914084,-0.000258872294066,3.29093278354e-05,1793247669889473280
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.715711287,744,715,681,660,633.715711287,878.284288713,784.284288713,811,651.284288713,629,652,0.425423089871,-0.0154289788728,0.0698592720811,0.99999996499,0.000135568923486,-0.000224474834722,3.53867941544e-05,1793247669906139904
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.140383647,744,715,681,660,633.140383647,878.859616353,784.859616353,811,651.859616353,629,652,0.424474621655,-0.0154299491365,0.0698470521522,0.999999960122,0.000130928820063,-0.000247966219438,3.3571837887e-05,1793247669922806272
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744.44649326,715,680.55350674,660,633.44649326,879,784.55350674,810.55350674,651.55350674,629.44649326,652.44649326,0.423531281309,-0.0154263983577,0.0698135332656,0.999999944441,0.000137097595881,-0.000302285568896,3.07646355283e-05,1793247669939472640
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.03596064,745,715,680,660,634,878.96403936,784,810.03596064,651,630,653,0.422587383781,-0.0154214140866,0.0697715299758,0.999999920568,0.000146455119892,-0.000369668062354,2.75683804407e-05,1793247669956139008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.60846015,745,715,680,660,634,878.39153985,784,810.60846015,651,630,653,0.421610479962,-0.0154168137348,0.0697055068022,0.999999871391,0.000151337280069,-0.000483497438307,2.33457298767e-05,1793247669972805632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,744.816531448,715,680,659.816531448,634,878,784.183468552,811,651,630,653,0.420684050907,-0.0154147771757,0.0696771070662,0.999999847222,0.000150714034083,-0.000531433838395,2.0454689689e-05,1793247669989472512
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,744.236094484,715,680,659.236094484,634,878,784.763905516,811,651,630,653,0.419866833225,-0.0154182878591,0.0697301126383,0.999999894848,0.000138178819184,-0.000436798531841,2.04448363988e-05,1793247670006139904
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.650789157,744,715,680,659,634,878,784.650789157,810.650789157,651,630,653,0.419071877282,-0.0154201695268,0.0697961222403,0.99999993581,0.000139245583305,-0.000329098867798,2.61525787927e-05,1793247670022806784
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.904079529,744,715,680.904079529,659.095920471,634,878,784.904079529,810.095920471,651.095920471,630,653,0.416601187997,-0.0154153424137,0.0698535115283,0.99999995175,0.000168918622568,-0.000258351967386,3.49462357601e-05,1793247670072806144
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,878,784.265236454,810,651,629.734763546,652.734763546,0.410678018497,-0.0154130070823,0.0698739394975,0.999999966267,0.000175749620702,-0.000188213599671,3.39678631109e-05,1793247670206139904
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.691375525,745,715,680,659,634,877.691375525,784.308624475,810,651,629.691375525,652.691375525,0.410012981813,-0.0154118934842,0.0698601571795,0.99999996022,0.000177733315684,-0.000216575249931,3.2648917671e-05,1793247670222806272
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+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.531485988,715,680,658.531485988,634,877.468514012,784.531485988,810,651,629,652,0.408700729359,-0.0154051103884,0.069788275062,0.999999924511,0.000179768103517,-0.000343574191923,2.48817198189e-05,1793247670256139008
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.939487956,658.121024089,634,878,784,810,651,629.060512044,652,0.408079758824,-0.0154033623314,0.069757406463,0.999999905506,0.000182442007183,-0.000394019225509,2.12611840311e-05,1793247670272805888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.362707857,659.274584287,634,878,784,810,651,629.637292143,652,0.407551006597,-0.0154053708483,0.0697723935673,0.999999917452,0.000179658284432,-0.00036375119261,2.24430179698e-05,1793247670289473280
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.213732344,744.213732344,715,679.213732344,659.786267656,634,878,784,809.786267656,651,629.786267656,652,0.407037318821,-0.0154061464773,0.0697879101284,0.999999926892,0.000178269233445,-0.000337461047107,2.35888964457e-05,1793247670306140160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.789596589,744.789596589,715,679.789596589,659.210403411,634,878,784,809.210403411,651,629.210403411,652,0.406549155164,-0.0154048331942,0.0698043237598,0.999999933098,0.000179243209155,-0.000317910736255,2.46738546103e-05,1793247670322806784
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,659,634,877.636808277,784,809,651,629,652,0.406063544798,-0.0154023808371,0.0698035733327,0.999999929515,0.000182570883014,-0.000327161910788,2.4536052032e-05,1793247670339473152
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744.981474598,715,679.018525402,659,634,877,784.018525402,809.981474598,651,629,652,0.403148236258,-0.0153927377035,0.0698263659201,0.999999937705,0.000212365294798,-0.000280907616748,2.41159611974e-05,1793247670472805632
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.831228032,659,634,877,784,809,651,629,652,0.400954484663,-0.0153985431428,0.0698142206642,0.999999936107,0.000192369830872,-0.000300890660625,1.56493335219e-05,1793247671022805760
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.067778301,744.067778301,715,679.932221699,659,634,877.067778301,785,809,651,629,652.067778301,0.400951476376,-0.015397227719,0.069813415649,0.999999935603,0.000194706379031,-0.000301098416296,1.4952051107e-05,1793247671106139136
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+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.77456759,744.77456759,715,679.22543241,658.77456759,634,878,784.77456759,809.22543241,651,629,652.77456759,0.400954830197,-0.015398721193,0.0698155686748,0.999999936746,0.000193628976202,-0.000297979143756,1.49484933493e-05,1793247671139472384
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.62383781,658,634,877.62383781,784,810,651,629,652,0.400952823415,-0.0153997539774,0.069814775351,0.999999936209,0.000193656250341,-0.00029973921467,1.53364822384e-05,1793247671172805888
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e46d410a41cbe69f35d8d259cd6b1cca897f978
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_02/simulation_data.csv
@@ -0,0 +1,408 @@
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+403,6.716666667,pose2_to_pose3_retreat,0.583245627176,-0.0100720318915,1.06004244367,0.553817415452,-0.00139758411824,1.0596658346
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+405,6.750000000,pose2_to_pose3_retreat,0.583245388978,-0.0100719876206,1.06004236532,0.553817177356,-0.00139753966916,1.05966575239
+406,6.766666667,pose2_to_pose3_retreat,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894207,1.05966576102
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8986bf6c14bfeb708a0f2cb81b176585950fb2e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17fd9bbb94ba14a2198e3560de2e35c88e89c04d6f1fbe1556de0f82ca26af6c
+size 25873225
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2dd1b8ae1b6f6494d55c8fa49818448254009bdc
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+56,0.933333333,BASELINE,765.501251289,745,715,679,659,634,877.501251289,784.498748711,809.501251289,651,629,653,0.400952959551,-0.0154023922056,0.0698165051884,0.999999937996,0.000191037931725,-0.000295483494105,1.42242135199e-05,1793247672267458560
+57,0.950000000,BASELINE,765.075838086,745,715,679,659,634,877,784.924161914,809,651,629,653,0.400953920317,-0.0154030145454,0.0698172805359,0.999999938572,0.000189974832324,-0.000294209543851,1.43776842126e-05,1793247672284124928
+58,0.966666667,BASELINE,765.648326308,745,715,679,659,634,877,784.351673692,809,651,629,653,0.400953061202,-0.0154016263189,0.0698174425476,0.999999938591,0.00018927977635,-0.000294592099099,1.43866009953e-05,1793247672300791552
+59,0.983333333,BASELINE,766,744.772062368,715,679,659,634,877.227937632,784.227937632,809,651.227937632,629,652.772062368,0.400952151099,-0.0154005910538,0.069817184687,0.999999938248,0.000189842703228,-0.00029539272832,1.43735232511e-05,1793247672317457920
+60,1.000000000,BASELINE,766,744.181106559,715,679,659,634,877.818893441,784.818893441,809,651.818893441,629,652.181106559,0.400951159794,-0.0154001179219,0.069816258129,0.999999937324,0.000192409119455,-0.000296859190839,1.43254165707e-05,1793247672334124800
+61,1.016666667,BASELINE,766,744,715,679,658.598943939,634.401056061,877.598943939,785,809,652,629,652,0.400951017322,-0.0154002427087,0.0698159519249,0.999999937137,0.000192798912717,-0.000297236124612,1.43048363204e-05,1793247672350791680
+62,1.033333333,BASELINE,766,744,715,679,658.020666938,634.979333062,877.020666938,785,809,652,629,652,0.400951249936,-0.0154006317072,0.0698159198464,0.999999937279,0.000192226887257,-0.000297131611122,1.42964196089e-05,1793247672367458816
+63,1.050000000,BASELINE,766,744,715.555835108,679.555835108,658.555835108,634.444164892,877.555835108,784.444164892,809,652,629.555835108,652,0.4009538595,-0.0154003502227,0.0698180154299,0.999999938559,0.00019171165174,-0.000293120730833,1.44362162455e-05,1793247672384125440
+64,1.066666667,BASELINE,765.867923879,744.132076121,715.867923879,679.867923879,659,634,877.867923879,784.132076121,809,652,629.867923879,652,0.400955471008,-0.0154004431651,0.0698192329789,0.999999939437,0.000190826033524,-0.000290691703271,1.44801815811e-05,1793247672400792320
+65,1.083333333,BASELINE,765.292338532,744.707661468,715.292338532,679.292338532,659,634,877.292338532,784.707661468,809,652,629.292338532,652,0.400953435234,-0.0154018768731,0.0698172372984,0.999999938862,0.00018868960897,-0.000294060688584,1.41839007518e-05,1793247672417458688
+66,1.100000000,BASELINE,765,744.709867551,715,679,659,634,876.709867551,785,809,651.709867551,629,652,0.400952202585,-0.0154025290172,0.0698163692059,0.999999938475,0.000187753003748,-0.000295973379567,1.41003798367e-05,1793247672434125056
+67,1.116666667,BASELINE,765,744.120289958,715,679,659,634,876.120289958,785,809,651.120289958,629,652,0.40095179884,-0.0154023745105,0.0698166648949,0.999999938295,0.000188054729896,-0.000296383031758,1.42364480405e-05,1793247672450791936
+68,1.133333333,BASELINE,765,744,715,679,659,634,876.458051126,784.541948874,809,651.458051126,629,652,0.400952343609,-0.0154026972512,0.069817016042,0.999999938417,0.000188679761521,-0.000295559091639,1.45239690824e-05,1793247672467458304
+69,1.150000000,BASELINE,765,744.033488228,715,679,659,634,877,784,809,651.966511772,629,652,0.400953070669,-0.0154030769327,0.0698173192617,0.999999938598,0.000189342108989,-0.000294505108171,1.48114547957e-05,1793247672484124416
+70,1.166666667,BASELINE,765,744.608539946,715,679,659,634,877,784,809,651.391460054,629,652,0.4009528139,-0.0154023991499,0.0698166175234,0.999999938518,0.000189267746336,-0.000294844431109,1.44705636204e-05,1793247672500791296
+71,1.183333333,BASELINE,765.189211638,744.810788362,715,679,659,634,877,784.189211638,809,651,629,652,0.400952470205,-0.0154017941021,0.0698162856609,0.99999993837,0.000189431590669,-0.00029524993566,1.42233752012e-05,1793247672517458432
+72,1.200000000,BASELINE,765.781866531,744.218133469,715,679,659,634,877,784.781866531,809,651,629,652,0.40095194116,-0.0154013441422,0.0698167424595,0.999999938082,0.000190103347735,-0.000295796554883,1.41759828058e-05,1793247672534125312
+73,1.216666667,BASELINE,766,744,715,679,659,634,877,785,809,651,629,652,0.400951786875,-0.0154012937867,0.0698169831888,0.999999938081,0.000189931053463,-0.000295912232996,1.41718024716e-05,1793247672550791936
+74,1.233333333,BASELINE,766,744,715,679,659,634,877,785,809,651,629,652,0.400951850861,-0.0154014761738,0.0698170980723,0.999999938246,0.000189267156258,-0.000295776916988,1.41927902473e-05,1793247672567458304
+75,1.250000000,BASELINE,765.47875842,744,715,679,659,634,877.52124158,785,809.52124158,651,629,652,0.400951931054,-0.0154009273366,0.0698164293937,0.999999937934,0.000190207537995,-0.000296236995891,1.40050088171e-05,1793247672584124928
+76,1.266666667,BASELINE,765.096891191,744.096891191,715,679,659,634,878,785,809.903108809,651,629,652,0.400951977059,-0.0154005945017,0.0698159149415,0.999999937658,0.000191099426931,-0.000296601066466,1.39052021258e-05,1793247672600791552
+77,1.283333333,BASELINE,765.669991405,744.669991405,715,679,659,634,878,785,809.330008595,651,629,652,0.400951846636,-0.0154017020049,0.0698165643128,0.999999937809,0.000190922099962,-0.000296184903517,1.43459057291e-05,1793247672617458176
+78,1.300000000,BASELINE,766,745,715.25129374,679,659,634,878,785,809,651.25129374,629,652,0.400951635093,-0.0154025251299,0.0698166890077,0.99999993796,0.000189972892546,-0.000296273429644,1.45538287303e-05,1793247672634124800
+79,1.316666667,BASELINE,766,745,715.843730805,679,659,634,878,785,809,651.843730805,629,652,0.400951313424,-0.0154029621979,0.0698161014291,0.99999993811,0.000187975820358,-0.000297047095468,1.44457408459e-05,1793247672650791936
+80,1.333333333,BASELINE,765.578111165,744.578111165,716,679,659,634,878,784.578111165,809.421888835,651.578111165,629,652,0.400951521307,-0.0154034532307,0.0698160683341,0.9999999386,0.00018654065278,-0.00029630333465,1.43870526603e-05,1793247672667458816
+81,1.350000000,BASELINE,765.005068948,744.005068948,716,679,659,634,878,784.005068948,809.994931052,651.005068948,629,652,0.400951918916,-0.0154039635979,0.0698162338982,0.999999939211,0.00018530680296,-0.00029501591369,1.43460632787e-05,1793247672684125696
+82,1.366666667,BASELINE,765,744.574985536,715.425014464,679,659,634,878,784.574985536,809.425014464,651.574985536,629,652.574985536,0.400954594113,-0.0154026983983,0.0698181187866,0.999999939807,0.000187027667961,-0.000291902506647,1.41230297351e-05,1793247672700792064
+83,1.383333333,BASELINE,765,744.84254772,715,679,659,634,877.84254772,785,809,651.84254772,629,652.84254772,0.400955899224,-0.0154018169026,0.0698192018289,0.999999939973,0.00018878374654,-0.000290200129041,1.40694984289e-05,1793247672717458176
+84,1.400000000,BASELINE,765,744.253642219,715,679,659,634,877.253642219,785,809,651.253642219,629,652.253642219,0.400953394306,-0.0154020302603,0.0698180455932,0.999999938986,0.000190564059598,-0.000292408931055,1.44848917377e-05,1793247672734124800
+85,1.416666667,BASELINE,765.329742338,744,715,679,659,634,877,785,809,651,629,652,0.400953989974,-0.0154019549592,0.0698185826307,0.999999939035,0.000191524810927,-0.000291606959046,1.46017814797e-05,1793247672750791680
+86,1.433333333,BASELINE,765.90895001,744,715,679,659,634,877,785,809,651,629,652,0.400956931381,-0.0154016612743,0.0698204007077,0.999999939865,0.000191865525787,-0.000288527197072,1.44928394392e-05,1793247672767458304
+87,1.450000000,BASELINE,765.515353506,744.484646494,715,679.484646494,659,634,877,785,809,651,629,652,0.400955395843,-0.0154022246989,0.069819754657,0.999999939701,0.000190001461507,-0.000290322699954,1.44631056553e-05,1793247672784125184
+88,1.466666667,BASELINE,765,744.940143144,715,680,659,634,877,784.940143144,809,651,629,652.059856856,0.40095324851,-0.0154029369895,0.0698187028077,0.999999939367,0.000187993194168,-0.000292772811443,1.44699744444e-05,1793247672800792320
+89,1.483333333,BASELINE,765,744.363475521,715,680,659,634,877,784.363475521,809,651,629,652.636524479,0.400953028599,-0.0154035543055,0.069818115512,0.999999939234,0.000188290467777,-0.00029302369398,1.46653158785e-05,1793247672817458432
+90,1.500000000,BASELINE,765.218041027,744,715,679.781958973,659,634,877,784.218041027,809,651,629,652.781958973,0.400953049927,-0.0154031529794,0.0698176679949,0.999999938944,0.000189574089648,-0.000293185599428,1.46810292734e-05,1793247672834124800
+91,1.516666667,BASELINE,765.807824542,744,715,679.192175458,659,634,877,784.807824542,809,651,629,652.192175458,0.400953482548,-0.0154010149499,0.0698174587892,0.999999938379,0.000192539356281,-0.00029319580604,1.43904912267e-05,1793247672850791424
+92,1.533333333,BASELINE,765.609320844,744,715,679.390679156,659,634,877.390679156,784.609320844,809,651,629,652,0.400952742561,-0.0154014761867,0.0698167961605,0.999999938353,0.000191677204282,-0.000293847490306,1.44189690866e-05,1793247672867458048
+93,1.550000000,BASELINE,765.029815117,744,715,679.970184883,659,634,877.970184883,784.029815117,809,651,629,652,0.400951435819,-0.0154031937241,0.0698159143792,0.999999938583,0.000188965150071,-0.000294809219334,1.46016365644e-05,1793247672884124672
+94,1.566666667,BASELINE,765.544314171,744.544314171,715,680,659,634,877.455685829,784.544314171,809,651,628.455685829,652,0.400952596059,-0.0154027576411,0.0698175339235,0.999999939087,0.000188671227542,-0.000293294422501,1.43965653935e-05,1793247672900791296
+95,1.583333333,BASELINE,766,744.878850883,715,679.878850883,658.878850883,634,877,785,809,651.121149117,628.121149117,652,0.40095342193,-0.0154026421372,0.0698187101493,0.9999999395,0.000188194506243,-0.000292197479377,1.42542166713e-05,1793247672917458176
+96,1.600000000,BASELINE,766,744.290455935,715,679.290455935,658.290455935,634,877,785,809,651.709544065,628.709544065,652,0.400952442137,-0.0154042135554,0.0698176533375,0.999999939511,0.000186506917908,-0.000293230174155,1.44348862526e-05,1793247672934124800
+97,1.616666667,BASELINE,765.707312584,744,715,679,658.292687416,634,877,785,809,651.707312584,629,652,0.400951657699,-0.0154040232706,0.0698171241284,0.999999939121,0.000187224416023,-0.000294100746582,1.44520720653e-05,1793247672950791168
+98,1.633333333,BASELINE,765.129288964,744,715,679,658.870711036,634,877,785,809,651.129288964,629,652,0.400951063709,-0.0154021155301,0.0698171092707,0.999999938336,0.000190286593922,-0.000294813268502,1.43098801988e-05,1793247672967458048
+99,1.650000000,BASELINE,765,744,715,679,659,634,877,785,809,651,629,652,0.400953215724,-0.0154012684817,0.069818416897,0.999999939084,0.000189983904157,-0.000292461624428,1.42735353044e-05,1793247672984124672
+100,1.666666667,BASELINE,765,744,715,679,659,634,877,785,809,651,629.029052445,652,0.400955951218,-0.0154008311724,0.0698199715108,0.999999940202,0.000188713868144,-0.00028944853209,1.4258283644e-05,1793247673000791296
+101,1.683333333,BASELINE,765,744,715,679,659,634,877,785,809,651,629.602808199,652,0.400954792624,-0.015402346262,0.0698190129146,0.999999940106,0.000187483878501,-0.000290586386392,1.4066730093e-05,1793247673017457920
+102,1.700000000,BASELINE,765,744.1814861,715,679.1814861,659,634,877,785,809.1814861,651.1814861,629.8185139,652,0.400954077274,-0.0154033294596,0.0698185304203,0.999999939976,0.000186865101935,-0.000291432526465,1.40010626949e-05,1793247673034124544
+103,1.716666667,BASELINE,765,744.7712366,715,679.7712366,659,634,877,785,809.7712366,651.7712366,629.2287634,652,0.400954359034,-0.0154031161323,0.0698191189476,0.999999939776,0.000187621287807,-0.000291622436879,1.42185841444e-05,1793247673050790912
+104,1.733333333,BASELINE,765,744.645904228,715,679.645904228,659,634,877.354095772,785,809.645904228,651.645904228,629,652.354095772,0.400954603648,-0.0154026023252,0.0698194007385,0.999999939532,0.000189305103494,-0.000291360791244,1.44707486478e-05,1793247673067457536
+105,1.750000000,BASELINE,765,744.067412144,715,679.067412144,659,634,877.932587856,785,809.067412144,651.067412144,629,652.932587856,0.400954824722,-0.0154018980991,0.0698194881456,0.999999939254,0.000191576773515,-0.000290812987138,1.47448670452e-05,1793247673084124160
+106,1.766666667,BASELINE,765,744,715,679.508092689,659,634,878,785,809.508092689,651,629,652.491907311,0.400953916325,-0.0154017929399,0.0698185307301,0.999999939262,0.000189902188825,-0.000291895276713,1.44902921956e-05,1793247673100791040
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877,785,809,651,629,652,0.400955033164,-0.0154024470822,0.0698195790484,0.999999939835,0.000189299222274,-0.000290333482673,1.41960165408e-05,1793247673143380224
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.578713461,715,679,658.578713461,634,877,785,809,651,629,652,0.400953640041,-0.0154014215162,0.0698179571694,0.999999938591,0.000191386392011,-0.000293240867988,1.4080524038e-05,1793247673160046848
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+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.311041999,715.311041999,679.688958001,659,634,877,785,809,651,629,652,0.40095298424,-0.0154013134412,0.0698174644848,0.999999938515,0.000191960200346,-0.000293137080811,1.38778375681e-05,1793247673210047232
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.887368612,715.887368612,679.112631388,659,634,877,785,809,651,629,652,0.400952685164,-0.0154020526716,0.0698172740974,0.999999938499,0.000190839741204,-0.000293893726563,1.44246351938e-05,1793247673226714112
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715.526979215,679,659,634,877,785,809,651.473020785,628.526979215,652,0.400952316708,-0.0154016067991,0.0698174941127,0.999999938424,0.000191535009863,-0.000293704968922,1.424875759e-05,1793247673243380736
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+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877,785,809,651,629,652,0.400969256204,-0.0154043058343,0.0698258948579,0.999999942703,0.000187062198524,-0.00028171493112,1.54329175669e-05,1793247673310047232
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.633371865,744,715,679,658,634,877,785,809,651,629,652,0.400997181299,-0.0154063203543,0.0698379847041,0.999999948366,0.000186572597204,-0.000261132567608,1.63685481431e-05,1793247673326714368
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.063028219,744,715,679,658,634,877,785,809,651,629,652,0.401035004386,-0.0154080192324,0.0698541250867,0.999999954985,0.000187940398941,-0.0002332417123,1.75019422708e-05,1793247673343381504
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744,715,679,658.529451315,634,877,785,809,651,629,652,0.401093070325,-0.0154101463088,0.0698724900812,0.999999961746,0.000187878374447,-0.000202185370872,1.81799541968e-05,1793247673360048128
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.121317113,744,715,679,658.878682887,634,877,784.878682887,809.121317113,651,629,652,0.401154783037,-0.0154124561715,0.0698890027474,0.999999966721,0.000187722711153,-0.000175986641934,1.86392026309e-05,1793247673376714496
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.700487765,744,715,679,658.299512235,634,877,784.299512235,809.700487765,651,629,652,0.401220767304,-0.0154152551013,0.0698974816139,0.999999967796,0.000187884069942,-0.00016960487666,1.84863524041e-05,1793247673393381376
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.722714242,744.277285758,715,679,658.277285758,634,877,784,810,651.277285758,629,652,0.40129650281,-0.0154185744273,0.0699033636947,0.999999969157,0.000186636612968,-0.000162908601711,1.77173692667e-05,1793247673410048000
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.148457383,744.851542617,715,679,658.851542617,634,877,784,810,651.851542617,629,652,0.40138268182,-0.0154224510939,0.0699064646358,0.999999970813,0.00018388032419,-0.000155875489489,1.62885121166e-05,1793247673426714624
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.435946762,744.564053238,715,679,659,634,877,784.435946762,809.564053238,651.564053238,629,652,0.401480219968,-0.0154256406754,0.0699078485419,0.999999971135,0.000183530031925,-0.000154400791629,1.4381328702e-05,1793247673443381248
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976453966,744.023546034,715,679,659,634,877,784.976453966,809,651.023546034,629,652.023546034,0.401583128004,-0.0154287334469,0.0699087056849,0.99999997107,0.000183775892674,-0.00015471452213,1.22800811716e-05,1793247673460047616
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.396948032,744.603051968,715,679,659,634,877,784.396948032,809,651.603051968,629,652.603051968,0.40171931571,-0.0154351966875,0.0699112602851,0.999999972585,0.000178290949965,-0.000151497275507,9.53440156702e-06,1793247673476714496
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.81803313,715,679,659,634,877,784,809,651.81803313,628.81803313,652.81803313,0.401866134871,-0.0154419272595,0.0699138720455,0.999999974385,0.000171804802304,-0.000147214584923,6.46840549486e-06,1793247673493381120
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.240403425,715,679,659,634,877,784,809,651.240403425,628.240403425,652.240403425,0.402036070704,-0.0154492391073,0.0699166080927,0.999999976802,0.000163141667925,-0.000140615228117,2.70592408723e-06,1793247673510047744
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.334554844,715,679.334554844,659,634,877,784.334554844,809.334554844,651,628.334554844,652,0.402220689302,-0.0154569126758,0.0699185901078,0.999999978559,0.000155889963026,-0.000136304898463,-1.07157721217e-06,1793247673526714624
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.907608745,715,679.907608745,659,634,877,784.907608745,809.907608745,651,628.907608745,652,0.402415775038,-0.0154648441101,0.0699200345853,0.999999979863,0.000149644443842,-0.000133626380764,-4.85978635045e-06,1793247673543381760
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,785,809.5041071,651,629,652,0.402639962267,-0.0154748525342,0.069922812625,0.999999982198,0.000139583179626,-0.00012661462185,-9.4997150344e-06,1793247673560047872
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.914978317,715,679.914978317,659,634,877,785,809,651,629,652,0.40287785564,-0.0154849865916,0.0699269712962,0.999999986186,0.000117178574312,-0.00011701508432,-1.42888126934e-05,1793247673576714496
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.337903695,715,679.337903695,659,634,877,785,809,651,629,652,0.403162698418,-0.0154935372361,0.0699376367159,0.999999994709,2.75830855767e-05,-9.72595071476e-05,-1.89937318391e-05,1793247673593381120
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.238200879,744,715,679,659,634,877,784.761799121,809.238200879,651,629,652,0.403462761193,-0.0155028873142,0.0699464460079,0.999999996135,-2.42361927068e-05,-8.11151829557e-05,-2.37153021104e-05,1793247673610047744
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.812934924,744,715,679,659,634,877,784.187065076,809.812934924,651,629,652,0.403784326954,-0.0155133668415,0.069952632939,0.999999996883,-2.26847654173e-05,-7.0072883967e-05,-2.84603972004e-05,1793247673626714368
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.602274462,744.397725538,715,679,659,634,877,784.397725538,809.602274462,651,629,652,0.404115510542,-0.0155203144337,0.0699528710177,0.999999996528,-2.64544143589e-05,-7.14371111517e-05,-3.37664136098e-05,1793247673643380992
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.012631185,744.987368815,715,679,659,634,877,784.987368815,809.012631185,651,629,652,0.40445133509,-0.0155255577321,0.0699502385481,0.999999995585,-3.27916855311e-05,-7.87879606224e-05,-3.93430958057e-05,1793247673660047872
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.565753836,744.434246164,715,679.565753836,659,634,877,784.434246164,809.565753836,651,629,652,0.404848396231,-0.01551686698,0.0699560584089,0.999999997254,1.49648315432e-05,-6.7844655512e-05,-2.58079822853e-05,1793247673676714240
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.856124059,744,715,680,659,634,877.143875941,784,809.856124059,651,629,652,0.405254141023,-0.0155077922072,0.0699603137157,0.999999996814,5.00197194997e-05,-5.98047682078e-05,-1.71529508452e-05,1793247673693381120
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.278051747,744,715,680,659,634,877.721948253,784,809.278051747,651,629,652,0.405682046256,-0.0154984790408,0.0699592890436,0.999999996863,4.31693661906e-05,-6.17355338875e-05,-2.4487869533e-05,1793247673710048000
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.298760535,744,715,679.701239465,659,634,878,784.298760535,809.298760535,651,629,652.298760535,0.406127111782,-0.0154988371158,0.0699506522031,0.999999995952,3.42204045121e-05,-7.78168567382e-05,-2.95042067633e-05,1793247673726714368
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.874405119,744,715,679.125594881,659,634,878,784.874405119,809.874405119,651,629,652.874405119,0.406588081103,-0.0155081582627,0.0699349605886,0.999999993478,2.3326502457e-05,-0.000107012574448,-3.23717395151e-05,1793247673743380736
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.539223891,744.460776109,715,679,659,634.460776109,877.539223891,785,809.539223891,651,629,653,0.40708742515,-0.0155136026657,0.0699247152629,0.999999992361,1.03175833852e-05,-0.000118015544782,-3.52815459089e-05,1793247673760047360
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.950784055,715,679.049215945,659.049215945,634.950784055,877.049215945,784.950784055,809.049215945,651,629,652.950784055,0.407604427544,-0.0155174168137,0.0699181862276,0.999999991996,-2.10727332041e-06,-0.000120657859845,-3.80254570797e-05,1793247673776714240
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.372286771,715,679.627713229,659.627713229,634.372286771,877.627713229,784.372286771,809.627713229,651,629,652.372286771,0.408196163347,-0.0155153335791,0.0699352778621,0.999999995372,-1.90342853269e-06,-8.79872033046e-05,-3.88584181586e-05,1793247673793380864
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.204970139,715,679.795029861,659.795029861,634,877.795029861,784.204970139,809.795029861,651,629,652,0.408794961897,-0.0155143605292,0.0699474676175,0.999999997329,-7.60598661198e-07,-6.16291771431e-05,-3.92816989768e-05,1793247673810047488
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.779987678,715,679.220012322,659.220012322,634,877.220012322,784.779987678,809.220012322,651,629,652,0.409406511297,-0.0155153917764,0.0699508076554,0.99999999815,2.07744880237e-06,-4.66678007343e-05,-3.89653544293e-05,1793247673826714112
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679.362794808,659.362794808,634,877.362794808,785,809.362794808,651,629,652,0.410027205281,-0.0155139639765,0.0699461471698,0.999999997852,3.69007384685e-06,-5.15931525292e-05,-4.02632238289e-05,1793247673843380992
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679.950429468,659.950429468,634,877.950429468,785,809.950429468,651,629,652,0.410653566542,-0.0155110121973,0.069936528409,0.999999996714,4.54325077199e-06,-6.88431824599e-05,-4.2561492408e-05,1793247673860048128
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.530374085,745,715,679.469625915,660,634,878,785,810.530374085,651,629.530374085,652,0.411347752682,-0.0155138253466,0.06994668362,0.999999997555,-1.39785452052e-06,-5.54046908742e-05,-4.2633507075e-05,1793247673876714752
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.890819899,715,679.109180101,660.109180101,634,878,784.890819899,810.890819899,651,629.890819899,652.109180101,0.412059438918,-0.0155173984118,0.069962934036,0.999999998582,-7.57629862754e-06,-3.16744683301e-05,-4.21443512755e-05,1793247673893381120
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.313856969,715,679.686143031,660.686143031,634,878,784.313856969,810.313856969,651,629.313856969,652.686143031,0.41281933232,-0.0155219518012,0.0699974941889,0.999999998833,-1.20897740865e-05,2.40373292856e-05,-4.01296064399e-05,1793247673910047744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.738297373,744,715,680,660.738297373,634,878,784,810,651,629,653,0.4135745647,-0.0155232018606,0.070017668019,0.999999997654,-1.35628752576e-05,5.46084837223e-05,-3.90746182533e-05,1793247673926714112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.164411727,744,715,680,660.164411727,634,878,784,810,651,629,653,0.414324237083,-0.015520511404,0.0700206805214,0.999999997645,-1.14091383251e-05,5.51895687527e-05,-3.91645161244e-05,1793247673943380736
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.422200413,715,680,660,634,878.422200413,784.422200413,810.422200413,651,629,653,0.415053122136,-0.0155158167677,0.0699783196169,0.999999998784,-9.74903991995e-06,-1.9589295349e-05,-4.41991177833e-05,1793247673960047360
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.98644868,785,810.98644868,651,629,653,0.415776353714,-0.0155105960834,0.0699190788118,0.999999991184,-8.55409009365e-06,-0.000122267436621,-5.10917242828e-05,1793247673976713984
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.410500159,785,810.410500159,651,629,653,0.416611351832,-0.0155169405103,0.0699153832955,0.999999990372,-1.84376235998e-05,-0.000127035806096,-5.26975292219e-05,1793247673993380864
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,785,810.1645774,651,629,653,0.417452977364,-0.0155224571552,0.0699223130995,0.999999991541,-2.66535979253e-05,-0.00011575520625,-5.29907360906e-05,1793247674010047744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,785,810.737493947,651,629,653,0.418311046375,-0.0155259199588,0.0699556057834,0.999999996186,-3.07321281354e-05,-6.46549075583e-05,-5.00272065929e-05,1793247674026714368
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.686665253,715,680,660,634,878.313334747,785,811,651,629.313334747,653,0.419198068164,-0.0155277973578,0.0699857354168,0.999999998206,-3.16298026589e-05,-1.80975459436e-05,-4.75303920997e-05,1793247674043380992
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.108351518,715,680,660,634,878.891648482,785,811,651,629.891648482,653,0.420109574517,-0.0155283340215,0.0700131901397,0.99999999822,-2.98375106554e-05,2.46179701566e-05,-4.54282664222e-05,1793247674060047360
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.482148849,744,715,680,660,633.517851151,879,785,811,651,630,653,0.421025965861,-0.0155299402472,0.0700279471649,0.999999997226,-3.75629348914e-05,4.51875001972e-05,-4.57732154315e-05,1793247674076713984
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,744.073344597,715,680,660,633.073344597,878.926655403,784.926655403,811,651,630,653,0.421931855366,-0.015531303998,0.070030609302,0.999999996755,-4.61055863856e-05,4.61012100826e-05,-4.73243927513e-05,1793247674093380352
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,744.650030333,715,680,660,633.650030333,878.349969667,784.349969667,811,651,630,653,0.422757944438,-0.0155293114379,0.0699703585088,0.999999996163,-4.51975058426e-05,-5.28370826645e-05,-5.32817328626e-05,1793247674110047488
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.774824305,745,715.225175695,680,660,634,878,784.225175695,811,651,630,653,0.4235942721,-0.0155275764652,0.0699096211787,0.999999986347,-4.89312400087e-05,-0.00014595291199,-6.00865831558e-05,1793247674126714624
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.202056651,745,715.797943349,680,660,634,878,784.797943349,811,651,630,653,0.424446404666,-0.0155262391168,0.0698481327977,0.999999969416,-5.98303013003e-05,-0.000230080923927,-6.8199691933e-05,1793247674143380992
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715.628312121,680,660,634,878.371687879,785,811,651,630,653,0.425387046586,-0.0155278101767,0.0698629999304,0.999999975453,-5.96271949666e-05,-0.000202740139189,-6.66021469688e-05,1793247674160047616
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715.054035178,680,660,634,878.945964822,785,811,651,630,653,0.426375930618,-0.0155309664694,0.0699194847597,0.999999990221,-5.33728338278e-05,-0.000114643105717,-5.97117941723e-05,1793247674176714240
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.541281132,660,633.458718868,879,784.458718868,811,651,630,653,0.42737908478,-0.0155316400563,0.0699774210676,0.999999996161,-5.46843185131e-05,-4.03235900481e-05,-5.53275211411e-05,1793247674193380864
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.133780303,633.133780303,879.133780303,784.133780303,811,651,630,653,0.42837734537,-0.0155332594836,0.0700274408551,0.999999996605,-5.79352282519e-05,2.68548413723e-05,-5.20890408493e-05,1793247674210047744
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.709744991,633.709744991,879.709744991,784.709744991,811,651,630,653,0.429354532155,-0.0155388575301,0.0700507958417,0.999999993723,-6.49991177787e-05,7.5159742595e-05,-5.17773985111e-05,1793247674226714368
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.283316738,715,680.716683262,660.716683262,634,879.716683262,785,811.283316738,651,630,653,0.43026103991,-0.0155388145548,0.0700342298391,0.999999995137,-6.60999575481e-05,4.99819195149e-05,-5.34639003202e-05,1793247674243380736
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.85445744,715,680.14554256,660.14554256,634,879.14554256,785,811.85445744,651,630,653,0.431095744159,-0.0155330408156,0.0699771077514,0.999999995254,-6.11428818656e-05,-4.98476521385e-05,-5.71803340444e-05,1793247674260047616
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.556918674,715,680,660.443081326,633.556918674,879,785,812,651,630.443081326,653,0.431953188211,-0.0155290146266,0.0699148451388,0.999999984864,-5.7786744429e-05,-0.00015152330037,-6.30342860197e-05,1793247674276714240
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.036666447,745,715,680.036666447,661,633.036666447,879,785,812,651,630.963333553,653,0.43282687799,-0.0155262469216,0.0698589806497,0.999999967326,-5.60141065974e-05,-0.000239722055344,-6.8880570931e-05,1793247674293380864
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.615213292,745,715,680.615213292,661,633.615213292,879,785,812,651,630.384786708,653,0.433825732364,-0.0155332459983,0.0699236514277,0.999999988415,-6.95525064533e-05,-0.000119420634424,-6.3810784918e-05,1793247674310047488
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.231546497,879,785,812,651,630,653,0.435749963069,-0.0155406827242,0.0700254527643,0.999999993878,-7.77533681278e-05,5.6050115954e-05,-5.52851345201e-05,1793247674343380736
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+181,3.016666667,POSE1_TO_POSE2_PRESS,765.079527955,745,715,681,660.079527955,633,879,784.079527955,812.920472045,651,630,653,0.437533490323,-0.0155468722788,0.0700310657239,0.99999999073,-9.55255627533e-05,7.85584921942e-05,-5.69427045888e-05,1793247674376713984
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.491276388,660.508723612,633,879,784.508723612,813,651,630.508723612,653,0.438349776304,-0.0155461352432,0.0699842963081,0.999999993704,-9.39640326805e-05,1.2565443373e-05,-6.00389597623e-05,1793247674393380352
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681.307801674,661,633,879,784.307801674,814,651,630.692198326,653,0.446023319895,-0.0155545790703,0.0699650540554,0.999999991576,-0.000106826887278,-4.32418560837e-05,-5.97143947994e-05,1793247674560047360
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681.214265031,661,633,879.785734969,784,814.214265031,651,630,653,0.449006020002,-0.015560156539,0.0699275863992,0.999999985975,-0.000108901723411,-0.000111354524382,-6.15697850194e-05,1793247674643380992
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681.791679228,661,633,879.208320772,784,814.791679228,651,630,653,0.449572535719,-0.0155671289925,0.0699554570514,0.999999989132,-0.000115769746799,-7.02323742142e-05,-5.83153536072e-05,1793247674660047616
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715.365632361,681.634367639,661,633,879,784,814.634367639,651,630.365632361,653,0.450079341596,-0.0155721524308,0.0699616445335,0.999999989377,-0.000119798908872,-5.94417131915e-05,-5.79682568182e-05,1793247674676714496
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+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682.424521348,660.575478652,632,879,780.575478652,814.424521348,651,630,653.575478652,0.455554956383,-0.0156004794711,0.0697712628559,0.999999922638,-0.00015120064261,-0.000358305803741,-5.89814559598e-05,1793247675343381760
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,682.163406908,661,632,879,781,814.163406908,651,630,653.836593092,0.455555671145,-0.0155999018756,0.069771322216,0.999999922825,-0.00015117137514,-0.000357802293936,-5.89524440153e-05,1793247675360048128
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,682.738103318,661,632,879,781,814.738103318,651,630,653.261896682,0.455552689627,-0.0156006639595,0.0697690029614,0.999999921581,-0.000151685294744,-0.000360982734443,-5.93380551551e-05,1793247675376714496
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,682.684904713,660.684904713,632,879,781,815,651,630,653,0.455553193254,-0.0156006624501,0.069769341534,0.999999921613,-0.000151621765162,-0.000360957797272,-5.91069658331e-05,1793247675393380864
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,682.10599078,660.10599078,632,879,781,815,651,630,653,0.455556614876,-0.0156000216098,0.0697719054155,0.999999922714,-0.000151074756848,-0.000358249105425,-5.83595340144e-05,1793247675410047488
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632,879,781,815,651,630,653,0.455556013557,-0.0155993804252,0.0697703760068,0.999999922392,-0.000149636640423,-0.000359774950768,-5.81891908227e-05,1793247675426714368
+245,4.083333333,HOLD_POSE2,766,745,715,682,660,631,879,781,814,651,630,653,0.455552001069,-0.0155957684507,0.0697678899163,0.999999921595,-0.000144989222301,-0.000363739609342,-5.90043112509e-05,1793247675470217728
+246,4.100000000,HOLD_POSE2,766,745,715,681.423319612,660.576680388,631.576680388,879,781,814.576680388,651,630,653,0.455552980954,-0.0155980577989,0.0697682610154,0.99999992127,-0.000149294200675,-0.000362955439392,-5.860133162e-05,1793247675486884352
+247,4.116666667,HOLD_POSE2,766,745,715,681,660.84695478,632,879.15304522,781,815,651,630,653,0.455553977494,-0.015599384419,0.0697685324519,0.999999921263,-0.000151076260141,-0.00036228999306,-5.82809856116e-05,1793247675503550976
+248,4.133333333,HOLD_POSE2,766,745,715,681,660.271460842,632,879.728539158,781,815,651,630,653,0.455555020009,-0.0155980536338,0.0697685287911,0.99999992216,-0.000145894340561,-0.000361952257806,-5.81887320196e-05,1793247675520216832
+249,4.150000000,HOLD_POSE2,766,745.311396748,715,681.311396748,660,632,880,781.311396748,815,651,630,653.311396748,0.455555556213,-0.0155982045329,0.0697691029333,0.999999922367,-0.00014535802847,-0.000361614600582,-5.80718103785e-05,1793247675536883200
+250,4.166666667,HOLD_POSE2,766,745.900829059,715,681.900829059,660,632,880,781.900829059,815,651,630,653.900829059,0.455555640349,-0.0155996783778,0.0697701929764,0.999999921965,-0.000148969621557,-0.000361277013049,-5.79328634817e-05,1793247675553549824
+251,4.183333333,HOLD_POSE2,765.517125589,745.517125589,715,682.482874411,660.482874411,632,879.517125589,781.517125589,814.517125589,651,630,653.517125589,0.455555903865,-0.0155985419922,0.0697697783494,0.999999922076,-0.00014706024172,-0.000361729729765,-5.80823843932e-05,1793247675570216448
+252,4.200000000,HOLD_POSE2,765.062645422,745,715,682.937354578,660.937354578,632,879.062645422,780.937354578,814.062645422,651,630,653.062645422,0.455556213623,-0.0155970720183,0.0697691604721,0.999999922296,-0.000144423725996,-0.000362154820182,-5.82493224761e-05,1793247675586883072
+253,4.216666667,HOLD_POSE2,765.636056143,745,715,682.363943857,660.363943857,632,879.636056143,780.363943857,814.636056143,651,630,653.636056143,0.455556604545,-0.0155971871529,0.069769367029,0.999999922627,-0.00014496418502,-0.000361051249637,-5.80825094775e-05,1793247675603549696
+254,4.233333333,HOLD_POSE2,766,745,715,682,660,632,880,780.210018691,815,651.210018691,630,653.789981309,0.45555643735,-0.0155976184049,0.0697690376508,0.999999922527,-0.000146009203583,-0.000360927129293,-5.79640378832e-05,1793247675620216832
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+256,4.266666667,HOLD_POSE2,766,745,715,682,660,632,879.627293047,781,814.627293047,651.627293047,630,653,0.455555045116,-0.0155983932643,0.0697677585672,0.999999921482,-0.000147813635776,-0.000363089083569,-5.79066173635e-05,1793247675653550336
+257,4.283333333,HOLD_POSE2,766,745,715,682,660,632,879.03184915,781,814.03184915,651.03184915,630,653,0.455555316642,-0.0155974787661,0.0697684822933,0.999999921683,-0.00014647788744,-0.000363079741541,-5.78905719913e-05,1793247675670216192
+258,4.300000000,HOLD_POSE2,765.455144316,745,715,682,660,632,879,781,814,651,630,653,0.455554453854,-0.0155973756876,0.0697677010863,0.999999921458,-0.000145184542217,-0.00036423954759,-5.77495840816e-05,1793247675686883072
+259,4.316666667,HOLD_POSE2,765,745,715,682,660,632,879,781,814.12005574,651,630,653,0.45555405345,-0.0155969623229,0.0697672556854,0.999999921364,-0.000144223700662,-0.000364888178066,-5.76910956516e-05,1793247675703549696
+260,4.333333333,HOLD_POSE2,765,745,715,682,660,632,879,781,814.69357206,651,630,653,0.455555641623,-0.0155952037874,0.0697683998741,0.999999921864,-0.000144509702154,-0.000363356506281,-5.79708830737e-05,1793247675720216320
+261,4.350000000,HOLD_POSE2,765.274935323,745,715,682,660,632,879,781,815,651,630,653,0.455556573786,-0.015594922571,0.0697689015671,0.999999921958,-0.000145412154498,-0.000362716909995,-5.81020613665e-05,1793247675736883200
+262,4.366666667,HOLD_POSE2,765.865301273,745,715,682,660,632,879,781,815,651,630,653,0.455556753316,-0.0155963362685,0.069768666131,0.999999921586,-0.000147021854902,-0.00036310078336,-5.80627418315e-05,1793247675753550592
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879,780,815,651,629,653,0.455555340138,-0.0155969909612,0.0697684475776,0.999999921532,-0.000146114447362,-0.000363643764935,-5.78758931384e-05,1793247675786179328
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879,780.275776875,814,651,630,653,0.45555600198,-0.0155946343505,0.0697681276111,0.99999992178,-0.000144402229982,-0.000363552379219,-5.84679317148e-05,1793247675836178688
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+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.516541537,781,814.483458463,651,630,653,0.455556943228,-0.0155964072543,0.0697681598088,0.99999992182,-0.000146773024266,-0.00036261730536,-5.76778389727e-05,1793247675886178560
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.939989351,745,715,682,660.060010649,631.939989351,879,781,815,651,630,653,0.455557635807,-0.0155973349284,0.0697689791733,0.999999922169,-0.000148562073059,-0.000360911100561,-5.77516291612e-05,1793247675902845440
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.365685991,745,715,682,660.634314009,631.365685991,879,781,815,651,630,653,0.455553010707,-0.015597003185,0.0697660647668,0.999999920553,-0.000148620193481,-0.00036529478372,-5.80232178683e-05,1793247675919512320
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.213471451,745,715,681.786528549,660.786528549,631.213471451,879,781,815,651,630,653,0.455542989759,-0.0155962399498,0.0697607555401,0.999999917625,-0.000147752779559,-0.000373538819578,-5.82013912567e-05,1793247675936178944
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.801137564,745,715,681.198862436,660.198862436,631.801137564,879,781,815,651,630,653,0.455523510413,-0.0155947203516,0.0697512484273,0.999999912269,-0.000145262994045,-0.000388549677228,-5.82158166535e-05,1793247675952845568
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.614781926,745,715,681,660,631.614781926,879,781,814.614781926,651,630,653,0.455483947426,-0.0155929362728,0.0697351946947,0.999999901408,-0.000145782494797,-0.000415197518654,-5.95212018247e-05,1793247675969512192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.0325353,745,715,681,660,631.0325353,879,781,814.0325353,651,630,653,0.455434112202,-0.0155910169192,0.0697157925434,0.99999988692,-0.000147841163153,-0.000447797361291,-6.14868777054e-05,1793247675986178816
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.54240637,745,715,681.54240637,660,631.54240637,879.54240637,781,814.54240637,651,629.45759363,653,0.455371965991,-0.0155866940273,0.0696970015239,0.999999876941,-0.000144306419864,-0.000470531492575,-6.23968704871e-05,1793247676002845440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.882707935,781,814.882707935,651,629.117292065,653,0.455306420121,-0.0155825461488,0.0696802561866,0.999999867566,-0.000140848370629,-0.000490980044867,-6.30001281128e-05,1793247676019511808
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.30634898,781,814.30634898,651,629.69365102,653,0.455230420189,-0.0155796400235,0.0696713758288,0.999999860983,-0.000138986191068,-0.000504768492566,-6.26474082241e-05,1793247676036178688
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879,781,814.862571923,651,629.137428077,653,0.455064926689,-0.0155694558413,0.0696680646232,0.999999860556,-0.000133974994177,-0.000507162075896,-6.1040873765e-05,1793247676069512192
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879,781,814.556550105,651,629.443449895,653,0.454954607332,-0.0155639022211,0.0696673507564,0.999999860296,-0.00013164557554,-0.000508469368187,-5.94725398705e-05,1793247676086178816
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.977846917,660,632,879,781,814,651,629.977846917,653,0.454835873477,-0.0155584716795,0.069666177862,0.999999859423,-0.000129464363622,-0.000510945530855,-5.76874940709e-05,1793247676102845696
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.691362591,744.691362591,715,679,658.691362591,634,877,784,809,651,629.308637409,652,0.404658680153,-0.0153433263232,0.0698151093238,0.999999919629,0.000253607327484,-0.00031025120075,1.29958704097e-05,1793247677386178304
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.727362698,744.727362698,715,679.272637302,659,634,877.272637302,784,809,651,629,652.272637302,0.404315786126,-0.0153447003542,0.0698300135228,0.999999928033,0.000253219941189,-0.000282143855203,1.44414078697e-05,1793247677402845184
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.137507039,744.137507039,715,679.862492961,659,634,877.862492961,784,809,651,629,652.862492961,0.403991480742,-0.0153448353962,0.0698432976161,0.999999936422,0.000246379992606,-0.000257301086221,1.5767181219e-05,1793247677419511552
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.444321881,744,715,679.555678119,659,634,878,784,809,651,629,652.555678119,0.403670891535,-0.0153423407645,0.0698456666222,0.999999935287,0.000256425024703,-0.000251855916798,1.5518446376e-05,1793247677436178176
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,744.023527525,715,679.023527525,658.976472475,634,877.976472475,784.023527525,809.023527525,651,629,652,0.403352820949,-0.0153390215418,0.0698441871886,0.999999931156,0.000270814051938,-0.000253241969351,1.46803104102e-05,1793247677452845056
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.598438351,715,679.598438351,658.401561649,634,877.401561649,784.598438351,809.598438351,651,629,652,0.403067301479,-0.0153351114924,0.0698302769878,0.999999926133,0.000266717500878,-0.000276532156546,1.12460927199e-05,1793247677469511936
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.823501362,744.823501362,715,680,658.176498638,633.823501362,876.823501362,784.823501362,810,651.176498638,629,652,0.40279644825,-0.0153321788936,0.0698183720417,0.999999920599,0.000265322189638,-0.000297196151985,8.97695388369e-06,1793247677486178304
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.238145463,744.238145463,715,680,658.761854537,633.238145463,876.238145463,784.238145463,810,651.761854537,629,652,0.402559569254,-0.0153315105492,0.0698111122492,0.999999914854,0.000270184273208,-0.000311776598531,9.40670859953e-06,1793247677502844928
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.65538844,659,633.34461156,876.34461156,784,809.65538844,651.65538844,629,652,0.402342364637,-0.0153303058263,0.0698062389495,0.999999911655,0.000272518302868,-0.000319862480496,1.05381958033e-05,1793247677519511552
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.074413881,659,633.925586119,876.925586119,784,809.074413881,651.074413881,629,652,0.402138654307,-0.0153287332109,0.0698030025023,0.999999910305,0.000273118385394,-0.000323493856509,1.21509890059e-05,1793247677536178176
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.504589525,715,679.504589525,659.504589525,634,877,784.504589525,809.504589525,651.504589525,629,652.504589525,0.401957325142,-0.0153301480584,0.0697985744044,0.999999907241,0.000273606027072,-0.00033239205251,1.31873440206e-05,1793247677552844800
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.917509488,659.917509488,634,877,784.917509488,810,651.917509488,629,652.917509488,0.401785981795,-0.0153325110188,0.0697947454875,0.999999904717,0.000273241808983,-0.000340157508941,1.40779295192e-05,1793247677569511680
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.344442365,659.344442365,634,877,784.344442365,810,651.344442365,629,652.344442365,0.401654471952,-0.0153379025464,0.0697955209953,0.999999907361,0.000267909755204,-0.000336585262903,1.46052054468e-05,1793247677586178304
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.764930264,715.235069736,679,659,634,877,784.235069736,809.764930264,651,629,652,0.401533619933,-0.0153404452938,0.0697959604395,0.99999991142,0.000255817929609,-0.000334074788149,1.058154233e-05,1793247677602844928
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.175708296,715.824291704,679,659,634,877,784.824291704,809.175708296,651,629,652,0.401428824828,-0.015338696115,0.0697958935756,0.99999991723,0.000233541942248,-0.000333163960785,-2.98491374559e-07,1793247677619511808
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,715.59406833,679.40593167,658.59406833,634,877,785,809,651.40593167,629.40593167,652.40593167,0.4013386282,-0.0153410099118,0.0697960158555,0.999999916684,0.000236050068705,-0.000333022214243,-3.04291607547e-06,1793247677636178432
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715.015650089,679.984349911,658.015650089,634,877,785,809,651.984349911,629.984349911,652.984349911,0.401254634691,-0.015345050129,0.0697962185054,0.999999913461,0.00024908934458,-0.000333207261929,-2.33039586168e-06,1793247677652844800
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.561729568,715,680,658,634,877,784.438270432,809.561729568,651.438270432,629.438270432,652.438270432,0.40119020984,-0.0153437027389,0.0697974025675,0.999999913851,0.000251550388698,-0.000330181580433,-8.17211572626e-07,1793247677669511680
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.86163455,715,680,658.13836545,634,877,784.13836545,809.86163455,651,629,652,0.40113138633,-0.0153424949674,0.0697985067262,0.999999914277,0.000253182964838,-0.000327634353805,6.28714984965e-07,1793247677686178304
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.287251551,715,680,658.712748449,634,877,784.712748449,809.287251551,651,629,652,0.401088498954,-0.01534219929,0.0697992730895,0.999999914536,0.000253131863688,-0.000326876199155,1.79253457862e-06,1793247677702844928
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.294990098,744.294990098,715.294990098,679.705009902,659,634,877,785,809,651,629,652,0.401052613955,-0.0153420319724,0.069799386541,0.999999914852,0.000253080950286,-0.000325943688786,2.57633991079e-06,1793247677719511552
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.885093755,744.885093755,715.885093755,679.114906245,659,634,877,785,809,651,629,652,0.40102373426,-0.0153419930682,0.0697988468075,0.999999915224,0.000253030224705,-0.000324836749633,2.97997207471e-06,1793247677736178432
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.533356823,678.533356823,659,634,877,784.533356823,809,651.466643177,629,652,0.401003412673,-0.0153399759109,0.0698009184335,0.999999915439,0.00025625310651,-0.00032163084628,3.19828984445e-06,1793247677752845056
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.95429507,744.95429507,715,678.04570493,659,634,877,784,809,651.95429507,629,652,0.400985596028,-0.0153377326713,0.069803351544,0.999999915575,0.000259856698686,-0.000318297338914,3.33801210111e-06,1793247677769511680
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.380080199,744.380080199,715,678.619919801,659,634,877,784,809,651.380080199,629,652,0.400972815602,-0.0153384066056,0.0698026629518,0.999999915535,0.000258709165902,-0.000319357285159,3.08705948887e-06,1793247677786178304
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.198825968,744,715,679,659,634,877,784.198825968,809,651,629,652,0.400963309022,-0.0153387236881,0.0698029473352,0.99999991585,0.000258216867215,-0.000318770525395,3.00989251832e-06,1793247677802845184
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.786916804,744,715,679,659,634,877,784.786916804,809,651,629,652,0.400960212037,-0.01533834212,0.0698051366267,0.999999916852,0.00025900739707,-0.000314959816495,3.27296605194e-06,1793247677819511808
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.369561279,715,679,659,634,877.369561279,784.630438721,809.369561279,651,629,652,0.400958558182,-0.0153388019906,0.0698069352738,0.999999918088,0.000258192073515,-0.000311688303291,3.29014573287e-06,1793247677836178432
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.949111056,715,679,659,634,877.949111056,784.050888944,809.949111056,651,629,652,0.400957724329,-0.0153397399754,0.0698085119526,0.999999919453,0.000256464287598,-0.000308723166723,3.16760600279e-06,1793247677852845056
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.472850336,745,715,679,658.472850336,634,877.472850336,784,810,651,629,652,0.400954757244,-0.0153410319881,0.0698079053982,0.999999919443,0.000255256220417,-0.000309750811482,3.49604037817e-06,1793247677869511936
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.10463524,744.89536476,715,679.10463524,658.10463524,634,877,784,809.89536476,651,629,652,0.400952083578,-0.0153418438107,0.0698074583994,0.999999919394,0.000254431664698,-0.000310584355703,3.67521649266e-06,1793247677886178560
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.680285987,744.319714013,715,679.680285987,658.680285987,634,877,784,809.319714013,651,629,652,0.400951655106,-0.0153403406522,0.0698086756679,0.999999919772,0.000255108284259,-0.000308814024713,2.98709271325e-06,1793247677902845184
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.738597802,744,715,680,659,634,877,784.261402198,809,651,629,652.261402198,0.400952027497,-0.0153403427946,0.0698097197604,0.999999920261,0.000255256944679,-0.000307105607981,2.77370235784e-06,1793247677919511808
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.150654103,744,715,680,659,634,877,784.849345897,809,651,629,652.849345897,0.400953400319,-0.0153422253463,0.0698105475233,0.99999992089,0.000254746082921,-0.000305474533801,3.15334504639e-06,1793247677936178432
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.432988926,715,679.567011074,659,634,877,785,809,651,629,652.567011074,0.400952889884,-0.0153423297297,0.0698105449,0.999999920801,0.000255018255806,-0.000305535582087,3.46195352633e-06,1793247677952845056
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,634,877,784.985133222,809,651,629.014866778,652,0.400951744781,-0.0153418635113,0.0698102697797,0.999999920474,0.000255539637004,-0.000306165239711,3.73800478163e-06,1793247677969511680
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,634,877,784.413864901,809,651,629.586135099,652,0.400951129186,-0.0153429695122,0.069810503117,0.999999920509,0.000255291501176,-0.000306257569569,3.71148130448e-06,1793247677986178304
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.83807371,715,679,658.83807371,634,877,784,809.16192629,651.16192629,629.83807371,652,0.400950849424,-0.0153434450676,0.0698107258311,0.999999920459,0.000255530121848,-0.00030622442307,3.66554577391e-06,1793247678002844928
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.250390454,715,679,658.250390454,634,877,784,809.749609546,651.749609546,629.250390454,652,0.400951452676,-0.0153422629765,0.0698109206138,0.999999920181,0.000257048583945,-0.000305861358344,3.56856963268e-06,1793247678019512576
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.331622917,715,678.668377083,658.331622917,634,877,784,810,651.668377083,629,652,0.400951090794,-0.0153423051319,0.069810802844,0.999999920044,0.000257298287561,-0.000306100285572,3.41035342074e-06,1793247678036179456
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.909427204,715,678.090572796,658.909427204,634,877,784,810,651.090572796,629,652,0.40095001244,-0.015343256111,0.0698104530501,0.999999920013,0.000256606124054,-0.000306786103535,3.20667544404e-06,1793247678052845824
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.484705177,744.515294823,715,678.484705177,658.515294823,634,877,784.484705177,809.515294823,651,629,652,0.400951822011,-0.0153424230828,0.0698119566647,0.999999920984,0.000255971665078,-0.000304141152112,3.05449034055e-06,1793247678069512192
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.940009923,744.059990077,715,679.059990077,658.059990077,634,877,785,809.059990077,651,629,652,0.400953954685,-0.0153413759125,0.0698136323107,0.999999922034,0.000255409155361,-0.000301148502191,2.92602123445e-06,1793247678086178816
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.360599185,744.639400815,715,679.639400815,658.639400815,634,877,785,809.639400815,651,629,652,0.400954236695,-0.0153413460398,0.0698138143406,0.999999922235,0.000255376736742,-0.000300506338822,2.92001590067e-06,1793247678102845952
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.222274998,745,715,679.777725002,658.777725002,634,877.222274998,784.777725002,809.777725002,651,629,652,0.400954588091,-0.0153417402179,0.0698143164679,0.999999922505,0.000255163127995,-0.000299787346586,3.01337469521e-06,1793247678119512832
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.810857,745,715,679.189143,658.189143,634,877.810857,784.189143,809.189143,651,629,652,0.400955053834,-0.0153428332276,0.0698153461124,0.999999922888,0.000254650919701,-0.000298941741033,3.27048459134e-06,1793247678136179200
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.607058089,744.607058089,715,679,658.392941911,634,877.607058089,784.392941911,809.392941911,651.392941911,629,652,0.400954783286,-0.0153427172024,0.0698147935786,0.999999922781,0.000254533769898,-0.000299401423878,3.17124581806e-06,1793247678152845824
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.028049725,744.028049725,715,679,658.971950275,634,877.028049725,784.971950275,809.971950275,651.971950275,629,652,0.400954164089,-0.015342028673,0.0698134918492,0.99999992244,0.000254603688825,-0.000300479188925,2.90326826418e-06,1793247678169512448
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,658.451878909,634,877,784.451878909,809.451878909,651.451878909,629,652,0.400953197176,-0.0153420696769,0.0698133381072,0.999999922127,0.000255560169807,-0.000300708859892,3.16937908595e-06,1793247678186178816
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0e811629d3581cfac446bb4ed3357481c0b2945
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+1,0.016666667,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+2,0.033333333,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+3,0.050000000,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+4,0.066666667,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+5,0.083333333,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+6,0.100000000,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+7,0.116666667,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+8,0.133333333,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+9,0.150000000,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
+10,0.166666667,pose1_baseline,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894203,1.05966576102
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+371,6.183333333,pose2_to_pose3_retreat,0.583821512837,-0.0100723072913,1.06004236619,0.55439330606,-0.00139784296729,1.05966575125
+372,6.200000000,pose2_to_pose3_retreat,0.583721333405,-0.0100722396082,1.06004251633,0.554293125888,-0.00139777808608,1.05966589499
+373,6.216666667,pose2_to_pose3_retreat,0.583635517238,-0.0100720669906,1.0600426403,0.554207307952,-0.00139761155808,1.05966601708
+374,6.233333333,pose2_to_pose3_retreat,0.583560715248,-0.0100719536241,1.06004261947,0.554132505013,-0.00139750110719,1.05966600323
+375,6.250000000,pose2_to_pose3_retreat,0.583496059378,-0.0100720519358,1.0600426099,0.554067849131,-0.00139759969938,1.05966598809
+376,6.266666667,pose2_to_pose3_retreat,0.583441455775,-0.0100721169228,1.06004227407,0.554013245681,-0.00139766394856,1.05966565732
+377,6.283333333,pose2_to_pose3_retreat,0.583395833547,-0.0100720996037,1.06004246083,0.553967625009,-0.00139764147975,1.05966584101
+378,6.300000000,pose2_to_pose3_retreat,0.583359246732,-0.0100720042324,1.06004251901,0.553931036125,-0.0013975532141,1.05966589723
+379,6.316666667,pose2_to_pose3_retreat,0.583329778895,-0.0100720329953,1.06004244919,0.553901567944,-0.00139758305467,1.05966582944
+380,6.333333333,pose2_to_pose3_retreat,0.583306965243,-0.0100721621903,1.06004243625,0.55387875577,-0.00139770710296,1.05966581963
+381,6.350000000,pose2_to_pose3_retreat,0.58328913252,-0.0100722832485,1.06004260073,0.553860924351,-0.00139782369966,1.05966598489
+382,6.366666667,pose2_to_pose3_retreat,0.583275455955,-0.0100721982421,1.06004262219,0.553847247796,-0.00139773877542,1.05966600372
+383,6.383333333,pose2_to_pose3_retreat,0.583265945543,-0.010072103991,1.06004253422,0.553837736343,-0.00139764792034,1.0596659189
+384,6.400000000,pose2_to_pose3_retreat,0.583259329569,-0.0100720624184,1.06004241851,0.553831119864,-0.00139760801386,1.05966580433
+385,6.416666667,pose2_to_pose3_retreat,0.58325528736,-0.0100720849662,1.06004230464,0.553827078045,-0.00139762935342,1.05966568784
+386,6.433333333,pose2_to_pose3_retreat,0.583252736189,-0.0100720909768,1.06004225409,0.553824526793,-0.00139763565179,1.05966563708
+387,6.450000000,pose2_to_pose3_retreat,0.58325122528,-0.0100720852104,1.06004224831,0.553823015463,-0.00139763124755,1.05966563283
+388,6.466666667,pose2_to_pose3_retreat,0.583250073545,-0.0100720808148,1.06004224391,0.553821863407,-0.00139762789029,1.05966562959
+389,6.483333333,pose2_to_pose3_retreat,0.583249194535,-0.0100720774601,1.06004224055,0.553820984153,-0.00139762532801,1.05966562712
+390,6.500000000,pose2_to_pose3_retreat,0.583248654976,-0.0100720469326,1.06004226932,0.553820444332,-0.00139759572335,1.05966565506
+391,6.516666667,pose2_to_pose3_retreat,0.583248423774,-0.0100720325408,1.06004228306,0.553820213012,-0.00139758174705,1.05966566839
+392,6.533333333,pose2_to_pose3_retreat,0.583248381827,-0.0100720299296,1.06004228556,0.553820171044,-0.00139757921131,1.05966567081
+393,6.550000000,pose2_to_pose3_retreat,0.583248316712,-0.0100720258763,1.06004228943,0.553820105896,-0.00139757527505,1.05966567456
+394,6.566666667,pose2_to_pose3_retreat,0.583248170852,-0.0100720167969,1.0600422981,0.553819959962,-0.00139756645773,1.05966568297
+395,6.583333333,pose2_to_pose3_retreat,0.58324792971,-0.0100720017863,1.06004231244,0.553819718698,-0.00139755188055,1.05966569688
+396,6.600000000,pose2_to_pose3_retreat,0.583247706961,-0.0100719879206,1.06004232568,0.553819495836,-0.00139753841521,1.05966570972
+397,6.616666667,pose2_to_pose3_retreat,0.583247492476,-0.0100719745694,1.06004233843,0.553819281242,-0.00139752544946,1.05966572208
+398,6.633333333,pose2_to_pose3_retreat,0.583247406696,-0.0100719692298,1.06004234353,0.553819195419,-0.001397520264,1.05966572703
+399,6.650000000,pose2_to_pose3_retreat,0.583247022227,-0.0100719452974,1.06004236639,0.553818810755,-0.00139749702259,1.05966574919
+400,6.666666667,pose2_to_pose3_retreat,0.583246696494,-0.0100719419486,1.06004238074,0.553818485021,-0.00139749368734,1.05966576325
+401,6.683333333,pose2_to_pose3_retreat,0.583246362822,-0.010072009856,1.06004237433,0.553818152044,-0.00139755919807,1.05966575775
+402,6.700000000,pose2_to_pose3_retreat,0.58324588183,-0.0100721077453,1.0600423651,0.553817672053,-0.00139765363256,1.05966574983
+403,6.716666667,pose2_to_pose3_retreat,0.583245607476,-0.0100720914059,1.06004235191,0.553817397207,-0.00139763882281,1.0596657399
+404,6.733333333,pose2_to_pose3_retreat,0.583245588298,-0.0100720882405,1.06004235077,0.553817377965,-0.00139763586244,1.05966573905
+405,6.750000000,pose2_to_pose3_retreat,0.583245493094,-0.0100720725268,1.06004234509,0.553817282443,-0.00139762116668,1.05966573485
+406,6.766666667,pose2_to_pose3_retreat,0.583245387442,-0.0100720652416,1.06004234464,0.553817176547,-0.00139761469909,1.05966573459
+407,6.783333333,pose2_to_pose3_retreat,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894206,1.05966576102
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1780235835b39ff4d675dc841af8c03e6d5c364
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a4a2a1c38f4abe3ebc5ee98ae55e2163848e893a5012cd79dfb765201779d2
+size 26006078
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89ea188443f5845aa6be47f0b65de0c193c60239
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+36,0.600000000,BASELINE,765.094502784,744.905497216,715,679.094502784,659,634,877.094502784,785,809,651,629,652,0.400950824925,-0.0153426270186,0.0698133383264,0.999999922122,0.000255871332861,-0.000300464207149,2.61175991904e-06,1793247678914482432
+37,0.616666667,BASELINE,765,744.519825609,715,679,659,634,877.480174391,785,809.480174391,651,629,652,0.400952358495,-0.0153432216634,0.0698147257359,0.99999992296,0.000254816698218,-0.000298562747973,2.82407256229e-06,1793247678931149056
+38,0.633333333,BASELINE,765,744.056366869,715.056366869,679.056366869,659,634,877.943633131,785,810,651,629,652,0.400954233883,-0.0153439447563,0.0698164107032,0.999999923971,0.00025377405448,-0.000296052322863,3.04918760247e-06,1793247678947815424
+39,0.650000000,BASELINE,765,744.647937471,715.647937471,679.647937471,659,634,877.352062529,785,810,651,629,652,0.400954290923,-0.0153448020251,0.0698164040458,0.99999992419,0.000253030289776,-0.000295949981512,2.92784064869e-06,1793247678964482304
+40,0.666666667,BASELINE,765.234459578,744.765540422,715.765540422,680,659,634,877,785,809.765540422,651,629,652,0.400954247587,-0.0153452627522,0.0698163275751,0.999999924322,0.000252382935095,-0.0002960575153,2.8430440304e-06,1793247678981149184
+41,0.683333333,BASELINE,765.813560667,744.186439333,715.186439333,680,659,634,877,785,809.186439333,651,629,652,0.400954056706,-0.0153451405865,0.069816148483,0.999999924327,0.000251877297409,-0.000296473552953,2.8119742192e-06,1793247678997815808
+42,0.700000000,BASELINE,766,744,715,680,659,634,877,784.610353357,809.389646643,651,629,652.389646643,0.400953745599,-0.0153451233724,0.0698160432215,0.99999992417,0.000252163755277,-0.000296759791833,2.76105094598e-06,1793247679014482432
+43,0.716666667,BASELINE,766,744,715,680,659,634,877,784.035698999,809.964301001,651,629,652.964301001,0.400953377406,-0.0153451559902,0.0698159730154,0.999999923936,0.000252826307219,-0.000296984401084,2.7007010722e-06,1793247679031149056
+44,0.733333333,BASELINE,766,744,715,680,659,634,877,784.538924032,810,651.538924032,629,652.461075968,0.40095264789,-0.015344361934,0.0698156369335,0.999999923374,0.000254189656753,-0.000297710958233,2.70581366247e-06,1793247679047815936
+45,0.750000000,BASELINE,766,744,715.116879688,679.883120312,659,634,877,785,810,651.883120312,629.116879688,652,0.400952030605,-0.0153438485707,0.0698153088765,0.999999922892,0.000255373367812,-0.000298318094575,2.75070222388e-06,1793247679064482560
+46,0.766666667,BASELINE,766,744,715.708376514,679.291623486,659,634,877,785,810,651.291623486,629.708376514,652,0.400951966245,-0.0153446973789,0.0698150849198,0.999999922827,0.000255639119558,-0.000298305284677,2.93950276677e-06,1793247679081148928
+47,0.783333333,BASELINE,765.706185526,744,715.706185526,679,659,634,877,785,810,651,629.706185526,652,0.40095259165,-0.0153452855748,0.0698153224636,0.999999923224,0.000254816841218,-0.000297677879344,3.02947437306e-06,1793247679097815552
+48,0.800000000,BASELINE,765.126639679,744,715.126639679,679,659,634,877,785,810,651,629.126639679,652,0.400953887842,-0.0153456203283,0.0698160088117,0.999999924065,0.000252936465507,-0.000296452786645,3.02333593777e-06,1793247679114482176
+49,0.816666667,BASELINE,765.448950777,744,715,679.448950777,658.551049223,634,877,784.551049223,809.551049223,651,629,652,0.400953968561,-0.0153456425261,0.0698161481298,0.999999924337,0.000252449946952,-0.000295948168205,3.03620701049e-06,1793247679131149056
+50,0.833333333,BASELINE,765.97660635,744,715,679.97660635,658.02339365,634,877,784,809,651.02339365,629,652,0.400953723169,-0.0153455809949,0.0698161512967,0.99999992447,0.000252313233527,-0.000295617337811,3.04836438316e-06,1793247679147815680
+51,0.850000000,BASELINE,765.403140647,744,715,679.403140647,658.596859353,634,877,784,809,651.596859353,629,652,0.400953801245,-0.0153456056722,0.0698165496566,0.99999992503,0.000251237399672,-0.000294635931967,2.91875613944e-06,1793247679164482304
+52,0.866666667,BASELINE,765.176411455,744,715,679,658.823588545,634,877,784,809,651.823588545,629,652.176411455,0.400953737328,-0.015346278715,0.0698166179234,0.999999925469,0.000249595364111,-0.000294545375244,2.82766170457e-06,1793247679181148928
+53,0.883333333,BASELINE,765.770369356,744,715,679,658.229630644,634,877,784,809,651.229630644,629,652.770369356,0.400953337332,-0.0153484863677,0.0698159048964,0.999999925612,0.000246613191654,-0.000296563360142,2.82772521272e-06,1793247679197815552
+54,0.900000000,BASELINE,765.662361551,744,715,679,658.337638449,634,877,784,809,651.337638449,629,652.662361551,0.400953399703,-0.0153476506909,0.0698157508176,0.999999924962,0.000248720149388,-0.00029699697001,2.58672197134e-06,1793247679214482944
+55,0.916666667,BASELINE,765.111914082,744,715,679,658.888085918,634,877,784,809,651.888085918,629,652.111914082,0.400953753497,-0.0153448968439,0.0698159490364,0.999999923795,0.00025403471825,-0.000296431969305,2.19377756642e-06,1793247679231150592
+56,0.933333333,BASELINE,765.479443239,744,715,679.479443239,659,634,877,784,809,651.520556761,629,652,0.40095524379,-0.0153449645655,0.0698168839008,0.999999924637,0.000252797865739,-0.000294643232727,2.35225419856e-06,1793247679247817216
+57,0.950000000,BASELINE,766,744.079800715,715,679.920199285,659,634,877,784.079800715,809.079800715,651,629,652,0.400956728654,-0.0153456479924,0.0698178265475,0.99999992571,0.000250581426476,-0.000292885186906,2.64288897335e-06,1793247679264483840
+58,0.966666667,BASELINE,766,744.670930533,715,679.329069467,659,634,877,784.670930533,809.670930533,651,629,652,0.400956320306,-0.0153456627145,0.0698176144822,0.999999925022,0.000252801218275,-0.000293324871048,2.8786429736e-06,1793247679281150464
+59,0.983333333,BASELINE,766,745,715,679.256099121,659,634,877.256099121,784.743900879,809.743900879,651,629,652.256099121,0.400955773182,-0.0153453452597,0.0698173480828,0.999999924546,0.000253990073459,-0.000293917350236,2.95246672286e-06,1793247679297817088
+60,1.000000000,BASELINE,766,745,715,679.833782262,659,634,877.833782262,784.166217738,809.166217738,651,629,652.833782262,0.400955051797,-0.0153446106897,0.0698170134558,0.999999924343,0.000253884380406,-0.000294701694435,2.82295446334e-06,1793247679314483712
+61,1.016666667,BASELINE,765.590269542,744.590269542,715,679.590269542,659,633.590269542,877.590269542,784,809,651,629,652.590269542,0.40095395723,-0.0153445260743,0.0698165037306,0.999999923613,0.000255330040059,-0.000295927634399,2.87470645414e-06,1793247679331150336
+62,1.033333333,BASELINE,765.015022239,744.015022239,715,679.015022239,659,633.015022239,877.015022239,784,809,651,629,652.015022239,0.400952711911,-0.015344704018,0.0698159232718,0.999999922664,0.000257402392216,-0.000297331963635,2.9996829012e-06,1793247679347816960
+63,1.050000000,BASELINE,765,744,715,679,659,633.573319107,877,784.573319107,809,651,629,652,0.400952722427,-0.0153448328246,0.0698156765159,0.999999923234,0.000254780209551,-0.000297677692212,2.76059208878e-06,1793247679364483072
+64,1.066666667,BASELINE,765,744,715,679.159112249,658.840887751,634,877,784.840887751,809,651.159112249,629,652,0.400952510766,-0.015344674207,0.0698154579935,0.999999923578,0.000253009016254,-0.000298031967599,2.60219224805e-06,1793247679381149696
+65,1.083333333,BASELINE,765,744,715,679.737269591,658.262730409,634,877,784.262730409,809,651.737269591,629,652,0.400951625285,-0.0153437620864,0.0698152902618,0.99999992324,0.000253810555801,-0.000298483510884,2.68201427462e-06,1793247679397816320
+66,1.100000000,BASELINE,765.313375621,744.313375621,715,679.686624379,658.313375621,634.313375621,877.313375621,784.313375621,809,651.686624379,629,652,0.400952390694,-0.0153439339905,0.0698160937795,0.999999923615,0.000253794839736,-0.000297240285977,2.71577708928e-06,1793247679414482944
+67,1.116666667,BASELINE,765.887773011,744.887773011,715,679.112226989,658.887773011,634.887773011,877.887773011,784.887773011,809,651.112226989,629,652,0.40095453119,-0.0153450088174,0.0698177062853,0.999999924577,0.000253098402184,-0.000294585427965,2.71117553397e-06,1793247679431149056
+68,1.133333333,BASELINE,765.536473956,744.536473956,715,679,659,634.536473956,877.536473956,785,809.463526044,651.463526044,629,652,0.400955518812,-0.0153456642793,0.0698181929739,0.999999925257,0.000251339008986,-0.000293779460751,2.81557579713e-06,1793247679447816192
+69,1.150000000,BASELINE,765.040682158,744,715,679,659,634,877,785,810,651.959317842,629,652,0.400956032025,-0.015346165666,0.0698182780271,0.999999925746,0.000249611488951,-0.000293587312866,2.93607966616e-06,1793247679464483584
+70,1.166666667,BASELINE,765.632383056,744,715,679,659,634,877,785,810,651.367616944,629,652,0.400953911337,-0.0153459594545,0.069816625896,0.999999924593,0.000251811686836,-0.000295628116377,2.91619661801e-06,1793247679481149952
+71,1.183333333,BASELINE,765.780664532,744.219335468,715,679,659,634,877.219335468,785,810,651,629,652,0.400952727154,-0.0153451248921,0.0698156858677,0.999999923882,0.000253533882286,-0.000296562181745,2.81081999739e-06,1793247679497816576
+72,1.200000000,BASELINE,765.201502072,744.798497928,715,679,659,634,877.798497928,785,810,651,629,652,0.400953079336,-0.0153432594995,0.0698159140668,0.999999923905,0.000254471899493,-0.000295680607405,2.56518837841e-06,1793247679514482944
+73,1.216666667,BASELINE,765,745,715,679,659,634,877.624357121,785,809.624357121,651,629,652.375642879,0.400953283402,-0.0153429730273,0.0698159227471,0.999999923576,0.000255347393809,-0.000296039991148,2.51481633872e-06,1793247679531149312
+74,1.233333333,BASELINE,765,745,715,679,659,634,877.048288653,785,809.048288653,651,629,652.951711347,0.40095340844,-0.0153435289938,0.0698158143025,0.999999923057,0.000256189528757,-0.000297061492521,2.56862575339e-06,1793247679547815424
+75,1.250000000,BASELINE,765.537229712,744.462770288,715,679,659,634,877,785,809,651,629,652.462770288,0.400953815483,-0.0153432178892,0.0698162121128,0.999999923379,0.000256187840816,-0.000295978817699,2.68184878471e-06,1793247679564482816
+76,1.266666667,BASELINE,766,744,715,679,658.877899494,634,877,785,809,651,629,652,0.400954166025,-0.0153430295444,0.0698166985954,0.99999992381,0.000255890744993,-0.000294775761826,2.80644156811e-06,1793247679581149952
+77,1.283333333,BASELINE,766,744,715,679,658.29868989,634,877,785,809,651,629,652,0.400954208446,-0.0153435977721,0.0698173436354,0.999999924368,0.000254776759268,-0.000293842771061,2.95324865778e-06,1793247679597816832
+78,1.300000000,BASELINE,765.720916306,744,715,679.279083694,658.558167388,634,877,784.720916306,809,651,629,652,0.400953650492,-0.0153438395106,0.0698171128258,0.999999924134,0.000254916016073,-0.000294516899918,2.9436038544e-06,1793247679614483712
+79,1.316666667,BASELINE,765.144671794,744,715,679.855328206,659.710656411,634,877,784.144671794,809,651,629,652,0.400952453277,-0.0153437336123,0.069815949435,0.999999923053,0.000256389691918,-0.00029690224662,2.76737326986e-06,1793247679631150080
+80,1.333333333,BASELINE,765,744.431775352,715,679.568224648,659.568224648,634,877.431775352,784.431775352,809.431775352,651,628.568224648,652.431775352,0.400952511416,-0.0153436896504,0.0698159407125,0.999999923117,0.000256030053242,-0.000296995373987,2.72635728098e-06,1793247679647816448
+81,1.350000000,BASELINE,765.00846872,744.99153128,715,679,658.99153128,634,877.99153128,784.99153128,809.99153128,651,628.00846872,652.99153128,0.400952992835,-0.015343668552,0.0698163205241,0.999999923566,0.000255056839309,-0.000296321120555,2.72700795355e-06,1793247679664482816
+82,1.366666667,BASELINE,765.597379153,744.402620847,715,679,658.402620847,634,877.402620847,784.402620847,809.402620847,651,628.597379153,652.402620847,0.400953642845,-0.0153437914628,0.0698168008366,0.999999923976,0.000254151374321,-0.000295716568849,2.47680604421e-06,1793247679681149440
+83,1.383333333,BASELINE,765.816851405,744,715,679.183148595,658.183148595,634,877,784.183148595,809,651,629,652,0.400953918083,-0.015344246388,0.0698170518069,0.999999924309,0.000253209597481,-0.000295400579619,2.37880266718e-06,1793247679697816320
+84,1.400000000,BASELINE,765.237870362,744,715,679.762129638,658.762129638,634,877,784.762129638,809,651,629,652,0.400953383339,-0.015345418884,0.0698168071084,0.999999924475,0.00025218934098,-0.000295708249937,2.60974043752e-06,1793247679714483456
+85,1.416666667,BASELINE,765,744,715,680,659,634,877,785,809,651,628.661062455,652,0.400952938842,-0.015345410437,0.0698163128934,0.999999924382,0.000251884237931,-0.000296283851609,2.5879759922e-06,1793247679731150336
+86,1.433333333,BASELINE,765,744,715,680,659,634,877,785,809,651,628.085769999,652,0.400952557279,-0.0153445784705,0.0698156446805,0.999999924107,0.000252077840479,-0.000297046292671,2.38999201839e-06,1793247679747816960
+87,1.450000000,BASELINE,765,744.490369266,715,679.509630734,659,634,877,785,809,651.490369266,628.490369266,652,0.4009534525,-0.0153460917758,0.0698164535397,0.999999924948,0.000250347322056,-0.00029567488153,2.41791686664e-06,1793247679764483584
+88,1.466666667,BASELINE,765,744.931890428,715,679,659.068109572,634,877,785,809,651.931890428,629,652,0.400954282856,-0.0153477063259,0.0698172851462,0.999999925723,0.000248803111619,-0.000294355136361,2.45837936146e-06,1793247679781149952
+89,1.483333333,BASELINE,765,744.343043595,715,679,659.656956405,634,877,785,809,651.343043595,629,652,0.400952906895,-0.015346953238,0.0698163119915,0.999999924538,0.000251260875436,-0.000296288903772,2.29207328459e-06,1793247679797816576
+90,1.500000000,BASELINE,765.242223693,744,715,679.242223693,659.757776307,634,877,785,809,651,629,652,0.400952983123,-0.0153461171703,0.0698161559015,0.999999924093,0.000252611826876,-0.000296640740863,2.162227794e-06,1793247679814483200
+91,1.516666667,BASELINE,765.82249531,744,715,679.82249531,659.17750469,634,877,785,809,651,629,652,0.400955086028,-0.0153451652958,0.0698171401089,0.999999924691,0.000252418108301,-0.000294784832332,2.08326679253e-06,1793247679831149824
+92,1.533333333,BASELINE,765.601648111,744,715,679.601648111,658.601648111,634,877,785,809,651,628.601648111,652,0.400954924747,-0.015345654538,0.0698171188284,0.999999924914,0.000251479334208,-0.000294829902159,2.27982560964e-06,1793247679847816704
+93,1.550000000,BASELINE,765.027737249,744,715,679.027737249,658.027737249,634,877,785,809,651,628.027737249,652,0.400953765608,-0.0153467788994,0.0698166544162,0.999999924971,0.000250212204227,-0.000295712758258,2.59780966693e-06,1793247679864483840
+94,1.566666667,BASELINE,765,744.559452811,715,679.559452811,658.559452811,634,877,785,809.559452811,651,628.559452811,652,0.400954503578,-0.0153465064914,0.0698173515072,0.999999925318,0.000250807714758,-0.000294030124468,2.55724723674e-06,1793247679881150464
+95,1.583333333,BASELINE,765,744.854828704,715,679.854828704,658.854828704,634,877,785,809.854828704,651,629,652,0.400954839841,-0.0153458256102,0.0698176696318,0.999999925305,0.000251749597199,-0.000293267944525,2.48746912559e-06,1793247679897817088
+96,1.600000000,BASELINE,765,744.275527484,715,679.275527484,658.275527484,634,877,785,809.275527484,651,629,652,0.400953686699,-0.0153441353305,0.0698166780728,0.999999924176,0.000253444414476,-0.000295647971361,2.38477489064e-06,1793247679914483712
+97,1.616666667,BASELINE,765,744,715,679.303799765,658.303799765,634,877,785,809,651,629,652,0.400953895273,-0.0153437459997,0.0698169056328,0.999999924075,0.000254258977243,-0.000295291911841,2.4067030062e-06,1793247679931150080
+98,1.633333333,BASELINE,765,744,715,679.883150589,658.883150589,634,877,785,809,651,629,652,0.400955338945,-0.0153445366496,0.0698182389528,0.999999924904,0.000254275135535,-0.000292454179786,2.54166551602e-06,1793247679947815936
+99,1.650000000,BASELINE,765,744,714.541195042,680,658.541195042,634,877,784.541195042,809,651.458804958,629,652,0.400955418602,-0.015344289842,0.0698181646953,0.999999924402,0.000255835549192,-0.00029280707893,2.76342884134e-06,1793247679964482560
+100,1.666666667,BASELINE,765,744,714.034251955,680,658,634,877,784,809,651.965748045,629,652,0.400955242593,-0.0153438157297,0.0698177930226,0.999999923681,0.000257488902648,-0.000293816477439,2.97201862045e-06,1793247679981149184
+101,1.683333333,BASELINE,765,744,714.621427229,680,658,634,877,784,809,651.378572771,629,652,0.400956502472,-0.0153439034732,0.0698183609341,0.999999924899,0.000254344430081,-0.000292410864755,2.61393914627e-06,1793247679997815552
+102,1.700000000,BASELINE,765,744.206089529,715,679.793910471,658.206089529,634.206089529,877.206089529,784.206089529,809,651,629,652,0.400956846339,-0.0153443634245,0.0698185133726,0.999999925642,0.000252149297989,-0.000291771850481,2.40907118449e-06,1793247680014482176
+103,1.716666667,BASELINE,765,744.786191209,715,679.213808791,658.786191209,634.786191209,877.786191209,784.786191209,809,651,629,652,0.400955527823,-0.0153454988601,0.0698179118089,0.999999925541,0.00025167703336,-0.000292524062405,2.48225216369e-06,1793247680031148800
+104,1.733333333,BASELINE,765.363454074,744.636545926,715,679,659,634.636545926,878,784.636545926,809,651,629,652,0.400954640115,-0.0153457721566,0.0698174977421,0.999999925221,0.000251465697329,-0.000293798766595,2.4822035005e-06,1793247680047815680
+105,1.750000000,BASELINE,765.939059951,744.060940049,715,679,659,634.060940049,878,784.060940049,809,651,629,652,0.400954003874,-0.015345542214,0.0698171931193,0.99999992477,0.000251406667905,-0.000295378454852,2.43940996485e-06,1793247680064482304
+106,1.766666667,BASELINE,765.489732815,744,715,679.510267185,659,634,877.489732815,784.510267185,809.510267185,651,629.510267185,652,0.400954205827,-0.0153459985338,0.0698179579814,0.999999924953,0.000251808587243,-0.000294415736233,2.38823342701e-06,1793247680081148928
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,785,810,651,629,652,0.400955625404,-0.0153467117456,0.0698182365587,0.9999999253,0.000251760461438,-0.000293279034273,2.25095326946e-06,1793247680123327488
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,679,658.422580082,634,877,784.422580082,810,651,629,652,0.400954828994,-0.0153454924905,0.0698174690585,0.999999924502,0.000253936883468,-0.000294121486082,2.33964047003e-06,1793247680139994112
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,715,679.15363603,658.15363603,634,877,784,809.84636397,651,629,652,0.400954325466,-0.0153444556673,0.0698171073013,0.999999924025,0.000255228372907,-0.000294622246054,2.40427682243e-06,1793247680156660736
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,715,679.72656691,658.72656691,634,877,784,809.27343309,651,629,652,0.400954621256,-0.015343916727,0.0698178528747,0.999999924438,0.000254104754366,-0.000294190479988,2.40327496676e-06,1793247680173327616
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.307390315,744,715,679.692609685,659,634,877,784.307390315,809,651.307390315,629,652,0.400954982969,-0.0153444762431,0.0698183420597,0.999999924969,0.000252894016267,-0.000293427537005,2.44248376102e-06,1793247680189994240
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.89541934,744,715,679.10458066,659,634,877,784.89541934,809,651.89541934,629,652,0.400955404868,-0.0153460386191,0.0698185971693,0.999999925607,0.00025160374053,-0.000292362238839,2.51840374745e-06,1793247680206660864
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.521112988,744,715,679,658.521112988,634,877,784.521112988,809.478887012,651.521112988,629.478887012,652,0.400954847869,-0.0153467204144,0.0698184404787,0.999999925242,0.000252280821804,-0.000293020563851,2.96330580244e-06,1793247680223327744
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.060557229,715,679.060557229,658.060557229,634,877,784,809.939442771,651,629.939442771,652,0.400954197807,-0.0153470921961,0.0698182257729,0.999999924712,0.000253323641521,-0.00029392309983,3.42095551793e-06,1793247680239994368
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.635343046,715,679.635343046,658.635343046,634,877,784,809.364656954,651,629.364656954,652,0.400954555665,-0.0153464490234,0.0698182748707,0.999999924633,0.000253858282847,-0.000293733213925,3.30906095003e-06,1793247680256660992
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.790146437,715,679.790146437,659.209853563,634,877,784.209853563,809,651.209853563,629,652,0.400957768349,-0.0153465505475,0.0698196434877,0.999999925446,0.000253073165977,-0.000291634025354,3.25985829859e-06,1793247680273327872
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.216113734,715,679.216113734,659.783886266,634,877,784.783886266,809,651.783886266,629,652,0.400965935288,-0.015347944416,0.0698233019939,0.999999927784,0.000249997745276,-0.00028622143961,3.31945099183e-06,1793247680289995520
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.368660535,744,715,679.368660535,659.631339465,634,877,785,809,652,629,652.368660535,0.400988940282,-0.0153488017251,0.0698328807496,0.999999932429,0.000249346925338,-0.000270097434227,3.80765631615e-06,1793247680306662656
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.959920686,744,715,679.959920686,659.040079314,634,877,785,809,652,629,652.959920686,0.40102090459,-0.0153493350562,0.0698460341905,0.99999993807,0.000250160094627,-0.000247505803759,4.55466072353e-06,1793247680323329280
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.462308051,744,715,680,659,634,877,784.462308051,808.462308051,651.462308051,629,652.462308051,0.401078005813,-0.015351208489,0.0698650050032,0.999999945444,0.000251501748642,-0.00021405452572,6.22682516767e-06,1793247680339995904
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,715.114408189,679.885591811,659,634,877,784.114408189,808.114408189,651,629,652.114408189,0.401138824451,-0.0153538110458,0.0698829971137,0.999999951151,0.00025220418739,-0.000184481546914,7.64913730843e-06,1793247680356662528
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,715.69082507,679.30917493,659,634,877,784.69082507,808.69082507,651,629,652.69082507,0.401207273678,-0.0153589644758,0.0698953287591,0.999999953581,0.0002501701318,-0.000173758950717,7.7908178324e-06,1793247680373328640
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.27170993,744,715.72829007,679,658.72829007,634,877,784.72829007,809,651,629,652.72829007,0.40128195423,-0.0153632929721,0.0699038670874,0.999999955788,0.000248608335408,-0.000162997851572,7.09961883777e-06,1793247680389995008
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.857763805,744,715.142236195,679,658.142236195,634,877,784.142236195,809,651,629,652.142236195,0.40136384386,-0.0153666670941,0.0699080168884,0.999999957753,0.000247592900547,-0.000152192208626,5.44485316203e-06,1793247680406661376
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744,715,679,658,634,877,784,809.441267055,651,629,652,0.401459832533,-0.0153708314114,0.0699097127752,0.999999958589,0.000245555817667,-0.000150034117099,3.66682677109e-06,1793247680423328256
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976375488,744,715,679.023624512,658.023624512,634,877,784.023624512,809.976375488,651,629,652,0.401561575905,-0.0153752541997,0.0699106508568,0.99999995911,0.000243138413745,-0.00015053138443,1.80255898825e-06,1793247680439994624
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.401677255,744,715,679.598322745,658.598322745,634,877,784.598322745,809.401677255,651,629,652,0.401692155086,-0.0153797989055,0.0699122568525,0.999999960323,0.000239487048981,-0.000148321914316,-1.15194547694e-06,1793247680456662016
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.17283519,744,715.17283519,680,659,634,877.17283519,785,809,651,629,652.17283519,0.401832419017,-0.0153850648013,0.0699137093375,0.999999961847,0.000234808718538,-0.000145435242261,-4.2962817839e-06,1793247680473329152
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.746916238,744,715.746916238,680,659,634,877.746916238,785,809,651,629,652.746916238,0.401995166578,-0.0153920049764,0.0699148054392,0.999999964098,0.000227746234526,-0.000140976411089,-7.88132214375e-06,1793247680489995776
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.331455663,715.668544337,679.668544337,659,634,878,785,809,651,629,652.668544337,0.402171022348,-0.0153988505515,0.0699155471062,0.999999965718,0.000221463220236,-0.000139201913503,-1.18622759086e-05,1793247680506662144
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.924240846,715.075759154,679.075759154,659,634,878,785,809,651,629,652.075759154,0.402357213036,-0.0154056215421,0.0699160093265,0.99999996685,0.000215794762346,-0.000139543824024,-1.61553799836e-05,1793247680523328256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.49522085,745,715,679.50477915,659,634,877.49522085,785,809,651,629,652,0.402585327533,-0.0154147938879,0.0699213164291,0.999999970168,0.000206219539049,-0.000129284086648,-2.05707981739e-05,1793247680539994624
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.082962854,745,715,679.917037146,658.917037146,634,877.082962854,784.917037146,809,651.082962854,629,652,0.402825710021,-0.015424517477,0.0699279449334,0.999999974924,0.00018988479646,-0.000116062026993,-2.50042975813e-05,1793247680556661248
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.657825985,745,715,679.342174015,658.342174015,634,877.657825985,784.342174015,809,651.657825985,629,652,0.403102408439,-0.015435423202,0.0699381990478,0.999999985737,0.000136865927255,-9.4486503808e-05,-2.94387397053e-05,1793247680573328128
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.762592042,715,679.237407958,658.237407958,634,877.762592042,784.237407958,809,651.762592042,629,652.237407958,0.403390200977,-0.0154455229479,0.0699460767158,0.999999992468,8.6912003682e-05,-7.9667019834e-05,-3.41036855813e-05,1793247680589995264
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.176070952,715,679.823929048,658.823929048,634,877.176070952,784.823929048,809,651.176070952,629,652.823929048,0.403694307623,-0.0154544374848,0.0699504597716,0.999999995579,4.14651472668e-05,-7.47824276732e-05,-3.91075916196e-05,1793247680606661888
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.595002725,744,715,680,659,634,876.595002725,785,809,651.404997275,629,652.595002725,0.404026797955,-0.0154625343488,0.0699521602936,0.999999996049,2.55508120686e-05,-7.26923044997e-05,-4.43333989327e-05,1793247680623328768
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.01627363,744,715,680,659,634,876.01627363,785,809,651.98372637,629,652.01627363,0.404371464039,-0.0154702804552,0.0699527100879,0.999999995941,2.23050538388e-05,-7.18009258151e-05,-4.9654395206e-05,1793247680639995648
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.56278221,744,715,680,659,634,876.56278221,785,809.56278221,651.43721779,629,652.56278221,0.404758852935,-0.015465350851,0.069957996883,0.999999996453,1.90465741724e-05,-6.35050156427e-05,-5.19525287313e-05,1793247680656662016
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744,715,680,659,634.140624117,877.140624117,784.859375883,810,651,629,652.859375883,0.405155768676,-0.0154652085156,0.0699622292022,0.999999996939,2.20158613694e-05,-5.67405182763e-05,-4.91788449506e-05,1793247680673328384
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744,715,680,659,634.71469506,877.71469506,784.28530494,810,651,629,652.28530494,0.405578238943,-0.0154809524498,0.0699627888506,0.99999999701,4.4182178688e-05,-5.53566518055e-05,-3.1041840104e-05,1793247680689994752
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744,715,680,659,634.704001326,878,784,810,651,629,652.295998674,0.406010526032,-0.0154964800698,0.069955194435,0.99999999627,4.53667303903e-05,-6.91618193653e-05,-2.4858354813e-05,1793247680706661632
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744,715,680,659,634.115551658,878,784,810,651,629,652.884448342,0.406452512332,-0.0155117939699,0.0699395436857,0.999999994403,2.58209952399e-05,-9.79739731883e-05,-3.04851184643e-05,1793247680723328768
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.534704136,744,715,679.534704136,659,634,878,784,809.534704136,651,629,653,0.406950708554,-0.0155135508394,0.0699269331273,0.99999999305,1.32041470934e-05,-0.000111908700944,-3.4662033772e-05,1793247680739995648
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744,715,679.043834249,659.043834249,634,877.956165751,784,809.043834249,651,629,653,0.407467618233,-0.0155117580874,0.069917085905,0.999999992151,3.85067995117e-06,-0.00011924571883,-3.82483550153e-05,1793247680756662528
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744,715,679.61692088,659.61692088,634,877.38307912,784,809.61692088,651,629,653,0.408044640608,-0.0155071039428,0.0699316337416,0.999999995026,1.34571842511e-05,-9.08143864746e-05,-3.89812845619e-05,1793247680773328384
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.191780856,715,680,659.808219144,634,877,784,810,651,629,652.808219144,0.408635869853,-0.0155042559401,0.0699445473533,0.999999997016,1.8698608843e-05,-6.36721014964e-05,-3.95513075522e-05,1793247680789994496
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.770216087,715,680,659.229783913,634,877,784,810,651,629,652.229783913,0.409255741907,-0.0155050493474,0.0699541661606,0.999999998328,1.51394820928e-05,-3.91287002866e-05,-3.97928903943e-05,1793247680806661376
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.355096418,784,810,651,629,652.355096418,0.409873898504,-0.0155069841558,0.0699508048423,0.999999998182,1.04008409697e-05,-4.28338884618e-05,-4.11432936475e-05,1793247680823327744
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.944224468,784,810,651,629,652.944224468,0.410490924478,-0.0155096712216,0.0699388887766,0.999999996931,4.88482331106e-06,-6.51567350079e-05,-4.32244816424e-05,1793247680839994368
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.524867503,744.475132497,715,679.475132497,659.524867503,634,878,784,810,651,629.524867503,652.475132497,0.411170967729,-0.0155112809986,0.0699429552183,0.999999997197,1.53702593059e-06,-6.05864656886e-05,-4.39542995706e-05,1793247680856660992
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.89616656,744,715,679,659.89616656,634,878,784,810,651,629.89616656,652,0.411869599723,-0.0155128883234,0.0699537899779,0.999999998037,-1.63344957771e-06,-4.45468239972e-05,-4.4023680566e-05,1793247680873327872
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.320787457,744,715,679,659.320787457,634,878,784,810,651,629.320787457,652,0.412622721946,-0.0155149961323,0.069987771813,0.999999999058,-5.02836093789e-06,1.0807490175e-05,-4.17355613352e-05,1793247680889994496
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.260009876,744.260009876,715,679,659.260009876,634,878,784.260009876,810.260009876,651,629,652.260009876,0.413381931226,-0.0155161089068,0.0700119442408,0.999999997989,-7.74394872635e-06,4.83366244552e-05,-4.03166107853e-05,1793247680906661120
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.847634302,744.847634302,715,679,659.847634302,634,878,784.847634302,810.847634302,651,629,652.847634302,0.414148810348,-0.0155159679304,0.0700237567407,0.999999997144,-9.60358379124e-06,6.34058953322e-05,-3.99928196173e-05,1793247680923327744
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.571455078,744.571455078,715,679.428544922,660,634,878,784.571455078,810.571455078,651,629,653,0.41487403388,-0.0155131478115,0.0699867979631,0.999999998991,-8.55933249078e-06,-3.83911957711e-06,-4.39272148255e-05,1793247680939994368
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.007097624,744,715,680,660,634,878,784,810,650.992902376,629,653,0.415586030258,-0.0155094794619,0.0699332138586,0.999999993863,-6.59181016963e-06,-9.89818123941e-05,-4.9326965221e-05,1793247680956661248
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.585033908,744,715,680,660,634,878,784,810,650.414966092,629,653,0.416406984755,-0.0155130192556,0.069915615441,0.999999991294,-1.21246352398e-05,-0.000120367457145,-5.26955104018e-05,1793247680973327872
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.161936392,715,680.161936392,660,634,878.161936392,784.161936392,810.161936392,650.161936392,629,653,0.417239292414,-0.0155163342348,0.0699127687915,0.999999991024,-1.70966148391e-05,-0.000121317620532,-5.42461795651e-05,1793247680989994496
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.736206508,715,680.736206508,660,634,878.736206508,784.736206508,810.736206508,650.736206508,629,653,0.418100508237,-0.0155190767759,0.0699474841228,0.999999996012,-2.06405302809e-05,-7.02335360982e-05,-5.11680459194e-05,1793247681006661120
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.681116316,745,715.318883684,680.681116316,660,633.681116316,879,785,811,651,629.318883684,653,0.418990716299,-0.01552100033,0.0699785474405,0.999999998199,-2.41990871067e-05,-2.47045752383e-05,-4.9058070344e-05,1793247681023327744
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.091296191,745,715.908703809,680.091296191,660,633.091296191,879,785,811,651,629.908703809,653,0.419905557295,-0.0155222280396,0.0700065078582,0.999999998344,-2.77700836669e-05,1.61045259093e-05,-4.77706810919e-05,1793247681039994368
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.51048708,679.51048708,660,633.48951292,879,785,811,651,629.51048708,653,0.420789296133,-0.0155267237677,0.0700261567168,0.999999997309,-3.62300707133e-05,4.31117638782e-05,-4.70162984657e-05,1793247681056660992
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,879,785,811,651,629,653,0.421667169129,-0.0155310856812,0.0700364832976,0.999999996368,-4.44332875509e-05,5.55394831482e-05,-4.69589598908e-05,1793247681073327872
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660,634,879,785,811,651,629,653,0.422543777857,-0.0155300039065,0.0699888257185,0.999999997476,-4.40720725143e-05,-2.1623521554e-05,-5.13576357863e-05,1793247681089994496
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.219602111,745,715,679.219602111,660,634,878.780397889,785,811,651,629.219602111,653,0.423404133162,-0.0155267048418,0.0699295867775,0.999999990841,-4.65533947789e-05,-0.000113066455236,-5.80207295408e-05,1793247681106660864
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.79578164,745,715,679.79578164,660,634,878.20421836,785,811,651,629.79578164,653,0.424238097223,-0.0155198054675,0.0698515426722,0.999999970301,-5.365026732e-05,-0.000227696337105,-6.83606568201e-05,1793247681123327744
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,878.380906844,785,811,651,630,653,0.425183265315,-0.0155203502507,0.0698576460099,0.999999974115,-5.36296541801e-05,-0.000210342808003,-6.8188448257e-05,1793247681139994368
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,878.970943468,785,811,651,630,653,0.426189487851,-0.0155249821099,0.0699099489327,0.999999989564,-4.97013180892e-05,-0.000120526247705,-6.22447473248e-05,1793247681156660992
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.45127601,745,715.54872399,680.54872399,660,634,879,785,811.54872399,651,630,653,0.427173352604,-0.0155283999776,0.0699670510575,0.999999995903,-5.01415627578e-05,-4.89630100172e-05,-5.72876774432e-05,1793247681173327616
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.874542525,680.874542525,660.125457475,634,879,785,812,651,630,653,0.428157803808,-0.0155318511336,0.0700187605846,0.999999997033,-5.20992069909e-05,1.96297099427e-05,-5.32448786586e-05,1793247681189994240
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.299286982,680.299286982,660.700713018,634,879,785,812,651,630,653,0.429148509442,-0.0155356470779,0.0700502450037,0.999999993633,-5.86858729882e-05,8.09620225256e-05,-5.2296763664e-05,1793247681206660864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,879,785,812,651,630,653,0.430076657955,-0.0155351937862,0.07004592615,0.999999993687,-6.11852100059e-05,7.74335382146e-05,-5.37260534581e-05,1793247681223327744
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,879,785,812,651,630,653,0.430936963423,-0.0155301322127,0.0700027787694,0.999999996572,-5.92518524627e-05,3.56374104983e-06,-5.77336304928e-05,1793247681239994368
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,879,785,812,651,630,653,0.431787328842,-0.0155250425212,0.0699307699363,0.999999989162,-5.55423487132e-05,-0.000120428802213,-6.39373403135e-05,1793247681256660736
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.029747712,660.970252288,634,879,784.970252288,812,651,630,653,0.432642905769,-0.0155205650662,0.0698577366556,0.999999966027,-5.2106458828e-05,-0.000245566418284,-7.01961691713e-05,1793247681273327616
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.607501984,660.392498016,634,879,784.392498016,812,651,630,653,0.433645879836,-0.0155275115017,0.0699150534882,0.999999987039,-6.28942486754e-05,-0.000132648884618,-6.61157479458e-05,1793247681289994496
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.183969477,633.816030523,879,784.183969477,812,651,630,653,0.434630914061,-0.0155331322358,0.0699692166575,0.999999995042,-7.07932462845e-05,-3.30329754041e-05,-6.17514048606e-05,1793247681306661632
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.757710808,633.242289192,879,784.757710808,812,651,630,653,0.435577939752,-0.0155359442383,0.0700166982448,0.999999995017,-7.2571830177e-05,3.84011097757e-05,-5.67855236627e-05,1793247681323329024
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,785,812.340766763,651,630,653,0.436493234269,-0.015538675594,0.0700366045522,0.999999992711,-7.66342751125e-05,7.4916654081e-05,-5.56175116502e-05,1793247681339995904
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,785,812.930631608,651,630,653,0.437385333469,-0.0155413479972,0.0700363535232,0.999999991281,-8.23662063165e-05,8.59069890634e-05,-5.72257154564e-05,1793247681356662272
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,785,813,651,630,653,0.438229988501,-0.0155411241928,0.0699911917099,0.999999994157,-8.56225241686e-05,2.53638001345e-05,-6.0927915045e-05,1793247681373328896
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.090382306,745,715,681,660.909617694,633,879,785,813,651,630,653,0.439053062999,-0.0155392115176,0.0699378472629,0.999999992811,-8.65399034137e-05,-5.16476545199e-05,-6.4975912405e-05,1793247681389995776
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.665404011,745,715,681,660.334595989,633,879,785,813,651,630,653,0.439794325264,-0.0155303126478,0.069872721117,0.999999980901,-7.66847889418e-05,-0.000165843918687,-6.93816895122e-05,1793247681406661888
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,660.245537118,633,879,785,813,651,630,653,0.440571294107,-0.0155267693014,0.0698516712317,0.999999974355,-7.30744068078e-05,-0.000202303385033,-7.08770998617e-05,1793247681423328256
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,660.832783618,633,879,785,813,651,630,653,0.44139795506,-0.0155306791367,0.0698919614539,0.999999986087,-7.81547027198e-05,-0.00013057800605,-6.83222079849e-05,1793247681439995136
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879,785,813,651,630,653,0.44227367734,-0.0155394086611,0.0699591784148,0.999999993927,-8.5209078827e-05,-3.04910418443e-05,-6.28925845488e-05,1793247681456661760
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879,785,813,651,630,653,0.443168931288,-0.0155500569322,0.0700371150702,0.999999990814,-9.30493473542e-05,8.08868405222e-05,-5.63185129682e-05,1793247681473328384
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.428050119,744.428050119,715,681,661,633,879,784.428050119,813,651,630,653,0.443943654979,-0.0155512364772,0.0700382273484,0.99999999089,-9.89607223494e-05,7.24497865564e-05,-5.63755766884e-05,1793247681489995520
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,744.148817054,715,681.148817054,661,633,879,784.148817054,813.148817054,651,630,653,0.444693380635,-0.0155519949755,0.070029802689,0.999999991585,-0.000103904056158,5.2634883269e-05,-5.71263808528e-05,1793247681506662400
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,744.720511224,715,681.720511224,661,633,879,784.720511224,813.720511224,651,630,653,0.445376107056,-0.0155518739986,0.0699968496613,0.999999992577,-0.000106161184491,4.49960427507e-06,-5.96265334025e-05,1793247681523328768
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.302274023,744.697725977,715,682,661,633.302274023,879.302274023,785,814,651.302274023,630.302274023,653,0.446032076692,-0.0155511086226,0.0699674333006,0.999999992028,-0.000104116053451,-3.60242094604e-05,-6.16977807244e-05,1793247681539995648
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.893667236,744.106332764,715,682,661,633.893667236,879.893667236,785,814,651.893667236,630.893667236,653,0.446662453944,-0.0155497268913,0.0699413996946,0.999999990796,-9.79558954295e-05,-6.92678026657e-05,-6.33587884827e-05,1793247681556662016
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.524963841,744.475036159,715,681.524963841,661,633.524963841,879.524963841,784.524963841,814,651.524963841,631,653,0.447266718166,-0.0155475839745,0.0699202877821,0.999999986167,-0.000101498571231,-0.000114299308108,-6.55776655219e-05,1793247681573328384
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.054029767,745,715,681,661,633,879.054029767,784,814,651,631,653,0.447868193392,-0.0155456875404,0.0699030551818,0.999999979989,-0.000106050067414,-0.000155628686121,-6.74967463969e-05,1793247681589995264
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.631301194,745,715,681,661,633,879.631301194,784,814,651,631,653,0.448498095863,-0.0155477940837,0.0699129425628,0.99999998363,-9.97726433141e-05,-0.00013608028777,-6.53281755675e-05,1793247681606662144
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879.791929824,784,814,651,630.791929824,653,0.449111406494,-0.0155526944935,0.0699298330807,0.999999987131,-0.000100949345741,-0.000107648546554,-6.29279427586e-05,1793247681623328768
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879.216049084,784,814,651,630.216049084,653,0.449695387267,-0.0155625336871,0.0699591032081,0.999999989529,-0.000115302884255,-6.35135123447e-05,-6.01181957739e-05,1793247681639994624
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.632910604,745,714.632910604,681,661,633,879,784,814,651,630.367089396,653,0.450208476025,-0.0155669262435,0.0699620899934,0.999999989498,-0.000117883948961,-5.87142189402e-05,-6.0505640782e-05,1793247681656660736
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.045414396,745,714.045414396,681,661,633,879,784,814,651,630.954585604,653,0.450679000049,-0.0155680485459,0.0699492958091,0.999999988592,-0.000113396618566,-7.75327793194e-05,-6.28127348332e-05,1793247681673327616
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.535639799,745,714.535639799,681.535639799,660.464360201,632.464360201,879,784,814,651,630.464360201,653,0.451098310904,-0.0155692561408,0.0699052468047,0.999999980327,-0.000119983724135,-0.000144458463277,-6.38840379785e-05,1793247681689994240
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.885265553,660.114734447,632,879.114734447,783.885265553,814.114734447,651,630,653,0.451510897855,-0.0155705326776,0.0698621681109,0.999999968213,-0.000126334522755,-0.000208319856862,-6.49395999869e-05,1793247681706660864
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.311846984,660.688153016,632,879.688153016,783.311846984,814.688153016,651,630,653,0.451913756788,-0.0155720562631,0.0698334365449,0.999999959879,-0.000128031506137,-0.000243818571425,-6.63461318465e-05,1793247681723327488
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.268663725,661,632.268663725,879.731336275,783,814.731336275,651,630,653,0.452300693553,-0.0155745860876,0.0698149315861,0.999999953498,-0.000132130269621,-0.000266117998396,-6.87520163674e-05,1793247681739994112
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.857629688,661,632.857629688,879.142370312,783,814.142370312,651,630,653,0.452668647806,-0.0155783155553,0.0698086188414,0.999999950532,-0.000139092447395,-0.000272681166836,-7.23493341173e-05,1793247681756660736
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.56131131,744.56131131,715,681.56131131,660.56131131,633,879,783,814,651,630,653.43868869,0.453016380246,-0.0155829991698,0.0698114601055,0.999999949721,-0.000148327916549,-0.000270388351554,-7.38015249245e-05,1793247681773327616
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.017237098,744.017237098,715,681.017237098,660.017237098,633,879.017237098,783,814,651,630,654,0.453356677041,-0.0155878911996,0.0698172297908,0.999999949589,-0.000157974078991,-0.000265157288072,-7.45525703248e-05,1793247681789994240
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.596113838,744.596113838,715,681.596113838,660.596113838,633,879.596113838,783,814,651,630,654,0.453664745021,-0.0155896631528,0.0698233322463,0.999999952008,-0.000157388809407,-0.000256177608669,-7.47399277302e-05,1793247681806660864
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.826761013,745,715.173238987,682,660.826761013,632.826761013,879.826761013,782.826761013,814.173238987,651,630,654,0.453955310235,-0.0155911706921,0.0698258835701,0.99999995377,-0.000151253081422,-0.000253742675561,-7.20872123314e-05,1793247681823328000
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.253678698,745,715.746321302,682,660.253678698,632.253678698,879.253678698,782.253678698,814.746321302,651,630,654,0.454205478241,-0.0155920679519,0.0698202387221,0.999999953783,-0.000132306647266,-0.00026641331078,-6.28794818452e-05,1793247681839995392
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715.671196359,682,660,632,879.328803641,782,814.671196359,651,630,653.671196359,0.4544302074,-0.0155922447748,0.0698123471958,0.999999950472,-0.000128614406344,-0.000281323747711,-5.806672976e-05,1793247681856662016
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715.081248212,682,660,632,879.918751788,782,814.081248212,651,630,653.081248212,0.454634732386,-0.0155918494079,0.0698026712977,0.999999944594,-0.000137037445198,-0.000298013095502,-5.67445842252e-05,1793247681873328384
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.499294399,745,715,681.500705601,660,632,879.500705601,781.500705601,814.499294399,651,630,653,0.454812368943,-0.0155953173463,0.0697938663587,0.999999938048,-0.000146958791099,-0.000314578181561,-5.78650634255e-05,1793247681889995008
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681.077899665,660,632,878.922100335,781,814.922100335,651,630,653,0.454981935876,-0.015598724688,0.0697856050007,0.999999931478,-0.000155299927187,-0.000330753191369,-5.93964101988e-05,1793247681906661632
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681.653723979,660,632,878.346276021,781,814.346276021,651,630,653,0.455127373084,-0.0155978006848,0.0697799289839,0.999999927221,-0.000152010959044,-0.00034456174972,-6.10603123346e-05,1793247681923328768
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.29150025,745,715,682,660,632,879,780,814.29150025,651,630,653,0.455700165294,-0.0155752801152,0.0696665251189,0.999999858878,-0.000139614639048,-0.000508464047039,-6.49249091369e-05,1793247683033072896
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.552504419,745,715,682,660,631.552504419,879,780,814.552504419,651,630,653,0.455512511896,-0.01556760234,0.0696606920434,0.999999854581,-0.00013668389321,-0.000517919845166,-6.25620438489e-05,1793247683066406144
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.024037973,745,715,681.975962027,660,631,879,780,814,651,630,653,0.455407560523,-0.0155621998372,0.0696634835652,0.999999856767,-0.000132935644345,-0.000514946823602,-6.02028734031e-05,1793247683083072512
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660.180130564,631.180130564,879.180130564,780.180130564,814,651,630,653.180130564,0.45513431796,-0.0155482182316,0.0696634173391,0.999999855693,-0.000126182518611,-0.000519144259129,-5.63955608175e-05,1793247683116406528
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.703503546,660.648248227,631.648248227,879.648248227,781,814,651,630,653.648248227,0.454796042475,-0.0155316599661,0.0696565479508,0.9999998542,-0.000111159877493,-0.000525985635243,-5.08186659416e-05,1793247683149739776
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.862718386,660.068640807,631.068640807,879.068640807,781,814,651,630,653.068640807,0.454601698335,-0.0155212776257,0.0696527673809,0.999999853064,-0.000103568702008,-0.00052990709641,-4.84234012608e-05,1793247683166406144
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.492971288,745.507028712,715,682.492971288,660.507028712,631.507028712,879.507028712,781,814,651,630,653,0.454384547826,-0.0155133432674,0.0696563489721,0.999999858055,-9.73310117564e-05,-0.000521936802812,-4.47089844059e-05,1793247683183072768
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.916132584,715,682,660.916132584,632,880,781,814,651,630,653,0.45416151702,-0.0155055910206,0.0696621495918,0.99999986458,-9.0853446104e-05,-0.000510815072924,-4.06670979801e-05,1793247683199739136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.329105435,715,682,660.329105435,632,880,781,814,651,630,653,0.453921588034,-0.0154969584178,0.0696753297427,0.999999875781,-8.18459262991e-05,-0.000490370439199,-3.57237242245e-05,1793247683216406016
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.253937144,745,715,682,660.253937144,632,879.746062856,781.253937144,814,651,630,653.253937144,0.453659200466,-0.0154891053437,0.0696854195657,0.999999884225,-7.23964147435e-05,-0.000474735495531,-3.05794060476e-05,1793247683233072640
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.831895419,745,715,682,660.831895419,632,879.168104581,781.831895419,814,651,630,653.831895419,0.453368156,-0.0154822469407,0.0696915661618,0.999999889514,-6.23829269244e-05,-0.000465237667291,-2.51786852085e-05,1793247683249739264
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.589521168,745,715,682.410478832,660.589521168,632,879,782,814,651,630,653.589521168,0.453037679522,-0.0154771895641,0.0696919929816,0.999999893226,-2.96974446874e-05,-0.000460729513649,-1.98612651022e-05,1793247683266406400
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.010681365,745,715,682.989318635,660.010681365,632,879,782,814,651,630,653.010681365,0.452691029716,-0.0154728708923,0.069690073792,0.999999894814,1.22871258888e-05,-0.000458267912019,-1.45780115198e-05,1793247683283073280
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.564241392,745,715,682.435758608,660,632.564241392,879,782,814,651,630.564241392,653,0.45228911881,-0.0154760483964,0.0696826934239,0.999999888198,1.97536267223e-05,-0.000472370949556,-8.89696091315e-06,1793247683299739904
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.857727803,745,715,681.857727803,660,632.857727803,879,782,814,651,630.857727803,653,0.451880723479,-0.0154778595767,0.0696761760759,0.999999882129,2.76126071208e-05,-0.000484733140967,-3.51497687566e-06,1793247683316406272
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.313669455,745,715,681.313669455,660,632,879,782.627338909,813.686330545,651,630,653,0.451008179284,-0.0154696196676,0.0696764759288,0.999999878993,5.1437912192e-05,-0.000489218340915,5.86126135667e-06,1793247683349739520
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.893169661,745,715,681.893169661,660,632,879,783.786339321,813.106830339,651,630,653,0.45054275692,-0.0154622413689,0.0696864405445,0.999999881864,6.54822894193e-05,-0.00048151639814,1.1267633292e-05,1793247683366406400
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,633,879.212809163,784,812,651,630.212809163,653,0.4479089887,-0.0154521115514,0.0697999570902,0.999999949646,5.42579446394e-05,-0.000312473657041,1.11896050113e-05,1793247683449741312
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.514501408,744,715,680,659.514501408,633.514501408,878,785,811,651,630,653,0.418896886262,-0.0154174626237,0.0698102968971,0.999999940987,0.000149008126757,-0.000308225442211,2.86150610212e-05,1793247684016406784
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,744,715,680.089273366,659.910726634,634,878,784.910726634,810.910726634,651,630,653,0.418110279487,-0.0154175765397,0.0698728872686,0.999999964078,0.000158327539461,-0.000213219676,3.62476941823e-05,1793247684033073664
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744,715,680.665681999,659.334318001,634,878,784.334318001,810.334318001,651,630,653,0.417268018642,-0.0154167200646,0.0698654261204,0.999999956993,0.000169813387795,-0.000236294955084,3.66372820138e-05,1793247684049739776
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,744,715,680.751898551,659,634,878,784,810,651,630,652.751898551,0.416424224575,-0.0154150590243,0.0698452373472,0.999999948976,0.000177229160594,-0.000263475146537,3.49032203451e-05,1793247684066405632
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,744,715,680.16117844,659,634,878,784,810,651,630,652.16117844,0.415578313258,-0.01541228691,0.0698074722088,0.999999939614,0.000179024312967,-0.000296324063851,3.02364794827e-05,1793247684083072256
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744.420714493,715,680,659.841428985,634,878,784,810,651,630,652.420714493,0.414735949531,-0.0154084928569,0.0697761332998,0.999999922009,0.000179116157728,-0.000350965025673,2.686935907e-05,1793247684099739136
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744.999295219,715,680,660.998590439,634,878,784,810,651,630,652.999295219,0.41389491691,-0.0154043153377,0.0697472057252,0.999999898161,0.000178568863743,-0.000413783097462,2.3989899511e-05,1793247684116406016
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.573539298,745,715,680,660.426460702,634,877.426460702,784,810,651,629.426460702,652.426460702,0.413154598619,-0.0154003720672,0.0697486415475,0.999999897565,0.000184513293383,-0.000412560217297,2.48761085495e-05,1793247684133072896
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.848611802,745,715,680,660,634,877,784.151388198,810,651,629.151388198,652.151388198,0.412449380011,-0.0153989797446,0.0697652111608,0.999999909137,0.000186767479852,-0.000382291063363,2.64222267379e-05,1793247684149739776
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.26034464,745,715,680,660,634,877,784.73965536,810,651,629.73965536,652.73965536,0.411845098102,-0.0154049481712,0.0698253472926,0.999999947624,0.000178349443661,-0.000268425008015,2.98594699061e-05,1793247684166407168
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.67670308,745,715,680,659.67670308,634,877.32329692,785,810,651,629.67670308,653,0.411202160302,-0.0154080094207,0.0698637192982,0.999999963166,0.000177579990472,-0.000202616105293,3.28491254538e-05,1793247684183073536
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.096733919,745,715,680,659.096733919,634,877.903266081,785,810,651,629.096733919,653,0.410528532813,-0.0154087626007,0.0698848123014,0.999999967342,0.000182882910297,-0.000174960797712,3.54834317564e-05,1793247684199739904
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.519763506,715,680,659,634,878,785,810,651,629.480236494,653,0.409852304145,-0.0154057979139,0.0698559061928,0.999999956175,0.000185818239689,-0.000228203207654,3.23306480984e-05,1793247684216406272
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.056547051,744,715,679.943452949,659,634,877.943452949,784.943452949,810,651,630,652.943452949,0.409180407699,-0.0154021935355,0.0698172179606,0.99999993783,0.000188234036801,-0.000296855492568,2.80269842217e-05,1793247684233073152
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.632310699,744,715,679.367689301,659,634,877.367689301,784.367689301,810,651,630,652.367689301,0.408553070911,-0.0153995491393,0.0697806111723,0.999999917431,0.000190231245046,-0.000358307138864,2.37929036546e-05,1793247684249739776
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744,715,679.212207787,659,634,877,784.212207787,809.787792213,651.212207787,629.787792213,652,0.407966051654,-0.0153987448827,0.0697620026422,0.999999907064,0.00018903737682,-0.000386895732465,2.11811412298e-05,1793247684266406400
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.799409038,659,634,877,784.799409038,809.200590962,651.799409038,629.200590962,652,0.407450277781,-0.0154011923466,0.06977519893,0.999999919299,0.000182204541773,-0.000357411852995,2.14361860468e-05,1793247684283074048
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,877,784.617988676,809.382011324,651.617988676,629,652.382011324,0.406938453959,-0.0154006127645,0.0697906910105,0.999999926697,0.000183898931357,-0.000335056746118,2.28774842395e-05,1793247684299740928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,877,784.037772491,809.962227509,651.037772491,629,652.962227509,0.406428679556,-0.0153984626135,0.069807374254,0.999999931581,0.000190017632577,-0.00031640036825,2.49342646995e-05,1793247684316407552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.462629785,744,715,680,659,634,877.537370215,784,809.462629785,651,629,652.462629785,0.405946814975,-0.0153954491832,0.0698011809543,0.999999925209,0.000194892456839,-0.000333158395118,2.45739668259e-05,1793247684333073920
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.114683395,744,715,679.885316605,659,634,877.885316605,784,809,651,628.885316605,652,0.405483556746,-0.0153928690714,0.0697956655795,0.999999919828,0.000198250380917,-0.000347087180259,2.39191802277e-05,1793247684349740288
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.702406621,744,715,679.297593379,659,634,877.297593379,784,809,651,628.297593379,652,0.405089028518,-0.01539232424,0.0697995171232,0.999999923071,0.000195708748501,-0.000339174263137,2.27439411741e-05,1793247684366406656
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.285841343,659,634,877,784.285841343,809.571682685,651,628.571682685,652,0.404718562407,-0.0153948623514,0.0698114993509,0.999999931209,0.000192317862017,-0.000316296655064,2.34941334205e-05,1793247684383073280
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,744,715,679.864877205,659,634,877,784.864877205,810.72975441,651,629.72975441,652,0.404372777427,-0.0154005627132,0.0698318214216,0.999999943312,0.000188055874626,-0.000278069394303,2.62192881147e-05,1793247684399739648
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,659,634,877,784.555533018,810.111066037,651,629.555533018,652,0.404030839599,-0.0154000254918,0.069840902688,0.999999946853,0.000191209939941,-0.00026270731376,2.6774416913e-05,1793247684416406528
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.976023583,744,715,679.976023583,659,634,877.023976417,784,809.023976417,651,629,652,0.403691716955,-0.0153974565853,0.0698459390168,0.999999947772,0.000196568271798,-0.000255171762035,2.65373739437e-05,1793247684433073664
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.402222771,744,715,679.402222771,659,634,877.597777229,784,809.597777229,651,629,652,0.403390297626,-0.0153918371435,0.0698366808346,0.999999943807,0.0002007087531,-0.000267508784248,2.32816439174e-05,1793247684449740544
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,633.824211833,877.824211833,784.175788167,810,651,629,652,0.403100721424,-0.0153868969137,0.069828046058,0.999999939228,0.000206006477934,-0.000280482244321,2.08509256094e-05,1793247684466406912
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,633.236331365,877.236331365,784.763668635,810,651,629,652,0.402838908576,-0.0153835489311,0.0698208727044,0.999999933394,0.000214017076242,-0.000294947675385,2.03542456658e-05,1793247684483073536
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.3480786,715,679.3480786,659,633.3480786,877,784.6519214,809.6519214,651.3480786,629,652,0.402593218047,-0.0153798003856,0.0698134275422,0.999999928266,0.000218930224921,-0.000308420944995,2.03599902354e-05,1793247684499739904
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.930155552,715,679.930155552,659,633.930155552,877,784.069844448,809.069844448,651.930155552,629,652,0.402358365836,-0.0153757825583,0.0698057996541,0.999999923603,0.000221761091518,-0.00032122722835,2.07034932629e-05,1793247684516406272
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715.505673151,680,659,634,877,784,809.505673151,651.494326849,629.505673151,652.505673151,0.402160731481,-0.015378136693,0.0698018418368,0.999999922131,0.000222031769451,-0.000325473483532,2.24975312161e-05,1793247684533072896
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.08033921,744.91966079,716,680,659,634,877,784.08033921,809.91966079,651,630,652.91966079,0.401972962849,-0.0153815703259,0.0697987161877,0.999999921138,0.000221198213735,-0.000328939347582,2.43946908596e-05,1793247684549739264
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.655269288,744.344730712,716,680,659,634,877,784.655269288,809.344730712,651,630,652.344730712,0.401814688607,-0.015386300855,0.069797632841,0.999999920362,0.000215715776991,-0.000334786429445,2.57090784183e-05,1793247684566405888
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.762548819,744,715.762548819,679.762548819,659,634,877,784.762548819,809.237451181,651.237451181,629.762548819,652,0.401671308582,-0.0153904548569,0.0697970470551,0.999999920274,0.000212711266702,-0.000336872678499,2.68766135723e-05,1793247684583072512
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.169507141,744,715.169507141,679.169507141,659,634,877,784.169507141,809.830492859,651.830492859,629.169507141,652,0.401550233117,-0.0153937454909,0.0697972063821,0.999999921286,0.000213417528353,-0.000333326963637,2.7824232626e-05,1793247684599739136
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.411273633,744.411273633,715,679,659,634,877.411273633,784.411273633,809.588726367,651.588726367,629,652,0.401446662108,-0.0153924970479,0.0697980805023,0.99999991843,0.000231650807719,-0.000329947762806,2.47392415661e-05,1793247684616406016
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.987147329,744.987147329,715,679,659,634,877.987147329,784.987147329,809.012852671,651.012852671,629,652,0.401350096741,-0.0153894319739,0.0697992406974,0.999999913455,0.000256898755509,-0.000326635204172,2.00403179741e-05,1793247684633072640
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.437297132,745,715,679.562702868,659,634,877.437297132,785,809,651,629,652,0.401272446108,-0.0153931646321,0.0698003297755,0.99999992329,0.000217981950045,-0.000325189704638,1.24726863144e-05,1793247684649739264
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.312120002,744.687879998,715,680,659,634,877,785,810,651,629,652,0.401095417468,-0.0153939580073,0.0697984204176,0.999999928583,0.000188668894041,-0.000327355339414,8.7772665382e-06,1793247684699739904
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.894485299,744.105514701,715,680,659,634,877,785,810,651,629,652,0.401056892061,-0.0153922401319,0.0697989261584,0.99999992851,0.000191668016823,-0.000325813433883,9.45368271208e-06,1793247684716407296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.528534527,744.471465473,715,679.528534527,659,634,877.471465473,785,810,651,629,652,0.40103045549,-0.0153919445552,0.0698006780632,0.999999929543,0.000192023686446,-0.000322393544261,1.01234794002e-05,1793247684733073408
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.953025012,715,679.046974988,659,634,877.953025012,785,809.953025012,651,629,652,0.401007145239,-0.0153918667647,0.0698025542837,0.99999993064,0.000192191025533,-0.00031885140792,1.07473404746e-05,1793247684749739264
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.380636472,715,679.619363528,659,634,877.380636472,785,809.380636472,651,629,652,0.400988883553,-0.0153907047983,0.0698027367883,0.999999929827,0.000196794290647,-0.000318589847623,1.08737966998e-05,1793247684766405888
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.197454461,715.197454461,679.802545539,659,634,877,785,809.197454461,651.197454461,629,652,0.400974671666,-0.0153903777731,0.0698035417713,0.999999929775,0.000199358732414,-0.000317146592211,1.11651115046e-05,1793247684783072512
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.786864864,715.786864864,679.213135136,659,634,877,785,809.786864864,651.786864864,629,652,0.400968498813,-0.0153917081435,0.069805582402,0.999999931257,0.000197876018328,-0.000313357619145,1.17836779593e-05,1793247684799739136
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.370841035,744.629158965,715.629158965,679,659,634,877,784.629158965,809.629158965,652,629,652,0.4009641709,-0.0153923149851,0.0698067675771,0.999999932223,0.000197042035786,-0.000310783786534,1.19367293348e-05,1793247684816405760
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.896309302,744,715,679,658,634,877,784.103690698,809.896309302,651.896309302,629,652,0.400956691993,-0.0153901287302,0.0698094552653,0.999999933019,0.000200575922153,-0.000305917623239,1.20739536532e-05,1793247684866405888
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.322606818,744,715,679,658,634,877,784.677393182,809.322606818,651.322606818,629,652,0.400957021326,-0.0153909876236,0.0698108729275,0.99999993401,0.000199196813071,-0.000303569610898,1.2097891117e-05,1793247684883072512
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee3b18f1c28269007dd31d98cb9d202cc7883111
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c528f4559ac394c64f3bf9dc07dfa751eff087d7
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09f8cb70bbfcb363204e42e306f5c0dc3ce4c0039ea318039bfd2f7c7b5abbb7
+size 25996407
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96fcff35e68dfd6a8bc2f5bd7a51667013aec4e0
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+13,0.216666667,BASELINE,765.455808087,744.455808087,715,679,659,634,877,784,809,651,629,652,0.400954848367,-0.0153928192722,0.0698158004583,0.999999936576,0.000197684490562,-0.00029603622179,1.14596141428e-05,1793247685539364864
+14,0.233333333,BASELINE,765,744,715,679,659,634,877.1224104,784.1224104,809,651,629,652,0.400954942084,-0.0153930750792,0.0698155888703,0.999999936783,0.000196693322693,-0.000295991460957,1.16481262629e-05,1793247685556031488
+15,0.250000000,BASELINE,765,744,715,679,659,634,877.697150999,784.697150999,809,651,629,652,0.400956282615,-0.0153950328051,0.0698171824665,0.99999993746,0.000196172757121,-0.0002940232561,1.21338781778e-05,1793247685572698368
+16,0.266666667,BASELINE,765.272595541,744.272595541,715,679,659,634,877.727404459,784.727404459,809,651,629,652,0.400956565009,-0.0153959924142,0.0698176396133,0.999999937742,0.000195664565583,-0.000293393051486,1.22893346483e-05,1793247685589365248
+17,0.283333333,BASELINE,765.848824139,744.848824139,715,679,659,634,877.151175861,784.151175861,809,651,629,652,0.40095566879,-0.0153958402618,0.0698168309152,0.999999937589,0.000195170157012,-0.000294253190904,1.20768884613e-05,1793247685606031872
+18,0.300000000,BASELINE,765.567237653,744.567237653,715,679,659,634,877,784.432762347,809.432762347,651,629,652,0.400956414312,-0.0153951175884,0.0698171902908,0.999999937921,0.000195166165222,-0.000293141220613,1.16972581862e-05,1793247685622698496
+19,0.316666667,BASELINE,765,744.019237299,715,679.019237299,659,634,877,784.980762701,809.980762701,651,629,652,0.400957671952,-0.0153942395835,0.0698179168727,0.99999993838,0.000195342781386,-0.000291470270399,1.12792077276e-05,1793247685639365376
+20,0.333333333,BASELINE,765,744.599723415,715,679.599723415,659,634,877,784.400276585,809.400276585,651,629,652,0.400956835081,-0.0153947497885,0.0698172361907,0.99999993758,0.000195699829764,-0.000293954662382,1.14750329595e-05,1793247685656032000
+21,0.350000000,BASELINE,765,745,715,679.821064441,659,634,877,784.178935559,809,651,629,652,0.400955915452,-0.0153950130602,0.0698166850698,0.999999937007,0.000196423924191,-0.000295410672586,1.16719436434e-05,1793247685672698624
+22,0.366666667,BASELINE,765,745,715,679.244682086,659,634,877,784.755317914,809,651,629,652,0.400954812002,-0.0153947278501,0.0698164217269,0.999999936945,0.000197963291277,-0.000294582468822,1.18712652781e-05,1793247685689365248
+23,0.383333333,BASELINE,765.33679066,745,715,679,659,634,877,784.66320934,809.33679066,651,629,652,0.400956879902,-0.0153942675816,0.0698180694639,0.999999937483,0.000199366021926,-0.000291781954693,1.22415486347e-05,1793247685706031872
+24,0.400000000,BASELINE,765.922018446,745,715,679,659,634,877,784.077981554,809.922018446,651,629,652,0.400961287181,-0.0153936781792,0.0698211269287,0.999999938449,0.000200667961448,-0.000287526545263,1.27379437004e-05,1793247685722698496
+25,0.416666667,BASELINE,765.495050752,745,715,679,659,634,877,784,810,651,629,652,0.400958502308,-0.0153941808576,0.0698194294307,0.999999937891,0.000199075279334,-0.000290577310625,1.23130399589e-05,1793247685739365120
+26,0.433333333,BASELINE,765,744.913476362,715,679,659,634,877,784.086523638,810,651,629,652,0.400955188702,-0.0153946903326,0.0698172719424,0.999999937196,0.000197206260657,-0.000294242634845,1.18091407246e-05,1793247685756031744
+27,0.450000000,BASELINE,765,744.3375763,715,679,659,634,877,784.6624237,810,651,629,652,0.400955138342,-0.0153942886594,0.0698166473065,0.999999937145,0.000196291227203,-0.000295031005894,1.16595348894e-05,1793247685772698368
+28,0.466666667,BASELINE,765,744.237317866,715,679.237317866,659,634,877,784.762682134,809.762682134,651,628.762682134,652.237317866,0.400955253029,-0.0153944546706,0.0698162220615,0.999999937153,0.000195593533043,-0.000295468316358,1.16090962994e-05,1793247685789365248
+29,0.483333333,BASELINE,765,744.810787185,715,679.810787185,659,634,877,784.189212815,809.189212815,651,628.189212815,652.810787185,0.400955601499,-0.0153954247848,0.069816079246,0.999999937246,0.000195203691528,-0.00029540836322,1.16991242335e-05,1793247685806031616
+30,0.500000000,BASELINE,765,744.603532754,715,679.603532754,659,634,877.396467246,784.396467246,809.396467246,651.396467246,628.396467246,652.603532754,0.400956335917,-0.0153954178416,0.0698165536528,0.999999937465,0.000195239735341,-0.000294643835768,1.1658227773e-05,1793247685822698496
+31,0.516666667,BASELINE,765,744.011839985,715,679.011839985,659,634,877.988160015,784.988160015,809.988160015,651.988160015,628.988160015,652.011839985,0.40095726038,-0.0153949297827,0.0698173319876,0.999999937745,0.000195485490527,-0.000293532366949,1.15528624701e-05,1793247685839365376
+32,0.533333333,BASELINE,765,744,715,679,659,634,877.43352017,785,810,651.43352017,629,652,0.400956463827,-0.0153948645889,0.0698172730805,0.999999937626,0.000195272660423,-0.000294076341514,1.16532155972e-05,1793247685856031744
+33,0.550000000,BASELINE,765,744.143706791,715,679.143706791,659,634,877,785,809.856293209,651,629,652,0.400955934479,-0.0153945838374,0.0698172443244,0.999999937481,0.000195573198515,-0.000294364600874,1.17637276799e-05,1793247685872698624
+34,0.566666667,BASELINE,765,744.718474604,715,679.718474604,659,634,877,785,809.281525396,651,629,652,0.400956312043,-0.0153936306018,0.0698173572886,0.999999937283,0.000197441716848,-0.000293784426829,1.18921124865e-05,1793247685889365248
+35,0.583333333,BASELINE,765,744.699582524,715,680,658.699582524,634,877,785,809,651,629,652,0.400956108058,-0.0153934607959,0.0698170950432,0.999999937014,0.000198384144551,-0.000294064530605,1.19451016798e-05,1793247685906032128
+36,0.600000000,BASELINE,765,744.110751217,715,680,658.110751217,634,877,785,809,651,629,652,0.40095534576,-0.0153940431165,0.0698164725803,0.999999936677,0.000198437485226,-0.000295170538406,1.19257078229e-05,1793247685922699520
+37,0.616666667,BASELINE,765,744,715,679.529193604,658.470806396,634,877,785,809,651,629,652,0.400955526046,-0.0153953418058,0.0698169872609,0.9999999375,0.000196014438194,-0.000293996957874,1.19780056655e-05,1793247685939366400
+38,0.633333333,BASELINE,765,744.050468813,715,679,659,634,877,785,809.050468813,651,629,652,0.400955776611,-0.0153964344894,0.0698175915219,0.999999938369,0.000193563676068,-0.000292663434101,1.19930058247e-05,1793247685956033280
+39,0.650000000,BASELINE,765,744.627936867,715,679,659,634,877,785,809.627936867,651,629,652,0.400954480932,-0.0153936431536,0.069816380447,0.999999937003,0.000196813875244,-0.000295174079515,1.14451189679e-05,1793247685972699392
+40,0.666666667,BASELINE,765.204070463,745,715,679.204070463,659,634,877,785,809.795929537,651,629,652,0.400954224034,-0.0153926968321,0.0698160971767,0.999999936464,0.000198083751912,-0.000296155299981,1.12445387759e-05,1793247685989365760
+41,0.683333333,BASELINE,765.777786835,745,715,679.777786835,659,634,877,785,809.222213165,651,629,652,0.400955848746,-0.0153950925031,0.0698174944985,0.999999937444,0.000195766543298,-0.000294366174863,1.167305744e-05,1793247686006032384
+42,0.700000000,BASELINE,765.640289061,745,715,679.640289061,659,634,877.359710939,784.640289061,809,651,629,652,0.400956909113,-0.0153954185934,0.0698184336238,0.999999937941,0.000195527927197,-0.000292832272633,1.16861283474e-05,1793247686022698752
+43,0.716666667,BASELINE,765.053176218,745,715,679.053176218,659,634,877.946823782,784.053176218,809,651,629,652,0.400957612714,-0.0153944363369,0.0698190830866,0.999999938134,0.000196603354887,-0.000291459717166,1.14365616578e-05,1793247686039365376
+44,0.733333333,BASELINE,765.529351358,744.470648642,715,679.529351358,659,634,877.470648642,784,809,651,629,652,0.400956679647,-0.0153942788607,0.0698185216264,0.999999938121,0.000195095220786,-0.000292513774847,1.1495947576e-05,1793247686056032768
+45,0.750000000,BASELINE,766,744.110063154,715,679.889936846,658.889936846,634,877.110063154,784.110063154,809,651,629,652,0.400955514952,-0.0153943869172,0.0698178078711,0.999999937999,0.000193686319484,-0.000293859479795,1.15703187109e-05,1793247686072699904
+46,0.766666667,BASELINE,766,744.685033852,715,679.314966148,658.314966148,634,877.685033852,784.685033852,809,651,629,652,0.400954060378,-0.015395269617,0.0698169602313,0.999999937522,0.000193783432776,-0.000295416275694,1.15780171474e-05,1793247686089366528
+47,0.783333333,BASELINE,766,744.740046341,715,679,658.259953659,634,877.740046341,785,809,651,629,652,0.400954312608,-0.0153958117893,0.0698171637425,0.999999937692,0.000193464068501,-0.000295044984983,1.16894052352e-05,1793247686106032896
+48,0.800000000,BASELINE,766,744.165188108,715,679,658.834811892,634,877.165188108,785,809,651,629,652,0.400956632439,-0.0153959414508,0.0698186406044,0.999999938643,0.00019264018858,-0.000292338034743,1.19264016564e-05,1793247686122699264
+49,0.816666667,BASELINE,766,744,715,679,659,634,877,785,809,651,629,652,0.40095679424,-0.0153959644994,0.069818531484,0.999999938529,0.000193780574723,-0.000291974451028,1.19122361759e-05,1793247686139365888
+50,0.833333333,BASELINE,766,744.014024841,715,679,659,634,876.985975159,784.985975159,809,651,629,652,0.400956077684,-0.0153959153415,0.0698177925315,0.999999937984,0.000195704716044,-0.000292561281866,1.17979362726e-05,1793247686156032768
+51,0.850000000,BASELINE,766,744.589176436,715,679,659,634,876.410823564,784.410823564,809,651,629,652,0.400955033446,-0.015394697193,0.0698174405146,0.999999937435,0.000197297559639,-0.000293368847986,1.17292326512e-05,1793247686172699136
+52,0.866666667,BASELINE,765.835442611,745,715,679.164557389,659,634,876.164557389,784,809,651,629,652,0.400955234772,-0.0153942013494,0.0698176783602,0.999999937417,0.000197718914946,-0.000293143634579,1.17981511916e-05,1793247686189365760
+53,0.883333333,BASELINE,765.259488292,745,715,679.740511708,659,634,876.740511708,784,809,651,629,652,0.400958550032,-0.0153955112831,0.0698193908743,0.999999938724,0.000195211524834,-0.000290336450615,1.22111280309e-05,1793247686206032896
+54,0.900000000,BASELINE,765.31525358,744.68474642,715,679.68474642,659,634,877,784.31525358,809,651,629,652,0.400957807083,-0.0153956375493,0.0698187173951,0.999999938558,0.00019434880342,-0.000291495319116,1.19484525604e-05,1793247686222699776
+55,0.916666667,BASELINE,765.889001271,744.110998729,715,679.110998729,659,634,877,784.889001271,809,651,629,652,0.40095373658,-0.01539479326,0.0698160875059,0.999999937178,0.000194834638333,-0.000295906176848,1.11317718055e-05,1793247686239366656
+56,0.933333333,BASELINE,765.518983394,744.481016606,715,679.481016606,659,634,877.481016606,785,809,651,629,652,0.40095365237,-0.0153956155286,0.0698163799438,0.999999937521,0.000193183931581,-0.000295825820641,1.11421703239e-05,1793247686256033024
+57,0.950000000,BASELINE,764.925623582,744.925623582,715,679.925623582,659,634,877.925623582,785,809,651,629,652,0.400954570634,-0.0153964667795,0.0698173219224,0.999999938161,0.000191643769841,-0.000294655698612,1.13015725011e-05,1793247686272699392
+58,0.966666667,BASELINE,764.3526265,744.3526265,715,679.3526265,659,634,877.3526265,785,809,651,629,652,0.400955799222,-0.0153948323709,0.069817919096,0.999999938023,0.00019428043396,-0.000293402000065,1.11298880357e-05,1793247686289365504
+59,0.983333333,BASELINE,764.443582207,744.221791104,715,679,659.221791104,634,877,785,809,651.221791104,629,652,0.400956803121,-0.0153940349593,0.069818242465,0.999999937896,0.000196094432227,-0.000292628566827,1.11115519116e-05,1793247686306032128
+60,1.000000000,BASELINE,765.596963696,744.798481848,715,679,659.798481848,634,877,785,809,651.798481848,629,652,0.400957447485,-0.0153945768703,0.0698181277049,0.999999937797,0.000196592039898,-0.000292623631239,1.13385965282e-05,1793247686322698752
+61,1.016666667,BASELINE,765.617149691,744.617149691,715,679,659.617149691,634,877.382850309,785,809.382850309,651.617149691,629,652,0.400957028963,-0.0153945931687,0.0698179647196,0.999999937823,0.000196276001892,-0.000292741407612,1.1465685162e-05,1793247686339365376
+62,1.033333333,BASELINE,765.028657297,744.028657297,715,679,659.028657297,634,877.971342703,785,809.971342703,651.028657297,629,652,0.400956039529,-0.0153943271423,0.069817775831,0.999999937916,0.000195522926746,-0.000292925096805,1.15390839819e-05,1793247686356032000
+63,1.050000000,BASELINE,765,744,715,679.553560929,659,634.553560929,877.446439071,785,809.446439071,651,629,652,0.400954612323,-0.0153960574003,0.0698172032432,0.999999937956,0.000193234402234,-0.000294299024483,1.16596498969e-05,1793247686372698368
+64,1.066666667,BASELINE,765,744,715,679.866321179,658.866321179,634.866321179,877,784.866321179,809,651,629,652,0.40095377221,-0.0153970076799,0.0698168968069,0.999999937873,0.000192415046347,-0.000295113917271,1.17280238222e-05,1793247686389364992
+65,1.083333333,BASELINE,765,744,715,679.292067051,658.292067051,634.292067051,877,784.292067051,809,651,629,652,0.400954940881,-0.0153950505393,0.0698175322788,0.999999937403,0.000196696780509,-0.000293885555451,1.16164272787e-05,1793247686406032640
+66,1.100000000,BASELINE,765,744,715,679.281245227,658.281245227,634,877,784.281245227,809.281245227,651,629,652,0.400955745494,-0.0153950899369,0.0698177072289,0.999999937531,0.00019702983231,-0.000293225392896,1.16443770322e-05,1793247686422699520
+67,1.116666667,BASELINE,765,744,715,679.853582642,658.853582642,634,877,784.853582642,809.853582642,651,629,652,0.400956173305,-0.0153971957756,0.0698174055334,0.999999938283,0.000193275950158,-0.000293153323486,1.18167588866e-05,1793247686439365632
+68,1.133333333,BASELINE,765,744,715,679.558838328,658.558838328,634,877,785,810,651,629,652.441161672,0.400956457828,-0.0153971500792,0.0698182711176,0.999999938554,0.000192838937078,-0.000292512167751,1.18661331686e-05,1793247686456032256
+69,1.150000000,BASELINE,765,744,715,679,658,634,877,785,809.966821599,651,629,652.966821599,0.40095674744,-0.0153964234472,0.0698194894632,0.99999993869,0.000193504119727,-0.000291607266235,1.18745543157e-05,1793247686472699136
+70,1.166666667,BASELINE,765,744,715,679,658,634,877,785,809.387993134,651,629,652.387993134,0.400957930842,-0.0153966620567,0.0698199099985,0.999999939271,0.000193543777399,-0.000289582190729,1.19048952193e-05,1793247686489365760
+71,1.183333333,BASELINE,765,744,715,679,658.189205823,634,877,784.810794177,809.189205823,651,629.189205823,652,0.400958306565,-0.015396521668,0.0698199472554,0.999999939384,0.000193898335789,-0.000288951534254,1.18975442011e-05,1793247686506032640
+72,1.200000000,BASELINE,765,744,715,679,658.763091885,634,877,784.236908115,809.763091885,651,629.763091885,652,0.400957040171,-0.0153956107264,0.0698192052573,0.999999938553,0.00019489312862,-0.000291155914065,1.18135605706e-05,1793247686522699520
+73,1.216666667,BASELINE,765.336262748,744,715,679.336262748,659,634,877,784.336262748,809.663737252,651,629.663737252,652,0.400956516595,-0.0153957242839,0.0698186506277,0.999999938351,0.000194829920053,-0.000291891156926,1.18113233807e-05,1793247686539366144
+74,1.233333333,BASELINE,765.908930766,744,715,679.908930766,659,634,877,784.908930766,809.091069234,651,629.091069234,652,0.400956515248,-0.0153965581027,0.0698182277254,0.999999938594,0.000194022896928,-0.000291593541511,1.18665569969e-05,1793247686556032768
+75,1.250000000,BASELINE,766,744,715,679.496214736,659,634,877,785,809,651,628.496214736,652,0.400957828804,-0.0153959545447,0.069819215812,0.999999939033,0.000194700827952,-0.00028963410611,1.1766945385e-05,1793247686572699136
+76,1.266666667,BASELINE,766,744.098600558,715,679,659,634,877,785,809.098600558,651.098600558,628.098600558,652,0.400958908754,-0.0153952509708,0.0698202871936,0.999999939353,0.00019555364724,-0.000287950825257,1.16978009849e-05,1793247686589365760
+77,1.283333333,BASELINE,766,744.672982374,715,679,659,634,877,785,809.672982374,651.672982374,628.672982374,652,0.400957661677,-0.015395376337,0.0698204730287,0.999999938947,0.000195895399338,-0.000289116429881,1.19169614693e-05,1793247686606032384
+78,1.300000000,BASELINE,766,744.752177456,715,679,659,634,877,784.752177456,809.752177456,651.752177456,629,652,0.40095672395,-0.0153951295607,0.0698199689738,0.99999993847,0.000196166193325,-0.000290578839413,1.19659680457e-05,1793247686622698752
+79,1.316666667,BASELINE,766,744.176731385,715,679,659,634,877,784.176731385,809.176731385,651.176731385,629,652,0.400956195184,-0.015394390809,0.0698185528784,0.999999937896,0.000196343180049,-0.000292433627481,1.17900296797e-05,1793247686639365888
+80,1.333333333,BASELINE,765.59166173,744,715,679,659,634,877,784.40833827,809,651,629,652,0.400956606195,-0.0153945954094,0.0698186118621,0.999999937804,0.000197027118154,-0.000292290576597,1.17381656875e-05,1793247686656032768
+81,1.350000000,BASELINE,765.002326342,744,715,679,659,634,877,784.997673658,809,651,629,652,0.400957433765,-0.0153952181532,0.069819324679,0.999999937925,0.000197935763938,-0.000291261977993,1.17412980046e-05,1793247686672699392
+82,1.366666667,BASELINE,765,744.577114503,715,679,659,634,877,785,809,651,629,652,0.400957196527,-0.0153960515405,0.069819499062,0.999999938347,0.00019612215759,-0.000291040166324,1.1734978247e-05,1793247686689366272
+83,1.383333333,BASELINE,765,744.844734779,715,679,659,634,877,785,809,651.155265221,629,652,0.400956608444,-0.0153965176403,0.0698193675246,0.999999938548,0.000194639166096,-0.000291345748113,1.17002342461e-05,1793247686706032640
+84,1.400000000,BASELINE,765,744.269963735,715,679,659,634,877,785,809,651.730036265,629,652,0.400955083826,-0.0153959891231,0.0698184151967,0.999999938155,0.000194078600051,-0.00029306763755,1.15887929559e-05,1793247686722699008
+85,1.416666667,BASELINE,765,744,715,679,658.688044329,634,877,784.688044329,809.311955671,651.688044329,629,652,0.40095544249,-0.0153958723326,0.0698182629832,0.999999938302,0.000193894057456,-0.000292688566041,1.16348579298e-05,1793247686739365632
+86,1.433333333,BASELINE,765,744,715,679,658.09979375,634,877,784.09979375,809.90020625,651.09979375,629,652,0.400957469152,-0.0153961202028,0.0698188194203,0.999999938924,0.000194042553766,-0.000290448701807,1.18204240728e-05,1793247686756032256
+87,1.450000000,BASELINE,765,744,715,679,658,634,877,784.481280061,809.518719939,651,629,652,0.400957203782,-0.015395407276,0.0698189924217,0.999999938684,0.000194903403616,-0.000290700809755,1.17009670381e-05,1793247686772699136
+88,1.466666667,BASELINE,765.060498638,744,715,679,658.060498638,634,877,785,809,651.060498638,629,652,0.400956614012,-0.015394647369,0.0698191111979,0.999999938325,0.000195786719848,-0.000291349860052,1.15327761959e-05,1793247686789366016
+89,1.483333333,BASELINE,765.636403302,744,715,679,658.636403302,634,877,785,809,651.636403302,629,652,0.400957249917,-0.0153951595179,0.0698194353925,0.999999938447,0.000195621562557,-0.000291043233471,1.14803088648e-05,1793247686806032896
+90,1.500000000,BASELINE,766,744,715,679,659,634,877,784.788894718,809,651.788894718,629,652,0.400956952472,-0.0153956160985,0.0698193432854,0.999999938404,0.00019524940475,-0.000291439981002,1.15171358273e-05,1793247686822699520
+91,1.516666667,BASELINE,766,744,715,679,659,634,877,784.2162525,809,651.2162525,629,652,0.400955056578,-0.0153959775132,0.0698185382238,0.999999938075,0.000194522739811,-0.0002930413205,1.17068873687e-05,1793247686839366144
+92,1.533333333,BASELINE,765.630940866,744.369059134,715,679,659,634,877.369059134,784.369059134,809.369059134,651.369059134,629,652.369059134,0.400956513412,-0.0153964963772,0.0698194105687,0.999999939047,0.000192516107102,-0.000291049408703,1.15689745885e-05,1793247686856032768
+93,1.550000000,BASELINE,765.037941543,744.962058457,715,679,659,634,877.962058457,784.962058457,809.962058457,651.962058457,629,652.962058457,0.400960004637,-0.0153971107794,0.0698213007414,0.999999940788,0.000189732806848,-0.000286877159817,1.12322394612e-05,1793247686872699648
+94,1.566666667,BASELINE,765,744.457937787,715,679,659,634,877.457937787,785,809.457937787,651.457937787,629,653,0.400957765006,-0.0153972234486,0.0698196361477,0.999999939888,0.000190575954252,-0.000289436845361,1.14754977103e-05,1793247686889365760
+95,1.583333333,BASELINE,765.1198496,744,715,679,659,634,877,785,809,651.1198496,629,652.8801504,0.400955627187,-0.0153970315313,0.0698180496197,0.99999993883,0.00019222788066,-0.000291979974122,1.16995250761e-05,1793247686906032384
+96,1.600000000,BASELINE,765.692618396,744,715,679,659,634,877,785,809,651.692618396,629,652.307381604,0.400955354531,-0.0153958181712,0.0698176763796,0.999999937881,0.000195999444032,-0.00029272152972,1.17010529134e-05,1793247686922699264
+97,1.616666667,BASELINE,765.726930639,744.273069361,715,679.273069361,659,634,877,785,809.273069361,651.726930639,629,652,0.400955679192,-0.0153954281227,0.0698179189694,0.999999937752,0.00019695091442,-0.000292523446489,1.16871208466e-05,1793247686939365888
+98,1.633333333,BASELINE,765.137581929,744.862418071,715,679.862418071,659,634,877,785,809.862418071,651.137581929,629,652,0.40095669569,-0.0153959916653,0.0698188748372,0.999999938581,0.000194636045324,-0.000291237037684,1.16552825292e-05,1793247686956032768
+99,1.650000000,BASELINE,765.444153751,745,715,679.555846249,659,634,877.444153751,785,810,651.444153751,629,652,0.400955520814,-0.0153950390585,0.0698186248576,0.999999938232,0.000194881016726,-0.000292277856178,1.14641823099e-05,1793247686972699648
+100,1.666666667,BASELINE,766,744.976540751,715,679,659,634,877.976540751,785,810,651.976540751,629,652,0.400953817571,-0.0153937980412,0.0698180646049,0.999999937585,0.000195769775511,-0.000293901449914,1.12541368272e-05,1793247686989366528
+101,1.683333333,BASELINE,766,744.399869017,715,679,659,634,877.399869017,785,810,651.399869017,629,652,0.400955392136,-0.0153966442396,0.0698188475251,0.999999938424,0.000193456322405,-0.000292554602322,1.17410920685e-05,1793247687006033152
+102,1.700000000,BASELINE,766,744.17631542,715,679.17631542,659,634,877,784.82368458,809.82368458,651,629,652,0.400956599179,-0.0153981832091,0.0698192474249,0.999999938932,0.000192572187316,-0.000291389630079,1.20387460435e-05,1793247687022699264
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+104,1.733333333,BASELINE,765.665884873,744.665884873,715,679.665884873,659,634,877,784.334115127,809,651,629,652,0.400956646324,-0.01539666973,0.0698183571701,0.999999938702,0.000194635451818,-0.0002908115053,1.19145557406e-05,1793247687056032000
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+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,680,659,634,877,785,810,652,629,652,0.400958635924,-0.0153975417366,0.0698205164021,0.999999939228,0.000194813042897,-0.000288881847563,1.18095756758e-05,1793247687132545536
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.413528572,745,715.413528572,680,659,634,877,785,809.413528572,651.413528572,629,652,0.400957719042,-0.0153961343724,0.0698202109791,0.999999938816,0.000196527471134,-0.000289156417767,1.15916857334e-05,1793247687149212160
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.170583841,744.829416159,715.170583841,679.829416159,659,634,877.170583841,785,809,651,629,652,0.400957285788,-0.0153952975223,0.0698200448038,0.999999938705,0.00019717437565,-0.00028910272064,1.14628484078e-05,1793247687165878784
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.749055665,744.250944335,715.749055665,679.250944335,659,634,877.749055665,785,809,651,629,652,0.400958008953,-0.0153958248444,0.0698202115878,0.99999993932,0.000195268693487,-0.000288264094005,1.15469473406e-05,1793247687182545152
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.671970017,744,715.671970017,679.328029983,659,634,877.671970017,784.671970017,809,651.328029983,629,652,0.400957257128,-0.0153950923137,0.0698193877977,0.999999938804,0.000196348952176,-0.000289319338117,1.15698818603e-05,1793247687199211520
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.092610736,744,715.092610736,679.907389264,659,634,877.092610736,784.092610736,809,651.907389264,629,652,0.4009553752,-0.0153933945117,0.0698178050518,0.999999937409,0.000199716972654,-0.00029182562405,1.15459535574e-05,1793247687215877632
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.481819461,715,680,659,634,877,784.481819461,809,652,629,652.481819461,0.400955034092,-0.0153940544984,0.069817626885,0.999999937398,0.000198475145767,-0.000292713012545,1.14022667555e-05,1793247687232544512
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.056820742,745,715,680,659.056820742,634.056820742,877,785,809.056820742,651.943179258,629,652.943179258,0.400955105065,-0.0153950787244,0.0698177969431,0.999999937665,0.000196525629183,-0.000293122958242,1.12710118722e-05,1793247687249211392
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+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.768563964,659.768563964,634.768563964,877,785,810,651.231436036,629,652.231436036,0.400961435258,-0.0153956844012,0.0698214284182,0.999999939382,0.000195526587605,-0.000287864583281,1.18443896345e-05,1793247687282545152
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.188596847,659.188596847,634.188596847,877,785,810,651.811403153,629,652.811403153,0.400972544148,-0.0153962638857,0.0698268026821,0.999999941976,0.00019447748649,-0.000279410511044,1.24841757882e-05,1793247687299211520
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.61157176,745,715.38842824,679,659,634,877,785,809.61157176,651.61157176,629,652.61157176,0.401002178502,-0.0153976844157,0.06983865598,0.999999947435,0.000194753125056,-0.000258890870114,1.32879816991e-05,1793247687315877632
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+120,2.000000000,POSE1_TO_POSE2_PRESS,765.550316428,745,715.449683572,679.550316428,659,634,877.550316428,785,809,651,629,652,0.401099564188,-0.0154031185866,0.0698714727893,0.999999959767,0.000194957180372,-0.000205466586084,1.55442607775e-05,1793247687349210624
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.864709819,659,634,878,785,809,651,629,652,0.401161697266,-0.0154064511163,0.0698872011289,0.999999964374,0.000194003312758,-0.000182607185333,1.64221898212e-05,1793247687365877504
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.286345993,659,634,878,785,809,651,629,652,0.401230244647,-0.0154084912814,0.069895383925,0.999999966233,0.000192605101055,-0.00017376929595,1.55702710557e-05,1793247687382544640
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.708385906,745,715,679,659,634.291614094,877.708385906,785,809.291614094,651,629,652,0.401308550386,-0.0154117762554,0.0699017627028,0.999999967944,0.000191350893496,-0.000165177360964,1.45839101919e-05,1793247687399211520
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.130821752,745,715,679,659,634.869178248,877.130821752,785,809.869178248,651,629,652,0.401396424942,-0.01541628186,0.0699063725012,0.999999969517,0.000190237893167,-0.000156826603724,1.34657185557e-05,1793247687415878144
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634.5540171,877.4459829,785,809.5540171,651,629,652.4459829,0.401502587227,-0.01541981859,0.0699099982256,0.999999970507,0.000189512445203,-0.000151457330229,1.14791474689e-05,1793247687432544768
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.023009559,745,715.023009559,679.023009559,659,634,877.976990441,785,809.023009559,651,629,652.976990441,0.40161498838,-0.0154231969142,0.0699131937102,0.999999971321,0.000188728475272,-0.000147156126747,9.21223938654e-06,1793247687449211136
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+134,2.233333333,POSE1_TO_POSE2_PRESS,765.327934388,744.672065612,715,679.327934388,659.672065612,634,877.672065612,785,809.327934388,651.327934388,629,652,0.40321890473,-0.0154900237626,0.0699378081558,0.99999999524,2.07636768403e-05,-9.25541204471e-05,-2.28722315599e-05,1793247687582545152
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.743062536,715,679,659.743062536,634,877.743062536,785,809,651,629,652,0.403519042554,-0.0154991937646,0.0699453459034,0.999999995926,-3.39006567564e-05,-7.90230927728e-05,-2.74557089666e-05,1793247687599211776
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.164138784,715,679,659.164138784,634,877.164138784,785,809,651,629,652,0.403837710823,-0.0155080774481,0.0699522114492,0.999999996452,-3.48945503496e-05,-6.9413766192e-05,-3.25511580259e-05,1793247687615878144
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877.412908109,784.587091891,809,651,629,652,0.404178118383,-0.0155136536519,0.0699557630436,0.999999996406,-3.66674846083e-05,-6.63612693637e-05,-3.79562519541e-05,1793247687632544512
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877.989212278,784.010787722,809,651,629,652,0.404527128611,-0.0155179210189,0.0699580032404,0.999999996132,-3.87487009344e-05,-6.5903442434e-05,-4.34838784759e-05,1793247687649210624
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.562155868,744.562155868,715,679.562155868,659,634,878,784.562155868,809.562155868,651,629,652,0.404924710825,-0.0155086050273,0.0699607874234,0.999999996244,-4.25267205676e-05,-5.88959988286e-05,-4.72676314273e-05,1793247687665876992
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.860571359,744.860571359,715,679.860571359,659,634,877.860571359,784.860571359,809.860571359,651,629,652,0.40533040069,-0.0154994891377,0.0699622366961,0.999999996989,-2.99972244581e-05,-5.46052955494e-05,-4.62667448011e-05,1793247687682543616
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.269053729,744.269053729,715,679.269053729,659,634,877.269053729,784.269053729,809.269053729,651,629,652,0.40575937475,-0.0154918622322,0.0699593239551,0.999999997152,3.55133637532e-05,-5.95285702181e-05,-2.9859813715e-05,1793247687699210496
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.315089224,744.315089224,715,679.315089224,659,634,877.315089224,784,809.315089224,651,629.315089224,652,0.406202253074,-0.0154926950022,0.0699489644775,0.999999995149,5.44196195801e-05,-7.79026770841e-05,-2.59295715019e-05,1793247687715877120
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.893079041,744.893079041,715,679.893079041,659,634,877.893079041,784,809.893079041,651,629.893079041,652,0.406656732726,-0.01550058626,0.0699323916756,0.999999993104,3.44406853368e-05,-0.00010749973829,-3.24094865098e-05,1793247687732543488
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.528950924,659,634,877.528950924,784.471049076,810,651,629.528950924,652,0.407168358645,-0.0155033504475,0.069923894904,0.99999999257,2.3179373975e-05,-0.000114043982747,-3.62839274454e-05,1793247687749210368
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.950301093,745,715,679.049698907,659,634,877,785,810,651,629,652.049698907,0.407699503643,-0.0155048722799,0.0699193308456,0.999999992811,1.44929574133e-05,-0.000112334445475,-3.9353060045e-05,1793247687765876992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.364266245,745,715,679.635733755,659,634,877,785,810,651,629,652.635733755,0.408301316257,-0.015505545483,0.0699374256325,0.999999996077,1.224066115e-05,-7.80192449777e-05,-4.01135224296e-05,1793247687782543616
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.219197471,634,877.219197471,785,810,651,629,653,0.408906440074,-0.0155054981228,0.0699493926219,0.999999997718,1.12722452551e-05,-5.25955511047e-05,-4.08652501843e-05,1793247687799210240
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.798437934,634,877.798437934,785,810,651,629,653,0.409517002674,-0.0155042672007,0.0699512943913,0.999999998185,1.24126683063e-05,-4.17766111879e-05,-4.16026308797e-05,1793247687815877120
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.375713768,745,715,680,660,634,877.624286232,784.624286232,810,651,629,652.624286232,0.410137458368,-0.0155052837661,0.0699453011661,0.999999997743,1.10528580745e-05,-5.0520266564e-05,-4.28912457377e-05,1793247687832544256
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.951941087,745,715,680,660,634,877.048058913,784.048058913,810,651,629,652.048058913,0.410763193857,-0.0155074997864,0.0699350944849,0.999999996547,8.35870582988e-06,-6.97042248572e-05,-4.44740470614e-05,1793247687849211648
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.47268303,745,715,680,659.47268303,634,877.52731697,784.52731697,810.52731697,651,629,652.52731697,0.411455515982,-0.0155069796516,0.0699471524057,0.999999997697,4.07918823347e-06,-5.09472631632e-05,-4.46585142008e-05,1793247687865878528
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.89481956,715,680,659.10518044,634,878,784.89481956,810.89481956,651,629,652.89481956,0.41216754258,-0.0155074152204,0.0699646108982,0.999999998742,-1.15636196018e-06,-2.34916204061e-05,-4.43060295548e-05,1793247687882544896
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.305140693,715,680,659.694859307,634,878,784.305140693,810.305140693,651,629,652.305140693,0.412942425659,-0.0155133999314,0.0699976143543,0.999999998668,-1.01312464659e-05,2.81306771261e-05,-4.20662519774e-05,1793247687899211264
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659.721351974,634,878,784.278648026,810.278648026,651,629,652.278648026,0.413704179118,-0.0155154072981,0.0700142513984,0.999999997719,-1.2635533432e-05,5.18916135582e-05,-4.13497982419e-05,1793247687915877632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744,715,680,659.143879818,634,878,784.856120182,810.856120182,651,629,652.856120182,0.414451852375,-0.0155131493334,0.0700133369896,0.999999998026,-8.20070662507e-06,4.57738342925e-05,-4.22669676638e-05,1793247687932544256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.433502502,744,715,680,659.433502502,634,878,784.566497498,811,651,629,653,0.415180971539,-0.0155089225202,0.0699683427583,0.99999999832,-4.4805247527e-06,-3.2957428876e-05,-4.74756686113e-05,1793247687949211136
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.988972945,744.011027055,715,680,660,634,878,784.011027055,810.988972945,651,629,652.988972945,0.415905905707,-0.0155042140655,0.069909916536,0.999999989607,-1.18914474792e-06,-0.000133676637097,-5.3995461217e-05,1793247687965878016
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.402468022,744.597531978,715,680,660,634,878,784.597531978,810.402468022,651,629,652.402468022,0.416733748565,-0.0155084654744,0.069913860054,0.999999990738,-7.90006153228e-06,-0.000124408629258,-5.46193334903e-05,1793247687982544896
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.818599959,715,680,660,634,878,785,810.181400041,651,629,652.181400041,0.417583496001,-0.015512853836,0.0699272253286,0.99999999326,-1.49552097292e-05,-0.000101607879374,-5.41533611222e-05,1793247687999211776
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.240498447,715,680,660,634,878,785,810.759501553,651,629,652.759501553,0.418481146233,-0.0155175416979,0.069961194924,0.999999997214,-2.27631528551e-05,-4.92125462916e-05,-5.13040210735e-05,1793247688015878400
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744,715,679.661482081,660,634,878.338517919,785,811,651,629.338517919,653,0.419387324129,-0.0155210702528,0.0699910325381,0.999999998419,-2.75261256579e-05,-3.82343657729e-06,-4.88940624333e-05,1793247688032544768
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744,715,679.081814023,660,634,878.918185977,785,811,651,629.918185977,653,0.420299576843,-0.0155237729516,0.0700179266498,0.999999997783,-3.01199514639e-05,3.65746448658e-05,-4.6797106223e-05,1793247688049210624
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494563832,744.494563832,715,679.494563832,660,633.505436168,878.505436168,785,811,651.494563832,630,653,0.421205830932,-0.0155278019192,0.0700288598356,0.999999996851,-3.86351959585e-05,5.07969652702e-05,-4.71720878567e-05,1793247688065877248
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.928337361,660,633.071662639,878,785,811,651.928337361,629.928337361,653,0.422098575509,-0.0155307724851,0.0700280385047,0.999999996678,-4.61268262673e-05,4.63407931171e-05,-4.86682679655e-05,1793247688082543872
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.342181035,660,633.657818965,878,785,811,651.342181035,629.342181035,653,0.422901406894,-0.0155245796274,0.0699616578658,0.999999995819,-3.92833674598e-05,-6.13329889704e-05,-5.5297540086e-05,1793247688099211008
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.241396121,679.241396121,660,634,878,784.758603879,811,651,629.241396121,652.758603879,0.423748402242,-0.0155200275994,0.0698986641197,0.999999985101,-3.94595975119e-05,-0.000155897361575,-6.27498110142e-05,1793247688115878144
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.821356013,679.821356013,660,634,878,784.178643987,811,651,629.821356013,652.178643987,0.424657338707,-0.0155177768732,0.0698404205614,0.9999999693,-4.94811066258e-05,-0.000232075493154,-7.13563586707e-05,1793247688132545024
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.601011636,745,715.601011636,680,660,634,878.398988364,784.398988364,811,651,630,652.398988364,0.425626925915,-0.0155193057806,0.0698695315028,0.999999979319,-4.98890393194e-05,-0.000185041005237,-6.80640088735e-05,1793247688149211392
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.024415414,745,715.024415414,680,660,634,878.975584586,784.975584586,811,651,630,652.975584586,0.426623511471,-0.0155225171749,0.0699375279062,0.999999993715,-4.6017531206e-05,-8.31589738888e-05,-5.94749179557e-05,1793247688165877760
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.552256672,634,878.447743328,785,811,651,630,652.447743328,0.427617531324,-0.0155255257818,0.0699903028385,0.999999997219,-4.74971558696e-05,-1.48395877841e-05,-5.55558837964e-05,1793247688182544384
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.868507948,634,878,784.868507948,811,651,630,652.131492052,0.428604056721,-0.0155282985488,0.0700347675356,0.999999996275,-5.01802337074e-05,4.6296646441e-05,-5.28088875722e-05,1793247688199211008
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.280382685,634,878,784.280382685,811,651,630,652.719617315,0.429564949991,-0.0155302834516,0.0700527104901,0.999999993153,-5.62208825699e-05,8.76414594688e-05,-5.34149463154e-05,1793247688215877632
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.696818276,745,715,680,660,634,878,784.303181724,811.303181724,651,630,653,0.430477561559,-0.0155291029175,0.0700252301288,0.999999995821,-5.74707515492e-05,4.34175437771e-05,-5.63026947954e-05,1793247688232544000
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.117409271,745,715,680,660,634,878,784.882590729,811.882590729,651,630,653,0.431346183868,-0.0155250383704,0.0699563648214,0.999999993544,-5.43557651324e-05,-7.87675956117e-05,-6.12692782491e-05,1793247688249210880
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.916584275,745,715,680,660,633.541707863,878,784.541707863,812,651,630,653,0.432224521779,-0.0155226527191,0.0699077854587,0.999999984369,-5.0267511934e-05,-0.000156114664731,-6.60583143846e-05,1793247688265877504
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.966355001,745,715,680,660.033644999,633.033644999,878.033644999,784.033644999,812,651,630,653,0.433110647616,-0.0155210738544,0.0698705543774,0.999999974045,-4.71318369948e-05,-0.000211544161171,-7.02616127954e-05,1793247688282544128
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.381272608,745,715,680,660.618727392,633.618727392,878.618727392,784.618727392,812,651,630,653,0.434083948023,-0.0155257251825,0.0699348251731,0.999999991356,-6.36626645519e-05,-9.4507002426e-05,-6.56042581223e-05,1793247688299210752
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.797419006,661,633.797419006,879,785,812,651,630,653,0.435054961071,-0.0155301080525,0.0699910786995,0.999999995437,-7.3514207869e-05,3.06175580966e-06,-6.09249627718e-05,1793247688315877376
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.215864035,661,633.215864035,879,785,812,651,630,653,0.436021695259,-0.0155339887114,0.0700323341056,0.999999993848,-7.08706299619e-05,6.42104468222e-05,-5.62046228286e-05,1793247688332543744
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.363832329,745,715,679.727664658,661,633,879,785,812,651.363832329,630.363832329,653,0.436959006666,-0.0155371076746,0.0700381499367,0.999999992241,-7.50772875435e-05,8.1840753902e-05,-5.64180505283e-05,1793247688349210368
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.94243154,745,715,680.88486308,661,633,879,785,812,651.94243154,630.94243154,653,0.437878950017,-0.0155397770157,0.0700230461096,0.999999992034,-8.33275764793e-05,7.37825550635e-05,-5.95438363167e-05,1793247688365876992
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879,785,812.514850196,651.485149804,630.485149804,653,0.438665221489,-0.0155352381837,0.0699615988286,0.999999994366,-8.17129898307e-05,-2.11847467205e-05,-6.43623353369e-05,1793247688382544384
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680.910714632,661,633.089285368,879.089285368,785,813,651,630,653,0.439435510704,-0.0155300541216,0.0698983071867,0.999999987159,-7.86390590443e-05,-0.000121343394653,-6.90889149291e-05,1793247688399211776
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680.321154446,661,633.678845554,879.678845554,785,813,651,630,653,0.44019900385,-0.0155257172356,0.0698533719006,0.999999975327,-7.34954687312e-05,-0.00019678563304,-7.22525321887e-05,1793247688415878400
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.735940333,745,715,680.264059667,661,633.735940333,879.735940333,785,813,651,630,653,0.441037441858,-0.0155272857087,0.0698643915355,0.999999978565,-7.31121406639e-05,-0.000180163011389,-7.11732251967e-05,1793247688432545280
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.155926451,745,715,680.844073549,661,633.155926451,879.155926451,785,813,651,630,653,0.441965553275,-0.015535920097,0.0699423626823,0.999999993386,-7.8424589306e-05,-5.33823986391e-05,-6.50171489903e-05,1793247688449211904
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.423312924,745,715,681,661,633.423312924,879.423312924,784.576687076,813,651,630.423312924,653,0.442836941868,-0.0155427229399,0.0700012938125,0.999999993929,-8.75464055279e-05,2.9091598574e-05,-6.02583388452e-05,1793247688465878016
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.997764035,880,784.002235965,813.002235965,651,631,653,0.443687002491,-0.0155488282337,0.0700529446723,0.999999989124,-9.80410179556e-05,9.48692622147e-05,-5.60364219491e-05,1793247688482544128
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633.426881393,880,784.573118607,813.573118607,651,631,653,0.444416907558,-0.0155487953508,0.0700334546199,0.999999991539,-0.00010146182065,5.74208990757e-05,-5.77028512754e-05,1793247688499211008
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879.850700518,785,814,651,631,653,0.445133408507,-0.0155482991657,0.0700102007719,0.999999992783,-0.000102586209529,1.93099500441e-05,-5.9481627829e-05,1793247688515877888
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,633,879.258813275,785,814,651,631,653,0.445810174069,-0.0155464295541,0.0699757894131,0.999999993192,-9.69030430478e-05,-2.07651967686e-05,-6.15934503445e-05,1793247688532544256
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.674389123,745,715,681,661,633,879,784.674389123,814,651,630.674389123,653,0.446468362648,-0.0155448779288,0.069949009222,0.999999991663,-9.43935977229e-05,-6.0890730088e-05,-6.36827245428e-05,1793247688549211392
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.09576416,745,715,681,661,633,879,784.09576416,814,651,630.09576416,653,0.447112116049,-0.0155435733932,0.0699281587887,0.999999988281,-9.43502747446e-05,-0.000101055413513,-6.5754477549e-05,1793247688565878784
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681.644430418,661,633,879,784,814,651,630,653,0.448989296586,-0.015551282432,0.0699295673362,0.999999987221,-0.000100507559299,-0.000106908466419,-6.34528427226e-05,1793247688615878144
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+199,3.316666667,POSE1_TO_POSE2_PRESS,765.385414588,745,715,681.614585412,661,633,879.614585412,784,814.614585412,651,630.385414588,653,0.450654866803,-0.0155653756204,0.0699529388464,0.999999989,-0.000112989668793,-7.24752882556e-05,-6.30899093279e-05,1793247688665878016
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+254,4.233333333,HOLD_POSE2,766,745,715,682,660,632,879.06046219,780,815,651,629.06046219,654,0.456534049905,-0.0155953756016,0.0697606051549,0.999999914306,-0.000160106304785,-0.000376406789214,-6.38166221538e-05,1793247689604421120
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+256,4.266666667,HOLD_POSE2,766,745,715,682,660,632,880,780,815,651,629.782575903,653.782575903,0.456534122447,-0.0155942628687,0.0697609609024,0.999999914603,-0.000158628189242,-0.000376278917309,-6.36070678388e-05,1793247689637754368
+257,4.283333333,HOLD_POSE2,766,745,715,682,660,632,880,780,815,651,629.197063039,653.197063039,0.456534155069,-0.0155945276587,0.0697612822883,0.999999914848,-0.000158123906184,-0.000375859018572,-6.34856348886e-05,1793247689654420992
+258,4.300000000,HOLD_POSE2,766,745,715,682,660,632,879.61555685,780,814.61555685,651,629,653,0.456534848092,-0.0155958734241,0.0697617538066,0.999999914925,-0.000159177349392,-0.000375273128805,-6.31107927839e-05,1793247689671087616
+259,4.316666667,HOLD_POSE2,766,745,715,682,660,632,879.03608322,780,814.03608322,651,629,653,0.456535876141,-0.0155977675754,0.0697623014883,0.999999914913,-0.000161021037099,-0.000374603030681,-6.26073945753e-05,1793247689687754240
+260,4.333333333,HOLD_POSE2,766,745.542903243,715,682,660,631.457096757,879.542903243,780,814.542903243,651,629.542903243,653,0.456533291047,-0.0155975582551,0.0697605110317,0.999999913942,-0.00016062150217,-0.000377310656087,-6.28729776277e-05,1793247689704421120
+261,4.350000000,HOLD_POSE2,766,745.879112732,715,682,660,631,880,780,815,651,630,653,0.456531494747,-0.0155973125556,0.0697593433334,0.999999913221,-0.000160519675762,-0.000379213526452,-6.31553964187e-05,1793247689721087744
+262,4.366666667,HOLD_POSE2,766,745.30476742,715,682,660,631,880,780,815,651,630,653,0.456533557259,-0.0155974543405,0.0697610940502,0.999999913698,-0.000162093334296,-0.000377256350918,-6.33094248314e-05,1793247689737754368
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,682,660,632,880,780,815,651,630,654,0.456535513856,-0.0155944063757,0.0697603284281,0.999999914651,-0.000157586910313,-0.000376649096447,-6.32499384712e-05,1793247689775010304
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.115637261,660,631.884362739,879,780,814.115637261,651,630,653.115637261,0.456537152863,-0.0155961436032,0.0697618772419,0.999999915315,-0.000158774640536,-0.000374496552773,-6.25472783178e-05,1793247689858343424
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.471898771,745,715,681.471898771,660.471898771,631.528101229,879,780,814.471898771,651,630,653,0.456536036672,-0.0155969172835,0.0697608350188,0.999999914657,-0.000159997418362,-0.000375734417776,-6.25307935794e-05,1793247689875010048
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.358926377,631.641073623,879.641073623,780,814.358926377,651,630,653,0.456534502594,-0.0155956840344,0.0697599243654,0.99999991399,-0.000160636597456,-0.000377142946097,-6.30757411924e-05,1793247689908343552
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.781207861,660,632,880,779.781207861,814,651,630,653.218792139,0.45653203212,-0.0155951257051,0.0697589022977,0.999999913351,-0.000160593406288,-0.000378817846977,-6.32796320279e-05,1793247689925010432
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.37698224,660,632,879.62301776,779.37698224,814.37698224,651,630,653.62301776,0.456506493814,-0.0155956189414,0.069746199478,0.999999905826,-0.000161249791684,-0.000397884740684,-6.35140458127e-05,1793247689958344704
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.963916238,660,632,879.036083762,779.963916238,814.963916238,651,630,653.036083762,0.456481288832,-0.0155932565184,0.0697344751446,0.99999989838,-0.000161792357928,-0.000415807119786,-6.45521180426e-05,1793247689975010816
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.666148431,660.666148431,632,879,780,814,651,629.666148431,653,0.455408416536,-0.0155394299119,0.0696548336356,0.999999848411,-0.000130339093108,-0.000532017831524,-5.60885962532e-05,1793247690158344192
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.092878853,660.092878853,632,879,780,814,651,629.092878853,653,0.455225952082,-0.0155305699239,0.0696554871278,0.999999849614,-0.000121665317585,-0.000532179906141,-5.24787277566e-05,1793247690175011072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,632,879.494850966,780,814,651,629.494850966,653,0.455020113119,-0.0155210008312,0.0696549856618,0.99999985008,-0.000115593377492,-0.000532924234378,-4.96909439548e-05,1793247690191677952
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.758149922,632,879,781,814,651,629.758149922,653.758149922,0.454302107333,-0.0154941791184,0.0696549858445,0.999999855637,-8.93000444155e-05,-0.000528515060883,-3.77271162732e-05,1793247690241678080
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+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879,781.966580533,814,651,629.966580533,653,0.45341877838,-0.0154762684274,0.069693436245,0.999999892819,-1.83458542368e-05,-0.000462194538357,-2.00484634545e-05,1793247690291677184
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.009904066,633.990095934,879,784.009904066,812.009904066,651,631,653,0.442526729886,-0.0154303354201,0.0698116367733,0.999999956454,8.04872101026e-05,-0.000283174339118,2.06660709388e-05,1793247690608344320
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.590298907,633.409701093,879,784.590298907,812.590298907,651,631,653,0.441716814628,-0.0154275221294,0.0698154602878,0.99999995609,9.12495453563e-05,-0.000281077813228,2.2094321536e-05,1793247690625011456
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.830440073,744.830440073,715,682,661,633,879,784.830440073,812.660880146,651,630.830440073,653,0.440904011125,-0.0154257544637,0.0698202769699,0.999999957499,0.00010123022153,-0.000272382462912,2.37303408886e-05,1793247690641678080
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.253900498,744.253900498,715,682,661,633,879,784.253900498,811.507800996,651,630.253900498,653,0.440084275275,-0.0154264965189,0.0698274774637,0.999999962974,0.000109334750104,-0.000247848539875,2.58650490604e-05,1793247690658344704
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.320349015,744,715,682,661,633,879,784,811.320349015,651,630,653,0.439205073207,-0.0154234042404,0.0698025236306,0.999999952121,0.000112814269695,-0.000287111630037,2.44328153704e-05,1793247690675011072
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.892796338,744,715,682,661,633,879,784,811.892796338,651,630,653,0.438279074302,-0.015417294537,0.0697522659847,0.999999922544,0.000112654142456,-0.000376579709862,2.01935804157e-05,1793247690691677440
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.518671265,744,715,682,660.518671265,633,879,784,811.518671265,651,630.481328735,652.518671265,0.437355795754,-0.0154154750679,0.0697087209666,0.999999897992,0.000113524672308,-0.00043687671422,1.63331834892e-05,1793247690708344576
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.072009466,744,715,682,660,633.072009466,879,784,811.072009466,651,631,652.072009466,0.436440583044,-0.0154152564482,0.0696781607184,0.999999880689,0.000114728861939,-0.000474628169017,1.37074323864e-05,1793247690725011200
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.651705105,744,715,682,660,633.651705105,879,784,811.651705105,651,631,652.651705105,0.435577817774,-0.015419354519,0.069728241579,0.99999991269,0.000116611082239,-0.000400817457874,1.91708257641e-05,1793247690741678080
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.770169128,744.229830872,715,682,660,634,879,784,812,651,630.770169128,653,0.434709677496,-0.015421234425,0.069777307616,0.999999937013,0.000120277648168,-0.000333045355965,2.42650278977e-05,1793247690758344448
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.194406182,744.805593818,715,682,660,634,879,784,812,651,630.194406182,653,0.433833446846,-0.0154197756402,0.0698248461896,0.99999995393,0.000126629939286,-0.00027436231353,2.88035392932e-05,1793247690775010560
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.379725434,744.620274566,715,682,660,633.620274566,879,784,811.620274566,651,630,653,0.432945800098,-0.0154204527103,0.0698480107815,0.999999962175,0.000132529063881,-0.000238995840576,3.11105711223e-05,1793247690791677440
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.953025404,744.046974596,715,682,660,633.046974596,879,784,811.046974596,651,630,653,0.432052333762,-0.0154222185859,0.0698587501239,0.999999966706,0.000138197175217,-0.000215515575729,3.22800501857e-05,1793247690808344832
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,744,715,682,660,633,879,784.54397371,811,651,630,653,0.431037223954,-0.0154170208621,0.069819661238,0.999999948227,0.000148962039401,-0.000283664994183,2.98250300398e-05,1793247690825011200
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,744,714.866675491,681.866675491,660,633.133324509,879,785,811,651,630,653,0.430017352391,-0.0154116772547,0.069772060137,0.999999921618,0.00015592689373,-0.000362990367151,2.62258124268e-05,1793247690841677568
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,744,714.287924205,681.287924205,660,633.712075795,879,785,811,651,630,653,0.429017843577,-0.0154079226511,0.0697108780553,0.999999886448,0.00014867647516,-0.000452331808839,1.98846654737e-05,1793247690858343936
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.71207852,744,714.28792148,681.28792148,660,634,879,784.71207852,811,651,630,652.71207852,0.428084505019,-0.015408092953,0.0697133222807,0.999999889919,0.000144412234346,-0.0004460019832,1.97197737288e-05,1793247690875010816
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.139109469,744,714.860890531,681.860890531,660,634,879,784.139109469,811,651,630,652.139109469,0.427216676291,-0.0154121489839,0.069778757726,0.999999929934,0.000143104364733,-0.000344955833974,2.56694887899e-05,1793247690891677440
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.445112969,715,681.554887031,660,634,879,784.445112969,811,651,630,652,0.426348967347,-0.0154138796081,0.0698286879337,0.999999952344,0.000147206726216,-0.000269628030868,3.06983851928e-05,1793247690908344576
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.032671391,745,715,681,660,634,878.967328609,785,811,651,630,652.032671391,0.425475403473,-0.0154148522672,0.0698700391731,0.999999966129,0.000152398957562,-0.000208061697096,3.5013797913e-05,1793247690925011712
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.615643964,745,715,681,660,634,878.384356036,785,811,651,630,652.615643964,0.424502576214,-0.0154156166721,0.0698506276013,0.999999960059,0.00014673004908,-0.00023939306559,3.22845835592e-05,1793247690941678336
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.804506016,744.804506016,715,681,660,634,878.195493984,785,811,651,630,653,0.423522470347,-0.01541458923,0.0698168345387,0.99999994474,0.000146801881363,-0.000296858204477,2.90633581159e-05,1793247690958344960
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.230698552,744.230698552,715,681,660,634,878.769301448,785,811,651,630,653,0.422528278986,-0.0154100942652,0.0697552108882,0.99999990524,0.000157983003051,-0.000404896553696,2.48900084452e-05,1793247690975011584
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744,715,680.658326503,659.658326503,634,878.658326503,784.658326503,811,651,630,653,0.421565300478,-0.0154056701938,0.0697044862757,0.999999866077,0.00016416820801,-0.000490354136637,2.11640468252e-05,1793247690991677696
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744,715,680.086919629,659.086919629,634,878.086919629,784.086919629,811,651,630,653,0.420623308831,-0.0154012937897,0.0696610899287,0.999999828747,0.000166994273391,-0.000560628927322,1.77388989048e-05,1793247691008343552
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.50343807,715,680.50343807,659,634,878,784,811,651,630,653,0.4198270562,-0.0154058036,0.069722352334,0.999999884149,0.000156577264019,-0.000454693563811,2.09736630723e-05,1793247691025010176
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.254029869,715,680.745970131,660,633.254029869,878,785,811,651,630,652.745970131,0.417391832152,-0.0154095017641,0.0698765879276,0.999999961495,0.000177217481912,-0.000210317328362,3.70343820275e-05,1793247691075010048
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.829271409,715,680.170728591,660,633.829271409,878,785,811,651,630,652.170728591,0.416533343587,-0.0154059497498,0.0698427648831,0.999999947564,0.000182940481221,-0.000265099868337,3.35616655518e-05,1793247691091676672
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.411775401,744.588224599,715,680,659.588224599,634,877.588224599,785,810.588224599,651,630,652.411775401,0.415714016443,-0.0154021179212,0.0698120038114,0.999999936116,0.000186979244703,-0.00030320077823,2.95867254621e-05,1793247691108343552
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.997344631,744.002655369,715,680,659.002655369,634,877.002655369,785,810.002655369,651,630,652.997344631,0.414911217686,-0.015398167994,0.0697825350724,0.999999925704,0.000190307160493,-0.000334261047922,2.53998166978e-05,1793247691125010176
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+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.266005025,744.266005025,715,680.266005025,660,633.266005025,877.266005025,784,810,651.733994975,629,652,0.412566592308,-0.0153930944933,0.0697711485264,0.9999999132,0.000187522957345,-0.000371294344152,2.39974704573e-05,1793247691175010048
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.310797031,744,715,680,659.689202969,633.310797031,877.310797031,784,810,651.689202969,629.310797031,652,0.411910149121,-0.0153962474353,0.0698160317078,0.999999940733,0.0001823286328,-0.000290773331976,2.72313980329e-05,1793247691191676672
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.885878437,744,715,680,659.114121563,633.885878437,877.885878437,784,810,651.114121563,629.885878437,652,0.411288183589,-0.0154027943259,0.0698696994045,0.999999963972,0.000177834000217,-0.000198493232028,3.21099076845e-05,1793247691208343552
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744.961036166,715,680,659.961036166,634,878,784.038963834,810,651,630,652,0.40995429536,-0.0154021582029,0.0698650358701,0.999999956827,0.000195106724198,-0.000217387572503,3.19612950479e-05,1793247691241676800
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.367259782,715,680,659.367259782,634,878,784.632740218,810,651,630,652,0.409295596392,-0.0153957055089,0.0698209308841,0.999999937099,0.000197712130044,-0.000293242411456,2.68290843233e-05,1793247691258343424
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.781311516,744.218688484,715,680,659,634,877.781311516,785,810,651,630,652,0.408657243638,-0.0153918147904,0.0697860175697,0.999999918655,0.000197320400559,-0.000351051388656,2.2765582107e-05,1793247691275010048
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+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,744.070143505,715,679.929856495,659,634,877,785,809,651,629,652.070143505,0.400949301507,-0.0153894086711,0.069809770016,0.999999932884,0.000198961344963,-0.000307481258776,1.00847239546e-05,1793247692075010304
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.772019294,744.772019294,715,679,658.772019294,634,877.227980706,785,809,651,629,652.772019294,0.400952423077,-0.0153887147933,0.0698131453875,0.999999935008,0.000197569077415,-0.000301410379873,1.00652186778e-05,1793247692108343552
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+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.457758106,744.542241894,715,680,658.457758106,634,877,785,809,651,629,652,0.400952753367,-0.0153892360877,0.0698126610583,0.999999934773,0.000198144128495,-0.000301815303036,1.00136943371e-05,1793247692175010304
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+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744.289574914,715,679.289574914,659.420850171,634,877,785,809,651,629,652.710425086,0.400954775479,-0.0153913858989,0.0698144741919,0.999999936317,0.000194885959221,-0.000298795875812,1.03096906624e-05,1793247692208343552
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bad110f1a53339eab180b6e1ede75d1c42a16461
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_07/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+392,6.533333333,pose2_to_pose3_retreat,0.583248219877,-0.0100720595092,1.06004250364,0.553820009853,-0.00139760607075,1.05966589216
+393,6.550000000,pose2_to_pose3_retreat,0.58324820109,-0.0100720583074,1.06004250317,0.553819991055,-0.00139760491032,1.05966589163
+394,6.566666667,pose2_to_pose3_retreat,0.583248025137,-0.0100720470513,1.06004249873,0.553819814994,-0.00139759404173,1.0596658867
+395,6.583333333,pose2_to_pose3_retreat,0.58324788878,-0.0100720383282,1.06004249528,0.553819678553,-0.00139758561897,1.05966588288
+396,6.600000000,pose2_to_pose3_retreat,0.583247826566,-0.0100720343482,1.06004249371,0.553819616301,-0.00139758177601,1.05966588113
+397,6.616666667,pose2_to_pose3_retreat,0.583247570856,-0.0100720179898,1.06004248725,0.553819360434,-0.00139756598082,1.05966587396
+398,6.633333333,pose2_to_pose3_retreat,0.583247542762,-0.0100720161926,1.06004248654,0.553819332323,-0.00139756424547,1.05966587317
+399,6.650000000,pose2_to_pose3_retreat,0.583247368835,-0.0100720361343,1.06004247761,0.553819158594,-0.0013975835469,1.05966586352
+400,6.666666667,pose2_to_pose3_retreat,0.583247183411,-0.0100720792844,1.06004246489,0.553818973596,-0.00139762529335,1.05966584986
+401,6.683333333,pose2_to_pose3_retreat,0.583246995385,-0.0100721230399,1.06004245199,0.553818786002,-0.00139766762552,1.05966583602
+402,6.700000000,pose2_to_pose3_retreat,0.583246797773,-0.0100721690263,1.06004243843,0.553818588843,-0.00139771211603,1.05966582146
+403,6.716666667,pose2_to_pose3_retreat,0.583246774826,-0.0100721743663,1.06004243685,0.553818565949,-0.00139771728238,1.05966581977
+404,6.733333333,pose2_to_pose3_retreat,0.583246523217,-0.0100722329182,1.06004241959,0.553818314917,-0.00139777392968,1.05966580124
+405,6.750000000,pose2_to_pose3_retreat,0.583246395308,-0.010072262684,1.06004241081,0.553818187302,-0.00139780272721,1.05966579182
+406,6.766666667,pose2_to_pose3_retreat,0.583246236774,-0.0100722995763,1.06004239994,0.553818029132,-0.00139783841945,1.05966578014
+407,6.783333333,pose2_to_pose3_retreat,0.583245887236,-0.0100722156463,1.06004241972,0.553817678428,-0.00139775825466,1.05966580436
+408,6.800000000,pose2_to_pose3_retreat,0.583245560716,-0.0100720426189,1.0600424613,0.553817349687,-0.00139759244083,1.05966585335
+409,6.816666667,pose2_to_pose3_retreat,0.583245387273,-0.0100721113581,1.06004237984,0.553817177043,-0.00139765894205,1.05966576102
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90a7e4b6525ee36bd8a28d25518daaa83b3b1d10
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:435df5f649c05cbf58fd2c3ff66ebe0ee29948021cb40bc2e315f7f4e8170e4b
+size 25769090
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cadba410434da16fb9a120163d63a532d895455
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+48,0.800000000,BASELINE,765,744.86255281,715,679,659,634,877,785,809,651,629,652,0.401034659692,-0.0154790821507,0.0798674970546,0.99999997804,0.000145561548309,-0.000145165907626,4.07196780781e-05,1793247694280833024
+49,0.816666667,BASELINE,765,745,715,679.42308738,658.57691262,634,877,785,809,651,629,652.42308738,0.401034352171,-0.0154795142954,0.0798677326356,0.999999978011,0.00014573530107,-0.000145128552542,4.09546002029e-05,1793247694297499648
+50,0.833333333,BASELINE,765,745,715,679.978487198,658.021512802,634,877,785,809,651,629,652.978487198,0.401033548002,-0.0154803851639,0.0798679112856,0.999999977925,0.000145924125373,-0.000145414860456,4.13487143522e-05,1793247694314166016
+51,0.850000000,BASELINE,765,745,715,678.825727092,658.587136454,634,877,785,809.587136454,651,629.587136454,652.412863546,0.401032299195,-0.015480862893,0.0798668810993,0.999999978119,0.000143468298946,-0.000146772367566,4.04588949027e-05,1793247694330832384
+52,0.866666667,BASELINE,765,744.811669121,715,678.188330879,659,634,877.188330879,785,809.811669121,651,629.811669121,652.188330879,0.401031756661,-0.0154812085761,0.0798664404604,0.999999978248,0.000142031853825,-0.000147404037014,4.00294073534e-05,1793247694347499008
+53,0.883333333,BASELINE,765,744.230500336,715,678.769499664,659,634,877.769499664,785,809.230500336,651,629.230500336,652.769499664,0.401032724708,-0.0154813118688,0.0798673311571,0.999999978235,0.00014294401212,-0.000146431652631,4.06680376179e-05,1793247694364165632
+54,0.900000000,BASELINE,764.653502188,744.346497812,715,679,659,634,877.653502188,785,809,651,629,652.653502188,0.401033232923,-0.0154805138222,0.0798674070972,0.999999978169,0.000143540357209,-0.000146291022391,4.07135361574e-05,1793247694380832256
+55,0.916666667,BASELINE,764.079245493,744.920754507,715,679,659,634,877.079245493,785,809,651,629,652.079245493,0.401033438884,-0.0154791233099,0.0798669474837,0.999999978067,0.000143929112891,-0.000146697118282,4.03691591375e-05,1793247694397499136
+56,0.933333333,BASELINE,764.499440027,745,715,679,659,634,877,785,809,651,629,652.499440027,0.401033561746,-0.015479378456,0.0798671863846,0.999999978177,0.000144123423006,-0.000145749092949,4.03868485373e-05,1793247694414165760
+57,0.950000000,BASELINE,765,745,715.080203394,679,658.919796606,634,877,785,809,651,629,652.919796606,0.401033770575,-0.0154799600122,0.0798675516826,0.999999978328,0.000144086944932,-0.000144717107652,4.05044388942e-05,1793247694430832384
+58,0.966666667,BASELINE,765,745,715.669657984,679,658.330342016,634,877,785,809,651,629,652.330342016,0.401034609727,-0.0154809413298,0.0798680095128,0.999999978526,0.000142782727969,-0.000144528456543,4.08883167386e-05,1793247694447499008
+59,0.983333333,BASELINE,765,744.747615896,715.747615896,679,658.252384104,634,877,785,809,651,629,652,0.401034482318,-0.0154815608775,0.0798679723221,0.999999978454,0.000142755626771,-0.000145016864959,4.10154286841e-05,1793247694464165632
+60,1.000000000,BASELINE,765,744.173467807,715.173467807,679,658.826532193,634,877,785,809,651,629,652,0.401033122643,-0.0154817192057,0.0798673040305,0.999999978036,0.00014435671771,-0.000146368455171,4.08151903552e-05,1793247694480832512
+61,1.016666667,BASELINE,765,744,715,679,659,634,877,785,809,651,629,652,0.401033325986,-0.0154801227645,0.0798675627881,0.999999977979,0.000145293314281,-0.000145892261734,4.0589662174e-05,1793247694497498880
+62,1.033333333,BASELINE,765,744,715,679,659,634,877,785,809,651,629,652,0.401034206011,-0.0154777666256,0.0798682228962,0.999999978078,0.000145942229122,-0.000144624760105,4.03531851898e-05,1793247694514165504
+63,1.050000000,BASELINE,765,744.566716316,715,679,658.433283684,634,877,785,809.566716316,651.566716316,629.566716316,652,0.401034528875,-0.0154802823695,0.0798687049302,0.999999978613,0.000142668462666,-0.000144116162848,4.0627930044e-05,1793247694530832384
+64,1.066666667,BASELINE,765,745,715,679,658.15542945,634,877.15542945,785,809.84457055,651.84457055,629.84457055,652.15542945,0.401034286975,-0.0154821841323,0.0798685838752,0.999999978853,0.000140606199217,-0.000144419856182,4.08371181402e-05,1793247694547499008
+65,1.083333333,BASELINE,765,745,715,679,658.734181119,634,877.734181119,785,809.265818881,651.265818881,629.265818881,652.734181119,0.401032575593,-0.0154818130165,0.0798668422229,0.999999978258,0.000142327175757,-0.000146842309485,4.08047289118e-05,1793247694564165632
+66,1.100000000,BASELINE,765,744.688082942,715,679,658.688082942,634,878,784.688082942,809.311917058,651,629,652.688082942,0.401031913254,-0.0154813666348,0.0798661075282,0.999999977971,0.000143425919989,-0.000147763827045,4.06657122563e-05,1793247694580832256
+67,1.116666667,BASELINE,765,744.111209837,715,679,658.111209837,634,878,784.111209837,809.888790163,651,629,652.111209837,0.401032142016,-0.0154808563189,0.0798662281874,0.99999997795,0.000143996112686,-0.000147410383752,4.04361215836e-05,1793247694597498880
+68,1.133333333,BASELINE,765,744.462287592,715,679,658.462287592,634,877.537712408,784.462287592,809.537712408,651,629,652,0.401031671315,-0.0154803835093,0.0798659877534,0.999999977785,0.000144786698389,-0.000147814988519,4.02174941117e-05,1793247694614165760
+69,1.150000000,BASELINE,765,744.963799428,715,679,658.963799428,634,877.036200572,785,809,651,629,652,0.401031163215,-0.0154799836107,0.0798657493876,0.999999977616,0.000145539813103,-0.000148269264945,4.00345730862e-05,1793247694630832384
+70,1.166666667,BASELINE,765,744.371106071,715,679,658.371106071,634,877.628893929,785,809,651,629,652,0.401032648118,-0.0154805668419,0.0798668684834,0.999999977925,0.000144907784203,-0.000146704124875,4.03603003823e-05,1793247694647499264
+71,1.183333333,BASELINE,765,744,715.2153353,679,658,634,878,785,809,651,629,652,0.401033174476,-0.015480314122,0.0798672663937,0.999999977945,0.000145309567461,-0.000146140793081,4.04761214841e-05,1793247694664165888
+72,1.200000000,BASELINE,765,744,715.791306174,679,658,634,878,785,809,651,629,652,0.401032095498,-0.0154786613825,0.0798664564895,0.999999977479,0.000147442740872,-0.000147255252378,4.02403995302e-05,1793247694680832512
+73,1.216666667,BASELINE,765,744.368156361,715.631843639,679,658.368156361,634,877.631843639,785,809,651,629,652.368156361,0.401032614876,-0.0154793243862,0.0798670488526,0.99999997773,0.000146481640283,-0.000146494103862,4.02906234667e-05,1793247694697499136
+74,1.233333333,BASELINE,765,744.945506156,715.054493844,679,658.945506156,634,877.054493844,785,809,651,629,652.945506156,0.40103404247,-0.0154813032392,0.0798684380105,0.999999978382,0.000143762314326,-0.000144667199306,4.0503327301e-05,1793247694714165760
+75,1.250000000,BASELINE,765,745,715.531582847,679,659,634.531582847,877,785,809,651,629,653,0.401032382768,-0.0154810662101,0.0798672931047,0.999999978156,0.000143017142247,-0.000146958633137,4.04603151044e-05,1793247694730832384
+76,1.266666667,BASELINE,765.117134895,744.882865105,715.882865105,679,659,634.882865105,877,785,809,651,629,653,0.401031053457,-0.0154804176248,0.0798662212138,0.999999977856,0.000143124418752,-0.000148903302607,4.03920476498e-05,1793247694747499008
+77,1.283333333,BASELINE,765.69702104,744.30297896,715.30297896,679,659,634.30297896,877,785,809,651,629,653,0.401032300554,-0.0154790555275,0.0798664811587,0.99999997764,0.000145786520144,-0.000147782351392,4.03292965788e-05,1793247694764165632
+78,1.300000000,BASELINE,765.724986605,744.275013395,715,679,659,634,877,785,809.275013395,651,629,653,0.401032207043,-0.0154790181796,0.0798664132329,0.99999997768,0.00014572593982,-0.000147599683811,4.02189027106e-05,1793247694780832512
+79,1.316666667,BASELINE,765.149066384,744.850933616,715,679,659,634,877,785,809.850933616,651,629,653,0.401030646701,-0.015480430311,0.079865986566,0.999999978,0.000142686328021,-0.000148443642477,4.0056380321e-05,1793247694797499136
+80,1.333333333,BASELINE,765,744.57445362,715,679,659,634,877,785,809.57445362,651,629,652.57445362,0.401031779788,-0.0154809229864,0.0798670855112,0.999999978271,0.000142173160836,-0.000147037352206,4.03144342432e-05,1793247694814165760
+81,1.350000000,BASELINE,765,744.000297401,715,679,659,634,877,785,809.000297401,651,629,652.000297401,0.401033853476,-0.0154810945683,0.0798687172325,0.999999978522,0.000142542281551,-0.000144845227258,4.07193623372e-05,1793247694830832384
+82,1.366666667,BASELINE,765,744.59049343,715,679.59049343,658.40950657,634,877,785,809,651,629,652,0.401032992241,-0.0154809921059,0.0798676535564,0.999999978009,0.000144901965726,-0.000146032856471,4.07395321649e-05,1793247694847499008
+83,1.383333333,BASELINE,765.170598325,745,715,679.829401675,658.341196651,634,877,785,809,651,629,652,0.401032232474,-0.0154811121082,0.07986667966,0.999999977681,0.000145734857022,-0.000147450727228,4.07077761324e-05,1793247694864165632
+84,1.400000000,BASELINE,765.726546336,745,715,679.273453664,659.453092671,634,877,785,809,651,629,652,0.401031705341,-0.0154817349375,0.0798659117143,0.999999977778,0.000143116679238,-0.000149384714344,4.05591797129e-05,1793247694880832256
+85,1.416666667,BASELINE,765.694916938,745,715.305083062,679,659.694916938,634,877,785,809,651,629,652.305083062,0.40103147714,-0.0154812364461,0.079865818142,0.999999977696,0.000143547892274,-0.000149522523021,4.05518224525e-05,1793247694897498880
+86,1.433333333,BASELINE,765.09451444,745,715.90548556,679,659.09451444,634,877,785,809,651,629,652.90548556,0.401031538305,-0.0154796525198,0.079866377361,0.999999977438,0.000146930906106,-0.00014792163655,4.06811842587e-05,1793247694914165504
+87,1.450000000,BASELINE,765,744.506679158,715.506679158,679,658.506679158,634,877,785,809,651,629,652.506679158,0.401031300604,-0.0154796368866,0.0798664977634,0.999999977514,0.000146228989924,-0.000148084821036,4.07400703813e-05,1793247694930832384
+88,1.466666667,BASELINE,765,744,715,679.078143016,658.078143016,634,877,784.921856984,809,651,629,652,0.401031121625,-0.0154798510518,0.0798665797254,0.999999977634,0.00014511330259,-0.000148358290723,4.07801727005e-05,1793247694947499008
+89,1.483333333,BASELINE,765,744,715,679.658688497,658.658688497,634,877,784.341311503,809,651,629,652,0.401031679176,-0.0154796588629,0.0798669416389,0.999999977638,0.000146244074296,-0.000147221860343,4.07841623393e-05,1793247694964165632
+90,1.500000000,BASELINE,765,744.237818071,715,679.762181929,659,634,877,784.237818071,809,651,629,652.237818071,0.401032116826,-0.0154796774056,0.0798671012422,0.999999977767,0.000146012224268,-0.000146585915576,4.07213921755e-05,1793247694980832512
+91,1.516666667,BASELINE,765,744.814927541,715,679.185072459,659,634,877,784.814927541,809,651,629,652.814927541,0.401032383416,-0.0154799965957,0.0798669722125,0.999999978078,0.000143836342578,-0.000146664006065,4.05633768229e-05,1793247694997499136
+92,1.533333333,BASELINE,765,745,715,679,659,634,877,785,809,651,629,652.608239308,0.401032703887,-0.0154798054985,0.0798668259461,0.999999977961,0.000144702358425,-0.000146651718015,4.03971962161e-05,1793247695014165760
+93,1.550000000,BASELINE,765,745,715,679,659,634,877,785,809,651,629,652.031536551,0.401033049793,-0.0154793735053,0.0798666715426,0.99999997764,0.000147004390569,-0.000146596764144,4.02271609486e-05,1793247695030832640
+94,1.566666667,BASELINE,765,745,715,679,659,634,877,784.445292689,809,651,629,652.554707311,0.401032209076,-0.0154788666404,0.0798668876505,0.999999977566,0.000146810763788,-0.000147286956517,4.02529447661e-05,1793247695047499264
+95,1.583333333,BASELINE,765,744.860149738,715,679,658.860149738,634,877,784,809,651,629,653,0.40103142893,-0.015478823068,0.0798670180542,0.999999977559,0.000146105167947,-0.000148020913122,4.03117034176e-05,1793247695064165888
+96,1.600000000,BASELINE,765,744.280207927,715,679,658.280207927,634,877,784,809,651,629,653,0.401031055406,-0.0154802510499,0.07986681131,0.999999977715,0.000144242776315,-0.000148756944702,4.04385830613e-05,1793247695080832512
+97,1.616666667,BASELINE,765,744.298727512,715,679,658.298727512,634,877,784.298727512,809.298727512,651.298727512,629,653,0.401030673308,-0.0154805945081,0.0798665053261,0.99999997776,0.000143587182323,-0.000149081753174,4.04690642751e-05,1793247695097499136
+98,1.633333333,BASELINE,765,744.876722106,715,679,658.876722106,634,877,784.876722106,809.876722106,651.876722106,629,653,0.401030283194,-0.0154799240933,0.0798661065674,0.999999977703,0.000144059769946,-0.00014902212739,4.04094268714e-05,1793247695114166016
+99,1.650000000,BASELINE,765,744.549752276,715,679,659,634,877,784.549752276,809.549752276,651.549752276,629,652.549752276,0.401030357371,-0.015480170958,0.0798657688523,0.999999977781,0.000143423550198,-0.000149135912306,4.03306915537e-05,1793247695130833152
+100,1.666666667,BASELINE,765,744,715,679,658.976692718,634,877,784.023307282,809.023307282,651,629,652,0.401030571228,-0.015480589838,0.0798654843268,0.999999977871,0.000142654072454,-0.00014928854459,4.02574009753e-05,1793247695147500544
+101,1.683333333,BASELINE,765,744,715,679,658.385467189,634,877,784.614532811,809.614532811,651,629,652,0.401031121494,-0.0154791405921,0.0798660925943,0.999999977393,0.000145962335933,-0.000149242202658,4.04429407236e-05,1793247695164166656
+102,1.700000000,BASELINE,765,744,715,679,658.201042184,633.798957816,877,785,809.798957816,651,629,652,0.401031322431,-0.0154786823432,0.0798662942414,0.999999977212,0.000147261254259,-0.000149154237381,4.05417643596e-05,1793247695180832768
+103,1.716666667,BASELINE,765,744,715,679,658.778716256,633.221283744,877,785,809.221283744,651,629,652,0.401030868939,-0.0154800806258,0.0798657341267,0.999999977599,0.000144795870409,-0.000148988295051,4.04781342434e-05,1793247695197500160
+104,1.733333333,BASELINE,765.353576748,744,715.353576748,679,658.646423252,633.353576748,877.353576748,785,809.353576748,651,629,652.353576748,0.401031143323,-0.0154808209847,0.079866107852,0.999999978014,0.000142892070214,-0.000148070425706,4.03676494832e-05,1793247695214167552
+105,1.750000000,BASELINE,765.926690337,744,715.926690337,679,658.073309663,633.926690337,877.926690337,785,809.926690337,651,629,652.926690337,0.401031869646,-0.0154811528369,0.079867061401,0.999999978444,0.000141336958722,-0.000146685682653,4.02280725306e-05,1793247695230834176
+106,1.766666667,BASELINE,765.484948058,744,716,679,658.515051942,634,877.484948058,785,810,651,629,653,0.40103177332,-0.0154808709782,0.0798668065342,0.999999978226,0.00014185482089,-0.000147636656315,4.03572826917e-05,1793247695247500288
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,809,651,629,653,0.401031140982,-0.0154798300176,0.079866301485,0.999999977954,0.000143129968924,-0.000148202745461,4.05145179473e-05,1793247695289986048
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715.576938584,679,659,634,877,785,809.576938584,651,629.576938584,652.423061416,0.401031142736,-0.0154790703254,0.0798666191462,0.999999977531,0.000145740341231,-0.000148499699327,4.05629657943e-05,1793247695306652416
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.846546308,715.846546308,679,659,634,877,785,810,651,629.846546308,652,0.401031416724,-0.0154788166731,0.0798669086153,0.999999977305,0.000147279091236,-0.000148495787148,4.06003390381e-05,1793247695323319040
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.271195351,715.271195351,679,659,634,877,785,810,651,629.271195351,652,0.401032439177,-0.015479954299,0.0798671205744,0.999999977634,0.000145871581545,-0.000147664690243,4.06072643802e-05,1793247695339985920
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.31092414,715,679,658.68907586,634,877,784.68907586,809.68907586,651,629,652.31092414,0.401032480092,-0.0154803514607,0.0798669613813,0.999999977839,0.000144478224296,-0.000147715920583,4.03413580491e-05,1793247695356652544
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.899078647,715,679,658.100921353,634,877,784.100921353,809.100921353,651,629,652.899078647,0.401031645834,-0.0154800883996,0.0798664712564,0.999999977934,0.000143097485921,-0.000148553863469,3.98321858689e-05,1793247695373318912
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877.481125958,784.481125958,809.481125958,651,629,652.518874042,0.401030783651,-0.0154800764269,0.0798665134628,0.999999977653,0.00014370380538,-0.000149784677602,4.00930407882e-05,1793247695389985792
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.93859569,715,679,658,634,878,785,810,651,629,652.06140431,0.401030350484,-0.0154801211857,0.0798668500746,0.99999997733,0.00014458815119,-0.000150984302395,4.04603041115e-05,1793247695406652672
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.36254122,715,679,658,634,878,785,810,651,629,652.63745878,0.401033561522,-0.0154802055315,0.0798687300494,0.999999977329,0.000144353119334,-0.00015124047907,4.0382614933e-05,1793247695423319040
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.2116699,715,679,658,634,877.7883301,785,809.7883301,651,629,652.7883301,0.40104189639,-0.0154807552709,0.0798723927542,0.999999977516,0.000143898866882,-0.000150418037652,4.04369022182e-05,1793247695439985152
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.782750992,715,679,658,634,877.217249008,785,809.217249008,651,629,652.217249008,0.401058931419,-0.015482095239,0.0798790824979,0.999999978019,0.000143072382335,-0.000147764124593,4.07152828658e-05,1793247695456651520
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.368068023,745,715.368068023,679,658.368068023,634,877,785,809,651,629,652.368068023,0.401092491735,-0.015483161229,0.0798904325852,0.999999979494,0.000142683295017,-0.000137721890397,4.10555275018e-05,1793247695473318400
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.962125822,745,715.962125822,679,658.962125822,634,877,785,809,651,629,652.962125822,0.401136198401,-0.0154840589996,0.0799046440736,0.999999981397,0.000142562764752,-0.000123143306829,4.14337559761e-05,1793247695489985536
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.458556323,745,715.458556323,679,659,634,877,785,809,651,629,652.458556323,0.401200955181,-0.0154876895846,0.0799186492067,0.999999983852,0.000141505374529,-0.000102626759952,4.17165673071e-05,1793247695506652416
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.880824361,634,877,785,809,651,629,652.119175639,0.401270944114,-0.0154908403492,0.0799317558618,0.99999998568,0.000141423526327,-8.31323166932e-05,4.15721663412e-05,1793247695523319296
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.305321322,634,877,785,809,651,629,652.694678678,0.401355478463,-0.0154914413028,0.0799414760254,0.999999986261,0.000145321340615,-6.90998229627e-05,3.98168351528e-05,1793247695539985408
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679.276052517,658,634,877,785,809.276052517,651,629,653,0.401447333688,-0.0154937755007,0.0799479557115,0.999999986894,0.000145608111345,-6.00445374393e-05,3.74749718284e-05,1793247695556651776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.864060671,658,634,877,785,809.864060671,651,629,653,0.40154746193,-0.0154980683669,0.0799507734663,0.999999987748,0.000141814189509,-5.66137918148e-05,3.44702926831e-05,1793247695573318400
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.55479467,715,680,658,634,877.44520533,785,809.55479467,651,629,652.55479467,0.40166569611,-0.0155015033608,0.0799531804657,0.999999988289,0.000140173575541,-5.30227872565e-05,3.10096076005e-05,1793247695589985280
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.024251502,715,679.975748498,658.024251502,634,877.975748498,784.975748498,809,651,629,652.024251502,0.401790720392,-0.0155046505301,0.0799556112496,0.999999988741,0.000139092831682,-4.92208358235e-05,2.73694492789e-05,1793247695606651648
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.602507496,715,679.397492504,658.602507496,634,877.397492504,784.397492504,809,651,629,652.602507496,0.401946482788,-0.0155071156195,0.0799614069905,0.999999989622,0.000136010023162,-4.17008586967e-05,2.2761840742e-05,1793247695623318528
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.820502331,715,679.179497669,659,634,877,784.179497669,809.179497669,651,629,653,0.402110122893,-0.0155094728442,0.0799658601483,0.999999990431,0.00013245888389,-3.57676711127e-05,1.77268813571e-05,1793247695639985152
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.24629573,715,679.75370427,659,634,877,784.75370427,809.75370427,651,629,653,0.402291085778,-0.0155115928783,0.0799673610131,0.999999991199,0.00012787790252,-3.33237777832e-05,1.17521934051e-05,1793247695656651520
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.338374985,715,680,659,634,877.338374985,785,809.661625015,651,629,652.661625015,0.402477787424,-0.0155126738951,0.079963429101,0.999999993712,0.000103339400735,-4.33051192724e-05,4.75240200345e-06,1793247695673318144
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.930905419,715,680,659,634,877.930905419,785,809.069094581,651,629,652.069094581,0.402668799506,-0.0155129745002,0.0799554165982,0.999999995999,6.38106869262e-05,-6.26191276498e-05,-3.01735128589e-06,1793247695689984512
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.490237789,659,634,878,784.490237789,809.509762211,651,629,652.509762211,0.402913188164,-0.0155103836321,0.0799509459977,0.999999996344,4.54990905904e-05,-7.14505446769e-05,-1.17318195953e-05,1793247695706651136
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715.086304553,679,659,634,877.913695447,784.086304553,810,651,629,653,0.40317163078,-0.0155072785765,0.0799482504351,0.999999996366,3.13703310621e-05,-7.66708352792e-05,-2.01542518017e-05,1793247695723318016
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715.659969972,679,659,634,877.340030028,784.659969972,810,651,629,653,0.403469648409,-0.0155034252522,0.0799529383079,0.99999999694,2.50464653873e-05,-6.93130065222e-05,-2.62233591888e-05,1793247695739985152
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715.766214172,679,659,634,877,785,809.766214172,651,629,653,0.403783599126,-0.0155019862071,0.0799569959427,0.999999997367,2.16688682005e-05,-6.30672343335e-05,-2.86276449216e-05,1793247695756652288
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715.192179407,679,659,634,877,785,809.192179407,651,629,653,0.404120738639,-0.0155040608738,0.0799601363369,0.999999997707,2.25792332934e-05,-5.84399356611e-05,-2.56981952061e-05,1793247695773318912
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,784.603912975,809.396087025,651,629,652.603912975,0.404490692303,-0.0155120725022,0.0799586457573,0.999999997959,1.32706705818e-05,-5.67093795631e-05,-2.62531814967e-05,1793247695789985536
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,784.008484076,809.991515924,651,629,652.008484076,0.404877160597,-0.0155230720727,0.0799548245106,0.999999997999,-1.18085342808e-06,-5.64366903257e-05,-2.85618077605e-05,1793247695806652416
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.568178377,784.568178377,809.431821623,651,629,652.568178377,0.405295559712,-0.0155367552631,0.0799541554163,0.999999997695,-2.25275720198e-05,-5.59337906161e-05,-3.12080133419e-05,1793247695823319040
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.144206035,659,634,877.855793965,784.855793965,809,651,629,653,0.40572262458,-0.0155471351911,0.0799511411105,0.999999997055,-3.51684340203e-05,-6.01433088542e-05,-3.21838770981e-05,1793247695839985408
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.719147735,659,634,877.280852265,784.280852265,809,651,629,653,0.406174194889,-0.0155475325838,0.0799409856891,0.999999996296,-2.15076654353e-05,-7.84385054136e-05,-2.81559441994e-05,1793247695856651776
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.69815677,745,715,679.69815677,659,634,877.30184323,784.30184323,809.30184323,651,629,653,0.406647802239,-0.0155434244478,0.0799332724786,0.999999995168,-1.43849017688e-05,-9.28114447668e-05,-2.90384350198e-05,1793247695873318400
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.108056413,745,715,679.108056413,659,634,877.891943587,784.891943587,809.891943587,651,629,653,0.407142454783,-0.0155350135791,0.0799278915527,0.99999999396,-1.35058627754e-05,-0.000103438671707,-3.46103286344e-05,1793247695889985024
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.471546608,744.528453392,715,679,659,634,877.528453392,784.528453392,810,651,629,652.528453392,0.407660772879,-0.0155297840238,0.0799192018414,0.999999991964,-1.14338167668e-05,-0.000120785111367,-3.67608979814e-05,1793247695906651904
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.04859011,715,679,659,634,877,784.04859011,810,651,629,652,0.408191064691,-0.0155260342148,0.0799112690966,0.999999989871,-9.96638183081e-06,-0.00013678012781,-3.80761101021e-05,1793247695923319040
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.623398698,715,679,659,634,877,784.623398698,810,651,629,652,0.408793578014,-0.0155305866306,0.0799195665977,0.999999991671,-1.79429060231e-05,-0.000121827840773,-3.86503203964e-05,1793247695939985920
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.203089469,784.796910531,810,651,629,652.203089469,0.409417942206,-0.0155352843322,0.0799368125407,0.999999994715,-2.29517921939e-05,-9.25702328324e-05,-3.83994255591e-05,1793247695956652544
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.792056535,784.207943465,810,651,629,652.792056535,0.410083823831,-0.0155402580819,0.079971060858,0.999999998429,-2.23220544798e-05,-3.61319802186e-05,-3.65807999742e-05,1793247695973319168
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679.37485566,659,634,877.62514434,784.37485566,810,651,629,653,0.410764398298,-0.0155419855347,0.0799871710543,0.999999998886,-2.66413609506e-05,-1.33844975092e-05,-3.66061913984e-05,1793247695989985536
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679.954288616,659,634,877.045711384,784.954288616,810,651,629,653,0.411452991354,-0.0155419413224,0.0799933823788,0.999999998684,-3.36616059383e-05,-9.02373805631e-06,-3.76379543136e-05,1793247696006651904
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744.468822868,715.531177132,679.468822868,659.531177132,634,877.531177132,784.468822868,810,651,629,653,0.41212126932,-0.0155393797267,0.079961232393,0.999999996997,-3.25665093883e-05,-5.68177077143e-05,-4.14388426393e-05,1793247696023318528
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.107473948,715.892526052,679.107473948,660,634,878,784.107473948,810,651,629,653,0.412801596915,-0.0155369180097,0.0799296800026,0.999999993345,-3.25029988039e-05,-0.000100887412101,-4.55511998961e-05,1793247696039984896
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.682145762,715.317854238,679.682145762,660,634,878,784.682145762,810,651,629,653,0.413541868586,-0.015535827727,0.0799150078005,0.999999991974,-3.99453165315e-05,-0.000109349581092,-4.99865576849e-05,1793247696056651776
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.263484143,680,660,634,878,785,810,651,629,653,0.41430139564,-0.0155368859564,0.0799181533867,0.999999993112,-4.41791791792e-05,-9.59100763937e-05,-5.12318801829e-05,1793247696073318656
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.853073583,680,660,634,878,785,810,651,629,653,0.415084754522,-0.0155406033255,0.0799433514369,0.999999996302,-4.4442047847e-05,-5.53636215335e-05,-4.8529005831e-05,1793247696089985280
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.565453746,680,660,634,878,785,810.434546254,651,629,653,0.415881153732,-0.0155398004847,0.0799482027329,0.999999995954,-4.38392125392e-05,-6.20054678989e-05,-4.82136706742e-05,1793247696106651904
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.013288685,785,811,651,629,653,0.416683211717,-0.0155375732012,0.0799464771501,0.999999994437,-4.30296613948e-05,-8.30781379716e-05,-4.87080261094e-05,1793247696123318784
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.590497969,785,811,651,629,653,0.417541733008,-0.0155385660487,0.079952241992,0.999999996366,-4.56414859821e-05,-5.18834231295e-05,-4.99335983458e-05,1793247696139985408
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651,629,653,0.418405931292,-0.0155396268101,0.0799621783687,0.999999997348,-4.82876960978e-05,-1.96793939049e-05,-5.0839510055e-05,1793247696156651776
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651,629,653,0.419283991417,-0.0155408534012,0.0799823006606,0.999999997288,-5.1017867554e-05,1.49891436721e-05,-5.09648853064e-05,1793247696173318400
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.710672704,785,811,651,629.289327296,653,0.420145784847,-0.0155408470136,0.0799823367463,0.999999997256,-5.04558332103e-05,1.60657811464e-05,-5.18004123993e-05,1793247696189985280
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.091110542,785,811,651,629.908889458,653,0.420989011597,-0.0155394333182,0.0799594466647,0.999999997283,-4.61361126437e-05,-2.11989942438e-05,-5.34464986722e-05,1793247696206651648
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.50623985,811,651,630,653,0.421918761971,-0.015542053994,0.0799700483021,0.999999997478,-4.77827674551e-05,-2.4224934733e-06,-5.24902299971e-05,1793247696223318784
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.072096358,784.072096358,810.927903642,651,630,653,0.422858418379,-0.0155452453179,0.0799861649756,0.999999997175,-4.979315403e-05,2.35827330836e-05,-5.1126582639e-05,1793247696239985664
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.646576666,784.646576666,810.353423334,651,630,653,0.423763152789,-0.0155475661735,0.080000474893,0.999999997103,-4.71701321373e-05,3.26316541103e-05,-5.00506843935e-05,1793247696256652288
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.221959474,745,715,680,660,634,879,785,810.221959474,651,630,653,0.424646481901,-0.0155465879543,0.0799873982491,0.999999997853,-4.09230189824e-05,-2.07959268911e-06,-5.11299066444e-05,1793247696273318912
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.798785281,745,715,680,660,634,879,785,810.798785281,651,630,653,0.425495588604,-0.0155403352111,0.0799305362787,0.999999992336,-2.88817483748e-05,-0.000106754106737,-5.56547109714e-05,1793247696289985280
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.615683977,745,715,679.615683977,660,634,879,785,810.615683977,651,630,653.384316023,0.42640153691,-0.0155398973028,0.0799074217716,0.999999989283,-3.64327845941e-05,-0.000128804227994,-5.93012244541e-05,1793247696306651904
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.02549004,745,715,679.02549004,660,634,879,785,810.02549004,651,630,653.97450996,0.427337935185,-0.0155425743992,0.0799023857681,0.999999990883,-5.44794112291e-05,-0.000106592494831,-6.247723786e-05,1793247696323318272
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715.554254254,679.554254254,660,633.445745746,879,785,810.554254254,651,630,653.445745746,0.42827690666,-0.0155447273277,0.0799120435836,0.999999990718,-5.31259866356e-05,-0.000110011448784,-6.03264235203e-05,1793247696339985152
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.867948473,680,660,633.132051527,879,785,811,651,630,653,0.429221732489,-0.015546936819,0.0799295894593,0.999999992105,-5.1597682012e-05,-9.88838542167e-05,-5.78719824573e-05,1793247696356651776
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.295076273,680,660,633.704923727,879,785,811,651,630,653,0.430185713815,-0.0155494141144,0.0799712535025,0.999999996479,-5.24088694469e-05,-3.53341362825e-05,-5.52066300271e-05,1793247696373318656
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651,630,653,0.431127755775,-0.0155507068938,0.0800062784316,0.999999997154,-5.07177935126e-05,1.87070792403e-05,-5.26205937386e-05,1793247696389985536
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651,630,653,0.432046493569,-0.0155507414742,0.0800342512577,0.999999995707,-4.6368800828e-05,6.26483113232e-05,-5.01188077272e-05,1793247696406652416
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.438186617,745,715,680.438186617,660,633.561813383,879,785,811,651,630,653,0.432871017711,-0.015546551521,0.0799879122573,0.999999997176,-5.12113887757e-05,-1.15473715e-05,-5.37791735685e-05,1793247696423319040
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.99628045,745,715,680.99628045,660,633.00371955,879,785,811,651,630,653,0.433669760905,-0.0155412055488,0.0799212382604,0.999999989567,-5.8569198414e-05,-0.000118070529847,-5.91257756673e-05,1793247696439985664
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.403694456,744.403694456,715,681,660.596305544,633,879,785,811.596305544,651,630,653,0.434625430506,-0.0155463002546,0.079905658164,0.999999987372,-7.06540940555e-05,-0.000127772254629,-6.27592252221e-05,1793247696456652288
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.187503244,715.187503244,681,661,633,879,785,812,651,630,653,0.435561374974,-0.0155508453555,0.0799101644679,0.999999988341,-7.78828663217e-05,-0.000114728464183,-6.39452800403e-05,1793247696473319168
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.759998506,715.759998506,681,661,633,879,785,812,651,630,653,0.43645465703,-0.0155541181448,0.0799552093947,0.999999993788,-7.50756584593e-05,-5.63161607639e-05,-6.0129810097e-05,1793247696489985536
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715.654459035,681,661,633,879.345540965,785,812.345540965,651,630,653,0.437340025606,-0.0155574305091,0.0799920583538,0.999999995644,-7.39156233139e-05,-2.11638317214e-06,-5.6958439461e-05,1793247696506651904
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.059498853,681,661,633,879.940501147,785,812.940501147,651,630,653,0.438219682002,-0.0155607714394,0.0800229912768,0.999999994592,-7.39445545218e-05,4.904269525e-05,-5.42519943638e-05,1793247696523318784
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879.481027619,785,812.481027619,651,630,653,0.439058927369,-0.0155597611319,0.0800274074855,0.999999994475,-7.27810802023e-05,5.269301482e-05,-5.45603254532e-05,1793247696539985408
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.095197157,681.095197157,661,633.095197157,879,785,812.095197157,651,630,653,0.439873158592,-0.0155571519315,0.0800149778044,0.999999995452,-7.04270510321e-05,3.10400518601e-05,-5.63265746354e-05,1793247696556652288
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715.669337776,681.669337776,661,633.669337776,879,785,812.669337776,651,630,653,0.440584133178,-0.015548931095,0.0799326191214,0.999999991827,-6.27498567655e-05,-9.13563047589e-05,-6.3742337537e-05,1793247696573318656
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.249635423,745,715.750364577,681.750364577,660.750364577,633.750364577,879.249635423,785,813,651,630,653,0.441292459623,-0.0155459696866,0.0798639864537,0.999999977541,-6.2312618757e-05,-0.0001903770571,-6.92164543157e-05,1793247696589985024
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.838294736,745,715.161705264,681.161705264,660.161705264,633.161705264,879.838294736,785,813,651,630,653,0.441997189633,-0.0155501509826,0.0798139947655,0.999999961641,-7.17077934328e-05,-0.000257651952171,-7.20536681999e-05,1793247696606651904
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.579074954,745,715,681.420925046,660.420925046,633,879.579074954,784.579074954,813,651,630,653,0.442779367179,-0.0155544834899,0.0798539249727,0.99999997568,-8.04599118624e-05,-0.000193289596005,-6.93246271598e-05,1793247696623318784
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.001261879,745,715,681.998738121,661,633,879,784.001261879,813,651,630,653,0.443590726827,-0.0155588733739,0.079927871217,0.999999990832,-8.8949099231e-05,-7.91501859913e-05,-6.4487176383e-05,1793247696639985152
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.577004995,745,715,681.422995005,661,633,879,784.577004995,813,651,630,653,0.444333537984,-0.0155633116653,0.0799830915798,0.9999999943,-8.86159311959e-05,-1.18639352156e-06,-5.95421516417e-05,1793247696656652032
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.152440475,661,633,879.152440475,785,813,651,630,653,0.44505782672,-0.0155669232171,0.0800238042643,0.99999999303,-8.79675946414e-05,5.5321371675e-05,-5.60487352744e-05,1793247696673318912
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.727024166,661,633,879.727024166,785,813,651,630,653,0.445730822727,-0.0155682453356,0.0800243418173,0.99999999329,-8.64464841968e-05,5.24124124415e-05,-5.65751606945e-05,1793247696689985536
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.690189596,745,715.309810404,681.690189596,661.309810404,633,880,785,813.309810404,651,630,653,0.446357849381,-0.0155696095762,0.0800132765472,0.999999993717,-8.77904806605e-05,3.91980355812e-05,-5.76459789542e-05,1793247696706652160
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.099979524,745,715.900020476,681.099979524,661.900020476,633,880,785,813.900020476,651,630,653,0.446943270579,-0.01557101194,0.0799917099262,0.999999993901,-9.17275954767e-05,1.66565489846e-05,-5.92095100245e-05,1793247696723318528
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715.519108696,681.480891304,662,633,879.519108696,785,814,651,630,653,0.447487115944,-0.015571212895,0.0799632236256,0.999999993277,-9.5741661708e-05,-1.99567666499e-05,-6.22953017226e-05,1793247696739985152
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.058990658,745,715,682,661.941009342,633,879.058990658,785,813.941009342,651,630.058990658,653,0.448014855844,-0.015571386617,0.0799318251275,0.999999990871,-9.98980119664e-05,-6.30393388966e-05,-6.56008948045e-05,1793247696756652032
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.629572854,745,715,682,661.370427146,633,879.629572854,785,813.370427146,651,630.629572854,653,0.448476457087,-0.0155734490792,0.0798874095813,0.999999982721,-0.000105152206583,-0.000137337347731,-6.81202961412e-05,1793247696773318912
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.793848926,661,633,880,784.793848926,813,651,631,653,0.448940516088,-0.0155761210409,0.0798537290181,0.999999972966,-0.000111662491077,-0.000191422881184,-7.04009049392e-05,1793247696789985536
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681.206173923,661,633,880,784.206173923,813,651,631,653,0.449409123611,-0.0155799210037,0.0798399156996,0.999999968478,-0.000120497422219,-0.000208101166112,-7.22395805117e-05,1793247696806651904
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.378162957,661,633,880,784,813.378162957,651,631,653.378162957,0.449885750641,-0.0155860059896,0.0798519552283,0.999999971909,-0.000127753894394,-0.000186702011405,-7.07294569669e-05,1793247696823318784
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.960695876,661,633,880,784,813.960695876,651,631,653.960695876,0.450366711684,-0.0155933258669,0.0798779663658,0.999999978256,-0.000134157323325,-0.000144724732269,-6.74095477039e-05,1793247696839985408
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,682.11743318,661,633,880,784,814,651,630,653.88256682,0.451190090868,-0.0156037349617,0.0799113343338,0.999999981193,-0.000151008081031,-0.000103152331292,-6.4578070282e-05,1793247696873318656
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,682.691526863,661,633,880,784,814,651,630,653.308473137,0.451514044447,-0.0156064892807,0.079890396219,0.999999975417,-0.00015593989112,-0.000142699646856,-6.69738302872e-05,1793247696889985280
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.272373337,745,715,682.727626663,660.727626663,632.727626663,879.727626663,783.727626663,814,651,630,653,0.451812618087,-0.0156079995167,0.0798617313825,0.999999966529,-0.000159652831323,-0.000191470082227,-6.92239473445e-05,1793247696906651904
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.861061995,745,715,682.138938005,660.138938005,632.138938005,879.138938005,783.138938005,814,651,630,653,0.452081717224,-0.0156080649616,0.0798240932737,0.999999952856,-0.000161950260909,-0.00025095160048,-7.13049246543e-05,1793247696923318272
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660.442106588,632,879,782.557893412,814,651,630,653,0.45234322509,-0.0156106000523,0.0798012504453,0.999999943661,-0.00016250843577,-0.000284573200915,-7.27124527127e-05,1793247696939984896
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660.979339689,632.020660311,879.020660311,782,813.979339689,651,630,653,0.452601724677,-0.0156139079782,0.0797836152762,0.99999993623,-0.00016279946985,-0.000309157127139,-7.38770970889e-05,1793247696956652032
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660.404259433,632.595740567,879.595740567,782,813.404259433,651,630,653,0.452842428288,-0.0156174817515,0.0797830758155,0.999999936053,-0.000170340086751,-0.000305591956292,-7.41068043987e-05,1793247696973318912
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632.828066484,880,782.171933516,813.171933516,651,630,653,0.453072772499,-0.0156206834799,0.0797824173144,0.999999935312,-0.00017623325187,-0.000304620517375,-7.43181744434e-05,1793247696989985536
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,682,660,632.249240351,880,782.750759649,813.750759649,651,630,653,0.45327860044,-0.0156230047377,0.0797814770959,0.999999933359,-0.000178227606767,-0.00030978732593,-7.44861480516e-05,1793247697006652416
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.66602716,745,715,682,660,632,880,782.66602716,814,651,630,653,0.453460254818,-0.0156249190487,0.0797779199103,0.999999930167,-0.000181506356191,-0.000318002553964,-7.48026988128e-05,1793247697023319040
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.079496313,745,715,682,660,632,880,782.079496313,814,651,630,653,0.453623628608,-0.0156265256174,0.0797723837132,0.999999925954,-0.000185756394743,-0.000328523068032,-7.52316070744e-05,1793247697039985408
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879.49833238,781.49833238,814,651,630,653,0.453761365158,-0.0156275861474,0.079764547908,0.999999922058,-0.00018822302763,-0.000338798267495,-7.53091861585e-05,1793247697056652032
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879,781.081356113,814,651,630,653,0.453890166062,-0.0156286154639,0.0797556797935,0.99999991775,-0.000190237005014,-0.000350202388432,-7.52924211556e-05,1793247697073318656
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879,781.657191548,814,651,630,653,0.453989087357,-0.0156299754111,0.0797427287367,0.999999910936,-0.000191199246445,-0.00036870182613,-7.50370334987e-05,1793247697089985280
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.230949713,632,879.230949713,781.769050287,813.769050287,651,630,653,0.454080887356,-0.0156300947252,0.0797333443479,0.999999905329,-0.000190895291453,-0.000383725856483,-7.51980394265e-05,1793247697106651904
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.609845525,632,880,781.390154475,813.390154475,651,630,653,0.454236881481,-0.0156288912901,0.0797288035044,0.999999901488,-0.000188447298973,-0.000394668235822,-7.58177426036e-05,1793247697139985664
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,682.56365992,660.56365992,632,880,781.43634008,813.43634008,651,630,653,0.454362602588,-0.0156309044848,0.0797335137668,0.999999905286,-0.000188144547656,-0.000385257323435,-7.48802477425e-05,1793247697173318912
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.860809211,682.860809211,660.860809211,632,879.860809211,781.139190789,813,651,630,653,0.454412023244,-0.0156315292808,0.0797361247893,0.99999990709,-0.000187731759922,-0.000380825964266,-7.44839046025e-05,1793247697189985024
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.283817498,682.283817498,660.283817498,632,879.283817498,781.716182502,813,651,630,653,0.454446221223,-0.0156331524412,0.0797370224081,0.999999906945,-0.000189358175134,-0.000380549382506,-7.37290181439e-05,1793247697206651904
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765.528551026,745,715,682,660,632,879,781,813.471448974,650.528551026,629,653,0.454540963862,-0.0156287840233,0.0797293532325,0.999999902065,-0.000186743220656,-0.000394510190248,-7.3205932089e-05,1793247697373318400
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.894523676,745,714.894523676,682,660,632,879,781,813.105476324,651,629.105476324,653,0.454540628316,-0.0156282236789,0.0797282694999,0.999999901541,-0.00018562244642,-0.000396415306578,-7.29209689127e-05,1793247697389985280
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.319650631,745,714.319650631,682,660,632,879,781,813.680349369,651,629.680349369,653,0.454541983548,-0.0156278027502,0.079728141511,0.999999902206,-0.000183368650849,-0.00039585990698,-7.25150265403e-05,1793247697406652416
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.260983451,682,660,632,879,781,814,651,630,653,0.454543113438,-0.0156274861829,0.0797283344018,0.999999902743,-0.000181771399943,-0.000395297079183,-7.22070818674e-05,1793247697423319040
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.848832961,682,660,632,879,781,814,651,630,653,0.454543961103,-0.015627300322,0.0797289291748,0.999999903123,-0.0001809964314,-0.000394724947938,-7.20218733589e-05,1793247697439985664
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,682.430823953,660,632,879,781,813.569176047,651,630,653,0.454544819918,-0.0156269171381,0.0797286050906,0.999999902895,-0.000181424794925,-0.000395093955,-7.20884321878e-05,1793247697456652544
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,682.989296002,660,632,879.010703998,781,813,651,630,653,0.454545662801,-0.0156264984326,0.0797279736251,0.999999902468,-0.000182247484468,-0.000395768942017,-7.22335090075e-05,1793247697473319424
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,682.413788094,660,632,879.586211906,781,813,651,630,653,0.454545461299,-0.0156278096932,0.0797279068019,0.9999999027,-0.000181897022039,-0.000395398361548,-7.19228651788e-05,1793247697489985792
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879.838798293,781.161201707,813,650.838798293,630,653,0.454545631964,-0.0156284632539,0.0797280759247,0.999999902965,-0.000181268215579,-0.000395051623012,-7.17367976923e-05,1793247697506651904
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879.265134192,781.734865808,813,650.265134192,630,653,0.454546754879,-0.0156274339759,0.079728848756,0.99999990331,-0.000179927217885,-0.000394765888204,-7.18694802999e-05,1793247697523318272
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879.318499402,781.681500598,813.318499402,650.318499402,630,653,0.454546671958,-0.0156267618992,0.079728552582,0.999999903067,-0.000179768963888,-0.000395467555798,-7.17887683558e-05,1793247697539985152
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,632,879.910700217,781.089299783,813.910700217,650.910700217,630,653,0.454545552805,-0.0156263967823,0.0797273377616,0.999999902317,-0.000180627096866,-0.000397017744409,-7.15246764993e-05,1793247697556652032
+244,4.066666667,HOLD_POSE2,765,745,715,682,660,632,880,781,814,651,630,653,0.454546547167,-0.0156277768274,0.07972751357,0.999999902313,-0.000182412065797,-0.00039609724787,-7.21577748283e-05,1793247697588038912
+245,4.083333333,HOLD_POSE2,765,745,715,682.578393231,660,631.421606769,879.421606769,781,814,651,630,653,0.4545454525,-0.0156273441494,0.0797265413092,0.999999901225,-0.000184069772845,-0.000398084443229,-7.20975163298e-05,1793247697604705792
+246,4.100000000,HOLD_POSE2,765,745,715,682.84128705,660,631.15871295,879,781,813.84128705,651,630,653,0.454544883823,-0.0156271228951,0.079726048118,0.999999900671,-0.000184580728205,-0.000399278162137,-7.18709237359e-05,1793247697621372416
+247,4.116666667,HOLD_POSE2,765,745,715,682.255786774,660,631.744213226,879,781,813.255786774,651,630,653,0.454545729559,-0.0156274701702,0.0797268431691,0.999999901565,-0.000182008009375,-0.0003983381823,-7.11970501496e-05,1793247697638038528
+248,4.133333333,HOLD_POSE2,765.326092501,745,715,682,660.326092501,632,879,781,813.326092501,651,630,653,0.454545511702,-0.015628111813,0.0797267809216,0.999999901366,-0.000182138166737,-0.00039878633415,-7.11519656134e-05,1793247697654704896
+249,4.150000000,HOLD_POSE2,765.905162625,745,715,682,660.905162625,632,879,781,813.905162625,651,630,653,0.454544468726,-0.0156289818219,0.0797260535947,0.999999900317,-0.000184365174652,-0.000400311377588,-7.15946861364e-05,1793247697671371776
+250,4.166666667,HOLD_POSE2,765.516853357,745,715,682,660.516853357,631.516853357,879.483146643,781,814,651,629.516853357,653,0.454545994655,-0.0156277725975,0.0797267200616,0.99999990146,-0.000181875448836,-0.000398665400684,-7.11882479106e-05,1793247697688038656
+251,4.183333333,HOLD_POSE2,765,745,715,682,660,631.059878329,880,781,813.940121671,651,629.059878329,653,0.454547621047,-0.0156263854888,0.0797274123061,0.999999902728,-0.000179051819016,-0.000396844335418,-7.06979412488e-05,1793247697704705792
+252,4.200000000,HOLD_POSE2,765,745,715,682,660,631.627789489,880,781,813.372210511,651,629.627789489,653,0.454545831104,-0.0156269441555,0.0797260072183,0.99999990154,-0.000181232911223,-0.000398806969188,-7.0907090005e-05,1793247697721372416
+253,4.216666667,HOLD_POSE2,765.205225919,745,715,682.205225919,660,632,880,781,813,651,630,653,0.454544758803,-0.0156273386052,0.0797249890403,0.999999900817,-0.000182302640943,-0.000400128339436,-7.0917698728e-05,1793247697738039040
+254,4.233333333,HOLD_POSE2,765.800778754,745,715,682.800778754,660,632,880,781,813,651,630,653,0.454545051415,-0.0156274207239,0.0797247067409,0.999999900992,-0.000181258628182,-0.000400230066184,-7.05506966495e-05,1793247697754705664
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+256,4.266666667,HOLD_POSE2,765.03473725,745,715,683,660.96526275,632,880,781,813.96526275,651,630,653,0.454545813197,-0.0156257357704,0.079725576554,0.999999901118,-0.000180914563148,-0.000399944748618,-7.12663007183e-05,1793247697788038912
+257,4.283333333,HOLD_POSE2,765.540772126,745,715,683,660.459227874,632,879.459227874,781.540772126,813.459227874,651,630.540772126,653,0.454546135559,-0.0156251756179,0.0797259136944,0.999999901306,-0.000180453266331,-0.000399696119253,-7.11844976571e-05,1793247697804705024
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+259,4.316666667,HOLD_POSE2,766,745,715,683,660.687900961,632,879.687900961,781.312099039,813.687900961,651,630.312099039,653.687900961,0.454548082831,-0.0156239490111,0.0797272983303,0.9999999023,-0.000180179268134,-0.000397272955324,-7.14753342339e-05,1793247697838038528
+260,4.333333333,HOLD_POSE2,766,745,715,683,660.730023293,632,879.730023293,781,814,651,630,653.730023293,0.45454888646,-0.0156239489085,0.0797278123077,0.999999902624,-0.000180100785634,-0.000396504128494,-7.14098681892e-05,1793247697854705664
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,880,781,813,651,630,653,0.454543050633,-0.0156268550947,0.0797234150509,0.999999899326,-0.000182822418666,-0.00040358503439,-7.1016156173e-05,1793247697904052224
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,744.42466803,714.42466803,682,660,631.42466803,879.42466803,781,813.57533197,651,630,653,0.45454513777,-0.015625817838,0.0797245484289,0.999999900079,-0.000183062742276,-0.000401591461383,-7.10925890557e-05,1793247697920718592
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,744.154173847,714.154173847,682.154173847,660,631.154173847,879,781,813.845826153,651,630,653,0.454546413155,-0.0156248771421,0.0797251199207,0.999999900622,-0.000182509632185,-0.000400471659922,-7.11946259358e-05,1793247697937385216
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,744.742909038,714.742909038,682.742909038,660,631.742909038,879,781,813.257090962,651,630,653,0.454545400494,-0.015624208617,0.0797241076548,0.999999900576,-0.000179720114229,-0.0004018147098,-7.13688314126e-05,1793247697954051840
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.673595828,660,632,879.326404172,781,813.326404172,651,630,653,0.454545651435,-0.0156244353209,0.0797245251897,0.999999900886,-0.000179150976337,-0.000401304445629,-7.13237466518e-05,1793247697970718464
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.094162826,660,632,879.905837174,781,813.905837174,651,630,653,0.454546881921,-0.0156253560073,0.0797260511075,0.999999901474,-0.000180303079383,-0.000399357490535,-7.11086678763e-05,1793247697987385088
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.516514754,745,715,682,660,632,879.516514754,781,814,651,629.516514754,653,0.454546973371,-0.0156246278784,0.0797263216934,0.999999901863,-0.000178051441473,-0.000399447573668,-7.08010015115e-05,1793247698004051456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.060684691,745.060684691,715,682,660,632,879,781,813.939315309,651,629,653,0.454546500354,-0.0156237036376,0.0797261782216,0.99999990208,-0.000175555213623,-0.000400059709089,-7.05177929081e-05,1793247698020718336
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.782819174,715,682.217180826,660,632,879,781,813.217180826,651,629.217180826,653.217180826,0.454533703111,-0.0156231790506,0.0797197492765,0.999999898206,-0.000177467402173,-0.00040872055735,-7.09931830563e-05,1793247698054052096
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.19612817,715,682.80387183,660,632,879,781,813.80387183,651,629.80387183,653.80387183,0.454514064013,-0.0156211986497,0.0797093913267,0.999999891383,-0.000178064864247,-0.000424678799523,-7.19371928354e-05,1793247698070718208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.612723554,745.387276446,715,682.612723554,660,632,879,781,814,651,630,653.612723554,0.45447515818,-0.0156201883559,0.0796933558964,0.99999987912,-0.000178513975268,-0.000452297706551,-7.29360513464e-05,1793247698087384832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.030969204,745.969030796,715,682.030969204,660,632,879,781,814,651,630,653.030969204,0.454426577204,-0.0156196652187,0.0796744694152,0.999999863277,-0.000178888589013,-0.000485772229358,-7.39624531677e-05,1793247698104051712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.457995861,714.457995861,682.542004139,660,632,879.542004139,781,813.457995861,651,630,653.542004139,0.454361842874,-0.0156173672366,0.0796564512501,0.999999848718,-0.000178372984382,-0.000515037341274,-7.40478779828e-05,1793247698120718336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.115245616,745,714.115245616,682.884754384,660,632,880,781,813,651,630,653.884754384,0.454293488335,-0.0156145519822,0.0796407980507,0.999999835673,-0.000177821195727,-0.000539979479717,-7.38579459681e-05,1793247698137384704
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.691535138,745,714.691535138,682.308464862,660,632,880,781,813,651,630,653.308464862,0.454214284537,-0.0156100665948,0.0796344106515,0.999999831163,-0.000177324897272,-0.000548574292281,-7.27781029211e-05,1793247698154051328
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,632,879.129007792,781,813,651,630,653,0.454033922583,-0.0156003355111,0.0796270067031,0.999999826615,-0.000170271999638,-0.000559371046899,-6.98677820212e-05,1793247698187384576
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.60041864,745,715,682,660,632,879,781,813,651,630,653,0.453655119726,-0.0155868730983,0.0796193176576,0.999999820814,-0.00016259810071,-0.000572909574691,-6.08944468262e-05,1793247698237384448
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+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.414012797,660,632,879.585987203,782.414012797,813,651,630,653.414012797,0.451210837424,-0.0154921509061,0.0796773883818,0.99999987611,3.44455404852e-05,-0.000496580290847,8.93661153466e-07,1793247698404050944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.991360807,660,632,879.008639193,782.991360807,813,651,630,653.991360807,0.450864414125,-0.0154865700215,0.0796898429865,0.999999887542,3.71400400375e-05,-0.00047273484336,7.70150670439e-06,1793247698420717824
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.434627873,660.565372127,632,879.565372127,783,812.434627873,651,630,653.434627873,0.450488229148,-0.0154817475779,0.0797088735217,0.999999903795,1.78145924379e-05,-0.000438281679037,-1.25196310796e-06,1793247698437384960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.139266917,660.860733083,632.139266917,879.860733083,783,812,650.860733083,630,653,0.450097738226,-0.0154800930374,0.0797275838488,0.999999918204,4.93916241828e-06,-0.000404390339904,-6.00278265626e-06,1793247698454052096
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.712956209,660.287043791,632.712956209,879.287043791,783,812,650.287043791,630,653,0.449664032388,-0.0154882843594,0.0797449837255,0.999999930435,1.32270350166e-05,-0.000372754193161,3.10280144245e-06,1793247698470718720
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.702567902,660,633,879.297432098,783,812,650.297432098,630,653,0.449191399774,-0.0154906140963,0.0797514281236,0.999999933477,1.9645193833e-05,-0.000364117626346,8.86096605149e-06,1793247698487385344
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.107290358,660,633,879.892709642,783,812,650.892709642,630,653,0.448679786234,-0.0154870741032,0.0797469018201,0.999999928008,2.41910414848e-05,-0.000378512599003,1.1267060275e-05,1793247698504051968
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.470863796,633,879.529136204,783,812,651,630,653.470863796,0.448126709667,-0.0154728754674,0.0797271682198,0.999999913914,4.80151471174e-05,-0.000412032247172,9.83762744463e-06,1793247698520718848
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.045525966,660.954474034,633,879.045525966,783.045525966,812,651,630,653.954474034,0.447564734345,-0.0154572469133,0.0797060672596,0.999999897784,7.393536477e-05,-0.00044598539191,7.89761598211e-06,1793247698537385216
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.623378573,660.376621427,633,879.623378573,783.623378573,812,651,630,653.376621427,0.447005300988,-0.015452300006,0.079708073188,0.999999902175,7.48041627224e-05,-0.000435841312372,9.84794355384e-06,1793247698554051840
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.205137259,745,715,682.794862741,660.205137259,633,879.794862741,784,812,651,630.205137259,653,0.446437550246,-0.015449801054,0.0797262047429,0.999999914893,7.71655813124e-05,-0.000405089868943,1.27100610589e-05,1793247698570718464
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.794206471,745,715,682.205793529,660.794206471,633,879.205793529,784,812,651,630.794206471,653,0.445854232839,-0.0154518836601,0.0797745167894,0.999999940092,8.23205670121e-05,-0.000335769977833,1.72786713855e-05,1793247698587385344
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.62332807,745,715,682.37667193,661,633,879.37667193,784.37667193,812,651,631,653,0.445229724045,-0.0154510202089,0.0798114246141,0.999999955011,8.96273959516e-05,-0.000285405564929,2.21114067708e-05,1793247698604051968
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.044408406,745,715,682.955591594,661,633,879.955591594,784.955591594,812,651,631,653,0.444583098239,-0.0154485749209,0.0798422091298,0.999999964756,9.8089621221e-05,-0.000245218983468,2.70859595731e-05,1793247698620718592
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.100698564,745,715,683,661,633,879,784.100698564,811.100698564,651,630,653.899301436,0.443162639074,-0.0154423850015,0.0798264097313,0.999999953427,0.000114632022488,-0.000281259677032,2.99581645098e-05,1793247698654051840
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.673140932,745,715,683,661,633,879,784.673140932,811.673140932,651,630,653.326859068,0.442419514629,-0.0154405913581,0.0798025355809,0.999999944919,0.000110176461147,-0.000311765573754,2.87232585713e-05,1793247698670718464
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.146204836,745,715,682.146204836,660.146204836,633,879,785,811.146204836,651,630,653,0.44085426832,-0.015440355222,0.0797806435202,0.99999993934,0.000108932698524,-0.00032965289821,2.7967033544e-05,1793247698704051456
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.986499409,660.013500591,634,879,784.986499409,811,650.013500591,630.013500591,653,0.43911742527,-0.0154299227614,0.079672605313,0.999999858818,0.000137713444444,-0.000512670117964,2.38394413039e-05,1793247698737384960
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,879,785,811,651,630,653,0.429482922348,-0.015419668237,0.0797518130196,0.999999898602,0.000174348661542,-0.000413223056495,4.05621698122e-05,1793247698920718848
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,634,879,785,811,651,630,653,0.428638842523,-0.0154259022717,0.0798345520316,0.999999943833,0.000194708742114,-0.000268642630282,4.74669925638e-05,1793247698937385216
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744.446739852,715,682,660.553260148,633.446739852,879,785,811,651,630,653,0.427733638853,-0.0154245330249,0.0798510291493,0.999999950671,0.000192076463452,-0.000243500786451,4.9719884343e-05,1793247698954051584
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744,715,681.280956327,660.280956327,633.719043673,879,785,811,651,630,653,0.425870381867,-0.0154037318051,0.0797956226636,0.999999921399,0.000212244407706,-0.000332492518223,4.00472144053e-05,1793247698987384832
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744,714.697682378,681.302317622,660.302317622,634,879,785,811,651,630,652.697682378,0.424911062113,-0.0153840688447,0.0797581084699,0.999999894539,0.000239585452628,-0.000390234320305,3.51930253299e-05,1793247699004051712
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744,714.118660281,681.881339719,660.881339719,634,879,785,811,651,630,652.118660281,0.423940367034,-0.0153610060874,0.079735791189,0.999999872469,0.000274802741372,-0.000422334514419,3.43384089721e-05,1793247699020718592
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744,714.459433263,681.540566737,660.540566737,633.540566737,878.540566737,784.540566737,810.540566737,651,629.540566737,652.459433263,0.422998398773,-0.0153535068825,0.0797283273081,0.999999866143,0.000279944846086,-0.000433858608673,3.33497527216e-05,1793247699037384960
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744,715,681,660,633.609557555,878,784,810,651,629,653,0.421286823737,-0.0153650885331,0.0797991881748,0.999999917239,0.0002621577823,-0.000308728818208,3.85056084915e-05,1793247699070718464
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744,715,681,659.812380228,634,878,784,810,651,629.187619772,653,0.420484937837,-0.015373899372,0.079851893418,0.999999943534,0.000253204325097,-0.000216751832561,4.28743366262e-05,1793247699087385088
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+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.943995583,715,680,659,634,878,784.056004417,809.943995583,651,629,652.056004417,0.407920398322,-0.0153498835001,0.0798398129118,0.999999921106,0.000291881524896,-0.000266036415089,4.26359681575e-05,1793247699370718464
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.369175689,715,680,659,634,878,784.630824311,809.369175689,651,629,652.630824311,0.407324393259,-0.0153435878608,0.0798040779157,0.999999900672,0.000294936292948,-0.000331792946999,3.97759729464e-05,1793247699387385088
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,785,809,651,629,652.787875448,0.406768260149,-0.0153399150049,0.0797766857093,0.999999884016,0.000296424340931,-0.000377770173754,3.7288935989e-05,1793247699404051456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,785,809,651,629,652.194941651,0.406283705845,-0.0153409506103,0.0797642706104,0.999999880464,0.000295099790588,-0.00038823928396,3.54714399599e-05,1793247699420718080
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.612851855,659,633.612851855,878,785,809,651,629,652,0.405845285454,-0.0153422803905,0.0797722799012,0.999999888879,0.000294840750285,-0.000366123337445,3.55551639947e-05,1793247699437384960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.036073538,659,633.036073538,878,785,809,651,629,652,0.405429462008,-0.0153437542614,0.0797902933213,0.999999901981,0.000295103610123,-0.000328046808925,3.65701300189e-05,1793247699454051584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.537550203,715,679.537550203,659,633.537550203,877.462449797,785,809,651,629,652,0.405038489262,-0.0153410492763,0.0798100678421,0.999999909692,0.000298816450652,-0.000299773074215,3.82184957273e-05,1793247699470718208
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.888347391,715,679.888347391,659,634,877,784.888347391,809,651,629,652.111652609,0.404651083246,-0.0153383127515,0.0798262368544,0.99999991471,0.000302480056626,-0.000278405466097,3.97088081354e-05,1793247699487385088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.311372816,715,679.311372816,659,634,877,784.311372816,809,651,629,652.688627184,0.404271632189,-0.015336606686,0.079826889939,0.999999912608,0.0003049792296,-0.000283094127721,4.0364307434e-05,1793247699504051968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.272756919,658.727243081,634,877,784.272756919,809,651,629,652.727243081,0.403922337616,-0.0153348044364,0.0798282835606,0.999999908836,0.000312800005247,-0.000287593321303,4.21297121357e-05,1793247699520718336
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.865274825,658.134725175,634,877,784.865274825,809,651,629,652.134725175,0.403608396403,-0.0153328894276,0.0798305453354,0.999999902966,0.000326859452597,-0.000291870395585,4.51962916576e-05,1793247699537384960
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.445361134,715,680,658,634,877,785,809,651,629.445361134,652.445361134,0.403309098753,-0.0153317983825,0.0798340565003,0.999999908539,0.000311466045853,-0.000290220717122,4.10111096664e-05,1793247699554051584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.978479999,715,680,658.021520001,634,877,785,809,651,629.978479999,653,0.403016149358,-0.0153310476803,0.0798378047566,0.999999916537,0.000288748983561,-0.000286916486489,3.50485990277e-05,1793247699570718208
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.409166006,715,680,658.590833994,634,877,785,809,651,629.409166006,653,0.402775096681,-0.0153327879144,0.079838228696,0.99999991333,0.000300246429554,-0.000285894293331,3.81688171137e-05,1793247699587384832
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.167375146,785,809,651,629,652.832624854,0.402541796653,-0.0153337516355,0.0798379578278,0.999999910266,0.000309955301705,-0.000285912031481,4.06253217201e-05,1793247699604051456
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.762381052,785,809,651,629,652.237618948,0.402328304092,-0.0153327314246,0.0798359117789,0.99999990786,0.00031509450214,-0.000288586715213,4.13860884324e-05,1793247699620718080
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.349899325,715,680,659,634,877.650100675,785,809,651,629,652,0.402138427193,-0.0153325078252,0.0798332129349,0.999999906652,0.000316408606321,-0.000291336527491,4.12768784222e-05,1793247699637384960
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.932439288,715,680,659,634,877.067560712,785,809,651,629,652,0.401964251824,-0.0153328138758,0.0798300800609,0.999999906249,0.000315179485663,-0.000294136291415,4.05892394207e-05,1793247699654051584
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.492089409,715,679.492089409,659,634,877,785,809,651,629,652,0.401827434826,-0.0153338348351,0.0798355515969,0.999999909784,0.000312923646588,-0.000284316416299,4.09171533054e-05,1793247699670718208
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.082429971,715,679.082429971,659,634,877,785,809,651,629,652,0.401698494046,-0.0153344696133,0.0798421578068,0.999999913278,0.000311477662185,-0.000273327286673,4.14436462924e-05,1793247699687384576
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.656802914,715,679.656802914,659,634,877,785,809,651,629,652,0.401587308828,-0.0153322399206,0.0798487989421,0.999999914103,0.00031566876786,-0.000265240576629,4.23601345029e-05,1793247699704051200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.761725535,659,634,877,785,809,651,629,652,0.401482898267,-0.0153314391129,0.0798519507568,0.999999914162,0.000318639077351,-0.000261401642884,4.25997861869e-05,1793247699720717568
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.16971563,659,634,877,785,809,651,629,652,0.401388545177,-0.0153327595871,0.0798499224257,0.999999913176,0.000319797027601,-0.000263868836569,4.18346257156e-05,1793247699737384448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.590310328,715,679,659,634,877,785,809,651,629,652,0.401306836477,-0.0153331781516,0.079846183128,0.99999991093,0.00032133301651,-0.00027062675064,4.05858309942e-05,1793247699754051328
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.015970696,715,679,659,634,877,785,809,651,629,652,0.401230209427,-0.015333234248,0.079841756211,0.999999908112,0.000323020935121,-0.000279109059912,3.91426687833e-05,1793247699770718208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.559645549,659,634,877.559645549,784.440354451,809,651,629,652,0.401177488949,-0.0153338183404,0.0798396523387,0.999999908306,0.000320345031636,-0.000281584404102,3.84229707642e-05,1793247699787384832
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.138731859,715,679.861268141,659,634,877.861268141,784.138731859,809,651,629,652,0.40112893243,-0.0153341339277,0.079838012206,0.99999990855,0.000318149425936,-0.000283279316403,3.78632039716e-05,1793247699804051712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.728993198,715,679.271006802,659,634,877.271006802,784.728993198,809,651,629,652,0.401091702811,-0.0153335264615,0.0798376651467,0.999999908707,0.000317923279265,-0.000282993363347,3.7756615465e-05,1793247699820718080
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.313790588,659,634,877,785,809,651,629,652,0.401061562712,-0.0153327725436,0.0798375463214,0.999999908953,0.00031752592983,-0.000282598790284,3.75340410005e-05,1793247699837384704
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.893949838,659,634,877,785,809,651,629,652,0.40103744072,-0.0153318943066,0.0798376212378,0.999999909275,0.000316983250798,-0.000282112012495,3.72130090637e-05,1793247699854051328
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,785,809,651,629,652,0.401020266257,-0.0153330318107,0.0798361287694,0.999999908932,0.000316095328573,-0.000284346759101,3.69809992273e-05,1793247699870717952
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.953702446,715,680,659,634,877.046297554,785,809.046297554,651,629.046297554,652.046297554,0.401005524241,-0.015334612786,0.0798346275275,0.999999908652,0.000314944411718,-0.000286621644819,3.67892252121e-05,1793247699887384576
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.381449473,715,680,659,634,877.618550527,785,809.618550527,651,629.618550527,652.618550527,0.401000761165,-0.0153361095153,0.0798370095174,0.999999910863,0.000311683090671,-0.000282436825648,3.68283279892e-05,1793247699904051456
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.197463291,715,680,659,634,878,785,809.802536709,651,629.802536709,652.802536709,0.400995883726,-0.0153363575421,0.0798385753864,0.999999911848,0.000310937085524,-0.000279779342805,3.66797312924e-05,1793247699920718336
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.789690101,715,680,659,634,878,785,809.210309899,651,629.210309899,652.210309899,0.400990777655,-0.0153341091949,0.0798385096876,0.999999910416,0.000315219635252,-0.000280175271614,3.61558906471e-05,1793247699937385216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.626923494,715,679.626923494,659,634,878.373076506,785,809,651,629,652.373076506,0.400987722304,-0.0153340469815,0.0798387442108,0.99999991014,0.000315847716911,-0.000280423362098,3.63686002273e-05,1793247699954051584
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.048405246,715,679.048405246,659,634,878.951594754,785,809,651,629,652.951594754,0.400985796222,-0.0153351886049,0.0798391440568,0.999999910507,0.000314463395419,-0.000280590042558,3.69869053488e-05,1793247699970718208
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.525095213,715.525095213,679,659,634,878.474904787,785,809,651,629,653,0.400985528819,-0.0153350727119,0.0798396980195,0.999999910532,0.00031555067586,-0.000279326066097,3.66240127393e-05,1793247699987384832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.09877297,744.90122703,715.90122703,679.09877297,659,634,878,785,809,651,629,653,0.400985485976,-0.0153350730308,0.0798402832477,0.999999910783,0.000315982565353,-0.00027799501054,3.61652229255e-05,1793247700004051712
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.675525739,744.324474261,715.324474261,679.675525739,659,634,878,785,809,651,629,653,0.400985796898,-0.0153361913792,0.0798409516754,0.999999912288,0.000312150773216,-0.000276971513528,3.56759325163e-05,1793247700020718848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.739593933,744.260406067,715,679.739593933,659,634,877.739593933,784.739593933,808.739593933,651,629,652.739593933,0.400985971346,-0.0153363510151,0.0798414420847,0.999999912839,0.000311393263468,-0.000275847788204,3.55687981249e-05,1793247700037385728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.144260062,744.855739938,715,679.144260062,659,634,877.144260062,784.144260062,808.144260062,651,629,652.144260062,0.400985970267,-0.0153352775791,0.0798417035314,0.999999912169,0.000314589818716,-0.000274595151583,3.59531832284e-05,1793247700054052352
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715.435836821,679.435836821,659,634,877,784.435836821,808.435836821,651,629,652,0.400985497441,-0.01533477942,0.0798420868904,0.999999912305,0.000314488769312,-0.000274232895429,3.58344496852e-05,1793247700070718976
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.988952992,715.988952992,680,659,634,877,785,809,651,629,652,0.400984894804,-0.0153345313194,0.0798424963659,0.999999912722,0.00031326902451,-0.000274142240364,3.55587057313e-05,1793247700087385600
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.41443896,715.41443896,680,659,634,877,785,809,651,629,652,0.400985366445,-0.0153376535325,0.079842249242,0.999999914329,0.000308781161982,-0.000273380560059,3.54815977553e-05,1793247700104052224
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.164760695,715,679.835239305,659,634,877,785,809,651,629,652,0.400985484705,-0.0153389907071,0.0798420423607,0.999999914986,0.00030688340024,-0.000273118870123,3.54574472527e-05,1793247700120719104
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.756091527,715,679.243908473,659,634,877,785,809,651,629,652,0.400984688054,-0.0153357063657,0.0798419396687,0.999999913212,0.00031169148356,-0.000274151669563,3.55704051643e-05,1793247700137385728
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.339191389,634,877,785,809,651,629,652.339191389,0.400983884559,-0.0153354370278,0.0798419497953,0.999999912935,0.000312080057143,-0.00027473367334,3.54721994761e-05,1793247700154052096
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659.91651266,634,877,785,809,651,629,652.91651266,0.40098307626,-0.0153372843784,0.0798420391264,0.999999913714,0.000309365906321,-0.000274999195226,3.52257460246e-05,1793247700170718464
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.507686803,715,679,659.015373606,634,877.492313197,785,809.492313197,651.492313197,629,652.507686803,0.400985095412,-0.0153369593747,0.0798433183034,0.999999913957,0.000311150376537,-0.000272052696068,3.54724159136e-05,1793247700187385088
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.069079571,658.069079571,634,877.930920429,785,809.930920429,651.930920429,629,652.069079571,0.400987420466,-0.0153365628569,0.0798447250596,0.999999914284,0.000312885384836,-0.000268806526985,3.57515718237e-05,1793247700204051712
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.654995319,658.654995319,634,877.345004681,785,809.345004681,651.345004681,629,652.654995319,0.400988457859,-0.0153383790152,0.0798455813397,0.999999916014,0.000308560197556,-0.000267381065573,3.56500471764e-05,1793247700220718592
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.238760904,785,809,651,629,653,0.400988554613,-0.0153391152981,0.0798458968612,0.999999916871,0.00030607855012,-0.000267046995819,3.5484528597e-05,1793247700237385472
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.819447361,785,809,651,629,653,0.40098730429,-0.0153383051095,0.0798454379715,0.999999916503,0.000306237005068,-0.000268275889856,3.52273653484e-05,1793247700254052096
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.398520058,744.398520058,715.398520058,680,659,634,878,785,809,651,629,653,0.400985724273,-0.0153380595306,0.0798444672951,0.999999915235,0.000308864493848,-0.000269969774031,3.53345888902e-05,1793247700270718720
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.976864542,744.976864542,715.976864542,680,659,634,878,785,809,651,629,653,0.400983995486,-0.015338068721,0.0798432656849,0.999999913547,0.000312606086114,-0.000271873475885,3.56062349001e-05,1793247700287385088
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2fa514ec100d4c38045514eb77def88a4be05ec
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+1,0.016666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+2,0.033333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+3,0.050000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+4,0.066666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+5,0.083333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+7,0.116666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+8,0.133333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+9,0.150000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+10,0.166666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+11,0.183333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+12,0.200000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+13,0.216666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+14,0.233333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+15,0.250000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+16,0.266666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+375,6.250000000,pose2_to_pose3_retreat,0.58340153138,-0.0100722557348,1.07004222637,0.553973323679,-0.00139779421538,1.06966561933
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+377,6.283333333,pose2_to_pose3_retreat,0.583333428441,-0.0100721130994,1.07004255481,0.553905218937,-0.00139765811954,1.06966593803
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+379,6.316666667,pose2_to_pose3_retreat,0.583290490951,-0.0100720516101,1.0700425173,0.553862280984,-0.00139759848937,1.06966589395
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+381,6.350000000,pose2_to_pose3_retreat,0.583267245287,-0.0100721687264,1.07004252165,0.553839036514,-0.00139771159915,1.0696658973
+382,6.366666667,pose2_to_pose3_retreat,0.583260436313,-0.0100721739583,1.07004260281,0.553832228387,-0.00139771390627,1.06966597972
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+384,6.400000000,pose2_to_pose3_retreat,0.583253125881,-0.0100722223056,1.07004226107,0.553824918113,-0.00139776140717,1.06966564515
+385,6.416666667,pose2_to_pose3_retreat,0.583251124643,-0.0100721693595,1.07004230679,0.553822916514,-0.00139770966171,1.06966569149
+386,6.433333333,pose2_to_pose3_retreat,0.583249758578,-0.010072133218,1.070042338,0.553821550202,-0.00139767433975,1.06966572312
+387,6.450000000,pose2_to_pose3_retreat,0.583249106014,-0.010072116945,1.07004235011,0.553820897537,-0.00139765839664,1.06966573554
+388,6.466666667,pose2_to_pose3_retreat,0.583248887758,-0.0100721176212,1.07004233684,0.55382067935,-0.0013976588026,1.06966572309
+389,6.483333333,pose2_to_pose3_retreat,0.583248866063,-0.0100721176884,1.07004233552,0.553820657662,-0.00139765884295,1.06966572185
+390,6.500000000,pose2_to_pose3_retreat,0.583248862152,-0.0100721177005,1.07004233529,0.553820653752,-0.00139765885022,1.06966572163
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+393,6.550000000,pose2_to_pose3_retreat,0.583248674147,-0.0100721182829,1.07004232386,0.553820465807,-0.00139765919991,1.06966571091
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1400b0b859516bbe57e80a370a82f601518d5745
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ce4165c3f06171524968adc67a264f2d9b550a4e3633a1513c9869b82e6211
+size 25766842
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..677103fb51637f52c34d0fad0839d8727b248c1e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+36,0.600000000,BASELINE,765,744,715,680,659,634,877.103032958,785,809,651,629,652,0.400987630476,-0.0153396632294,0.0798468413606,0.999999917244,0.000306057034899,-0.000265839751163,3.42216673678e-05,1793247701032045568
+37,0.616666667,BASELINE,765,744,715,679.518362659,659,634,877,785,809,651,629,652.481637341,0.400986860402,-0.0153404037973,0.07984634826,0.999999917077,0.000306114932021,-0.000266371449822,3.44362745834e-05,1793247701048711936
+38,0.633333333,BASELINE,765,744,715,679,659,634.0675831,877,785,809,651,629,652.9324169,0.400986137441,-0.0153410550116,0.0798460523497,0.999999916908,0.000306549846355,-0.000266465827852,3.47339363574e-05,1793247701065378560
+39,0.650000000,BASELINE,765,744,715,679,659,634.646588542,877,785,809,651,629,652.353411458,0.40098661035,-0.0153407518748,0.0798462737329,0.99999991731,0.000305914390007,-0.000265694257229,3.46800144228e-05,1793247701082045440
+40,0.666666667,BASELINE,765.225240328,744.225240328,715,679,659,634.774759672,877,785,809,651,629,652.225240328,0.400986979368,-0.0153404139471,0.0798465839453,0.999999917432,0.000305946448189,-0.000265215517441,3.4541610376e-05,1793247701098712320
+41,0.683333333,BASELINE,765.80333805,744.80333805,715,679,659,634.19666195,877,785,809,651,629,652.80333805,0.400987185634,-0.0153400215169,0.0798470333159,0.999999917116,0.000307024222511,-0.00026519552115,3.42708581949e-05,1793247701115378944
+42,0.700000000,BASELINE,765.62068338,745,715,679.37931662,659,634,877,784.62068338,809,651,629,652.62068338,0.400987010351,-0.0153405989918,0.0798472273844,0.99999991749,0.000306224600823,-0.00026470187308,3.43445432061e-05,1793247701132045568
+43,0.716666667,BASELINE,765.045797426,745,715,679.954202574,659,634,877,784.045797426,809,651,629,652.045797426,0.400986638348,-0.0153416765336,0.0798472898233,0.999999918216,0.000304457024977,-0.00026396401804,3.45958143066e-05,1793247701148712448
+44,0.733333333,BASELINE,765,745,715,679.458230943,659,634,877,784.541769057,809,651,629,652,0.400986896138,-0.0153409002302,0.0798469456495,0.999999918032,0.000304459912388,-0.000264701490091,3.42434801762e-05,1793247701165378816
+45,0.750000000,BASELINE,765,745,715,679,658.871761112,634,877,784.871761112,809,651,629.128238888,652,0.40098657414,-0.0153400871012,0.0798463332066,0.999999917574,0.000304933938926,-0.000265920865773,3.39665656111e-05,1793247701182045440
+46,0.766666667,BASELINE,765,745,715,679,658.293000204,634,877,784.293000204,809,651,629.706999796,652,0.40098402374,-0.015339708344,0.079844901944,0.999999916423,0.000306524757595,-0.000268384600078,3.41381643501e-05,1793247701198712064
+47,0.783333333,BASELINE,765,744.715578044,715,679.284421956,658.284421956,634,877,784.284421956,809,651,629.715578044,652,0.400984008784,-0.015339612385,0.0798451897399,0.999999916134,0.000307677087984,-0.000268136268296,3.42160000232e-05,1793247701215378944
+48,0.800000000,BASELINE,765,744.139528477,715,679.860471523,658.860471523,634,877,784.860471523,809,651,629.139528477,652,0.400986593505,-0.0153398063889,0.0798472401455,0.999999916725,0.00030837982146,-0.000265107162213,3.41976972219e-05,1793247701232046080
+49,0.816666667,BASELINE,765,744.434905266,715,679.565094734,659,634,877,785,809,651,629.434905266,652.434905266,0.400987630585,-0.0153412772798,0.0798475789849,0.999999917545,0.000306742744836,-0.000263857888396,3.46187769498e-05,1793247701248712960
+50,0.833333333,BASELINE,765,745,715.00908749,679.00908749,659,634,877,785,809,651,630,653,0.400988174563,-0.0153431209915,0.0798473815885,0.999999918423,0.000304384694424,-0.000263188027136,3.51654643607e-05,1793247701265379840
+51,0.850000000,BASELINE,765,745,715.600242951,679.600242951,659,634,877,785,809,651,630,653,0.400988819762,-0.0153427024018,0.0798478788258,0.999999918629,0.000303750716234,-0.000263191445019,3.47619222644e-05,1793247701282046208
+52,0.866666667,BASELINE,765,744.812240654,715.812240654,680,659,634,877.187759346,784.812240654,809,651,629.812240654,653,0.400988924776,-0.0153420252328,0.0798481880668,0.999999918406,0.000304529232808,-0.00026316715664,3.4536593616e-05,1793247701298712576
+53,0.883333333,BASELINE,765,744.232324889,715.232324889,680,659,634,877.767675111,784.232324889,809,651,629.232324889,653,0.400987901551,-0.0153408079925,0.0798481046569,0.99999991728,0.000308257902894,-0.00026308500063,3.4683483732e-05,1793247701315378944
+54,0.900000000,BASELINE,765,744,715,679.655804883,659,634,878,784.344195117,809,651,629,653,0.400986982765,-0.0153403991108,0.0798475571457,0.999999916708,0.000309227060249,-0.000264117698067,3.47181189146e-05,1793247701332045568
+55,0.916666667,BASELINE,765,744,715,679.081554579,659,634,878,784.918445421,809,651,629,653,0.400986133785,-0.0153405305247,0.0798466994357,0.999999916508,0.000308351797858,-0.000265895547916,3.46777244688e-05,1793247701348712448
+56,0.933333333,BASELINE,765.503403772,744,715,679,659,634,877.496596228,785,809,651,629,653,0.400985888988,-0.0153407975507,0.0798463029539,0.999999916357,0.000308419516102,-0.000266356595121,3.49038324451e-05,1793247701365379328
+57,0.950000000,BASELINE,765.910411553,744.089588447,715,679,658.910411553,634,877,785,809,651,629,653,0.400985883021,-0.0153411939017,0.0798461736701,0.999999916442,0.000308165654154,-0.000266301227151,3.51197383409e-05,1793247701382046208
+58,0.966666667,BASELINE,765.327236118,744.672763882,715,679,658.327236118,634,877,785,809,651,629,653,0.400986641884,-0.0153421790937,0.0798470958851,0.999999917781,0.000305280076633,-0.00026460155934,3.5036393228e-05,1793247701398712832
+59,0.983333333,BASELINE,765,745,715,679.252425398,658.252425398,634,877.252425398,785,809,651,629,652.747574602,0.400987085608,-0.0153428639194,0.0798477650179,0.999999918458,0.00030385513318,-0.000263689180846,3.49803615701e-05,1793247701415379200
+60,1.000000000,BASELINE,765,745,715,679.827594201,658.827594201,634,877.827594201,785,809,651,629,652.172405799,0.400987126407,-0.015343164706,0.0798481105677,0.9999999183,0.000304297711456,-0.000263783406204,3.49592520505e-05,1793247701432045568
+61,1.016666667,BASELINE,765,744.599225102,715,679.599225102,659,634,877.599225102,785,809,651,629,652.400774898,0.400986798202,-0.0153424508427,0.0798476026307,0.999999918128,0.000304302141888,-0.000264456683334,3.47326188393e-05,1793247701448712448
+62,1.033333333,BASELINE,765,744.026895465,715,679.026895465,659,634,877.026895465,785,809,651,629,652.973104535,0.400986312043,-0.0153413026507,0.0798467293522,0.999999917951,0.00030411901978,-0.000265377827968,3.44180096519e-05,1793247701465379328
+63,1.050000000,BASELINE,765,744,715,679.565828922,659,634,877,784.434171078,809,651,629,652.434171078,0.400984390838,-0.0153422534446,0.0798451944109,0.999999917819,0.000302418635843,-0.000267842388617,3.41487209534e-05,1793247701482045696
+64,1.066666667,BASELINE,765,744,715,680,659,634,877,784,809,651,629,652,0.400983570082,-0.0153426850248,0.0798446770765,0.999999917639,0.000302150070324,-0.000268827959774,3.40287013953e-05,1793247701498712320
+65,1.083333333,BASELINE,765,744,715,680,659,634,877,784,809,651,629,652,0.400985936275,-0.0153414221537,0.0798470175003,0.999999917332,0.000305981162964,-0.000265582007694,3.4308772594e-05,1793247701515379200
+66,1.100000000,BASELINE,765,744,715,679.689285661,659,634,877.310714339,784,809,651,629,652,0.400986713404,-0.0153417088478,0.0798475020169,0.999999917861,0.000304747574544,-0.000265027307306,3.41812534729e-05,1793247701532046080
+67,1.116666667,BASELINE,765,744,715,679.114460678,659,634,877.885539322,784,809,651,629,652,0.400986139812,-0.0153433126896,0.0798464089915,0.999999919088,0.000299208950667,-0.000266760200964,3.370727803e-05,1793247701548712704
+68,1.133333333,BASELINE,765.456407797,744,715,679,659,634,878,784.456407797,809,651,629,652,0.400985388274,-0.0153425431209,0.0798459656561,0.999999917858,0.000302785745143,-0.000267320100908,3.38387700633e-05,1793247701565379328
+69,1.150000000,BASELINE,765.972433198,744,715,679.027566802,658.972433198,634,877.972433198,785,809,651.027566802,629,652,0.400984555475,-0.015341203141,0.0798456525411,0.999999916049,0.000308388898033,-0.000267649221077,3.40959421511e-05,1793247701582045952
+70,1.166666667,BASELINE,765.374930513,744,715,679.625069487,658.374930513,634,877.374930513,785,809,651.625069487,629,652,0.400982957338,-0.0153402702748,0.0798446920468,0.999999915434,0.000309029820143,-0.000269236654333,3.38391874594e-05,1793247701598712320
+71,1.183333333,BASELINE,765,744.214553356,715.214553356,679.785446644,658.214553356,634,877,785,809,651.785446644,629,652.214553356,0.400983448184,-0.015339803353,0.0798453090427,0.999999915774,0.000308738830895,-0.000268298419227,3.38774801588e-05,1793247701615378944
+72,1.200000000,BASELINE,765,744.790529345,715.790529345,679.209470655,658.790529345,634,877,785,809,651.209470655,629,652.790529345,0.400987457994,-0.0153401213305,0.0798485833759,0.999999917709,0.000306878004464,-0.000263105607657,3.44127904686e-05,1793247701632045568
+73,1.216666667,BASELINE,765,745,715.633183759,679,659,634,877.366816241,785,809,651,629,652.633183759,0.400987350624,-0.0153404466951,0.0798485110362,0.999999918113,0.000305586324855,-0.000263076404082,3.43848557262e-05,1793247701648712448
+74,1.233333333,BASELINE,765,745,715.056719203,679,659,634,877.943280797,785,809,651,629,652.056719203,0.400984890141,-0.0153407762817,0.0798465259556,0.999999917647,0.000304619932681,-0.00026599838345,3.40350066986e-05,1793247701665379328
+75,1.250000000,BASELINE,765,745,715,679.530663671,659,634,878,785,809,651,629,652,0.400986239826,-0.0153398901721,0.0798470825353,0.999999917711,0.000305871520784,-0.000264310481621,3.40677789419e-05,1793247701682046208
+76,1.266666667,BASELINE,765,744.882679557,715,679.882679557,659,634,878,785,809,651,629,652.117320443,0.400987390604,-0.0153393878523,0.0798475174288,0.999999917809,0.000306756967489,-0.000262904335749,3.41172522297e-05,1793247701698713088
+77,1.283333333,BASELINE,765,744.303570741,715,679.303570741,659,634,878,785,809,651,629,652.696429259,0.400986121822,-0.0153409183754,0.0798463815918,0.999999917828,0.000305248511823,-0.000264587369711,3.40681098721e-05,1793247701715379456
+78,1.300000000,BASELINE,765,744.273796656,715,679.273796656,659,634,877.726203344,785,808.726203344,651,629,652.726203344,0.400985149138,-0.01534208431,0.0798456500817,0.999999917889,0.00030371057872,-0.000266116876416,3.40994188283e-05,1793247701732045824
+79,1.316666667,BASELINE,765,744.84924543,715,679.84924543,659,634,877.15075457,785,808.15075457,651,629,652.15075457,0.400984502676,-0.0153428485635,0.079845364034,0.999999917998,0.000302140169311,-0.000267477236233,3.42193640388e-05,1793247701748712448
+80,1.333333333,BASELINE,765,744.576674195,715,679.576674195,659,634,877.423325805,785,808.423325805,651,629.423325805,652.423325805,0.400985148343,-0.015342045769,0.0798462346049,0.999999917587,0.000304524115113,-0.000266280914811,3.44268861274e-05,1793247701765379328
+81,1.350000000,BASELINE,765,744.003079515,715,679.003079515,659,634,877.996920485,785,808.996920485,651,629.996920485,652.996920485,0.400986252678,-0.015340686716,0.0798475157433,0.999999916976,0.000308311746781,-0.000264177042843,3.46654955785e-05,1793247701782045952
+82,1.366666667,BASELINE,765,744,715,679,659,634,878,785,809,651,629.411341385,653,0.400986580309,-0.0153414035066,0.0798469262149,0.999999917591,0.000305717648575,-0.000264892491113,3.44342605661e-05,1793247701798712576
+83,1.383333333,BASELINE,765.176095702,744.176095702,715,679,659,634,878,785,809,651,629,653,0.400986096509,-0.0153411212533,0.0798462834419,0.999999917498,0.000305113058077,-0.000265964076352,3.42414148739e-05,1793247701815379200
+84,1.400000000,BASELINE,765.753507778,744.753507778,715,679,659,634,878,785,809,651,629,653,0.400983773037,-0.0153385366761,0.0798455423378,0.999999915777,0.000309120994379,-0.000267812604814,3.41418368754e-05,1793247701832045824
+85,1.416666667,BASELINE,766,745,715.329650529,679,659,634,878,784.670349471,809,651,629,653,0.400983684559,-0.0153390296633,0.0798456071572,0.999999915866,0.000309044199563,-0.000267562947309,3.4202302485e-05,1793247701848712448
+86,1.433333333,BASELINE,766,745,715.904847764,679,659,634,878,784.095152236,809,651,629,653,0.40098526086,-0.0153418150353,0.0798462722849,0.999999917302,0.000305924811888,-0.000265750414452,3.43819797419e-05,1793247701865378816
+87,1.450000000,BASELINE,765.509097362,744.509097362,715.509097362,679.490902638,659,634,877.509097362,784.490902638,809,651,629,653,0.400986425334,-0.0153417834725,0.0798464107825,0.999999917382,0.000305829541716,-0.000265583736993,3.41912922494e-05,1793247701882045440
+88,1.466666667,BASELINE,765,744,715,680,659.077934583,634,877,785,809,651,629,652.922065417,0.400987256755,-0.0153412945615,0.0798464848459,0.999999917226,0.000306211601085,-0.000265759400666,3.39833185637e-05,1793247701898711808
+89,1.483333333,BASELINE,765,744,715,680,659.657404512,634,877,785,809,651,629,652.342595488,0.400986470187,-0.0153414556922,0.079846816013,0.99999991727,0.00030580792732,-0.000266038721563,3.41365329926e-05,1793247701915378432
+90,1.500000000,BASELINE,765,744.236404829,715,680,659.763595171,634,877,784.763595171,809,651,629,652,0.400986002177,-0.0153413019247,0.0798466705639,0.999999917115,0.000306263322655,-0.000266102161107,3.40976098292e-05,1793247701932045056
+91,1.516666667,BASELINE,765,744.814725888,715,680,659.185274112,634,877,784.185274112,809,651,629,652,0.400985994904,-0.0153406927145,0.0798458357768,0.99999991667,0.00030796120393,-0.000265853367838,3.37807948616e-05,1793247701948711680
+92,1.533333333,BASELINE,765,744.610353278,715,679.610353278,659,634,877,784.389646722,809,651,629,652,0.400985302988,-0.0153409972839,0.0798454614331,0.999999916751,0.000306901920585,-0.000266791303771,3.36406569174e-05,1793247701965378304
+93,1.550000000,BASELINE,765,744.03703519,715,679.03703519,659,634,877,784.96296481,809,651,629,652,0.400984288345,-0.01534173259,0.0798453041328,0.999999917073,0.000304542967288,-0.000268288639163,3.35838008223e-05,1793247701982044928
+94,1.566666667,BASELINE,765.551623633,744.551623633,715,679,659,634,877.551623633,785,809,651,629,652,0.400985618318,-0.0153424405838,0.0798460292673,0.999999917873,0.000303211479842,-0.000266798323282,3.36939428677e-05,1793247701998711808
+95,1.583333333,BASELINE,765.860927956,744.860927956,715,679.139072044,658.860927956,634,877.860927956,785,809,651,629,652.139072044,0.400986508799,-0.015342594686,0.079846524938,0.99999991832,0.000302710067894,-0.000265680172406,3.37864444776e-05,1793247702015378432
+96,1.600000000,BASELINE,765.280679935,744.280679935,715,679.719320065,658.280679935,634,877.280679935,785,809,651,629,652.719320065,0.400985491439,-0.0153409976705,0.0798460993655,0.99999991755,0.000304616798611,-0.000266397153516,3.37864005491e-05,1793247702032044800
+97,1.616666667,BASELINE,765,744.296796115,715,680,658.296796115,634,877,785,809,651,629.296796115,653,0.400985622121,-0.0153407639157,0.0798463641819,0.999999917371,0.000305706303961,-0.000265803578408,3.39157713363e-05,1793247702048711680
+98,1.633333333,BASELINE,765,744.871674935,715,680,658.871674935,634,877,785,809,651,629.871674935,653,0.40098682846,-0.0153418074663,0.0798472758573,0.999999917746,0.000306030111033,-0.000263982079441,3.41663970603e-05,1793247702065378304
+99,1.650000000,BASELINE,765,745,715,680,659,634,877.457553705,785,809,651,629.542446295,652.542446295,0.400986955156,-0.0153421455475,0.0798471872146,0.999999917764,0.000305533002264,-0.000264479786358,3.42460831137e-05,1793247702082044928
+100,1.666666667,BASELINE,765,745,715.045750092,679.954249908,659,634,878,785,809,651,629,652,0.400986843371,-0.0153421550859,0.0798469127595,0.999999917661,0.000305028232336,-0.000265443616328,3.42757850504e-05,1793247702098711808
+101,1.683333333,BASELINE,765,745,715.624127471,679.375872529,659,634,878,785,809,651,629,652,0.400987567181,-0.015340699888,0.079847821683,0.999999917364,0.000307180695821,-0.00026407505018,3.42954561565e-05,1793247702115378432
+102,1.700000000,BASELINE,765.202257828,744.797742172,716,679.202257828,659,634,878,785,809,651,629,652,0.400987549575,-0.0153403032838,0.0798480804137,0.999999917303,0.000307769090806,-0.000263618336928,3.43068048748e-05,1793247702132045312
+103,1.716666667,BASELINE,765.779929617,744.220070383,716,679.779929617,659,634,878,785,809,651,629,652,0.400986155817,-0.0153418715521,0.0798471323108,0.999999917687,0.000305454393216,-0.000264854128454,3.43027062755e-05,1793247702148711936
+104,1.733333333,BASELINE,765.647872888,744,715.647872888,679.647872888,659,634,877.647872888,785,809,651,629,652,0.400985670226,-0.0153415528712,0.0798469600119,0.999999917355,0.000306105955622,-0.000265361564489,3.42288366067e-05,1793247702165378560
+105,1.750000000,BASELINE,765.079044255,744,715.079044255,679.079044255,659,634,877.079044255,785,809,651,629,652,0.400985743525,-0.0153400729486,0.0798472651482,0.999999916582,0.000308582975229,-0.000265420765516,3.4112029327e-05,1793247702182045184
+106,1.766666667,BASELINE,765.512027662,744.512027662,715,679,658.487972338,634,877.512027662,785,809,651,629,652,0.400987134918,-0.0153406733323,0.079848223256,0.99999991725,0.00030778411913,-0.000263807909866,3.42538102239e-05,1793247702198712064
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,680,659,634,877,785,809,651,629,652,0.400984638991,-0.01534391802,0.079845752705,0.999999917946,0.000302447359668,-0.000267326116748,3.42242586261e-05,1793247702241080576
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.572498114,744,715.427501886,679.427501886,659,634,877,785,809,651,629,652,0.400985457286,-0.0153414185538,0.0798468449888,0.999999916937,0.000307040864264,-0.000265868939769,3.41480165437e-05,1793247702257747200
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.854495874,744.145504126,715,679.145504126,659,634,877,784.854495874,809,651,629,652,0.400986156581,-0.0153397943417,0.0798476673864,0.999999916491,0.000309636067277,-0.000264539432141,3.40961827782e-05,1793247702274414080
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.279992259,744.720007741,715,679.720007741,659,634,877,784.279992259,809,651,629,652,0.400986505023,-0.0153407506985,0.0798476940609,0.999999917757,0.000306339545938,-0.000263586340225,3.41163136601e-05,1793247702291080704
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.305523461,745,715,679.694476539,659,634,877,784.305523461,809,651,629,652,0.400986613468,-0.0153411233781,0.0798474798706,0.999999918147,0.000305189891859,-0.000263446163135,3.40797845068e-05,1793247702307747328
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.901508365,745,715,679.098491635,659,634,877,784.901508365,809,651,629,652,0.400986493748,-0.0153409411553,0.0798470366898,0.999999917711,0.000306081266716,-0.000264078825002,3.39893886035e-05,1793247702324413952
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,634,877,785,809,651,629,652.480792717,0.400985589447,-0.0153409718786,0.0798466328361,0.999999917497,0.00030518547257,-0.000265919948894,3.3964977391e-05,1793247702341080576
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.943651171,745,715,679,658.943651171,634,877.056348829,785,809.056348829,651,629,653,0.400984780478,-0.0153411064973,0.0798463416293,0.999999917391,0.000303979294185,-0.000267697755433,3.39523200992e-05,1793247702357747200
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.371953898,745,715,679,658.371953898,634,877.628046102,785,809.628046102,651,629,653,0.400986263984,-0.0153418057453,0.0798470094482,0.999999917902,0.000303170330953,-0.000266708411728,3.39276869771e-05,1793247702374413824
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.793845052,715,679,658,634,877.793845052,785,809.793845052,651,629,653,0.400991884908,-0.0153421845795,0.0798496424794,0.999999918834,0.000303892910424,-0.000262323747154,3.4170736019e-05,1793247702391080448
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.203796903,715,679,658,634,877.203796903,785,809.203796903,651,629,653,0.401005210362,-0.0153419667523,0.0798559350471,0.999999920467,0.000307467465315,-0.000251616456846,3.49122516945e-05,1793247702407747072
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.380443213,715,679,658.380443213,634,877,785,809,651,629,652.619556787,0.401036818312,-0.0153444091072,0.0798673672441,0.999999925875,0.000306775754627,-0.000229931740997,3.56325549604e-05,1793247702424413952
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.961618903,715,679,658.961618903,634,877,785,809,651,629,652.038381097,0.401078072619,-0.0153482550486,0.0798815112539,0.999999932688,0.000303833043083,-0.000202455027381,3.63416660129e-05,1793247702441080832
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877.539055219,785,809,651,629,652,0.401144082934,-0.0153486247078,0.0798993572179,0.999999939183,0.000303679566178,-0.000167596725826,3.63960937211e-05,1793247702457747200
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.115485114,659,634,877.884514886,784.884514886,809,651,629,652,0.401213587218,-0.015349356296,0.0799158975366,0.999999943835,0.000303568240441,-0.000137362775876,3.61524403121e-05,1793247702474413824
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.688972444,659,634,877.311027556,784.311027556,809,651,629,652,0.401290005932,-0.0153524981095,0.0799262216678,0.999999945401,0.000302841899996,-0.000127538537989,3.49102200828e-05,1793247702491080448
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,784.270828298,809,651,629,652,0.401376321544,-0.0153564491773,0.0799341340924,0.999999947267,0.000301496222111,-0.000115976207714,3.34005426475e-05,1793247702507747072
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,784.862601222,809,651,629,652,0.401474365453,-0.0153613592503,0.0799391885275,0.999999949438,0.00029941659945,-0.000102354154517,3.15739155664e-05,1793247702524413696
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.444479973,634.444479973,877,784.555520027,809,651,629,652,0.401586283542,-0.0153651120533,0.0799422149817,0.99999995071,0.000297756221229,-9.55783924154e-05,2.80478173098e-05,1793247702541080320
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.977665881,715,679.977665881,659.977665881,634.977665881,877,784.022334119,809,650.977665881,629,652.022334119,0.401703526813,-0.0153685881354,0.0799447275435,0.999999951774,0.000296042369644,-9.07488307874e-05,2.40091886214e-05,1793247702557747200
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.424362642,715,679.424362642,659.424362642,634.424362642,877,784.575637358,809,650.424362642,629,652.575637358,0.401847628735,-0.0153738051169,0.0799496020736,0.999999954295,0.000290043290387,-8.29699194857e-05,2.00032434101e-05,1793247702574413824
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,784.857770383,809,650.142229617,628.857770383,653,0.401997660514,-0.0153789690311,0.0799540235282,0.999999956693,0.000284127754182,-7.5096375148e-05,1.56944422945e-05,1793247702591080192
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,784.247442105,809,650.752557895,628.247442105,653,0.402167208302,-0.015383958292,0.0799569538439,0.99999995893,0.000278487171746,-6.69113810802e-05,1.03888984989e-05,1793247702607747072
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.344966497,715,679,659,634,877,784.344966497,809,651,628.344966497,652.655033503,0.40235285457,-0.0153905367981,0.0799549374434,0.99999996183,0.00026706641826,-7.0725728918e-05,3.73149697604e-06,1793247702624413696
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.925156223,715,679,659,634,877,784.925156223,809,651,628.925156223,652.074843777,0.402549477971,-0.0153981989676,0.0799495480125,0.999999964894,0.000251704323406,-8.27220993221e-05,-3.84769993348e-06,1793247702641080320
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,809,651,629,652,0.402772461063,-0.0154057009969,0.0799450980028,0.999999979298,0.00018181745963,-9.05835183218e-05,-1.19147705646e-05,1793247702657746944
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.074754178,659,634,877,785,809,651,629,652.074754178,0.403004655369,-0.0154133665234,0.0799419136655,0.999999988853,0.0001127747595,-9.58011745164e-05,-1.99741000172e-05,1793247702674413824
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.647157325,659,634,877,785,809,651,629,652.647157325,0.403272180786,-0.0154222783658,0.0799462288627,0.999999990478,0.000103110397923,-8.74957923515e-05,-2.75008808178e-05,1793247702691080448
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.22797217,744.77202783,715,679.77202783,659,634,877.22797217,785,809,651,629.22797217,652.77202783,0.403565800071,-0.0154316124808,0.0799508637516,0.99999999083,0.000105992653752,-7.92785311035e-05,-2.86591520755e-05,1793247702707747328
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.822304924,744.177695076,715,679.177695076,659,634,877.822304924,785,809,651,629.822304924,652.177695076,0.40390135325,-0.0154416252046,0.0799560123979,0.999999988948,0.000129037836529,-7.12028842515e-05,-1.95829680453e-05,1793247702724413952
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.593956895,744,715,679,659,634,877.593956895,785,808.593956895,651,629.593956895,652.406043105,0.404253260234,-0.0154466367133,0.0799564005755,0.999999990668,0.00011663302149,-6.76671768078e-05,-2.19605075136e-05,1793247702741080576
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.014737293,744,715,679,659,634,877.014737293,785,808.014737293,651,629.014737293,652.985262707,0.404612142072,-0.0154495152143,0.0799547584234,0.99999999342,8.91088590749e-05,-6.60677437899e-05,-2.92230352867e-05,1793247702757746944
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,715,679.559690072,659,634,877,785,808.559690072,651,629,652.440309928,0.405028420977,-0.0154608106178,0.0799514717793,0.999999994485,7.37942107014e-05,-6.71135014522e-05,-3.28627358772e-05,1793247702774413568
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.137071589,715,680,659,634.137071589,877.137071589,784.862928411,809,651,629,652,0.40544875348,-0.0154714906448,0.0799475986677,0.999999995151,5.8602613977e-05,-7.0861900927e-05,-3.5258443749e-05,1793247702791080448
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.724571712,715,680,659,634.724571712,877.724571712,784.275428288,809,651,629,652,0.405877482159,-0.0154794263899,0.0799419394604,0.999999995045,4.27679019041e-05,-8.32644681088e-05,-3.38770972732e-05,1793247702807747840
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.690608927,715,680,659,634.690608927,878,784,809,651,629,652,0.406336477072,-0.0154887328215,0.0799362006262,0.999999994383,3.55448435836e-05,-9.44262035973e-05,-3.24799182019e-05,1793247702824414464
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.108155486,715,680,659,634.108155486,878,784,809,651,629,652,0.406822184405,-0.0154992489944,0.0799303915143,0.999999993413,3.59222567387e-05,-0.000104492807283,-3.10687654488e-05,1793247702841080832
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,878,784.462708522,809,651,628.537291478,652.462708522,0.407334787812,-0.0155037742497,0.0799245562827,0.999999992194,2.93124465593e-05,-0.000117025077774,-3.25319374433e-05,1793247702857747456
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.031543902,715,680,659,634,878,785,809,651,628.031543902,653,0.407856178181,-0.0155069021085,0.0799187536358,0.999999990747,2.11866166408e-05,-0.000129844515096,-3.4607346806e-05,1793247702874414336
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.61104842,715,680,659,634,878,785,809,651,628.61104842,653,0.408423668802,-0.0155094867521,0.079913620489,0.999999989745,1.44035198534e-05,-0.000137885347278,-3.59322648811e-05,1793247702891080960
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.804838771,744.804838771,715,680,659,634,877.804838771,785,809,651,629,653,0.409017954493,-0.015510440307,0.0799201550722,0.999999991134,1.13240958063e-05,-0.00012753939107,-3.65768928266e-05,1793247702907747328
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.21131968,744.21131968,715,680,659,634,877.21131968,785,809,651,629,653,0.409666933528,-0.0155080645275,0.0799505055128,0.99999999606,1.5804509574e-05,-7.96628150771e-05,-3.58329306842e-05,1793247702924413952
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.37191234,744.37191234,715,680,659.37191234,634.37191234,877.37191234,784.62808766,809,651,629,653,0.410342286135,-0.0155079908194,0.0799779906074,0.999999998658,1.46210052458e-05,-3.55870844672e-05,-3.46889655365e-05,1793247702941080576
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.949456575,744.949456575,715,680,659.949456575,634.949456575,877.949456575,784.050543425,809,651,629,653,0.41103222078,-0.0155091899364,0.080003891439,0.999999999371,1.03058966615e-05,6.38714118254e-06,-3.3323837052e-05,1793247702957747200
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634.477328345,878,784.522671655,809.522671655,651,629,653,0.411702580466,-0.0155096225632,0.079979082795,0.99999999867,6.82088083923e-06,-3.55512695282e-05,-3.67252478756e-05,1793247702974413824
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.901604777,810,651,629,653,0.412375633929,-0.0155101243999,0.0799491169763,0.999999995708,3.01246712301e-06,-8.30611380086e-05,-4.09379608638e-05,1793247702991080448
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.311263864,810,651,629,653,0.413071541589,-0.0155113398034,0.0799176825252,0.999999991911,-2.81087160757e-06,-0.000118189713998,-4.69213356402e-05,1793247703007747328
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.273804505,810,651,629,653,0.413809910136,-0.0155129834253,0.0799103501918,0.999999991503,-5.74073765537e-06,-0.000120454464086,-4.95182015027e-05,1793247703024414208
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784.852992305,810,651,629,653,0.414595636814,-0.0155151046538,0.0799298997501,0.999999995113,-5.44341787662e-06,-8.60650977955e-05,-4.83379818207e-05,1793247703041081088
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,785,810,651,629.42874099,653,0.41539184089,-0.0155148991226,0.0799481901278,0.999999996896,-6.10729670183e-06,-6.29776615154e-05,-4.69554277382e-05,1793247703057747712
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.996674698,715,680,660,633.996674698,878,785,810,650.996674698,629.996674698,653,0.416191753074,-0.0155138983776,0.0799658606065,0.999999997972,-7.09194538398e-06,-4.39576331001e-05,-4.55251356465e-05,1793247703074414080
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.421145804,715,680,660,633.421145804,878,785,810,650.421145804,629.421145804,653,0.417016483707,-0.0155122509904,0.0799505643228,0.999999996832,-7.01223400046e-06,-6.33126311082e-05,-4.77233543632e-05,1793247703091080704
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.158689863,715,680,660,633.158689863,877.841310137,785,810,650.158689863,629,653,0.417860671673,-0.015512112744,0.0799482154321,0.999999996965,-7.85195966484e-06,-5.97877081485e-05,-4.9325417459e-05,1793247703107747328
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.750274057,715,680,660,633.750274057,877.249725943,785,810,650.750274057,629,653,0.418757937769,-0.015516091323,0.0799811860825,0.999999998703,-1.11998422821e-05,6.15196564371e-06,-4.93012114372e-05,1793247703124413952
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,877.333157896,785,810.333157896,651,629,653,0.419627337334,-0.0155190024889,0.0799882219929,0.999999998419,-1.41265272236e-05,2.19246668454e-05,-4.98193253437e-05,1793247703141080576
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,877.909686138,785,810.909686138,651,629,653,0.420476380483,-0.0155211339141,0.0799763126908,0.999999998572,-1.67455290311e-05,1.05061709222e-06,-5.07336016168e-05,1793247703157747200
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.485455348,785,811,651,629.485455348,653,0.421362356261,-0.0155220599339,0.079971288068,0.999999998337,-2.29216737141e-05,-8.50877778614e-06,-5.22413027888e-05,1793247703174413824
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651,630,653,0.422261683793,-0.0155232255652,0.0799710271731,0.999999998103,-2.88952974551e-05,-1.06347392539e-05,-5.33491378671e-05,1793247703191080448
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,879,785,811,651,630,653,0.423215693123,-0.0155282956625,0.0800001217717,0.999999997844,-2.75971756996e-05,3.21518739014e-05,-5.01601359972e-05,1793247703207747072
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.217554667,660,634,879,785,811,651,629.782445333,653,0.42412597688,-0.0155294155664,0.0800027108263,0.999999998233,-2.30083002946e-05,2.38637359803e-05,-4.93497053723e-05,1793247703224413952
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.810676832,660,634,879,785,811,651,629.189323168,653,0.42496077676,-0.0155237161998,0.0799595430145,0.999999995898,-1.27385530551e-05,-7.25954131237e-05,-5.26454330262e-05,1793247703241080576
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.376348848,633.623651152,879,785,811,651,629.376348848,653,0.425863292475,-0.0155230035974,0.0799301698252,0.999999992721,-1.23943957466e-05,-0.000106038798168,-5.62068960425e-05,1793247703257747200
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.929150691,633.070849309,879,785,811,651,629.929150691,653,0.42679755704,-0.0155246290642,0.0799072643146,0.999999992024,-1.67039004007e-05,-0.000109936928955,-5.98929503384e-05,1793247703274413824
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.476516464,745,715,680.476516464,661,633.523483536,879.523483536,785,811,651,630,653.523483536,0.427720889757,-0.0155271237007,0.0799085176205,0.999999991566,-2.39792045414e-05,-0.000112683039852,-5.99709145225e-05,1793247703291080448
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.119120044,745,715,680.119120044,660.880879956,633.880879956,879.880879956,784.880879956,811,651,630,653.880879956,0.428653972531,-0.0155296412681,0.0799180746355,0.999999991973,-3.14156381438e-05,-0.000107485622238,-5.92804525466e-05,1793247703307747328
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.696292953,745,715,680.696292953,660.303707047,633.303707047,879.303707047,784.303707047,811,651,630,653.303707047,0.429630726752,-0.0155317556885,0.0799459054935,0.999999995002,-3.77951620864e-05,-7.23941283188e-05,-5.76747319124e-05,1793247703324414464
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.719570769,660.280429231,633.280429231,879,784.280429231,811,651,630,653,0.43059752682,-0.0155344448435,0.0799813177329,0.999999997469,-3.95072056806e-05,-2.29364410211e-05,-5.45449855968e-05,1793247703341081344
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.127701118,660.872298882,633.872298882,879,784.872298882,811,651,630,653,0.431553271891,-0.0155377722897,0.0800251497368,0.999999997212,-3.60356164214e-05,4.24761187961e-05,-4.97226796431e-05,1793247703357747968
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,879,785,811,651,630,653,0.432423178911,-0.0155354611861,0.080001413074,0.999999997683,-4.3940080547e-05,1.31435470869e-06,-5.19674012108e-05,1793247703374414336
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.972022681,879,785,811.027977319,651,630,653,0.433271150148,-0.0155317643815,0.0799588047643,0.999999994616,-5.39316714288e-05,-6.85135348632e-05,-5.62614249785e-05,1793247703391080704
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.39515337,879,785,811.60484663,651,630,653,0.434152076621,-0.0155313158424,0.0799106582138,0.999999989219,-4.34676995865e-05,-0.000125502736865,-6.26161606379e-05,1793247703407747328
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.181283447,745,715,680,660.818716553,633,879,784.818716553,812,651,630,653,0.435050239936,-0.0155326480745,0.0798905107777,0.999999986194,-3.95818985772e-05,-0.000147304522252,-6.59294927828e-05,1793247703424413952
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.756779889,745,715,680,660.243220111,633,879,784.243220111,812,651,630,653,0.435985886084,-0.0155378527127,0.0799312492816,0.999999992502,-5.00007687029e-05,-9.25889254585e-05,-6.26290908053e-05,1793247703441080832
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.656601927,745,715,680.343398073,660.343398073,633.343398073,879,784.343398073,812,651,630,653.343398073,0.436900761369,-0.0155411244442,0.0799720538324,0.999999996382,-5.05808408131e-05,-3.61906557261e-05,-5.80329719914e-05,1793247703457747712
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.061842871,745,715,680.938157129,660.938157129,633.938157129,879,784.938157129,812,651,630,653.938157129,0.437800432713,-0.0155429813237,0.0800129067258,0.999999997426,-4.39590956065e-05,2.14392959217e-05,-5.2488412761e-05,1793247703474414848
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.514998159,745,715,681,661,633.485001841,879,785,812,651,630,654,0.438661417904,-0.0155452549882,0.0800292697511,0.999999995902,-5.19920701013e-05,5.12157776982e-05,-5.356733579e-05,1793247703491081472
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.910968826,745,715,681,661,633,879,785,812,651,630,653.910968826,0.439500428946,-0.0155465105966,0.080032134293,0.999999994876,-5.91569626839e-05,6.04299642858e-05,-5.56533934247e-05,1793247703507748096
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.340873213,745,715,681,661,633,879,785,812,651,630,653.340873213,0.440244964062,-0.0155420039782,0.079977418139,0.999999996595,-5.24423012548e-05,-2.39955253121e-05,-5.90281711627e-05,1793247703524414720
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.240055797,745,715,681,661,633,879,785,812,651,630.240055797,653,0.440975193562,-0.0155383851884,0.0799110139249,0.999999988755,-5.19392349156e-05,-0.000124996568527,-6.45666401191e-05,1793247703541081344
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.837094937,745,715,681,661,633,879,785,812,651,630.837094937,653,0.441684149329,-0.0155360866755,0.0798272285785,0.999999964059,-6.06733381186e-05,-0.000250646858457,-7.33227010557e-05,1793247703557747712
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.580530027,745,715,681.419469973,661,633,879,785,812.419469973,651,630.580530027,653,0.442474986675,-0.0155410340605,0.0798422571836,0.999999970702,-7.22551756903e-05,-0.000219458806574,-7.22008027385e-05,1793247703574414336
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003657522,745,715,681.996342478,661,633,879,785,812.996342478,651,630.003657522,653,0.443296549445,-0.0155487004067,0.0798943648751,0.999999985751,-8.49056017658e-05,-0.000129418513339,-6.73722848828e-05,1793247703591080960
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681.432217108,661,633,879,785,813,651,630,653.567782892,0.444056861842,-0.0155515771438,0.0799601845896,0.99999999438,-7.6621006433e-05,-3.85328998939e-05,-6.23192539946e-05,1793247703607748096
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681.140897422,661,633,879,784.859102578,813,651,630.140897422,654,0.444802174829,-0.0155544746603,0.0800127643229,0.999999995225,-7.05794746445e-05,3.42066137731e-05,-5.82903004506e-05,1793247703624415232
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681.719318293,661,633,879,784.280681707,813,651,630.719318293,654,0.445502124506,-0.0155575316028,0.0800239587703,0.999999994485,-7.19180453514e-05,5.05810006138e-05,-5.74458242757e-05,1793247703641081856
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681.694172848,661,633,879,784.305827152,813,651,630.694172848,653.694172848,0.446169726022,-0.015559264995,0.0800206773084,0.999999994489,-7.31566651707e-05,4.84458876191e-05,-5.76540698945e-05,1793247703657748224
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681.100039398,661,633,879,784.899960602,813,651,630.100039398,653.100039398,0.446806832562,-0.0155597506627,0.0800037492621,0.999999995091,-7.43010602062e-05,2.88616840173e-05,-5.8854726865e-05,1793247703674414592
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.478077106,745,715,681.478077106,661,633,879,785,813,651,630,653,0.447378444658,-0.015562048744,0.0799739492371,0.999999994729,-8.12023356116e-05,-9.40051693738e-06,-6.21224125033e-05,1793247703691080704
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.946900917,745,715,681.946900917,661,633,879.053099083,784.946900917,813,651,630,653,0.447930020501,-0.0155645058367,0.079940408389,0.999999992375,-8.92009710296e-05,-5.44390426766e-05,-6.57987122117e-05,1793247703707747584
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.370415863,745,715,681.370415863,661,633,879.629584137,784.370415863,813,651,630,653,0.448414811072,-0.0155649132254,0.0798956837517,0.999999984615,-9.65270049193e-05,-0.000128994526236,-6.9377450906e-05,1793247703724414208
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681.210695345,661.210695345,633,879.789304655,784,813,651,630,653.210695345,0.448904938485,-0.015567189493,0.0798613522916,0.999999975212,-0.000103816422763,-0.000183459925898,-7.16928590936e-05,1793247703741080832
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681.800122146,661.800122146,633,879.199877854,784,813,651,630,653.800122146,0.449404658989,-0.0155728251286,0.0798457028967,0.999999970898,-0.000111040022112,-0.00020181276596,-7.17373914516e-05,1793247703757748224
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661.617147873,633,879,784,813,651,630,653.617147873,0.449900978467,-0.0155763511808,0.0798553246558,0.999999973666,-0.000113963813248,-0.000186251155035,-7.06401752037e-05,1793247703774415360
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661.037853982,633,879,784,813,651,630,653.037853982,0.45039555292,-0.0155787948045,0.079877913065,0.999999979298,-0.000114681369571,-0.000153288010951,-6.89571266896e-05,1793247703791081984
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681.46352015,661,633,879.53647985,783.46352015,813.53647985,651,630,653.53647985,0.450847933683,-0.0155868405558,0.0798993302328,0.999999982316,-0.000126487023916,-0.000122023629663,-6.69326675156e-05,1793247703807748352
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.110665895,745,715,681,661,633,880,783,813.889334105,651,630,653.889334105,0.451276383797,-0.0155946577536,0.0799125126701,0.999999982781,-0.000138123436179,-0.000105035370962,-6.57827101252e-05,1793247703824414720
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.685687079,745,715,681,661,633,880,783,813.314312921,651,630,653.314312921,0.451616798648,-0.0155998725118,0.0798914856894,0.999999976161,-0.000145796929146,-0.000147451521499,-6.84023267355e-05,1793247703841081088
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681.268485689,660.731514311,632.731514311,879.731514311,783,813.268485689,650.731514311,630,653.268485689,0.451938691274,-0.0156042891652,0.0798606868633,0.999999966088,-0.00015282885907,-0.000198644147838,-7.07663946337e-05,1793247703857747712
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.860660819,660.139339181,632.139339181,879.139339181,783,813.860660819,650.139339181,630,653.860660819,0.452238253272,-0.0156077436141,0.0798181069889,0.999999950785,-0.000159087312565,-0.000260417791765,-7.28223698247e-05,1793247703874414080
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.55702528,660,632.44297472,879,782.55702528,813.55702528,650.44297472,630,653.55702528,0.452524517092,-0.0156093909974,0.0797960635918,0.999999940858,-0.000163710752982,-0.000293140085951,-7.45058207017e-05,1793247703891081216
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.977927738,745,715,681.022072262,660,633,879.022072262,782,813.022072262,651,630,653,0.452805993663,-0.0156104337641,0.0797808067171,0.999999933093,-0.000167638657567,-0.000316104409546,-7.60863356366e-05,1793247703907748608
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.403386014,745,715,681.596613986,660,633,879.596613986,782,813.596613986,651,630,653,0.453070065619,-0.0156102606619,0.0797772483151,0.999999932313,-0.00016674986643,-0.000318574894506,-7.79594787119e-05,1793247703924414720
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.175040038,745,715,682.175040038,660.175040038,632.824959962,880,782,813.824959962,651,630,653,0.453321741903,-0.0156093835161,0.079775193035,0.999999931962,-0.000164634005789,-0.000320487925669,-7.91136984979e-05,1793247703941080576
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.762620731,745,715,682.762620731,660.762620731,632.237379269,880,782,813.237379269,651,630,653,0.453544203582,-0.0156068470552,0.0797766803668,0.999999932624,-0.000159626143755,-0.000321087129333,-7.85735337653e-05,1793247703957747200
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.654799024,745,715,683,661,632,880,782,813.345200976,651.345200976,630,653,0.453744045532,-0.0156082086202,0.0797720144863,0.999999928981,-0.000164472778482,-0.000330293533878,-7.67621211387e-05,1793247703974413824
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.075608205,745,715,683,661,632,880,782,813.924391795,651.924391795,630,653,0.453928555024,-0.0156122124093,0.0797631777337,0.99999992214,-0.000175999150857,-0.00034533421384,-7.40890101352e-05,1793247703991080448
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.502667809,745,715,682.497332191,660.497332191,632,879.497332191,782,814,651.497332191,630,653,0.454079465365,-0.0156170308941,0.0797500413049,0.999999915167,-0.000177750864133,-0.000364342486242,-7.2975314776e-05,1793247704007747072
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.919892849,745,715,682,660.080107151,632,879.080107151,781.919892849,814,651,630,653,0.454222274707,-0.0156214157488,0.0797375675321,0.999999908414,-0.000177943056204,-0.000382433227066,-7.24774719108e-05,1793247704024413952
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.346757325,745,715,682,660.653242675,632,879.653242675,781.346757325,814,651,630,653,0.454346273142,-0.0156223789544,0.0797331452893,0.999999904949,-0.000177569345485,-0.000391210644598,-7.4328972345e-05,1793247704041080576
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714.767263957,682,660.767263957,632,880,781.232736043,814,651,630,653,0.454465059828,-0.0156239742249,0.0797338307107,0.99999990486,-0.000177503385876,-0.000391264345272,-7.54007908131e-05,1793247704057747200
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714.178031928,682,660.178031928,632,880,781.821968072,814,651,630,653,0.454575863353,-0.0156265376674,0.0797423398527,0.999999909916,-0.000177908827427,-0.000377955396433,-7.52783227652e-05,1793247704074413824
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714.402975899,682.402975899,660.402975899,632,880,781.597024101,814,651,630,653,0.454669851565,-0.0156276957221,0.0797475241547,0.999999912869,-0.000177374255159,-0.000370372075133,-7.50050488578e-05,1793247704091080448
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714.980422985,682.980422985,660.980422985,632,880,781.019577015,814,651,630,653,0.454756559468,-0.0156282453045,0.079751268944,0.999999914938,-0.000176432697435,-0.000365267704014,-7.46664825213e-05,1793247704107747072
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.870446543,682,660,632,879.870446543,781,814,651,630,653,0.454870923928,-0.0156317977491,0.0797494786717,0.999999913293,-0.000180706232643,-0.000367831301026,-7.38919796678e-05,1793247704141080320
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+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,682.213602083,660.213602083,632,879.786397917,781,813.213602083,651,630,653,0.455030148851,-0.0156278510429,0.07973600957,0.999999905123,-0.00018235627014,-0.000388716401646,-7.34766604463e-05,1793247704274414336
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,682.006553637,660,632,879.993446363,781,813,651,630,653.993446363,0.455039087661,-0.0156246882012,0.0797312760011,0.99999990318,-0.00017854336533,-0.000395544011132,-7.28474025967e-05,1793247704424414208
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,682.583185243,660,632,879.416814757,781,813,651,630,653.416814757,0.45503898112,-0.0156251575668,0.0797298747109,0.999999901901,-0.0001809562198,-0.000397745902511,-7.24685189234e-05,1793247704441080576
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,682.252317652,660,631.252317652,879.747682348,781,813,651,630,653.747682348,0.455039393072,-0.0156257834747,0.0797298347922,0.999999901384,-0.000182928197005,-0.000398088437948,-7.27683240266e-05,1793247704474413824
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.569642386,745,715,683,660,632,879.430357614,781,813.430357614,651,630,653.569642386,0.455040569646,-0.0156229522724,0.0797274455731,0.999999900619,-0.000179590550902,-0.000401847295448,-7.09054292695e-05,1793247704871854080
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.173203883,682,660,631.173203883,879.173203883,781,813,651,629.826796117,653,0.454158537259,-0.0155832006367,0.0796294353215,0.99999982965,-0.000156265856284,-0.000559195263834,-5.98409096831e-05,1793247705205185792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.765262592,682,660,631.765262592,879.765262592,781,813,651,629.234737408,653,0.453988356685,-0.0155737607494,0.0796227900425,0.99999982514,-0.000148883900536,-0.000569485433175,-5.69169543304e-05,1793247705221852416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.349637549,745,715,682,660,632,880,781.349637549,813,651,629.349637549,653,0.453802409924,-0.015566848033,0.0796169432524,0.999999820512,-0.000142779148911,-0.000579467140506,-5.29861038247e-05,1793247705238519040
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.928964826,745,715,682,660,632,880,781.928964826,813,651,629.928964826,653,0.453606105758,-0.0155615955069,0.0796116210183,0.999999815768,-0.000137513438773,-0.000589246208833,-4.83937866767e-05,1793247705255185920
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.494860956,745,715,682,660,632,879.494860956,782,813,651,630,653,0.453392722179,-0.0155528054021,0.0796174653171,0.99999982338,-0.000127202291526,-0.000579013109829,-4.24676186782e-05,1793247705271852544
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.080765458,660,632,879.080765458,782,813,651,630,653,0.453171413283,-0.0155433243977,0.0796250803847,0.999999832432,-0.000115092997794,-0.000566196593304,-3.62068614204e-05,1793247705288519168
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.655736434,660,632,879.655736434,782,813,651,630,653,0.452916214563,-0.0155326409181,0.0796339817733,0.999999841104,-9.62954065598e-05,-0.00055468548024,-2.90393847921e-05,1793247705305185792
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.762882072,660,632,879.762882072,782,813,651,630,653,0.452641159575,-0.0155222896755,0.0796417936225,0.999999848573,-6.58447535667e-05,-0.000545943267424,-2.15417054549e-05,1793247705321852416
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.171934785,660,632,879.171934785,782,813,651,630,653,0.452336474912,-0.0155124342004,0.0796479796515,0.999999853225,-1.80053051693e-05,-0.000541332830909,-1.35512952751e-05,1793247705338519296
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879,782,812.589603013,651,630,653,0.452013463846,-0.0155036326062,0.0796569101342,0.999999860721,1.0905605023e-05,-0.000527628108304,-6.8539503976e-06,1793247705355185664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879,782,812.01080649,651,630,653,0.451682932853,-0.0154952634547,0.0796669667573,0.999999869338,3.20495050705e-05,-0.000510191697654,-6.87193431217e-07,1793247705371852288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.562726355,782.562726355,812,651,630,653,0.451313224903,-0.0154882388807,0.0796762001309,0.999999876073,3.40968493231e-05,-0.000496663643194,4.15561265411e-06,1793247705388519168
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632.139903146,879.860096854,783,812.139903146,650.860096854,630,653,0.450938686261,-0.0154828830102,0.079687348316,0.999999885503,3.09473057866e-05,-0.000477494126264,5.88881370209e-06,1793247705405185792
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632.729103944,879.270896056,783,812.729103944,650.270896056,630,653,0.450551027735,-0.0154828040112,0.0797046962003,0.999999903136,1.22748298794e-05,-0.000439968301717,-2.28355871005e-06,1793247705421852416
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.312828873,745,715,682.312828873,660.312828873,632.687171127,879,783,812.687171127,650.312828873,630,653,0.450123918053,-0.0154875193208,0.0797252008807,0.999999918973,7.21082171355e-06,-0.000402491437943,-1.33340196259e-06,1793247705438519040
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.891893578,745,715,682.891893578,660.891893578,632.108106422,879,783,812.108106422,650.891893578,630,653,0.449663233065,-0.0154963148701,0.0797483921831,0.999999933245,1.37284206766e-05,-0.000365056238519,7.3805645897e-06,1793247705455185920
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.530175939,745,715,682.530175939,661,632.469824061,879,783,812,651,630,653.469824061,0.449154823181,-0.0154902465169,0.079749912887,0.999999932556,2.27325870579e-05,-0.000366428213635,1.01006857947e-05,1793247705471852544
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,879,783.047253537,812,651,630.047253537,653.952746463,0.448630011207,-0.0154804382676,0.0797447092081,0.999999927443,3.32004376477e-05,-0.000379323667793,1.11652580894e-05,1793247705488519168
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,879,783.62199705,812,651,630.62199705,653.37800295,0.448044393596,-0.0154669690911,0.0797199704179,0.999999909725,5.36357531473e-05,-0.000421415453312,9.10768350802e-06,1793247705505185792
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.201524696,661,633,879.201524696,784,812,651,630.798475304,653,0.447463172161,-0.0154558605607,0.0797027238705,0.999999897325,6.91385897696e-05,-0.000447770009337,8.4206857354e-06,1793247705521852672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.790244192,661,633,879.790244192,784,812,651,630.209755808,653,0.446890397255,-0.0154492876036,0.0796998723716,0.999999898603,7.51645215162e-05,-0.000443888203575,1.03670140667e-05,1793247705538519296
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.372703807,745,715,683,661,633,879.627296193,784,811.627296193,651,630,653,0.446294928949,-0.0154486353513,0.079729535851,0.999999917602,8.16058593098e-05,-0.00039741395299,1.40899206788e-05,1793247705555185664
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.951698567,745,715,683,661,633,879.048301433,784,811.048301433,651,630,653,0.445686899903,-0.0154512601998,0.0797771963184,0.999999942343,8.82771231485e-05,-0.000327364851602,1.87961603743e-05,1793247705571852288
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,660.472858879,633,879,784,811,651,630,653,0.445035200439,-0.015450576397,0.0798136321825,0.999999956529,9.26163085011e-05,-0.000278947780074,2.35134229379e-05,1793247705588518912
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.89571727,744.89571727,715,682.89571727,660.10428273,633,879.10428273,784.10428273,811.10428273,651,630,653,0.444369886827,-0.015449480384,0.0798412826907,0.999999965058,9.72007543634e-05,-0.00024426731158,2.77451908964e-05,1793247705605185792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.309224297,744.309224297,715,682.309224297,660.690775703,633,879.690775703,784.690775703,811.690775703,651,630,653,0.443659999942,-0.0154478707725,0.0798330331378,0.999999959312,0.000103900785311,-0.000264001706332,2.97273593124e-05,1793247705621852416
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.273981481,744.273981481,715,682,661,633.273981481,879.726018519,784.726018519,812,651,630,653,0.442918599742,-0.0154456128978,0.0798169775735,0.999999951909,0.000106871783771,-0.000289607004602,2.98187395367e-05,1793247705638519040
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.853521283,744.853521283,715,682,661,633.853521283,879.146478717,784.146478717,812,651,630,653,0.442142054171,-0.0154426320464,0.0797922163406,0.999999942264,0.000105683973106,-0.00032175984057,2.78014151977e-05,1793247705655185664
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.244605952,633,879,784.755394048,811,651,630.755394048,653,0.4379746507,-0.0154280583272,0.0796914915195,0.999999880515,0.000142237680516,-0.000467009996825,2.53132616913e-05,1793247705738519296
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.338965491,660,633.338965491,879.338965491,784.661034509,811,651,630.661034509,653,0.437179777502,-0.0154295567101,0.0797463160994,0.999999915407,0.000144655063048,-0.00038383106592,3.05736667107e-05,1793247705755185920
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.917814782,660,633.917814782,879.917814782,784.082185218,811,651,630.082185218,653,0.436382870105,-0.0154330377455,0.0798249114039,0.999999951786,0.000146855323264,-0.000270887037017,3.85032074521e-05,1793247705771852544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.507316527,715,683,660,633.507316527,879.507316527,784.492683473,811,651,630,653,0.435509539957,-0.0154347921206,0.0798512002288,0.999999960651,0.000151316127018,-0.000232421474044,4.22161915382e-05,1793247705788519168
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,744.068515757,715,682.931484243,660,633,879,785,811,651,630,653,0.434621939427,-0.0154362771782,0.0798635915416,0.999999964062,0.000155950432557,-0.000213432186543,4.4753937773e-05,1793247705805185536
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,744.656651017,715,682.343348983,660,633,879,785,811,651,630,653,0.433722020253,-0.0154378866164,0.0798362268695,0.999999955474,0.000159063696189,-0.000248683200821,4.36703088383e-05,1793247705821852416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.241063709,879,785,811,651,630,653,0.43277346558,-0.0154357507274,0.0797935038944,0.999999933819,0.000166230793116,-0.000320971466942,4.13020402121e-05,1793247705838519040
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.820255031,879,785,811,651,630,653,0.431756692274,-0.0154283614617,0.0797292386172,0.999999884169,0.000179083991477,-0.000445209975308,3.71318732847e-05,1793247705855185664
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.601422544,879,784.601422544,810.601422544,651,630,652.601422544,0.430801555686,-0.0154246245031,0.0797064960512,0.999999864467,0.000178843232712,-0.000487585610929,3.66193940097e-05,1793247705871852288
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633.023491144,879,784.023491144,810.023491144,651,630,652.023491144,0.429874154768,-0.0154225310289,0.0797024380932,0.999999862787,0.000172710387534,-0.000493124162923,3.77528203337e-05,1793247705888518912
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744.449050532,715,682,660,633.550949468,878.449050532,784,810,651,630,652.550949468,0.429025948516,-0.0154265405576,0.0797836263134,0.999999919236,0.000182894237175,-0.0003551010842,4.4498455897e-05,1793247705905185792
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744,715,682,660,633.87160157,878.12839843,784.12839843,810.12839843,651,630,653,0.428166590379,-0.0154292880756,0.0798498609398,0.999999951135,0.000190610858375,-0.000242665952165,5.01120282906e-05,1793247705921852416
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744,715,682,660,633.28283603,878.71716397,784.71716397,810.71716397,651,630,653,0.427255217,-0.0154265835848,0.0798495301129,0.999999951509,0.000187002635704,-0.000243784175532,5.08140732106e-05,1793247705938519040
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744.3011416,715,681.6988584,660,633,878.6988584,785,810.6988584,650.6988584,630,653,0.426312354552,-0.0154249427445,0.0798221993151,0.999999939857,0.000189315615422,-0.000286488154684,4.86891122465e-05,1793247705955185664
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.880692707,715,681.119307293,660,633,878.119307293,785,810.119307293,650.119307293,630,653,0.425340380084,-0.0154242852635,0.0797699066769,0.99999991203,0.000197102826591,-0.000367638729654,4.39505455743e-05,1793247705971852288
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633.457119735,878.457119735,784.542880265,810,650.457119735,630,652.542880265,0.424366760982,-0.0154210964554,0.0797413013878,0.99999989283,0.00020532056743,-0.000412739405075,4.27825384835e-05,1793247705988519168
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634,878.966667418,784.033332582,810,651,630,652.033332582,0.423397876504,-0.0154172987909,0.0797206583624,0.999999877219,0.000213138174009,-0.000445336360681,4.25333107669e-05,1793247706005185792
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634,878.38057736,784.61942264,810,651,630,652.61942264,0.422514577863,-0.0154142860133,0.0797302277852,0.999999885991,0.000212469554826,-0.000425553261852,4.21712602006e-05,1793247706021852416
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634,878.059669603,785,810,651,630,653,0.419185207758,-0.0154166031473,0.0798591226609,0.999999956124,0.000204636536818,-0.000207697806682,5.23154526969e-05,1793247706088519680
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.906582464,660,633.093417536,878.093417536,785,810,651,630,653,0.417342123601,-0.015414488227,0.0797844964436,0.999999920652,0.000200070704979,-0.000341670573114,4.39143975481e-05,1793247706121852416
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634,878.157554481,785,810,651,630,653,0.414869187778,-0.015401902916,0.0797792136682,0.999999907588,0.000216412576717,-0.000368634078762,4.58110966839e-05,1793247706171852544
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.57884437,715,680.42115563,659.57884437,634,878,785,809.57884437,651,630,652.57884437,0.414112365325,-0.0154021122191,0.079775619852,0.999999908845,0.000215167502865,-0.000366149933096,4.41177291294e-05,1793247706188518912
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.000901833,715,680.999098167,659.000901833,634,878,785,809.000901833,651,630,652.000901833,0.413384580183,-0.0154047029603,0.0797787183145,0.999999915958,0.000210986713726,-0.000349007423826,4.19772397579e-05,1793247706205185792
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.573941912,744.573941912,715,680.426058088,659.573941912,634,878,785,809.573941912,651,629.426058088,652.573941912,0.412677122496,-0.015407164029,0.0797978395264,0.999999925727,0.000211137946491,-0.000319312769813,4.47933048308e-05,1793247706221852416
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.84768024,744.84768024,715,680.15231976,659.84768024,634,877.84768024,785,810,651,629.15231976,653,0.411965632543,-0.0154078862243,0.0798084912223,0.999999929822,0.0002120643706,-0.000305300037509,4.66522842824e-05,1793247706238518784
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.259167904,744.259167904,715,680.740832096,659.259167904,634,877.259167904,785,810,651,629.740832096,653,0.411242504401,-0.0154036294524,0.079794817367,0.999999919267,0.000215191294463,-0.00033625122672,4.57483099914e-05,1793247706255185664
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,680.67566863,659,634,877.32433137,785,810,651,629.67566863,652.67566863,0.410555753925,-0.0153997489576,0.0797877100082,0.999999913084,0.00022054547814,-0.00035093034257,4.51515318922e-05,1793247706271852288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,680.096114272,659,634,877.903885728,785,810,651,629.096114272,652.096114272,0.409897629822,-0.0153961645633,0.0797857699604,0.999999910848,0.000227652338032,-0.000352804629454,4.47964928355e-05,1793247706288518912
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,785,809.519695501,651,629.480304499,652.480304499,0.40931305268,-0.0153990626141,0.0798080265768,0.999999924323,0.000227250183688,-0.000312216021259,4.72429914006e-05,1793247706305185536
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.057043291,715,680,659,634,877.942956709,785,809,651,630,653,0.408742441013,-0.0154025225667,0.0798328994588,0.999999937398,0.000225868485025,-0.000267756334904,4.99454672484e-05,1793247706321852416
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.642521689,715,680,659,634,877.357478311,785,809,651,630,653,0.408165746441,-0.0153992487518,0.0798374444124,0.999999937198,0.000229242310455,-0.000265642261081,4.98595038404e-05,1793247706338519040
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.774416254,715,680,659,634,877.225583746,785,809.225583746,651,630,652.774416254,0.407587685212,-0.015394542093,0.0798250931571,0.999999928798,0.000234636382646,-0.000291531582072,4.85744178499e-05,1793247706355185664
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.195142799,715,680,659,634,877.804857201,785,809.804857201,651,630,652.195142799,0.407007481275,-0.015387588898,0.0797862505637,0.999999904118,0.000243197971337,-0.000361327046885,4.54092435948e-05,1793247706371852288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.383895067,744,715,680.383895067,659,634,877.616104933,785,809.616104933,651,630,652.383895067,0.406493439727,-0.0153855876787,0.0797681626662,0.99999989512,0.00024229037291,-0.000386296092909,4.27931442843e-05,1793247706388518912
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.962813304,744,715,680.962813304,659,634,877.037186696,785,809.037186696,651,630,652.962813304,0.406013009391,-0.0153861021202,0.0797606183926,0.999999895735,0.00023657231821,-0.000388492802528,4.04559812336e-05,1793247706405185536
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.46235516,744.53764484,715,680.46235516,659.53764484,634,877.53764484,785,809,651,629.46235516,652.46235516,0.405603755739,-0.0153903914216,0.0797820985835,0.999999911046,0.000237329594788,-0.000346079713513,4.25582407596e-05,1793247706421852416
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715.114797194,680,659.885202806,634,878,785,809,651,629.114797194,652.114797194,0.405201596321,-0.0153940658757,0.0798038034913,0.999999923869,0.000237509649729,-0.000306347638704,4.47486896348e-05,1793247706438519040
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715.702669782,680,659.297330218,634,878,785,809,651,629.702669782,652.702669782,0.404808537407,-0.0153941387331,0.0798182240108,0.999999929551,0.000233479252638,-0.00029028315151,4.60467401264e-05,1793247706455185920
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.287944526,744.712055474,715.712055474,680,659,634,877.712055474,785,808.712055474,651,629.712055474,652.712055474,0.4044296575,-0.0153908038775,0.0798268445571,0.999999930385,0.000238623864993,-0.000282943093648,4.72422918466e-05,1793247706471852288
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.870560696,744.129439304,715.129439304,680,659,634,877.129439304,785,808.129439304,651,629.129439304,652.129439304,0.404065287883,-0.015383981696,0.0798295296272,0.999999926308,0.000253157838707,-0.000284531291051,4.83329500868e-05,1793247706488519168
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.019953655,745,715,680,659,634,877.980046345,785,809,651,629.980046345,652.980046345,0.403407136565,-0.0153722326617,0.0798310171984,0.999999917961,0.000273231493918,-0.000294759795084,5.03828299427e-05,1793247706521852672
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.593526369,745,715,680,659,634,877.406473631,785,809,651,629.406473631,652.406473631,0.40314086246,-0.0153733152115,0.0798367082372,0.999999925196,0.000256957809086,-0.000285281124408,4.68537936996e-05,1793247706538519296
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.826827065,745,715.173172935,679.826827065,659,634,877,785,809,651,629,652.173172935,0.402880190793,-0.0153747625035,0.0798405666817,0.999999928943,0.000248124385656,-0.000280205176974,4.50979351008e-05,1793247706555185920
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.232405757,745,715.767594243,679.232405757,659,634,877,785,809,651,629,652.767594243,0.402633147264,-0.0153770970418,0.0798399672846,0.999999924888,0.000257389624496,-0.000285838987873,4.76553850183e-05,1793247706571853056
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715.648499143,679.351500857,659,634,877,785,809.351500857,651,629,653,0.402414399866,-0.0153808165189,0.0798385077955,0.999999923779,0.000258946983353,-0.000288156378503,4.85141175332e-05,1793247706588519936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715.071342668,679.928657332,659,634,877,785,809.928657332,651,629,653,0.402213817922,-0.0153854250958,0.0798364961467,0.999999924609,0.000255556058116,-0.000288344702726,4.82823120618e-05,1793247706605186816
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.503533198,785.503533198,809.496466802,651,629.503533198,653,0.402045248662,-0.0153895697558,0.0798361003537,0.999999927049,0.000248158344652,-0.000286268991063,4.86722988991e-05,1793247706621853184
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.921686021,744.921686021,715.078313979,680,659,634,878,785.921686021,809,651,629.921686021,653,0.4018859018,-0.0153929364564,0.0798366975696,0.999999929512,0.00024157293614,-0.000283176474249,4.92812830936e-05,1793247706638519296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.3454644,744.3454644,715.6545356,680,659,634,878,785.3454644,809,651,629.3454644,653,0.401756482228,-0.0153917730322,0.0798421591683,0.999999931016,0.000243745088712,-0.000275649532561,5.07250292475e-05,1793247706655185920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.236208887,744.236208887,715.763791113,680,659,634.236208887,878,785,809,651,629,653,0.401634070228,-0.015390860781,0.0798470118439,0.999999932189,0.000245810511927,-0.000269306452939,5.17081733177e-05,1793247706671852544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.826043776,744.826043776,715.173956224,680,659,634.826043776,878,785,809,651,629,653,0.401522149201,-0.0153903245588,0.0798509529066,0.999999932924,0.000247716151555,-0.000264735722039,5.20017544543e-05,1793247706688519168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.59232846,659,634.59232846,877.59232846,785,809,651,629,652.59232846,0.401424181016,-0.0153887195577,0.0798495183461,0.999999930939,0.000253556707669,-0.000267527393948,4.7546055721e-05,1793247706705185792
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.014133637,659,634.014133637,877.014133637,785,809,651,629,652.014133637,0.401332049113,-0.0153866675013,0.0798458352376,0.99999992771,0.000261043184052,-0.000273398655714,4.11037998558e-05,1793247706721852672
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,634,877,785,809,651,629,652,0.401260656444,-0.0153867009103,0.0798412987702,0.99999992649,0.000257778973198,-0.000280894012002,4.08449083811e-05,1793247706738519296
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.868953603,715,679.131046397,659.131046397,634,877.131046397,785,809,651,629,652.131046397,0.401195133757,-0.0153864950636,0.0798377384426,0.999999925684,0.000254796372424,-0.000286422791518,4.09105033874e-05,1793247706755186176
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.275457809,715,679.724542191,659.724542191,634,877.724542191,785,809,651,629,652.724542191,0.401148491824,-0.0153852605042,0.0798376982707,0.999999926364,0.000253758157294,-0.000284868112344,4.15744245479e-05,1793247706771852800
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.309881456,744,715,680,659.690118544,634,877.690118544,785,809,651,629,653,0.401107866895,-0.0153843319016,0.07983800483,0.999999926501,0.000254202503891,-0.000283923632319,4.20222864877e-05,1793247706788519168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.888156284,744,715,680,659.111843716,634,877.111843716,785,809,651,629,653,0.401072453384,-0.0153836682931,0.0798386116989,0.999999926167,0.00025593092121,-0.000283507655533,4.22830160946e-05,1793247706805185792
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.535132074,744.464867926,715,680,659,634.464867926,877.464867926,785,809,651,629,652.535132074,0.401047193497,-0.0153830368141,0.0798381011149,0.999999926237,0.00025543196058,-0.000283720221082,4.22211712163e-05,1793247706821852416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.040701622,745,715,679.959298378,659,634.959298378,878,785,809.040701622,651,629,652,0.401025000728,-0.0153825305204,0.0798372343396,0.999999926358,0.000254417536067,-0.0002842278562,4.20780656267e-05,1793247706838519040
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.610001744,745,715,679.389998256,659,634.389998256,878,785,809.610001744,651,629,652,0.401011021255,-0.0153835499724,0.0798352215551,0.999999925882,0.00025364506769,-0.000286610238002,4.18841564791e-05,1793247706855185664
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.811865492,745,715,679.188134508,659,634.188134508,877.811865492,785,810,651,629.188134508,652,0.400999623972,-0.0153844278419,0.0798345789438,0.999999925795,0.000253168519947,-0.000287332763497,4.19015768887e-05,1793247706871852288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.214520949,745,715,679.785479051,659,634.785479051,877.214520949,785,810,651,629.785479051,652,0.400993843192,-0.0153849977562,0.0798369165865,0.999999926558,0.000253335627125,-0.000284444947154,4.23786587343e-05,1793247706888518912
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634.630467023,877,785,809.630467023,651,629.630467023,652,0.400990351859,-0.015385037439,0.0798385610255,0.999999927678,0.000251729779867,-0.000281948217233,4.22095699474e-05,1793247706905185792
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634.053860714,877,785,809.053860714,651,629.053860714,652,0.400988143454,-0.0153847799985,0.0798398170174,0.999999928991,0.000249130431053,-0.000279670638536,4.16783897606e-05,1793247706921852672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784.478548436,809,651,629,652,0.400986250221,-0.0153837717415,0.0798392005069,0.999999928346,0.000251338981692,-0.000280008049375,4.16303615438e-05,1793247706938519552
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.901151114,715,679.901151114,659,634,877.098848886,784.098848886,809,651,629,652.098848886,0.400984854252,-0.0153832862001,0.07983876859,0.999999927869,0.000253218559132,-0.000280006301998,4.16900679208e-05,1793247706955186432
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.31276782,715,679.31276782,659,634,877.68723218,784.68723218,809,651,629,652.68723218,0.400985760082,-0.0153857724428,0.0798402063117,0.99999992925,0.000251015656789,-0.000276990594184,4.20367797993e-05,1793247706971853056
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.27025502,658.72974498,634,877.72974498,785,809,651,629,652.72974498,0.400985630278,-0.0153868691985,0.0798406064289,0.999999929881,0.000249897844594,-0.000275717245,4.20511329414e-05,1793247706988519424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.847194902,658.152805098,634,877.152805098,785,809,651,629,652.152805098,0.400984325236,-0.0153863891672,0.079839829075,0.999999929674,0.000250011390269,-0.000276421120552,4.16883260928e-05,1793247707005186304
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+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.992893463,659,634.992893463,877,785,809,651.992893463,629,652.992893463,0.400984016834,-0.0153857298015,0.0798409649224,0.999999929249,0.00025298701317,-0.000275241151716,4.17385353404e-05,1793247707038519296
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.418750318,659,634.418750318,877,785,809,651.418750318,629,652.418750318,0.400983513301,-0.0153873844204,0.0798415361799,0.999999930356,0.000248637731692,-0.000275158968247,4.18816803672e-05,1793247707055185920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.160656576,715,679,658.839343424,634,877,785,809,651,629,652.160656576,0.400983164611,-0.0153879132909,0.0798418682807,0.999999930892,0.000246554677985,-0.000275075313447,4.19481641276e-05,1793247707071852288
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.754248109,715,679,658.245751891,634,877,785,809,651,629,652.754248109,0.400983233188,-0.0153854085109,0.0798415559059,0.999999929922,0.00025057862153,-0.000274987693737,4.18080622372e-05,1793247707088518912
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16802666d82aacb5e9e673d028e6d42856a95415
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac10a7bc87f55180668f8facebbae95a3cf4da10
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893c37218b5cb2cb629c2f4619260f4b83e1e5245b5d8ecd235b956d36cc596e
+size 25831680
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..647d6885e08385f7c4820b1fdcaccd05068ab47c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+19,0.316666667,BASELINE,765,744.021979746,715,679,659,634,877.021979746,784.021979746,809,651,629,652.021979746,0.400983551426,-0.0153886784978,0.0798452213987,0.999999932304,0.000246999171469,-0.000269673062862,4.07436344066e-05,1793247707728117248
+20,0.333333333,BASELINE,765,744.601505267,715,679,659,634,877.601505267,784.601505267,809,651,629,652.601505267,0.400983852788,-0.0153889578336,0.079845067227,0.9999999322,0.000248089067161,-0.000269032600489,4.09146751547e-05,1793247707744784640
+21,0.350000000,BASELINE,765,744.820536553,715,679,659,634,877.820536553,784.820536553,809,651,629,652.820536553,0.400983602023,-0.0153894816465,0.0798448845216,0.999999932175,0.000248066322292,-0.000269129909723,4.10187655754e-05,1793247707761451776
+22,0.366666667,BASELINE,765,744.246028561,715,679,659,634,877.246028561,784.246028561,809,651,629,652.246028561,0.400982135889,-0.0153905436153,0.0798446390065,0.999999932322,0.000245594373326,-0.000270851241387,4.09754813295e-05,1793247707778118912
+23,0.383333333,BASELINE,765,744.335285734,715,679.335285734,658.664714266,634,877,784.335285734,809,651,629,652,0.400981981331,-0.0153898958005,0.0798443077643,0.999999932105,0.000245885709348,-0.000271402038594,4.08837655981e-05,1793247707794785280
+24,0.400000000,BASELINE,765,744.92169796,715,679.92169796,658.07830204,634,877,784.92169796,809,651,629,652,0.400982809135,-0.0153879673709,0.0798439123131,0.999999931615,0.000248246724771,-0.00027107611448,4.07557750437e-05,1793247707811451648
+25,0.416666667,BASELINE,765,744.494786098,715,679.494786098,658.505213902,634,877,785,809,651,629.505213902,652.505213902,0.400983902097,-0.015387154073,0.0798448815519,0.999999932114,0.00024805927076,-0.000269456267622,4.03845804575e-05,1793247707828118272
+26,0.433333333,BASELINE,765,744.08663665,715,679,658.91336335,634,877,784.91336335,809,651,629.91336335,652.91336335,0.400984985953,-0.01538689404,0.0798459056395,0.999999932704,0.000247557723098,-0.000267767126387,4.00917284323e-05,1793247707844784384
+27,0.450000000,BASELINE,765,744.658829761,715,679,658.341170239,634,877,784.341170239,809,651,629.341170239,652.341170239,0.400985789764,-0.0153887716705,0.0798460584725,0.999999932962,0.000247496896524,-0.00026680715923,4.04479990065e-05,1793247707861451264
+28,0.466666667,BASELINE,765,744.767020198,715,679.232979802,658.232979802,634,877.232979802,784.232979802,809.232979802,651,629,652,0.40098585772,-0.0153894475484,0.0798460300228,0.999999933035,0.000247399029235,-0.000266588264609,4.06699028015e-05,1793247707878117632
+29,0.483333333,BASELINE,765,744.189980236,715,679.810019764,658.810019764,634,877.810019764,784.810019764,809.810019764,651,629,652,0.400984838981,-0.0153883487009,0.079845733858,0.999999932838,0.000247246460923,-0.000267463771938,4.06933762596e-05,1793247707894784000
+30,0.500000000,BASELINE,765,744.396786055,715,680,659,634,878,785,809.206427889,651,629.396786055,652,0.400983730543,-0.015387879635,0.0798450846137,0.999999932462,0.0002472339189,-0.000268881964991,4.06741859099e-05,1793247707911450624
+31,0.516666667,BASELINE,765,744.988326297,715,680,659,634,878,785,808.023347407,651,629.988326297,652,0.400982578078,-0.0153877196844,0.0798442620676,0.999999931995,0.000247290105875,-0.000270566524021,4.06340549163e-05,1793247707928117248
+32,0.533333333,BASELINE,765,745,715,679.432610631,659,634,877.432610631,785,808.567389369,651,629.432610631,652.567389369,0.400984023749,-0.0153878155994,0.0798449848601,0.999999931941,0.000248892104414,-0.000269220387062,4.11258651734e-05,1793247707944783872
+33,0.550000000,BASELINE,765,745,715,679,659,634,877,785,809,651,629,653,0.400985476899,-0.015387785404,0.0798458663699,0.99999993207,0.000250064853019,-0.000267610288871,4.13892376252e-05,1793247707961450752
+34,0.566666667,BASELINE,765,745,715,679,659,634,877,785,809,651,629,653,0.400986797404,-0.0153873668056,0.0798471254693,0.999999932724,0.000249875364018,-0.000265399665956,4.09449732691e-05,1793247707978117376
+35,0.583333333,BASELINE,765,744.700392606,715,679,659,634,877.299607394,784.700392606,809,651,629,652.700392606,0.400986352334,-0.0153871963886,0.0798470139222,0.999999932692,0.000250067632967,-0.000265375654756,4.07161096674e-05,1793247707994784000
+36,0.600000000,BASELINE,765,744.110053136,715,679,659,634,877.889946864,784.110053136,809,651,629,652.110053136,0.400984193988,-0.015387266801,0.0798455723315,0.999999931993,0.000250630350968,-0.000267473480664,4.0696265917e-05,1793247708011450624
+37,0.616666667,BASELINE,765,744.471151117,715,679,659,634,877.528848883,784.471151117,809,651,629,652.471151117,0.400984952316,-0.0153878431471,0.0798465050399,0.999999932543,0.000249601957631,-0.000266361557854,4.07858878783e-05,1793247708028117248
+38,0.633333333,BASELINE,765,744.949960756,715,679,659,633.949960756,877,784.949960756,809,651,629,652.949960756,0.400986183525,-0.0153885493294,0.0798477523583,0.999999933298,0.000248234366052,-0.000264785205183,4.08863585221e-05,1793247708044783872
+39,0.650000000,BASELINE,765,744.373417297,715,679,659,633.373417297,877,784.373417297,809,651,629,652.373417297,0.400985358261,-0.0153894018322,0.0798465855677,0.999999933234,0.00024713392362,-0.000266060835708,4.0837057737e-05,1793247708061450496
+40,0.666666667,BASELINE,765,744,715,679,658.798069651,633.201930349,877.201930349,784,809,651,629,652,0.400984552418,-0.0153898620755,0.0798458655097,0.999999933106,0.000246686734671,-0.00026696338943,4.08032325327e-05,1793247708078117120
+41,0.683333333,BASELINE,765,744,715,679,658.224920365,633.775079635,877.775079635,784,809,651,629,652,0.400983782274,-0.0153896012078,0.079845966703,0.999999932862,0.000247440455247,-0.000267180096816,4.07978568873e-05,1793247708094783744
+42,0.700000000,BASELINE,765,744,715,679,658,634,877.640645017,784.359354983,809,651,629,652,0.400984874852,-0.015389479618,0.0798470699215,0.999999933184,0.000247644967288,-0.000265756710145,4.09442346523e-05,1793247708111450368
+43,0.716666667,BASELINE,765,744,715,679,658,634,877.049183393,784.950816607,809,651,629,652,0.400987170558,-0.0153894479875,0.079848820346,0.999999933868,0.000247494746641,-0.000263273990096,4.11886296319e-05,1793247708128117248
+44,0.733333333,BASELINE,765,744,715,679,658.531013938,634,877,784.468986062,809,651,629,652,0.400986571769,-0.015388975595,0.0798480074774,0.999999933907,0.000246610870217,-0.000264003104806,4.08736211463e-05,1793247708144783616
+45,0.750000000,BASELINE,765,744,715,679.109180546,659,634,877,784.109180546,809,651,629,652.109180546,0.400985722108,-0.0153886398602,0.0798471156993,0.999999933756,0.000246182884331,-0.000265009119461,4.06394338797e-05,1793247708161450240
+46,0.766666667,BASELINE,765,744,715,679.683052182,659,634,877,784.683052182,809,651,629,652.683052182,0.400984922044,-0.0153890559093,0.0798468775649,0.999999933049,0.000247978456318,-0.000265953818984,4.09651793618e-05,1793247708178117120
+47,0.783333333,BASELINE,765,744,715,680,659,634,877,784.736962506,809,651,629,652.736962506,0.400984965961,-0.01538910522,0.0798468823485,0.999999932897,0.000248364417291,-0.000266129718069,4.11834084756e-05,1793247708194784000
+48,0.800000000,BASELINE,765,744,715,680,659,634,877,784.149435129,809,651,629,652.149435129,0.400986051036,-0.0153887021127,0.0798471868021,0.999999933434,0.000247011445751,-0.000265357205092,4.12690026487e-05,1793247708211451904
+49,0.816666667,BASELINE,765,744.432187735,715,680,658.567812265,634,877,784.432187735,808.567812265,651,629,652,0.400984981968,-0.0153886869548,0.0798463878641,0.999999933232,0.000246252073539,-0.000266871804116,4.09411350313e-05,1793247708228118528
+50,0.833333333,BASELINE,765,744.988244564,715,680,658.011755436,634,877,785,808,651,629,652.011755436,0.400983273309,-0.0153887921895,0.0798452803751,0.999999932796,0.000245736490846,-0.000269038877627,4.04889481457e-05,1793247708244784896
+51,0.850000000,BASELINE,765,744.410653934,715,680,658.589346066,634,877,785,808,651,629,652.589346066,0.400986146803,-0.0153883227733,0.079847437343,0.999999933481,0.000247209331268,-0.000265060741795,4.08412849907e-05,1793247708261451264
+52,0.866666667,BASELINE,765,744,715,680,659,634,877,784.834037293,808.165962707,651.165962707,629,653,0.40098756199,-0.0153882332896,0.0798485542283,0.999999933918,0.000247688591127,-0.000262930390387,4.10032382558e-05,1793247708278118144
+53,0.883333333,BASELINE,765,744,715,680,659,634,877,784.259816641,808.740183359,651.740183359,629,653,0.400985389835,-0.0153890784163,0.0798471125744,0.999999933778,0.000245723704456,-0.000265345474099,4.06968597244e-05,1793247708294784768
+54,0.900000000,BASELINE,765,744,715,679.677356764,659,634,877,784.322643236,808.677356764,651.677356764,629,652.677356764,0.400984734498,-0.0153896051057,0.0798466312273,0.999999933381,0.000246353850738,-0.000266230911039,4.0862356254e-05,1793247708311451648
+55,0.916666667,BASELINE,765,744,715,679.0880882,659,634,877,784.9119118,808.0880882,651.0880882,629,652.0880882,0.400985332627,-0.0153898686455,0.0798469434567,0.999999932771,0.000249128475714,-0.000265852281152,4.14178000505e-05,1793247708328118528
+56,0.933333333,BASELINE,765,744.492759052,715,679.492759052,659,634,877,785,808.492759052,651,629.492759052,652,0.400984463272,-0.0153897043859,0.0798462760024,0.99999993301,0.00024713234849,-0.00026688498066,4.09753739485e-05,1793247708344785152
+57,0.950000000,BASELINE,765,745,715,680,659,634,877,785,809,651,629.928411908,652.071588092,0.400983791299,-0.0153895546665,0.0798457325307,0.999999933438,0.000244603450284,-0.000267687626953,4.04417718445e-05,1793247708361452032
+58,0.966666667,BASELINE,765,745,715,680,659,634,877,785,809,651,629.353367234,652.646632766,0.400986321361,-0.0153900359955,0.0798472719538,0.999999934211,0.000244224751299,-0.000265127871183,4.050040017e-05,1793247708378118144
+59,0.983333333,BASELINE,765,745,715,679.7787506,659,634.2212494,877.2212494,785,809,651,629,652.7787506,0.400987047282,-0.0153904623329,0.0798476962104,0.999999934306,0.000244708532398,-0.000264293055437,4.06827592172e-05,1793247708394784512
+60,1.000000000,BASELINE,765,745,715,679.2048162,659,634.7951838,877.7951838,785,809,651,629,652.2048162,0.400984897292,-0.0153908010103,0.0798463428241,0.999999933326,0.00024656715915,-0.000266207898609,4.10623525698e-05,1793247708411451136
+61,1.016666667,BASELINE,765,744.618861347,715,679.381138653,659,634.618861347,877.618861347,784.618861347,809,651,628.618861347,652,0.400984514518,-0.0153906271803,0.0798460367738,0.99999993342,0.000246045148045,-0.000266362863057,4.08989825025e-05,1793247708428117760
+62,1.033333333,BASELINE,765,744.026236624,715,679.973763376,659,634.026236624,877.026236624,784.026236624,809,651,628.026236624,652,0.400985112336,-0.0153901689702,0.0798463118689,0.999999934109,0.000244202169404,-0.000265541306554,4.04343330771e-05,1793247708444784384
+63,1.050000000,BASELINE,765,744,715,680,659,634,877,784.552325681,809,651,628.552325681,652,0.400985448636,-0.0153887597228,0.0798467403345,0.999999933571,0.00024650682265,-0.000265407592478,4.06236381575e-05,1793247708461451520
+64,1.066666667,BASELINE,765,744,715,680,659,634,877,784.870505999,809,651,629,652,0.400985783915,-0.0153879081588,0.0798472538751,0.999999933209,0.000248285118606,-0.000265080768051,4.08436949294e-05,1793247708478118144
+65,1.083333333,BASELINE,765,744,715,680,659,634,877,784.295890231,809,651,629,652,0.400986157324,-0.015389125005,0.0798480354307,0.999999933663,0.000247593693049,-0.0002639806228,4.1065328615e-05,1793247708494785024
+66,1.100000000,BASELINE,765,744,715,679.714672058,658.714672058,634,877,784.285327942,809,651,629,652.285327942,0.40098568371,-0.0153896566385,0.079848105111,0.99999993374,0.00024722187293,-0.000264026468356,4.11381097121e-05,1793247708511451904
+67,1.116666667,BASELINE,765,744,715,679.126444926,658.126444926,634,877,784.873555074,809,651,629,652.873555074,0.400984310912,-0.0153894608622,0.0798474190768,0.999999933417,0.000247189340445,-0.000265288877939,4.105287147e-05,1793247708528118272
+68,1.133333333,BASELINE,765,744,715,679,658.456850528,634,877,785,809,651,629,652.543149472,0.400985145285,-0.0153893988033,0.0798471468221,0.999999933612,0.00024666196258,-0.00026508518217,4.07836942326e-05,1793247708544785152
+69,1.150000000,BASELINE,765,744,715,679,659,634,877,784.961648315,808.961648315,651,629,652,0.400986386555,-0.0153893501189,0.0798469647195,0.999999933881,0.000246110851621,-0.000264627065083,4.04939135431e-05,1793247708561452032
+70,1.166666667,BASELINE,765,744,715,679,659,634,877,784.386362616,808.386362616,651,629,652,0.40098486321,-0.0153889760707,0.0798464585285,0.999999933201,0.000247124484126,-0.000266227363296,4.06208178577e-05,1793247708578118144
+71,1.183333333,BASELINE,765,744.188138172,715,679,658.811861828,634,877.376276344,784.188138172,808.188138172,651,629,652.188138172,0.400983677209,-0.0153891331313,0.0798460532821,0.999999932895,0.000247115171126,-0.000267373758268,4.0676423671e-05,1793247708594784512
+72,1.200000000,BASELINE,765,744.761033859,715,679,658.238966141,634,878.522067718,784.761033859,808.761033859,651,629,652.761033859,0.400983181106,-0.0153903763518,0.0798458544753,0.999999933358,0.00024501385345,-0.000267591885336,4.05862184056e-05,1793247708611451392
+73,1.216666667,BASELINE,765,744.653923112,715.346076888,679,658.346076888,634,878.307846223,785,809,651,629.346076888,652.653923112,0.40098397105,-0.0153899888926,0.079846402538,0.999999933542,0.000245557781914,-0.000266407714374,4.05411559275e-05,1793247708628118016
+74,1.233333333,BASELINE,765,744.060187256,715.939812744,679,658.939812744,634,877.120374511,785,809,651,629.939812744,652.060187256,0.400985681313,-0.0153884344889,0.0798474850741,0.999999933522,0.000247994697147,-0.000264220033209,4.05283984609e-05,1793247708644784896
+75,1.250000000,BASELINE,765,744.518963447,715.481036553,679,659,634,877,785,809,651,629.481036553,652,0.400985036372,-0.0153890275102,0.0798470942535,0.999999933879,0.00024565782782,-0.000265067995329,4.04236891871e-05,1793247708661451520
+76,1.266666667,BASELINE,765,744.90384603,715,679,659,634,877,784.90384603,809,651,629,652.09615397,0.40098387731,-0.0153898520377,0.0798463188614,0.999999934093,0.000243053415027,-0.000266674234744,4.02993076548e-05,1793247708678118144
+77,1.283333333,BASELINE,765,744.328225716,715,679,659,634,877,784.328225716,809,651,629,652.671774284,0.400981479413,-0.0153906230347,0.0798444545866,0.999999933416,0.000241800159164,-0.000270354035913,4.01285542843e-05,1793247708694784512
+78,1.300000000,BASELINE,765,744,715,679,659,634,877,784.252751101,809,651,629,652.747248899,0.400980945035,-0.0153907437249,0.0798443066046,0.99999993315,0.000242183825303,-0.000270999375046,4.00804287404e-05,1793247708711451136
+79,1.316666667,BASELINE,765,744,715,679,659,634,877,784.840834502,809,651,629,652.159165498,0.400982883041,-0.0153900016337,0.0798464356787,0.999999933434,0.000244739243972,-0.000267618804099,4.01949971445e-05,1793247708728117504
+80,1.333333333,BASELINE,765,744,715,679,659,634,877,785,809,651,629,652.42212727,0.400984140248,-0.0153907663041,0.079847157269,0.99999993365,0.000245394007134,-0.000266144180514,4.06135686561e-05,1793247708744786432
+81,1.350000000,BASELINE,765,744,715,679,658.999104291,634,877,785,809,651,629,652.999104291,0.400985145865,-0.0153920853651,0.0798473585103,0.999999933845,0.000245344254132,-0.000265374625459,4.1144097041e-05,1793247708761456640
+82,1.366666667,BASELINE,765,744,715,679,658.42320397,634,877,785,809,651,629,652.42320397,0.400986822424,-0.0153903565012,0.0798488108138,0.99999993431,0.000245802157482,-0.000263191422421,4.11260643165e-05,1793247708778120192
+83,1.383333333,BASELINE,765,744,715.152546753,679,658.152546753,634,877,784.847453247,809,651,629,652,0.400987599579,-0.0153890692691,0.0798495493914,0.999999934384,0.000246396389672,-0.000262370973836,4.10143978283e-05,1793247708794784512
+84,1.400000000,BASELINE,765,744,715.727882994,679,658.727882994,634,877,784.272117006,809,651,629,652,0.400985884002,-0.0153890060367,0.0798483098493,0.999999933379,0.000247368462848,-0.000265327453752,4.06432215796e-05,1793247708811450880
+85,1.416666667,BASELINE,765,744.31063594,715.68936406,679.31063594,659,634,877.31063594,784.31063594,809,651,629,652,0.400985332706,-0.0153889365272,0.0798475496323,0.999999933344,0.000246982548217,-0.000265831858502,4.05642862705e-05,1793247708828117760
+86,1.433333333,BASELINE,765,744.9000448,715.0999552,679.9000448,659,634,877.9000448,784.9000448,809,651,629,652,0.400985826264,-0.0153888613845,0.0798472195744,0.999999934181,0.000245377939301,-0.000264135705877,4.07476157435e-05,1793247708844785408
+87,1.450000000,BASELINE,765,745,715,679.518703903,659,634,877.518703903,785,809,651,629,652,0.400984790079,-0.0153896715542,0.0798464072963,0.999999934024,0.000244491959207,-0.000265540983806,4.07989364328e-05,1793247708861451520
+88,1.466666667,BASELINE,765,745,715,679.060413685,659,634,877,784.939586315,809,651,629,652,0.400983513899,-0.0153905626559,0.0798455581688,0.999999933649,0.000243965322159,-0.000267427193339,4.07998472227e-05,1793247708878117888
+89,1.483333333,BASELINE,765,745,715,679.635545795,659,634,877,784.364454205,809,651,629,652,0.4009828546,-0.0153906029206,0.0798452341107,0.999999933186,0.000245249897596,-0.000268014663491,4.06009549718e-05,1793247708894784768
+90,1.500000000,BASELINE,765,744.790943589,715,679.790943589,658.790943589,634,877,784.209056411,809,651,629,652.209056411,0.400982500518,-0.0153905144488,0.0798451586845,0.999999933052,0.000245523143028,-0.000268282106357,4.04739619115e-05,1793247708911451392
+91,1.516666667,BASELINE,765,744.220238073,715,679.220238073,658.220238073,634,877,784.779761927,809,651,629,652.779761927,0.400982674431,-0.0153902032741,0.0798455133696,0.999999933491,0.000244046876856,-0.00026799593026,4.04713481132e-05,1793247708928118272
+92,1.533333333,BASELINE,765,744,715,679,658.366016873,634,877,785,809,651,629,652.633983127,0.400982959884,-0.0153899480931,0.0798456012766,0.999999933603,0.000243911356485,-0.000267737611763,4.02325459272e-05,1793247708944784640
+93,1.550000000,BASELINE,765,744,715,679,658.962043331,634,877,785,809,651,629,652.037956669,0.40098331543,-0.0153897280993,0.0798455215371,0.99999993351,0.000244618377418,-0.000267496799302,3.9845320001e-05,1793247708961451520
+94,1.566666667,BASELINE,765,744,715,679,659,634,877,784.457914888,809,651,629.542085112,652,0.400983579454,-0.0153882753632,0.0798459656776,0.999999932846,0.000247275460946,-0.000267474321746,4.02585173058e-05,1793247708978117888
+95,1.583333333,BASELINE,765,744.119695714,715,679,659,634,877.119695714,784.119695714,809,651,629.880304286,652.119695714,0.400983968618,-0.0153872846719,0.0798465104745,0.999999932427,0.000249383328911,-0.000267026355112,4.06188242756e-05,1793247708994784512
+96,1.600000000,BASELINE,765,744.692221911,715,679,659,634,877.692221911,784.692221911,809,651,629.307778089,652.692221911,0.400984854762,-0.0153883591757,0.0798473012734,0.999999933109,0.000248911645539,-0.000264912506769,4.05730808133e-05,1793247709011451136
+97,1.616666667,BASELINE,765.272773563,744.727226437,715,679,659,634,877.727226437,785,809,651,629.272773563,653,0.400984719968,-0.0153891061139,0.079847379096,0.999999933466,0.000248050567124,-0.000264358023972,4.06773707182e-05,1793247709028117760
+98,1.633333333,BASELINE,765.862655027,744.137344973,715,679,659,634,877.137344973,785,809,651,629.862655027,653,0.400983398301,-0.0153894722463,0.0798466280611,0.999999933446,0.000246736804675,-0.000265616353098,4.09560791635e-05,1793247709044784640
+99,1.650000000,BASELINE,765.556112985,744,715,679,659,634,877,785,809,651,629.556112985,652.556112985,0.400984054512,-0.0153899843087,0.0798467354631,0.999999933716,0.000245781842351,-0.000265545903688,4.05584780561e-05,1793247709061451264
+100,1.666666667,BASELINE,765,744,715,679,659,634,877,785,809.022417994,651,629.022417994,652.022417994,0.40098524299,-0.0153905019986,0.0798470818647,0.999999934048,0.000244997553163,-0.00026510623334,3.99980727577e-05,1793247709078118144
+101,1.683333333,BASELINE,765,744,715,679,659,634,877,785,809.599072988,651,629.599072988,652.599072988,0.400984749824,-0.0153900638508,0.0798468958274,0.999999933739,0.000245740572442,-0.000265508717064,4.04873006118e-05,1793247709094784768
+102,1.700000000,BASELINE,765,744.17499882,715,679,659,634,877,785,809.82500118,651,629.82500118,652.82500118,0.400984617984,-0.0153896971193,0.079847047279,0.999999933594,0.000246442330452,-0.00026536057376,4.0775253058e-05,1793247709111451392
+103,1.716666667,BASELINE,765,744.749260976,715,679,659,634,877,785,809.250739024,651,629.250739024,652.250739024,0.400985310516,-0.0153894933258,0.0798479687183,0.999999933822,0.000247049949942,-0.000263956163732,4.06039915353e-05,1793247709128117760
+104,1.733333333,BASELINE,765,744.678742801,715,679,659,634,877,785,809,651,629,652.321257199,0.400985399379,-0.015390362642,0.0798479950487,0.99999993435,0.000245248326183,-0.000263654907151,4.04949482879e-05,1793247709144784384
+105,1.750000000,BASELINE,765,744.108502677,715,679,659,634,877,785,809,651,629,652.891497323,0.400985020381,-0.015392063647,0.079847327646,0.999999935099,0.000241579474504,-0.00026420862386,4.04341258504e-05,1793247709161451008
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,785,809,651,629,652,0.400986189968,-0.0153890665057,0.079848453665,0.999999933701,0.000248014815547,-0.000263452151666,4.09906357074e-05,1793247709192395520
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679.574941363,659,634,877.425058637,785,809,651,629,652,0.400985189052,-0.015389082429,0.0798476534715,0.999999933416,0.000247717347019,-0.000264817660441,4.09404824822e-05,1793247709209063168
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.846248212,744,715,680,659,634,877,785,809,651,629,652,0.400984484487,-0.0153892098875,0.079847122808,0.99999993339,0.00024684402413,-0.000265749518159,4.08056960487e-05,1793247709225730560
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.256465219,744,715,680,659,634,877,785,809,651,629,652,0.400984620354,-0.0153896536534,0.079847356516,0.9999999341,0.000244337611398,-0.000265451566793,4.04308947032e-05,1793247709242397184
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.327463761,744,715,680,659,634,877,785,809,651,629,652,0.400985797412,-0.0153898433522,0.0798482876859,0.999999934348,0.00024484323447,-0.00026405131232,4.04049657921e-05,1793247709259063552
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.906888443,744,715,680,659,634,877,785,809,651,629,652,0.400987775596,-0.0153898375639,0.0798497555051,0.999999934234,0.000247666412806,-0.000261802911169,4.06474703306e-05,1793247709275729920
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.482889422,715,680,659,634,877.965778844,785,809,651,629,652,0.400985418623,-0.0153888399893,0.0798476770847,0.99999993323,0.000248321416189,-0.000265020442443,4.04986652871e-05,1793247709292396288
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.942254156,659,634,878.942254156,785,809,651,629,652,0.400982619248,-0.015387970479,0.0798453146094,0.999999932275,0.000248265554733,-0.000268681815483,4.03086121069e-05,1793247709309062656
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.371740262,659,634,878.371740262,785,809,651,629,652,0.400983261893,-0.0153899243346,0.0798464589482,0.999999933385,0.000245583626321,-0.000266991470536,4.04175720881e-05,1793247709325729024
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.792638663,715,679.207361337,659,634,878,785,809,651,629,652,0.400985731315,-0.0153910645078,0.0798479432406,0.999999934442,0.000243786972518,-0.00026466420286,4.04567036411e-05,1793247709342395648
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.197476673,715,679.802523327,659,634,878,785,809,651,629,652,0.400991617119,-0.0153906829578,0.0798500633034,0.999999935405,0.000243645931757,-0.000261145782514,4.03652442511e-05,1793247709359062528
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,877.613021043,785,809,651,629,652.386978957,0.401011161135,-0.0153907654758,0.0798575716873,0.999999938714,0.000244002433367,-0.000247728450659,4.08042426046e-05,1793247709375729408
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,877.033881767,785,809,651,629,652.966118233,0.401037487346,-0.0153910784339,0.0798677557246,0.999999942911,0.000244605997171,-0.000229395662526,4.15066478433e-05,1793247709392396544
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.540922288,744.540922288,715,680,659,634,877,785,809,651,629,652.459077712,0.40109118525,-0.0153936280454,0.0798843864071,0.999999949985,0.000244097275047,-0.000196630844485,4.22123546553e-05,1793247709409063168
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.881979648,744.881979648,715,679.881979648,658.881979648,634,877,785,809,651,629,652,0.401149960298,-0.0153963579564,0.0799009536162,0.999999955855,0.000243246458815,-0.000165214404559,4.27321238336e-05,1793247709425729536
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.294688885,744.294688885,715,679.294688885,658.294688885,634,877,785,809,651,629,652,0.401222160114,-0.0153992521482,0.0799156756373,0.999999959796,0.000241310234036,-0.00014272516122,4.25117557423e-05,1793247709442395904
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,715,679,658.288551667,634,877,785,809,651,629,652,0.401301897869,-0.015402353798,0.0799275075031,0.999999962384,0.000240882950143,-0.000124401683796,4.16125140428e-05,1793247709459062272
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,715,679,658.867713086,634,877,785,809,651,629,652,0.401389227323,-0.0154056643853,0.0799364285988,0.999999963843,0.000241975369774,-0.000110273685856,4.00295567157e-05,1793247709475728896
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.446883563,715,679.446883563,659,634,877.893767125,785,809,651,629,652,0.401490977838,-0.0154092247656,0.0799395652731,0.999999965005,0.000240324837617,-0.000104201610025,3.71062683189e-05,1793247709492395776
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.974216926,715.025783074,679.974216926,659,634.025783074,878.974216926,785,809,651,629,652,0.401597913004,-0.0154128582004,0.0799409489187,0.99999996608,0.000237885546359,-0.000100558178125,3.37538580118e-05,1793247709509062144
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.401126034,715.598873966,679.401126034,659,634.598873966,878.401126034,785,809,651,629,652,0.401724284618,-0.0154164727274,0.0799414689528,0.999999966938,0.000235939338376,-9.78460672939e-05,2.97147879468e-05,1793247709525729024
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.176699832,715.823300168,679,659,634.823300168,878,785,809,651,629,652,0.401860262696,-0.0154206864869,0.0799433582542,0.9999999684,0.000232326274241,-9.26105581824e-05,2.54341748492e-05,1793247709542395904
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.765570439,715.234429561,679,659,634.234429561,878,785,809,651,629,652,0.402018648837,-0.0154262980181,0.0799484415139,0.999999971195,0.000224825094657,-8.14889599512e-05,2.05901380164e-05,1793247709559062528
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.348634704,744.651365296,715,679,659,634,877.651365296,785,809,651,629,652.348634704,0.402192054069,-0.0154333219215,0.0799506950123,0.999999973412,0.000216517739506,-7.78737952232e-05,1.52418529453e-05,1793247709575729152
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.927858675,744.072141325,715,679,659,634,877.072141325,785,809,651,629,652.927858675,0.40237539304,-0.0154412799777,0.0799510768886,0.999999975251,0.000207677173831,-7.92234334538e-05,9.56005431878e-06,1793247709592395776
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.504641563,715,679,659,634,877.504641563,785,809,651,629,652.495358437,0.402586757359,-0.0154481452427,0.0799478583765,0.999999978066,0.000191462267601,-8.49000851517e-05,1.61601960809e-06,1793247709609062656
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.919170751,744.919170751,715,679.080829249,659,634,877.919170751,784.919170751,809,651,629.080829249,652,0.402807506867,-0.0154550265926,0.0799445223399,0.999999982298,0.000164872817466,-9.04213989531e-05,-6.65171936905e-06,1793247709625729280
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.34449751,744.34449751,715,679.65550249,659,634,877.34449751,784.34449751,809,651,629.65550249,652,0.403061237314,-0.0154629560884,0.0799435977669,0.999999992421,8.13076909551e-05,-9.12325447255e-05,-1.49308371979e-05,1793247709642395904
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.236405794,715.236405794,680,659,634,877.236405794,784.236405794,809,651,630,652.236405794,0.403332935823,-0.0154715300204,0.0799448234198,0.999999995385,2.8713522761e-05,-8.8878473376e-05,-2.24988643346e-05,1793247709659062784
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.826633423,715.826633423,680,659,634,877.826633423,784.826633423,809,651,630,652.826633423,0.403631526604,-0.0154810684616,0.0799492672548,0.999999995982,2.24727135032e-05,-8.17871122068e-05,-2.9002621874e-05,1793247709675729920
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715.589820318,679.589820318,659,634,877.589820318,785,809,651,629.589820318,652.589820318,0.403967963494,-0.0154895463576,0.0799543727784,0.999999996525,3.62594957415e-05,-7.1422701506e-05,-2.31005211134e-05,1793247709692396288
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.009052761,679.009052761,659,634,877.009052761,785,809,651,629.009052761,652.009052761,0.404320140034,-0.0154975831879,0.0799597534888,0.999999996442,5.83754675794e-05,-5.96970763525e-05,-1.20390007683e-05,1793247709709063168
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.435792446,715,679.564207554,659,634,877,785,809,651,629,652.564207554,0.404713661441,-0.0155006538385,0.0799569350653,0.99999999713,4.31847223297e-05,-5.92716762659e-05,-1.90482829511e-05,1793247709725729536
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,715.137263575,680,659.137263575,634,877.137263575,784.862736425,809,651,629,653,0.405112225157,-0.0155043123584,0.0799526904564,0.99999999735,2.74617225146e-05,-6.24155554166e-05,-2.54884919141e-05,1793247709742395904
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,715.710048453,680,659.710048453,634,877.710048453,784.289951547,809,651,629,653,0.405524710257,-0.015510085623,0.0799443326588,0.99999999659,1.19242598183e-05,-7.63166099e-05,-2.92152067493e-05,1793247709759062528
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744.295213332,715.704786668,680,659.704786668,634,877.704786668,784.295213332,809,651,629,652.704786668,0.405958945954,-0.0155063459893,0.0799358305634,0.999999995174,1.98269907907e-05,-9.14658642577e-05,-2.98691870767e-05,1793247709775729152
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.893069859,715.106930141,680,659.106930141,634,877.106930141,784.893069859,809,651,629,652.106930141,0.406415479712,-0.0154928540394,0.0799271805375,0.999999992465,5.17598509825e-05,-0.00010789473453,-2.73730994485e-05,1793247709792395520
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.470395465,744.529604535,715,680,659,634,877.470395465,784.529604535,809,651,629,652,0.406908253688,-0.0154860140178,0.0799253748786,0.999999991853,5.65619133967e-05,-0.00011033685753,-3.03270363678e-05,1793247709809062656
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.956492424,744.043507576,715,680,659.043507576,634,877.956492424,784,809.043507576,651,629,652,0.407411969146,-0.0154821023704,0.0799242420578,0.999999991736,5.37949821581e-05,-0.000111620056032,-3.42776315683e-05,1793247709825729792
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.380215575,744.619784425,715,680,659.619784425,634,877.380215575,784,809.619784425,651,629,652,0.407953007768,-0.0154963078154,0.0799130930327,0.999999989634,3.07060907243e-05,-0.000136017381249,-3.58963580242e-05,1793247709842396928
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.798529976,634,877.201470024,784,810,651,629,652,0.408516230346,-0.015506508381,0.0799101539898,0.999999988683,1.38595580631e-05,-0.000145098667327,-3.72552340462e-05,1793247709859063808
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.206355393,634,877.793644607,784,810,651,629,652,0.409122473552,-0.0155089424077,0.0799231363111,0.999999991485,9.11863931754e-06,-0.000124478033162,-3.81101901498e-05,1793247709875730176
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.752414996,634,877.623792502,784.376207498,810,651,629.376207498,652.376207498,0.409781068395,-0.015507477099,0.0799510833827,0.999999996296,1.57870889889e-05,-7.61813504525e-05,-3.68140086857e-05,1793247709892396544
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.907259113,634,877.046370443,784.953629557,810,651,629.953629557,652.953629557,0.410467663491,-0.0155039262309,0.0799870343498,0.999999998916,2.85578388818e-05,-1.30821349873e-05,-3.43672912544e-05,1793247709909062912
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.471606485,715,680,659.94321297,634,877.528393515,785,809.471606485,650.471606485,630,653,0.411131494098,-0.015504601336,0.0799864408814,0.999999998887,2.32686741036e-05,-1.97289201059e-05,-3.59857583829e-05,1793247709925729024
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,715.102566241,680,659.102566241,634,878,784.897433759,809.102566241,650.102566241,629.897433759,653,0.411797818367,-0.0155052184854,0.0799760142045,0.999999998294,1.65864032869e-05,-4.05349024614e-05,-3.86615323336e-05,1793247709942395904
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744,715.675093245,680,659.675093245,634,878,784.324906755,809.675093245,650.675093245,629.324906755,653,0.412484676386,-0.0155038792952,0.0799351527494,0.999999994117,1.07465495389e-05,-9.83136998205e-05,-4.45554540461e-05,1793247709959063040
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.258104009,715.741895991,680,660,634,878,784,810,651,629,653,0.413198735143,-0.0155039141524,0.0799095008432,0.99999999042,6.17305660932e-06,-0.000129320835668,-4.89605951294e-05,1793247709975730176
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.854870777,715.145129223,680,660,634,878,784,810,651,629,653,0.413948484558,-0.0155057519211,0.0799038056448,0.999999990835,3.26117695604e-06,-0.000125200417258,-5.14122822346e-05,1793247709992396544
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.564261676,715,680,660,633.564261676,878,784.435738324,810,651,629,653,0.41473511484,-0.0155079280862,0.0799236257899,0.999999994566,-2.00391967138e-07,-9.11425586726e-05,-5.059649907e-05,1793247710009062912
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744,715,680,660,633.011482822,878.011482822,785,810,651,629.011482822,653,0.415533226613,-0.0155101127608,0.0799509447531,0.999999997608,-3.71815416826e-06,-4.88989498788e-05,-4.87790226962e-05,1793247710025729280
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,715,680,660,633.586542297,878.586542297,785,810,651,629.586542297,653,0.416313190618,-0.0155073781207,0.0799438939107,0.999999995814,-1.32454376929e-06,-7.70529758962e-05,-4.93309196919e-05,1793247710042395904
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.165888568,715,680,660,634,878.834111432,785,810,651,630,653,0.417123091054,-0.0155060404693,0.0799428649956,0.999999995191,4.26627365177e-07,-8.46248406831e-05,-4.95587328315e-05,1793247710059062272
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.756202556,715,680,660,634,878.243797444,785,810,651,630,653,0.418009583716,-0.0155082770095,0.0799572431643,0.99999999802,5.34119355376e-07,-3.95373038751e-05,-4.89573783523e-05,1793247710075729152
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.660200244,715,680,660,634,878,785,810,651,630,653,0.41889738675,-0.0155111526686,0.0799721026156,0.999999998764,-5.18546401959e-06,-5.49945741172e-06,-4.91465761565e-05,1793247710092396032
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.081328777,715,680,660,634,878,785,810,651,630,653,0.419786111678,-0.01551447799,0.0799873006806,0.999999998427,-1.50047821865e-05,2.07641956004e-05,-4.98919800768e-05,1793247710109063168
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.493670455,715,680,660.493670455,633.506329545,878,785,810.493670455,651,630,653,0.420646188465,-0.0155162920843,0.0799709575723,0.999999998464,-1.82795273414e-05,-3.0618865605e-06,-5.22313452658e-05,1793247710125729792
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.93183376,633.06816624,878.13633248,785,811,651,629.93183376,653,0.421510354111,-0.0155179470999,0.0799547566844,0.999999997959,-1.9838715753e-05,-2.75107233383e-05,-5.41413621488e-05,1793247710142396672
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.356374436,633.643625564,879.287251127,785,811,651,629.356374436,653,0.42243979838,-0.0155202566223,0.0799779832868,0.999999998557,-1.65920467256e-05,4.33887051916e-06,-5.09171529567e-05,1793247710159062784
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.225242522,745,715,680.225242522,660,634,879.774757478,785,811,651,629.225242522,653,0.423359898027,-0.0155220342997,0.0799915527143,0.999999998539,-1.32127907104e-05,1.85453720775e-05,-4.90286106952e-05,1793247710175729152
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.816875892,745,715,680.816875892,660,634,879.183124108,785,811,651,629.816875892,653,0.424264797388,-0.0155229468516,0.0799894132976,0.99999999873,-9.61786152175e-06,4.05273488075e-06,-4.93127311822e-05,1793247710192395776
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.600242155,745,715,680.600242155,660.399757845,634,879,785,811,651,630.399757845,653,0.425149514802,-0.0155204947869,0.0799509258163,0.999999996338,-5.33989959835e-06,-6.63694962197e-05,-5.37589458757e-05,1793247710209062400
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.021283271,745,715,680.021283271,660.978716729,634,879,785,811,651,630.978716729,653,0.42602518512,-0.0155165344521,0.0798961444435,0.999999985096,-7.55752045746e-07,-0.00016186350764,-6.00709186767e-05,1793247710225729024
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.552495276,661,634,879.552495276,785,811,650.447504724,630.447504724,653,0.426964338176,-0.01551886018,0.0798912736618,0.999999987608,-9.9859845995e-06,-0.000144570976411,-6.15050581394e-05,1793247710242395904
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.8707918,660.8707918,633.8707918,879.8707918,784.8707918,811,650.1292082,630,653,0.427905981019,-0.0155212874145,0.0798932557473,0.999999990031,-1.83240168819e-05,-0.000125563127959,-6.19435626733e-05,1793247710259062784
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.282961648,660.282961648,633.282961648,879.282961648,784.282961648,811,650.717038352,630,653,0.428847861686,-0.0155232234141,0.0799128008992,0.999999991297,-2.16238606908e-05,-0.000115745227159,-5.95088478292e-05,1793247710275729664
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.699314628,715,680.300685372,660.300685372,633,879,784.300685372,811,651,630,653,0.429813678189,-0.0155276573115,0.0799459922329,0.99999999518,-2.51077543733e-05,-7.62820996776e-05,-5.64820412742e-05,1793247710292396288
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.119550185,715,680.880449815,660.880449815,633,879,784.880449815,811,651,630,653,0.430801710522,-0.0155344096156,0.0799918491759,0.999999998144,-2.87624724208e-05,-9.30395814105e-06,-5.29056887932e-05,1793247710309062400
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.457615139,744,715,681,661,633.457615139,879,785,811,651,630,653,0.431739057008,-0.0155353679094,0.0800099256563,0.999999998147,-2.60539232547e-05,1.75918589768e-05,-5.21381737362e-05,1793247710325729024
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.966091983,744.033908017,715,680.966091983,661,633.966091983,879,785,811.033908017,651,630.033908017,653,0.432657205394,-0.0155344950024,0.0800152011112,0.999999998038,-2.20476253751e-05,2.59920622223e-05,-5.25483852154e-05,1793247710342395904
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.392937044,744.607062956,715,680.392937044,661,633.392937044,879,785,811.607062956,651,630.607062956,653,0.433479433904,-0.0155284362674,0.0799316653768,0.999999993481,-2.36908226432e-05,-9.4159904568e-05,-6.00844003722e-05,1793247710359062272
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.18584906,661,633.18584906,879,785,812,651,631,653,0.4343406536,-0.0155263185285,0.0798801377295,0.999999983769,-3.00130058235e-05,-0.000165292435397,-6.51194311385e-05,1793247710375728896
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.776913157,661,633.776913157,879,785,812,651,631,653,0.435286887683,-0.0155327935188,0.0798983987334,0.999999988433,-4.65369926258e-05,-0.000129545718358,-6.47014565267e-05,1793247710392396288
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.639450234,879.360549766,785,812,651,630.639450234,653,0.436211564192,-0.0155373415907,0.0799312708378,0.999999993087,-5.11514927224e-05,-8.61542770414e-05,-6.1539777458e-05,1793247710409062912
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.060316586,879.939683414,785,812,651,630.060316586,653,0.43712317133,-0.0155407214647,0.0799730009444,0.999999996486,-4.8545846137e-05,-3.81282112825e-05,-5.67147230628e-05,1793247710425729536
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.516154842,878.967690315,785,811.483845158,651,630,653,0.438033856609,-0.0155441339005,0.0800071852996,0.999999996902,-5.23451940305e-05,1.92141894359e-05,-5.55673025264e-05,1793247710442396160
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.908378406,878.183243188,785,811.091621594,651,630,653,0.438926668456,-0.0155462981432,0.0800313190624,0.999999994992,-5.53658421426e-05,6.23130436641e-05,-5.53824240595e-05,1793247710459062784
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.336555169,879.326889663,785,811.663444831,651,630,653,0.439726364832,-0.0155419005891,0.0800073740664,0.999999996733,-5.04024989234e-05,2.50828023408e-05,-5.80014938906e-05,1793247710475729408
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,785,812,651,630.244253424,653.244253424,0.440488809731,-0.0155364340214,0.0799539677127,0.999999995137,-4.84214242883e-05,-5.81618577115e-05,-6.3226830298e-05,1793247710492395776
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,880,785,812,651,630.837915676,653.837915676,0.441197965668,-0.015529438211,0.0798584163696,0.999999974637,-5.07065371855e-05,-0.000207230951366,-7.21804758962e-05,1793247710509062400
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.420383123,661,633,880,785,812,651.420383123,631,653.579616877,0.441966484715,-0.0155308338892,0.079832439993,0.999999967406,-5.21248178531e-05,-0.000238714360267,-7.40683076235e-05,1793247710525729280
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681.998646274,661,633,880,785,812,651.998646274,631,653.001353726,0.442757298362,-0.0155353810929,0.0798325933387,0.999999970351,-5.32175495232e-05,-0.000226037039662,-7.33024875962e-05,1793247710542395904
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.573110152,745,715,681.426889848,661,633,880,785,812.573110152,651.426889848,630.426889848,653,0.443578027671,-0.0155415367272,0.07991419707,0.999999990517,-5.80699654892e-05,-0.00010544120528,-6.69060484481e-05,1793247710559063040
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.848847043,745,715,681,661,633,880,785,813,651,630.151152957,653.151152957,0.44437227585,-0.0155472086673,0.0799821407414,0.999999996048,-6.38021914581e-05,-5.72016270229e-06,-6.16544098295e-05,1793247710575730176
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.260424861,745,715,681,661,633,880,785,813,651,630.739575139,653.739575139,0.445089714089,-0.0155514704148,0.080010014448,0.999999995078,-7.20540946949e-05,3.28798064948e-05,-5.97527785706e-05,1793247710592396288
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.322885162,745,715,681.322885162,661.322885162,633,880,784.677114838,813,651,631,653.677114838,0.445794836571,-0.0155542757459,0.0800199694701,0.999999994487,-7.24545513444e-05,4.81468650986e-05,-5.88072398708e-05,1793247710609062656
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.902136175,745,715,681.902136175,661.902136175,633,880,784.097863825,813,651,631,653.097863825,0.446490180489,-0.0155559247044,0.0800156973309,0.999999995055,-6.66210797945e-05,4.48879494708e-05,-5.86208241151e-05,1793247710625729280
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,682,661.519227696,633,880,784.480772304,813,651,631,653.480772304,0.44710307157,-0.0155559275397,0.0799877374442,0.99999999566,-6.89225402209e-05,1.14338939461e-05,-6.16405683865e-05,1793247710642395904
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.941105346,745,715,682,661.058894654,633,880,784.941105346,813,651,630.941105346,653.941105346,0.447691456068,-0.0155560414919,0.0799538071455,0.99999999464,-7.38495477913e-05,-3.1716625136e-05,-6.5275173663e-05,1793247710659062528
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.366388029,745,715,682,661.633611971,633,880,784.366388029,813,651,630.366388029,653.366388029,0.44821201298,-0.0155600596421,0.0799097626435,0.999999988217,-8.72875486108e-05,-0.000106028894732,-6.85862730514e-05,1793247710675729152
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661.786933975,633,879.786933975,784.213066025,813.213066025,651,630.213066025,653,0.448721338867,-0.0155636308659,0.0798704330427,0.999999978244,-9.83470512079e-05,-0.000169536447513,-7.13881277011e-05,1793247710692395520
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661.199149499,633,879.199149499,784.800850501,813.800850501,651,630.800850501,653,0.449210912737,-0.0155664160815,0.0798393955264,0.999999968871,-0.000105223496745,-0.000214041776715,-7.32943755867e-05,1793247710709062144
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681.616836455,661,633,879.383163545,785,813.616836455,651,630.616836455,653,0.449734932639,-0.0155729024308,0.0798427136688,0.999999969798,-0.000111342611242,-0.000206722390957,-7.26195467758e-05,1793247710725728768
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681.037327101,661,633,879.962672899,785,813.037327101,651,630.037327101,653,0.450276603884,-0.0155812853651,0.0798636367964,0.999999975715,-0.000117073644587,-0.000172846292871,-7.06220881391e-05,1793247710742395392
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681.535011086,661,633,879.464988914,783.929977828,813,651,630.535011086,653,0.450767919278,-0.0155865716984,0.079894358394,0.999999981407,-0.000126509440177,-0.000128628297126,-6.80854133193e-05,1793247710759062016
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.108463276,745,715,682,661,632.891536724,879.108463276,783,813.108463276,650.891536724,630.891536724,653.108463276,0.45123606776,-0.015591661015,0.0799166978483,0.999999983664,-0.000136009359524,-9.87998253002e-05,-6.64276808896e-05,1793247710775728640
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+261,4.350000000,HOLD_POSE2,765,745,714.70268913,682,660,631.29731087,880,780,813.70268913,651,629.29731087,653.29731087,0.455511085164,-0.0156217876367,0.0797159144926,0.999999890013,-0.000182191047775,-0.000426113763926,-7.21673528557e-05,1793247711797795328
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,632,880,780,814,651,630,653,0.455512315152,-0.015621637076,0.0797161490854,0.999999890174,-0.000183142322511,-0.00042524828647,-7.26342105832e-05,1793247711835508480
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.424687711,660,632,880,780,814,651,630,653,0.455510887388,-0.0156213782175,0.0797152212828,0.999999889944,-0.000180590309982,-0.00042698977012,-7.19591926675e-05,1793247711852175360
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.751157728,745.751157728,715,682,660,632,880,780.751157728,814,651,630,653,0.455511326798,-0.0156207007809,0.0797151320999,0.99999989001,-0.000180774158987,-0.000426823218279,-7.15671843241e-05,1793247711885508864
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.664609252,715,682,660,632,880,780.664609252,813.664609252,651,630,653.335390748,0.45551220839,-0.0156206164097,0.0797163041173,0.999999890435,-0.000181721328604,-0.000425376273519,-7.18506705092e-05,1793247711902175488
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.088325164,715,682,660,632,880,780.088325164,813.088325164,651,630,653.911674836,0.455512873132,-0.0156207482787,0.0797179788447,0.999999891027,-0.000182171822214,-0.000423716621732,-7.22772728632e-05,1793247711918841856
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.484692683,660,632,880,780.484692683,813,651,630,653.515307317,0.455512816834,-0.0156204701297,0.0797180759056,0.99999989117,-0.000182394906718,-0.000423280267314,-7.22870217834e-05,1793247711935508224
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.940803091,660.059196909,631.940803091,879.940803091,781,813,651,629.940803091,653.059196909,0.455512448605,-0.0156203365756,0.0797177427888,0.9999998911,-0.000182668586816,-0.000423344091028,-7.21928025546e-05,1793247711952174848
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.347555577,660.652444423,631.347555577,879.347555577,781,813,651,629.347555577,653.652444423,0.45551044372,-0.0156221770558,0.0797161051011,0.999999889829,-0.000183770077626,-0.000425922682664,-7.18413437958e-05,1793247711968841472
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.761429918,631.238570082,879,781,813,651,629.238570082,653.761429918,0.455505938265,-0.0156226187051,0.0797131384898,0.999999887958,-0.000184395320455,-0.000429992163289,-7.2033528033e-05,1793247711985508608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.185378878,631.814621122,879,781,813,651,629.814621122,653.185378878,0.455497895505,-0.0156210815697,0.0797082919849,0.999999885222,-0.000184346863351,-0.000436170653506,-7.29947490442e-05,1793247712002175744
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.035326236,745,715,682,660,632,879,780.035326236,813,651,630,653,0.455438660555,-0.0156188373574,0.0796821290437,0.999999865199,-0.000181615410955,-0.000480818900417,-7.36932247338e-05,1793247712035508736
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.142397332,745,714.857602668,682,660,632,879.142397332,780.142397332,813.142397332,651,630,653.142397332,0.455327072269,-0.015611092867,0.0796485561678,0.999999836979,-0.00017536156076,-0.000538213945994,-7.49457289567e-05,1793247712068841728
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.72203136,745,714.27796864,682,660,632,879.72203136,780.72203136,813.72203136,651,630,653.72203136,0.455260515342,-0.015606867218,0.0796367211266,0.999999829994,-0.000175337529519,-0.000551008215465,-7.52211367432e-05,1793247712085508096
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.975700256,660,631.024299744,879.975700256,781,813,651,629.024299744,653,0.454913916137,-0.0155960480919,0.0796308341449,0.999999826799,-0.000170966643202,-0.000559202868719,-6.68096489051e-05,1793247712152175360
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.201342854,632,879.201342854,781,813,651,630,653,0.454649894886,-0.0155816533083,0.0796312631065,0.999999828175,-0.00015968461686,-0.000560762053195,-6.07990343385e-05,1793247712185508864
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.780384705,632,879.780384705,781,813,651,630,653,0.45448734492,-0.0155758861405,0.0796307156958,0.999999828307,-0.000154337556607,-0.000562448594978,-5.67253874176e-05,1793247712202175232
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.104385707,660,632,879.895614293,781,813,651,630,654,0.453663871112,-0.0155434386376,0.0796203528421,0.999999824646,-0.000119506945297,-0.000578846691123,-3.69230513473e-05,1793247712268841472
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.162082605,660,632,879,781.837917395,813,651,630,653.162082605,0.452821977441,-0.0155141604058,0.0796358274825,0.999999846524,-1.35907655887e-05,-0.000553652332617,-1.53449871443e-05,1793247712318841856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879,782,812.585880965,651,629.585880965,653,0.452497182365,-0.0155037785001,0.0796448001913,0.999999853284,9.12063043043e-06,-0.000541554780167,-8.21175491644e-06,1793247712335508736
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879,782,812.009856006,651,629.009856006,653,0.452163093403,-0.0154927203247,0.0796535340418,0.999999858802,1.92972455906e-05,-0.000531057916692,-1.3229331664e-06,1793247712352175616
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.578668725,632,879,782,812.578668725,651,629.578668725,653,0.451798110915,-0.0154884765757,0.0796621597349,0.999999864966,3.46400073362e-05,-0.00051851705278,2.95237174857e-06,1793247712368841984
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.835332504,632,879,782.164667496,812.835332504,651,630.164667496,653,0.451420805305,-0.0154851590645,0.079673119287,0.999999873356,3.69231039413e-05,-0.000501909636065,3.25557277923e-06,1793247712385508352
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.256238665,632,879,782.743761335,812.256238665,651,630.743761335,653,0.451013839091,-0.0154838741049,0.0796899573077,0.999999887074,6.11199172412e-06,-0.000475157290641,-6.32350165542e-06,1793247712402175232
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632.321269444,879.321269444,783,812,651,630.678730556,653,0.450584963192,-0.0154871923369,0.0797104679534,0.999999903915,-2.27809673833e-06,-0.000438331226669,-5.53085849096e-06,1793247712418841856
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632.897519076,879.897519076,783,812,651,630.102480924,653,0.450138698309,-0.0154941639589,0.0797338934335,0.999999922543,7.12658459958e-06,-0.000393510005611,3.4934488666e-06,1793247712435507968
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.471052263,745,715,682,660.942104525,633,880,783,812,651,630,653,0.449654329373,-0.0154924865208,0.0797519965103,0.999999933411,1.72817248447e-05,-0.000364408444493,9.29909771454e-06,1793247712452175104
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.362696983,745,715,682.637303017,661.362696983,633,880,783.637303017,811.362696983,651,630,653,0.448594363892,-0.0154746106679,0.0797555598189,0.999999932436,3.84330204133e-05,-0.000365386656241,1.20091768635e-05,1793247712485509376
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.775643636,661,632.775643636,880,784,811.224356364,651,630,653,0.448006857045,-0.0154624335902,0.0797367914309,0.99999992023,5.28153054667e-05,-0.000395774552852,1.06687919815e-05,1793247712502176256
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.073753215,660.926246785,633,879,784.926246785,811,651,630,653,0.435129170592,-0.0154344652369,0.0798856304289,0.999999971469,0.000157685899821,-0.000173598625764,4.5404183698e-05,1793247712785507840
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.664312532,660.335687468,633,879,784.335687468,811,651,630,653,0.434224110741,-0.0154361269587,0.0798639157049,0.99999996435,0.000161209734565,-0.000208038957524,4.5065353966e-05,1793247712802174720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633.249664662,879,784.249664662,811,651,630,653,0.433283363843,-0.0154338145106,0.0798290359925,0.999999949525,0.000165013326333,-0.000268113485009,4.28512410776e-05,1793247712818841344
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633.828158572,879,784.828158572,811,651,630,653,0.432295613993,-0.0154262677483,0.0797768168859,0.999999919456,0.000169185381167,-0.000361950396664,3.81672230918e-05,1793247712835507712
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.595922618,660,633.595922618,879,784.595922618,811,651,630,653,0.431304618045,-0.015419189742,0.0797311241,0.99999988439,0.000173569882557,-0.000446927366742,3.67466202972e-05,1793247712852174336
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.021092019,660,633.021092019,879,784.021092019,811,651,630,653,0.430312250433,-0.015412309821,0.0796881891808,0.999999844,0.000178044157853,-0.000528160335059,3.67050571031e-05,1793247712868840960
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.433775345,660,633.566224655,878.433775345,784.566224655,811,651,630,653,0.429477069151,-0.0154186424055,0.079762454619,0.999999902894,0.000189093226284,-0.000395844818422,4.19801797201e-05,1793247712885507584
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,744.848200412,715,681.303599176,660.151799588,634,878.151799588,785,811,651,630,653,0.428627244661,-0.0154233623269,0.079828103598,0.999999940363,0.000196392127767,-0.000280190938251,4.68647866185e-05,1793247712902173952
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,744.268870452,715,682.462259096,660.731129548,634,878.731129548,785,811,651,630,653,0.427719316291,-0.0154221229137,0.0798569120696,0.999999952767,0.000192423688228,-0.000234372143363,5.00791792932e-05,1793247712918840576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744,715,682.383696049,660.691848024,634,879,785,810.691848024,651,630,653,0.426780933114,-0.0154197124306,0.0798459851202,0.999999947571,0.000196650505764,-0.000252489151033,4.93485584741e-05,1793247712935507968
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744,715,681.233648087,660.116824043,634,879,785,810.116824043,651,630,653,0.425816174896,-0.0154162877539,0.0798006456964,0.999999924221,0.000207974745195,-0.000325977137016,4.52013969807e-05,1793247712952175616
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744,715,681,660,634,878.54395651,784.54395651,810.45604349,651,630,652.54395651,0.424853184804,-0.0154138342187,0.0797700402017,0.999999907893,0.000210970907025,-0.000371263901825,4.3219045797e-05,1793247712968842240
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.029437391,715,681,660,634,878.029437391,784,810.970562609,651,630,652.029437391,0.423891050002,-0.0154115025572,0.0797436349075,0.999999892995,0.000211975719487,-0.000409059365235,4.1797737309e-05,1793247712985508608
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.62347118,715,681,660,634,878.62347118,784,810.37652882,651,630,652.62347118,0.422936674388,-0.0154067594248,0.0797257375809,0.999999878679,0.000215512283105,-0.000441081100363,4.05508905778e-05,1793247713002174976
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634,878.20888599,784.79111401,810,651,630,653,0.421227815355,-0.0154126661992,0.0798017041605,0.999999932104,0.000208660228345,-0.000300174992005,4.63491887766e-05,1793247713035507968
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.632880627,715,681.367119373,659.632880627,634,878,784.632880627,810,651,630,653,0.420403698958,-0.0154147212715,0.079848315402,0.999999952521,0.000207454790845,-0.000222260454966,5.02099816162e-05,1793247713052174848
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.058611995,715,681.941388005,659.058611995,634,878,784.058611995,810,651,630,653,0.419570521375,-0.0154142545364,0.0798851656201,0.99999996272,0.000209325122624,-0.000166963359332,5.35279771435e-05,1793247713068841984
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.515272113,715,680.969455773,659,634,878.515272113,784.515272113,810,651,629.484727887,653,0.418660897459,-0.0154106725631,0.0798423616663,0.999999947507,0.000211142451538,-0.000240874760986,4.88350605032e-05,1793247713085508864
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.092124811,659.092124811,634,878.907875189,785,810.092124811,651,629.092124811,653,0.417754169318,-0.0154068831063,0.0797991572032,0.999999926459,0.000213182967009,-0.000315729246282,4.41528265484e-05,1793247713102175488
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634,878,785,810.147829216,651,629.147829216,653,0.415234796849,-0.0153960454094,0.0797967835098,0.99999991448,0.000220022454836,-0.000347283542743,4.4993410082e-05,1793247713152174592
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.573541659,714.573541659,680.573541659,660,634,878.426458341,784.573541659,810,651,629.426458341,653,0.414467950781,-0.0153950728599,0.0797898230834,0.999999912154,0.000220826339156,-0.00035352517923,4.41218861796e-05,1793247713168841216
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.001159075,714.001159075,680.001159075,660,634,878.998840925,784.001159075,810,651,629.998840925,653,0.41372466771,-0.0153952247922,0.0797824110045,0.999999911686,0.000221484177894,-0.000354590393073,4.28736123312e-05,1793247713185507840
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.587771535,744,714.587771535,680,659.412228465,634,879,784.587771535,809.412228465,651,629.412228465,653,0.413012333337,-0.0154023270682,0.0798030362373,0.999999926354,0.000217170746939,-0.000313246428286,4.47789024736e-05,1793247713202174976
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744.173807224,715,680,659,634,878.826192776,785,809.173807224,651,629,653,0.412294413005,-0.0154060863308,0.079813900777,0.999999932871,0.00021453401708,-0.000293474989793,4.58921759905e-05,1793247713218841600
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744.753012435,715,680,659,634,878.246987565,785,809.753012435,651,629,653,0.411563317038,-0.0154020152631,0.0798018662225,0.99999992313,0.000215831649311,-0.000324221262088,4.51431795733e-05,1793247713235508480
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.669116053,744.669116053,715,680,659,634,878,785,809.669116053,651,629,653,0.410862416599,-0.0153980024667,0.0797910642246,0.999999914556,0.000222624111263,-0.0003454826781,4.43546696456e-05,1793247713252175104
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.092236114,744.092236114,715,680,659,634,878,785,809.092236114,651,629,653,0.410183965098,-0.0153940329923,0.0797811785728,0.999999907101,0.000233501709678,-0.000359692566744,4.35367834163e-05,1793247713268841728
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784.649228122,809,651,629.350771878,652.350771878,0.408427542786,-0.0153961347532,0.0798419629888,0.99999993753,0.000234186347664,-0.000260241160122,4.87004945616e-05,1793247713318841600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.23423918,745,715,680,659,634,878,785,809,651,629.23423918,652.23423918,0.407848771496,-0.0153939741882,0.0798393956997,0.99999993462,0.000237370780938,-0.000268386476526,4.88225405364e-05,1793247713335508480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.813330243,745,715,680,659,634,878,785,809,651,629.813330243,652.813330243,0.407262400397,-0.0153883626561,0.0798061573198,0.999999915817,0.0002411990537,-0.000328617291481,4.6893109426e-05,1793247713352175616
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.036300797,745,715,680,658.036300797,634,877.036300797,785,809,651,629.036300797,653,0.406222322737,-0.0153827511075,0.0797609757612,0.999999892185,0.000239844154045,-0.000395617705834,3.98911540196e-05,1793247713385508608
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.449310223,715,679.449310223,658.550689777,634,877.550689777,784.449310223,809,651,629,653,0.405809701504,-0.0153872077551,0.0797793943071,0.999999907829,0.000238944596615,-0.000354245981936,4.19237352381e-05,1793247713402175232
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,877.863556911,784,809,651,629,652.863556911,0.405402845057,-0.0153904002383,0.079799265558,0.999999921314,0.000238854210942,-0.000313647668121,4.41028304344e-05,1793247713418841856
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,877.28456382,784,809,651,629,652.28456382,0.404993972634,-0.0153880214079,0.0798153236217,0.999999927579,0.000241247531582,-0.000290815726761,4.54803586146e-05,1793247713435508224
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.294616221,659,634,877.294616221,784.294616221,809,651,629.294616221,652,0.404605176973,-0.0153854159773,0.0798264822293,0.999999930482,0.000243935901878,-0.000278141613961,4.65603093175e-05,1793247713452174848
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+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.384865115,744.384865115,715.615134885,680,659.615134885,634,877,785,809,651,629,652.615134885,0.403268505226,-0.0153728177361,0.0798343536969,0.999999923258,0.000258721173236,-0.000290594791216,4.58527903599e-05,1793247713518842112
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.780628803,715.219371197,680,659.219371197,634,877,785,809,651,629,652.219371197,0.402741391764,-0.0153716318638,0.0798387958449,0.999999923029,0.00026444252348,-0.000286132478,4.62720211767e-05,1793247713552174848
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.401887371,744.401887371,715,680,658.401887371,634,877,784.401887371,808.598112629,651,629,652,0.400983175613,-0.0153812049744,0.0798409384309,0.999999928087,0.000257226083025,-0.000275729544244,4.04167513799e-05,1793247714035507456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.184956167,744.184956167,715,679.815043833,658.184956167,634,877,784.184956167,809,651,629,652.184956167,0.400983439339,-0.0153819263758,0.0798413992172,0.999999928317,0.000256988040029,-0.000275105723379,4.04855050769e-05,1793247714052174592
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.766651417,744.766651417,715,679.233348583,658.766651417,634,877,784.766651417,809,651,629,652.766651417,0.400981816463,-0.0153831032537,0.0798406405468,0.99999992894,0.000252854266792,-0.000276666802604,4.04980582876e-05,1793247714068842240
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.656098778,634,877,785,809,651,629,652.656098778,0.400980727606,-0.0153836617454,0.0798404848945,0.999999928752,0.000252774804834,-0.000277375651302,4.07917197784e-05,1793247714085509120
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.081826886,634,877,785,809,651,629,652.081826886,0.400979996475,-0.0153838059959,0.0798407331887,0.999999928024,0.000255411222901,-0.000277513612417,4.12736885455e-05,1793247714102175488
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784.090835066,809,651,629.090835066,652,0.400984196556,-0.0153836505594,0.0798440876703,0.999999929662,0.000254806003731,-0.000272169042366,4.09058960301e-05,1793247714135508480
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+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.399327361,659,634,877.399327361,784.399327361,809,651,629,652,0.40098014156,-0.0153838633274,0.0798416620138,0.999999928876,0.000254160863818,-0.000275715680136,4.03788382118e-05,1793247714202174720
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+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,878,784.437626108,809,651,629,652.562373892,0.400980954999,-0.0153829744861,0.0798421026403,0.999999929372,0.000252759933617,-0.000275254467404,4.00491233283e-05,1793247714235508480
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f116a977644e0bf9e12edb05653114406eedf7f6
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+2,0.033333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+3,0.050000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+4,0.066666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+7,0.116666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+12,0.200000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+15,0.250000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+16,0.266666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+18,0.300000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52ccfa273a314797da4dc8b36e1c8285ce7f897a
--- /dev/null
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..289bd44c4ca979ff63fe23aa3a3ca6e1d6f08afb
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,411 @@
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+59,0.983333333,BASELINE,765,744.755528562,715,679.755528562,659,634,878,784.755528562,809,651,629,652,0.400982053818,-0.0153854733449,0.0798451253958,0.999999930958,0.000253121608857,-0.000269051065519,4.03197928431e-05,1793247715374962944
+60,1.000000000,BASELINE,765,744.176779109,715,679.176779109,659,634,878,784.176779109,809,651,629,652,0.400981748619,-0.0153868641582,0.0798447255335,0.999999931602,0.000250031066466,-0.000269549651999,4.03027585937e-05,1793247715391629824
+61,1.016666667,BASELINE,765,744.399176758,715,679,659,634,877.600823242,784.399176758,809,651,629,652,0.400981423078,-0.0153859743296,0.0798446555808,0.999999931409,0.00025063225819,-0.000269755461105,3.99651398979e-05,1793247715408296192
+62,1.033333333,BASELINE,765,744.973904025,715,679,659,634,877.026095975,784.973904025,809,651,629,652,0.400981088593,-0.0153840815169,0.0798447307162,0.999999930847,0.000252857006045,-0.000269832512139,3.94865341309e-05,1793247715424962816
+63,1.050000000,BASELINE,765.548929837,745,715,679,659,634,877,785,809,651.548929837,629,652,0.400981549871,-0.01538484636,0.0798455404149,0.999999931246,0.000252303206946,-0.000268839600456,3.97115291885e-05,1793247715441629440
+64,1.066666667,BASELINE,765.872387559,745,715,679,659,634.127612441,877.127612441,785,809,652,629,652,0.40098195648,-0.0153853719614,0.0798460795989,0.999999931559,0.000251747334326,-0.000268169931047,3.98725095399e-05,1793247715458296320
+65,1.083333333,BASELINE,765.280451244,745,715,679,659,634.719548756,877.719548756,785,809,652,629,652,0.400982026446,-0.0153845671112,0.0798455073717,0.999999931402,0.000251664799335,-0.000268861572013,3.96787973995e-05,1793247715474962944
+66,1.100000000,BASELINE,765,745,715,679.30393266,659,634.69606734,878,785,809,651.69606734,629,652,0.400982096081,-0.0153848446997,0.0798451066056,0.99999993158,0.000250842268151,-0.000268980387602,3.96009416426e-05,1793247715491629568
+67,1.116666667,BASELINE,765,745,715,679.881516585,659,634.118483415,878,785,809,651.118483415,629,652,0.400982165416,-0.0153860968816,0.0798448602176,0.999999932058,0.000249353468024,-0.000268583449472,3.96273992851e-05,1793247715508296448
+68,1.133333333,BASELINE,765.457305111,745,715.457305111,679.542694889,659,634,877.542694889,785,809,651,629,652,0.400982442165,-0.0153870505029,0.0798455187275,0.999999932265,0.000249045437882,-0.000268048810516,3.99640022693e-05,1793247715524963072
+69,1.150000000,BASELINE,765.966465068,745,715.966465068,679.033534932,659,634,877.067069864,785,808.966465068,651,629,652,0.40098267578,-0.0153878484058,0.0798462986485,0.999999932372,0.000249054454485,-0.00026758538926,4.03277988858e-05,1793247715541629440
+70,1.166666667,BASELINE,765.375190234,745,715.375190234,679.624809766,659,634,878.249619532,785,808.375190234,651,629,652,0.400981301758,-0.0153873379565,0.0798452137908,0.999999931987,0.000249268319762,-0.000268897478812,3.9812650376e-05,1793247715558296320
+71,1.183333333,BASELINE,765,745,715,679.788190389,659,634,878.788190389,784.788190389,808.211809611,651,629,652,0.4009807941,-0.0153869929498,0.0798447982348,0.999999931793,0.00024950841182,-0.000269427935434,3.95879554675e-05,1793247715574962944
+72,1.200000000,BASELINE,765,745,715,679.208613162,659,634,878.208613162,784.208613162,808.791386838,651,629,652,0.400981790723,-0.0153869352028,0.0798455447954,0.999999931933,0.000249794041792,-0.000268601233468,3.98675786099e-05,1793247715591629568
+73,1.216666667,BASELINE,765,744.632193942,715,679.367806058,659,634,877.632193942,784.367806058,809,651,629,652,0.400982260261,-0.0153865466741,0.0798458426395,0.999999932003,0.000250083045374,-0.000268070603992,3.98817589602e-05,1793247715608296192
+74,1.233333333,BASELINE,765,744.057550675,715,679.942449325,659,634,877.057550675,784.942449325,809,651,629,652,0.40098243339,-0.0153859721289,0.0798458881461,0.999999932033,0.0002503739461,-0.000267706472116,3.97466664767e-05,1793247715624962816
+75,1.250000000,BASELINE,765,744,715,679.482168195,659,634,877,785,809,651,629,652,0.400982784642,-0.015386742458,0.079845840218,0.999999932421,0.000248749399509,-0.000267781810508,3.96848336783e-05,1793247715641629440
+76,1.266666667,BASELINE,765,744,715,679,659,634,877,784.904182624,809,651,629,652,0.400982851621,-0.0153870608517,0.0798456187583,0.999999932566,0.000247743303335,-0.000268185175699,3.96012973842e-05,1793247715658296064
+77,1.283333333,BASELINE,765,744,715,679,659,634,877,784.313169159,809,651,629,652,0.400981346989,-0.0153842700221,0.0798445542087,0.999999931258,0.000251035191264,-0.000270031043027,3.93634561349e-05,1793247715674962944
+78,1.300000000,BASELINE,765,744,715,679,659,634,877,784,809,651,629,652,0.400981174836,-0.015383097272,0.079844556013,0.999999930765,0.000252973602875,-0.000270057405615,3.92783178628e-05,1793247715691629568
+79,1.316666667,BASELINE,765,744,715,679,659,634,877,784,809,651,629,652,0.400982504573,-0.0153837483224,0.0798457597464,0.999999931202,0.000253386458488,-0.000268032933553,3.93652970691e-05,1793247715708296448
+80,1.333333333,BASELINE,765,744,715,679,658.575277723,634,877.424722277,784,809,651,629,652,0.400982473654,-0.0153847132499,0.0798461497666,0.999999931588,0.000252198464217,-0.000267696788188,3.9472711419e-05,1793247715724962816
+81,1.350000000,BASELINE,765,744,715,679,658.0035134,634,877.9964866,784,809,651,629,652,0.400981971665,-0.0153857868442,0.0798462580734,0.999999931955,0.000250456243713,-0.000267945154056,3.95872005762e-05,1793247715741629440
+82,1.366666667,BASELINE,764.413576606,744,715,679,658,634,878,784,808.413576606,651,629,652,0.400983120392,-0.0153848028834,0.0798459254381,0.999999931464,0.000252548040442,-0.000267817025181,3.95605966214e-05,1793247715758296320
+83,1.383333333,BASELINE,764.173323885,744.173323885,715,679,658.173323885,634,877.826676115,784,808.173323885,651,629.173323885,652.173323885,0.400983378046,-0.0153848212446,0.0798456200585,0.999999931348,0.000252860149359,-0.000267955959271,3.95724735878e-05,1793247715774962944
+84,1.400000000,BASELINE,764.752845369,744.752845369,715,679,658.752845369,634,877.247154631,784,808.752845369,651,629.752845369,652.752845369,0.400981523483,-0.0153872184365,0.0798453849436,0.999999932119,0.000248945871392,-0.000268726230921,3.96765779203e-05,1793247715791629568
+85,1.416666667,BASELINE,765,744.66994847,715.33005153,679.33005153,658.66994847,634,877,784.33005153,809,651,629.66994847,652.66994847,0.400980887864,-0.0153873476152,0.079845128632,0.99999993206,0.00024870331508,-0.000269168609113,3.96912722059e-05,1793247715808296192
+86,1.433333333,BASELINE,765,744.094464065,715.905535935,679.905535935,658.094464065,634,877,784.905535935,809,651,629.094464065,652.094464065,0.400981158674,-0.0153857902542,0.0798448565581,0.999999931387,0.000251191124174,-0.000269367159172,3.96394793981e-05,1793247715824962816
+87,1.450000000,BASELINE,765,744.480009393,715.519990607,679.519990607,658,634,877,785,808.519990607,651,629,652,0.400981909689,-0.0153847954416,0.07984538566,0.999999931036,0.000253299025763,-0.000268689337815,3.96762336662e-05,1793247715841629952
+88,1.466666667,BASELINE,765,744.944136163,715,679,658.055863837,634,877,785,808.055863837,651,629,652.055863837,0.400982498549,-0.0153839848573,0.0798458877084,0.999999930763,0.000255072497556,-0.000268017414748,3.97270718336e-05,1793247715858296576
+89,1.483333333,BASELINE,765,744.353151451,715,679,658.646848549,634,877,785,808.646848549,651,629,652.646848549,0.400980630774,-0.0153838807584,0.0798446234763,0.999999930667,0.000254357123856,-0.000269050580987,3.97462492984e-05,1793247715874963456
+90,1.500000000,BASELINE,765,744,715,679.233129112,658.766870888,634,877,785,809,651,629,652.766870888,0.400980136439,-0.0153839267583,0.0798443231612,0.999999930827,0.000253232009977,-0.000269527292526,3.96703739044e-05,1793247715891630592
+91,1.516666667,BASELINE,765,744,715,679.812424574,658.187575426,634,877,785,809,651,629,652.187575426,0.400981681484,-0.0153841956352,0.0798454541373,0.999999931368,0.000251498485392,-0.000269177741262,3.94533574008e-05,1793247715908297984
+92,1.533333333,BASELINE,765,744,715,679.609381462,658.390618538,634,877.390618538,784.609381462,808.609381462,651,629,652.390618538,0.400982477732,-0.0153852774951,0.0798459742728,0.999999931476,0.000251992705399,-0.00026828050471,3.96543008257e-05,1793247715924964096
+93,1.550000000,BASELINE,765,744,715,679.031714899,658.968285101,634,877.968285101,784.031714899,808.031714899,651,629,652.968285101,0.400982915418,-0.0153867486528,0.0798462019069,0.999999931376,0.000253553682676,-0.000267121008553,4.00553847047e-05,1793247715941629952
+94,1.566666667,BASELINE,765,744,715,679,659,634,877.460365871,784,808,651,629,652.460365871,0.400983589981,-0.0153856528365,0.0798467580867,0.999999931893,0.00025288379941,-0.000265839583337,3.99093985626e-05,1793247715958296576
+95,1.583333333,BASELINE,765,744,715,679,659,634,877,784.114729739,808.114729739,651,629,652,0.400984209638,-0.0153847957786,0.0798472871795,0.999999932386,0.000252066291133,-0.00026478485874,3.97399011338e-05,1793247715974963712
+96,1.600000000,BASELINE,765,744,715,679,659,634,877,784.706945536,808.706945536,651,629,652,0.400984543521,-0.0153855529978,0.0798476241096,0.999999932638,0.000251173736399,-0.000264703102157,3.96048160969e-05,1793247715991630848
+97,1.616666667,BASELINE,765,744,715,679,659,634,877.292697147,785,809,651,629,652,0.400983552457,-0.0153858543024,0.0798467149541,0.999999932071,0.000251730719081,-0.000266302776826,3.9662556944e-05,1793247716008297472
+98,1.633333333,BASELINE,765,744,715,679,659,634,877.872116491,785,809,651,629,652,0.400981263493,-0.015385708999,0.0798445851499,0.999999930691,0.000253707649218,-0.000269549558991,3.99091874474e-05,1793247716024964096
+99,1.650000000,BASELINE,765,744,715,679,658.551454359,634,877.551454359,785,809,651,629,652,0.400980797501,-0.0153861658562,0.0798441648985,0.999999930951,0.000252103986604,-0.000270087587492,3.99162938248e-05,1793247716041630464
+100,1.666666667,BASELINE,765,744,715,679,658.049111688,634,877,785,809,651,629,652,0.400980856055,-0.0153867268485,0.0798442511508,0.999999931637,0.000249677237141,-0.000269813186772,3.98535733121e-05,1793247716058297088
+101,1.683333333,BASELINE,765,744,715,679,659.220693686,634,877,785,809,651,629,652,0.400981103106,-0.015385770053,0.0798448476692,0.999999931508,0.000251615992125,-0.000268504374631,3.97453906128e-05,1793247716074963712
+102,1.700000000,BASELINE,765,744.195077891,715,679.195077891,659.804922109,634,877.195077891,785,809,651,629,652,0.400981273482,-0.0153853980094,0.0798451728078,0.999999931614,0.000251848506391,-0.000267904688255,3.96481855188e-05,1793247716091630336
+103,1.716666667,BASELINE,765,744.77770314,715,679.77770314,659.22229686,634,877.77770314,785,809,651,629,652,0.400981291534,-0.015386187651,0.0798449588153,0.99999993219,0.000248691353469,-0.000268713771701,3.95727888648e-05,1793247716108296704
+104,1.733333333,BASELINE,765,744.644437496,715,680,659,634,878,785,809,651,629,652,0.400980945093,-0.0153861956543,0.0798445381928,0.999999931876,0.000248864634814,-0.00026973948872,3.9434641329e-05,1793247716124963584
+105,1.750000000,BASELINE,765,744.069518287,715,680,659,634,878,785,809,651,629,652,0.400980373787,-0.0153857214426,0.0798439900942,0.999999931013,0.000251092556273,-0.000270898853282,3.92577809673e-05,1793247716141630464
+106,1.766666667,BASELINE,765,744,715,680,659,634,877.494303504,784.494303504,809,651,629,652,0.400980815146,-0.0153853057935,0.0798444951669,0.999999931087,0.000251674816777,-0.000270071712741,3.93394350436e-05,1793247716158297344
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,785,809,651,629,653,0.400982156574,-0.015387393805,0.0798457294268,0.999999931862,0.000251595493185,-0.000267141759145,4.01291618639e-05,1793247716200821760
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,679.5784963,659,634,877.4215037,785,809,651,629,652.4215037,0.400982602625,-0.0153880647299,0.079846189217,0.999999932431,0.000249453545037,-0.000267042983554,3.9998917052e-05,1793247716217488384
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.156174515,715,679.843825485,659,634,877,785,809,651,629,652,0.400983049932,-0.0153880101391,0.0798465115828,0.99999993283,0.000248169348521,-0.000266774185082,3.98022640085e-05,1793247716234155264
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.731656411,715,679.268343589,659,634,877,785,809,651,629,652,0.400983500613,-0.0153860076372,0.0798464649827,0.999999932784,0.000249188098264,-0.000266048898229,3.94273138467e-05,1793247716250821632
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.686517438,744.686517438,715,679,659,634,877,785,809,651,629,652.313482562,0.400983298149,-0.0153852792795,0.0798462636056,0.99999993266,0.000249368551799,-0.000266366685304,3.92941706817e-05,1793247716267488000
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.099148412,744.099148412,715,679,659,634,877,785,809,651,629,652.900851588,0.400982525037,-0.0153856641287,0.0798459270017,0.999999932466,0.000248816594568,-0.000267595795299,3.93722918051e-05,1793247716284154624
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.481264702,744.481264702,715,679,658.518735298,634,877.481264702,785,809,651,629,652.518735298,0.400982667436,-0.0153864910224,0.0798460816773,0.999999932607,0.00024845038909,-0.000267386834694,3.95295827016e-05,1793247716300820992
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.940838649,715,679.059161351,658.059161351,634.059161351,877.940838649,785,809,651,629.059161351,652.059161351,0.400983082226,-0.015387142927,0.0798464167243,0.999999932761,0.000248338828558,-0.000266891597335,3.96804880766e-05,1793247716317487616
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.372443428,715,679.627556572,658.627556572,634.627556572,877.372443428,785,809,651,629.627556572,652.627556572,0.400984241283,-0.015385515898,0.0798474455536,0.999999932444,0.000250094435691,-0.00026644601087,3.96380386795e-05,1793247716334154240
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,715,679.798616834,659,634.798616834,877,784.798616834,809,651,629.798616834,652.798616834,0.400990425144,-0.0153851528353,0.0798498987245,0.999999933195,0.000250701396687,-0.000263023707155,3.97252925646e-05,1793247716350820864
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,715,679.214466955,659,634.214466955,877,784.214466955,809,651,629.214466955,652.214466955,0.401006159596,-0.0153871921794,0.0798550591253,0.999999935922,0.000249125138715,-0.000253943590585,4.00590720173e-05,1793247716367487488
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.37278149,715,679,659,634,877,784.37278149,809,651,629,652,0.401039385974,-0.0153892949895,0.0798667246378,0.999999941742,0.000247426345561,-0.00023161178554,4.06549210167e-05,1793247716384154112
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.961827587,715,679,659,634,877,784.961827587,809,651,629,652,0.401082760081,-0.0153914346188,0.0798821640115,0.99999994865,0.000245656464801,-0.000201592175051,4.14028064498e-05,1793247716400820736
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,785,809,651,629,652,0.401150839822,-0.0153938461716,0.0798993666251,0.99999995466,0.000246713277506,-0.000167449742688,4.21030645514e-05,1793247716417487360
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.121932782,659,634,877,785,809,651,629,652.121932782,0.401222631285,-0.0153965021847,0.0799154201197,0.999999959018,0.000247230283863,-0.000138021028044,4.23289451197e-05,1793247716434153984
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.697558458,659,634,877,785,809,651,629,652.697558458,0.401301863567,-0.015399997686,0.0799267433044,0.999999961063,0.000245009940253,-0.000127194314933,4.08020210103e-05,1793247716450821376
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.727436564,715,679.727436564,659,634,877,785,809,651,629.272563436,653,0.401391072714,-0.0154032431308,0.0799348275151,0.999999962811,0.000244160587229,-0.000115138631938,3.88122521688e-05,1793247716467488512
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.153118797,715,679.153118797,659,634,877,785,809,651,629.846881203,653,0.401491327217,-0.0154062117384,0.0799393258648,0.999999964196,0.00024482905475,-0.000101722359951,3.63100691146e-05,1793247716484155392
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.432708325,715,679.432708325,659,634,877.432708325,785,809,651,629.567291675,652.567291675,0.401602029567,-0.0154086319073,0.0799416904363,0.999999964777,0.000245024781954,-9.65902163733e-05,3.28457896861e-05,1793247716500822016
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.977702371,785,809,651,629,652.022297629,0.401717721647,-0.0154110173006,0.0799433631432,0.999999965197,0.000244699998048,-9.42694470752e-05,2.90165051174e-05,1793247716517488640
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.398645465,785,809,651,629,652.601354535,0.401863167799,-0.015417512633,0.0799471290276,0.999999968142,0.000235669483349,-8.69507559899e-05,2.48063478749e-05,1793247716534155008
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,785,808.82108087,651,629,652.82108087,0.402018350215,-0.0154238578509,0.0799508261137,0.999999970833,0.000227178175951,-7.94774224821e-05,2.01821678278e-05,1793247716550821376
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,785,808.246813826,651,629,652.246813826,0.402195046309,-0.0154298713682,0.0799543711796,0.999999973152,0.000219878326968,-7.16623849753e-05,1.4643144574e-05,1793247716567488000
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.664584175,715,679.664584175,659,634.335415825,877,784.664584175,808,651,629,652.335415825,0.402380381714,-0.0154368076851,0.0799521245545,0.999999975124,0.0002096051843,-7.58473085126e-05,8.02337623295e-06,1793247716584154880
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.076352744,715,679.076352744,659,634.923647256,877,784.076352744,808,651,629,652.923647256,0.402572228913,-0.0154444395516,0.079945512513,0.99999997661,0.000197090956812,-8.90770561128e-05,5.89008823201e-07,1793247716600822016
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.503876808,744,715,679,659,634.496123192,877,784.503876808,808.503876808,651,629,652.496123192,0.40279970895,-0.0154511713643,0.0799414503081,0.999999988554,0.000116429526521,-9.63183868809e-05,-7.68287696331e-06,1793247716617489152
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.834900345,744.082549828,715,679.082549828,659,634,877,785,808.917450172,651,629.082549828,652,0.403039903193,-0.0154584056108,0.0799390365939,0.999999994131,3.76426950878e-05,-0.000100344032991,-1.58879504563e-05,1793247716634156032
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.681897465,744.659051267,715,679.659051267,659,634,877,785,808.340948733,651,629.659051267,652,0.403324371644,-0.015469449594,0.0799442110948,0.999999995167,3.08966725851e-05,-9.04729421714e-05,-2.29457290566e-05,1793247716650821888
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.235362821,745,715,679.764637179,659,634.235362821,877,785,808.235362821,651,629.764637179,652,0.403627628069,-0.015479718453,0.0799497890664,0.999999996018,2.55605247426e-05,-8.09191726503e-05,-2.76308914251e-05,1793247716667488000
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.811399492,745,715,679.188600508,659,634.811399492,877,785,808.811399492,651,629.188600508,652,0.403958078963,-0.0154888653644,0.0799559510378,0.999999996756,2.22650880112e-05,-7.18247076635e-05,-2.88818308355e-05,1793247716684154368
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.396062756,679.396062756,659,634.603937244,877,785,809,651,629,652,0.404314097145,-0.0154947048771,0.0799567784223,0.999999997006,2.88976762078e-05,-6.72463310269e-05,-2.51086683452e-05,1793247716700820992
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.984925353,679.984925353,659,634.015074647,877,785,809,651,629,652,0.404682561248,-0.0154989343772,0.0799550089768,0.999999996903,4.03631390662e-05,-6.48663464428e-05,-1.88898175255e-05,1793247716717487872
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.435631758,680,659,634,877,785,808.435631758,651,629,652.564368242,0.405093074781,-0.0155043306758,0.0799531133072,0.999999997198,3.18019996182e-05,-6.33343321238e-05,-2.41185161882e-05,1793247716734155264
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.142607108,785,808.142607108,651,629,652.857392892,0.405511085771,-0.0155063674053,0.0799497279654,0.999999997034,2.68317641354e-05,-6.64326946961e-05,-2.82742277639e-05,1793247716750822400
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.717943309,785,808.717943309,651,629,652.282056691,0.405948494871,-0.01549811679,0.0799418324038,0.999999995523,3.43543548316e-05,-8.35139401113e-05,-2.82614449421e-05,1793247716767489280
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.7071786,784.7071786,809,651,629,652,0.406408403676,-0.0154889622097,0.0799351585263,0.999999993892,4.49595548474e-05,-9.64066228948e-05,-3.00196274763e-05,1793247716784155648
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.132741022,784.132741022,809,651,629,652,0.406889951254,-0.015478938255,0.0799296595824,0.999999992186,5.85294047115e-05,-0.000105271026267,-3.34810068993e-05,1793247716800821504
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.455000844,784,809,651,629,652.455000844,0.407403039934,-0.0154854553534,0.0799249503337,0.999999991556,4.8037631267e-05,-0.000115699403671,-3.45644348645e-05,1793247716817488896
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784.045740756,809,651,629,652.954259244,0.4079294944,-0.0154964079402,0.0799203597016,0.999999990895,3.11192741244e-05,-0.000126525094056,-3.51028514233e-05,1793247716834156544
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784.624818459,809,651,629,652.375181541,0.408501270321,-0.0155011164035,0.0799143849442,0.999999989698,2.35818885512e-05,-0.000136503101158,-3.76190754887e-05,1793247716850822912
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.202788398,634,877.797211602,785,809,651,629.202788398,652.202788398,0.409104472938,-0.0155035075038,0.0799220505492,0.999999991419,2.0124196626e-05,-0.000123539011862,-3.86621188448e-05,1793247716867488768
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.778719948,634,877.221280052,785,809,651,629.778719948,652.778719948,0.409765502578,-0.0155016345131,0.0799548152618,0.999999996687,2.41733928983e-05,-6.83600502173e-05,-3.69944186678e-05,1793247716884154624
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.6385335,715,680,659.6385335,634,877.3614665,784.6385335,809.3614665,651,629.6385335,653,0.410442699236,-0.0155002194998,0.0799800050187,0.999999998617,2.66133986104e-05,-2.79416562609e-05,-3.57376485303e-05,1793247716900820736
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.051534842,715,680,659.051534842,634,877.948465158,784.051534842,809.948465158,651,629.051534842,653,0.411129983062,-0.0154990902355,0.0800004684826,0.999999998998,2.80493713857e-05,3.26707798551e-06,-3.47372727442e-05,1793247716917487360
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659,634,877.47179265,784.52820735,809.47179265,651,629,653,0.411793293925,-0.0154995327917,0.079975906001,0.999999998222,2.48290509697e-05,-3.89576107132e-05,-3.77194335866e-05,1793247716934154240
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.893498933,744.106501067,715,680,659.106501067,634,877.106501067,784.893498933,809.106501067,651,629,653,0.412464016499,-0.0155004382979,0.0799468160094,0.999999995346,1.93803795462e-05,-8.48947982622e-05,-4.15257961184e-05,1793247716950820864
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.318504987,744.681495013,715,680,659.681495013,634,877.681495013,784.318504987,809.681495013,651,629,653,0.413177492058,-0.0155027148371,0.0799168723605,0.999999992128,6.10063828409e-06,-0.000116073576987,-4.72716944568e-05,1793247716967488512
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.25669407,744.74330593,715,680,660,634,878,784,810,651,629,653,0.413924203083,-0.0155053512275,0.0799101973575,0.99999999204,-2.64869991478e-07,-0.00011587452846,-4.99359372379e-05,1793247716984155648
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.83214791,744.16785209,715,680,660,634,878,784,810,651,629,653,0.414712185627,-0.0155084344774,0.0799324170895,0.999999995866,1.95563563537e-06,-7.67108560308e-05,-4.87734160582e-05,1793247717000822016
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.582684934,744.417315066,715,680,659.582684934,634,878,784.417315066,810,651,629,653,0.415507114023,-0.0155074322912,0.0799459775283,0.999999996754,3.2913922985e-06,-6.47708316494e-05,-4.78024262742e-05,1793247717017488896
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.006384254,744.993615746,715,679.993615746,659.006384254,634,878,785,810,651,629,653,0.41630520309,-0.0155047624759,0.0799557478687,0.999999996833,4.23379336222e-06,-6.41286442274e-05,-4.694687496e-05,1793247717034155520
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.58665177,744.41334823,715,679.41334823,659.58665177,634,878,785,810,651,629,653,0.417130294164,-0.0155034203702,0.0799453679363,0.999999996235,2.56827102209e-06,-7.13092407703e-05,-4.9378164431e-05,1793247717050822144
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744.165372702,715,679.165372702,660,634,878,784.834627298,810,651,629.165372702,653,0.41798016739,-0.0155038392753,0.0799479130301,0.99999999707,-2.57699132011e-07,-5.71092305673e-05,-5.097300765e-05,1793247717067488768
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744.740263737,715,679.740263737,660,634,878,784.259736263,810,651,629.740263737,653,0.418891409495,-0.0155086190344,0.0799824648287,0.999999998657,-5.95732759725e-06,1.00363410973e-05,-5.0496528825e-05,1793247717084155392
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.677350239,715,680,660,634,878.322649761,784,810,651,629.677350239,653,0.419762879485,-0.0155123242743,0.0799902850971,0.999999998405,-6.29889359755e-06,2.60297003499e-05,-4.9731534589e-05,1793247717100822016
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.088787214,715,680,660,634,878.911212786,784,810,651,629.088787214,653,0.420601571059,-0.0155151439441,0.0799760744518,0.99999999881,-2.22458785635e-06,-1.34271462974e-07,-4.87287592022e-05,1793247717117488128
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,744.492175252,715,680,660,634,878.507824748,784.492175252,810,651,629,653,0.421515548587,-0.0155167950698,0.0799725906095,0.999999998645,-1.09446527172e-05,-4.95158365238e-06,-5.06603146721e-05,1793247717134155008
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.071410007,785,810.071410007,651,629,653,0.422443615857,-0.0155184780048,0.0799747865006,0.999999998417,-2.02726984639e-05,-1.33786706138e-06,-5.24710351536e-05,1793247717150821888
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.647974448,785,810.647974448,651,629,653,0.423376739758,-0.0155218544975,0.0800036801879,0.999999997989,-1.78225890887e-05,3.50900698744e-05,-4.97393203334e-05,1793247717167488768
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.223035343,660,634,878.776964657,785,811,651,629.223035343,653,0.42427598804,-0.0155220576917,0.0800021590024,0.999999998548,-1.23215143778e-05,1.7456844173e-05,-4.94800715269e-05,1793247717184155648
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.795739112,660,634,878.204260888,785,811,651,629.795739112,653,0.425122127241,-0.0155172858798,0.0799529542546,0.999999994982,-2.03722310303e-06,-8.49319191556e-05,-5.30970834532e-05,1793247717200822272
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.61933787,660,634,878.38066213,784.61933787,811,651,630,653,0.426030024583,-0.0155152431689,0.0799249972306,0.999999991788,-1.00450784114e-06,-0.000114775160257,-5.70021327811e-05,1793247717217488640
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.027640663,660,634,878.972359337,784.027640663,811,651,630,653,0.426972159936,-0.0155147134433,0.0799088197239,0.999999992673,-5.10076954086e-06,-0.000104399921845,-6.1066867006e-05,1793247717234155008
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.552094438,634,879,784,811,651,630,653,0.427922867213,-0.0155185446584,0.0799103025551,0.99999999164,-1.002209769e-05,-0.000113979321462,-6.02278970001e-05,1793247717250821376
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,744.869274449,715,680,661,634,879,784.130725551,811,651,630,653,0.428878167051,-0.0155226794933,0.0799197032958,0.999999991949,-1.60923102498e-05,-0.000111293685776,-5.87903501709e-05,1793247717267488000
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.292410524,715,680,661,634,879,784.707589476,811,651,630,653,0.429847706719,-0.0155271212026,0.0799531726907,0.999999996078,-2.59454371372e-05,-6.34129310132e-05,-5.61300741063e-05,1793247717284154880
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.282933011,715,680,660.717066989,633.717066989,879,785,811,651,630,653,0.430818437127,-0.0155305939032,0.0799903754327,0.999999998101,-2.96316335329e-05,-9.16952625952e-06,-5.32550320594e-05,1793247717300821760
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.856713589,715,680,660.143286411,633.143286411,879,785,811,651,630,653,0.431790391524,-0.0155330704886,0.0800314159535,0.999999997046,-2.69783896838e-05,5.16145095267e-05,-5.01592164445e-05,1793247717317489152
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.443411546,633,879,785,811,651,630,653,0.432656203334,-0.0155307558352,0.0799969259697,0.999999998065,-3.24303676661e-05,-5.55369646862e-06,-5.2787365978e-05,1793247717334155520
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.966318025,715,680,661,633.033681975,879,784.966318025,811.033681975,651,630,653,0.433492572714,-0.0155271600695,0.0799389200956,0.999999992725,-3.99988373381e-05,-9.8310147341e-05,-5.73243635369e-05,1793247717350821888
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.387807609,715,680,661,633.612192391,879,784.387807609,811.612192391,651,630,653,0.43442415502,-0.015528637186,0.0799071805336,0.999999988684,-3.81649646757e-05,-0.000131682687327,-6.19207863615e-05,1793247717367488768
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.189189096,715,680.189189096,661,633.810810904,879.189189096,784.189189096,812,651,630.189189096,653,0.435352471518,-0.0155305129474,0.0799010120364,0.999999988153,-3.92895491917e-05,-0.000134287541762,-6.41594638142e-05,1793247717384155136
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.763107666,715,680.763107666,661,633.236892334,879.763107666,784.763107666,812,651,630.763107666,653,0.436274146934,-0.0155331993818,0.0799468441109,0.999999994263,-4.64303663018e-05,-7.43241267871e-05,-6.16034992762e-05,1793247717400821504
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.346186256,879.653813744,785,812,651,630.653813744,653,0.437185396992,-0.0155375505834,0.0799870994894,0.999999997012,-4.86450863283e-05,-1.59542734443e-05,-5.79268653162e-05,1793247717417487872
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.935703296,879.064296704,785,812,651,630.064296704,653,0.438089319117,-0.0155430719328,0.0800234350623,0.999999996595,-4.73973025402e-05,4.12954780581e-05,-5.34625243714e-05,1793247717434154496
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.515651096,745,715,681,661,633.484348904,879.515651096,785,812,651,630,653,0.438968841522,-0.0155434210742,0.0800319583475,0.999999995677,-5.27288786788e-05,5.32472701616e-05,-5.50400937226e-05,1793247717450821632
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.905831272,745,715,681,661.094168728,633,880,785,812,651,630,653.094168728,0.439824824873,-0.0155421932711,0.0800228226251,0.999999995992,-5.63174453044e-05,3.8438212534e-05,-5.80219889311e-05,1793247717467488768
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.328640693,745,715,681,661.671359307,633,880,785,812,651,630,653.671359307,0.440575389958,-0.0155361245647,0.0799405721534,0.9999999932,-4.68342121889e-05,-8.51922100295e-05,-6.44132629557e-05,1793247717484155648
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.748126788,633,880,785,812,651,630,654,0.441316399983,-0.0155327164378,0.0798698730348,0.999999979026,-4.11582996852e-05,-0.000188082316424,-6.9844821139e-05,1793247717500822272
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.163218721,633,880,785,812,651,630,654,0.44204477594,-0.0155328262149,0.079814447493,0.999999961712,-4.05165501502e-05,-0.000263548901482,-7.40074124554e-05,1793247717517488384
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.582322573,715,681.417677427,661,633,880,785,812,651,630,653.582322573,0.442858147964,-0.0155369902132,0.0798502272533,0.999999975078,-5.5227785895e-05,-0.000204251528075,-7.12372048461e-05,1793247717534155008
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.002979227,715,681.997020773,661,633,880,785,812,651,630,653.002979227,0.443704418565,-0.0155427234353,0.0799213088665,0.999999990652,-7.58815363057e-05,-9.27925197235e-05,-6.57835928102e-05,1793247717550821376
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.576047344,715,682,661.576047344,633,880,785,812.576047344,651,630,653,0.444497828236,-0.0155477615639,0.0799806624578,0.999999995555,-7.15807128452e-05,-7.31355419062e-06,-6.09260393944e-05,1793247717567488000
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.153269264,745,715,682,661.846730736,633,879.846730736,785,813,651,630,653,0.445271158146,-0.0155517581403,0.0800254551511,0.999999994465,-6.77677053188e-05,5.63655710027e-05,-5.74521167787e-05,1793247717584154624
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.725562048,745,715,682,661.274437952,633,879.274437952,785,813,651,630,653,0.44599033909,-0.0155529170367,0.0800306054894,0.999999994329,-6.56409871016e-05,6.08131735892e-05,-5.77524852565e-05,1793247717600821248
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.703198544,745,715,682,661,633,879,785,813,651,630.296801456,653,0.446660793063,-0.0155539913884,0.0800186421817,0.999999994886,-6.70161828065e-05,4.70194459921e-05,-5.93837187014e-05,1793247717617487872
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.132929734,745,715,682,661,633,879,785,813,651,630.867070266,653,0.447286350865,-0.0155549878423,0.0799909106778,0.999999995364,-7.16179771145e-05,1.64184948579e-05,-6.22411863775e-05,1793247717634154240
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.459718229,744.540281771,715,682,661,633,879,785,813,651,631,653,0.447853116426,-0.0155570466277,0.0799505971433,0.999999993755,-7.98776963615e-05,-4.2699440754e-05,-6.54771299585e-05,1793247717650821120
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765.366506633,744.633493367,715,681.366506633,661,633,879,784.366506633,813,651,631,653,0.448911330385,-0.0155619189711,0.0798578458688,0.999999974998,-9.96337337122e-05,-0.000186394184487,-7.30382533862e-05,1793247717684154624
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681.209624886,661,633,879.209624886,783.790375114,813,651,631,653,0.449442217672,-0.0155656239834,0.0798328100517,0.99999996655,-0.000105989897801,-0.000223726770361,-7.49189071391e-05,1793247717700820992
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681.784970103,661,633,879.784970103,783.215029897,813,651,631,653,0.450004531856,-0.0155714646841,0.0798482072356,0.999999972764,-0.000105476841067,-0.00019503045884,-7.28700979012e-05,1793247717717487360
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.630834841,783.369165159,813,651,630.630834841,653,0.450537628457,-0.0155781495234,0.079875729419,0.999999979164,-0.000114909940168,-0.000153453522216,-7.01351076364e-05,1793247717734153984
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.041358298,783.958641702,813,651,630.041358298,653,0.451053288565,-0.0155853381307,0.0799104875937,0.999999983842,-0.000130278732805,-0.000104189648256,-6.69906160763e-05,1793247717750820864
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.26257471,745.73742529,715,682,660,632,879.73742529,780.73742529,813,651,630,653,0.455980852806,-0.0156217740071,0.0797042354426,0.999999878925,-0.000189774906571,-0.000447471768806,-7.68387541156e-05,1793247718434154240
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.310838941,745.689161059,715,682,660,631.689161059,879.689161059,780.689161059,813,651,629.689161059,653,0.455980735693,-0.0156211811063,0.0797032955312,0.999999878726,-0.000188367048779,-0.000448529439002,-7.6730738346e-05,1793247718450820864
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.884312971,745.115687029,715,682,660,631.115687029,879.115687029,780.115687029,813,651,629.115687029,653,0.455979080674,-0.0156208005595,0.0797008859401,0.999999877829,-0.000186070990363,-0.000451554862427,-7.62758672186e-05,1793247718467487744
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.524207695,745,715,682,660,631.475792305,879,780,813.475792305,651,629.475792305,653,0.45597844616,-0.015619335702,0.0797008208569,0.999999877703,-0.000184766523602,-0.000452344252299,-7.64238672102e-05,1793247718484154112
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714.930518477,681.930518477,660,631.930518477,879.069481523,780,813.930518477,651,630,653,0.455978531876,-0.0156178471549,0.0797015559545,0.999999877911,-0.000183973772399,-0.000452167808445,-7.66483876147e-05,1793247718500820736
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714.353910232,681.353910232,660,631.353910232,879.646089768,780,813.353910232,651,630,653,0.455981992076,-0.0156181856686,0.0797038070118,0.999999879129,-0.000185086946844,-0.000449066273221,-7.63194400694e-05,1793247718517487616
+247,4.116666667,HOLD_POSE2,765,745,714,682,660,631,880,780,813,651,630,654,0.455983484938,-0.0156215255485,0.0797040106932,0.999999879456,-0.000187881269019,-0.00044722060254,-7.60391351456e-05,1793247718556668928
+248,4.133333333,HOLD_POSE2,765,745,714,682,660,631,880,780,813.589425196,651,629.410574804,653.410574804,0.455983078873,-0.0156206662654,0.0797033757631,0.999999879098,-0.000186989166273,-0.000448427109465,-7.58434235964e-05,1793247718573335552
+249,4.150000000,HOLD_POSE2,765,745,714,681.824198983,660,631.175801017,880,780,814,651.175801017,629,653,0.455982258536,-0.0156198653108,0.0797027643573,0.999999878601,-0.000186115659482,-0.000449902134745,-7.58086037903e-05,1793247718590002176
+250,4.166666667,HOLD_POSE2,765,745,714,681.244823293,660,631.755176707,880,780,814,651.755176707,629,653,0.455980487183,-0.0156191982568,0.0797022069545,0.999999877787,-0.000185284842003,-0.000451993579947,-7.61431323932e-05,1793247718606668800
+251,4.183333333,HOLD_POSE2,765,745,714,681.331988192,660,632,879.668011808,780,814,651.668011808,629,653,0.455981143,-0.0156188489915,0.0797025048511,0.999999878224,-0.000183520217435,-0.000451816489817,-7.57229002376e-05,1793247718623335424
+252,4.200000000,HOLD_POSE2,765,745,714,681.906923174,660,632,879.093076826,780,814,651.093076826,629,653,0.455983575005,-0.0156187322818,0.0797034286504,0.999999879572,-0.00018107223899,-0.000449979300229,-7.47503390713e-05,1793247718640002048
+253,4.216666667,HOLD_POSE2,765,745,714.481614997,682,660,632,879,780,814,650.518385003,629,653,0.455982054242,-0.0156177864859,0.0797018703885,0.999999878751,-0.000180910404762,-0.000451797426683,-7.51573416471e-05,1793247718656668672
+254,4.233333333,HOLD_POSE2,765,745,715,682,660,631.942109557,879,780,813.942109557,650.057890443,629.057890443,653,0.455980177767,-0.015616794937,0.0797001311383,0.999999877688,-0.000181218780935,-0.000453912692342,-7.58058846124e-05,1793247718673335296
+255,4.250000000,HOLD_POSE2,765,745,715,682,660,631.350809606,879,780,813.350809606,650.649190394,629.649190394,653,0.455982058938,-0.0156168574384,0.0797011418635,0.999999878301,-0.000181790805756,-0.000452260027761,-7.62246338556e-05,1793247718690001920
+256,4.266666667,HOLD_POSE2,765,745,715,682,660,631,879.235499834,780,813,651,630,653,0.45598328729,-0.0156173971643,0.0797019415207,0.999999878608,-0.000183262209476,-0.00045096690686,-7.63398466688e-05,1793247718706668800
+257,4.283333333,HOLD_POSE2,765,745,715,682,660,631,879.814529434,780,813,651,630,653,0.455983563358,-0.0156186330304,0.0797024332874,0.999999878465,-0.000186045560667,-0.000450198261869,-7.60122829165e-05,1793247718723335424
+258,4.300000000,HOLD_POSE2,765,745,715,682.390640817,660,631,880,780,813.390640817,651,630,653,0.455983602045,-0.0156187245582,0.0797027929159,0.999999878728,-0.000185418269563,-0.000449905641344,-7.58226510132e-05,1793247718740002048
+259,4.316666667,HOLD_POSE2,765,745,715,682.965376997,660,631,880,780,813.965376997,651,630,653,0.455983528864,-0.0156182767995,0.0797030902722,0.99999987918,-0.000183183662203,-0.000449837354444,-7.56980215402e-05,1793247718756668672
+260,4.333333333,HOLD_POSE2,765,745,714.46236889,682.46236889,660,631.53763111,880,780,813.46236889,651,629.46236889,653,0.455983462715,-0.0156181112179,0.079702666185,0.999999879097,-0.000183267369327,-0.000450017225964,-7.55249048835e-05,1793247718773335552
+261,4.350000000,HOLD_POSE2,765,745,714.11406227,682,660,631.88593773,880,780,813.11406227,651,629.11406227,653,0.455983386937,-0.0156179623942,0.0797022239388,0.99999987899,-0.000183043125358,-0.000450377637317,-7.53371241613e-05,1793247718790002176
+262,4.366666667,HOLD_POSE2,765,745,714.708765506,682,660,631.291234494,880,780,813.708765506,651,629.708765506,653,0.455983268682,-0.0156178079634,0.0797019000506,0.999999878923,-0.000180894996661,-0.000451431783118,-7.51006486725e-05,1793247718806668800
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631,880,780,814,651,630,654,0.455983587012,-0.0156195462942,0.0797031713337,0.999999878371,-0.000185278240135,-0.000451067118056,-7.3949532048e-05,1793247718843724032
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631,879.423323583,780,814,651,630,654,0.455984678005,-0.0156179816091,0.0797037004015,0.999999879087,-0.000184660980841,-0.000449637041625,-7.4517934456e-05,1793247718860391424
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631,879,780,813.843882065,651,629.843882065,653.843882065,0.455985258634,-0.0156169503304,0.0797037499969,0.999999879487,-0.000183775729711,-0.000449027117698,-7.50146799922e-05,1793247718877058560
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631,879,780,813.256807482,651,629.256807482,653.256807482,0.455984430427,-0.0156173914964,0.0797024760301,0.999999879018,-0.000182150698836,-0.000450681188132,-7.53136200332e-05,1793247718893724672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631.32557752,879.32557752,780,813.32557752,651.32557752,629.32557752,653.32557752,0.455983474022,-0.0156162363534,0.0797011238585,0.99999987873,-0.000179178038252,-0.000452528478191,-7.51910684626e-05,1793247718910391552
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631.904315985,879.904315985,780,813.904315985,651.904315985,629.904315985,653.904315985,0.455982417933,-0.0156138399603,0.079699710877,0.99999987857,-0.000175157494572,-0.0004545260109,-7.47407755265e-05,1793247718927058432
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.482118382,715,682,659.517881618,631.517881618,880,780,813.517881618,651.035763235,630,653.517881618,0.455982150105,-0.0156149875173,0.0797001660285,0.999999878407,-0.000177257970495,-0.000454106557924,-7.45162655095e-05,1793247718943725312
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.940513035,715,682,659.059486965,631,879.940513035,780,813.059486965,650.059486965,630,653,0.455981922282,-0.0156166231526,0.0797008428885,0.999999878242,-0.000180239568341,-0.000453312786467,-7.44105953621e-05,1793247718960392192
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.365297934,715,682,659.634702066,631,879.365297934,780,813.634702066,650.634702066,630,653,0.455980687616,-0.0156164042596,0.0797002337564,0.999999878132,-0.000180348606454,-0.000453424476538,-7.49474856694e-05,1793247718977058560
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.785382568,745,715,682,660,631,879.214617432,780,813.785382568,651,630,653,0.455975887699,-0.0156163199262,0.0796978369311,0.999999876634,-0.000180590032137,-0.000456548318669,-7.53843009125e-05,1793247718993725184
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.197287858,745,715,682,660,631,879.802712142,780,813.197287858,651,630,653,0.455964883531,-0.0156164697535,0.0796923291622,0.999999872675,-0.000181061838664,-0.000464913908082,-7.56469654595e-05,1793247719010391552
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.384777054,745,715,682,660,631.384777054,880,780,813,651,630,653,0.455936562004,-0.0156155070858,0.0796795351955,0.99999986257,-0.000181366411462,-0.000485949794541,-7.62775007708e-05,1793247719027057920
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.963798045,745,715,682,660,631.963798045,880,780,813,651,630,653,0.455899498291,-0.0156139828062,0.0796630629951,0.999999848761,-0.000181586560923,-0.000513381926623,-7.70937453284e-05,1793247719043724544
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,660,631.460866464,880,780,813,651,629.460866464,653,0.4558421662,-0.0156108772517,0.0796453591034,0.999999832201,-0.000179523341645,-0.000545286839056,-7.76572838088e-05,1793247719060391424
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.886502123,745,715,682,660,631,879.886502123,780,813,651,629.113497877,653.113497877,0.455781974459,-0.0156078249233,0.0796291533383,0.999999817068,-0.000177448426396,-0.000572970623083,-7.79739100951e-05,1793247719077058304
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.31506426,745,715,682,660,631,879.31506426,780,813,651,629.68493574,653.68493574,0.455715698636,-0.0156054128558,0.0796193236284,0.999999811924,-0.00017594075234,-0.000582419475285,-7.73622989311e-05,1793247719093724160
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631,879,780,813.268583327,651,630,653.731416673,0.455644075766,-0.0156021459067,0.0796145186619,0.999999809118,-0.000174551696055,-0.000587778628821,-7.62321719995e-05,1793247719110390528
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631,879,780,813.867235727,651,630,653.132764273,0.455565881774,-0.0155978283713,0.0796158887345,0.999999809272,-0.000173308412355,-0.000588111844208,-7.44648275255e-05,1793247719127057152
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631.449078534,879,780,813.550921466,651,629.550921466,653,0.455473079172,-0.0155945800993,0.0796204606226,0.999999813253,-0.000172398398707,-0.000581924792023,-7.16663838175e-05,1793247719143723776
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631.974081337,879,780,813,651,629.025918663,653,0.455374747425,-0.015591466587,0.0796258495917,0.999999818206,-0.000171410112597,-0.00057402741528,-6.85526102762e-05,1793247719160390656
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,631.401719996,879,780,813,651,629.598280004,653,0.455247613649,-0.0155847700521,0.0796292284837,0.999999821962,-0.000166769315463,-0.000569245215311,-6.49856111032e-05,1793247719177057280
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.175417763,631.175417763,879,780.175417763,813,651,630,653,0.455112210695,-0.0155781438247,0.0796308997798,0.999999824861,-0.000161702441794,-0.000565998791887,-6.14386248949e-05,1793247719193723904
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.763799978,631.763799978,879,780.763799978,813,651,630,653,0.454957340651,-0.015571683114,0.0796285510921,0.999999825825,-0.000155632509249,-0.000566367858887,-5.79387532553e-05,1793247719210390528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.303215527,631.651607764,879,780.651607764,813,651,630,653.348392236,0.454778400802,-0.0155645822966,0.0796265119024,0.999999825185,-0.000149235838354,-0.000569617082437,-5.38022771881e-05,1793247719227057152
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.139114557,631.069557278,879,780.069557278,813,651,630,653.930442722,0.454583317903,-0.0155570521744,0.0796246802855,0.999999823421,-0.000142620031333,-0.000574797957351,-4.92388455705e-05,1793247719243723776
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.506000398,631.506000398,879,780.506000398,813,651,629.493999602,653.493999602,0.454361162775,-0.0155479173888,0.0796248369993,0.999999824649,-0.000131334024116,-0.000575796665807,-4.37111865838e-05,1793247719260390656
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.080600907,781,813,651,629.080600907,653,0.454128264089,-0.0155383214085,0.079624697436,0.999999825828,-0.000119014987762,-0.00057683421479,-3.7975309088e-05,1793247719277057536
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.654736654,781,813,651,629.654736654,653,0.453852079088,-0.0155272350116,0.0796210912892,0.999999824941,-0.000104251726861,-0.000581585223482,-3.17657980149e-05,1793247719293724160
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.763555556,781,812.763555556,651,630,653,0.453568270969,-0.01551837375,0.079620124174,0.999999827758,-7.11160820621e-05,-0.000582063100696,-2.50714913053e-05,1793247719310390784
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,632,879.170425068,781,812.170425068,651,630,653,0.453272963083,-0.0155128691961,0.0796231381455,0.999999833849,-1.0264950868e-05,-0.000576094783937,-1.76458510049e-05,1793247719327057408
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.142265033,682,660,632,879.142265033,782,812,650.857734967,630,653,0.451843908588,-0.0154875618899,0.0796599873896,0.999999864226,1.92358658124e-05,-0.000520740489973,2.5356703163e-06,1793247719393724160
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.046092893,661,632.046092893,879,783.046092893,811.953907107,651,630,653,0.449593434403,-0.0154867223797,0.079755280089,0.99999993732,3.09797455183e-05,-0.00035252227092,1.13061892466e-05,1793247719477057280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.620360847,661,632.620360847,879,783.620360847,811.379639153,651,630,653,0.449034849105,-0.0154755170934,0.0797605300526,0.999999937352,3.88279638646e-05,-0.000351614977456,1.24531111384e-05,1793247719493723904
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.799637705,660.799637705,633,879,784,811.200362295,651,630,653,0.448446134918,-0.0154647440554,0.0797514092306,0.999999929611,5.11047781716e-05,-0.000371495844032,1.25355288059e-05,1793247719510390784
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.208452651,660.208452651,633,879,784,811.791547349,651,630,653,0.447798651944,-0.0154548141534,0.0797142570358,0.999999904071,7.20199242542e-05,-0.000431925686711,1.05415453224e-05,1793247719527057408
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.37485467,633,879.37485467,784,811.62514533,651,630,653,0.447166043911,-0.0154505325061,0.0797028704527,0.999999897457,7.93800695548e-05,-0.000445717687902,1.0976570223e-05,1793247719543724288
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.953871416,633,879.953871416,784,811.046128584,651,630,653,0.446541537434,-0.015449327143,0.079705516938,0.999999902545,7.93575742073e-05,-0.000434108700826,1.27345382936e-05,1793247719560390912
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,879.472743563,784,811,651,630,653,0.445918878379,-0.0154474325468,0.0797550895144,0.999999929726,8.97651089991e-05,-0.000363552400057,1.78769288242e-05,1793247719577058304
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.102935519,745,715,682,661,633,879,784,811.102935519,651,630.102935519,653,0.445281426457,-0.0154452134816,0.0798051227224,0.999999951646,0.000100500566754,-0.000293365766354,2.33127625815e-05,1793247719593725696
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.69174386,745,715,682,661,633,879,784,811.69174386,651,630.69174386,653,0.444573395087,-0.0154417444856,0.0798381564786,0.999999962695,0.000108522232188,-0.000249009540748,2.87508432091e-05,1793247719610391808
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.724025188,744.724025188,715,682.275974812,660.724025188,633,879,784.275974812,811.724025188,651,630.724025188,653,0.443833096316,-0.0154389203502,0.079848079629,0.999999963965,0.000115965157358,-0.000240042509479,3.16466503341e-05,1793247719627057920
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.14482356,744.14482356,715,682.85517644,660.14482356,633,879,784.85517644,811.14482356,651,630.14482356,653,0.443057343708,-0.0154368047539,0.079832610048,0.99999995552,0.00012277219385,-0.000269959284881,3.17491398513e-05,1793247719643724288
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.434424204,715,682.565575796,660,633,879,784.565575796,811,651,630,653,0.442262994629,-0.0154367993538,0.0798152451088,0.99999994982,0.000122346756839,-0.000290597304851,3.07337955454e-05,1793247719660391424
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879,784,811,650.986481435,630,653,0.441461183642,-0.0154373942217,0.0797968422027,0.999999944696,0.000119537027454,-0.000308961928728,2.93407588e-05,1793247719677058560
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879,784,811,650.414360016,630,653,0.440607233179,-0.0154337214151,0.0797616609505,0.999999927432,0.000117844869161,-0.000361217465929,2.77410416703e-05,1793247719693725184
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.248823331,682,660.751176669,633,879,784,811,650.751176669,630,653,0.438826749718,-0.0154237570948,0.0796710561162,0.999999864229,0.0001352366315,-0.000502717316864,2.2976403617e-05,1793247719727058176
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.335171878,682.335171878,660.664828122,633,879,784.335171878,811,651,630,653,0.437978454358,-0.0154225119917,0.0796880317535,0.999999874898,0.000142339243178,-0.000478885893557,2.47487883111e-05,1793247719743724800
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.915641369,682.915641369,660.084358631,633,879,784.915641369,811,651,630,653,0.437175936047,-0.0154245458877,0.0797547911171,0.999999917692,0.000143959783634,-0.000378150465315,2.98869743043e-05,1793247719760391424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,660,633.493005578,879,784.506994422,811.493005578,651,630.493005578,653,0.43635492687,-0.0154284033379,0.0798198787708,0.999999950015,0.000151356293744,-0.000275047599597,3.7546426484e-05,1793247719777058048
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.930755152,660,633.930755152,879,784.069244848,811.930755152,651,630.930755152,653,0.435520823822,-0.0154319441153,0.0798751924357,0.999999968736,0.000159353478836,-0.000187470303098,4.45935766676e-05,1793247719793724416
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,744.779326071,715,682,660,633.220673929,879,784.779326071,811,651,630,652.779326071,0.433678967277,-0.0154286708189,0.079838128433,0.999999951976,0.000169474177821,-0.000255923790377,4.2781442856e-05,1793247719827058688
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,744.186972809,715,682,660,633.813027191,879,784.186972809,811,651,630,652.186972809,0.432694261621,-0.015424291868,0.0797979372509,0.999999933801,0.000173802009526,-0.000317143066233,4.01442062337e-05,1793247719843725056
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,744,715,682,660,633.603434088,879,784.396565912,811,651,630,652.396565912,0.431676762297,-0.0154172241556,0.0797419117627,0.999999895318,0.000178664265477,-0.000419625041736,3.6838539046e-05,1793247719860391424
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,744,715,682,660,633.023960915,879,784.976039085,811,651,630,652.976039085,0.430644137678,-0.0154089163118,0.0796785830534,0.999999836146,0.000183773010516,-0.000541138516861,3.32245727781e-05,1793247719877057792
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+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.717808768,715,682,660,633,878,784.282191232,810,651,630,652.282191232,0.427130415164,-0.0154177874034,0.0798456477409,0.999999946169,0.000202907042571,-0.000253152172782,4.90462000256e-05,1793247719943724288
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.035773619,715,681.035773619,659.964226381,633.964226381,878.035773619,784.964226381,810,651,630,653,0.424203762215,-0.0154133033513,0.0797457982548,0.999999894568,0.000206838812983,-0.000407911199698,4.11213177647e-05,1793247719993725184
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.608910641,715,681.608910641,659.391089359,633.391089359,878.608910641,784.391089359,810,651,630,653,0.423248556811,-0.0154031139127,0.0797252847611,0.999999876138,0.000223491004284,-0.000442897142065,4.02175426076e-05,1793247720010391552
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.816923253,715,681.816923253,659.183076747,633.183076747,879,784,810,650.816923253,630,653,0.42233869346,-0.0153980819331,0.0797278949368,0.999999877734,0.000231802624331,-0.000434911987397,4.06373847661e-05,1793247720027057920
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,744.240546279,715,681.240546279,659.759453721,633.759453721,879,784,810,650.240546279,630,653,0.421526237381,-0.0154041296206,0.0797801812391,0.999999918368,0.000222196359021,-0.00033461286264,4.39007280192e-05,1793247720043724544
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744,715,681,659.654305505,633.654305505,878.654305505,784,810,650.345694495,630,652.654305505,0.420691532854,-0.0154074817126,0.0798293140725,0.999999943719,0.000218078719433,-0.000250445064374,4.77636741451e-05,1793247720060390912
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744,715,681,659.060999598,633.060999598,878.060999598,784,810,650.939000402,630,652.060999598,0.419840892427,-0.0154089030236,0.0798761881602,0.999999959094,0.000217892431555,-0.000177831695959,5.20560990755e-05,1793247720077057536
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.517072761,715,680.482927239,659.517072761,633.517072761,878,784,810,651,629.482927239,652.517072761,0.41893763775,-0.0154054631949,0.0798443731256,0.999999947452,0.000218698364281,-0.000234419494133,4.81149680053e-05,1793247720093724672
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744.907391602,715,680.092608398,660,633.907391602,878,784,810,651,629.092608398,653,0.418039189666,-0.0154018498079,0.079808864594,0.999999930758,0.000219739515265,-0.000297096807529,4.39550849824e-05,1793247720110391552
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.335946074,715,680.664053926,660,633.335946074,878,784,810,651,629.664053926,653,0.417196769352,-0.0154002193487,0.0798008834779,0.999999925021,0.000221408970301,-0.000314706078953,4.3542677661e-05,1793247720127058432
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744,715,680.756057046,659.756057046,633.243942954,878,784,810,651,630,653,0.416363400011,-0.0153974980835,0.079796421718,0.999999919901,0.000222678275868,-0.000329753544607,4.3296646466e-05,1793247720143725056
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744,715,680.164123198,659.164123198,633.835876802,878,784,810,651,630,653,0.415542942187,-0.0153932207558,0.0797969804108,0.999999915924,0.000223376757849,-0.000341146527066,4.32879551378e-05,1793247720160391424
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.581950317,784,810,651,630,652.581950317,0.41473720287,-0.0153924116638,0.0797848894026,0.999999909454,0.000224545877544,-0.000358971526945,4.25588017378e-05,1793247720177057792
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.003522038,784,810,651,630,652.003522038,0.413937110023,-0.0153929331089,0.0797679455233,0.999999901702,0.000225895550441,-0.000379264076286,4.15532536737e-05,1793247720193724160
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,715,680.57378576,659.57378576,634,877.57378576,784,809.42621424,651,629.42621424,652,0.413233723118,-0.0153948319613,0.0797890642375,0.999999917761,0.000222433385024,-0.000336501929792,4.20421222213e-05,1793247720210391040
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,680.846810601,659.846810601,634,878,784.153189399,809,651,629,652,0.412530715236,-0.0153962087728,0.0798038707843,0.99999992745,0.000220079229635,-0.000307991780694,4.24888069823e-05,1793247720227057664
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,680.261475116,659.261475116,634,878,784.738524884,809,651,629,652,0.411827105119,-0.0153960891073,0.0798002129568,0.99999992323,0.000220933921106,-0.000320776118868,4.27906651173e-05,1793247720243725056
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.32220247,715,680,659,634,877.67779753,784.67779753,809,651,629,652.32220247,0.411123474368,-0.0153942995644,0.0797921638106,0.999999916051,0.000227090530955,-0.000338393744574,4.26420088052e-05,1793247720260391936
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,660,634,877,784,809.368761108,651,629,653,0.408612621428,-0.0153915601246,0.0798348647759,0.999999933835,0.000240439260545,-0.000268684176781,4.82448237543e-05,1793247720327058432
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.211946426,715,680,660,634,877.211946426,784.211946426,809,651,629,652.788053574,0.408048811948,-0.0153901768472,0.0798423318048,0.999999935963,0.00024248864725,-0.000258568556,4.91527193268e-05,1793247720343724800
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.311427527,659,634,878,784.688572473,809,651,629,652,0.405121019747,-0.0153852647434,0.0798068039946,0.999999923373,0.00024459164641,-0.000302557236948,4.34442699503e-05,1793247720443725056
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.272437312,715,679.272437312,659,634,877.727562688,785,809,651,629,652.272437312,0.404740449237,-0.0153846546189,0.0798217638279,0.999999929354,0.000245330341823,-0.000281229255378,4.48892033182e-05,1793247720460391424
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.865682904,715,679.865682904,659,634,877.134317096,785,809,651,629,652.865682904,0.404369698139,-0.015382325314,0.0798295268411,0.9999999304,0.000244058783337,-0.000278433841146,4.59237277839e-05,1793247720477057536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.554499204,659,634,877,785,808.554499204,651,629.445500796,652.554499204,0.404019361653,-0.0153773962733,0.0798339982866,0.999999926687,0.00025769581347,-0.000279278573771,4.71485738759e-05,1793247720493724416
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.978651635,715,679.021348365,659,634,877,784.978651635,808.021348365,651,629.978651635,652,0.403676260484,-0.0153717520639,0.0798372431912,0.999999921479,0.000274728954258,-0.000281485089731,4.82967542195e-05,1793247720510391040
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.403850277,715,679.596149723,659,634,877,784.403850277,808.596149723,651,629.403850277,652,0.403365836433,-0.0153672928817,0.0798336651985,0.999999920931,0.000266685860457,-0.000291375777951,4.60133103451e-05,1793247720527057664
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.824604263,744.175395737,715.175395737,679.824604263,659,634,877.175395737,784.175395737,809,651,629,652,0.403073924053,-0.0153656977973,0.0798315303806,0.999999920871,0.000260472255363,-0.000297374272329,4.45027620431e-05,1793247720543724544
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.234858396,744.765141604,715.765141604,679.234858396,659,634,877.765141604,784.765141604,809,651,629,652,0.402825743186,-0.0153708687802,0.07983280488,0.999999922293,0.000258580585979,-0.000294177952268,4.48180816114e-05,1793247720560391936
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.348075356,744.651924644,715.651924644,679.348075356,659.348075356,634,878,784.651924644,809,651,629,652,0.402595752687,-0.0153731571664,0.0798348739346,0.999999921769,0.000262745555353,-0.00029204603836,4.6220096267e-05,1793247720577058560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.926501025,744.073498975,715.073498975,679.926501025,659.926501025,634,878,784.073498975,809,651,629,652,0.402377800238,-0.0153735379,0.0798374688122,0.999999919904,0.000270918704402,-0.000290618529894,4.83412671629e-05,1793247720593724928
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.504192292,715,680,659.495807708,634,877.495807708,785.008384584,809,651,629,652.504192292,0.402189994398,-0.0153783369446,0.0798360740724,0.999999921647,0.000262946899987,-0.000291868446213,4.87543810616e-05,1793247720610391552
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.917066471,715,680,659,634,877,785.917066471,809,651,629,653,0.402012483327,-0.0153834189588,0.0798352364175,0.999999924089,0.000253703482625,-0.000291621825705,4.91282540601e-05,1793247720627057920
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.33131093,715,680,659,634,877,785.33131093,809,651,629,653,0.401870783123,-0.0153863172452,0.0798412973596,0.999999928028,0.000250998988096,-0.000279938825835,5.07716494095e-05,1793247720643725056
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.748384084,659,634,877.251615916,785,809,651,629,652.748384084,0.40173763697,-0.0153863834299,0.0798464538963,0.999999930532,0.000250102326567,-0.000271499417514,5.17044457439e-05,1793247720660391936
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.1691405,659,634,877.8308595,785,809,651,629,652.1691405,0.401615629006,-0.0153827619504,0.0798504328115,0.999999931302,0.000251559634411,-0.000267283472235,5.17119750084e-05,1793247720677058048
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,715,679.408812679,659,634,877.591187321,785,809,651,629,652,0.401510404099,-0.0153807068114,0.0798514513889,0.999999933678,0.000244617454764,-0.000265937091883,4.56397774481e-05,1793247720693724672
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.986233638,659,634,877.013766362,785,809,651,629,652,0.401412101099,-0.0153792976848,0.0798512490221,0.999999936568,0.000234211040189,-0.000265774217953,3.70600933714e-05,1793247720710391552
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.558759105,744,715,679.441240895,659,634,877,785,808.441240895,651.558759105,629,652,0.401327937292,-0.0153811137517,0.0798462641609,0.999999930477,0.000250332630031,-0.000273858034817,3.71689851461e-05,1793247720727058432
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.864279303,744,715,679,658.864279303,634,877,785,808.135720697,651.864279303,629,652,0.401249520809,-0.0153823312848,0.0798415636533,0.999999925082,0.00026313675435,-0.000281389519532,3.76280932211e-05,1793247720743725056
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.271992434,744,715,679,658.271992434,634,877,785,808.728007566,651.271992434,629,652,0.401189276727,-0.0153812703582,0.0798382126487,0.999999923769,0.000262601321073,-0.000286385397009,3.85514745043e-05,1793247720760391168
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+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,658.89199194,634,877,784.10800806,809,651,629,652,0.401098583337,-0.0153788250288,0.079836384257,0.99999992337,0.00026148228306,-0.000288632336208,3.97390541917e-05,1793247720793724160
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.46816668,658.53183332,634,877,784.46816668,808.53183332,651,629,652,0.401069376771,-0.0153786342267,0.0798375672189,0.999999924078,0.000261376951577,-0.000286164326061,4.04545991466e-05,1793247720810390784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.044566604,634,877,785,808.044566604,651,629,652,0.401043487732,-0.0153787137596,0.0798388287917,0.999999924833,0.000261315660449,-0.000283473519479,4.11277561719e-05,1793247720827057664
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,658.631378676,634,877,785,808.631378676,651,629,652,0.401025313153,-0.0153790684321,0.0798372212575,0.999999924666,0.000260502718358,-0.000284873536291,4.0671272944e-05,1793247720843724544
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.215381041,715.215381041,680,659,634,877,785,809,651,629,652,0.401009440037,-0.0153787859132,0.079835519461,0.999999924137,0.000260575638547,-0.000286697470795,4.03889999968e-05,1793247720860391168
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.626290785,715.626290785,680,659,634,877,784.626290785,808.626290785,651,629,652,0.40099124382,-0.015377765314,0.0798339950876,0.999999923344,0.000261971010484,-0.000288173574792,4.04970442637e-05,1793247720893724672
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.047318511,715.047318511,680,659,634,877,784.047318511,808.047318511,651,629,652,0.400988203729,-0.0153790360665,0.0798355388794,0.999999924506,0.000260839104014,-0.000285129955271,4.06391545039e-05,1793247720910391296
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.472513462,659,634,877,784.527486538,808,651,629,652.527486538,0.40098684639,-0.0153800467783,0.0798374810452,0.999999925373,0.000259799195491,-0.000283027182999,4.06806198946e-05,1793247720927057664
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,877,784.895666161,808.104333839,651,629,652.895666161,0.400985680688,-0.0153806420641,0.0798390259929,0.99999992608,0.000258907573518,-0.00028134599403,4.06362266872e-05,1793247720943724032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,877,784.307631479,808.692368521,651,629,652.307631479,0.400984709089,-0.0153794186967,0.0798385650239,0.999999926191,0.000258665460825,-0.000281231087333,4.02353138846e-05,1793247720960390912
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.276212041,715,679,659,634,877.276212041,784,808.723787959,651,629,652,0.400984932625,-0.0153795014229,0.0798392824388,0.99999992694,0.000257562367745,-0.000279598242992,4.0089027971e-05,1793247720977057536
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.855457491,715,679,659,634,877.855457491,784,808.144542509,651,629,652,0.400986467348,-0.0153810170697,0.0798412926638,0.999999928376,0.00025551468937,-0.00027630006276,4.02220942541e-05,1793247720993724416
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.432230253,658.567769747,634,877.567769747,784.432230253,808.432230253,651,629,652.432230253,0.400985466961,-0.0153807258114,0.0798415898001,0.999999928064,0.00025677257103,-0.000276212233239,4.05739864603e-05,1793247721010391552
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.991853444,715.008146556,679.991853444,658.008146556,634,877.008146556,785,809,651.008146556,629.008146556,652.991853444,0.400983647454,-0.0153798509699,0.0798413178976,0.999999927177,0.000259108699459,-0.000277178247406,4.09911504898e-05,1793247721027058432
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.418313046,715.581686954,679.418313046,658.581686954,634,877.581686954,785,809,651.581686954,629.581686954,652.418313046,0.40098348151,-0.0153801718293,0.0798410861158,0.999999926946,0.000259995659301,-0.000277198594076,4.08885101861e-05,1793247721043724800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744,715.840146036,679,659,634,877.840146036,785,809,651.840146036,630,652,0.400983324328,-0.0153806193044,0.0798408603215,0.999999927052,0.000259742410682,-0.000277085359267,4.0666640064e-05,1793247721060391168
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744,715.249511078,679,659,634,877.249511078,785,809,651.249511078,630,652,0.400983190758,-0.0153814079889,0.0798406506629,0.999999928063,0.000256416481648,-0.000276612143629,4.01234645609e-05,1793247721077057792
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.334924897,744,715,679.334924897,659,634,877.334924897,785,809,651,630,652,0.400982351148,-0.0153816899168,0.0798403465878,0.999999928184,0.000255147510367,-0.000277373218423,3.99485658954e-05,1793247721093724160
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.914826673,744,715,679.914826673,659,634,877.914826673,785,809,651,630,652,0.400980995114,-0.0153816011837,0.0798399734529,0.999999927657,0.000255383076806,-0.000279037100467,4.00430390183e-05,1793247721110390784
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.509966043,744,715.490033957,679.509966043,659,634,878,784.509966043,809,651,629.509966043,652,0.400982124574,-0.0153805614091,0.0798411169527,0.999999927687,0.000258301302136,-0.000276235321749,3.99960946233e-05,1793247721127057920
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744,715.935504504,679,658.935504504,634,877.935504504,784,809,651.064495496,629,652,0.400983249753,-0.0153796768931,0.0798422191602,0.999999927755,0.000261059677264,-0.000273393324175,3.99351478367e-05,1793247721143725056
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744,715.36054888,679,658.36054888,634,877.36054888,784,809,651.63945112,629,652,0.400980954312,-0.0153813170873,0.0798409279812,0.999999927512,0.000258897492501,-0.000276317930165,3.99560727379e-05,1793247721160391936
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.221268363,715,679.221268363,658.221268363,634,877.221268363,784,809,651.778731637,629,652,0.400980069048,-0.0153819553973,0.0798403974446,0.999999927555,0.000257319214404,-0.00027764003014,3.99063423928e-05,1793247721177058304
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.814624282,715,679.814624282,658.814624282,634,877.814624282,784,809,651.185375718,629,652,0.400981555154,-0.0153809089266,0.0798411460131,0.999999928095,0.000256722840479,-0.000276267337093,3.97377973349e-05,1793247721193724416
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.6033258,784.3966742,809,651,629,652.3966742,0.40098169549,-0.0153804080372,0.0798413745437,0.999999928187,0.000256746654415,-0.000275907216323,3.97749774143e-05,1793247721210391040
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.026413073,784.973586927,809,651,629,652.973586927,0.400981224342,-0.015380155046,0.0798413667823,0.999999928076,0.000257052265761,-0.000276007182369,3.99056337016e-05,1793247721227057664
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.450637396,659,634,877.549362604,785,809,651.549362604,629,653,0.400981611752,-0.015381683322,0.0798415256991,0.999999928384,0.000255989066428,-0.000275892500009,3.98025643003e-05,1793247721243724032
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.127784965,658.872215035,634,877.872215035,785,809,651.872215035,629.127784965,652.872215035,0.400982093187,-0.0153827774892,0.0798417397089,0.999999928607,0.000255588211715,-0.000275475105724,3.9666507966e-05,1793247721260390912
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.715939015,658.284060985,634,877.284060985,785,809,651.284060985,629.715939015,652.284060985,0.400982764959,-0.0153819997933,0.0798421233903,0.99999992845,0.000257810185851,-0.000274004239073,3.94520113243e-05,1793247721277058560
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c07c2314239fd97c3848f9b34dff996d90176eec
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_04/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+1,0.016666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+2,0.033333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+3,0.050000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+4,0.066666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+5,0.083333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+6,0.100000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+7,0.116666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+8,0.133333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+9,0.150000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+10,0.166666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+11,0.183333333,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+12,0.200000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
+13,0.216666667,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+15,0.250000000,pose1_baseline,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
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+371,6.183333333,pose2_to_pose3_retreat,0.583984363965,-0.0100721678724,1.07004235416,0.554556155778,-0.00139770834238,1.06966573895
+372,6.200000000,pose2_to_pose3_retreat,0.583871629171,-0.0100721485657,1.07004269395,0.554443420846,-0.00139769005279,1.06966606621
+373,6.216666667,pose2_to_pose3_retreat,0.583772203005,-0.0100721810093,1.07004254026,0.554343995407,-0.00139771987918,1.06966591594
+374,6.233333333,pose2_to_pose3_retreat,0.583682348483,-0.0100721802494,1.07004230725,0.554254141032,-0.00139771823781,1.069665692
+375,6.250000000,pose2_to_pose3_retreat,0.583601661581,-0.010072137933,1.07004226062,0.554173453463,-0.00139767803875,1.06966564894
+376,6.266666667,pose2_to_pose3_retreat,0.583531459915,-0.0100721106906,1.07004240117,0.554103251034,-0.00139765362357,1.06966578395
+377,6.283333333,pose2_to_pose3_retreat,0.583470515727,-0.0100720664338,1.07004259517,0.554042304965,-0.00139761568048,1.0696659794
+378,6.300000000,pose2_to_pose3_retreat,0.583419259602,-0.0100721590065,1.07004249198,0.553991050554,-0.00139770250204,1.06966587479
+379,6.316666667,pose2_to_pose3_retreat,0.583377203752,-0.0100720021973,1.07004258588,0.553948994413,-0.00139754672766,1.06966596754
+380,6.333333333,pose2_to_pose3_retreat,0.583343906617,-0.0100720098013,1.07004243766,0.553915696475,-0.00139755678939,1.06966582543
+381,6.350000000,pose2_to_pose3_retreat,0.583317611329,-0.0100721289167,1.07004236187,0.553889402123,-0.00139767286372,1.06966574661
+382,6.366666667,pose2_to_pose3_retreat,0.583296890055,-0.0100721494838,1.07004245337,0.553868681421,-0.00139769171593,1.06966583289
+383,6.383333333,pose2_to_pose3_retreat,0.583280868706,-0.0100719716852,1.07004258551,0.553852658011,-0.00139752066786,1.06966597061
+384,6.400000000,pose2_to_pose3_retreat,0.583268883077,-0.0100721415363,1.07004239633,0.55384067462,-0.00139768306566,1.06966577824
+385,6.416666667,pose2_to_pose3_retreat,0.583260545626,-0.0100720962986,1.07004235288,0.553832336227,-0.00139764080367,1.06966573993
+386,6.433333333,pose2_to_pose3_retreat,0.583254850371,-0.0100720650528,1.07004240702,0.55382664054,-0.00139761101993,1.06966579413
+387,6.450000000,pose2_to_pose3_retreat,0.583251389768,-0.0100720551597,1.07004248257,0.553823179963,-0.00139760113438,1.0696658675
+388,6.466666667,pose2_to_pose3_retreat,0.583249622702,-0.0100720234246,1.07004253205,0.553821412806,-0.0013975696053,1.06966591935
+389,6.483333333,pose2_to_pose3_retreat,0.583248747739,-0.0100720077109,1.07004255655,0.553820537799,-0.00139755399369,1.06966594503
+390,6.500000000,pose2_to_pose3_retreat,0.583248507013,-0.0100720033877,1.07004256329,0.55382029706,-0.00139754969851,1.06966595209
+391,6.516666667,pose2_to_pose3_retreat,0.583248315774,-0.0100719999531,1.07004256865,0.553820105811,-0.0013975462863,1.0696659577
+392,6.533333333,pose2_to_pose3_retreat,0.583248033893,-0.0100719948908,1.07004257654,0.553819823916,-0.00139754125682,1.06966596597
+393,6.550000000,pose2_to_pose3_retreat,0.58324786875,-0.0100719930147,1.07004258055,0.553819658779,-0.00139753935315,1.06966597018
+394,6.566666667,pose2_to_pose3_retreat,0.583247688886,-0.0100719990969,1.07004258033,0.553819479026,-0.00139754505591,1.06966597002
+395,6.583333333,pose2_to_pose3_retreat,0.583247322449,-0.0100720114882,1.07004257987,0.553819112815,-0.00139755667415,1.0696659697
+396,6.600000000,pose2_to_pose3_retreat,0.583246973992,-0.0100720232715,1.07004257943,0.553818764573,-0.00139756772232,1.06966596939
+397,6.616666667,pose2_to_pose3_retreat,0.583246677368,-0.010072033302,1.07004257906,0.553818468132,-0.00139757712708,1.06966596912
+398,6.633333333,pose2_to_pose3_retreat,0.583246525615,-0.0100720384336,1.07004257888,0.553818316473,-0.00139758193855,1.06966596899
+399,6.650000000,pose2_to_pose3_retreat,0.583246517275,-0.0100720387156,1.07004257887,0.553818308138,-0.00139758220298,1.06966596898
+400,6.666666667,pose2_to_pose3_retreat,0.583246267162,-0.0100720471733,1.07004257855,0.553818058179,-0.00139759013305,1.06966596876
+401,6.683333333,pose2_to_pose3_retreat,0.583246041487,-0.0100720757533,1.07004250596,0.553817832411,-0.00139761899851,1.06966589684
+402,6.700000000,pose2_to_pose3_retreat,0.583245986653,-0.0100720831367,1.0700424868,0.55381777755,-0.0013976264673,1.06966587786
+403,6.716666667,pose2_to_pose3_retreat,0.583245944641,-0.0100720887937,1.07004247213,0.553817735516,-0.00139763218964,1.06966586332
+404,6.733333333,pose2_to_pose3_retreat,0.58324574633,-0.0100721154963,1.07004240285,0.553817537106,-0.00139765920088,1.06966579468
+405,6.750000000,pose2_to_pose3_retreat,0.583245681959,-0.0100721241639,1.07004238036,0.553817472703,-0.00139766796862,1.0696657724
+406,6.766666667,pose2_to_pose3_retreat,0.583245524073,-0.0100721306476,1.07004233185,0.553817314958,-0.00139767398462,1.06966572371
+407,6.783333333,pose2_to_pose3_retreat,0.583245500265,-0.0100720991533,1.07004233912,0.553817291652,-0.00139764085171,1.06966572946
+408,6.800000000,pose2_to_pose3_retreat,0.583245479219,-0.0100720713123,1.07004234555,0.55381727105,-0.00139761156217,1.06966573454
+409,6.816666667,pose2_to_pose3_retreat,0.583245503499,-0.0100720589953,1.07004235432,0.553817295289,-0.00139759942172,1.06966574246
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21814a039c91032569549cbde3ee5a6f9462be1e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e05552cdfd8970f7630049476eeeb6794df6053ca03384e87412239fb9efb50
+size 26020004
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e0ea6440177cae16f4a9de7ec9ad026abaaed43
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+36,0.600000000,BASELINE,765,745,715,679,659,634,877.888836143,784,809,651,629.111163857,652,0.400981172106,-0.0153835887693,0.0798435944696,0.999999929885,0.000254148665682,-0.000272165233988,3.95514964935e-05,1793247722000028160
+37,0.616666667,BASELINE,765,744.530299503,715,679.469700497,659,634,877.530299503,784.469700497,809,651,629,652,0.400981155542,-0.0153822482132,0.0798436648633,0.999999929696,0.000255275527484,-0.000271806257496,3.95550780022e-05,1793247722016695040
+38,0.633333333,BASELINE,765,744.048727477,715,679.951272523,659,634,877,784.951272523,808.951272523,651,629,652.048727477,0.400981721348,-0.0153809070175,0.0798441782136,0.999999929614,0.000256731145432,-0.000270722398403,3.96321555011e-05,1793247722033361920
+39,0.650000000,BASELINE,765,744.626467991,715,679.373532009,659,634,877,784.373532009,808.373532009,651,629,652.626467991,0.400982946729,-0.0153832196219,0.0798451183058,0.999999930159,0.000255678945756,-0.000269677958692,3.98017336695e-05,1793247722050028544
+40,0.666666667,BASELINE,765,744.797522353,715,679,659,634,877.404955294,784.202477647,808.202477647,651,629,653,0.40098358501,-0.0153843968633,0.0798454358758,0.999999930561,0.000254772955979,-0.000269030428917,3.98965498639e-05,1793247722066694912
+41,0.683333333,BASELINE,765,744.224678763,715,679,659,634,878.550642474,784.775321237,808.775321237,651,629,653,0.400983149386,-0.0153834973332,0.0798446147469,0.999999930704,0.000254134408953,-0.000269108914768,3.98546137233e-05,1793247722083361536
+42,0.700000000,BASELINE,765,744,715,679.359154313,658.640845687,634,878.281691374,785,808.640845687,651,629,652.640845687,0.400983517361,-0.0153831577671,0.0798445703923,0.99999993075,0.000254281195825,-0.000268821209948,3.97000583673e-05,1793247722100027904
+43,0.716666667,BASELINE,765,744,715,679.950079133,658.049920867,634,877.099841734,785,808.049920867,651,629,652.049920867,0.400984403918,-0.0153831795586,0.079845027308,0.999999930733,0.00025493477668,-0.000268297193894,3.94728272525e-05,1793247722116694272
+44,0.733333333,BASELINE,765,744,715,679.469316537,658.530683463,634,877.530683463,784.469316537,808.530683463,651,629,652,0.400982494223,-0.0153840071632,0.0798443502311,0.999999930515,0.000254127325272,-0.000269879127672,3.9422847337e-05,1793247722133360896
+45,0.750000000,BASELINE,765,744.109537123,715,679,658.890462877,634,878,784,808.890462877,651,629,652,0.400980826822,-0.0153847252358,0.0798437167288,0.999999930269,0.000253431950236,-0.000271438479702,3.94479366518e-05,1793247722150027776
+46,0.766666667,BASELINE,765,744.684994798,715,679,658.315005202,634,878,784,808.315005202,651,629,652,0.400981287538,-0.015384661133,0.0798437136577,0.999999929995,0.000253786742149,-0.000272075207728,3.97227660579e-05,1793247722166694912
+47,0.783333333,BASELINE,765,745,715,679,658,634,878,784.259236822,808,651,629,652,0.400981754008,-0.0153848138621,0.0798436744825,0.999999929833,0.000254181676372,-0.000272273145998,3.99146819129e-05,1793247722183361792
+48,0.800000000,BASELINE,765,745,715,679,658,634,878,784.83200865,808,651,629,652,0.400982227439,-0.0153852288393,0.0798435916413,0.999999929807,0.000254625160918,-0.000271940388338,4.00063176799e-05,1793247722200028416
+49,0.816666667,BASELINE,765,744.578624416,715,679.421375584,658.842751168,634,877.578624416,784.578624416,808,651,629,652,0.40098280804,-0.0153851374459,0.0798442778242,0.999999930464,0.000253551082349,-0.000270542557037,3.98771980921e-05,1793247722216694784
+50,0.833333333,BASELINE,764.982964376,744,715,679.982964376,659.965928752,634,877,784,808,651,629,652,0.400983403132,-0.0153848311623,0.0798452442196,0.999999931347,0.000251978275126,-0.000268774995759,3.96729692114e-05,1793247722233360896
+51,0.850000000,BASELINE,764.406804307,744,715,679.406804307,658.813608615,634,877,784,808,651,629,652,0.400983014039,-0.0153843694014,0.079844932352,0.999999930479,0.000254707889482,-0.00026938022372,4.00105552408e-05,1793247722250027520
+52,0.866666667,BASELINE,764.168480149,744,715,679,658.168480149,634,877.168480149,784.168480149,808.168480149,651,629,652,0.400982884654,-0.015383824475,0.0798448557467,0.999999929976,0.000256508835282,-0.00026951157305,4.01853264266e-05,1793247722266694400
+53,0.883333333,BASELINE,764.741661289,744,715,679,658.741661289,634,877.741661289,784.741661289,808.741661289,651,629,652,0.400983379107,-0.0153830797794,0.0798453442582,0.999999930366,0.000256079054705,-0.000268504633039,3.99690050576e-05,1793247722283361280
+54,0.900000000,BASELINE,765,744,715,679,659,634,877.684069165,784.684069165,809,651,629,652,0.400983979245,-0.0153833559955,0.079846178238,0.999999930737,0.000255998349724,-0.000267196150631,3.99697171029e-05,1793247722300028160
+55,0.916666667,BASELINE,765,744,715,679,659,634,877.108906574,784.108906574,809,651,629,652,0.400984666102,-0.0153844699035,0.079847295686,0.999999931091,0.000256204072898,-0.000265640242707,4.01485122926e-05,1793247722316695040
+56,0.933333333,BASELINE,765,744,715,679,659.481098328,634,877.481098328,784,808.518901672,651,629,652,0.400983944213,-0.0153835879002,0.0798462414107,0.999999930895,0.000255367260804,-0.000267241690979,3.97390614086e-05,1793247722333361664
+57,0.950000000,BASELINE,765,744,715,679,659.927283529,634,877.927283529,784.072716471,808.072716471,651,629,652,0.400983072938,-0.0153823414959,0.0798448933259,0.999999930488,0.000254944948084,-0.000269225312741,3.93083763722e-05,1793247722350028288
+58,0.966666667,BASELINE,765,744,715,679,659.348563959,634,877.348563959,784.651436041,808.651436041,651,629,652,0.400983451874,-0.0153818034581,0.0798450305818,0.999999929536,0.00025910145828,-0.000268736470698,3.96860448061e-05,1793247722366694656
+59,0.983333333,BASELINE,765,744.227672197,715,679,658.772327803,634,877,784.772327803,809,651,629,652,0.400983046191,-0.0153821840581,0.0798449162666,0.999999929274,0.000259926187999,-0.000268885887909,3.98892814184e-05,1793247722383361024
+60,1.000000000,BASELINE,765,744.800147383,715,679,658.199852617,634,877,784.199852617,809,651,629,652,0.400981452226,-0.0153839559083,0.079844420954,0.999999930064,0.000255705032738,-0.000270001930306,3.98283461162e-05,1793247722400027648
+61,1.016666667,BASELINE,765,744.617087299,715,679,658.382912701,633.617087299,877,784.382912701,809,651,629,652,0.400981297323,-0.0153839801333,0.0798446551268,0.999999930493,0.000254250422138,-0.000269827878895,3.95468518087e-05,1793247722416694272
+62,1.033333333,BASELINE,765,744.028803,715,679,658.971197,633.028803,877,784.971197,809,651,629,652,0.400981914246,-0.0153830670361,0.0798452805523,0.999999930734,0.000254279621804,-0.000268961897828,3.91470627728e-05,1793247722433360896
+63,1.050000000,BASELINE,765.552129205,744,715,679.552129205,659,633.552129205,877,785,808.447870795,651,629,652,0.400982684872,-0.0153833173289,0.0798454856162,0.99999993092,0.000253806825109,-0.000268714340625,3.91820610988e-05,1793247722450028032
+64,1.066666667,BASELINE,765.868528701,744,715,679.868528701,659,634,877,785,808,651,629,652,0.400983287949,-0.0153834865104,0.0798456678744,0.999999931007,0.000253807833203,-0.000268374176368,3.92860526728e-05,1793247722466695168
+65,1.083333333,BASELINE,765.293276434,744,715,679.293276434,659,634,877,785,808,651,629,652,0.400983298757,-0.0153831797317,0.0798458462011,0.99999993077,0.000255495402869,-0.000267613950055,3.95473751187e-05,1793247722483362304
+66,1.100000000,BASELINE,765,744,715,679.281430574,659,634,877.281430574,784.718569426,808.281430574,651,629,652,0.400983129034,-0.0153836256666,0.0798454510939,0.999999930775,0.000255162866173,-0.000267914835122,3.9543474365e-05,1793247722500028928
+67,1.116666667,BASELINE,765,744,715,679.855570436,659,634,877.855570436,784.144429564,808.855570436,651,629,652,0.400982771545,-0.0153848544812,0.0798444595719,0.999999931027,0.000252729264498,-0.000269319357097,3.92637212143e-05,1793247722516695040
+68,1.133333333,BASELINE,765,744,715,679.554688647,659,634,877.554688647,784,809,651,629,652,0.400982881008,-0.0153843890804,0.0798449495806,0.999999931079,0.000253139331904,-0.000268747780087,3.91956294191e-05,1793247722533361408
+69,1.150000000,BASELINE,765,744,715.039211144,679.039211144,659,634,877,784,809,651,629,652,0.400983057713,-0.015383428254,0.0798458136116,0.999999931023,0.000254486296997,-0.000267681466019,3.9212934486e-05,1793247722550027520
+70,1.166666667,BASELINE,765,744,715.618177847,679.618177847,659,634,877,784,809,651,629,652,0.400981999602,-0.0153834862816,0.0798449716491,0.999999930397,0.000255573294551,-0.000268947664821,3.94264722445e-05,1793247722566694400
+71,1.183333333,BASELINE,765,744,715.805317705,679.805317705,659,634,877,784.194682295,809,651,629,652,0.400981488442,-0.0153831891775,0.0798444333284,0.999999930065,0.000256010487858,-0.000269765225657,3.94421986251e-05,1793247722583361024
+72,1.200000000,BASELINE,765,744,715.233581959,679.233581959,659,634,877,784.766418041,809,651,629,652,0.400982036599,-0.0153822042674,0.0798444830898,0.999999930303,0.00025518916459,-0.000269713881341,3.90748113013e-05,1793247722600028160
+73,1.216666667,BASELINE,765,744.348787776,715,679,659,634,877,785,809,651,629,652,0.400982927659,-0.0153822191595,0.0798448100382,0.99999993035,0.000255657112073,-0.000269084037701,3.91594843649e-05,1793247722616695296
+74,1.233333333,BASELINE,765,744.938502975,715,679,659,634,877,785,809,651,629,652,0.400984055581,-0.0153829246715,0.0798453284554,0.999999930262,0.000257015631754,-0.000268054591894,3.95564211008e-05,1793247722633362176
+75,1.250000000,BASELINE,765,744.480602454,715,679,659,634,877.519397546,785,808.480602454,651,629,652,0.400983486023,-0.0153830235086,0.079844827959,0.999999929976,0.000257427527541,-0.000268751223135,3.93963796713e-05,1793247722650029056
+76,1.266666667,BASELINE,765,744,715,679.098299156,659,634,877.901700844,785,808.098299156,651,629,652,0.400982812976,-0.0153831665603,0.0798443937485,0.999999929886,0.000257095483562,-0.000269429327951,3.92052605788e-05,1793247722666695680
+77,1.283333333,BASELINE,765,744,715,679.672523607,659,634,877.327476393,785,808.672523607,651,629,652,0.400982595703,-0.0153838656501,0.0798448548051,0.999999930859,0.000253695169501,-0.000269044786494,3.91776312305e-05,1793247722683361536
+78,1.300000000,BASELINE,765,744,715,679.747253288,659,634,877,784.747253288,809,651,629,652.252746712,0.400981996494,-0.0153842025195,0.0798448543613,0.999999931241,0.00025205809342,-0.000269175027982,3.91134391907e-05,1793247722700027904
+79,1.316666667,BASELINE,765,744,715,679.159069002,659,634,877,784.159069002,809,651,629,652.840930998,0.400980890392,-0.0153840586613,0.0798442414285,0.999999930848,0.00025276113221,-0.000269988473415,3.90007222867e-05,1793247722716694528
+80,1.333333333,BASELINE,765,744,715,679,659,634,877.420931155,784,808.579068845,651,629,652.579068845,0.400980522557,-0.0153839716305,0.0798436626775,0.999999930522,0.000253050254821,-0.000270943711005,3.88635152125e-05,1793247722733360896
+81,1.350000000,BASELINE,765,744,715,679,659,634,877.997897581,784,808.002102419,651,629,652.002102419,0.400980428392,-0.015383905665,0.0798430965972,0.99999993022,0.000253185942603,-0.000271951509698,3.87172298503e-05,1793247722750027264
+82,1.366666667,BASELINE,765,744,715,679.57622946,659,634,877.42377054,784.57622946,808.57622946,651,629,652,0.400982141358,-0.0153832594513,0.0798449212725,0.999999930454,0.000255157694716,-0.000269163354347,3.92003166469e-05,1793247722766694656
+83,1.383333333,BASELINE,765,744,715,679.846555982,659,634,877,784.846555982,809,651,629,652,0.400983326082,-0.0153831487653,0.0798461541935,0.999999930727,0.00025608466329,-0.000267214636665,3.95282304042e-05,1793247722783361536
+84,1.400000000,BASELINE,765,744,715,679.272418316,659,634,877,784.272418316,809,651,629,652,0.400983044419,-0.0153845121401,0.0798457407454,0.999999931126,0.000254128765089,-0.000267605445712,3.94243995058e-05,1793247722800028160
+85,1.416666667,BASELINE,765,744,715,679,659,634,877,784.310603194,809.310603194,651,629,652.310603194,0.400983694795,-0.0153851474462,0.0798460983118,0.999999931326,0.000253956015533,-0.000267001152596,3.95512120536e-05,1793247722816694528
+86,1.433333333,BASELINE,765,744,715,679,659,634,877,784.901645771,809.901645771,651,629,652.901645771,0.400985186696,-0.0153851253888,0.0798471520167,0.999999931347,0.000255393246656,-0.000265498395301,3.98862694253e-05,1793247722833361152
+87,1.450000000,BASELINE,765,744.480293223,715,679,659,634,877.480293223,785,809.039413554,651,629,652.519706777,0.400983737875,-0.0153849146485,0.0798461242203,0.999999931043,0.000254852116294,-0.00026723456469,3.93687374856e-05,1793247722850027520
+88,1.466666667,BASELINE,765,744.943285339,715,679,659,634,877.943285339,785,808,651,629,652,0.400982047803,-0.0153846803045,0.0798449351939,0.999999930759,0.000253985967932,-0.000269197424299,3.88098282356e-05,1793247722866694144
+89,1.483333333,BASELINE,765,744.36457768,715,679,659,634,877.36457768,785,808,651,629,652,0.400983540403,-0.0153845753911,0.0798460866614,0.999999931301,0.000253763331271,-0.000267295688727,3.94365870132e-05,1793247722883361024
+90,1.500000000,BASELINE,765,744,715,679.216954586,658.783045414,634,877.216954586,785,808.216954586,651,629,652,0.400984757316,-0.0153844509502,0.0798469231479,0.999999931623,0.000253928950019,-0.00026587526085,3.98042593952e-05,1793247722900027904
+91,1.516666667,BASELINE,765,744,715,679.803295968,658.196704032,634,877.803295968,785,808.803295968,651,629,652,0.400985504842,-0.0153842932619,0.0798472233478,0.999999931575,0.000254755612302,-0.000265274307463,3.97308113148e-05,1793247722916694784
+92,1.533333333,BASELINE,765,744,715,679.615162731,658.384837269,634,878,785,809,651,629,652,0.400984046623,-0.0153850401632,0.0798461974662,0.999999931506,0.000253351718616,-0.000266873365481,3.97439819226e-05,1793247722933361408
+93,1.550000000,BASELINE,765,744,715,679.036044645,658.963955355,634,878,785,809,651,629,652,0.400981474859,-0.0153862437366,0.0798445021272,0.999999931415,0.000250821753615,-0.000269583074745,3.98008810052e-05,1793247722950028032
+94,1.566666667,BASELINE,765,744,715,679,659,634,877.457010688,784.457010688,809,651,629,652.542989312,0.400983006105,-0.0153844730228,0.0798457336068,0.999999931242,0.000253314991846,-0.000267921500172,3.95716086881e-05,1793247722966694656
+95,1.583333333,BASELINE,765,744,715,679.121075387,659,634,877.121075387,784.121075387,809,651,629,652.878924613,0.400984126106,-0.0153830635423,0.0798465153887,0.99999993101,0.000255427816419,-0.000266803706549,3.94060170803e-05,1793247722983361024
+96,1.600000000,BASELINE,765,744,715,679.695632298,659,634,877.695632298,784.695632298,809,651,629,652.304367702,0.400982685836,-0.0153837464241,0.0798448852695,0.99999993061,0.000254867097771,-0.000268809278566,3.95500778852e-05,1793247723000027648
+97,1.616666667,BASELINE,765,744,715,679.72355353,659,634,877.72355353,784.72355353,809,651,629,652,0.400982420352,-0.0153837331712,0.079844548615,0.999999930544,0.000254609029256,-0.000269307993384,3.94852968817e-05,1793247723016694272
+98,1.633333333,BASELINE,765,744,715,679.135690598,659,634,877.135690598,784.135690598,809,651,629,652,0.400983478263,-0.0153829357239,0.0798456690463,0.999999930857,0.000254691895617,-0.000268109236101,3.918525594e-05,1793247723033361408
+99,1.650000000,BASELINE,765,744,715,679,659,634,877.445212589,784.445212589,808.554787411,651,629,652,0.400983038545,-0.0153820658604,0.079846099276,0.999999930582,0.000255553501739,-0.000268309014736,3.92136660795e-05,1793247723050028288
+100,1.666666667,BASELINE,765,744.02393685,715.02393685,679,659,634.02393685,877.97606315,785,808.02393685,651,629,652,0.400982215976,-0.0153812622927,0.0798463138226,0.999999930178,0.000256537276882,-0.000268857547902,3.93373250189e-05,1793247723066695168
+101,1.683333333,BASELINE,765,744.600573888,715.600573888,679,659,634.600573888,877.399426112,785,808.600573888,651,629,652,0.400982930421,-0.0153824912632,0.0798463306417,0.999999930876,0.000254946065861,-0.000267768392183,3.93844459868e-05,1793247723083361536
+102,1.700000000,BASELINE,765,744.823460682,715.823460682,679,659,634.823460682,877,785,808.823460682,651,629,652,0.400983109578,-0.0153837170138,0.0798461951499,0.999999931256,0.000253890292755,-0.000267334829219,3.95032003097e-05,1793247723100027904
+103,1.716666667,BASELINE,765,744.249009106,715.249009106,679,659,634.249009106,877,785,808.249009106,651,629,652,0.400982082218,-0.0153849355069,0.0798457163554,0.999999930926,0.000254041374595,-0.00026837894513,3.97834132213e-05,1793247723116694272
+104,1.733333333,BASELINE,765,744,715,679,659,634,877,784.66507926,808.33492074,651,629,652,0.400982382904,-0.0153856963733,0.0798457260487,0.999999931279,0.00025273472972,-0.000268305480502,3.97519704124e-05,1793247723133361152
+105,1.750000000,BASELINE,765,744,715,679,659,634,877,784.073897148,808.926102852,651,629,652,0.400983699732,-0.0153861070913,0.0798461095038,0.999999932147,0.000250312719331,-0.00026737691002,3.94820672656e-05,1793247723150027776
+106,1.766666667,BASELINE,765,744,715,679,659,634.506511361,877.506511361,784.506511361,809,651,629,652,0.400983259914,-0.0153852543362,0.0798458474044,0.999999931701,0.000251508170674,-0.000267944365722,3.93479321229e-05,1793247723166694400
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,785,808,651,629,653,0.400984524274,-0.0153856803084,0.0798473991877,0.999999931907,0.000254911485984,-0.000263861582397,3.97824606675e-05,1793247723210040320
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,679.59037435,659,634,877.59037435,785,808,651,629,653,0.400983542765,-0.0153847704341,0.0798463495966,0.999999931436,0.000254210230327,-0.000266367751244,3.94196952089e-05,1793247723226707200
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744.177451163,715,680,659,634,877.822548837,785,808.177451163,651,629,652.822548837,0.400982723343,-0.0153838945272,0.0798455456112,0.999999931018,0.000253964367233,-0.000268200767642,3.917340488e-05,1793247723243373824
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744.757054975,715,680,659,634,877.242945025,785,808.757054975,651,629,652.242945025,0.400982271255,-0.0153830955995,0.0798452982347,0.999999930735,0.000254750547537,-0.000268508237812,3.91910788355e-05,1793247723260039936
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.664833334,659,634,877,785,809,651,629,652,0.400983396045,-0.0153835388339,0.0798460247086,0.999999931262,0.000253874741479,-0.000267384248917,3.91063384423e-05,1793247723276706048
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.087798447,659,634,877,785,809,651,629,652,0.400985658766,-0.0153848784568,0.0798474539477,0.999999932367,0.000251799586727,-0.000265227268078,3.89476922003e-05,1793247723293372416
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634,877,784.513558208,808.513558208,651,629,652.486441792,0.400984464066,-0.0153841799869,0.0798471964153,0.999999931513,0.000254326262206,-0.000266012613364,3.91162565893e-05,1793247723310039040
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.93805161,715,679,658.93805161,634,877,784.06194839,808.06194839,651.06194839,629,652.93805161,0.400982964348,-0.0153833586609,0.0798466693459,0.999999930484,0.000257026018541,-0.00026725377269,3.93093866126e-05,1793247723326705920
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.34745849,715,679,658.34745849,634,877,784.65254151,808.65254151,651.65254151,629,652.34745849,0.400984156566,-0.015384610157,0.0798464253478,0.999999931054,0.000254155324955,-0.000267878665157,3.92110450387e-05,1793247723343373056
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744,715,679.238270282,658.238270282,634,877,785,809,651.761729718,629,652,0.400989016493,-0.0153847377241,0.0798480792839,0.99999993195,0.000253340343188,-0.000265288240882,3.92513375887e-05,1793247723360039936
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744,715,679.81704747,658.81704747,634,877,785,809,651.18295253,629,652,0.400999117865,-0.0153832591084,0.0798524455167,0.999999933281,0.000255463134957,-0.000258102876935,3.94897491738e-05,1793247723376706304
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.392619581,715,679.607380419,659,634,877,784.607380419,809,651,629,652,0.401027566157,-0.0153848964899,0.0798625761157,0.999999938303,0.000254181281666,-0.000239134536446,4.00071411971e-05,1793247723393372672
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.966710338,715,679.033289662,659,634,877,784.033289662,809,651,629,652,0.401064494509,-0.0153879741042,0.0798753710404,0.999999944539,0.000251325780636,-0.000214720031281,4.06534796889e-05,1793247723410039296
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.456617713,715,679,659,634,877,784,809,651,629,652,0.401131240132,-0.0153893395226,0.0798948915326,0.999999951133,0.000254477623734,-0.000176766865035,4.15811417339e-05,1793247723426706176
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,784,809,651,629,652.123811686,0.401201202646,-0.0153911359917,0.0799129084142,0.999999955875,0.000256378458268,-0.000144053590178,4.20611961207e-05,1793247723443372800
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,784,809,651,629,652.717910037,0.40127641249,-0.0153949701023,0.0799236414424,0.999999958353,0.000252122851783,-0.00013440906913,4.07752790236e-05,1793247723460039424
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,784,808.697437777,651,629,652.697437777,0.401360976625,-0.0153992016957,0.0799316219622,0.999999960826,0.000249008725957,-0.000121737471923,3.90082328678e-05,1793247723476706048
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,877,784,808.121326,651,629,652.121326,0.401453998064,-0.0154037926569,0.0799371139107,0.999999963183,0.000246926624526,-0.000106329065215,3.68061931538e-05,1793247723493373184
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,715,679.452524144,658.547475856,634,876.547475856,784.452524144,808.452524144,651,629.452524144,652,0.401561005472,-0.0154075985213,0.0799399266549,0.999999964176,0.000245803193261,-0.000100371460628,3.39821637249e-05,1793247723510040064
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,715,679.973385796,658,634,876.053228407,785,809,651,629.973385796,652,0.401673202178,-0.0154112209644,0.0799421141481,0.999999964895,0.000244740461195,-9.6724470517e-05,3.09227516647e-05,1793247723526706944
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,715,679.381381275,658,634,877.237237451,785,809,651,629.381381275,652,0.401816376271,-0.0154153962569,0.0799462029056,0.999999967038,0.000239534075772,-8.86027820802e-05,2.63879347805e-05,1793247723543373312
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.794233306,744,715,679,658.205766694,634,877.794233306,785,809,651,629,652,0.401969112159,-0.0154201626868,0.0799504426054,0.999999969213,0.000233820642934,-8.0244346485e-05,2.1525286628e-05,1793247723560039424
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.215879294,744,715,679,658.784120706,634,877.215879294,785,809,651,629,652,0.402139161833,-0.0154259995048,0.0799549556198,0.99999997151,0.000227189086212,-7.14572272945e-05,1.60690260252e-05,1793247723576706048
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.361067546,744.361067546,715,679,659,634,877,785,808.638932454,651,629,652,0.402319699672,-0.0154325356594,0.0799541040645,0.999999973501,0.000217962204498,-7.34183819902e-05,9.9714765336e-06,1793247723593372928
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.937176371,744.937176371,715,679,659,634,877,785,808.062823629,651,629,652,0.402506483972,-0.0154394883192,0.0799500575287,0.999999975186,0.000207189622396,-8.1780893682e-05,3.49199359585e-06,1793247723610039808
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.490300705,715,679,658.490300705,634,877,784.490300705,808,651,629,652,0.402721397666,-0.0154473664028,0.0799458176116,0.999999979678,0.00018026094808,-9.01816983896e-05,-4.23394794149e-06,1793247723626706944
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.084472482,715,679,658.084472482,634,877.084472482,784.084472482,808.084472482,651,629,652,0.4029485397,-0.015455524704,0.0799424579983,0.999999984951,0.000143876640865,-9.61664433446e-05,-1.22210882184e-05,1793247723643373824
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.675367741,715,679,658.675367741,634,877.675367741,784.675367741,808.675367741,651,629,652,0.403228351585,-0.0154646838945,0.0799445178088,0.999999993979,6.26595740236e-05,-8.76385221336e-05,-2.08595311439e-05,1793247723660040448
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.738333518,715,679,659,634,878,784.738333518,809,651,629,652,0.403526210748,-0.0154735156496,0.0799480936263,0.999999996261,1.74355653516e-05,-7.99031392571e-05,-2.80833224387e-05,1793247723676706816
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.157638962,715,679,659,634,878,784.157638962,809,651,629,652,0.403846073434,-0.0154819481897,0.0799535177844,0.999999996632,1.60948896411e-05,-7.31340331946e-05,-3.35823468485e-05,1793247723693373184
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744,715,679.41964455,659,634,877.58035545,784.41964455,809,651,629,652.41964455,0.404194302518,-0.015487958392,0.0799565633306,0.99999999676,3.75141639233e-05,-6.64423151327e-05,-2.56473311937e-05,1793247723710039552
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744,715,679.995657027,659,634,877.004342973,784.995657027,809,651,629,652.995657027,0.40455310148,-0.0154930659827,0.0799587225585,0.99999999586,6.74142493744e-05,-5.97794334723e-05,-1.2706524205e-05,1793247723726706176
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744,715,679.431688949,659,634,877.568311051,784.431688949,808.431688949,651,629,653,0.404949851929,-0.015498057273,0.0799568320888,0.999999996923,4.85661672603e-05,-5.80165711589e-05,-2.07456553885e-05,1793247723743373056
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,784,808.145396023,651,629,652.854603977,0.405356818087,-0.0155017761287,0.0799533838459,0.999999997303,3.13861262664e-05,-6.05249542952e-05,-2.72950003432e-05,1793247723760039680
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,634,878,784,808.736130748,651,629,652.263869252,0.405794191139,-0.0155016003038,0.0799452584765,0.999999996488,2.04495189977e-05,-7.60018698254e-05,-2.87930392953e-05,1793247723776706560
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.679364795,744,715,679,659,634,878,784.320635205,809,651,629,652,0.406251458034,-0.0154926671233,0.0799378074737,0.999999994943,3.39458783505e-05,-8.96427600176e-05,-3.04376090242e-05,1793247723793373440
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.099889794,744,715,679,659,634,878,784.900110206,809,651,629,652,0.406724784718,-0.0154766643754,0.0799309008675,0.999999992044,6.71662841892e-05,-0.000101801480134,-3.22004690729e-05,1793247723810040576
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,744,715,679,659,634,878,784.524261272,809,651,629,652,0.407228938121,-0.015479843845,0.079928187925,0.99999999187,5.85197646386e-05,-0.000108205710096,-3.35631694422e-05,1793247723826706944
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.051700486,744,715,679,659,633.948299514,878,784,809,651,629,652,0.407741760913,-0.0154872077525,0.0799255208989,0.99999999194,4.14970890278e-05,-0.000114791631728,-3.49361596188e-05,1793247723843373568
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.639423878,744,715,679,659,633.360576122,878,784,809,651,629,652,0.408277898067,-0.0154965321668,0.0799142739005,0.999999989706,2.80413901234e-05,-0.000135687868928,-3.72799605226e-05,1793247723860040192
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744,715,679,659,633,877.775224876,784,809,651,629,652,0.40886509722,-0.0155025267839,0.0799177583293,0.999999990471,1.9290701254e-05,-0.00013119472352,-3.83982316146e-05,1793247723876706816
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744,715,679,659,633,877.193639237,784,809,651,629,652,0.409533352722,-0.0155032356437,0.0799446275894,0.9999999954,1.8008798127e-05,-8.63981901486e-05,-3.75710829717e-05,1793247723893373440
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744,715,679.383643785,659.383643785,633.383643785,877.383643785,784.383643785,809,651,629,652,0.41021303704,-0.0155019638641,0.0799740545597,0.999999998387,2.23760105816e-05,-3.80583251252e-05,-3.5743010899e-05,1793247723910040064
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744,715,679.958779184,659.958779184,633.958779184,877.958779184,784.958779184,809,651,629,652,0.410898425908,-0.0154997034699,0.0800047581824,0.999999998932,2.95629175315e-05,1.20501539869e-05,-3.34153387749e-05,1793247723926706944
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,744,715,680,659.466568102,634,878,784.466568102,809,651,629,652,0.41155266926,-0.0154980177297,0.0799854031299,0.999999998683,2.49280854974e-05,-2.54840923385e-05,-3.69242214229e-05,1793247723943373824
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.889084909,744,715,680,659,634,878,784,809.110915091,651,629,652.110915091,0.412210856665,-0.0154972706383,0.0799598222476,0.999999996559,1.8382881354e-05,-6.95802249144e-05,-4.12582816043e-05,1793247723960040192
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.299218442,744,715,680,659,634,878,784,809.700781558,651,629,652.700781558,0.41289645846,-0.0155003852214,0.0799240459087,0.999999992496,7.52953360745e-06,-0.00011279301567,-4.7209788676e-05,1793247723976706304
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.284612341,744.284612341,715,680,659.284612341,634,878,784.284612341,809.715387659,651,629,653,0.413638598027,-0.015503408332,0.0799115956544,0.999999991334,4.03633131305e-06,-0.000121778165415,-4.98524987721e-05,1793247723993372416
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.862229534,744.862229534,715,680,659.862229534,634,878,784.862229534,809.137770466,651,629,653,0.414438942611,-0.0155063372732,0.0799231593087,0.9999999942,8.12030558873e-06,-9.55263913034e-05,-4.90888444513e-05,1793247724010039040
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.560998362,715,680,660,634,878,784.560998362,809.439001638,651,629,652.560998362,0.4152376547,-0.0155066051699,0.0799413673463,0.999999996437,6.29744070389e-06,-6.91489257787e-05,-4.80047126627e-05,1793247724026705664
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744,714.98454215,680,659.98454215,634,878,784.01545785,809.98454215,650.98454215,629,652,0.416035771338,-0.0155059134753,0.0799606939893,0.999999997918,2.73600791853e-06,-4.4180735498e-05,-4.69473695162e-05,1793247724043372288
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744,714.409936352,680,659.409936352,634,878,784.590063648,809.409936352,650.409936352,629,652,0.416830847123,-0.0155006608471,0.0799452020499,0.999999996156,3.21121988785e-06,-7.16134866967e-05,-5.0490065489e-05,1793247724060039936
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,744,714.170511616,680,659.170511616,634,878,784.829488384,809.170511616,650.170511616,629.170511616,652.170511616,0.417657419826,-0.0154989607234,0.0799436401311,0.999999996106,3.17742159871e-06,-7.12090260159e-05,-5.20280031785e-05,1793247724076707584
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,744,714.76550334,680,659.76550334,634,878,784.23449666,809.76550334,650.76550334,629.76550334,652.76550334,0.418562402473,-0.0155061043816,0.0799767563005,0.999999998817,1.87646779488e-06,-1.50522229365e-06,-4.85751954879e-05,1793247724093373952
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,744.348570076,715.348570076,680,660,634,878,784.348570076,810,651,629.651429924,653,0.419455181838,-0.015510825717,0.0799866318203,0.999999998628,-2.44348798882e-06,2.03524924598e-05,-4.82145460115e-05,1793247724110040320
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,744.923879764,715.923879764,680,660,634,878,784.923879764,810,651,629.076120236,653,0.420340023117,-0.0155139713676,0.0799813896445,0.999999998657,-8.72725926588e-06,1.10870406396e-05,-4.98652993519e-05,1793247724126706688
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.501230088,680,660,633.501230088,878.498769912,784.501230088,810.498769912,651,629.498769912,653,0.421221878094,-0.0155150987973,0.0799723804863,0.999999998507,-1.52264050071e-05,-5.93426400753e-06,-5.21375127758e-05,1793247724143373056
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.924747937,745,715,680,660,633.075252063,878.924747937,784,810.924747937,651,630,653,0.422107698901,-0.0155161828876,0.0799676812841,0.99999999821,-2.04254221132e-05,-1.65378891403e-05,-5.37603011379e-05,1793247724160039168
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.336987943,745,715,680,660,633.663012057,878.336987943,784,810.336987943,651,630,653,0.423023630123,-0.0155190677841,0.0799962473616,0.999999998294,-1.65461733893e-05,2.46210674588e-05,-5.03147448551e-05,1793247724176706048
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.24775001,745,715,680,660,633.75224999,878,784.24775001,810,651,629.75224999,653,0.423925119576,-0.0155189972682,0.080000549948,0.999999998566,-1.02353553953e-05,1.88805694339e-05,-4.90518718201e-05,1793247724193372928
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.828427019,745,715,680,660,633.171572981,878,784.828427019,810,651,629.171572981,653,0.424807202275,-0.0155149552633,0.0799722472067,0.999999997469,-6.56988803153e-07,-4.98835113028e-05,-5.07220926869e-05,1793247724210040064
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878.405231503,784.594768497,810,651,629.405231503,653,0.425739734649,-0.0155147797915,0.0799409994677,0.999999994661,-1.56253675354e-06,-8.74446702216e-05,-5.5039360196e-05,1793247724226706944
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878.980411864,784.019588136,810,651,629.980411864,653,0.426693424913,-0.0155162258939,0.0799085166363,0.999999991885,-6.86490363645e-06,-0.000111919722634,-6.04667648175e-05,1793247724243373824
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.557305754,660,633,879,784.557305754,810.557305754,651,629.442694246,653,0.427626005359,-0.0155193812515,0.0799054737721,0.999999991073,-1.14064210732e-05,-0.00011836122905,-6.09485815383e-05,1793247724260040448
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.862376425,660,633,879,785,811,651,629.137623575,653,0.428560691093,-0.015522515306,0.0799107345619,0.999999991344,-1.76070096036e-05,-0.000115502059962,-6.05035413904e-05,1793247724276706816
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.270968145,660,633,879,785,811,651,629.729031855,653,0.429504772548,-0.0155253804167,0.0799399524953,0.999999994377,-2.93664837854e-05,-8.40722796351e-05,-5.7577312122e-05,1793247724293372928
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.313524879,660.313524879,633,879,784.686475121,811,651,630,653,0.430479443075,-0.0155285944455,0.0799783836683,0.999999997584,-3.13623922307e-05,-2.98027918642e-05,-5.43991719122e-05,1793247724310039296
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.892170248,660.892170248,633,879,784.107829752,811,651,630,653,0.43147998005,-0.0155321035236,0.0800246056685,0.999999997426,-2.51021088433e-05,4.37802316161e-05,-5.10080126725e-05,1793247724326706176
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.532860742,661,633.467139258,879,784,811,651,630,653,0.432390952979,-0.0155280511816,0.0800002023693,0.999999998178,-2.8222925593e-05,2.55907664657e-07,-5.33592189742e-05,1793247724343373312
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.957717619,715,680,660.957717619,634,879,784.042282381,811,651,630,653,0.433280156107,-0.0155226727794,0.0799588937366,0.999999995416,-3.288306964e-05,-6.93888532819e-05,-5.72023775376e-05,1793247724360040448
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.369454422,715,680,660.369454422,634,879,784.630545578,811,651,630,653,0.434153124962,-0.0155225332479,0.0799081563546,0.999999989106,-2.96767359966e-05,-0.000129989821436,-6.33284054654e-05,1793247724376707328
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.215508698,715,680.215508698,660.215508698,634,879,785,811,651,630,653,0.43504974249,-0.0155245488793,0.079889873991,0.999999986152,-3.27230862856e-05,-0.000149031760768,-6.64379736774e-05,1793247724393373952
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,744.794899796,715,680.794899796,660.794899796,634,879,785,811,651,630,653,0.435986290501,-0.0155302034626,0.07992639131,0.999999992057,-4.63269758746e-05,-9.79020683879e-05,-6.44543073362e-05,1793247724410040320
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.629489007,661,633.629489007,879,785,811.370510993,651,630,653,0.436925331253,-0.0155349839787,0.0799696182334,0.999999996283,-4.92190383493e-05,-3.76419746887e-05,-5.99510788548e-05,1793247724426706432
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.055949117,661,633.055949117,879,785,811.944050883,651,630,653,0.437865737896,-0.0155392855319,0.0800165218163,0.999999997088,-4.62413403485e-05,2.76213017156e-05,-5.40672059644e-05,1793247724443372800
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.519847961,661,633,879,785,812,651,630,653,0.438781439141,-0.0155429206756,0.080034405725,0.999999995454,-5.30782058331e-05,5.72913311462e-05,-5.4711568921e-05,1793247724460039424
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.901505599,661,633,879,785,812,650.901505599,630,653,0.439667252957,-0.0155445463921,0.0800352717938,0.999999994851,-5.74843531256e-05,6.14660114127e-05,-5.66968560359e-05,1793247724476706048
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.309813118,661,633,879,785,812,650.309813118,630,653,0.440416781652,-0.0155364708694,0.0799666307834,0.999999996186,-4.44066298112e-05,-4.27583296528e-05,-6.18630893683e-05,1793247724493372928
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.274763269,745,715,680,661,633,879,785,812,650.274763269,630,653,0.441159921723,-0.0155306727003,0.0798953490587,0.99999998588,-3.8310018264e-05,-0.000148849220616,-6.79405162446e-05,1793247724510039808
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.851518334,745,715,680,661,633,879,785,812,650.851518334,630,653,0.441896040019,-0.0155273775667,0.0798211649344,0.999999963368,-3.98863345073e-05,-0.000256991625707,-7.50194339049e-05,1793247724526707200
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680.859127501,661,633,879,784.57043625,812.42956375,651,630,653,0.442724749878,-0.0155314213711,0.0798464720341,0.999999973099,-5.62186248546e-05,-0.000212903091079,-7.29006746359e-05,1793247724543374080
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.991846081,745,715,681.991846081,661.008153919,633,879,784.008153919,812.991846081,651,630,653,0.443584795676,-0.0155379891857,0.0799063296502,0.999999987996,-7.72044095321e-05,-0.000116094955323,-6.75942155638e-05,1793247724560040704
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.406363741,745,715,681.406363741,661.593636259,633,879,784.593636259,812.406363741,651,630,653,0.444390643205,-0.0155431134629,0.0799702281588,0.999999995639,-6.54520451715e-05,-2.34372218207e-05,-6.23670678593e-05,1793247724576706560
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.17724184,745,715,681,662,633,879,785,812.17724184,651,630,653,0.445175381455,-0.0155477975937,0.0800185118783,0.999999995503,-5.88038379576e-05,4.56319278388e-05,-5.8774477719e-05,1793247724593372672
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.756589758,745,715,681,662,633,879,785,812.756589758,651,630,653,0.445912229541,-0.0155514831714,0.0800313705574,0.999999994363,-6.37353592974e-05,6.11860057847e-05,-5.88901854242e-05,1793247724610039296
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.665322357,633,879,784.665322357,813,650.665322357,630,653,0.44660475806,-0.0155529355619,0.0800248038514,0.999999994313,-6.76005732844e-05,5.63959015444e-05,-6.02036313476e-05,1793247724626705920
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.088147489,633,879,784.088147489,813,650.088147489,630,653,0.447265173926,-0.0155527698528,0.0800041621024,0.999999994876,-7.06931731358e-05,3.68650216402e-05,-6.23849218831e-05,1793247724643373056
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,744.513404477,715,681.486595523,661,633,879,784,813,650.486595523,630,653,0.447849655034,-0.0155534353967,0.0799596401423,0.999999994306,-7.82436604001e-05,-2.93823597049e-05,-6.63532499239e-05,1793247724660040448
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.937455401,744.062544599,715,681.937455401,661,633,879.062544599,784,813,651,629.937455401,653,0.448415995219,-0.0155543514324,0.0799105962105,0.999999988316,-8.64074514591e-05,-0.000104502483651,-7.05753240141e-05,1793247724676707840
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.347643515,744.652356485,715,681.347643515,661,633,879.652356485,784,813,651,629.347643515,653,0.448944790114,-0.0155561160413,0.0798597182845,0.9999999761,-9.29675304043e-05,-0.000183433630541,-7.42210358578e-05,1793247724693374464
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879.762488798,784,812.762488798,651,629.237511202,653,0.449490020189,-0.0155598213365,0.0798344409591,0.999999967885,-9.8621685798e-05,-0.000220843619663,-7.57114920085e-05,1793247724710041088
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879.184019704,784,812.184019704,651,629.815980296,653,0.450058843651,-0.015566312573,0.0798459144385,0.999999972222,-0.000102975347725,-0.000198648135198,-7.41079829784e-05,1793247724726707456
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,783.607680701,812.392319299,651,630,653,0.450616540287,-0.0155745551186,0.0798784553088,0.999999979627,-0.00011449225982,-0.00015008185546,-7.15062158251e-05,1793247724743373824
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,783.032335384,812.967664616,651,630,653,0.451169046052,-0.0155836146909,0.0799208246047,0.999999985313,-0.000129350993654,-8.92129879783e-05,-6.84387378252e-05,1793247724760040448
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.554634974,745,715,681.554634974,661,632.445365026,879,783,813,651,630,653,0.451610591324,-0.0155892166723,0.0799073492405,0.99999998117,-0.00013654436349,-0.00011866462276,-7.02391058035e-05,1793247724776706816
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,744.859843968,715,682,661,632,879.140156032,783,813,651,630,653,0.452029316917,-0.0155944435733,0.0798839140901,0.999999973949,-0.000143492233864,-0.000162155456603,-7.22308059791e-05,1793247724793373440
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,744.281025434,715,682,661,632,879.718974566,783,813,651,630,653,0.45239730156,-0.0155991409537,0.0798397147234,0.999999958766,-0.000151100374426,-0.000232752865527,-7.39140935693e-05,1793247724810040064
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.701912853,744.298087147,715,681.701912853,661,632,879.701912853,782.701912853,813,651,630,653,0.452758038638,-0.0156028397045,0.0798026158955,0.99999994345,-0.000155557367329,-0.000288259165671,-7.62119340562e-05,1793247724826706688
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.122522816,744.877477184,715,681.122522816,661,632,879.122522816,782.122522816,813,651,630,653,0.453111936216,-0.0156055960547,0.0797722178021,0.999999930248,-0.000157040642699,-0.000329524081546,-7.9089724152e-05,1793247724843373312
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.452320212,745,715,681.452320212,660.547679788,632,879,782,813.452320212,651,630,653,0.453453905861,-0.0156067884896,0.0797662487149,0.999999926092,-0.000163695200632,-0.000338238880873,-8.13312980701e-05,1793247724860039936
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.97339973,745.02660027,715,682,660.02660027,632,879.02660027,781.97339973,814,651,630,653,0.453790659509,-0.0156075796003,0.079766512343,0.999999924412,-0.000171770734042,-0.000338706057802,-8.33614097208e-05,1793247724876706560
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.385261765,745.614738235,715,682,660.614738235,632,879.614738235,781.385261765,814,651,630,653,0.454084830511,-0.0156087525369,0.0797600488948,0.999999919105,-0.000180566952017,-0.000349341598826,-8.45293465434e-05,1793247724893373440
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.199903579,745.800096421,715,682,660.800096421,632,880,781,813.800096421,650.800096421,630,653,0.454367240304,-0.0156108452955,0.0797547697946,0.999999916255,-0.000180537585908,-0.000357622878318,-8.36749973739e-05,1793247724910040064
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.779423855,745.220576145,715,682,660.220576145,632,880,781,813.220576145,650.220576145,630,653,0.454627315538,-0.015614684795,0.0797517397711,0.999999918157,-0.000163748443525,-0.000361433416351,-7.89803290162e-05,1793247724926706176
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.642122776,745,715,682,660,632,879.642122776,781,813,650,630,653.357877224,0.454865078105,-0.0156180476125,0.079751429727,0.999999919135,-0.000156735678732,-0.000362582884933,-7.54762642171e-05,1793247724943373056
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.064324979,745,715,682,660,632,879.064324979,781,813,650,630,653.935675021,0.45508912925,-0.0156211175026,0.079752791148,0.999999919674,-0.000155730633451,-0.000362097089439,-7.27038415552e-05,1793247724960040448
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.492858497,682,660,632,879,781,813,650,630,653.492858497,0.45527275719,-0.0156211916628,0.0797476921229,0.999999914231,-0.000168841510747,-0.000371063050461,-7.30952304695e-05,1793247724976706816
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.080881969,682.080881969,660,631.919118031,879,781,813,650.080881969,630,653,0.455446949008,-0.0156214390985,0.0797417974515,0.999999907818,-0.000182468895716,-0.000381577194855,-7.39470244078e-05,1793247724993373184
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714.674049118,682.674049118,660,631.325950882,879,781,813,650.674049118,630,653,0.455593448986,-0.0156251609929,0.0797359894351,0.999999901694,-0.000188167363014,-0.000394397588776,-7.52045615277e-05,1793247725010039808
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,682.739131078,660,631,879.260868922,781,813,650.739131078,630,653,0.455727452244,-0.0156276812486,0.0797310022614,0.999999896529,-0.000191692116549,-0.000405422864707,-7.63439857183e-05,1793247725026706688
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+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.162751195,682,660,632,879,780,813.162751195,650.162751195,630,653,0.456186004489,-0.0156315415737,0.0797095906748,0.999999879394,-0.000194175993409,-0.00044394543376,-8.01203714591e-05,1793247725110040064
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.67902369,682,660,631.67902369,879,780,813.67902369,651,630,653,0.456295087842,-0.0156323336372,0.079704062253,0.999999876052,-0.000197802516303,-0.000449710132767,-8.08125453615e-05,1793247725143373568
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.947681329,745,715,682,660,631.052318671,880,780,813,651,630,653,0.456393896612,-0.0156311138938,0.0797007625242,0.999999873164,-0.000199353184039,-0.000455353781894,-8.11347632496e-05,1793247725193372672
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.360534338,745,715,682,660,631.639465662,880,780,813,651,630,653,0.456412341829,-0.0156299181402,0.07970057507,0.999999872748,-0.000199652099905,-0.000456138976193,-8.11234951668e-05,1793247725210039552
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,715,682.223405175,660,631.776594825,880,780,813.223405175,651,629.776594825,653,0.456426939093,-0.0156294782015,0.0797000306289,0.999999872095,-0.000199898819575,-0.000457486661468,-8.09762219617e-05,1793247725226706432
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,682.802241646,660,631.197758354,880,780,813.802241646,651,629.197758354,653,0.456435414371,-0.015630240743,0.079698918232,0.999999871063,-0.000200062496557,-0.000459729253885,-8.06125684656e-05,1793247725243373312
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,682.467939798,660,631,880,780,813.532060202,651,630,653,0.45645095418,-0.0156263078656,0.0796953515295,0.999999869535,-0.000194389297806,-0.000465523647398,-8.01904782681e-05,1793247725293373184
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.109235071,745,715,682,660,631,880,780,814,651,630,653,0.456452798032,-0.0156276094703,0.0796948968686,0.999999868453,-0.000196092569489,-0.00046721846619,-7.9675313795e-05,1793247725310039296
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.716064161,745,715,682.283935839,660,631,879.716064161,780,813.716064161,651,630,653,0.456455802171,-0.0156249023786,0.079695433356,0.999999869477,-0.000191964304164,-0.000466862031317,-7.89669832085e-05,1793247725343372288
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.136976398,745,715,682.863023602,660,631,879.136976398,780,813.136976398,651,630,653,0.456457508641,-0.0156256447432,0.07969549908,0.999999868799,-0.000196005681933,-0.000466561351828,-7.94043176613e-05,1793247725360038912
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,631,879.018485607,780,813.981514393,651,629.981514393,653,0.456455961464,-0.0156213040793,0.0796928022077,0.999999868561,-0.00019062516383,-0.000469214076156,-7.98610360971e-05,1793247725393372416
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,631,879.60304771,780,813.39695229,651,629.39695229,653,0.456457887205,-0.0156204827953,0.0796941440999,0.999999869566,-0.000190694799619,-0.000467091019974,-7.9561656723e-05,1793247725410039040
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.764989616,745,715,682,660,631,879.235010384,780,813.764989616,651,629.764989616,653,0.456455973339,-0.0156230612011,0.079691822664,0.999999866598,-0.000195477543903,-0.000471416166208,-7.9739815454e-05,1793247725443372544
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+247,4.116666667,HOLD_POSE2,765,745,714,683,660,631,880,779,813,651,630,653,0.456456443261,-0.0156209103852,0.0796913132028,0.999999866375,-0.000191009178434,-0.000473957238015,-7.82980493033e-05,1793247725565062144
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+256,4.266666667,HOLD_POSE2,765,745,715,682,659.791416336,631,879,779.791416336,813,651,629,653.791416336,0.456458522842,-0.015617702144,0.0796903899985,0.999999866887,-0.000186424178895,-0.000474709954104,-7.82475635196e-05,1793247725715063296
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.926945109,745,714.073054891,682,660,631.073054891,879,780,813,651,629,653,0.455135073528,-0.0155577073879,0.079624394672,0.999999820346,-0.000145597319129,-0.000579072067113,-5.27743831074e-05,1793247726252300800
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+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,632,879.568022174,781,812,651,630,653,0.452838315447,-0.0154974297774,0.079631557673,0.999999843444,1.93319787515e-05,-0.00055922575842,-2.20994771667e-06,1793247726385634048
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+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.493328791,659,633.506671209,878,784.493328791,810,650.506671209,629.493328791,653,0.419682353952,-0.0154071463242,0.0798598546058,0.999999955236,0.000212713089116,-0.00020443137666,4.9890626624e-05,1793247727102300672
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.324095666,714.324095666,680,659,633.324095666,878,784,810,651,629,653,0.417895912899,-0.0154004966404,0.079803681289,0.999999929757,0.000216050834287,-0.000303175035299,4.35083674761e-05,1793247727135633920
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744,714.252862685,680,659.252862685,633,877.747137315,784,810,651,629.252862685,652.747137315,0.417015118267,-0.0153980520349,0.0797858947713,0.999999917889,0.00021617630133,-0.000340270144804,4.1300496886e-05,1793247727152301056
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744,714.826465439,680,659.826465439,633,877.173534561,784,810,651,629.826465439,652.173534561,0.416175018461,-0.015395391387,0.0798003861358,0.99999992061,0.000218889620098,-0.000330235070138,4.25615462179e-05,1793247727168968192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659.590090295,633.409909705,877,784.409909705,810,651.409909705,630,652,0.415356885666,-0.0153928418167,0.0797882830414,0.999999911351,0.000224102042179,-0.000353860386561,4.31269795287e-05,1793247727185635072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744,715,680,659.0023771,633.9976229,877,784.9976229,810,651.9976229,630,652,0.414548281267,-0.0153903404276,0.0797646442672,0.999999895651,0.000230398481713,-0.000392086319725,4.33906806952e-05,1793247727202301952
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,714.422561626,680,659,634,877.577438374,784.422561626,810,651.422561626,629.422561626,652,0.413818783411,-0.0153921907391,0.0797718216195,0.999999905755,0.000224507139879,-0.000369293876046,4.13351856705e-05,1793247727218968064
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.156426547,714.156426547,680,659,634,878,784,810,651,629,652,0.413097076378,-0.015393784144,0.0797825443358,0.999999915648,0.00022170154935,-0.000343387567813,4.04540958321e-05,1793247727235634688
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.733277529,714.733277529,680,659,634,878,784,810,651,629,652,0.412395444981,-0.0153946395681,0.0798024595013,0.999999925267,0.000227322496789,-0.000309778193821,4.27547441879e-05,1793247727252301312
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809.690971297,651,629.309028703,652,0.411675591721,-0.015394465747,0.0798038822891,0.999999923772,0.000230063072746,-0.000312447799745,4.36233146261e-05,1793247727268967680
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,878,784,809.116166033,651,629.883833967,652,0.410940066998,-0.0153934067352,0.0797894009203,0.999999912571,0.000230326418168,-0.000346318724453,4.32602428803e-05,1793247727285634048
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.529438518,715,679.529438518,659,634,878,784,809,651,630,652.470561482,0.410283920765,-0.0153898023916,0.0797857848463,0.999999909862,0.000231423804629,-0.000353411517398,4.26549010482e-05,1793247727302301184
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744,715,679.059176963,659,634,878,784,809,651,629.940823037,653,0.4096543709,-0.0153860020158,0.0797877983984,0.999999911098,0.000233220750822,-0.000348730745328,4.24104956301e-05,1793247727318968576
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.637857054,659,634,878,784,809,651,629.362142946,653,0.409081804726,-0.0153861403387,0.0798150740162,0.999999925244,0.000239304479,-0.000300234161112,4.58733765026e-05,1793247727335634944
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.215498743,715,680,659,634,877.784501257,784.215498743,809,651,629,652.784501257,0.408508250849,-0.0153862347958,0.0798321968759,0.999999932492,0.000242912875183,-0.000271480610781,4.80475349406e-05,1793247727352301568
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.79140372,715,680,659,634,877.20859628,784.79140372,809,651,629,652.20859628,0.407933045163,-0.0153862558904,0.079832339971,0.999999931453,0.000242381455821,-0.000275745878343,4.80663970842e-05,1793247727368968192
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.625323351,715,680,659,634,877.374676649,785,809,651,629,652,0.407356887012,-0.0153844733535,0.0798073107174,0.99999991707,0.000244000055714,-0.000322874391948,4.55634008288e-05,1793247727385634816
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.037866074,715,680,659,634,877.962133926,785,809,651,629,652,0.406780187898,-0.0153816665258,0.0797679859687,0.999999890915,0.000246839660565,-0.000394345143364,4.16282291537e-05,1793247727402301440
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,744.541817099,715,680,659,634,878,784.458182901,808.458182901,651,629,652.541817099,0.406301355686,-0.0153810681197,0.0797641194975,0.999999891191,0.000246126061342,-0.000394243070986,4.01604331552e-05,1793247727418968064
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.879408215,715,680,659,634,878,784,808.120591785,651,629,652.879408215,0.405844036216,-0.0153811095949,0.0797671196694,0.999999896542,0.000245342797466,-0.000381002119497,3.94888053027e-05,1793247727435634944
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.302045665,715,680,659,634,878,784,808.697954335,651,629,652.302045665,0.40544266101,-0.0153829984435,0.0797868753671,0.99999991241,0.000245222941753,-0.00033667284124,4.11889460658e-05,1793247727452301568
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744,715,680,659,634,877.154385446,784,809,651,629,652,0.40465992593,-0.0153822195041,0.0798174820111,0.99999992595,0.00024191930263,-0.000296165748637,4.31348444749e-05,1793247727485635072
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.432147215,744,715,680,659,634,877,784,809,651,629,652,0.404292803925,-0.0153784243025,0.0798255211092,0.999999925134,0.000251695382996,-0.000290449973702,4.49441364586e-05,1793247727502301952
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.397592447,744,715,679.397592447,659,634,877.602407553,784,809,651,629,652,0.403613949925,-0.0153705073285,0.0798324058778,0.999999919561,0.000272540851681,-0.000290348239129,4.79214896106e-05,1793247727535634432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,878,784,809,651,629,652,0.403307167077,-0.0153680790828,0.0798322021558,0.999999918543,0.000272526028599,-0.000293945011154,4.73215171947e-05,1793247727552301056
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,878,784,809,651,629,652,0.403031369495,-0.0153673942149,0.079829057934,0.999999921384,0.000257270236067,-0.000298567263687,4.36101397426e-05,1793247727568968192
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.670223689,744.329776311,715,679,659,634,877.670223689,784,809,651.329776311,629,652,0.402778834814,-0.0153670376718,0.0798289900576,0.999999920407,0.000259220039492,-0.000300165955443,4.34887519546e-05,1793247727585635072
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+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,877,785,809,651,629,652,0.402147727141,-0.0153741361284,0.07983599464,0.999999920444,0.000269079245575,-0.000290414249033,4.86552388723e-05,1793247727635635200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,877,785,809,651,629,652,0.401988250982,-0.0153805309891,0.0798385782341,0.999999925026,0.00025825606033,-0.000284301033156,4.92344105546e-05,1793247727652301568
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.987180321,745,715,680,658.012819679,634,877,784.987180321,808.987180321,651,629,652,0.401486180487,-0.0153822891666,0.0798503833864,0.999999933455,0.000245097971648,-0.000265867662475,4.8290323276e-05,1793247727718967296
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.433444516,744.433444516,715,680,658.566555484,633.433444516,877,785,809,651,629,652,0.401397046548,-0.0153808417204,0.0798467430071,0.999999928371,0.000258618897998,-0.000273353956587,4.06527955546e-05,1793247727735634176
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.144851619,744,715,680,659,633.144851619,877.144851619,784.855148381,809,651,629,652,0.401312230011,-0.0153801854875,0.0798428466805,0.999999924312,0.000267217736717,-0.000280594213662,3.51847690124e-05,1793247727752300544
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.397574549,659,634,878,784.301212726,809,651,629,652,0.401179830874,-0.0153820022642,0.0798368989212,0.999999924429,0.000258241959543,-0.000288144345844,3.77638072588e-05,1793247727785633536
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,658.20792631,634,877,784.79207369,809,651,629,652,0.401018823121,-0.0153777601058,0.0798357017293,0.99999992401,0.000260321128924,-0.00028743605065,3.9926232028e-05,1793247727868966912
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+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,658.636308905,634,877,784.363691095,808.636308905,651,628.636308905,652.363691095,0.400997131077,-0.0153777984221,0.079833766081,0.999999924266,0.000258928421715,-0.000287878356913,3.9366330117e-05,1793247727902300160
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+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,659,634,878,784,808.684917548,651,629,652,0.400980713302,-0.0153770612341,0.0798357649278,0.999999923577,0.000263720862283,-0.000285897924963,3.94959827676e-05,1793247727968966912
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+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.416565788,715,679,659,634,877,784,808.583434212,651.416565788,629,652.583434212,0.400979696384,-0.0153789242222,0.0798381336731,0.999999925762,0.000260683849035,-0.000280975385953,3.96477175171e-05,1793247728052300544
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c36bfbe6cb7e68770fc09b90c3b7ca6590b063a3
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_08/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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+390,6.500000000,pose2_to_pose3_retreat,0.583247823147,-0.0100721250206,1.07004250514,0.553819613949,-0.00139766922409,1.06966588348
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+396,6.600000000,pose2_to_pose3_retreat,0.583246363914,-0.0100721741992,1.07004249578,0.553818154549,-0.00139771885341,1.06966587683
+397,6.616666667,pose2_to_pose3_retreat,0.583246288906,-0.0100721572349,1.07004249221,0.553818079407,-0.0013977023004,1.0696658742
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f920f9afdc8618d9143e1dafd5a305b950bc842
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a2dbbaf46873d1a864b68458cca3c285ac0f4eaa6401af8b5a11b3ffccbf9d1
+size 25851470
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c89ee75140351038a3c414bd1286b7bc4b96c7f8
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,408 @@
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+12,0.200000000,BASELINE,764.039730806,745,715.039730806,680,661.039730806,634,878.039730806,785,808.960269194,653,629,652,0.400926031219,0.00440154047303,0.0599328994799,0.999999970441,-0.000126991212777,-0.000204902634337,-3.17157771513e-05,1793247730217103104
+13,0.216666667,BASELINE,764.537011949,745,715,679.462988051,661.537011949,634,878,785,809,653,628.462988051,652,0.400926247706,0.00440163093618,0.0599332488248,0.9999999704,-0.0001278913271,-0.000204579729366,-3.14719921141e-05,1793247730233769472
+14,0.233333333,BASELINE,765,745,715,679.113458664,662,634,878,785,809,653,628.113458664,652,0.400926419187,0.00440178867717,0.0599332493778,0.999999970309,-0.000128867699111,-0.000204431936796,-3.13623577103e-05,1793247730250435840
+15,0.250000000,BASELINE,765,745,715,679.689468056,662,634,878,785,809,653,628.689468056,652,0.400926168549,0.00440222417023,0.0599318168652,0.999999970085,-0.000129516950918,-0.000205029323311,-3.19257915862e-05,1793247730267102720
+16,0.266666667,BASELINE,765,745,715,679.728347258,662,634,878,785,809,653,628.728347258,652,0.400926263796,0.00440214442248,0.0599310214545,0.999999970012,-0.000129147051117,-0.000205605167362,-3.19993250952e-05,1793247730283769600
+17,0.283333333,BASELINE,765,745,715,679.138939294,662,634,878,785,809,653,628.138939294,652,0.40092676363,0.00440146199182,0.0599309712692,0.999999970115,-0.000127585038352,-0.000206155812919,-3.14998166852e-05,1793247730300435968
+18,0.300000000,BASELINE,764.557540731,745,715,679,662,634,877.557540731,785,809,653,628.442459269,652,0.400926364505,0.00440116779308,0.0599311712937,0.999999969889,-0.000129046293938,-0.000206333244853,-3.15623308667e-05,1793247730317102592
+19,0.316666667,BASELINE,764.021228079,745,715,679.021228079,662,634,877.021228079,785,809,653,629,652,0.400925750693,0.00440098971157,0.0599314438138,0.999999969577,-0.000131336910868,-0.000206367089666,-3.17776482478e-05,1793247730333769216
+20,0.333333333,BASELINE,764.595842045,745,715,679.595842045,662,634,877.595842045,785,809,653,629,652,0.400926768285,0.00440071709975,0.0599315944075,0.999999969785,-0.000130939502341,-0.000205658610497,-3.14574394595e-05,1793247730350436608
+21,0.350000000,BASELINE,765,745,715,680,662.170255677,634,878.170255677,785,808.829744323,652.829744323,629,652,0.400926846649,0.00440086988449,0.0599314185103,0.999999969843,-0.000130272350011,-0.000205816166927,-3.13549896084e-05,1793247730367103744
+22,0.366666667,BASELINE,765,745,715,680,662.744194227,634,878.744194227,785,808.255805773,652.255805773,629,652,0.400924698071,0.00440203130118,0.0599304684905,0.999999969542,-0.000128965624617,-0.000208027127765,-3.17688547669e-05,1793247730383770112
+23,0.383333333,BASELINE,765,745,715,679.671541152,662.671541152,634,878.343082305,785,808,652.328458848,628.671541152,652,0.40092479479,0.00440207202234,0.0599310432496,0.999999969731,-0.000128569011216,-0.000207368320296,-3.17378526215e-05,1793247730400436736
+24,0.400000000,BASELINE,765,745,715,679.07897343,662.07897343,634,877.157946861,785,808,652.92102657,628.07897343,652,0.400926696919,0.00440121160901,0.0599328440607,0.99999997031,-0.000128904205192,-0.000204401975053,-3.13491393383e-05,1793247730417103872
+25,0.416666667,BASELINE,764.499553926,745,715,679.500446074,662.500446074,634,877,785,808,652.499553926,628.500446074,652,0.400927376913,0.0044017364607,0.0599327502007,0.99999997045,-0.000128128998999,-0.000204200893843,-3.13765655935e-05,1793247730433770496
+26,0.433333333,BASELINE,764.07763089,745,715,679.92236911,662.92236911,634,877.07763089,785,808.07763089,652.07763089,629,652,0.400927727903,0.00440244458374,0.0599323622084,0.999999970494,-0.000127309337049,-0.000204486770827,-3.14515304399e-05,1793247730450436864
+27,0.450000000,BASELINE,764.653449454,745,715,679.346550546,662.346550546,634,877.653449454,785,808.653449454,652.653449454,629,652,0.400927173521,0.00440296188248,0.0599319562738,0.999999970357,-0.000127300102627,-0.000205168948136,-3.14209318676e-05,1793247730467103488
+28,0.466666667,BASELINE,765,745,715,679,662.235670404,634,878,785,808.764329596,652.764329596,629,652,0.400926234797,0.00440324036271,0.0599313031667,0.999999970113,-0.000127472342153,-0.000206243397986,-3.14374988424e-05,1793247730483769856
+29,0.483333333,BASELINE,765,745,715,679,662.827568858,634,878,785,808.172431142,652.172431142,629,652,0.400924715119,0.00440315785633,0.0599302764454,0.999999969708,-0.000127918888973,-0.0002079107881,-3.15253589915e-05,1793247730500435968
+30,0.500000000,BASELINE,765,745,715,679.407581542,662.592418458,634,878,785,808.407581542,652.407581542,629,652,0.400925482415,0.00440284276923,0.0599308649865,0.999999969975,-0.000127621633783,-0.000206810745907,-3.14953991531e-05,1793247730517102592
+31,0.516666667,BASELINE,765,745,715,679.982708308,662.017291692,634,878,785,808.982708308,652.982708308,629,652,0.40092718982,0.00440243207479,0.0599321175163,0.999999970515,-0.000127018622646,-0.000204573090654,-3.14170068538e-05,1793247730533769472
+32,0.533333333,BASELINE,765,745,715,680,662,634,878,785,808.438944699,653,628.438944699,652,0.400926903969,0.00440175730775,0.0599316563011,0.999999970263,-0.00012756595556,-0.000205524389058,-3.09883710892e-05,1793247730550436096
+33,0.550000000,BASELINE,765,745.141700773,715,679.858299227,662,634,877.858299227,785,808,653,628.141700773,652,0.400926436498,0.00440142719521,0.0599310982107,0.99999997005,-0.000127664487044,-0.000206537396794,-3.07229982018e-05,1793247730567102464
+34,0.566666667,BASELINE,765,745.729264231,715,679.270735769,662,634,877.270735769,785,808,653,628.729264231,652,0.40092559197,0.00440220729745,0.0599304024514,0.999999970037,-0.000126238662076,-0.000207433538599,-3.10054944345e-05,1793247730583769088
+35,0.583333333,BASELINE,765,745.687617349,715,679.312382651,662,634,877.312382651,785.312382651,808,653,629,652,0.40092615991,0.00440249360253,0.0599311821413,0.999999970179,-0.000126670995088,-0.000206457526218,-3.11673094241e-05,1793247730600435712
+36,0.600000000,BASELINE,765,745.108297241,715,679.891702759,662,634,877.891702759,785.891702759,808,653,629,652,0.400927934835,0.00440235794778,0.0599332226331,0.999999970448,-0.000128691162494,-0.000203881719337,-3.12259998182e-05,1793247730617102336
+37,0.616666667,BASELINE,765,745,715,679.531384652,662,634,877.531384652,785.531384652,808,653,628.531384652,652,0.400927655444,0.00440253372925,0.0599325157739,0.99999997035,-0.000128596596124,-0.000204417731202,-3.12576638532e-05,1793247730633768960
+38,0.633333333,BASELINE,765,745,715,679,662,634,877.044949684,785,808.044949684,653,628,652,0.400926947485,0.00440277676777,0.0599312775618,0.999999970197,-0.000127943244902,-0.000205568793015,-3.12690396201e-05,1793247730650435840
+39,0.650000000,BASELINE,765,745,715,679,662,634,877.620992402,785,808.620992402,653,628,652,0.40092675656,0.00440296843211,0.059931224611,0.999999970401,-0.000126432496631,-0.000205533398606,-3.11141226061e-05,1793247730667102720
+40,0.666666667,BASELINE,765,745,715,679,662,634,878,785,809,652.798488116,628,652,0.4009268277,0.0044030897196,0.0599314473871,0.999999970577,-0.000125534494226,-0.000205254990391,-3.09549624739e-05,1793247730683769600
+41,0.683333333,BASELINE,765,745,715,679,662,634,878,785,809,652.209357374,628,652,0.400927402934,0.00440307563343,0.0599322005386,0.999999970699,-0.000125815141275,-0.00020450913216,-3.07876404868e-05,1793247730700435968
+42,0.700000000,BASELINE,765,745,715,679,661.626664896,634,878,785,808.626664896,652.373335104,628.373335104,652,0.400927528162,0.00440415298169,0.0599323578799,0.999999970717,-0.000125773692524,-0.000204392734888,-3.11502013452e-05,1793247730717102592
+43,0.716666667,BASELINE,765,745,715,679,661.047521656,634,878,785,808.047521656,652.952478344,628.952478344,652,0.400927405315,0.00440583200412,0.0599321867696,0.999999970677,-0.000125554682276,-0.000204623340067,-3.18048702917e-05,1793247730733769216
+44,0.733333333,BASELINE,764.472201112,745,715,679,661.527798888,634,878,785,808,652.472201112,629,652,0.400927297969,0.0044047239238,0.0599321003836,0.999999970836,-0.000125296239106,-0.000204053419658,-3.14671538277e-05,1793247730750436096
+45,0.750000000,BASELINE,764,745,715,679,662,634,878,785,808,652.102980685,628.897019315,652,0.400927283606,0.00440358749539,0.0599319891463,0.999999970912,-0.000125445721725,-0.000203647316068,-3.1105404766e-05,1793247730767102720
+46,0.766666667,BASELINE,764,745,715,679,662,634,878,785,808,652.679094808,628.320905192,652,0.400927690076,0.00440346546755,0.0599317289371,0.999999970518,-0.000127485569417,-0.000204322620922,-3.10408059943e-05,1793247730783769344
+47,0.783333333,BASELINE,764,745,715,679,662,634,878,785,808,652.738363247,628.261636753,652,0.400927922474,0.00440249249309,0.059931711032,0.999999970225,-0.00012916927361,-0.000204711748893,-3.09623000382e-05,1793247730800435968
+48,0.800000000,BASELINE,764,745,715,679,662,634,878,785,808,652.14773874,628.85226126,652,0.400927935988,0.00440044951978,0.0599319978054,0.999999970061,-0.000130405155481,-0.000204741031905,-3.0866306877e-05,1793247730817102592
+49,0.816666667,BASELINE,764,745,715,679.433710032,662,634,878,785,808,652.433710032,629,652,0.400926944244,0.00440201226745,0.0599314479035,0.999999970259,-0.000127442078277,-0.000205646954346,-3.08149661116e-05,1793247730833769216
+50,0.833333333,BASELINE,764.012007088,745,715,679.987992912,662,634,878.012007088,785,808,653,628.987992912,652,0.40092564753,0.00440469463835,0.0599306431884,0.999999970549,-0.000123242227937,-0.000206800524137,-3.07784840106e-05,1793247730850435840
+51,0.850000000,BASELINE,764.586052979,745,715,679.413947021,662,634,878.586052979,785,808,653,628.413947021,652,0.400925772239,0.00440348342543,0.0599309753043,0.99999997031,-0.000126715480837,-0.000205857815213,-3.07402898794e-05,1793247730867102464
+52,0.866666667,BASELINE,765,745,715,679.164130727,662,634,878.835869273,785,808,653,628,652,0.400925867985,0.00440227740005,0.0599310315613,0.999999969988,-0.000129649330225,-0.000205602389215,-3.06958851899e-05,1793247730883769344
+53,0.883333333,BASELINE,765,745,715,679.752633095,662,634,878.247366905,785,808,653,628,652,0.400925888849,0.0044010847875,0.0599303745657,0.999999969475,-0.000131188513362,-0.000207123982046,-3.06354226643e-05,1793247730900436736
+54,0.900000000,BASELINE,765,745.335572785,715,680,662,634,878,785,808.335572785,653,628.335572785,652,0.400925682868,0.00440190530661,0.0599302020732,0.999999969506,-0.00012992548407,-0.000207753451194,-3.07687313248e-05,1793247730917103872
+55,0.916666667,BASELINE,765,745.914478796,715,680,662,634,878,785,808.914478796,653,628.914478796,652,0.400925312395,0.00440418560393,0.0599303809074,0.999999969923,-0.000126630491985,-0.000207736016399,-3.10425489022e-05,1793247730933769984
+56,0.933333333,BASELINE,765,745.509232615,715,680,662,634,878,785,808.509232615,653,629,652,0.400925305115,0.00440315646063,0.0599297542761,0.999999969768,-0.000127171433048,-0.000208159367537,-3.10014002512e-05,1793247730950436352
+57,0.950000000,BASELINE,765,745,715,679.933572578,662,634,878,785,808,653,629,652,0.400925472931,0.00440174577368,0.0599291828013,0.999999969557,-0.00012836275518,-0.000208453415198,-3.09332267279e-05,1793247730967102976
+58,0.966666667,BASELINE,765,745,715,679.359249809,662,634,878,785,808,653,629,652,0.400926498167,0.00440180386341,0.0599301005319,0.999999969679,-0.00012944303482,-0.000207174650692,-3.10758500222e-05,1793247730983770112
+59,0.983333333,BASELINE,765,745,715,679.22130807,662,634,878,785,808.22130807,652.77869193,629,652,0.40092696281,0.00440193572878,0.0599307094906,0.999999969864,-0.000129715710971,-0.000206113505387,-3.10355088143e-05,1793247731000437248
+60,1.000000000,BASELINE,765,745,715,679.812280936,662,634,878,785,808.812280936,652.187719064,629,652,0.400926491057,0.00440219082628,0.0599308026884,0.999999970157,-0.000128639396368,-0.000205415862926,-3.06895505072e-05,1793247731017103872
+61,1.016666667,BASELINE,765,745.39561237,715,679.60438763,662.39561237,634,878,785,808.60438763,652.39561237,629,652,0.400926492884,0.00440244062395,0.0599309141734,0.999999970106,-0.000128887707239,-0.000205508223498,-3.0696829377e-05,1793247731033770240
+62,1.033333333,BASELINE,765,745.9753866,715,679.0246134,662.9753866,634,878,785,808.0246134,652.9753866,629,652,0.400926715167,0.00440268795449,0.0599310341711,0.999999969894,-0.00012975264573,-0.000205968339111,-3.08685440133e-05,1793247731050436352
+63,1.050000000,BASELINE,765,746,715,679,662.448097658,634,878,785,808.551902342,653,629,652.551902342,0.400927174539,0.00440349580896,0.0599312214088,0.999999970197,-0.000127744594885,-0.000205742623922,-3.09458372411e-05,1793247731067102976
+64,1.066666667,BASELINE,765,745.869655715,715,679,662,634,878,785,808.869655715,653,629,652.869655715,0.400927552934,0.00440378674914,0.0599315131905,0.99999997045,-0.000126318472573,-0.000205398198189,-3.09109816244e-05,1793247731083769344
+65,1.083333333,BASELINE,765,745.283980342,715,679,662,634,878,785,808.283980342,653,629,652.283980342,0.400927611733,0.00440218514249,0.0599321597618,0.999999970463,-0.000127370159801,-0.00020474530118,-3.04989807078e-05,1793247731100435968
+66,1.100000000,BASELINE,765,745,715,679,662,634,878,785,808,652.701497476,629,652,0.400927482676,0.00440189207281,0.0599320978951,0.999999970483,-0.000127410901974,-0.000204629264471,-3.04648590454e-05,1793247731117102848
+67,1.116666667,BASELINE,765,745,715,679,662,634,878,785,808,652.122019695,629,652,0.400927176796,0.0044028307064,0.059931369188,0.999999970509,-0.000126500059014,-0.000205018565101,-3.07864286051e-05,1793247731133769728
+68,1.133333333,BASELINE,764.544217352,745,715,679.455782648,662,634,878,785,808,652,629,652,0.40092584495,0.00440290938846,0.0599300569591,0.999999970075,-0.000126683017181,-0.000206998409421,-3.08685543017e-05,1793247731150436608
+69,1.150000000,BASELINE,764.033046862,745,715,680,662,634,878,785,808,652,629,652,0.400924479762,0.00440278901947,0.0599287641508,0.999999969588,-0.000127105929794,-0.00020907449066,-3.09035963076e-05,1793247731167104000
+70,1.166666667,BASELINE,764.608812096,745,715,680,662,634,878,785,808,652,629,652,0.40092706124,0.00440316670797,0.0599303463974,0.99999997032,-0.000126678151873,-0.000205763673681,-3.12142794368e-05,1793247731183770624
+71,1.183333333,BASELINE,765,745,715,680,662,634,878,785,808,652.188606572,628.811393428,652,0.400928696308,0.00440331706643,0.0599314444358,0.999999970764,-0.000126847740384,-0.000203479203339,-3.12826838327e-05,1793247731200437248
+72,1.200000000,BASELINE,765,745,715,680,662,634,878,785,808,652.776940622,628.223059378,652,0.400928325579,0.00440298562804,0.0599315162569,0.999999970617,-0.00012828337047,-0.000203369942634,-3.08376095395e-05,1793247731217103360
+73,1.216666667,BASELINE,765.35969808,745,715,679.64030192,662,634,878,785,808,653,628.35969808,652,0.400927759875,0.00440289516731,0.0599310977328,0.999999970577,-0.000127479994321,-0.000204110844639,-3.05663523183e-05,1793247731233769984
+74,1.233333333,BASELINE,765.939050092,745,715,679.060949908,662,634,878,785,808,653,628.939050092,652,0.400927075109,0.00440295186248,0.0599303797736,0.999999970598,-0.000125309342167,-0.000205370908669,-3.04012385962e-05,1793247731250436096
+75,1.250000000,BASELINE,765.486497257,745,715,679,662,634,878,785,808,653,629,652,0.400927318032,0.00440408993643,0.0599308256995,0.999999970842,-0.000124553063881,-0.000204613847264,-3.0598221301e-05,1793247731267102976
+76,1.266666667,BASELINE,765,745.089580133,715,679.089580133,662,634,878,785,808.089580133,652.910419867,629,652,0.400927613698,0.00440514696899,0.0599312787693,0.999999971056,-0.000124176694427,-0.000203758859896,-3.08417322629e-05,1793247731283770112
+77,1.283333333,BASELINE,765,745.677910616,715,679.677910616,662,634,878,785,808.677910616,652.322089384,629,652,0.400927595746,0.00440504491842,0.059931009732,0.999999970962,-0.000124989669389,-0.000203679071396,-3.11072667136e-05,1793247731300436736
+78,1.300000000,BASELINE,765,745.737886316,714.737886316,679.737886316,662,634,878,785,808.737886316,652,629,652,0.400928420773,0.004403556972,0.0599316337459,0.999999970877,-0.000127294965189,-0.000202688628954,-3.0960388913e-05,1793247731317103616
+79,1.316666667,BASELINE,765,745.158676496,714.158676496,679.158676496,662,634,878,785,808.158676496,652,629,652,0.40093026561,0.00440039241639,0.0599333381425,0.999999970787,-0.000131405619448,-0.000200596508638,-3.03145889091e-05,1793247731333770496
+80,1.333333333,BASELINE,764.579617319,745,714.420382681,679,662,634,878,785,808,652.420382681,628.579617319,652,0.400929192028,0.00440117353358,0.0599327673507,0.999999970678,-0.000130323232116,-0.000201821163924,-3.04664971622e-05,1793247731350436608
+81,1.350000000,BASELINE,764.000614935,745,714.999385065,679,662,634,878,785,808,652.999385065,628.000614935,652,0.400927017264,0.00440344344032,0.0599313380799,0.999999970553,-0.000127281395429,-0.000204297311985,-3.09193983685e-05,1793247731367102720
+82,1.366666667,BASELINE,764.574602795,745,715,679,662,634,878,785,808.574602795,653,628,652.574602795,0.400927535352,0.00440261382076,0.0599312245478,0.999999970593,-0.000128184588403,-0.000203546641263,-3.08298086366e-05,1793247731383769344
+83,1.383333333,BASELINE,764.846967418,745,715,679,662,634,878,785,808.846967418,652.846967418,628,652.846967418,0.400928056681,0.00440209962888,0.059931290819,0.999999970622,-0.000128914941932,-0.000202952385197,-3.07838553094e-05,1793247731400436480
+84,1.400000000,BASELINE,764.259405575,745,715,679,662,634,878,785,808.259405575,652.259405575,628,652.259405575,0.400928579083,0.00440249043689,0.0599318636616,0.999999970618,-0.000129142616132,-0.000202812002846,-3.08634433197e-05,1793247731417103104
+85,1.416666667,BASELINE,764.323037322,745,715,679.323037322,662,634,878,785,808,652,628,652.323037322,0.400928597344,0.00440317627902,0.059932116185,0.999999970745,-0.000128184776523,-0.000202782125747,-3.09509555278e-05,1793247731433769984
+86,1.433333333,BASELINE,764.90143369,745,715,679.90143369,662,634,878,785,808,652,628,652.90143369,0.400928217085,0.00440409534381,0.0599321154979,0.999999970972,-0.00012628979542,-0.000202839602388,-3.10447317611e-05,1793247731450437120
+87,1.450000000,BASELINE,764.521950791,745,715,679.521950791,662.478049209,634,878,785,808.478049209,652.478049209,628,652.521950791,0.400926640653,0.00440423870838,0.0599305348363,0.999999970466,-0.000126621486268,-0.000205110297972,-3.10578271344e-05,1793247731467103744
+88,1.466666667,BASELINE,764.054055783,745,715.054055783,679.054055783,662.945944217,634,878,785,808.945944217,653,628.054055783,652,0.400925350898,0.00440414605388,0.0599290335233,0.999999969953,-0.000127343553566,-0.000207161428565,-3.100532844e-05,1793247731483770112
+89,1.483333333,BASELINE,764.627725333,745,715.627725333,679.627725333,662.372274667,634,878,785,808.372274667,653,628.627725333,652,0.400929178793,0.00440331635406,0.0599314147732,0.999999970867,-0.000127421342446,-0.00020273175419,-3.04816162445e-05,1793247731500436736
+90,1.500000000,BASELINE,765,745,715.792029722,679.792029722,662,634,878,784.792029722,808,653,628.792029722,652,0.400930900193,0.00440338940396,0.0599327238547,0.999999971414,-0.000126562877681,-0.0002005867816,-3.03137223751e-05,1793247731517103616
+91,1.516666667,BASELINE,765,745,715.19963035,679.19963035,662,634,878,784.19963035,808,653,628.19963035,652,0.400928727775,0.00440513116959,0.0599320510529,0.999999971304,-0.000123973765903,-0.00020266503718,-3.08035519538e-05,1793247731533770240
+92,1.533333333,BASELINE,765,745.383969327,715,679.383969327,662,634,878,784.383969327,808,653,628.383969327,652,0.400927726911,0.00440599879701,0.0599312827386,0.999999971231,-0.000122643279125,-0.000203805618068,-3.09877506828e-05,1793247731550436608
+93,1.550000000,BASELINE,765,745.963096489,715,679.963096489,662,634,878,784.963096489,808,653,628.963096489,652,0.400927321505,0.00440642213148,0.0599304658786,0.999999971179,-0.000121952506049,-0.000204469612738,-3.10166082595e-05,1793247731567102976
+94,1.566666667,BASELINE,764.462379803,745.462379803,715,679.462379803,662.537620197,634,878,785,808,653,628.462379803,652,0.400927172063,0.0044034566328,0.0599300947355,0.99999997047,-0.000126827598945,-0.000205014534702,-3.07360026591e-05,1793247731583770112
+95,1.583333333,BASELINE,764.114569875,745,715,679,662.885430125,634,878,785.114569875,808,653,628,652,0.400927163053,0.00440111043248,0.0599300375866,0.99999996996,-0.000130542609594,-0.000205198580065,-3.05305035603e-05,1793247731600436992
+96,1.600000000,BASELINE,764.702845675,745,715,679,662.297154325,634,878,785.702845675,808,653,628,652,0.400927662648,0.00440227843626,0.0599311532665,0.999999970557,-0.00012789484457,-0.000203924035782,-3.0722626844e-05,1793247731617103616
+97,1.616666667,BASELINE,764.713517246,745,715,679,662,634,877.713517246,785.713517246,808,653,628.286482754,652,0.400928003501,0.00440325486906,0.0599314847837,0.999999970852,-0.00012621854551,-0.000203522579041,-3.07223273518e-05,1793247731633769984
+98,1.633333333,BASELINE,764.134615051,745,715,679,662,634,877.134615051,785.134615051,808,653,628.865384949,652,0.400928182321,0.00440403576095,0.0599310158881,0.999999970844,-0.000125533843948,-0.000204012302629,-3.05256175576e-05,1793247731650436608
+99,1.650000000,BASELINE,764.443503727,745,715,679,662,634,877.443503727,785,808,652.556496273,629,652,0.400928221071,0.00440478545769,0.0599311627351,0.999999970949,-0.000125306086233,-0.000203598766164,-3.07744595894e-05,1793247731667103232
+100,1.666666667,BASELINE,765,745,715,679,662,634,878,785,808.02121648,652.02121648,628.97878352,652,0.400928221598,0.00440546675324,0.0599314693962,0.999999971081,-0.000125226180906,-0.000202946120958,-3.11357069609e-05,1793247731683769856
+101,1.683333333,BASELINE,765,745,715,679,662,634,878,785,808.594540628,652.594540628,628.405459372,652,0.400928331862,0.0044046140349,0.0599310799406,0.999999971017,-0.000125390952102,-0.00020319310267,-3.09090288771e-05,1793247731700436480
+102,1.700000000,BASELINE,764.827253716,745.172746284,715,679,662,634,878,785,808.827253716,652.827253716,628,652,0.400927870629,0.0044037486263,0.0599306553595,0.999999970859,-0.000125667655404,-0.000203843971275,-3.06129233333e-05,1793247731717103104
+103,1.716666667,BASELINE,764.237257389,745.762742611,715,679,662,634,878,785,808.237257389,652.237257389,628,652,0.400926029008,0.00440285256589,0.059930145937,0.999999970471,-0.000126214718622,-0.000205470385133,-3.01491232695e-05,1793247731733770240
+104,1.733333333,BASELINE,764,745.653513328,715,679,662,634,878,785,808,652.346486672,628.346486672,652,0.400925816459,0.00440287473392,0.059929672161,0.99999997039,-0.000125662929348,-0.000206176063782,-3.03349460784e-05,1793247731750436864
+105,1.750000000,BASELINE,764,745.073974574,715,679,662,634,878,785,808,652.926025426,628.926025426,652,0.400926699647,0.00440351451595,0.0599292223614,0.999999970515,-0.000124372035621,-0.000206262442417,-3.09577148339e-05,1793247731767103488
+106,1.766666667,BASELINE,764,745,715,679.503832385,662,634,878,785,808.503832385,653,629,652,0.400926562488,0.00440344541738,0.0599292784459,0.999999970444,-0.00012510490817,-0.000206215390904,-3.06015592369e-05,1793247731783770112
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,878,785,809,653,629,652,0.400927484378,0.00440521669715,0.0599309589752,0.999999970734,-0.000126504425589,-0.00020392131552,-3.07262657537e-05,1793247731826597120
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745.582264729,715,679.582264729,662,634,878,785,808.417735271,653,629,652,0.400927431789,0.00440427877126,0.0599306529599,0.999999970497,-0.000127556441944,-0.000204390854092,-3.09913098213e-05,1793247731843264256
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.838988171,715,680,662,634,878,785,808.161011829,653,628.838988171,652,0.400927477804,0.00440369698932,0.059930643852,0.99999997049,-0.000127434513438,-0.000204487057945,-3.10582485864e-05,1793247731859931136
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.269172102,715,680,662,634,878,785,808.730827898,653,628.269172102,652,0.400927774175,0.00440401944608,0.059931388583,0.999999971068,-0.000124331974118,-0.000203635376172,-3.06222039439e-05,1793247731876597760
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,809,653,628.306695821,652.306695821,0.400927618131,0.00440434552114,0.0599310353764,0.999999971109,-0.000123521012197,-0.000203954389799,-3.04610354099e-05,1793247731893264640
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,809,653,628.887982047,652.887982047,0.400927057032,0.00440467483572,0.0599296991659,0.999999970672,-0.00012476174182,-0.000205321548586,-3.05459685336e-05,1793247731909931264
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878.476534973,785,809,653,629,652.523465027,0.400931433078,0.00440452517241,0.0599319486154,0.99999997142,-0.000125332623891,-0.000201263922464,-3.0717648421e-05,1793247731926597632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.934456357,662,634,878.868912714,785,808.934456357,653,628.934456357,652,0.400937848622,0.00440426637755,0.0599351026352,0.999999972508,-0.000125677408116,-0.000195542911777,-3.08704104746e-05,1793247731943264256
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.355465915,662,634,877.710931831,785,808.355465915,653,628.355465915,652,0.400951008671,0.00440404835023,0.0599386377276,0.99999997418,-0.000125503603306,-0.000186935614309,-3.0712764007e-05,1793247731959930624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.221299971,715,679.221299971,662,634,877.442599941,785,808,653,628,652,0.400969320762,0.00440414440823,0.0599427171137,0.999999976162,-0.000125842737037,-0.000175750791273,-3.08582160893e-05,1793247731976596992
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.794528143,715,679.794528143,662,634,878.589056286,785,808,653,628,652,0.400995826024,0.00440473994885,0.059947662077,0.999999978565,-0.00012699758502,-0.000160466990029,-3.14856787662e-05,1793247731993263872
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745.631227318,715,679.631227318,662.368772682,634,878.631227318,785,808,653,628.368772682,652,0.401031098168,0.00440523747206,0.0599525558771,0.99999998139,-0.000126651161592,-0.000141873908501,-3.2428264103e-05,1793247732009931008
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745.056414864,715,679.056414864,662.943585136,634,878.056414864,785,808,653,628.943585136,652,0.401071268526,0.0044056802313,0.059957421092,0.999999984194,-0.000125465951542,-0.000121431872504,-3.35469140536e-05,1793247732026598144
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662.464558717,634,878,785.535441283,808.535441283,653,629,652,0.401119026978,0.00440525765221,0.0599604957557,0.999999985434,-0.000125950386419,-0.000110002662735,-3.41878495354e-05,1793247732043264512
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,878,786,808.874219519,653,629,652,0.401170664849,0.00440491518111,0.0599624514832,0.999999986186,-0.000126705851622,-0.000101807498537,-3.47737215371e-05,1793247732059930880
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,878,786,808.296008247,653,629,652,0.401233286641,0.0044051995886,0.0599610833123,0.999999986038,-0.000127782637448,-0.000101717136889,-3.53485294614e-05,1793247732076597504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.280035105,715,679.280035105,662,634,878,786,808.280035105,653,629,652,0.401308542102,0.00440585408481,0.0599615531395,0.999999986217,-0.000128706591104,-9.84371944497e-05,-3.62060778204e-05,1793247732093263872
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.853804449,715,679.853804449,662,634,878,786,808.853804449,653,629,652,0.401397049258,0.00440689677421,0.0599639508786,0.999999986706,-0.000129470236071,-9.18116390168e-05,-3.73601980553e-05,1793247732109930240
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,746,715,679.561004873,662,634,878.438995127,785.561004873,808.561004873,653,629,652,0.401502768573,0.00440651043143,0.059966488586,0.999999986963,-0.000132296388093,-8.42565518029e-05,-3.83643117606e-05,1793247732126597120
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,746,715,679.027622034,662,634,878.972377966,785,808.027622034,653,629,652,0.401615717529,0.00440569082123,0.0599691773725,0.999999987116,-0.00013564730295,-7.6300292254e-05,-3.9309912725e-05,1793247732143264000
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,746,715,679.606883897,662,634,878.393116103,785,808.606883897,653,629,652,0.401755517117,0.00440597651945,0.0599739275939,0.999999987807,-0.000135394505644,-6.66794890877e-05,-4.01112699341e-05,1793247732159931136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.815577691,715,680,662,634,878,785,809,653,629,652,0.401901882866,0.00440662380175,0.0599762626862,0.999999988266,-0.000134954406064,-5.98251923495e-05,-4.09519834997e-05,1793247732176598016
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.241679061,715,680,662,634,878,785,809,653,629,652,0.402062115488,0.00440803470332,0.0599734973342,0.9999999884,-0.000134118748101,-5.88134044345e-05,-4.18758125591e-05,1793247732193264384
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.666484504,662,634,878,785,809,653,629,652.333515496,0.402248933384,0.00440859841457,0.0599733100546,0.999999988854,-0.000132773606221,-5.31816656439e-05,-4.28402353975e-05,1793247732209931008
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.09034714,662,634,878,785,809,653,629,652.90965286,0.402455091233,0.00440854582209,0.05997499824,0.999999989475,-0.000131057830974,-4.41890601027e-05,-4.38341890061e-05,1793247732226597632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.498893622,662,634,878,785,809,653,629,653,0.402684186414,0.00441017696791,0.0599743559599,0.999999989835,-0.000129690519881,-3.81285779226e-05,-4.53552490756e-05,1793247732243264256
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.088572771,634,878,785,808.911427229,653,629,652.911427229,0.402924400598,0.00441185607646,0.0599738028818,0.999999990175,-0.000128203668894,-3.1994124926e-05,-4.68027929323e-05,1793247732259930880
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.667194555,634,878,785,808.332805445,653,629,652.332805445,0.403202531349,0.00441206802557,0.0599761413255,0.99999999073,-0.00012569687474,-2.24333270315e-05,-4.73012127463e-05,1793247732276597248
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.755859516,634,878,785,808.244140484,653,629,652,0.403491482322,0.00441214751488,0.0599754337608,0.999999990977,-0.000124084867125,-1.92288806844e-05,-4.77319318667e-05,1793247732293263616
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.181182525,634,878,785,808.818817475,653,629,652,0.403795082544,0.00441204766972,0.0599706022713,0.999999990892,-0.000123684291762,-2.46301614265e-05,-4.80709924603e-05,1793247732309930496
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.597915724,662,634,878,785,809,653,629,652,0.404116162901,0.00441295081301,0.0599587926089,0.999999990615,-0.000120630431524,-4.2910922444e-05,-4.87471218372e-05,1793247732326597376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.010693804,662,634,878,785,809,653,629,652,0.404445291889,0.00441431577718,0.0599437698825,0.999999989749,-0.000116354879817,-6.71219739597e-05,-4.95784527737e-05,1793247732343264512
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.568929974,662,634,878,785,809,653,629,652.568929974,0.404816780231,0.0044164585297,0.0599314624975,0.999999988609,-0.000110701525061,-8.9718387334e-05,-4.97836507564e-05,1793247732359931136
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.852463245,745,715,680,662,634,878,785,809,652.852463245,629,652.852463245,0.405206661389,0.00441842741341,0.0599235497734,0.999999987779,-0.000104958749046,-0.000104553691531,-4.99405915165e-05,1793247732376597760
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.276401114,745,715,680,662,634,878,785,809,652.276401114,629,652.276401114,0.405647682909,0.00441984938561,0.0599282551999,0.999999989149,-9.90304764558e-05,-9.69335829082e-05,-4.99911005835e-05,1793247732393263872
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.299996657,745,715,680,662,634,878,785,809,652.299996657,629,652,0.406129471319,0.00441991082494,0.0599458301761,0.999999991881,-9.61085085067e-05,-6.70400416685e-05,-5.00621783513e-05,1793247732409930240
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.876704084,745,715,680,662,634,878,785,809,652.876704084,629,652,0.406648862325,0.0044187173368,0.0599752757618,0.999999994,-9.59594934882e-05,-1.6601941599e-05,-5.01522281794e-05,1793247732426596864
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,877.537025219,785,809,653,629,652,0.407193438391,0.00441915567139,0.0599989852818,0.999999994091,-9.42181589366e-05,2.01862097153e-05,-5.03404204385e-05,1793247732443263744
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.949032713,745,715.050967287,680,662,634,877.050967287,785,809.050967287,653,629,652.050967287,0.407743987096,0.00441994627086,0.0600186958095,0.999999993272,-9.25004630582e-05,4.84882624209e-05,-5.04778831662e-05,1793247732459930624
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.370141723,745,715.629858277,680,662,634,877.629858277,785,809.629858277,653,629,652.629858277,0.408285463327,0.00441978935757,0.0600131410299,0.999999993824,-9.55126545491e-05,2.73379575152e-05,-4.98134505525e-05,1793247732476597760
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.207862067,745,715.792137933,680,662.207862067,634,878,785,809.792137933,653,629,653,0.408842611732,0.00442041451173,0.0600054428989,0.999999992905,-0.00010823767409,4.68854931772e-06,-4.95340039654e-05,1793247732493264896
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.784292689,745,715.215707311,680,662.784292689,634,878,785,809.215707311,653,629,653,0.409427549062,0.00442242638102,0.0599939443058,0.999999988993,-0.000138184897846,-2.06189776976e-05,-4.99371915428e-05,1793247732509931520
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,634,878,785.358108191,809,653,629,652.641891809,0.41005831357,0.00442413237075,0.0599917319089,0.999999988092,-0.000144110172561,-2.17649288764e-05,-5.07384332539e-05,1793247732526597888
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,634,878,785.930359868,809,653,629,652.069640132,0.410716482042,0.00442565544888,0.0599950725226,0.99999998942,-0.00013567067037,-8.46260847427e-06,-5.17777055504e-05,1793247732543264256
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.479021552,634,878,785.479021552,809.520978448,652.479021552,629,652.520978448,0.411413407807,0.00442640247798,0.0599971448471,0.999999990205,-0.000129677270145,-2.22629109372e-07,-5.26750351305e-05,1793247732559930880
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.111131763,745,715,680,662.111131763,634,878,785,810,652,629,653,0.412112436541,0.00442728527504,0.059994783457,0.999999990981,-0.000123244216354,-2.28926989194e-06,-5.33270376563e-05,1793247732576597504
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.688652283,745,715,680,662.688652283,634,878,785,810,652,629,653,0.41279775394,0.00442918911109,0.0599745525023,0.99999999115,-0.00011354369508,-4.46662340393e-05,-5.30320085005e-05,1793247732593264128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.734864721,745,715,679.734864721,662.734864721,634,878,785,810,652,629.265135279,653,0.413495372185,0.00443110797037,0.0599509982142,0.99999998914,-0.000104428901939,-8.95924816228e-05,-5.27971713972e-05,1793247732609930496
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.159595265,745,715,679.159595265,662.159595265,634,878,785,810,652,629.840404735,653,0.414207379071,0.00443304440289,0.0599235565523,0.999999984554,-9.59992457588e-05,-0.000137500683844,-5.26327421333e-05,1793247732626596864
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.425808162,715,679.425808162,662.425808162,634,878,784.574191838,810,652.425808162,629.574191838,653,0.415033096476,0.00443220152576,0.0599496198707,0.999999990078,-9.58223172704e-05,-8.85076545423e-05,-5.31830754028e-05,1793247732643263744
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.985158543,715,680.014841457,663.014841457,633.985158543,878.014841457,784.014841457,810,653,629.014841457,653,0.415901772471,0.00443038932447,0.059995740821,0.999999993681,-9.85532155162e-05,-3.45595814396e-06,-5.39663495895e-05,1793247732659930112
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.406047077,715,680.593952923,663.593952923,633.406047077,878.593952923,784.593952923,810,653,629.593952923,653,0.416743844754,0.00443229442562,0.0600234131442,0.999999993689,-9.13704019285e-05,3.8029031849e-05,-5.31722972695e-05,1793247732676596736
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.17239586,745,715,680.82760414,663.82760414,633.17239586,879,785,810.17239586,653,629.82760414,653,0.417583582618,0.00443387824577,0.0600374878768,0.999999993036,-8.65555977743e-05,6.01963769733e-05,-5.30281766328e-05,1793247732693263360
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.749270248,745,715,680.250729752,663.250729752,633.749270248,879,785,810.749270248,653,629.250729752,653,0.418417843372,0.00443470827005,0.0600196596754,0.999999994023,-8.72966642323e-05,3.70402848056e-05,-5.44089385972e-05,1793247732709929984
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.676019474,745,715,680.323980526,663.323980526,634,879,785,811,652.676019474,629.323980526,653,0.419245553856,0.00443517923893,0.0599945238321,0.999999994231,-9.16426350643e-05,-3.84507918805e-06,-5.59088053628e-05,1793247732726596864
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.102972922,745,715,680.897027078,663.897027078,634,879,785,811,652.102972922,629.897027078,653,0.420068228662,0.0044353741773,0.0599637701048,0.999999991767,-9.87599426327e-05,-5.83601479753e-05,-5.75002359698e-05,1793247732743263488
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680.514396322,663.514396322,634,879,785,811,652,629.514396322,653,0.42090784292,0.00443593669768,0.0599291259008,0.999999987136,-9.66301744338e-05,-0.00011404369521,-5.81815438097e-05,1793247732759930112
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633.924099852,878.924099852,784.924099852,811,652,629,653,0.421758308966,0.00443646450908,0.0598979486518,0.999999980538,-9.28867744008e-05,-0.000163928972338,-5.85121615339e-05,1793247732776596480
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633.344956531,878.344956531,784.344956531,811,652,629,653,0.422656122342,0.00443622830424,0.059895409092,0.999999979026,-9.18751070351e-05,-0.000173672646371,-5.78394691316e-05,1793247732793263104
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633,878.232431798,784,811.232431798,652,629,653,0.423596299676,0.00443537692642,0.0599228118245,0.999999985472,-9.2934544345e-05,-0.000130794084196,-5.75522320438e-05,1793247732809929984
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633,878.807235114,784,811.807235114,652,629,653,0.424598879161,0.00443361940016,0.0599943194861,0.999999993565,-9.70447131265e-05,-1.04030857672e-05,-5.78327690913e-05,1793247732826596608
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.390288917,663,633,879,784,811.609711083,652,629.390288917,653,0.425545658171,0.00443249651385,0.0600314339832,0.999999992406,-9.67075540267e-05,5.05608470189e-05,-5.72578324625e-05,1793247732843263232
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.977505629,663,633,879,784,811.022494371,652,629.977505629,653,0.426464281917,0.00443169384746,0.060051194742,0.999999990664,-9.41264100947e-05,8.15397014959e-05,-5.62512503242e-05,1793247732859929856
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633,879,784,811.557084295,652,630,653,0.427413813584,0.00443139591244,0.0600318275042,0.999999990965,-0.000101130439966,6.52750422515e-05,-5.98470776919e-05,1793247732876596480
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663.136344519,633,879.136344519,784,811.863655481,652,630,653,0.428344997792,0.00443113143564,0.0600078114703,0.999999991696,-0.000105891307076,3.82907320584e-05,-6.26827459252e-05,1793247732893263104
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663.715558592,633,879.715558592,784,811.284441408,652,630,653,0.429212587411,0.00443091033308,0.059973757874,0.999999992684,-0.000102125851997,-1.74002721784e-05,-6.24538180089e-05,1793247732909929728
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.708439012,745,715,680.708439012,663.708439012,633.291560988,879.708439012,784,811,652,630,653,0.430081425503,0.00443054986343,0.0599422129417,0.999999990441,-0.00010040303138,-7.19555264111e-05,-6.21244077447e-05,1793247732926596608
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.135535764,745,715,680.135535764,663.135535764,633.864464236,879.135535764,784,811,652,630,653,0.43095146826,0.00443005491129,0.0599130887506,0.999999985167,-0.000100651254521,-0.000125414833499,-6.169803689e-05,1793247732943263232
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.450022811,745,715,680.450022811,663,634,879.450022811,784,811.450022811,652,630,652.549977189,0.431903771713,0.00442763282802,0.0599453080072,0.999999990301,-0.000106866185842,-6.34070807696e-05,-6.29013746473e-05,1793247732959929856
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663.077631284,633.961184358,880,784.038815642,812,652,630,652.038815642,0.432878447361,0.00442482003654,0.059994023181,0.999999991014,-0.00011406701853,2.85808221862e-05,-6.43769632204e-05,1793247732976596736
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.236072382,633.381963809,880,784.618036191,812,652,630,652.618036191,0.433809690294,0.00442488207768,0.0600077403366,0.99999999128,-0.000109251179344,3.97921926066e-05,-6.26117204074e-05,1793247732993263360
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.196154484,715,681,664.411536547,633,880,784.803845516,812.196154484,652,630,653,0.43471733168,0.00442356089252,0.0600068762589,0.999999991719,-0.000108601335718,3.09428389358e-05,-6.17216316636e-05,1793247733009929984
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.772138495,715,681,662.683584515,633,880,784.227861505,812.772138495,652,630,653,0.435579271675,0.0044195612563,0.0599777773821,0.999999991175,-0.000116018439594,-1.67516881468e-05,-6.25261729463e-05,1793247733026596864
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.652468236,715,681,662.347531764,633,879.652468236,784,813,652,630,653,0.436419442682,0.00441846027282,0.0599528782969,0.99999998936,-0.000117865764459,-5.84531352198e-05,-6.30088768011e-05,1793247733043263488
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.077461668,715,681,662.922538332,633,879.077461668,784,813,652,630,653,0.437245364877,0.00441925658512,0.0599307281614,0.999999986632,-0.00011606742387,-9.62318453097e-05,-6.32809238699e-05,1793247733059930112
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.489591041,633,879.510408959,784,813,652,630,653,0.438023976324,0.00441915406828,0.0599082648222,0.999999980945,-0.00011129077608,-0.00014793181992,-6.19697037571e-05,1793247733076596992
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.09843844,633,879.90156156,784,813,652.09843844,630.09843844,653,0.438816883664,0.00441804179083,0.0598956970843,0.999999975755,-0.000108813088485,-0.00018152375702,-6.08129073524e-05,1793247733093263360
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.677465652,633,879.322534348,784,813,652.677465652,630.677465652,653,0.43971554563,0.00441268292447,0.0599316789714,0.99999998418,-0.000119822986501,-0.000116128615247,-6.1613448618e-05,1793247733109929984
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663.254510147,633,879.254510147,784,813,652.745489853,630.745489853,653,0.440582601742,0.00441073043173,0.0599724410856,0.999999989152,-0.000124333724105,-4.90606892059e-05,-6.18886520868e-05,1793247733126596608
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663.829061373,633,879.829061373,784,813,652.170938627,630.170938627,653,0.441409914101,0.00441306138155,0.0600192142306,0.999999990626,-0.000120671905407,2.01107222206e-05,-6.15032544745e-05,1793247733143263232
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.587213805,663.587213805,633,879.587213805,783.587213805,813,652,630.412786195,653,0.442157785846,0.00441173979242,0.0600189991821,0.999999990311,-0.000122865347896,2.15111103779e-05,-6.1808916239e-05,1793247733159929856
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.000390833,663,633,879.000390833,783,813,652,631,653,0.442872004725,0.0044088708007,0.0599988798103,0.999999989903,-0.000127537695377,-5.79794442392e-06,-6.24069918083e-05,1793247733176596736
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680.579917557,663,633,879.579917557,783,813,652,631,653,0.443574194047,0.00440530025824,0.059973115036,0.999999988538,-0.000130839838116,-4.34097853656e-05,-6.26126652176e-05,1793247733193263360
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633,880,783.157853818,813,652,630.842146182,653,0.444275332807,0.00440293455031,0.0599576033273,0.999999987,-0.000133159476917,-6.58527392291e-05,-6.27071155876e-05,1793247733209929984
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663,633,880,783.73159987,813,652,630.26840013,653,0.444973703841,0.00440374317933,0.0599691050258,0.999999988048,-0.000132890546217,-4.83307365079e-05,-6.25085305318e-05,1793247733226596864
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.306510845,745.306510845,715,681,663,633,879.693489155,783.693489155,813,652,630.306510845,653,0.445618778521,0.0044029908582,0.0599659163683,0.999999987397,-0.000132048361217,-6.28227283297e-05,-6.1833513348e-05,1793247733243263488
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.882445759,745.882445759,715,681,663,633,879.117554241,783.117554241,813,652,630.882445759,653,0.446217005483,0.00440086645659,0.0599498148376,0.999999984053,-0.000130702283609,-0.000105455130436,-6.0739710653e-05,1793247733259930112
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.52873975,715,681.47126025,662.52873975,633,879.47126025,783.47126025,813.47126025,652,631,653,0.446807341537,0.00440073837428,0.0599384663754,0.999999982642,-0.000132214658178,-0.000116178834917,-6.11436398041e-05,1793247733276596992
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681.938044446,662.061955554,633,880,784,813.938044446,652,631,653,0.447397064447,0.00440073465891,0.0599322883205,0.999999982531,-0.000134773010978,-0.000113790371567,-6.18540228474e-05,1793247733293263616
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681.359214267,662.640785733,633,880,784,813.359214267,652,631,653,0.447998554922,0.00439749732436,0.0599590759569,0.999999985822,-0.000139941888404,-7.02808377325e-05,-6.19166170315e-05,1793247733309930240
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.218555727,715,681,663,633,880,783.781444273,813,652,631,653,0.448574460648,0.0043944268693,0.0599790396233,0.999999986929,-0.000144388443417,-3.81272871803e-05,-6.19626202921e-05,1793247733326596608
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.794591576,715,681,663,633,880,783.205408424,813,652,631,653,0.449108518686,0.00439162937056,0.0599878416775,0.999999986877,-0.000147653533433,-2.45481263693e-05,-6.19814867934e-05,1793247733343263232
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.630043656,745.630043656,715,681,662.630043656,633,880,783,813.369956344,652,630.630043656,653,0.449566601882,0.00439143540884,0.0599665306358,0.999999985552,-0.000146724278926,-5.94788780126e-05,-6.18919220395e-05,1793247733359930112
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.055050762,745.055050762,715,681,662.055050762,633,880,783,813.944949238,652,630.055050762,653,0.449982578484,0.00439268437455,0.0599285303681,0.999999980446,-0.000143470442057,-0.000121294706219,-6.17422625181e-05,1793247733376596736
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.121839975,745.121839975,715,681.878160025,662,632.121839975,880,783.878160025,814,652.121839975,631,653,0.45074614244,0.00439326324919,0.0598680525315,0.99999996635,-0.000141303287348,-0.000208429169713,-6.23753097505e-05,1793247733409929984
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.700319529,745.700319529,715,681.299680471,662,632.700319529,880,783.299680471,814,652.700319529,631,653,0.451136520074,0.00439517474365,0.0598683777049,0.999999967916,-0.000139507468202,-0.000201803657633,-6.31013823496e-05,1793247733426596864
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765.148442416,746,715,681.851557584,661.148442416,632.148442416,880,783,814,652.148442416,630.148442416,653,0.451867541586,0.00439581348207,0.0598838654298,0.999999973478,-0.000137534035766,-0.000173571344017,-6.32564082541e-05,1793247733459930112
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.437114267,745.562885733,715,681.562885733,660.562885733,632,880,783,814,652,630.437114267,653,0.452185828975,0.00439534491899,0.0598936219703,0.999999976259,-0.000136302332592,-0.000158023566038,-6.27101056819e-05,1793247733476596736
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.973971425,745,715,681.026028575,660.026028575,632,880,783.026028575,814.026028575,652,631,653,0.452488324284,0.00439488614335,0.0599024615918,0.999999978614,-0.000134876451028,-0.00014398071403,-6.20431770397e-05,1793247733493263360
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.394666534,745,715,681.605333466,660.605333466,632,880,783.605333466,814.605333466,652,631,653,0.452740411792,0.00439634845397,0.05989611007,0.999999977492,-0.000133230987735,-0.000153139653451,-6.17522263322e-05,1793247733509929984
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.816025246,632,880.183974754,784,815,652,631,653,0.452979117805,0.00439725103134,0.0598886529635,0.999999975803,-0.000132083509162,-0.000164819239038,-6.14995848042e-05,1793247733526596608
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.238802488,632,880.761197512,784,815,652,631,653,0.453189220696,0.00439695717274,0.0598788326587,0.999999972866,-0.000132000478454,-0.000181886731567,-6.13288295918e-05,1793247733543263232
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.33673903,745,715,682,660,632,880.66326097,783.66326097,815,652,631,653,0.453379148388,0.00439688395037,0.0598683479136,0.999999969428,-0.000131548288163,-0.00020029352223,-6.10080468908e-05,1793247733559929856
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.911094258,745,715,682,660,632,880.088905742,783.088905742,815,652,631,653,0.453554839694,0.00439696641749,0.0598573943126,0.999999965484,-0.000130835604436,-0.000219645375629,-6.05813989137e-05,1793247733576596736
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659.501129284,632,880,783,814.501129284,652,630.501129284,653,0.453702463536,0.0043971776173,0.0598505744976,0.999999962366,-0.000130314326247,-0.000233755518238,-6.03723293212e-05,1793247733593263104
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.912637991,745,715,681.912637991,659,632,880,783.087362009,814,652,630.087362009,653,0.453842619087,0.00439759899902,0.0598451049485,0.999999959704,-0.000129384077868,-0.000245418655069,-6.0185392286e-05,1793247733609929984
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.333949949,745,715,681.333949949,659,632,880,783.666050051,814,652,630.666050051,653,0.45396968205,0.00439906985563,0.0598429715665,0.999999959343,-0.000125956625464,-0.000248718686801,-5.98988257329e-05,1793247733626596608
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631.757097357,880,783.757097357,814,652,631,653,0.454087923026,0.00440053905006,0.0598427573843,0.999999959828,-0.000122595578189,-0.000248489856793,-5.97186477674e-05,1793247733643263488
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631.182749309,880,783.182749309,814,652,631,653,0.454194126219,0.00440200597633,0.0598451619878,0.999999961467,-0.00011932514222,-0.000243445825754,-5.96836391267e-05,1793247733659930112
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.39057751,745,715,681,659,631,880,783.39057751,814,652.39057751,631,653,0.454287325473,0.00440418935996,0.0598497206897,0.999999963601,-0.000117210783817,-0.00023558519043,-5.96581269996e-05,1793247733676596736
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.96342773,745,715,681,659,631,880,783.96342773,814,652.96342773,631,653,0.454374456111,0.0044067070962,0.0598552846551,0.999999965905,-0.000115635937853,-0.000226410116785,-5.96370466539e-05,1793247733693263360
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.445807147,745,715,681.554192853,659,631,880,783.445807147,814,652.445807147,630.445807147,653,0.454434885398,0.00441574522484,0.0598559850841,0.999999966897,-0.000107699059009,-0.000225292928601,-6.2051610977e-05,1793247733709929984
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,715,681.857054823,658.857054823,631,880,783,814,652,630.142945177,653,0.454488705162,0.00442754416981,0.0598554935728,0.999999967697,-9.63562345974e-05,-0.000226037815557,-6.5018518834e-05,1793247733726596608
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681.27816703,658.27816703,631,880,783,814,652,630.72183297,653,0.454527921073,0.00444640671499,0.0598523784972,0.999999968093,-7.59494112874e-05,-0.000230785628603,-6.91633530982e-05,1793247733743264512
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.299153746,745.299153746,715,681,658,631.299153746,880,783.299153746,814,652,631,653,0.454560562491,0.00445735575449,0.0598497492565,0.999999967742,-6.52251973584e-05,-0.000234833633536,-7.15217487109e-05,1793247733759931648
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.875025094,745.875025094,715,681,658,631.875025094,880,783.875025094,814,652,631,653,0.454587122499,0.00446098479316,0.0598475694133,0.999999967,-6.34574073247e-05,-0.000238234315675,-7.22276867546e-05,1793247733776598016
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.954487793,745,715,681,658.045512207,631,880,783,814,652,630.954487793,653,0.45462599034,0.0044516831209,0.0598471091857,0.999999966936,-6.89233506715e-05,-0.000237812878257,-6.9443167031e-05,1793247733809930496
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.373108806,745,715,681,658.626891194,631,880,783,814,652,630.373108806,653,0.454634993017,0.00445682981307,0.0598471555523,0.999999966915,-6.30932197237e-05,-0.000239383795444,-6.98962103898e-05,1793247733826597376
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.205779179,745,715,681.205779179,659,631,880,783,814,652,630.205779179,653,0.454642938202,0.0044591997543,0.0598467654132,0.999999966789,-6.01217128431e-05,-0.000240657182832,-6.99443970421e-05,1793247733843264000
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681.069426527,658.069426527,631,880,783,814.930573473,652,631,653,0.454654594275,0.00445820067639,0.059844795793,0.999999966115,-6.27348707288e-05,-0.000242835998059,-6.97512792657e-05,1793247733893263616
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.4819981,745,714.4819981,681,658,631,880,783,815,652,630.4819981,653,0.454656442758,0.0044593743594,0.0598457062168,0.999999966456,-5.91264868398e-05,-0.000242429459564,-6.94247517698e-05,1793247733909930496
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.105491277,681,658,631,879.894508723,783,814.894508723,652,630,653,0.454657797804,0.00445962304065,0.0598461994866,0.999999966652,-5.66426979487e-05,-0.000242346975308,-6.89656993686e-05,1793247733926597120
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714.685803243,681,658,631,879.314196757,783,814.314196757,652,630,653,0.4546570466,0.00445597699728,0.0598441195276,0.999999965912,-6.13123843542e-05,-0.000244415306411,-6.83955922083e-05,1793247733943264000
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.264122888,745,715,681,658,631,879.264122888,783,814,652,630,652.735877112,0.454657255321,0.00445493549513,0.0598431556959,0.999999965617,-6.33261104388e-05,-0.000245139456365,-6.82777573105e-05,1793247733959930880
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.840090318,745,715,681,658,631,879.840090318,783,814,652,630,652.159909682,0.454658597404,0.00445696912154,0.0598435096529,0.99999996587,-6.22039986046e-05,-0.000244276559152,-6.86939110348e-05,1793247733976598016
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.586845616,745,715,681.413154384,658,631,879.586845616,783,814,652,630,652.413154384,0.454658583232,0.00445824866163,0.0598427207339,0.999999965603,-6.13252131925e-05,-0.000245612923235,-6.86145145061e-05,1793247733993264128
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.014897477,745,715,681.985102523,658,631,879.014897477,783,814,652,630,652.985102523,0.45465804779,0.0044592383724,0.0598414925565,0.999999965131,-6.05399491017e-05,-0.000247794562093,-6.83446557711e-05,1793247734009930240
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.580693555,745,715,681.419306445,658,631,879.580693555,783,814,652,630.580693555,653,0.454657957482,0.00445860688504,0.0598416961029,0.999999965311,-5.92425834759e-05,-0.000247455625435,-6.80756596791e-05,1793247734026596864
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,658,631,880,783,814.17126271,652,631,653,0.454658069481,0.00445851815368,0.0598415922719,0.999999965417,-5.82699629826e-05,-0.00024727102311,-6.80237870856e-05,1793247734043263488
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,658,631,880,783,814.748431023,652,631,653,0.454658632744,0.00445981855339,0.0598406691845,0.999999965311,-5.80994722283e-05,-0.000247611969255,-6.84864589767e-05,1793247734059930112
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+244,4.066666667,HOLD_POSE2,766,746,715,682,658,631,880,783,814,652,630,653,0.45466000678,0.00445946386064,0.0598414534734,0.999999965607,-5.49932527126e-05,-0.000247264599646,-6.79825994515e-05,1793247734124557312
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+256,4.266666667,HOLD_POSE2,765.93619663,745,715,681.93619663,658,631.93619663,880,783.06380337,814,652,631,653,0.454660076643,0.00445688973524,0.0598398834274,0.999999964872,-6.05746211901e-05,-0.000249292109568,-6.66388197821e-05,1793247734324556288
+257,4.283333333,HOLD_POSE2,765.469364783,745,715,681.469364783,658,631.469364783,880,783.530635217,814,652,631,653,0.454659916341,0.00445843366088,0.0598403198691,0.999999965066,-5.79734429224e-05,-0.000249096822904,-6.67646596387e-05,1793247734341222912
+258,4.300000000,HOLD_POSE2,765.123554995,745,715,681,658,631,880,783.876445005,814,652,630.876445005,653,0.4546599314,0.00445994192368,0.0598406275966,0.999999965232,-5.5871662291e-05,-0.000248871886155,-6.6915406031e-05,1793247734357889792
+259,4.316666667,HOLD_POSE2,765.699897846,745,715,681,658,631,880,783.300102154,814,652,630.300102154,653,0.454661090134,0.00446035623652,0.0598405252252,0.999999965337,-5.72718409269e-05,-0.000248088867824,-6.70633472775e-05,1793247734374556672
+260,4.333333333,HOLD_POSE2,766,745,715,681.275002622,658,631,880,783,814.275002622,652,630,653,0.454661680954,0.00446005474124,0.0598402240494,0.999999965274,-5.83539112562e-05,-0.000248102732628,-6.70179241612e-05,1793247734391223296
+261,4.350000000,HOLD_POSE2,766,745,715,681.848762347,658,631,880,783,814.848762347,652,630,653,0.454661654803,0.00445897560696,0.0598397068964,0.999999965029,-5.9090395285e-05,-0.000248982314664,-6.6762434033e-05,1793247734407890432
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,880,784,814,652,631,654,0.454658844314,0.00445860917813,0.0598383460718,0.999999964586,-5.67656886441e-05,-0.000251410711506,-6.63258799149e-05,1793247734440648448
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.417485955,745,715,681.417485955,658,631,880,783.417485955,814,652,631,653.417485955,0.45466113789,0.00445796670213,0.0598398843581,0.999999965165,-5.67679463397e-05,-0.00024913040501,-6.61934047146e-05,1793247734457314816
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.162349429,745.162349429,715,681.162349429,658,631,880,783,814,652,630.837650571,653,0.454662286498,0.00445751572414,0.0598408228789,0.999999965387,-5.74728269543e-05,-0.000248092275615,-6.61359146821e-05,1793247734473981184
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.735408492,745.735408492,715,681.735408492,658,631,880,783,814,652,630.264591508,653,0.454660538582,0.00445754919539,0.0598402441204,0.999999964708,-5.99551945887e-05,-0.000250196590449,-6.62681211988e-05,1793247734490647808
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.693651929,745.693651929,715,681.693651929,658,631,880,783,814,652,630,653,0.454660093571,0.00445757005344,0.0598400269703,0.999999964634,-5.97528554712e-05,-0.000250503340032,-6.64016186749e-05,1793247734507314176
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.124530398,745.124530398,715,681.124530398,658,631,880,783,814,652,630,653,0.454660766142,0.00445758009237,0.0598401199939,0.99999996508,-5.72476791626e-05,-0.000249268207924,-6.65362234775e-05,1793247734523980544
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.468579093,657.531420907,631,880,783.468579093,814,652,630.468579093,653,0.454661824678,0.00445708346171,0.0598407232563,0.999999965258,-5.92938243954e-05,-0.000248121859746,-6.6357310214e-05,1793247734540647168
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.065071744,745,715,682,657.065071744,631,880,783.934928256,814,652,630.934928256,653,0.454662332898,0.00445652623991,0.0598410520592,0.999999965233,-6.2239431383e-05,-0.00024755813477,-6.61426174479e-05,1793247734557314304
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.635649759,745,715,682,657.635649759,631,880,783.364350241,814,652,630.364350241,653,0.454657726172,0.00445660080623,0.0598381384852,0.999999964279,-6.22690150386e-05,-0.000251327296835,-6.63321728407e-05,1793247734573980928
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.791285355,745,715,681.791285355,658,631,880,783,814,652,630.208714645,653,0.454648551579,0.00445746887739,0.0598336243074,0.999999962463,-6.1296636255e-05,-0.000258642288122,-6.6488980149e-05,1793247734590647296
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.213826885,745,715,681.213826885,658,631,880,783,814,652,630.786173115,653,0.454631306767,0.00445973886268,0.0598262822844,0.999999959016,-5.85540536385e-05,-0.000272221825635,-6.65879301871e-05,1793247734607313664
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,631,880,783,814,652,631,653,0.454597535572,0.00445945415475,0.0598113199591,0.999999951826,-5.81967921134e-05,-0.000297560692897,-6.64761467467e-05,1793247734623980032
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,631,880,783,814,652,631,653,0.454554046338,0.00445766720617,0.0597918766528,0.999999941663,-5.92421749637e-05,-0.000329814421196,-6.62404452757e-05,1793247734640646400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.547504855,745,715,681,658,631,880.547504855,783,814,652,630.452495145,653,0.454488220457,0.00445956606836,0.059767411849,0.999999929914,-5.67258541182e-05,-0.000363989770113,-6.68215337122e-05,1793247734657313536
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,658,631,880.873648884,783,813.873648884,652,630.126351116,653,0.454419890276,0.00446138341344,0.0597459322503,0.999999918955,-5.40919673433e-05,-0.000393221686905,-6.73832430464e-05,1793247734673980160
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,658,631,880.296086176,783,813.296086176,652,630.703913824,653,0.454347235503,0.00446214754416,0.0597361513779,0.999999914597,-5.17746894805e-05,-0.000404402827441,-6.77068617342e-05,1793247734690646784
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,658,631,880,783,813.279506794,652,631,653,0.454266891666,0.00446279315468,0.0597291703385,0.99999991112,-5.05351302308e-05,-0.000413091020797,-6.75378421804e-05,1793247734707313408
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,658,631,880,783,813.853027757,652,631,653,0.454178459678,0.00446331409334,0.0597251344539,0.999999908648,-5.04292270784e-05,-0.000419156873711,-6.6850614734e-05,1793247734723980032
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.439493322,631,880,783.439493322,814,652,631,653,0.45407842982,0.00446264404189,0.0597248633765,0.99999990818,-5.00559722183e-05,-0.000420478722979,-6.58201389442e-05,1793247734740646656
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.029769357,659,631,880,783.970230643,814,652,631,653,0.453972744251,0.00446169756602,0.0597257946106,0.999999908413,-4.94611659614e-05,-0.000420169413779,-6.46924593981e-05,1793247734757313280
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.608073365,659,631,880,783.391926635,814,652,631,653,0.453836479865,0.00446321917805,0.059724977278,0.999999908707,-4.64814203647e-05,-0.000419923532319,-6.39529519231e-05,1793247734773980160
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.814356344,659,631,880,783.185643656,814,652,631,653,0.45368802504,0.0044652776145,0.0597231204881,0.999999908284,-4.18650955579e-05,-0.000421524157133,-6.32181010619e-05,1793247734790646784
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.238329036,659,631,880,783.761670964,814,652,631,653,0.453513935376,0.00446846492032,0.0597190778594,0.999999906308,-3.38072650404e-05,-0.000427007736439,-6.24930425244e-05,1793247734807313408
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.344123059,659.344123059,631.344123059,880,783.655876941,814,652,631,653,0.453331803557,0.00446897843706,0.0597197051946,0.999999906432,-2.95126329546e-05,-0.000427261061492,-6.09406733117e-05,1793247734823980032
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.931109479,659.931109479,631.931109479,880,783.068890521,814,652,631,653,0.453143996003,0.00446760493904,0.0597236283363,0.99999990807,-2.78738610607e-05,-0.000423823157803,-5.88044330965e-05,1793247734840646656
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.488741542,745,715,681.488741542,659.488741542,632,880,783.511258458,814,652,631,653,0.452930756263,0.00447030353086,0.0597323792689,0.999999914977,-1.9665191874e-05,-0.000407901856715,-5.72374668095e-05,1793247734857313536
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.090155891,745,715,681,659.090155891,632,880,783.909844109,814,652,631,652.909844109,0.45270744572,0.00447307609687,0.0597416794015,0.999999921871,-1.14487180757e-05,-0.000391193043756,-5.56341436589e-05,1793247734873980160
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.667204499,745,715,681,659.667204499,632,880,783.332795501,814,652,631,652.332795501,0.452448010072,0.00447332397494,0.0597504786627,0.999999926647,-7.90797337068e-06,-0.00037919561704,-5.34256734907e-05,1793247734890646528
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.243292835,660,632,880,783.243292835,813.756707165,652,631,652.243292835,0.452164806744,0.00447406042039,0.059756787338,0.999999930401,-2.85023411175e-06,-0.000369561999828,-5.11194748613e-05,1793247734907313152
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.818072765,660,632,880,783.818072765,813.181927235,652,631,652.818072765,0.451849219909,0.0044754625401,0.0597597025835,0.999999932867,4.27441379272e-06,-0.000363149079717,-4.86801210977e-05,1793247734923979776
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.597045891,745,715,682,660,632,879.597045891,783.597045891,813,652,630.597045891,653,0.451512843299,0.00447830382171,0.0597617914629,0.999999933849,1.37118307794e-05,-0.000360505168149,-4.63724011665e-05,1793247734940646656
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.007486671,745,715,682,660,632,879.007486671,783.007486671,813,652,630.007486671,653,0.451166839106,0.00448181156866,0.059763497658,0.999999934075,2.42202740728e-05,-0.000359606657122,-4.41256399681e-05,1793247734957313280
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.427972033,660.572027967,632.572027967,879.572027967,783.572027967,813,652,630.572027967,653,0.450764952821,0.0044825723505,0.0597539703489,0.999999929834,3.1966828188e-05,-0.000370998312681,-4.08711977185e-05,1793247734973979904
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.150294673,661.150294673,632.849705327,880,784,812.849705327,652,631,652.849705327,0.450350455119,0.00448429847206,0.0597449948074,0.999999925643,4.06000990601e-05,-0.00038160015849,-3.80342924502e-05,1793247734990646528
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.725399153,661.725399153,632.274600847,880,784,812.274600847,652,631,652.274600847,0.449902342744,0.00448885300406,0.0597379872381,0.999999922129,5.18400929347e-05,-0.000389522787762,-3.64141954621e-05,1793247735007313408
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,632.300402563,880,784,812,652,631,652.300402563,0.449433556958,0.00449165146768,0.0597363375248,0.999999921679,6.35651944585e-05,-0.000389216498644,-3.33326566045e-05,1793247735023980032
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,662,632.875313682,880,784,812,652,631,652.875313682,0.44894587971,0.00449284523249,0.0597395838321,0.999999923985,7.57335897589e-05,-0.000381390605803,-2.89156486068e-05,1793247735040646656
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.536684856,662,633,879.536684856,784,812,652,630.536684856,653,0.448443329202,0.00449585628801,0.059748200078,0.999999926995,8.78818812994e-05,-0.000371038609391,-2.48337639091e-05,1793247735057313536
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,633,879,784,812,652,630.053755828,653,0.447934796145,0.00449930818453,0.0597604884153,0.999999931518,0.000100079404501,-0.000355689202735,-2.0797251841e-05,1793247735073980160
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,633,879,784,812,652,630.632611292,653,0.447408059506,0.00450215011783,0.0597941196516,0.999999948995,0.00011281222751,-0.000298357617054,-1.62973593423e-05,1793247735090646784
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715.209230527,681,662,633,879.209230527,784,812,652,631,653,0.446846689743,0.00450623114151,0.0598165917701,0.999999956884,0.000126856087081,-0.000264573464202,-1.18765141925e-05,1793247735107313408
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715.781964648,681,662,633,879.781964648,784,812,652,631,653,0.446225150661,0.00451246488058,0.0598196767565,0.999999952811,0.000143177656595,-0.000271699103897,-7.59300114254e-06,1793247735123980032
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715.644193031,681,661.644193031,633,880,784,812,652,630.644193031,653,0.445540577353,0.00451718552228,0.0597932905166,0.999999937434,0.000159336889974,-0.000315803013862,-3.39544392738e-06,1793247735140646656
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715.069669513,681,661.069669513,633,880,784,812,652,630.069669513,653,0.444817256574,0.00452097605429,0.0597487881476,0.999999911412,0.000175396333231,-0.000382637673499,7.49275607912e-07,1793247735157313280
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,633,879.480051386,784,812,652,630.519948614,653,0.44414571961,0.00452431148637,0.0597419627419,0.999999907475,0.000190518375661,-0.000385649236854,5.18856757285e-06,1793247735173979648
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.109324765,661.21864953,633,879.109324765,784,811.890675235,652,631,653,0.443476433099,0.00452758321545,0.0597468928518,0.999999909673,0.000205485268309,-0.000371930092133,9.85195065385e-06,1793247735190646528
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.688704041,662.377408081,633,879.688704041,784,811.311295959,652,631,653,0.442786097247,0.004530851076,0.0597800117607,0.999999923073,0.000220341272928,-0.000324144386338,1.5304055343e-05,1793247735207313152
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.747952754,745,715,681,663,633,879,784.747952754,811.747952754,652,630.252047246,653,0.437144307921,0.00455278198512,0.0597814460701,0.999999906254,0.000238255399834,-0.00036071930379,2.46640986265e-05,1793247735323979776
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.355693338,633,879.322153331,784.677846669,812,652,630.322153331,653,0.436260772573,0.00455346401697,0.0597521076932,0.999999893431,0.000226762414476,-0.000401528652901,2.21505879667e-05,1793247735340646656
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.209699883,633,879.895150058,784.104849942,812,652,630.895150058,653,0.43538302585,0.00455460223389,0.0597219724473,0.999999879358,0.000233746358775,-0.000431329904684,2.45134568997e-05,1793247735357313280
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.516776108,745,715,681,661.483223892,633,879.516776108,784,811.516776108,652.483223892,630.516776108,653,0.434519394028,0.00455975734289,0.0597366363885,0.999999894169,0.000241392344352,-0.000390815537209,2.55889965209e-05,1793247735373979904
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,633,879,784.073063865,811,652.853872271,630,653,0.433653783504,0.00456498202061,0.0597606641088,0.999999911315,0.000247837993959,-0.000339468226768,2.66067925638e-05,1793247735390646528
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,633,879,784.651757212,811,651.696485577,630,653,0.432752602759,0.00456446218079,0.0597800564836,0.999999917686,0.000244950739914,-0.00032213814765,2.92202691703e-05,1793247735407313152
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,633,879,784.770688156,811,651.229311844,630,653,0.431860424575,0.00456492744928,0.0597986806847,0.999999925932,0.000241483863575,-0.000298163466228,3.03460319506e-05,1793247735423980032
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,633,879,784.194854193,811,651.805145807,630,653,0.430981850379,0.00456688135348,0.0598161440713,0.999999936568,0.000237141096717,-0.000264147862972,2.92236524104e-05,1793247735440646656
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.611482282,662.388517718,633.388517718,879,784,811.388517718,652,630,653,0.430054926932,0.00456798139087,0.0598222615293,0.999999937902,0.000233545684231,-0.000262186345594,3.0172708894e-05,1793247735457313280
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.02425508,662.97574492,633.97574492,879,784,811.97574492,652,630,653,0.429103275052,0.00456864471335,0.05982257605,0.999999934697,0.000230332510486,-0.000276619065512,3.21812125838e-05,1793247735473979904
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.555088145,661.889823709,633.444911855,879,784,811.444911855,652,630,652.444911855,0.428124456686,0.00456927398878,0.059771985503,0.999999907843,0.000228665064315,-0.000361917882355,3.22642229637e-05,1793247735490646784
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.132644012,633,879,784.132644012,811,652,630,652,0.427166235743,0.00456944088718,0.0597354147927,0.999999885597,0.00022575834173,-0.000420470700893,3.22940880856e-05,1793247735507313152
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.705396476,633,879,784.705396476,811,652,630,652,0.426280239899,0.00456807850094,0.0597526383825,0.999999903342,0.000218518782228,-0.000380150787831,3.24228713118e-05,1793247735523980032
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.281532385,633.281532385,878.718467615,785,810.718467615,652,630,652.281532385,0.425387186655,0.00456883119895,0.0597781091232,0.999999918081,0.000213993696135,-0.000341951509837,3.33680688207e-05,1793247735540646656
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.861251857,633.861251857,878.138748143,785,810.138748143,652,630,652.861251857,0.424486658569,0.00457182410401,0.0598123148928,0.999999930019,0.000212343664981,-0.000305998320725,3.51779775e-05,1793247735557313280
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.103325577,633.551662788,878.448337212,785,810.448337212,652,630,652.551662788,0.423588233935,0.00456889299716,0.059831412625,0.999999940507,0.00020423122566,-0.000275549675552,3.67086047539e-05,1793247735573979648
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.037112652,745.037112652,715,680.962887348,661.037112652,633.037112652,879,784.962887348,811,652,630,652.037112652,0.422689607883,0.00456468594288,0.0598443761882,0.999999949193,0.00019473536588,-0.000249490554618,3.80439951525e-05,1793247735590646528
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.616714569,745.616714569,715,680.383285431,661.616714569,633.616714569,879,784.383285431,811,652,630,652.616714569,0.421778364398,0.00456907384883,0.0598371598088,0.999999945929,0.000194739714417,-0.000262278043522,3.78100173896e-05,1793247735607313152
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.805371042,745.805371042,715,680.194628958,662,634,879,784.194628958,810.805371042,652,630,652.805371042,0.420850487449,0.00457200001866,0.0598095109491,0.99999993215,0.000193115354985,-0.000311442274354,3.75393984612e-05,1793247735623979776
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.230751258,745.230751258,715,680.769248742,662,634,879,784.769248742,810.230751258,652,630,652.230751258,0.419890135399,0.00457207231631,0.0597419700026,0.999999888426,0.000188311127292,-0.000431627941913,3.7197241443e-05,1793247735640646656
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.655635193,661.655635193,634,878.655635193,785,810,652.344364807,629.655635193,652,0.419011762532,0.00457049542937,0.0597177051489,0.999999878299,0.000177689369899,-0.000458860552146,3.57054537403e-05,1793247735657313280
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.080186136,661.080186136,634,878.080186136,785,810,652.919813864,629.080186136,652,0.418188401434,0.00456781186549,0.0597224805009,0.999999896361,0.000163163790194,-0.000423717482343,3.34422124556e-05,1793247735673979904
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,662.017712752,634,878.508856376,785,810,653,629.508856376,652.508856376,0.417381152516,0.00456915270874,0.0597655266696,0.999999920255,0.000161154906702,-0.000363703920327,3.51878626819e-05,1793247735690646528
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764.901935735,745,715,680,662.803871469,634,878.803871469,785,810,653,629.901935735,653,0.416578693673,0.00457016195248,0.0598101594952,0.999999939303,0.000159830864132,-0.000307315648635,3.74824024697e-05,1793247735707312896
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.322715059,745,715,680,661.645430119,634,877.645430119,785,810,653,629.322715059,653,0.415786938034,0.00456634720229,0.0598321750003,0.99999994608,0.000151923767329,-0.000288472128775,3.92854308695e-05,1793247735723979776
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.254647945,745,715,680.254647945,661,634,877.254647945,785,810,652.745352055,629,652.745352055,0.415009595896,0.00456365589476,0.0598445369937,0.999999945544,0.000180084060275,-0.000273660888856,3.99027789032e-05,1793247735740646400
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.829673731,745,715,680.829673731,661,634,877.829673731,785,810,652.170326269,629,652.170326269,0.414250387741,0.00456237801393,0.0598447537029,0.999999932249,0.000253621481616,-0.000263922744098,3.90283976876e-05,1793247735757313280
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.586922038,661.413077962,634,878,784.586922038,809.586922038,652.413077962,629,652,0.413488295578,0.00456205265104,0.0598331786517,0.999999921812,0.000271885144173,-0.000284406112871,3.95917804201e-05,1793247735773979904
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.000008379,715,680,661.999983242,634,877.999991621,784.000008379,809.000008379,653,629,652,0.412724989201,0.0045621281719,0.0598166402755,0.999999913117,0.000266885577074,-0.000317609552511,4.07602315935e-05,1793247735790646528
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.579464945,715,680,660.84107011,634,877.420535055,784.579464945,809.579464945,653,629,652,0.411937214542,0.00456197001986,0.0597645331987,0.99999988693,0.000254259978322,-0.000399978484179,3.88339140783e-05,1793247735807313408
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.263096171,715,680.736903829,660.736903829,634,877,785,809.263096171,653,629,652,0.410558572204,0.00455992578808,0.0597535658656,0.999999891581,0.000227290911237,-0.00040478382994,3.64385403834e-05,1793247735840646400
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.311265905,715,680.688734095,661.311265905,634,877.311265905,785,809,653,629,652.311265905,0.409968614998,0.00455707339039,0.0597870137962,0.999999915077,0.00021467917478,-0.000349829168094,3.71138259197e-05,1793247735857313280
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.882341307,715,680.117658693,661.882341307,634,877.882341307,785,809,653,629,652.882341307,0.409414792165,0.00455310399785,0.0598307932679,0.999999937977,0.000203204276713,-0.000285013989888,3.90060751942e-05,1793247735873979904
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.529436379,715,680,661.529436379,634,878,785,809.470563621,653,629,652.529436379,0.408819758773,0.00455129722867,0.0598499361201,0.999999946498,0.000196973189857,-0.000258132287003,3.96686569027e-05,1793247735890646528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.061602708,715,680,661,634,877.938397292,785,810,652.938397292,629,652,0.408216526853,0.00455010206203,0.0598591084983,0.99999995058,0.000192234262988,-0.000245560618671,3.98339074266e-05,1793247735907313408
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.638971784,715,680,661,634,877.361028216,785,810,652.361028216,629,652,0.407634187067,0.00454932899993,0.0598383289681,0.99999994492,0.000188595686077,-0.000270384920549,3.85068464523e-05,1793247735923980032
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.783298755,715,680,661,634,877.216701245,784.783298755,809.783298755,652.216701245,629,652.216701245,0.407079679998,0.00454823966721,0.059821946074,0.999999940382,0.000183876335182,-0.000289886185935,3.72915256175e-05,1793247735940646400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.204967943,715,680,661,634,877.795032057,784.204967943,809.204967943,652.795032057,629,652.795032057,0.406571620038,0.00454662254429,0.0598129002585,0.999999938464,0.0001773533965,-0.000300504401859,3.62626761313e-05,1793247735957313024
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.63122162,661,634,877.63122162,784.36877838,809,653,629,653,0.406103097006,0.0045456489723,0.0598154513737,0.999999940973,0.000173658997417,-0.000294308604434,3.57646001656e-05,1793247735973979648
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.059992027,661,634,877.059992027,784.940007973,809,653,629,653,0.405656278829,0.00454502869545,0.0598243689478,0.999999945771,0.000171517403677,-0.000278882284769,3.55579070773e-05,1793247735990646528
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.531874536,661.531874536,634,877.531874536,785,809,653,629,652.468125464,0.405224498662,0.00454394867475,0.0598156864433,0.99999994273,0.000170160892152,-0.000290419423198,3.52308790221e-05,1793247736007313152
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.122680814,661.877319186,634,877.877319186,785,809,652.877319186,629,652,0.404796305025,0.00454246017194,0.0598019106267,0.999999936622,0.000169265428933,-0.000311273901277,3.48417755773e-05,1793247736023979776
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.700567462,661.299432538,634,877.299432538,785,809,652.299432538,629,652,0.404374871299,0.00453965617904,0.05977689944,0.999999922009,0.000169738844581,-0.000354960016148,3.42747374309e-05,1793247736040646400
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.279819603,715,680.720180397,661,634,877,785,809.279819603,652,629,652.279819603,0.403999796941,0.00453763120438,0.0597605311935,0.999999912354,0.000170913806768,-0.00038074124631,3.34143462944e-05,1793247736057313536
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745.860540077,715,680.139459923,661,634,877,785,809.860540077,652,629,652.860540077,0.403674574637,0.00453644393839,0.0597534570374,0.999999909554,0.000172843169389,-0.000387268657423,3.22385013959e-05,1793247736073981440
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.557076427,745.557076427,715,679.557076427,661,634,877,785,809.557076427,652.442923573,629,652.557076427,0.403396640432,0.00453541347465,0.0597683737948,0.999999919731,0.00017215999456,-0.0003604055011,3.17179071622e-05,1793247736090647808
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.02567949,745,715,679,661,634,877.02567949,785,809,652.97432051,629,652,0.403135033824,0.00453441600035,0.0597902689102,0.999999932766,0.000170756298886,-0.00032298818721,3.14425357065e-05,1793247736107313664
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764.605132435,745,715,679,661,634,877.605132435,785,809,652.394867565,629,652,0.402903235004,0.0045330612454,0.059812771156,0.999999943993,0.000171620552893,-0.000285547048334,3.19894639012e-05,1793247736123980288
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,878,785,809,652.183047701,629,652,0.402673836727,0.00453109001329,0.0598297681696,0.99999995138,0.00017045473371,-0.000259097860618,3.24708651058e-05,1793247736140647168
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,878,785,809,652.757673469,629,652,0.402449573754,0.00452780000526,0.059834988315,0.999999953048,0.000164946155387,-0.000256162805902,3.28120901147e-05,1793247736157314304
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.183035103,745,715,679,661.183035103,633.183035103,877,785,809,653,629,652,0.401396750673,0.00452287073482,0.0598290391625,0.999999948724,0.00015161510772,-0.000280312196273,3.14755298694e-05,1793247736273980416
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+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.63670486,661,634,877,785,809,652,629,652.63670486,0.400963492992,0.00451701276201,0.0598306081152,0.999999950966,0.000135540554558,-0.000280794017644,2.91950114174e-05,1793247736490647296
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+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745.83636727,715,679,661.16363273,634,877,785,809,652.16363273,629,652.16363273,0.400961678336,0.0045149583581,0.0598344857631,0.99999995304,0.000135198553748,-0.000273432305502,2.95891936063e-05,1793247736590647040
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745.576461985,715,679,661,634,877,785,809,652,629,652.423538015,0.400960301012,0.00451583416593,0.0598343191652,0.999999952775,0.000135042585756,-0.000274511814794,2.92547093697e-05,1793247736607313408
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.015306133,634,877,785,809,652.015306133,629,652.984693867,0.400958900937,0.00451709721418,0.0598342055558,0.999999952352,0.000134961021799,-0.000276141283088,2.87738840916e-05,1793247736623980032
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.594653346,634,877,785,809,652.594653346,629,652.405346654,0.400958351591,0.00451676531855,0.0598342760059,0.999999952233,0.000135186144886,-0.000276446545476,2.89161257229e-05,1793247736640646912
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,662,634,877,785,809,653,629,652,0.400958275174,0.00451651732871,0.0598346939009,0.999999952241,0.000135588772406,-0.000276211765442,2.90123376514e-05,1793247736657313536
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,662,634,877,785,809,653,629,652,0.400959300481,0.00451646480335,0.0598359211934,0.999999952541,0.000136404909049,-0.000274718918339,2.90013201199e-05,1793247736673979904
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.320356834,661.679643166,634,877,785,809,652.679643166,629,652.320356834,0.400959539499,0.00451602337014,0.0598360304136,0.999999952931,0.000134692914145,-0.000274148620187,2.89400362568e-05,1793247736690646272
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.895004059,661.104995941,634,877,785,809,652.104995941,629,652.895004059,0.400959154382,0.00451527323263,0.0598352521388,0.999999953384,0.000130974158328,-0.000274310615937,2.88388523706e-05,1793247736707312896
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.484555688,715,679.515444312,661,634,877,785,809,652,628.515444312,652.515444312,0.400959215196,0.00451580570516,0.0598354648319,0.999999953521,0.000130947261942,-0.000273828071995,2.87876077834e-05,1793247736723979776
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745.924805939,715,679.075194061,661,634,877.075194061,785,809,652.075194061,628.075194061,652,0.400959234046,0.004516501763,0.0598358056114,0.999999953539,0.000131771914392,-0.000273371112482,2.87373584183e-05,1793247736740646400
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745.349112839,715,679.650887161,661,634,877.650887161,785,809,652.650887161,628.650887161,652,0.400958310005,0.00451637807599,0.0598355243396,0.999999953226,0.000132770897865,-0.000274043551233,2.86194213345e-05,1793247736757314560
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877.773007825,785,809,653,629,652,0.400958397008,0.00451663857506,0.0598357872216,0.999999953211,0.000133525197801,-0.000273744136585,2.85060425993e-05,1793247736773981952
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877.196268048,785,809,653,629,652,0.400960041818,0.00451749102474,0.0598368885312,0.999999953654,0.000133902491589,-0.000271947298643,2.83996873107e-05,1793247736790648320
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.38856761,679.61143239,661.38856761,634,877,785,809,652.61143239,629,652,0.400960017308,0.0045159225254,0.0598371695676,0.999999953937,0.000131943702196,-0.000271835336612,2.86856046437e-05,1793247736807314688
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.977579531,679.022420469,661.977579531,634,877,785,809,652.022420469,629,652,0.400959131672,0.00451310516881,0.0598370274624,0.999999954129,0.000128779833996,-0.000272592525334,2.91738775395e-05,1793247736823980800
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.442684604,679,661.442684604,634,877,785,809,652.557315396,629,652,0.400959171595,0.00451358342881,0.059837264985,0.999999954077,0.000129923943538,-0.000272264629355,2.89313613594e-05,1793247736840647168
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94898e91c56e17d7525df0acb7f41a350f6719ae
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_01/simulation_data.csv
@@ -0,0 +1,408 @@
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+1,0.016666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+2,0.033333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+3,0.050000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+11,0.183333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+12,0.200000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+14,0.233333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+15,0.250000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+16,0.266666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+17,0.283333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+18,0.300000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+404,6.733333333,pose2_to_pose3_retreat,0.583245457963,0.00992799715736,1.05004239306,0.553817247614,0.0186024492093,1.04966577507
+405,6.750000000,pose2_to_pose3_retreat,0.583245431224,0.00992799305784,1.05004239485,0.553817220712,0.0186024445344,1.04966577636
+406,6.766666667,pose2_to_pose3_retreat,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f6ccd24e95526e818a83376d67e9c7a94b9df21
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdc83c1d638fe97c5ca204dfec71818f0ef082728212c8e023f7559aba3039c8
+size 25783040
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..156cc213fc3a04eaacd9a485f63786beff065e8e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+27,0.450000000,BASELINE,765,745,715,679,661.652413289,634,877.652413289,785,809,652,628,652,0.400961868524,0.00451584760784,0.0598404162487,0.999999955429,0.000132347202116,-0.000266175950025,2.78559996391e-05,1793247737418385664
+28,0.466666667,BASELINE,765,745,715,679,662,634,877.767999327,785,809,652,628.232000673,652.232000673,0.400962670843,0.00451513167547,0.0598408310762,0.99999995581,0.000130875448306,-0.000265465119282,2.79366968369e-05,1793247737435052544
+29,0.483333333,BASELINE,765,745,715,679,662,634,877.174198783,785,809,652,628.825801217,652.825801217,0.400962510919,0.00451523029898,0.0598405055477,0.999999955787,0.000130517142221,-0.000265736222448,2.78600552626e-05,1793247737451719168
+30,0.500000000,BASELINE,765,745,715,679,661.591059811,634,877.408940189,785,809,652.408940189,628.591059811,653,0.400962157533,0.00451499414827,0.0598407890377,0.999999955835,0.000130654000336,-0.00026547962956,2.79218847731e-05,1793247737468385792
+31,0.516666667,BASELINE,765,745,715,679,661.012347034,634,877.987652966,785,809,652.987652966,628.012347034,653,0.400961723832,0.00451461901516,0.0598413253634,0.999999955913,0.000130996427171,-0.000265003962268,2.80412009185e-05,1793247737485052672
+32,0.533333333,BASELINE,765,745.564003087,715,679,661,634,878,785,809.564003087,653,628,652.435996913,0.400959464913,0.00451594747003,0.0598394069534,0.999999954991,0.00013207232148,-0.000267968371337,2.770341468e-05,1793247737501719296
+33,0.550000000,BASELINE,765,745.857299591,715,679,661.142700409,634,878,785,809.857299591,653,628,652,0.40095819091,0.00451683667502,0.0598381316913,0.999999954402,0.000132752556366,-0.000269850528872,2.74659742485e-05,1793247737518385920
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+36,0.600000000,BASELINE,765,745,715,679,661.103455363,634,877.103455363,785,809,653,628.896544637,652,0.40095947532,0.00451524642747,0.059839418354,0.999999954908,0.000132068505479,-0.00026829443432,2.75782463793e-05,1793247737568385792
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+39,0.650000000,BASELINE,765,745,715,680,661.620972196,634,877.379027804,785,809,652.620972196,628.379027804,652,0.400960660502,0.00451525798586,0.0598401618801,0.999999955423,0.000131343856499,-0.000266654808585,2.82312958859e-05,1793247737618385920
+40,0.666666667,BASELINE,765,745,715,680,661.797568901,634,877,785,809,653,628,652,0.400960404477,0.00451451950064,0.059839832494,0.999999955648,0.000128811641347,-0.000267043266879,2.82884236394e-05,1793247737635052288
+41,0.683333333,BASELINE,765,745,715,680,661.204875285,634,877,785,809,653,628,652,0.400960723179,0.0045155275606,0.0598402693126,0.999999955546,0.000130491274494,-0.00026664731595,2.79274158198e-05,1793247737651718912
+42,0.700000000,BASELINE,765,745,715,679.622400002,661,634,877,785,809,653,628.377599998,652,0.400961064933,0.00451523138092,0.0598404300261,0.999999955597,0.000130182282853,-0.000266611865571,2.78765426148e-05,1793247737668385280
+43,0.716666667,BASELINE,765,745,715,679.045322843,661,634,877,785,809,653,628.954677157,652,0.400961418865,0.00451424620221,0.0598404448798,0.999999955728,0.000128822747647,-0.00026676685913,2.79895062134e-05,1793247737685051904
+44,0.733333333,BASELINE,765,745,715,679.529648063,661.529648063,634,877,785,809,653,629,652,0.400962400094,0.0045154988752,0.059841303606,0.999999956026,0.000130628365385,-0.000264779190876,2.78457602172e-05,1793247737701718784
+45,0.750000000,BASELINE,765,745,715,679.895615847,662,634,877,785,809,653,629,652,0.400963110219,0.00451658105036,0.0598419507775,0.999999956264,0.000132180284344,-0.000263118927442,2.7720349716e-05,1793247737718385408
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+55,0.916666667,BASELINE,765,745,715,679,661.918304744,634,877.081695256,785,809,652.918304744,629,652.918304744,0.400961262014,0.00451769181498,0.059840417778,0.999999954971,0.000136164662576,-0.000265963923268,2.79336234919e-05,1793247737885053184
+56,0.933333333,BASELINE,765,745,715,679,661.506053123,633.506053123,877,785,809,652.506053123,629,652.506053123,0.400961025439,0.00451674965138,0.0598403948323,0.999999955429,0.000133494177768,-0.00026562866067,2.76311419305e-05,1793247737901720064
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+58,0.966666667,BASELINE,764.357250157,745.642749843,715,679.642749843,661,633.642749843,877,785,809,652.642749843,629,652,0.400960068318,0.0045153815834,0.0598402791072,0.999999955653,0.000129945309,-0.00026654284608,2.76302810969e-05,1793247737935054592
+59,0.983333333,BASELINE,764,745.776793247,715,679.776793247,661,634,877,785,809,653,629,652.223206753,0.400959877373,0.0045156662878,0.0598402681709,0.999999955459,0.000130282755749,-0.000267089944996,2.77797747574e-05,1793247737951721472
+60,1.000000000,BASELINE,764,745.185821995,715,679.185821995,661,634,877,785,809,653,629,652.814178005,0.400960830204,0.00451655745071,0.0598405846469,0.999999955459,0.000131792247017,-0.000266347953695,2.77883714473e-05,1793247737968387072
+61,1.016666667,BASELINE,764.398790967,745,715,679.398790967,661,634,877.398790967,785,809,652.601209033,629,652.601209033,0.400960715173,0.00451607276665,0.0598404787508,0.999999955523,0.000131190978674,-0.000266408105485,2.77399039155e-05,1793247737985052928
+62,1.033333333,BASELINE,764.980487658,745,715,679.980487658,661,634,877.980487658,785,809,652.019512342,629,652.019512342,0.400960110368,0.00451495704948,0.0598401791335,0.999999955616,0.000129621609033,-0.000266836160748,2.76652638424e-05,1793247738001719040
+63,1.050000000,BASELINE,765,745,715,680,661,634,878,785,809,652.552840942,629,652,0.400960825719,0.00451479345049,0.0598401913579,0.999999955828,0.00012815357041,-0.000266763110504,2.7546470379e-05,1793247738018385920
+64,1.066666667,BASELINE,765,745.125384013,715,679.874615987,661,634,878,785,809,653,629,652,0.400961538678,0.00451478422952,0.0598403218182,0.999999956054,0.00012713879151,-0.000266412616032,2.74288161204e-05,1793247738035053056
+65,1.083333333,BASELINE,765,745.699767967,715,679.300232033,661,634,878,785,809,653,629,652,0.400962078982,0.00451520949762,0.0598408369221,0.999999956322,0.000127734540607,-0.000265130876446,2.73207291658e-05,1793247738051719936
+66,1.100000000,BASELINE,765,745.717099695,715,679,661,634.282900305,877.717099695,785,809,653,629,652,0.400962340669,0.00451479664598,0.0598410087857,0.999999956469,0.000127764564042,-0.000264544203783,2.74545386118e-05,1793247738068386816
+67,1.116666667,BASELINE,765,745.124386778,715,679,661,634.875613222,877.124386778,785,809,653,629,652,0.400962297234,0.00451346594424,0.0598408047565,0.999999956487,0.000127175044292,-0.000264718719849,2.7853256071e-05,1793247738085053696
+68,1.133333333,BASELINE,765,745,715,679,661.456045899,634.543954101,877.456045899,785,809,653,628.543954101,652,0.400961331825,0.00451358512213,0.0598402718224,0.999999955944,0.000128736676616,-0.000265997982681,2.79996323616e-05,1793247738101720064
+69,1.150000000,BASELINE,765,745.033184042,715,679,661.966815958,634,878,785,809,652.966815958,628.033184042,652,0.40096025639,0.00451404640183,0.0598397240867,0.99999995532,0.000130648053161,-0.00026740144557,2.80594050632e-05,1793247738118386176
+70,1.166666667,BASELINE,765,745.609782392,715,679,661.390217608,634,878,785,809,652.390217608,628.609782392,652,0.400961389206,0.00451380378077,0.0598403644962,0.999999955915,0.000128930575446,-0.000266033812061,2.77985052973e-05,1793247738135052544
+71,1.183333333,BASELINE,765,745.809790875,715,679,661,634,878,785,809,652.190209125,629,652,0.400962264252,0.00451378419825,0.0598409950746,0.999999956316,0.000128454039439,-0.000264760232643,2.77546760121e-05,1793247738151719168
+72,1.200000000,BASELINE,765,745.221348707,715,679,661,634,878,785,809,652.778651293,629,652,0.400962599615,0.00451423158232,0.0598416050703,0.999999956314,0.000130575611857,-0.00026368357017,2.81653182393e-05,1793247738168386048
+73,1.216666667,BASELINE,765,745,715,679,661,634,878,784.640856624,809,652.640856624,629,652,0.400961893261,0.00451453337115,0.0598413246424,0.99999995617,0.000130412573334,-0.000264322807355,2.80431577773e-05,1793247738185053184
+74,1.233333333,BASELINE,765,745,715,679,661,634,878,784.065158289,809,652.065158289,629,652,0.400960558777,0.00451474736947,0.05984050731,0.999999955938,0.000128871968333,-0.000265996691503,2.75997298739e-05,1793247738201720320
+75,1.250000000,BASELINE,765,745,715,679,661,634,877.486277129,784.513722871,809,652.513722871,628.486277129,652,0.400960879287,0.00451457094165,0.0598409188686,0.999999956035,0.000128836721262,-0.000265647297067,2.7630694218e-05,1793247738218386688
+76,1.266666667,BASELINE,765,745,714.905871651,679,661,634,877,785,809,653,628,652,0.400961361455,0.00451444605781,0.0598413932351,0.999999956143,0.000129054686975,-0.000265122576325,2.77277399316e-05,1793247738235053312
+77,1.283333333,BASELINE,765,745,714.319620496,679,661,634,877,785,809,653,628,652,0.400961584498,0.00451485117126,0.0598413759889,0.999999956094,0.000129592042292,-0.00026503125888,2.78537315643e-05,1793247738251719680
+78,1.300000000,BASELINE,765,745,714,679,661,634,877,785,809,653,628.263468275,652,0.400962109511,0.00451524172233,0.0598415595139,0.999999956247,0.000129693718472,-0.000264411659989,2.77853414025e-05,1793247738268386304
+79,1.316666667,BASELINE,765,745,714,679,661,634,877,785,809,653,628.842766133,652,0.40096299651,0.00451561481688,0.0598419837109,0.99999995664,0.00012927312923,-0.000263158789761,2.7483938278e-05,1793247738285052928
+80,1.333333333,BASELINE,764.579271241,745,714.420728759,679,661,634,877,785,809.420728759,653,628.579271241,652,0.400963142457,0.00451554223994,0.0598421795231,0.999999956628,0.000129453506548,-0.000263111846329,2.75409454186e-05,1793247738301719552
+81,1.350000000,BASELINE,764.001805988,745,714.998194012,679,661,634,877,785,809.998194012,653,628.001805988,652,0.400963012336,0.00451530363448,0.0598422902539,0.999999956464,0.000129857765344,-0.000263514153605,2.77314731624e-05,1793247738318386176
+82,1.366666667,BASELINE,764.57401848,745,715,679,661.57401848,634,877.57401848,785,809.42598152,652.42598152,628,652,0.400963764902,0.00451451971436,0.05984315212,0.99999995696,0.000129222379532,-0.000261913474106,2.79937091611e-05,1793247738335052288
+83,1.383333333,BASELINE,765,745,715,679,661.846855396,634,877.846855396,785,809.153144604,652.153144604,628.153144604,652,0.400964160674,0.00451422434026,0.0598436499129,0.999999957247,0.000129068567042,-0.000260880961656,2.8082285984e-05,1793247738351718912
+84,1.400000000,BASELINE,765,745,715,679,661.258328056,634,877.258328056,785,809.741671944,652.741671944,628.741671944,652,0.400963534227,0.00451532274249,0.0598431059645,0.999999956943,0.000130293116822,-0.000261481585156,2.76765186211e-05,1793247738368385536
+85,1.416666667,BASELINE,765,745,715,679.326389967,661,634,877,785,809.673610033,652.673610033,629,652,0.400962240418,0.00451576534452,0.0598418252017,0.999999956464,0.000130561732865,-0.000263193503834,2.74873919563e-05,1793247738385051904
+86,1.433333333,BASELINE,765,745,715,679.908127773,661,634,877,785,809.091872227,652.091872227,629,652,0.400960424505,0.00451569488793,0.0598399679996,0.999999955844,0.000130082483889,-0.00026577483285,2.74677519422e-05,1793247738401718528
+87,1.450000000,BASELINE,765,745,715,679.515046182,661.484953818,634,877.484953818,785,808.515046182,652,629,652,0.400960702857,0.00451547454382,0.0598405768706,0.999999955791,0.000130331864955,-0.000265851645219,2.7471988011e-05,1793247738418385152
+88,1.466666667,BASELINE,765,745,715,679,662,634,877.939424945,785,808.121150109,652,628.939424945,652,0.400961351776,0.00451526288724,0.0598415384357,0.999999955872,0.000130594416083,-0.000265415730835,2.74925964544e-05,1793247738435052032
+89,1.483333333,BASELINE,765,745,715,679,662,634,877.366204023,785,809.267591953,652,628.366204023,652,0.400961812778,0.00451536265412,0.059841570701,0.999999956182,0.000129811945512,-0.000264615779363,2.76138680236e-05,1793247738451718656
+90,1.500000000,BASELINE,765,745,715,679.213068992,662,634,877,785,809.786931008,652.213068992,628,652,0.400961221667,0.00451553591272,0.0598407668193,0.999999955962,0.000129821986986,-0.000265438264505,2.76382393172e-05,1793247738468385280
+91,1.516666667,BASELINE,765,745,715,679.803047838,662,634,877,785,809.196952162,652.803047838,628,652,0.400958769415,0.00451583917498,0.0598384838294,0.999999954795,0.000131233948166,-0.000269130770103,2.74911981907e-05,1793247738485051904
+92,1.533333333,BASELINE,764.614000393,745,715,679.614000393,661.614000393,634,877,785,809,653,628.385999607,652,0.400959006924,0.00451578074539,0.0598390654773,0.999999955051,0.000130485105398,-0.000268541495827,2.75255901777e-05,1793247738501718528
+93,1.550000000,BASELINE,764.034569955,745,715,679.034569955,661.034569955,634,877,785,809,653,628.965430045,652,0.400960592316,0.00451554106602,0.0598410826429,0.999999956015,0.000128653447922,-0.000265806550693,2.76509013053e-05,1793247738518385152
+94,1.566666667,BASELINE,764.539309346,745,715,679,661.539309346,634,877,785,809,653,629,652,0.400961621355,0.00451668289271,0.0598416279369,0.999999956061,0.000130194289444,-0.000264933421557,2.71682143021e-05,1793247738535052032
+95,1.583333333,BASELINE,765,745,715,679,662,634,877.113597559,785,809,653,629,652.113597559,0.400962438108,0.00451747255869,0.059841888189,0.999999956058,0.000131380239592,-0.00026439633597,2.67837921268e-05,1793247738551718656
+96,1.600000000,BASELINE,765,745,715,679,662,634,877.690993452,785,809,653,629,652.690993452,0.40096253225,0.00451646654542,0.059841365946,0.999999956109,0.00013024360689,-0.000264748962909,2.69580656775e-05,1793247738568385280
+97,1.616666667,BASELINE,765,745.276031675,715,679,662,633.723968325,877.723968325,785,809,653,629,652.723968325,0.400962146761,0.00451548926019,0.0598411513791,0.999999956157,0.000128943815576,-0.000265180271287,2.71693529506e-05,1793247738585051904
+98,1.633333333,BASELINE,765,745.869868757,715,679,662,633.130131243,877.130131243,785,809,653,629,652.130131243,0.400961209055,0.00451454505068,0.059841291051,0.999999956203,0.000127456173826,-0.000265702168475,2.74232554713e-05,1793247738601718528
+99,1.650000000,BASELINE,765,745.551207606,715,679,661.551207606,633,877,785,809,652.551207606,629,652,0.400961550128,0.00451374454851,0.0598418346276,0.999999956507,0.000126582500006,-0.000264941910712,2.77069113739e-05,1793247738618385152
+100,1.666666667,BASELINE,765,745,715,679,661,633.02350181,877,785,809,652.02350181,629,652,0.400962205466,0.00451309910253,0.0598424580336,0.999999956855,0.000126017383114,-0.000263868669243,2.79717703115e-05,1793247738635051776
+101,1.683333333,BASELINE,765,745,715,679,661,633.59753179,877,785,809,652.59753179,629,652,0.400961816002,0.00451514113131,0.0598422962429,0.999999956525,0.000128644079914,-0.000263892452076,2.76007187078e-05,1793247738651718400
+102,1.700000000,BASELINE,764.823779469,745,715,679.176220531,661,634,877,785,808.823779469,653,628.823779469,652,0.400961439443,0.00451624110399,0.0598419480835,0.999999956293,0.000130126280978,-0.000264064839093,2.73895721224e-05,1793247738668385024
+103,1.716666667,BASELINE,764.234161787,745,715,679.765838213,661,634,877,785,808.234161787,653,628.234161787,652,0.400961093156,0.00451513109942,0.0598411627205,0.999999956307,0.000128923599981,-0.000264585837852,2.755354805e-05,1793247738685051904
+104,1.733333333,BASELINE,764.349180132,745,715,679.650819868,661.349180132,634,877,785,808.349180132,652.650819868,628.349180132,652,0.400960687785,0.00451472844097,0.0598405476678,0.999999956087,0.000128464718365,-0.000265630031957,2.76256229008e-05,1793247738701718784
+105,1.750000000,BASELINE,764.928387859,745,715,679.071612141,661.928387859,634,877,785,808.928387859,652.071612141,628.928387859,652,0.40096024349,0.00451479175716,0.0598400448095,0.999999955713,0.000128495825512,-0.00026701888881,2.76371565696e-05,1793247738718385408
+106,1.766666667,BASELINE,765,745,715,679,661.494465314,634,877.505534686,785,809,652.505534686,629,652,0.400961014496,0.00451424715216,0.0598411521225,0.99999995608,0.000128374985221,-0.000265682614952,2.78093565385e-05,1793247738735052032
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,715,679,662,634,877,785,809,652,628,652,0.400963817438,0.00451606724184,0.059842577001,0.999999956693,0.000129663915918,-0.000262771081803,2.74334714547e-05,1793247738777813248
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.577973281,745,715,679.577973281,662,634,877,785,809,652.577973281,628,652.577973281,0.400963261552,0.00451602154493,0.0598420878594,0.999999956487,0.000130244460577,-0.00026326117846,2.75026824885e-05,1793247738794480640
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,877,785,809,653,628,652.844982847,0.400962484398,0.00451580684675,0.059841639765,0.999999956232,0.00013066695168,-0.000264009895633,2.75697619863e-05,1793247738811147520
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,877,785,809,653,628,652.270454041,0.400961108443,0.0045151347927,0.0598413027533,0.999999955848,0.000130661714064,-0.000265458498815,2.76310730787e-05,1793247738827813632
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.693942607,661.693942607,634,877.306057393,785,809,653,628.306057393,652,0.400960869745,0.00451518551138,0.059841577676,0.999999955833,0.000130834017705,-0.00026543649023,2.75492494678e-05,1793247738844480256
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.115667793,661.115667793,634,877.884332207,785,809,653,628.884332207,652,0.400961642562,0.00451587908774,0.0598423968732,0.999999956148,0.000131164232327,-0.000264106471523,2.73401171831e-05,1793247738861146880
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.472098924,661.472098924,634,877.527901076,785,808.527901076,653,629,652,0.40096112599,0.00451531559424,0.0598417025314,0.999999956093,0.000130600956519,-0.000264593744737,2.73447970389e-05,1793247738877813248
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.93894318,661.93894318,634,877,785.06105682,808,652.93894318,628.93894318,652,0.400960445714,0.00451447251923,0.0598407913567,0.999999955953,0.000129809335831,-0.000265502560883,2.74275262608e-05,1793247738894479872
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.360011867,661.360011867,634,877,785.639988133,808,652.360011867,628.360011867,652,0.400961111406,0.00451392401466,0.0598412508846,0.999999955885,0.000128975803786,-0.00026613280739,2.7718814884e-05,1793247738911146240
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.217900328,634,877.217900328,785.782099672,808.217900328,652,628.217900328,652,0.400966953961,0.00451399529542,0.0598441099706,0.999999957089,0.000127626011325,-0.000262231358935,2.77280071782e-05,1793247738927812864
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.794136532,634,877.794136532,785.205863468,808.794136532,652,628.794136532,652,0.40098130984,0.00451508580974,0.0598509151164,0.999999960292,0.000125427231558,-0.000250877563259,2.72732935982e-05,1793247738944479488
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.629788998,634,877.629788998,785,809.370211002,652.370211002,629,652,0.401016317945,0.00451506644831,0.0598643101639,0.999999966059,0.000126060257337,-0.000226360459318,2.74257755349e-05,1793247738961146368
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.05380437,634,877.05380437,785,809.94619563,652.94619563,629,652,0.401062805136,0.00451443018701,0.0598813680636,0.999999972464,0.000128267279512,-0.000194526819353,2.79157536532e-05,1793247738977813248
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.537997492,661.537997492,634,877.537997492,785,809.462002508,653,628.462002508,652,0.401125849516,0.00451416163134,0.0599007530732,0.999999977344,0.000129296009027,-0.000166623880507,2.88105992757e-05,1793247738994479872
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.872609748,661.872609748,634,877.872609748,785,809,653,628.127390252,652,0.401193055122,0.00451373580656,0.0599179831541,0.999999981212,0.000129011754441,-0.000141668490472,2.93597385379e-05,1793247739011146496
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.297414385,661.297414385,634,877.297414385,785,809,653,628.702585615,652,0.401268891347,0.00451262396232,0.0599267953033,0.999999983944,0.000124538847845,-0.000125650679061,2.8546999723e-05,1793247739027813120
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679.277348076,661,634,877,785,809,652.722651924,629,652,0.401352243838,0.00451241418247,0.0599333043829,0.999999985579,0.000122834786486,-0.000113899073907,2.79455249643e-05,1793247739044479744
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.851647003,661,634,877,785,809,652.148352997,629,652,0.401443643833,0.00451317022438,0.0599373476128,0.999999986226,0.000124095270778,-0.00010671520859,2.75702463179e-05,1793247739061146624
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.56105722,661.43894278,634,877,785,809,652.43894278,629,652,0.401556738217,0.00451284878866,0.059941073746,0.999999987604,0.000120158815477,-9.82950044723e-05,2.63212550308e-05,1793247739077812992
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.969952566,634,877,785,809,653,629,652,0.401678544049,0.00451221867909,0.0599446078889,0.99999998909,0.000114806769896,-8.9580695778e-05,2.47912003431e-05,1793247739094479616
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.391938127,634,877,785,809,653,629,652,0.401821422376,0.00451280316422,0.0599466548567,0.999999989442,0.000116648298794,-8.33557110696e-05,2.36850136561e-05,1793247739111146240
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877.184810116,785,809,653,629,652.184810116,0.401972601136,0.00451316868163,0.0599478010409,0.999999989991,0.000116225191631,-7.75649320534e-05,2.22182679502e-05,1793247739127813120
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877.758891262,785,809,653,629,652.758891262,0.402141263327,0.00451307298079,0.0599470498779,0.999999990994,0.000111032014132,-7.26887341563e-05,1.99920662289e-05,1793247739144481024
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877.666012499,784.666012499,809,653,629,652.666012499,0.402333064103,0.00451237516588,0.0599482335851,0.999999991924,0.000106370482001,-6.71604046259e-05,1.8061486631e-05,1793247739161147904
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877.090181163,784.090181163,809,653,629,652.090181163,0.402541619787,0.00451124135388,0.0599508183519,0.999999992785,0.000102093919293,-6.11598592666e-05,1.63449698684e-05,1793247739177814016
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.499583742,661.499583742,634,877,784.499583742,809,653,629,652,0.402783828668,0.00451309556521,0.0599508760843,0.999999993457,9.93322924701e-05,-5.51473488792e-05,1.33094844216e-05,1793247739194480384
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.91093964,745,715,679.91093964,662,634,877.08906036,785,809,653,629,652.08906036,0.403037436444,0.00451486729699,0.0599508251555,0.999999994164,9.57342051343e-05,-4.90296178747e-05,1.01297020952e-05,1793247739211147520
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.337115147,745,715,679.337115147,662,634,877.662884853,785,809,653,629,652.662884853,0.403319075052,0.00451316997876,0.0599527369405,0.999999995373,8.6051979265e-05,-4.235125208e-05,7.49762757809e-06,1793247739227814400
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.238358099,745,715,679,662,634,877.761641901,785,809,652.761641901,629,652.761641901,0.403609866081,0.00451213291582,0.0599500017662,0.999999995839,7.93768396699e-05,-4.4688274887e-05,4.84961525825e-06,1793247739244480768
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.816179418,745,715,679,662,634,877.183820582,785,809,652.183820582,629,652.183820582,0.403913691725,0.00451203617088,0.059940648517,0.999999995242,7.69843123869e-05,-5.98647730758e-05,2.17890490473e-06,1793247739261146880
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.607981502,715,679,661.607981502,634,877,785,809,652,629,652.392018498,0.404242517552,0.00451169597783,0.0599303154732,0.999999994315,7.17035703576e-05,-7.89166810488e-05,-9.7307892357e-07,1793247739277813248
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.03306725,715,679,661.03306725,634,877,785,809,652,629,652.96693275,0.404583007174,0.00451124220437,0.0599195253077,0.999999992895,6.50753352891e-05,-9.9776656298e-05,-4.34960023184e-06,1793247739294479872
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.560284533,715,679,661.560284533,634,877.560284533,785,809,652.560284533,629,652.439715467,0.404968161568,0.00451227371643,0.0599083481432,0.999999991148,5.66891768074e-05,-0.000120062530052,-8.65251435368e-06,1793247739311146496
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.150409543,661.849590457,634,877.849590457,785,809.150409543,652.849590457,629,652,0.405376778205,0.00451254827403,0.0599038196623,0.999999990438,4.80347381797e-05,-0.000129042926198,-1.28062582338e-05,1793247739327813120
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.728169463,661.271830537,634,877.271830537,785,809.728169463,652.271830537,629,652,0.405844312227,0.00451041460103,0.059918248826,0.99999999349,3.89228620762e-05,-0.000106001230673,-1.63755426189e-05,1793247739344479744
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.303668477,634,877,785,809.696331523,652.303668477,629,652,0.406341873213,0.00450948275793,0.0599422398762,0.999999997171,3.02032574834e-05,-6.59542784475e-05,-1.98854446948e-05,1793247739361146368
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.877158649,634,877,785,809.122841351,652.877158649,629,652,0.406866114423,0.00450961878897,0.0599747270501,0.999999999431,2.18322008631e-05,-1.0797466683e-05,-2.33425835583e-05,1793247739377813248
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,877.460950337,785,809.460950337,652.539049663,629,652,0.407414164447,0.00450858892125,0.0599956020197,0.999999999368,1.15616683044e-05,2.01406197315e-05,-2.69292869895e-05,1793247739394479872
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,810,652.047040189,629,652,0.40796778946,0.00450736236712,0.0600109217143,0.999999998752,1.22581778192e-06,3.95627536995e-05,-3.04971409449e-05,1793247739411146240
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,634,878,785,810,652.627349972,629,652,0.408511041994,0.00450750892269,0.0599991480545,0.999999999427,-3.9807886435e-06,3.27495778367e-06,-3.34509329754e-05,1793247739427813120
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.793711104,662,634,877.793711104,785,810,653,629,652.206288896,0.409073745105,0.00450675530467,0.059987037691,0.999999998852,-1.09283630059e-05,-2.88923087673e-05,-3.66203837291e-05,1793247739444480000
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.217232252,662,634,877.217232252,785,810,653,629,652.782767748,0.409671352669,0.00450438630533,0.059974323106,0.999999997532,-2.10001422847e-05,-5.36651926301e-05,-4.01768386736e-05,1793247739461147392
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679.357005432,662.357005432,634,877.357005432,784.642994568,810,652.642994568,629,653,0.410316897081,0.00450426889451,0.0599763921093,0.999999998108,-1.47398510057e-05,-4.36543406829e-05,-4.0764457749e-05,1793247739477814272
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679.929887885,662.929887885,634,877.929887885,784.070112115,810,652.070112115,629,653,0.410991428326,0.0045055129931,0.0599874005766,0.999999999137,1.39625329529e-06,-1.26101683148e-05,-3.95568562316e-05,1793247739494480640
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.522130074,745,715,679.477869926,662.477869926,634,877.477869926,784.522130074,810.522130074,652.522130074,629,653,0.411698827043,0.00451104352878,0.0599885259036,0.999999998726,3.42429056711e-05,-9.26801523617e-06,-3.59064937942e-05,1793247739511147008
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.886198463,745,715,679.113801537,662,634,877.113801537,784.886198463,810.886198463,652.886198463,629,653,0.412402630266,0.00451572928825,0.0599817297403,0.99999999731,6.12437192629e-05,-2.28729781737e-05,-3.32684547928e-05,1793247739527813632
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.307876721,745,715,679.692123279,662,634,877.692123279,784.307876721,810.307876721,652.307876721,629,653,0.413073048226,0.00451452687642,0.0599482249613,0.999999993801,5.48707441167e-05,-8.98849030788e-05,-3.61530316047e-05,1793247739544480768
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.731287041,633.731287041,878,784,810,652,629,653,0.413782668038,0.00451322307935,0.0599252925129,0.999999989088,5.06457571077e-05,-0.000133222134863,-3.88712945897e-05,1793247739561147648
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.156669079,633.156669079,878,784,810,652,629,653,0.41453691564,0.00451180386435,0.059914395687,0.999999986758,4.88660565233e-05,-0.000149607913804,-4.14002250792e-05,1793247739577814016
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.427729203,633,878,784.427729203,810,652,629,653,0.415367824484,0.00451290484741,0.0599523010463,0.999999994455,5.44651872201e-05,-7.95532246524e-05,-4.235552523e-05,1793247739594480640
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.015558305,633.015558305,878,784.984441695,810,652,629,653,0.416227392464,0.00451486539382,0.0600073850149,0.999999996905,6.2780921217e-05,2.06118316753e-05,-4.27030227485e-05,1793247739611147008
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.594860854,633.594860854,878,784.405139146,810,652,629,653,0.417084154098,0.00451374100915,0.0600220678873,0.999999995988,6.93078697229e-05,3.7726756446e-05,-4.24010798384e-05,1793247739627813632
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.827204034,634,878.172795966,784,810.172795966,652,629,653,0.417934468168,0.00451298583827,0.0600263127049,0.999999995399,7.44339477101e-05,4.2464301035e-05,-4.31057047035e-05,1793247739644480000
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.252449893,634,878.747550107,784,810.747550107,652,629,653,0.418769783856,0.00451308953305,0.0600062765064,0.999999995855,7.63013186984e-05,1.84095684721e-05,-4.61518087246e-05,1793247739661146880
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.323342377,633.676657623,879,784.323342377,811,652,629,653,0.419605051557,0.00451373140505,0.0599781896884,0.999999995432,7.86029064178e-05,-2.51740336042e-05,-4.82108714441e-05,1793247739677813760
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.899947749,633.100052251,879,784.899947749,811,652,629,653,0.420440281633,0.0045147948128,0.0599437970972,0.999999991942,8.1244600938e-05,-8.4053928283e-05,-4.94968183037e-05,1793247739694480896
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.487674001,745,715,680,662.512325999,633.487674001,879,784.512325999,811,652,629.487674001,653,0.421251264562,0.00451446403947,0.0599070136823,0.99999998685,1.71137411158e-05,-0.000153585914892,-4.91731028859e-05,1793247739711147520
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.923909205,745,715,680,662,633.923909205,878.923909205,784,811,652,629.923909205,652.923909205,0.422078471994,0.00451396003252,0.0598772308805,0.999999975425,-4.98081232935e-05,-0.000210442825842,-4.88101428992e-05,1793247739727814144
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.346329624,745,715,680,662,633.346329624,878.346329624,784,811,652,629.346329624,652.346329624,0.423046160271,0.00451424344182,0.0598968949818,0.999999983532,-4.27307599463e-05,-0.000169023167398,-5.04158419983e-05,1793247739744480256
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.459969744,633,878,784,811,652,629,652.229984872,0.42402303002,0.00451356867312,0.0599371599796,0.999999992908,-3.82217020682e-05,-0.000100376918274,-5.14575329298e-05,1793247739761146624
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.608809621,633,878,784,811,652,629,652.804404811,0.425013650475,0.00451145889658,0.0600082777539,0.99999999792,-3.75590457432e-05,9.04503108767e-06,-5.16545413025e-05,1793247739777812992
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.611137,680,663.611137,633,878.777725999,784.388863,811.388863,652,629,653,0.42595724154,0.00450862860341,0.0600371191896,0.999999996329,-3.5847035037e-05,5.7483312113e-05,-5.24661085524e-05,1793247739794480128
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.021495887,680,663.021495887,633,879.957008227,784.978504113,811.978504113,652,629,653,0.426876550287,0.00450542629253,0.0600441324617,0.999999995229,-3.35932208636e-05,7.4434441114e-05,-5.35949856164e-05,1793247739811147008
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.557501915,680,663,633.557501915,879.442498085,784.442498085,812,652,629.557501915,653,0.427799921597,0.00450598998734,0.0600169460768,0.99999999723,-2.78355199197e-05,4.00204529748e-05,-5.62510952242e-05,1793247739827814144
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.863972952,633.863972952,879.136027048,784,812,652,630,653,0.428713005603,0.00450703360572,0.059986086781,0.999999998069,-2.05856669032e-05,-3.48360093999e-06,-5.85391689311e-05,1793247739844481024
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.285675365,633.285675365,879.714324635,784,812,652,630,653,0.429592142255,0.00450917434415,0.0599474926722,0.999999995728,-8.91534789458e-06,-7.02238815693e-05,-5.94427589374e-05,1793247739861147648
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.709531256,633,880,784,812,652,630,652.709531256,0.430491856772,0.00450896737102,0.0599251108622,0.999999992767,-2.03472067715e-06,-0.000104064879633,-6.02692898081e-05,1793247739877814272
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.135489537,633,880,784,812,652,630,652.135489537,0.43141166058,0.00450646842121,0.0599185564708,0.999999992543,1.69921985717e-07,-0.000105787624994,-6.10205910843e-05,1793247739894480640
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.450351241,662.351053722,633,879.549648759,784,812,652,630,652.450351241,0.43236688712,0.00450291024583,0.0599584191902,0.999999997432,-1.49633066447e-06,-3.67680532627e-05,-6.15043634263e-05,1793247739911147264
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.960862026,663.960862026,633,879,784,812.039137974,652,630,653,0.433329194438,0.00449918833319,0.060008968763,0.999999996954,-3.91043893186e-06,4.74290250415e-05,-6.18672852829e-05,1793247739927814144
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.381724842,663.381724842,633,879,784,812.618275158,652,630,653,0.434238201928,0.0044977223928,0.0600091085198,0.999999997317,-1.42692234156e-07,3.94854844425e-05,-6.17031807964e-05,1793247739944480768
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.195699307,662.804300693,633,879,784,812.804300693,652,630,653,0.435135090388,0.00449497579848,0.0599975099753,0.999999997993,8.94189637172e-07,1.33101461044e-05,-6.19427748528e-05,1793247739961147136
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.769811165,662.230188835,633,879,784,812.230188835,652,630,653,0.436008545132,0.00448975287669,0.0599632137498,0.999999996855,-3.34944484105e-06,-4.81189774647e-05,-6.2962977497e-05,1793247739977814016
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.648708167,662.351291833,633,879,784,812.351291833,652,630.351291833,653,0.436839669373,0.00449028524313,0.0599360990441,0.999999993601,1.37119381126e-06,-9.32596287968e-05,-6.40232474806e-05,1793247739994480640
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.062295563,662.937704437,633,879,784,812.937704437,652,630.937704437,653,0.437642461618,0.00449466964306,0.0599137909551,0.999999989679,1.20916499797e-05,-0.000127498348832,-6.51103346509e-05,1793247740011147520
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.519033211,662.480966789,633,879,784,813,652,630.480966789,653,0.438452880299,0.00448978237763,0.0598988872491,0.999999984453,9.59164508157e-06,-0.000163905365859,-6.43165443857e-05,1793247740027814144
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.900664618,662.099335382,633,879,784,813,652,630,653,0.439281161065,0.00448434693924,0.0598971509748,0.999999982366,5.3400727149e-06,-0.000176559873721,-6.37596924041e-05,1793247740044480512
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.322398753,662.677601247,633,879,784,813,652,630,653,0.440191190771,0.00448158175514,0.0599546563478,0.999999995162,2.19653020707e-07,-7.34527015891e-05,-6.54230512248e-05,1793247740061146880
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.414151957,745,715,680.585848043,662.171696085,633,879.585848043,784,813.585848043,652,630,653,0.44261896176,0.00447554714226,0.0600031875356,0.999999997824,-1.98454876748e-06,-3.17095360542e-06,-6.58647357075e-05,1793247740111147008
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680.001488938,661.002977875,633,879.001488938,783.998511062,813.001488938,652,630.001488938,653,0.443329247891,0.00446943889214,0.0599742193486,0.999999996869,-7.15184286913e-06,-4.23166651686e-05,-6.64867054033e-05,1793247740127814144
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.580873671,662.161747343,633,879.580873671,783.419126329,813.580873671,652,630.580873671,653,0.444039006023,0.00447113441435,0.0599644046898,0.999999996241,-6.38278842149e-06,-5.36922074396e-05,-6.77794087583e-05,1793247740144481024
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.840504422,745,715,681.159495578,663,633,879.840504422,783.159495578,813.840504422,652,630.840504422,653,0.444739947446,0.00447150580156,0.0599589493433,0.999999995386,-2.66835075195e-05,-6.18618527875e-05,-6.84708349445e-05,1793247740161147904
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.263877425,745,715,681.736122575,663,633,879.263877425,783.736122575,813.263877425,652,630.263877425,653,0.445417830537,0.00446841415699,0.0599648949765,0.999999990605,-0.000102088353297,-6.16470652117e-05,-6.75897310685e-05,1793247740177814528
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.31178875,745,715,681.68821125,662.68821125,632.68821125,879,784,813.31178875,652,630,653,0.446064317371,0.00446595935147,0.0599565029419,0.999999985323,-0.000134162642138,-8.29012063957e-05,-6.69419256433e-05,1793247740194480896
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.886644212,745,715,681.113355788,662.113355788,632.113355788,879,784,813.886644212,652,630,653,0.446684314081,0.00446404186878,0.0599360137318,0.999999981906,-0.000129677470491,-0.000122269408943,-6.64909622181e-05,1793247740211147008
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.641836236,633,880,784,814,652,631,653,0.448506541695,0.00445445029583,0.0599792931865,0.999999986927,-0.000140845618209,-3.81955241197e-05,-6.96358902431e-05,1793247740261147392
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.218699598,745.218699598,715,681.218699598,663,633,879.781300402,783.781300402,814,652,630.781300402,653,0.449057838787,0.00445173729708,0.0599898683739,0.999999986804,-0.000144272686887,-2.50758362341e-05,-7.03412039044e-05,1793247740277814272
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.792260602,745.792260602,715,681.792260602,663,633,879.207739398,783.207739398,814,652,630.207739398,653,0.449538065673,0.00445167732042,0.0599687600244,0.999999984976,-0.00014508880739,-6.17516398194e-05,-7.20018872765e-05,1793247740294480640
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.624238969,715,681.624238969,662.624238969,633,879.375761031,783.375761031,814,652,630,653,0.449979580135,0.00445171111249,0.0599321996819,0.999999979618,-0.000145416328056,-0.000119132946241,-7.36625649954e-05,1793247740311146752
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.035094176,715,681.035094176,662.035094176,633,879.964905824,783.964905824,814,652,630,653,0.450399110983,0.0044517981531,0.0598868646,0.99999996886,-0.000145466386668,-0.000188272308649,-7.53232394097e-05,1793247740327813120
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+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681.123516028,661.123516028,632.876483972,879.123516028,783,814,652,631,653,0.451221261464,0.00445094894317,0.0598574677338,0.999999962762,-0.000143392273968,-0.000218445187053,-7.87158540102e-05,1793247740361146368
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681.702307869,661.702307869,632.297692131,879.702307869,783,814,652,631,653,0.451612460713,0.00445101572772,0.0598661119617,0.999999966562,-0.000142434285197,-0.000200845012504,-7.90520160385e-05,1793247740377812992
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+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,682,660.298331157,632,880,783,814,652,631,653,0.452340305007,0.00444758663484,0.0598900970099,0.999999978395,-0.000107057693183,-0.000165511862533,-6.59833728805e-05,1793247740411146496
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+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681.411298078,657.588701922,631,880,783,815,652,630,653,0.455138503144,0.00445288589564,0.0598268451287,0.999999959783,-8.49008585175e-05,-0.000262856618122,-6.42802200553e-05,1793247740977813248
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.167685562,745,715,681,658,631,880,783,814.832314438,652,630.167685562,653,0.455137513399,0.00445371875442,0.0598255590122,0.999999959381,-8.41509646135e-05,-0.00026462278368,-6.42703535947e-05,1793247740994479616
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.746701831,745,715,681,658,631,880,783,814.253298169,652,630.746701831,653,0.455137928065,0.00445270968645,0.0598256636801,0.999999959394,-8.29275918357e-05,-0.000265073412111,-6.38051985834e-05,1793247741011146240
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,657.676977864,631,880,783,814,652,631,653,0.455138200753,0.00445227945129,0.0598254126056,0.999999959389,-8.34117063729e-05,-0.000264942261404,-6.37988043206e-05,1793247741027813120
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,657.102754131,631,880,783,814,652,631,653,0.455138363032,0.00445229935166,0.0598248848842,0.999999959368,-8.52236666276e-05,-0.000264358683943,-6.41491702519e-05,1793247741044479744
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,880,783,814,652,630.514750177,653,0.45513782347,0.00445272355184,0.0598245468494,0.999999959124,-8.44845425514e-05,-0.000265573973196,-6.39107544203e-05,1793247741061146368
+245,4.083333333,HOLD_POSE2,766,745,715,681,658,631,880,783,815,652,631,653,0.455135605646,0.00445312882544,0.0598228058567,0.999999958065,-8.6280693342e-05,-0.000269070045437,-6.34581732719e-05,1793247741104804608
+246,4.100000000,HOLD_POSE2,766,745,714.445414865,681,657.445414865,631,880,783,814.445414865,652,631,653,0.45513662919,0.00445227732832,0.0598236201766,0.9999999585,-8.52665793492e-05,-0.000267780923395,-6.34202540867e-05,1793247741121471232
+247,4.116666667,HOLD_POSE2,766,745,714.121612177,681,657,631,880,783.121612177,814,652,630.878387823,653,0.455137510991,0.00445190473658,0.0598241940578,0.999999958833,-8.4359749018e-05,-0.00026680949299,-6.34848853527e-05,1793247741138137856
+248,4.133333333,HOLD_POSE2,766,745,714.739402408,681,657,631,880,783.739402408,814,652,630.260597592,653,0.455137814482,0.00445348608001,0.0598237869481,0.999999958755,-8.38906360433e-05,-0.000267134245036,-6.39679227603e-05,1793247741154804480
+249,4.150000000,HOLD_POSE2,766,745.334631617,715,681,657,631,880,783.665368383,814.334631617,652,630.334631617,653,0.45513807509,0.00445434310599,0.0598238881398,0.999999958836,-8.32164563297e-05,-0.000266985730187,-6.41964525404e-05,1793247741171471104
+250,4.166666667,HOLD_POSE2,766,745.913400912,715,681,657,631,880,783.086599088,814.913400912,652,630.913400912,653,0.455138304414,0.00445467169053,0.0598243601739,0.999999959033,-8.23926658041e-05,-0.0002664919333,-6.42393007901e-05,1793247741188137728
+251,4.183333333,HOLD_POSE2,766,745.510363507,715,681,657,631,880,783.489636493,814.510363507,652,631,653,0.455137815129,0.00445439524485,0.0598234800235,0.999999958789,-8.25847558041e-05,-0.000267423751837,-6.39281921453e-05,1793247741204804352
+252,4.200000000,HOLD_POSE2,766,745,715,681.065535884,657,631,880,783.934464116,814,652,630.934464116,653,0.455137302401,0.00445393319795,0.0598225483986,0.999999958499,-8.31515226211e-05,-0.000268417313446,-6.35664134882e-05,1793247741221470976
+253,4.216666667,HOLD_POSE2,766,745,715,681.642290435,657,631,880,783.357709565,814,652,630.357709565,653,0.455137593119,0.00445285378097,0.0598230711706,0.999999958469,-8.5246651918e-05,-0.000267935790984,-6.32951993415e-05,1793247741238137344
+254,4.233333333,HOLD_POSE2,766,745,715,681.776456482,657,631,880,783,814,652,630.223543518,653,0.455137737446,0.00445276588501,0.059823184128,0.999999958511,-8.52470107833e-05,-0.000267795426693,-6.32213228824e-05,1793247741254804224
+255,4.250000000,HOLD_POSE2,766,745,715,681.187857166,657,631,880,783,814,652,630.812142834,653,0.455137642708,0.00445429718397,0.0598226278411,0.999999958669,-8.18265227978e-05,-0.000268212187835,-6.34697070454e-05,1793247741271470848
+256,4.266666667,HOLD_POSE2,766,745,715,681,657,631,880,783.394165483,814.394165483,652,631,653,0.455138268688,0.00445346955722,0.0598226656712,0.999999958635,-8.29323474263e-05,-0.000268045119895,-6.32764354663e-05,1793247741288137472
+257,4.283333333,HOLD_POSE2,766,745,715,681,657,631,880,783.973105216,814.973105216,652,631,653,0.45513923252,0.00445153612923,0.0598229820074,0.999999958505,-8.61599862218e-05,-0.000267604368507,-6.28761274922e-05,1793247741304804096
+258,4.300000000,HOLD_POSE2,766,745,715,681,657.548103507,631,880,784,814.451896493,652,630.451896493,653,0.455137913385,0.0044506019298,0.0598218122142,0.999999958046,-8.54862694737e-05,-0.000269521284545,-6.29178198837e-05,1793247741321470976
+259,4.316666667,HOLD_POSE2,765.876887119,745,715,681,658,631,880,783.876887119,814,652,630.123112881,653,0.455137203917,0.00445028152145,0.0598212779842,0.999999957844,-8.46548184841e-05,-0.000270512467481,-6.29924008382e-05,1793247741338137344
+260,4.333333333,HOLD_POSE2,765.301130836,745,715,681,658,631,880,783.301130836,814,652,630.698869164,653,0.455139144916,0.00445203882723,0.0598233466966,0.99999995866,-8.39422475065e-05,-0.000267677743608,-6.31087301476e-05,1793247741354804224
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658,631,880,784,814,652,630,653,0.455139844574,0.00445321653786,0.0598235513547,0.999999959041,-8.27551331426e-05,-0.000266624013933,-6.30915582123e-05,1793247741391745024
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.57922377,745,715,681.57922377,657.42077623,631,880,784,814,652,630.57922377,653,0.455139359089,0.00445414585228,0.0598226924989,0.999999958539,-8.32512554969e-05,-0.000268286854832,-6.33568710931e-05,1793247741408411392
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.842640412,745,715,681.842640412,657,631,880,783.842640412,814,652,631,653,0.455139031427,0.00445471943618,0.0598222580152,0.999999958255,-8.3359691809e-05,-0.000269290931515,-6.34285698039e-05,1793247741425078272
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.26739365,745,715,681.26739365,657,631,880,783.26739365,814,652,631,653,0.455139122886,0.00445434833541,0.0598229505019,0.99999995856,-8.24385816612e-05,-0.000268545581544,-6.29861030298e-05,1793247741441744896
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.312060812,745,715,681,657,631,880,783.312060812,814,652,631,653,0.455139502366,0.00445428092095,0.0598234983854,0.999999958798,-8.17257608131e-05,-0.000267871090038,-6.30110548322e-05,1793247741458411520
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.895169942,745,715,681,657,631,880,783.895169942,814,652,631,653,0.455140132013,0.00445447728094,0.0598239206702,0.999999958978,-8.11938549653e-05,-0.000267258144491,-6.34419949004e-05,1793247741475078144
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.477916554,657.477916554,631,880,783.522083446,814,652,631,653,0.455139852075,0.00445250117786,0.0598236141245,0.99999995868,-8.36270905878e-05,-0.000267739763427,-6.29505559486e-05,1793247741491745024
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.939831127,657.939831127,631.060168873,880,783,814,652,631,653,0.455139417725,0.00445037205461,0.0598231774438,0.999999958317,-8.63769111816e-05,-0.000268363983009,-6.23363864929e-05,1793247741508411648
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.361153648,657.361153648,631.638846352,880,783,814,652,631,653,0.455139370767,0.00445102764394,0.0598229959401,0.999999958381,-8.62543282542e-05,-0.000268149646051,-6.24067798467e-05,1793247741525078272
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.215962416,657.215962416,631.784037584,880,783,814,652,631,653,0.455133338922,0.00445180762868,0.0598195274491,0.999999957157,-8.56052086732e-05,-0.000272815843378,-6.26883544222e-05,1793247741541744896
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.790486014,657.790486014,631.209513986,880,783,814,652,631,653,0.455117370404,0.00445279414637,0.0598106015914,0.999999953681,-8.408188326e-05,-0.00028558516423,-6.33205519745e-05,1793247741558411520
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,880,783.373759408,814,652,631,652.626240592,0.455087998543,0.00445433379371,0.0597979600939,0.999999947573,-8.31773622383e-05,-0.000306393673945,-6.37086828128e-05,1793247741575078144
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,658,631,880,783.962055204,814,652,631,652.037944796,0.455050933214,0.00445619093532,0.0597831858333,0.99999993949,-8.26280322529e-05,-0.000331816646627,-6.39567203743e-05,1793247741591744768
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.458034928,745,715,681.458034928,657.458034928,631,879.458034928,784,814,652,630.458034928,652.541965072,0.454992781554,0.00445577503212,0.0597634376352,0.999999929753,-8.17852490434e-05,-0.000360128532984,-6.41349813376e-05,1793247741608411648
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.120758242,745,715,681.120758242,657,631,879.120758242,783.879241758,814,652,630.120758242,653,0.454930898127,0.00445538185497,0.0597452095229,0.999999920267,-8.05887870161e-05,-0.000385816847217,-6.41668150723e-05,1793247741625078272
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.697518056,745,715,681.697518056,657,631,879.697518056,783.302481944,814,652,630.697518056,653,0.454860412848,0.00445566628791,0.0597340164588,0.999999914582,-7.8133181007e-05,-0.000400846024901,-6.36638839449e-05,1793247741641744896
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.727021648,657.272978352,631,880,783,814,652,630.727021648,653,0.454782013827,0.00445639512606,0.0597272552364,0.999999911055,-7.61803685352e-05,-0.000409998359289,-6.31454209186e-05,1793247741658411520
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.152994534,657.847005466,631,880,783,814,652,630.152994534,653,0.454694887298,0.00445761406765,0.0597253815833,0.999999910096,-7.47820521058e-05,-0.000412669532788,-6.2609828888e-05,1793247741675078400
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.566812715,745,715,681,658,631,879.566812715,783,814,652,630,653,0.454599539433,0.00445771760248,0.059728242196,0.999999911034,-7.31639136545e-05,-0.000410803660118,-6.17996437812e-05,1793247741691745024
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.023177278,745,715,681.023177278,657.976822722,631.023177278,879.023177278,783,814,652,630,653,0.454499851787,0.00445745613669,0.05973259182,0.999999912568,-7.13653809972e-05,-0.000407510569821,-6.08803655856e-05,1793247741708411648
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.598664823,745,715,681.598664823,657.401335177,631.598664823,879.598664823,783,814,652,630,653,0.454367938606,0.00445815537324,0.0597314290612,0.999999912117,-6.71715834721e-05,-0.000409494617916,-5.97391922727e-05,1793247741725078528
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.825080824,745,715,681.825080824,657.174919176,631.825080824,880,783,813.825080824,652,630.174919176,653,0.454225951078,0.00445910654568,0.0597300994521,0.999999911321,-6.31523547257e-05,-0.000412234835323,-5.85828887144e-05,1793247741741745152
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.247059435,745,715,681.247059435,657.752940565,631.247059435,880,783,813.247059435,652,630.752940565,653,0.454060747181,0.00446063830566,0.0597283853358,0.999999909754,-5.95354212799e-05,-0.000416717648843,-5.739171758e-05,1793247741758411520
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.329038027,745,715,681,658,631,880,783,813.329038027,652,631,653,0.453872809108,0.00446164283401,0.0597239240538,0.999999907188,-5.60442889512e-05,-0.000423434735174,-5.64412019374e-05,1793247741775078144
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.903699359,745,715,681,658,631,880,783,813.903699359,652,631,653,0.453667900204,0.00446225378986,0.0597174120424,0.99999990383,-5.26470654049e-05,-0.000431819682281,-5.56703328718e-05,1793247741791744768
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.493417039,631,880,783,813.506582961,652,630.506582961,653,0.45344657684,0.00446375366437,0.0597161447736,0.999999903671,-4.73772093287e-05,-0.000432985791874,-5.41976130316e-05,1793247741808411392
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.916112097,745,714.916112097,681,658.916112097,631,879.916112097,783,813.083887903,652,630.083887903,653,0.453218135469,0.0044653771724,0.0597170231739,0.999999904964,-4.13167331565e-05,-0.000430825108896,-5.24759997477e-05,1793247741825078272
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.339032959,745,714.339032959,681,658.339032959,631,879.339032959,783,813.660967041,652,630.660967041,653,0.452967273496,0.00446667545642,0.0597243088689,0.99999991099,-3.2824434813e-05,-0.000417649563106,-5.01217803575e-05,1793247741841744896
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.238120365,681.238120365,658.238120365,631.238120365,879.238120365,783,813.761879635,652,631,653,0.45270309352,0.0044684879594,0.0597352412566,0.999999918728,-2.4881501749e-05,-0.000399560776187,-4.77093575947e-05,1793247741858411520
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.815379315,681.815379315,658.815379315,631.815379315,879.815379315,783,813.184620685,652,631,653,0.452419945639,0.00447103282924,0.0597513673796,0.999999928705,-1.7720992663e-05,-0.00037447439597,-4.52140398726e-05,1793247741875078144
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.601039496,659.398960504,632,880,783,813,652,630.601039496,653,0.452095993251,0.00447198164216,0.0597587259116,0.999999933041,-1.17623798558e-05,-0.000363269609269,-4.25950631956e-05,1793247741891745024
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.014485571,659.985514429,632,880,783,813,652,630.014485571,653,0.451752854369,0.00447217998026,0.0597619618736,0.999999934889,-6.36890548478e-06,-0.000358592024849,-3.99179414765e-05,1793247741908411648
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.564828344,632,880,783.564828344,813,652,630,653,0.451361750725,0.00447605811945,0.0597611999992,0.999999934556,5.47377888215e-06,-0.000359830905627,-3.71520258348e-05,1793247741925078272
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.857292952,632,879.857292952,784,813,652,630.142707048,653,0.450958320407,0.00448005515929,0.0597583475993,0.999999932896,1.71729598847e-05,-0.000364316013511,-3.44435719473e-05,1793247741941744896
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.283198655,632,879.283198655,784,813,652,630.716801345,653,0.450521299425,0.00448412995594,0.0597494817869,0.999999927597,2.79446977112e-05,-0.000378161229909,-3.19156155754e-05,1793247741958411776
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.289716273,745,715,681.289716273,660.289716273,632,879.289716273,784,812.710283727,652,631,653,0.450064018133,0.00448711017561,0.0597425774044,0.999999924635,3.79129569162e-05,-0.000385266468612,-2.93678177318e-05,1793247741975078400
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.861483106,745,715,681.861483106,660.861483106,632,879.861483106,784,812.138516894,652,631,653,0.449587012554,0.00448902478062,0.0597375825524,0.999999924107,4.70989983237e-05,-0.000385810066932,-2.68007031151e-05,1793247741991745024
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.548107854,745,715,681.548107854,661,632.451892146,879.548107854,784,812.451892146,652,631,653,0.449073804513,0.00449189629077,0.0597393316451,0.999999924907,5.98734813612e-05,-0.00038218660781,-2.31025299435e-05,1793247742008411648
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.046627062,661,633,879,784,812.953372938,652,631,653,0.448547998084,0.00449503316435,0.0597444741058,0.99999992677,7.37042431125e-05,-0.000375056998333,-1.89883474794e-05,1793247742025078272
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.622801173,661,633,879,784,812.377198827,652,631,653,0.448010562923,0.00449770923437,0.0597636677894,0.999999937251,8.65014859417e-05,-0.000343238514191,-1.42564292387e-05,1793247742041744896
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.800026266,661.199973734,632.800026266,879,784,812,652,630.800026266,653,0.447460153546,0.00450052026779,0.0597870736611,0.999999947699,0.000100020751258,-0.000307425082357,-9.32470557833e-06,1793247742058411520
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.220960972,661.779039028,632.220960972,879,784,812,652,630.220960972,653,0.446885148896,0.00450358715209,0.0598184646048,0.999999958532,0.000114908758755,-0.000264038403207,-4.01420972396e-06,1793247742075078144
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,632.363984265,879,784,812,652,630,653,0.44624090448,0.00450800026747,0.0598196406764,0.999999954851,0.000130966352077,-0.000270453361095,7.44754755816e-07,1793247742091745024
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,632.952557578,879,784,812,652,630,653,0.445553937104,0.00451324404711,0.0598021732778,0.999999941764,0.000147745613799,-0.000307597402259,5.1634078793e-06,1793247742108411648
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.934462157,633,879.532768922,783.467231078,812,652,630,653,0.444832129411,0.00451649150215,0.0597632590794,0.99999992171,0.000163036093105,-0.000360442072545,8.98912051587e-06,1793247742125078272
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.222324893,633,879.888837554,783.111162446,812,652,630,653,0.444115136754,0.00451965926777,0.0597351180573,0.9999999056,0.000177829805817,-0.000396244470005,1.29291862734e-05,1793247742141744896
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.370081444,633,879.314959278,783.685040722,812,652,630,653,0.443430901584,0.00452322386139,0.059759647384,0.99999991844,0.000191099030897,-0.000355378288071,1.7561635529e-05,1793247742158411520
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,632.740247467,879,783.740247467,812,652,630,653,0.442723587849,0.00452746628508,0.0597814595107,0.999999926361,0.00020608089213,-0.000322969796227,2.23485333201e-05,1793247742175078144
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662,632.164521633,879,783.164521633,812,652,630,653,0.441988200342,0.00453253324868,0.0597999663305,0.999999929474,0.000223146073998,-0.000300849569561,2.73233090815e-05,1793247742191744768
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.577282686,632.422717314,879.422717314,783.422717314,812,652,630,653,0.441182555382,0.0045353588954,0.0597967975507,0.999999920404,0.000237708626315,-0.000318768123719,3.2766016285e-05,1793247742208411648
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,633,879.985787024,784,811.985787024,652,630,652.985787024,0.440349485354,0.00453736718027,0.0597854333733,0.999999905952,0.000251222992385,-0.000351442000167,3.83481955209e-05,1793247742225078016
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,633,879.408150552,784,811.408150552,652,630,652.408150552,0.439543557352,0.00454252231657,0.0597929761033,0.999999908784,0.000262878560945,-0.000334005951914,4.20376669725e-05,1793247742241744640
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.336407117,633,879.168203558,784,811,652,630,652.168203558,0.438727855649,0.00454752455449,0.0598019470144,0.999999910583,0.000276138405346,-0.000316952536106,4.60709191352e-05,1793247742258411520
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.482938986,633,879.741469493,784,811,652,630,652.741469493,0.437888617281,0.00455215858718,0.0598143572247,0.999999910455,0.000293261614464,-0.000300820564629,5.09320527039e-05,1793247742275079168
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.371816937,633,879.685908468,784,811.314091532,652,630,653,0.43700738094,0.00455599594976,0.0597902209469,0.999999907555,0.0002551498959,-0.000343995329352,3.81414286526e-05,1793247742291746048
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.227630737,633,879.113815368,784,811.886184632,652,630,653,0.4360916466,0.00455917891009,0.0597360645936,0.999999890208,0.000171667010489,-0.00043588592507,1.08512688373e-05,1793247742308412416
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,632.521342772,879,784,811.521342772,652,630,652.521342772,0.435207958284,0.00455330063377,0.0597329516419,0.99999990184,0.000156683437625,-0.000414329550241,1.00336811588e-05,1793247742325079296
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.926709669,661.146580662,632.073290331,878.926709669,784,811,652,630,652,0.434331200523,0.00454729388092,0.0597441172937,0.999999919468,0.00016146268346,-0.000367078237126,1.57087416046e-05,1793247742341745920
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.351925998,662.296148003,632.648074002,878.351925998,784,811,652,630,652,0.433447407555,0.00455580651341,0.05976624295,0.999999925943,0.000185063762595,-0.000336797415839,2.08231466844e-05,1793247742358412544
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.223257943,662.553484115,633,878,784.223257943,811,652,630,652.223257943,0.432553664878,0.00456077327721,0.0597843172778,0.999999930114,0.000200855738575,-0.000314278799748,2.56605313762e-05,1793247742375078912
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.79907406,661.40185188,633,878,784.79907406,811,652,630,652.79907406,0.431644209966,0.00456014057752,0.0597959939465,0.999999932462,0.000204315959494,-0.000304017879631,3.00604596631e-05,1793247742391745280
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.769828911,633,878.384914456,784.615085544,811,652,630,652.615085544,0.430753056341,0.00456080047609,0.0598144342334,0.999999941757,0.000199885420296,-0.000274907240608,3.09507063373e-05,1793247742408411904
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.952254845,633,878.976127422,784.023872578,811,652,630,652.023872578,0.429871711517,0.00456215315485,0.0598364995443,0.999999953492,0.000191225753771,-0.000235693918274,2.99599059426e-05,1793247742425078528
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.444925579,633,879,784.555074421,811,652,630,652.555074421,0.428848467836,0.00456875921229,0.0597952089975,0.999999926525,0.000200158921796,-0.000325414449431,3.14790426537e-05,1793247742441744896
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.867640637,661.867640637,633,879,784.867640637,811,652,630,652.867640637,0.42784838565,0.00457329363092,0.0597582560849,0.999999899634,0.000205151164095,-0.00039698883982,3.23235320446e-05,1793247742458411520
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.294174691,661.294174691,633,879,784.294174691,811,652,630,652.294174691,0.426945391163,0.00457018732815,0.0597446434277,0.999999904556,0.00019454264699,-0.00039000807251,3.05676917636e-05,1793247742475078656
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.574554162,633,878.712722919,784,811,652.287277081,630,652.287277081,0.426051744604,0.00457004558649,0.0597548690358,0.99999991418,0.000189555726497,-0.000367088480841,3.08941356153e-05,1793247742491746048
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,662.754280415,633,878.122859792,784,811,652.877140208,630,652.877140208,0.425167944181,0.00457302638729,0.0597902032488,0.999999927709,0.000190489977375,-0.000327380686605,3.34138283795e-05,1793247742508412928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.458499686,662.083000628,633,878,784.458499686,810.541500314,652.541500314,630,652.541500314,0.424262971404,0.00457348391495,0.0598149346524,0.999999936983,0.000188393059038,-0.000298845019177,3.51299372569e-05,1793247742525079296
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,633,878,784.962584647,810.037415353,652,630,652,0.423352847007,0.00457315972418,0.0598359471091,0.999999944799,0.000185137477569,-0.000273479134241,3.65506495598e-05,1793247742541745408
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,633,878,784.386644126,810.613355874,652,630,652,0.422448746127,0.00457113868485,0.0598435804198,0.999999952107,0.000176682809489,-0.000251432428911,3.67624965579e-05,1793247742558412032
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.810900978,661.378198044,633.189099022,878,784.189099022,810.810900978,652,630,652,0.421522968809,0.00457078752052,0.0598312277659,0.99999994794,0.000171872049824,-0.000270567187878,3.70562144257e-05,1793247742575078656
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.235560865,662.52887827,633.764439135,878,784.764439135,810.235560865,652,630,652,0.420552916474,0.00457384713148,0.0597780531108,0.999999914201,0.000174504092663,-0.000373816462776,3.75171561014e-05,1793247742591745280
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.651585566,680,661.954756698,633.651585566,878,784.651585566,810.348414434,652,630,652,0.419647453222,0.00457408842153,0.0597362286261,0.999999890081,0.000169821312822,-0.000435517792016,3.63810425659e-05,1793247742608411904
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.061623734,680,660.184871202,633.061623734,878,784.061623734,810.938376266,652,630,652,0.418786768096,0.00457237583688,0.0597022729463,0.9999998769,0.000160067341874,-0.000468414919254,3.41377289639e-05,1793247742625079040
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.518727493,680,661.037454986,633.518727493,878,784,810.481272507,652,630,652,0.417974765035,0.00457272916572,0.0597361915948,0.999999902975,0.000155406872933,-0.000410747713403,3.4429857433e-05,1793247742641745920
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,662,634,878.097054793,784,810,652,630,652,0.417167993474,0.00457305602813,0.0597772819639,0.999999927786,0.000152042490105,-0.000346498358218,3.5342542976e-05,1793247742658412800
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,662,634,878.670945701,784,810,652,630,652,0.416359027629,0.00457206899932,0.059814712433,0.999999942168,0.000152127057753,-0.000301807890832,3.7851143118e-05,1793247742675079168
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.749091154,633.749091154,878.749091154,784.250908846,810,652,629.749091154,652.250908846,0.415568602751,0.00456995709194,0.0598359064488,0.999999942798,0.000185899798088,-0.000279860893085,3.90353090071e-05,1793247742691745792
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.160967121,633.160967121,878.160967121,784.839032879,810,652,629.160967121,652.839032879,0.414803096532,0.00456633337611,0.0598352790762,0.999999922552,0.000264948596021,-0.000288480550314,3.84394682249e-05,1793247742708412416
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.42095016,745,715,680,661.42095016,633.42095016,877.57904984,785,810,652,629,652.57904984,0.414044704234,0.00456710408852,0.0598371434191,0.999999918752,0.000284296094474,-0.00028313990592,3.87693609929e-05,1793247742725078784
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.999475184,634,877,785,810,652.000524816,629.000524816,652,0.413288949467,0.00456952569503,0.0598398981906,0.999999922538,0.000281140089984,-0.000272632021606,3.94482305524e-05,1793247742741745152
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.424019039,634,877,785,810,652.575980961,629.575980961,652,0.412485902257,0.00456638793077,0.059789484277,0.999999895931,0.000271365965262,-0.000364522690897,4.02685038604e-05,1793247742758412288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.849073809,745,715,680,660.849073809,633.849073809,877,784.849073809,810,652.849073809,629.849073809,652,0.41171325294,0.00456452916258,0.0597495119537,0.999999871879,0.000260559252425,-0.000432151740023,3.99360454126e-05,1793247742775079168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.275558989,745,715,680,660.275558989,633.275558989,877,784.275558989,810,652.275558989,629.275558989,652,0.411025716591,0.00456625154278,0.0597387757459,0.999999875621,0.000246861328447,-0.000431849037885,3.63759750205e-05,1793247742791745792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.601651714,633.300825857,877.300825857,784,810,652,629,652,0.410382134934,0.00456411383902,0.0597571298379,0.999999893363,0.000231966273309,-0.000397726006092,3.57787539883e-05,1793247742808412416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.759729916,633.879864958,877.879864958,784,810,652,629,652,0.409779204004,0.00455840620771,0.0598023875578,0.999999920741,0.000215964073546,-0.000332324864988,3.79216696252e-05,1793247742825079040
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.530991219,634,878,784.469008781,810,652,629,652,0.409203402306,0.00455623943682,0.0598362176645,0.999999938946,0.00020598335568,-0.000279537375357,3.92028193124e-05,1793247742841746176
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877.9409165,784.9409165,810,652,629,652,0.408633751356,0.00455509971737,0.0598626329561,0.999999951718,0.000197617201662,-0.000236451617612,4.00347563435e-05,1793247742858413056
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877.365814694,784.365814694,810,652,629,652,0.408055791732,0.00455483424931,0.0598504171505,0.999999950207,0.000189584844567,-0.000249258509689,3.89137164028e-05,1793247742875079680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.209606862,745,715,680,661,634,877.209606862,784.209606862,810,652,628.790393138,652,0.4074935464,0.00455381768909,0.0598361783731,0.999999946721,0.000181724162436,-0.000268488166318,3.80583243104e-05,1793247742891746048
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.78558725,745,715,680,661,634,877.78558725,784.78558725,810,652,628.21441275,652,0.406958768266,0.00455148828888,0.0598184036284,0.99999993944,0.000174163553141,-0.000298944223517,3.76672603411e-05,1793247742908412672
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.629798734,745,715,680,660.629798734,633.629798734,877.629798734,785,810,652,628.370201266,652,0.406461167862,0.00454971222236,0.0598158201294,0.999999940551,0.000164723210809,-0.000300669419672,3.69023075713e-05,1793247742925079552
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.040064845,745,715,680,660.040064845,633.040064845,877.040064845,785,810,652,628.959935155,652,0.405985614131,0.00454826428739,0.0598222451718,0.999999946757,0.000154168169471,-0.000285356964234,3.59156354055e-05,1793247742941746432
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.238049699,745.119024849,715,679.119024849,661.761950301,634,877,784.880975151,809,652.880975151,629,652,0.405110599642,0.00454440833268,0.0598204456609,0.999999949365,0.000138634341916,-0.000284266409108,3.52440545483e-05,1793247742975079424
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.391901463,745.695950732,715,679.695950732,660.608098537,634,877,784.304049268,809,652.304049268,629,652,0.404684712296,0.0045437453771,0.0597995033021,0.999999939488,0.000137343620429,-0.000317690484909,3.51302815611e-05,1793247742991746048
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.458351945,745.458351945,715,679.729175973,660.270824027,633.729175973,877.270824027,784.270824027,809,652,629,652,0.404278572968,0.00454340788732,0.0597778989967,0.999999927911,0.000135993021819,-0.000352786873891,3.5005513696e-05,1793247743008412416
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.313179558,744.313179558,715,679.156589779,660.843410221,633.156589779,877.843410221,784.843410221,809,652,629,652,0.40389443764,0.00454343304365,0.059755557127,0.999999914386,0.000134575705972,-0.00038974661414,3.48684949354e-05,1793247743025079040
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.429896862,744.429896862,715,679,661,633.429896862,878,785,809,652.429896862,629,652,0.403591039226,0.0045413571067,0.0597621241816,0.999999921287,0.000130302434305,-0.000373100582005,3.52687973036e-05,1793247743041745664
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.020987708,634,877.979012292,785,809.020987708,653,629,652,0.4033191056,0.00453856840803,0.0597796961517,0.999999934907,0.000125163177393,-0.000336498775373,3.58952677832e-05,1793247743058412288
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.595510141,634,877.404489859,785,809.595510141,653,629,652,0.403075490354,0.00453784042901,0.0598005118895,0.999999944683,0.000125537624402,-0.000305766886183,3.71523252698e-05,1793247743075078912
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.170732316,661.829267684,634,877,785,809.829267684,653,629,652,0.402839019771,0.00453698853885,0.0598195431222,0.999999952977,0.000125903776222,-0.000277043005584,3.79717836206e-05,1793247743091745536
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.747619018,661.252380982,634,877,785,809.252380982,653,629,652,0.402619545628,0.00453584187707,0.0598343292004,0.999999959289,0.000126250194789,-0.000253095973021,3.77502391109e-05,1793247743108412160
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.668154189,661,634,877.331845811,785.331845811,809,653,629,652,0.40240302216,0.00453292165866,0.0598377011576,0.999999957338,0.000145780650914,-0.000251050374684,3.23385729425e-05,1793247743125078528
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.078218654,661,634,877.921781346,785.921781346,809,653,629,652,0.402188793526,0.00452862207438,0.0598321958992,0.999999948108,0.000180231298179,-0.000266038392588,2.28903420847e-05,1793247743141745152
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.502200575,715,679.502200575,661,634,877.497799425,785.497799425,809,652.497799425,629,652,0.402006617153,0.00452572155063,0.0598267938397,0.999999943911,0.000183715216449,-0.000279091841677,2.31139120211e-05,1793247743158411776
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,746,715.080558019,679.919441981,661,634,877,785,809,652.080558019,629,652,0.40183485147,0.0045236616965,0.0598219354695,0.999999940754,0.000182918247868,-0.000290561218278,2.46440143787e-05,1793247743175078912
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,746,715.65519185,679.34480815,661,634,877,785,809,652.65519185,629,652,0.401696887626,0.00452544620722,0.0598203148869,0.999999939335,0.000184896799686,-0.00029412885243,2.51201086611e-05,1793247743191745024
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745.769555955,715.769555955,679,661,634,877,785,809,653,629,652.230444045,0.401571360534,0.00452592237146,0.0598204159801,0.999999939166,0.000185416639131,-0.000294321501347,2.57478600106e-05,1793247743208411648
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745.193376063,715.193376063,679,661,634,877,785,809,653,629,652.806623937,0.401464492344,0.0045244356197,0.0598231001085,0.999999940874,0.000183747968182,-0.000289450650209,2.66031428553e-05,1793247743225078272
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764.607663518,745,715,679,661,634,877,785,809,652.607663518,628.607663518,652.607663518,0.401375890469,0.00452360171185,0.0598274249137,0.999999943021,0.000183531091951,-0.000281997600325,2.74245001588e-05,1793247743241745152
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.017135505,745,715,679,661,634,877,785,809,652.017135505,628.017135505,652.017135505,0.401296515956,0.00452309759272,0.0598325785182,0.999999945335,0.000184047600066,-0.000273240134724,2.82287197091e-05,1793247743258412032
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.558829341,745,715,679.558829341,661,634,877,785,809,652.558829341,628,652,0.401228289907,0.00452268348535,0.0598304918381,0.999999944263,0.000182465700172,-0.000278168109385,2.83328324261e-05,1793247743275078656
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.863068966,745,715,679.863068966,661,634,877.136931034,785,809,653,628.136931034,652,0.401164601033,0.00452265642122,0.0598283658827,0.999999943125,0.000181466611183,-0.000282867846668,2.83939073947e-05,1793247743291745024
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.276521977,745,715,679.276521977,661,634,877.723478023,785,809,653,628.723478023,652,0.401114716127,0.00452389138935,0.0598268214276,0.99999994218,0.000182587103185,-0.000285475261211,2.83823657689e-05,1793247743308411648
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.30781408,745.30781408,715,679.30781408,661,634,877.69218592,785,809,652.69218592,628.69218592,652,0.401071640041,0.00452438030562,0.0598252433839,0.999999941181,0.000183155208358,-0.000288593359803,2.83957845992e-05,1793247743325078272
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.890178196,745.890178196,715,679.890178196,661,634,877.109821804,785,809,652.109821804,628.109821804,652,0.401034636971,0.00452420379253,0.0598236353813,0.999999940128,0.00018323062072,-0.000292166955476,2.84314665233e-05,1793247743341744896
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745.531297175,715,679.531297175,661,633.531297175,877,785,809,652.468702825,628.468702825,652,0.401011913748,0.00452222067552,0.0598233828955,0.999999940685,0.000180478453465,-0.000291967803132,2.8515678144e-05,1793247743358411776
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.046194179,661.046194179,633.046194179,877.046194179,785,809,653,629,652,0.40099339447,0.00452010458483,0.0598237144393,0.999999941649,0.000177309450566,-0.000290596233208,2.85929648413e-05,1793247743375078400
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.622069725,661.622069725,633.622069725,877.622069725,785,809,653,629,652,0.400985025466,0.00452127811837,0.059827130437,0.999999943098,0.000176895956705,-0.000285835108975,2.84615224816e-05,1793247743391745024
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715.191263413,679.808736587,662,634,877.808736587,785,809,653,629,652,0.400976830797,0.004521913678,0.0598293284022,0.999999944027,0.00017617828479,-0.000283016874553,2.84278480309e-05,1793247743408411648
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715.747699618,679.252300382,662,634,877.252300382,785,809,653,629,652,0.40096896898,0.00452152210208,0.0598292008187,0.999999943998,0.000174879855988,-0.000283908134506,2.85808385652e-05,1793247743425078272
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715.680264218,679,662,634,877,785,809,653,629,652,0.400965569013,0.00452038890732,0.0598300569004,0.999999944736,0.000173921595237,-0.000281885051515,2.86274491789e-05,1793247743441745152
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715.095286906,679,662,634,877,785,809,653,629,652,0.40096587044,0.00451864049173,0.059831728996,0.999999946097,0.00017324552597,-0.000277444332324,2.85858107533e-05,1793247743458411776
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.493794482,745,715,679.506205518,661.493794482,634,877,785,809,652.493794482,629,652,0.40096710543,0.00451791191858,0.0598335434143,0.999999947074,0.000172425170018,-0.000274400392749,2.87371690228e-05,1793247743475078400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.105677594,745,715,679.894322406,661,633.894322406,877,785.105677594,809,652.105677594,629,652,0.400967916611,0.00451757768167,0.0598351183002,0.999999947827,0.000171552925204,-0.000272181956893,2.88521378235e-05,1793247743491745024
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.681847144,745,715,679.318152856,661,633.318152856,877,785.681847144,809,652.681847144,629,652,0.400966032159,0.0045181155719,0.0598355034549,0.999999947933,0.000170574663107,-0.000272428718762,2.86378974914e-05,1793247743508411648
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.257983428,633.257983428,877,785.742016572,809.257983428,653,629,652,0.400964305119,0.00451839428784,0.0598353307029,0.999999947998,0.0001693333081,-0.000272996449224,2.83555486226e-05,1793247743525078528
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.834078772,633.834078772,877,785.165921228,809.834078772,653,629,652,0.400962772177,0.00451835342351,0.0598344700122,0.999999948008,0.000167767540691,-0.000273959956823,2.79892170556e-05,1793247743541745152
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.579816981,634,877,784.579816981,809.579816981,653,629,652,0.400962775336,0.00451909095462,0.0598343353112,0.999999947743,0.000169971583302,-0.000273567389954,2.79990149177e-05,1793247743558411520
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,784.010121716,809,653,629,652,0.400963376506,0.00452012598744,0.0598345045137,0.999999947368,0.000173607006241,-0.000272636998889,2.81567070445e-05,1793247743575078400
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,784.588041187,809,653,629,652,0.400962667067,0.00452018660545,0.0598352476013,0.999999947739,0.000171993945482,-0.00027230836255,2.80756842581e-05,1793247743591745024
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745.165213506,715,679.165213506,661,634,877,785,809.165213506,652.834786494,629,652.165213506,0.400962345441,0.00451985903211,0.0598359566378,0.999999948099,0.00017070295642,-0.000271800218932,2.80716423824e-05,1793247743608411648
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745.740531163,715,679.740531163,661,634,877,785,809.740531163,652.259468837,629,652.740531163,0.400962986469,0.00451856786394,0.0598365811499,0.999999948436,0.000170211435628,-0.000270846490211,2.82586877402e-05,1793247743625078272
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745.686048079,715,679.686048079,661,634,877.313951921,785,809.686048079,652.313951921,629,652.686048079,0.400963586104,0.00451853524523,0.0598369008108,0.99999994854,0.000170658501573,-0.000270186851515,2.81887017125e-05,1793247743641744896
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745.114185646,715,679.114185646,661,634,877.885814354,785,809.114185646,652.885814354,629,652.114185646,0.400964151735,0.00451953652102,0.0598369700373,0.999999948452,0.000171876613586,-0.000269768806894,2.79075652031e-05,1793247743658411776
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.522933104,785,809,653,629,652,0.40096406168,0.00451956195637,0.0598376025908,0.999999948754,0.00017082530698,-0.000269324563482,2.78471172892e-05,1793247743675078400
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.929467887,745,715,679,661.070532113,634,877,785,809,653,629,652.070532113,0.400963681741,0.00451937700927,0.0598381812088,0.999999949018,0.000169548274301,-0.000269148874111,2.78520150309e-05,1793247743691745280
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.354766389,745,715,679,661.645233611,634,877,785,809,653,629,652.645233611,0.400962399021,0.00451942851853,0.0598373696682,0.999999948336,0.000170704953815,-0.000270939553717,2.79304388387e-05,1793247743708411648
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.219398052,745,715,679,661.780601948,634,877,785,809.219398052,653,629,652.780601948,0.40096151633,0.00451956412373,0.0598369480191,0.999999947932,0.000171674547962,-0.000271811843294,2.79500008472e-05,1793247743725078272
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.792696282,745,715,679,661.207303718,634,877,785,809.792696282,653,629,652.207303718,0.400961278908,0.00451983537995,0.0598371552846,0.999999947985,0.00017234236411,-0.000271202723491,2.78746158025e-05,1793247743741744896
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.380538938,785,809.619461062,653,629,652,0.400962086853,0.00451948869696,0.0598373577752,0.999999948669,0.000170464925759,-0.00026988054826,2.770900428e-05,1793247743758411264
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.976619697,785,809.023380303,653,629,652,0.400963486907,0.00451879200577,0.0598375575611,0.9999999497,0.000167145824667,-0.00026815448991,2.74922874018e-05,1793247743775077888
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.552111902,661.552111902,633.447888098,877.447888098,784.447888098,809,652.447888098,629,652,0.400962982422,0.00451786272251,0.0598378559627,0.999999949476,0.000167158422422,-0.000268912316047,2.81361477494e-05,1793247743791744768
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c9839691239e3daec8b8c375d1792c324a610cb
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+1,0.016666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+2,0.033333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+3,0.050000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+4,0.066666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+5,0.083333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+6,0.100000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+7,0.116666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+8,0.133333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+9,0.150000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+10,0.166666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+11,0.183333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+12,0.200000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+13,0.216666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+14,0.233333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+15,0.250000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+16,0.266666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+373,6.216666667,pose2_to_pose3_retreat,0.583532168326,0.00992788843621,1.05004238538,0.554103959839,0.0186023472767,1.04966577812
+374,6.233333333,pose2_to_pose3_retreat,0.583472642754,0.00992771040567,1.05004214317,0.554044437814,0.0186021812206,1.04966553458
+375,6.250000000,pose2_to_pose3_retreat,0.583421002879,0.00992783830656,1.05004248819,0.553992795375,0.0186023000059,1.0496658699
+376,6.266666667,pose2_to_pose3_retreat,0.583376815883,0.00992786723388,1.05004215489,0.553948609312,0.0186023325585,1.04966554722
+377,6.283333333,pose2_to_pose3_retreat,0.583340465999,0.00992788363031,1.05004233783,0.553912257935,0.0186023435629,1.04966572262
+378,6.300000000,pose2_to_pose3_retreat,0.583312121909,0.00992779543939,1.05004228985,0.55388391433,0.0186022569721,1.04966567362
+379,6.316666667,pose2_to_pose3_retreat,0.583290763386,0.00992782283538,1.05004242975,0.553862554873,0.0186022811524,1.04966581242
+380,6.333333333,pose2_to_pose3_retreat,0.583275413597,0.00992788230425,1.0500425917,0.553847204155,0.0186023373366,1.04966597137
+381,6.350000000,pose2_to_pose3_retreat,0.583264967877,0.00992787388188,1.05004258789,0.553836759379,0.0186023322384,1.04966597037
+382,6.366666667,pose2_to_pose3_retreat,0.583257710611,0.00992784452275,1.05004248884,0.553829503329,0.0186023072826,1.04966587777
+383,6.383333333,pose2_to_pose3_retreat,0.583253604325,0.00992794031108,1.05004250076,0.553825394138,0.0186023931125,1.04966588728
+384,6.400000000,pose2_to_pose3_retreat,0.583250992957,0.00992795857549,1.05004242607,0.553822782114,0.0186024091277,1.04966581205
+385,6.416666667,pose2_to_pose3_retreat,0.583249728989,0.00992794278217,1.0500423424,0.553821518517,0.0186023946044,1.04966572869
+386,6.433333333,pose2_to_pose3_retreat,0.583249312568,0.00992793757899,1.05004231484,0.553821102218,0.0186023898196,1.04966570122
+387,6.450000000,pose2_to_pose3_retreat,0.583249133357,0.00992793533974,1.05004230298,0.55382092306,0.0186023877604,1.0496656894
+388,6.466666667,pose2_to_pose3_retreat,0.583248694045,0.00992792985053,1.05004227389,0.553820483877,0.0186023827126,1.04966566043
+389,6.483333333,pose2_to_pose3_retreat,0.583248102458,0.00992792080984,1.05004226455,0.553819892429,0.0186023741672,1.0496656516
+390,6.500000000,pose2_to_pose3_retreat,0.583247508945,0.00992790969404,1.05004229218,0.553819299014,0.0186023634253,1.04966568019
+391,6.516666667,pose2_to_pose3_retreat,0.583247069038,0.00992790145509,1.05004231265,0.553818859178,0.0186023554635,1.04966570139
+392,6.533333333,pose2_to_pose3_retreat,0.583246812855,0.0099278966571,1.05004232458,0.553818603038,0.0186023508269,1.04966571373
+393,6.550000000,pose2_to_pose3_retreat,0.583246784842,0.00992789613243,1.05004232588,0.553818575029,0.0186023503199,1.04966571508
+394,6.566666667,pose2_to_pose3_retreat,0.583246678853,0.00992789414738,1.05004233081,0.553818469058,0.0186023484016,1.04966572019
+395,6.583333333,pose2_to_pose3_retreat,0.583246577509,0.00992789224935,1.05004233553,0.553818367731,0.0186023465674,1.04966572507
+396,6.600000000,pose2_to_pose3_retreat,0.583246395196,0.00992788883483,1.05004234402,0.553818185448,0.0186023432678,1.04966573385
+397,6.616666667,pose2_to_pose3_retreat,0.58324625137,0.00992790116014,1.0500423491,0.553818041594,0.0186023554787,1.04966573843
+398,6.633333333,pose2_to_pose3_retreat,0.583246190531,0.00992790778562,1.0500423511,0.553817980739,0.0186023620365,1.04966574015
+399,6.650000000,pose2_to_pose3_retreat,0.583245976177,0.00992793112938,1.05004235814,0.553817766328,0.0186023851419,1.04966574619
+400,6.666666667,pose2_to_pose3_retreat,0.583245678655,0.0099279635303,1.05004236791,0.553817468727,0.018602417212,1.04966575458
+401,6.683333333,pose2_to_pose3_retreat,0.583245534654,0.00992798095667,1.05004237769,0.553817324579,0.0186024340624,1.04966576262
+402,6.700000000,pose2_to_pose3_retreat,0.583245527862,0.00992798208213,1.05004237903,0.553817317761,0.0186024350883,1.04966576369
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+404,6.733333333,pose2_to_pose3_retreat,0.583245456417,0.00992799392102,1.05004239313,0.553817246043,0.0186024458801,1.04966577495
+405,6.750000000,pose2_to_pose3_retreat,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ffbceb29d7303af1c1e0d5308b6fa2289490152
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3faff1283d712647c8b26bac35dfcc9b07d9b7b8f70bc58d753d85419268f3d
+size 25847184
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b09f7f315084296b54f8366ef3bfdc149cc1daee
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+39,0.650000000,BASELINE,765,745,715,678.628051877,661,634,877,785,809,652,629,652,0.400963332731,0.00451811166878,0.0598410714793,0.999999950973,0.000164806578136,-0.000264879982977,2.70268928874e-05,1793247744598085888
+40,0.666666667,BASELINE,765,745,715,679,661.206678079,634,877,785,809,652,629,652,0.400963593956,0.00451772668405,0.0598409346786,0.999999950959,0.000164656741651,-0.000265015534508,2.71493260758e-05,1793247744614752256
+41,0.683333333,BASELINE,765,745,715,679,661.783916116,634,877,785,809,652,629,652,0.400962926894,0.00451880091405,0.0598404052798,0.999999950687,0.000165064483237,-0.000265812374624,2.69141535991e-05,1793247744631418880
+42,0.700000000,BASELINE,765,745,715,679,661.640030243,634,877,785,809,652.359969757,629,652,0.400962097314,0.00451875240358,0.0598401491944,0.999999950432,0.000165723074716,-0.000266331995366,2.71862769195e-05,1793247744648085248
+43,0.716666667,BASELINE,765,745,715,679,661.064685264,634,877,785,809,652.935314736,629,652,0.400961170496,0.00451803214087,0.0598400566363,0.999999950188,0.000166531753376,-0.000266685751632,2.77619228163e-05,1793247744664751872
+44,0.733333333,BASELINE,765,745,715,679,661,634,877.522758764,785,809,653,629,652,0.40096134861,0.00451700632189,0.0598396990144,0.999999950558,0.00016429364868,-0.000266687549611,2.77466108929e-05,1793247744681419008
+45,0.750000000,BASELINE,765,745,715,679,661,634,877.890682864,785,809,653,628.890682864,652,0.400961693272,0.00451663073065,0.0598394344842,0.999999950825,0.000162816921072,-0.000266600543224,2.76479293134e-05,1793247744698086144
+46,0.766666667,BASELINE,765,745,715,679,661,634,877.314453394,785,809,653,628.314453394,652,0.400962151487,0.00451919768944,0.0598397109721,0.999999950339,0.000166240566359,-0.00026632465788,2.7512887134e-05,1793247744714752256
+47,0.783333333,BASELINE,765,745,715,679.263417887,661,634,877,785,809,652.736582113,628.263417887,652,0.400962541975,0.00451955324639,0.0598399206277,0.999999950319,0.000167087454911,-0.000265873575648,2.7482075973e-05,1793247744731418880
+48,0.800000000,BASELINE,765,745,715,679.843261438,661,634,877,785,809,652.156738562,628.843261438,652,0.400962851108,0.0045172523998,0.0598400500021,0.999999950865,0.000164839064508,-0.000265212041491,2.75764702981e-05,1793247744748085760
+49,0.816666667,BASELINE,765,745.415287706,715,680,661,634,877,785,809,652.415287706,629,652,0.400963990264,0.00451728574968,0.0598413161229,0.999999951313,0.000164635472,-0.000263633013538,2.76955951766e-05,1793247744764752384
+50,0.833333333,BASELINE,765,745.984418042,715,680,661,634,877,785,809,652.984418042,629,652,0.400965436902,0.00451818379884,0.0598430033494,0.999999951722,0.000165189371549,-0.0002617141016,2.78238814414e-05,1793247744781418496
+51,0.850000000,BASELINE,765,745.420374395,715,680,661,634,877,785,809,653,629,652,0.400963714199,0.00451850272859,0.0598416535103,0.999999951127,0.00016578183581,-0.000263650640573,2.73848084977e-05,1793247744798085376
+52,0.866666667,BASELINE,764.835818223,745,715,679.835818223,661,634,877.164181777,785,809,653,629,652,0.400962475063,0.00451822284031,0.0598408168404,0.999999950879,0.000165301322474,-0.000264911718964,2.71817269232e-05,1793247744814752000
+53,0.883333333,BASELINE,764.278523149,745,715,679.278523149,661,634,877.721476851,785,809,653,629,652,0.400962607383,0.00451654818768,0.0598414135896,0.999999951531,0.000162249095489,-0.000264295632031,2.75819379586e-05,1793247744831419136
+54,0.900000000,BASELINE,764.298448326,745,715,679,661.298448326,634,877.701551674,785,809,652.701551674,629.298448326,652,0.400962796123,0.00451649801097,0.0598415645894,0.999999951605,0.000162534182669,-0.000263826820178,2.76966669694e-05,1793247744848086272
+55,0.916666667,BASELINE,764.895078606,745,715,679,661.895078606,634,877.104921394,785,809,652.104921394,629.895078606,652,0.400963041233,0.00451807086041,0.0598412702375,0.9999999511,0.000166153605572,-0.000263505151997,2.75261687305e-05,1793247744864753664
+56,0.933333333,BASELINE,765,745,715,679,662,634,877.485007917,785,809,652.485007917,629.514992083,652,0.400964049212,0.0045180172742,0.05984203212,0.999999951528,0.000164407246222,-0.00026299213556,2.73860617535e-05,1793247744881420032
+57,0.950000000,BASELINE,765,745,715,679,662,634,877.927661171,784.927661171,809,653,629,652,0.40096488739,0.00451773493227,0.0598426969936,0.999999951964,0.000162166416311,-0.000262734076687,2.72893489343e-05,1793247744898086400
+58,0.966666667,BASELINE,765,745,715,679,662,634,877.348517326,784.348517326,809,653,629,652,0.400963395495,0.00451828136363,0.059841103211,0.999999951103,0.000164482885985,-0.000264548303158,2.74512218741e-05,1793247744914752512
+59,0.983333333,BASELINE,765,745,715,679,661.769196978,634,877.230803022,784.230803022,809,653,629,652,0.400962746438,0.00451898583289,0.0598402533131,0.999999950545,0.000166438437333,-0.00026543925491,2.74047159331e-05,1793247744931418880
+60,1.000000000,BASELINE,765,745,715,679,661.189609815,634,877.810390185,784.810390185,809,653,629,652,0.40096337106,0.00451992912544,0.0598405275563,0.999999950452,0.000167848577677,-0.000264934975723,2.70433127132e-05,1793247744948085248
+61,1.016666667,BASELINE,765,745,715,679,661.38550124,634,877.61449876,785,809,653,629,652,0.400963564208,0.00451960137467,0.0598410043319,0.999999950691,0.00016776055923,-0.000264069829797,2.72176059897e-05,1793247744964752128
+62,1.033333333,BASELINE,765,745,715,679,661.958435946,634,877.041564054,785,809,653,629,652,0.40096354757,0.00451865563349,0.0598415795801,0.99999995109,0.000166944125158,-0.000263029227909,2.76523587625e-05,1793247744981418752
+63,1.050000000,BASELINE,765,745,715,679.546208793,661.453791207,634,877,785,809,653,629,652.546208793,0.400962905271,0.00451809196043,0.0598410698755,0.999999951349,0.000163521989247,-0.000264230896559,2.72873851929e-05,1793247744998085632
+64,1.066666667,BASELINE,765,745,715,679.867005971,661,634,877,785,809,653,629,652.867005971,0.400962915159,0.00451749462335,0.0598410584367,0.999999951632,0.000161153494013,-0.000264637853061,2.70637907492e-05,1793247745014752512
+65,1.083333333,BASELINE,765,745,715,679.287434342,661,634,877,785,809,653,629,652.287434342,0.400965279345,0.00451668389468,0.0598430050818,0.999999952069,0.000163007394586,-0.000261787320979,2.75249819106e-05,1793247745031419392
+66,1.100000000,BASELINE,765,745,715,679.29082231,661,634,877,785,809,653,629,652,0.400965238605,0.00451640350926,0.0598429862479,0.999999951944,0.000163703857983,-0.00026182016357,2.76336966839e-05,1793247745048086016
+67,1.116666667,BASELINE,765,745,715,679.867785121,661,634,877,785,809,653,629,652,0.400962831656,0.00451664492939,0.0598410335762,0.999999951267,0.000163261517129,-0.000264689962917,2.73956093927e-05,1793247745064752384
+68,1.133333333,BASELINE,765,745,715,680,661,634,876.557099331,785,809,652.557099331,629,652,0.400962406108,0.00451721211229,0.0598406358139,0.999999951279,0.000163080960243,-0.000264779042704,2.71701379626e-05,1793247745081419008
+69,1.150000000,BASELINE,765,745,715,679.982070316,661,634,876.035859367,785,809.017929684,652.017929684,629,652,0.400962533653,0.00451785043637,0.0598406847838,0.999999951476,0.00016297959369,-0.000264119897441,2.69619449514e-05,1793247745098085888
+70,1.166666667,BASELINE,765,745,715,679.392287782,661,634,877.215424436,785,809.607712218,652.607712218,629,652,0.400961514949,0.00451766902259,0.0598402390122,0.999999950991,0.000162921828925,-0.000265962171252,2.71852162093e-05,1793247745114752256
+71,1.183333333,BASELINE,765,745,715,679,661,634,877.806977384,785,809.806977384,653,628.806977384,652,0.400961652735,0.00451733715261,0.0598407111814,0.999999950968,0.000163280388623,-0.0002658087508,2.73866489579e-05,1793247745131418880
+72,1.200000000,BASELINE,765,745,715,679,661,634,877.230549976,785,809.230549976,653,628.230549976,652,0.400964087679,0.00451670642832,0.0598430066753,0.999999951855,0.000164465902154,-0.000261691242128,2.75447034657e-05,1793247745148086016
+73,1.216666667,BASELINE,765,745,715,679,661,634,877.346058732,785,809,653,628,652,0.400964957637,0.00451698674671,0.059843743618,0.999999952079,0.000165465089154,-0.000260197962638,2.75862217194e-05,1793247745164752896
+74,1.233333333,BASELINE,765,745,715,679,661,634,877.922788256,785,809,653,628,652,0.400964784429,0.00451787433471,0.0598434416843,0.999999951868,0.00016634007726,-0.000260453903874,2.75500609245e-05,1793247745181419264
+75,1.250000000,BASELINE,765,745,715,679,661,634,877.490626758,785,809,653,628.509373242,652,0.400965706628,0.00451701434172,0.0598436057336,0.999999952451,0.000163805210767,-0.000259833518495,2.74141387097e-05,1793247745198085632
+76,1.266666667,BASELINE,765,745.096350476,715,679,661,634,877,785,809,652.903649524,629,652,0.400966282626,0.00451652730018,0.0598436367473,0.999999952834,0.000162034391811,-0.000259484756374,2.72714364616e-05,1793247745214752000
+77,1.283333333,BASELINE,765,745.677634675,715,679,661,634,877,785,809,652.322365325,629,652,0.400964264001,0.00451927688977,0.0598426356702,0.999999951617,0.000166761791155,-0.000261184831971,2.71722212327e-05,1793247745231418624
+78,1.300000000,BASELINE,765,745.744079749,715,679,661,633.744079749,877,785,808.744079749,652,629,652,0.400963583571,0.00451970946011,0.0598422555507,0.999999951301,0.000167417836261,-0.000261976727759,2.71494596264e-05,1793247745248085248
+79,1.316666667,BASELINE,765,745.169527632,715,679,661,633.169527632,877,785,808.169527632,652,629,652,0.400964569256,0.00451725724029,0.0598426485505,0.999999952117,0.000163004867544,-0.00026163789998,2.72218861202e-05,1793247745264752128
+80,1.333333333,BASELINE,765,745,715,679,661.406444578,633.406444578,877,785,808.406444578,652.406444578,629,652,0.400964686072,0.00451753050416,0.0598426985388,0.999999952121,0.000162685381602,-0.000261824684973,2.71829054029e-05,1793247745281418752
+81,1.350000000,BASELINE,765,745,715,679,661.983011233,633.983011233,877,785,808.983011233,652.983011233,629,652,0.400964439213,0.00451894455052,0.0598426049558,0.999999951789,0.00016407926982,-0.000262231471242,2.70972939158e-05,1793247745298085376
+82,1.366666667,BASELINE,765,745,715,679,661.425587589,634,877,785,809,653,628.425587589,652,0.400964622572,0.00451856344477,0.0598424366615,0.999999951838,0.000164521677593,-0.000261779313085,2.69947272063e-05,1793247745314752256
+83,1.383333333,BASELINE,765,745,715,679,661,634,877,785,809,653,628,652,0.400964515466,0.00451836038241,0.0598421031757,0.999999951793,0.000164891754212,-0.000261726215366,2.69255331954e-05,1793247745331418880
+84,1.400000000,BASELINE,765,745,715,679,661,634,877,785,809,653,628,652,0.40096363142,0.00451875256578,0.0598413526534,0.999999951478,0.000165150626224,-0.000262761347903,2.69430812661e-05,1793247745348085248
+85,1.416666667,BASELINE,765,745,715,679,661.312464822,634,877,785,809,652.687535178,628.312464822,652,0.400963136027,0.00451883656815,0.0598413225737,0.999999951375,0.000165243023393,-0.000263100823588,2.68783012656e-05,1793247745364751872
+86,1.433333333,BASELINE,765,745,715,679,661.887297266,634,877,785,809,652.112702734,628.887297266,652,0.400962966974,0.00451866179989,0.0598418974288,0.999999951451,0.000165195636463,-0.000262856176389,2.67443927779e-05,1793247745381418240
+87,1.450000000,BASELINE,765,745,715,679.475024263,661.524975737,634,877,785,809,652.475024263,629,652.475024263,0.400964788614,0.00451917082296,0.0598427839131,0.999999951674,0.000166083589684,-0.00026142751487,2.69210715779e-05,1793247745398085120
+88,1.466666667,BASELINE,765,745,715,679.935435298,661,633.935435298,877,785,809,653,629,652.935435298,0.400966544375,0.00451978278863,0.0598434081312,0.999999951803,0.000167049677104,-0.000260291371055,2.71308996026e-05,1793247745414751744
+89,1.483333333,BASELINE,765,745,715,679.356500465,661,633.356500465,877,785,809,653,629,652.356500465,0.400963907573,0.00451988633084,0.0598413374763,0.999999950929,0.000166820964053,-0.000263786064482,2.70013778457e-05,1793247745431418368
+90,1.500000000,BASELINE,765,745,715,679,661,633.221062789,877,784.778937211,809.221062789,653,629,652.221062789,0.40096267123,0.00451982047257,0.0598405448289,0.999999950682,0.000166127500928,-0.000265166729713,2.6929296934e-05,1793247745448084992
+91,1.516666667,BASELINE,765,745,715,679,661,633.796427729,877,784.203572271,809.796427729,653,629,652.796427729,0.400963679432,0.00451948311243,0.0598418004723,0.999999951449,0.000164689172747,-0.00026315919553,2.69492777296e-05,1793247745464751616
+92,1.533333333,BASELINE,764.620742396,745,714.620742396,679,661,634,877,784.379257604,809.620742396,653,628.620742396,652.620742396,0.400964910617,0.00451946295733,0.0598427004375,0.999999952077,0.000163716858953,-0.000261384550749,2.68609838441e-05,1793247745481418240
+93,1.550000000,BASELINE,764.0338251,745,714.0338251,679,661,634,877,784.9661749,809.0338251,653,628.0338251,652.0338251,0.400966263892,0.00451961648546,0.0598434056539,0.999999952627,0.000162999707751,-0.000259737422646,2.67134049602e-05,1793247745498085120
+94,1.566666667,BASELINE,764.545892413,744.454107587,714.545892413,679,661,634,877,785,809,652.454107587,628.545892413,652,0.400965531747,0.00451882024484,0.0598428789415,0.999999952265,0.000163798580888,-0.00026059737781,2.69890829333e-05,1793247745514751744
+95,1.583333333,BASELINE,765,744.12482058,715,679,661,634,877,785,809,652.12482058,628.87517942,652,0.400964870498,0.00451825902354,0.0598425200301,0.999999951957,0.000164369249556,-0.000261395416717,2.72257021299e-05,1793247745531418624
+96,1.600000000,BASELINE,765,744.702482638,715,679,661,634,877,785,809,652.702482638,628.297517362,652,0.400964929153,0.00451876116451,0.0598430432204,0.99999995205,0.000163775643903,-0.000261412577113,2.72267099006e-05,1793247745548085248
+97,1.616666667,BASELINE,764.721239871,745,715,679,661,634,877,785,809,652.721239871,628.278760129,652,0.40096463996,0.00451898564653,0.059842879764,0.999999951952,0.000164143335171,-0.000261562214944,2.7185203439e-05,1793247745564751616
+98,1.633333333,BASELINE,764.146432843,745,715,679,661,634,877,785,809,652.146432843,628.853567157,652,0.400963981349,0.00451891525109,0.05984198708,0.999999951649,0.000165531936366,-0.000261852545543,2.7098546307e-05,1793247745581417984
+99,1.650000000,BASELINE,764,745,715,679.424724373,661,634,877.424724373,785,809,652,629,652,0.400964239983,0.00451805788965,0.0598422184644,0.999999951909,0.000164384005458,-0.000261548224476,2.7430763126e-05,1793247745598085888
+100,1.666666667,BASELINE,764,745,715,679.994633948,661,634,877.994633948,785,809,652,629,652,0.400964812162,0.00451693151653,0.0598428340936,0.999999952358,0.000162369001779,-0.000261040631286,2.79061652763e-05,1793247745614754048
+101,1.683333333,BASELINE,764.59280996,745.59280996,715,679.40719004,661,634,877.40719004,785,809,652,628.40719004,652,0.400965246608,0.00451730435955,0.0598426521077,0.999999952341,0.000162336432715,-0.00026117186394,2.74604663679e-05,1793247745631419904
+102,1.700000000,BASELINE,765,745.81618037,715,679,661,634,877,785,809,652.18381963,628.18381963,652,0.400964998623,0.00451763755686,0.059842283387,0.999999952145,0.000162358549525,-0.0002619377709,2.71693776321e-05,1793247745648085760
+103,1.716666667,BASELINE,765,745.241000272,715,679,661,634,877,785,809,652.758999728,628.758999728,652,0.400963300499,0.00451785600721,0.0598415332404,0.999999951574,0.000162456976892,-0.000264042000903,2.72261013088e-05,1793247745664752128
+104,1.733333333,BASELINE,765,745,715,678.665313902,661,634,877.334686098,784.665313902,809,653,629,652,0.400963763926,0.00451846318271,0.0598418479723,0.999999951681,0.000163017524492,-0.000263296253989,2.71837041099e-05,1793247745681419008
+105,1.750000000,BASELINE,765,745,715,678.089262364,661,634,877.910737636,784.089262364,809,653,629,652,0.400965786195,0.00451935069501,0.0598429306622,0.999999952271,0.000163911339165,-0.000260495190578,2.70698239543e-05,1793247745698085632
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,876,785,809,652,629,652,0.400964793664,0.00451873242654,0.0598421881417,0.999999951861,0.000165186981244,-0.000261268615964,2.70316038864e-05,1793247745731041536
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,876.624743399,785,809,652,629,652,0.400963370722,0.00451760796205,0.0598422318572,0.999999951992,0.000163561081234,-0.00026174735585,2.7407295468e-05,1793247745747709184
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.229079834,633.770920166,877,785,809,652,629,652,0.400962424968,0.00451701206269,0.0598419553563,0.999999951963,0.000162389206647,-0.000262576235833,2.75064171116e-05,1793247745764376320
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.802721955,633.197278045,877,785,809,652,629,652,0.400962196956,0.0045172111856,0.0598411972134,0.999999951695,0.000161900238008,-0.000263931766662,2.71895459759e-05,1793247745781042432
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.621007407,633.378992593,877,785,809,652,628.621007407,652,0.400962699,0.00451817553611,0.059841028492,0.999999951653,0.000162745801044,-0.000263591094237,2.69726718102e-05,1793247745797708544
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.043359018,633.956640982,877,785,809,652,628.043359018,652,0.400963583717,0.00451954099444,0.0598411687266,0.999999951728,0.000164290882928,-0.000262361326236,2.68082128771e-05,1793247745814374912
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809,652.546584763,628.546584763,652,0.400963772855,0.00451894895552,0.0598418048438,0.999999952018,0.000163041831084,-0.000262027633444,2.68789084191e-05,1793247745831041536
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809,652.865647073,629,652,0.400963751188,0.00451838628159,0.059842385393,0.999999952148,0.000162359833298,-0.000261945308361,2.69864770772e-05,1793247745847708160
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809,652.288341495,629,652,0.400963220611,0.00451844416028,0.0598426500619,0.999999951694,0.000164294959505,-0.000262451976478,2.71526971834e-05,1793247745864375040
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.287443819,745,715,679,661,634,877,785,809,652.287443819,628.712556181,652,0.400964947586,0.00451800812832,0.0598434276119,0.999999951875,0.000164262819261,-0.000261756566131,2.74089788943e-05,1793247745881041664
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.86171211,745,715,679,661,634,877,785,809,652.86171211,628.13828789,652,0.400968927248,0.00451707924994,0.0598447169378,0.999999952685,0.000162267651272,-0.000259861667376,2.77551281464e-05,1793247745897708544
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.104176817,745,715,679,661,634,877,785,809,653,628.447911591,652,0.400989005956,0.00451873961454,0.0598530509007,0.999999955986,0.000164182896865,-0.000245592372097,2.7486265738e-05,1793247745914375168
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.037206443,745,715,679,661,634,877,785,809,653,629,652,0.401016265717,0.00452099411477,0.059864268843,0.999999960126,0.000166979743338,-0.000226125174257,2.70599428726e-05,1793247745931042048
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.616461859,745,715,679,661,634,877,785,809,653,629,652,0.401073749971,0.00451993945176,0.0598849491747,0.999999968399,0.000164550265565,-0.000188113685654,2.71816080136e-05,1793247745947708416
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.195325328,715,679,661.195325328,634,877,785,809,652.804674672,629,652.195325328,0.401134884722,0.00451857058538,0.0599034673752,0.9999999741,0.000162313182905,-0.000157146282079,2.75555651289e-05,1793247745964375040
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.773420819,715,679,661.773420819,634,877,785,809,652.226579181,629,652.773420819,0.401203173195,0.00451658598877,0.0599177485489,0.999999976926,0.000160453128119,-0.00013998284525,2.84239274334e-05,1793247745981041664
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745.650718716,715,679,661.650718716,634,877.349281284,785,809,652.349281284,629,652.650718716,0.401280973166,0.00451608457141,0.059927542488,0.999999979165,0.000159674003411,-0.000124000223162,2.82504697689e-05,1793247745997708288
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.076298931,715,679,661.076298931,634,877.923701069,785,809,652.923701069,629,652.076298931,0.401364904022,0.00451653917663,0.0599344440605,0.999999980973,0.000159591620916,-0.00010877872751,2.74054793981e-05,1793247746014374912
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.510393287,634,877.489606713,785,809,652.489606713,629,652,0.40146363972,0.00451524291452,0.0599371121041,0.999999982107,0.000155507996392,-0.000104402698212,2.65218581708e-05,1793247746031041792
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.902571128,634,877,785,809,652,629,652,0.4015698379,0.00451411641777,0.0599396872794,0.999999983213,0.000151346571168,-0.000100075325444,2.55420973993e-05,1793247746047708672
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.323136736,634,877,785,809,652,629,652,0.40170173594,0.00451515658093,0.0599450111318,0.999999984633,0.000149832341629,-8.77700982893e-05,2.41159837773e-05,1793247746064375296
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.254262594,634,877,785,809,652,629,652,0.401841331531,0.0045153878568,0.0599476172797,0.999999985588,0.000147676308172,-8.06577946932e-05,2.25761856185e-05,1793247746081041920
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.829096103,634,877,785,809,652,629,652,0.401990632081,0.00451459929821,0.0599467969812,0.999999986104,0.000144711096965,-8.00926613473e-05,2.08930556111e-05,1793247746097708544
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.412893355,679,661.587106645,634,877,785,809,652.412893355,629,652,0.402161221546,0.00451458041432,0.0599460270663,0.999999987082,0.000140244296648,-7.61994580759e-05,1.90061887201e-05,1793247746114375168
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715.999523622,679,661,633.999523622,877,785,809.000476378,653,629,652,0.402340861739,0.00451488723335,0.0599452817052,0.99999998821,0.000135145604711,-7.08957935923e-05,1.70332591274e-05,1793247746131041792
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715.420284714,679,661,633.420284714,877,785,809.579715286,653,629,652,0.402573113289,0.0045152561355,0.0599484683662,0.999999988908,0.000134221299535,-6.27445374049e-05,1.52294317514e-05,1793247746147708160
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715.158421771,679.158421771,661,633.158421771,877,785,809.841578229,652.841578229,629,652,0.402814710515,0.00451548791378,0.0599520921306,0.999999989802,0.000131973029344,-5.29755464946e-05,1.31654289551e-05,1793247746164375040
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715.735720626,679.735720626,661,633.735720626,877,785,809.264279374,652.264279374,629,652,0.40308101834,0.00451535712807,0.0599568716247,0.999999991222,0.00012622411255,-3.89291618936e-05,1.04135056613e-05,1793247746181041920
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715.688731596,679.688731596,661,634,877,784.688731596,809,652.311268404,629,652,0.403358663349,0.00451524045528,0.0599576150852,0.999999992014,0.000121313603544,-3.4602253833e-05,7.54809218233e-06,1793247746197708288
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715.11466227,679.11466227,661,634,877,784.11466227,809,652.88533773,629,652,0.403645880217,0.0045151356979,0.0599549509609,0.999999992392,0.000117110954539,-3.84814072785e-05,4.58686019678e-06,1793247746214375168
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715.472301639,679.472301639,661,634,877,784.472301639,809,653,629,652,0.403952450976,0.0045151058359,0.0599428894994,0.999999992232,0.000110833174184,-5.70101121008e-05,1.2876362881e-06,1793247746231041792
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.938544252,680,661,634,877,785,809.061455748,652.938544252,629,652.061455748,0.404268797953,0.00451511711653,0.0599283952135,0.999999991409,0.000103757611721,-8.0072567037e-05,-2.11116308733e-06,1793247746247708160
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.358072996,680,661,634,877,785,809.641927004,652.358072996,629,652.641927004,0.40462691337,0.00451531799274,0.0599131630881,0.999999989426,9.43185729983e-05,-0.000110545017727,-5.63847477691e-06,1793247746264374784
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.219525486,745,715,680,661,634,877,785,810,652.219525486,629,652.780474514,0.405007124603,0.00451580847056,0.0599034930295,0.999999987798,8.65323003543e-05,-0.000129725782843,-9.31247094186e-06,1793247746281041664
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.792498595,745,715,680,661,634,877,785,810,652.792498595,629,652.207501405,0.405422911234,0.00451676522223,0.0599027781936,0.999999988054,8.14070693894e-05,-0.00013072633524,-1.32226365235e-05,1793247746297708288
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.625321729,745,715,679.625321729,661.374678271,634,877.374678271,785,810,653,629,652,0.405877200102,0.00451600290784,0.0599160751586,0.999999991256,7.21576122555e-05,-0.000109523638745,-1.68837867695e-05,1793247746314374912
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.037914846,745,715,679.037914846,661.962085154,634,877.962085154,785,810,653,629,652,0.406353349171,0.00451426457074,0.0599373275114,0.999999995091,6.05665698712e-05,-7.57147500365e-05,-2.04035555711e-05,1793247746331041792
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,877.457796779,785,809.457796779,652.457796779,629,652,0.406904337106,0.0045137896295,0.05997066986,0.999999998183,5.22138793037e-05,-1.80073920911e-05,-2.41637288354e-05,1793247746347708416
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.120951124,662,634,877.120951124,784.879048876,809.120951124,652.120951124,629,652,0.407459442115,0.00451299145555,0.0599985269014,0.999999998302,4.29129489007e-05,2.79672013875e-05,-2.77859743305e-05,1793247746364375296
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679.696440094,662,634,877.696440094,784.303559906,809.696440094,652.696440094,629,652,0.408010613402,0.00451065096082,0.0600026350328,0.999999998819,2.92087885797e-05,2.36527894894e-05,-3.0827546939e-05,1793247746381041920
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745.272475617,715,679.727524383,661.727524383,634,878,784,810,653,629,652,0.408567535228,0.00450906347124,0.0599978848926,0.999999999238,1.80408494857e-05,5.02805134332e-06,-3.42645546619e-05,1793247746397708544
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.849121234,715,679.150878766,661.150878766,634,878,784,810,653,629,652,0.409130876461,0.00450831657656,0.059983246086,0.999999998788,9.70414584808e-06,-2.95715908994e-05,-3.81429943297e-05,1793247746414375168
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.434498484,745.565501516,715,679.434498484,661,634,878,784.434498484,810,652.565501516,629,652.434498484,0.409735882673,0.00450908605456,0.0599801196564,0.999999998343,1.83131275554e-06,-3.85931999867e-05,-4.26693587892e-05,1793247746431042048
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.977404489,745,715,679.977404489,661.022595511,634,877.977404489,785,810,652.022595511,629,652.977404489,0.410358818201,0.0045103415361,0.059981424808,0.999999998157,-5.83924293705e-06,-3.74340603958e-05,-4.7436036689e-05,1793247746447708672
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.398525818,745,715,679.398525818,661.601474182,634,877.398525818,785,810,652.601474182,629,652.398525818,0.41105966193,0.00451033275815,0.0599913945977,0.999999998506,-1.25768371914e-05,-8.78328701997e-06,-5.24663557064e-05,1793247746464375808
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679.178657578,662,634,877,784.821342422,810.178657578,652.821342422,629.178657578,652.178657578,0.411761322583,0.0045120108802,0.0599936563158,0.999999998711,1.05505570828e-05,3.64772865738e-06,-4.95320965859e-05,1793247746481042432
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679.752094849,662,634,877,784.247905151,810.752094849,652.247905151,629.752094849,652.752094849,0.412464788301,0.00451741654557,0.0599788855048,0.999999994417,9.96706247212e-05,-1.97620620412e-05,-2.89985063191e-05,1793247746497709056
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.677760314,634,877.322239686,784.322239686,811,652,629.677760314,653,0.413143686649,0.00452235808926,0.0599500372565,0.99999998768,0.000134741399622,-7.69506406296e-05,-2.37474235587e-05,1793247746514375424
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.110122733,634,877.889877267,784.889877267,811,652,629.110122733,653,0.413803876076,0.00452694618703,0.0599104684975,0.999999978492,0.00012865157179,-0.00015986306565,-3.01345549627e-05,1793247746531042048
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.485166845,634,878,784.514833155,811,652,629,652.514833155,0.41459280344,0.00452102814591,0.059921694179,0.999999983713,0.000111154461998,-0.000137968564121,-3.43971569641e-05,1793247746547708672
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.083833842,634,878,784.083833842,810.916166158,652.083833842,629,652.083833842,0.415420782839,0.00451418389552,0.0599487784068,0.999999991206,9.4184404659e-05,-8.52969242678e-05,-3.79699968708e-05,1793247746564375296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.663126021,634,878,784.663126021,810.336873979,652.663126021,629,652.663126021,0.416296427478,0.00451681097451,0.0599973304115,0.999999994519,9.65563521274e-05,1.77390788484e-07,-4.04885354819e-05,1793247746581042176
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.760259029,633.760259029,878.239740971,785,810.239740971,652.760259029,629,652.760259029,0.417158969952,0.00451740605508,0.0600229811019,0.9999999932,9.98368270889e-05,4.36600162273e-05,-4.15445867859e-05,1793247746597709056
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.187364499,633.187364499,878.812635501,785,810.812635501,652.187364499,629,652.187364499,0.418003305088,0.00451517738992,0.0600168072149,0.999999993315,0.000104379828498,2.87893197681e-05,-4.05683079101e-05,1793247746614375424
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745.380182736,715,680,661.619817264,633.380182736,878.619817264,784.619817264,811,652,629,652.380182736,0.418837374613,0.00451460625911,0.0599996313333,0.999999993768,0.000103425749584,1.5233212122e-06,-4.20057183402e-05,1793247746631042304
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.945131211,715,680,661.054868789,633.945131211,878.054868789,784.054868789,811,652,629,652.945131211,0.419666455109,0.00451484067669,0.0599771085713,0.99999999352,9.98001337943e-05,-3.17666936509e-05,-4.46161622769e-05,1793247746647708928
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.452830519,714.452830519,680,662.094338963,633.452830519,878.547169481,784.547169481,811,652,629,653,0.420505933068,0.00451509652928,0.0599449757255,0.999999995723,8.06077464257e-06,-7.99380264386e-05,-4.58070870882e-05,1793247746664375552
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.144169993,680,662.855830007,633,879,785,811,652,629.144169993,653,0.421345194702,0.00451469667227,0.0599121202283,0.999999987749,-6.50559694409e-05,-0.000134613315767,-4.63554712675e-05,1793247746681042432
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.714486433,680,662.285513567,633,879,785,811,652,629.714486433,653,0.422180510774,0.00451235181334,0.0598801842951,0.999999976685,-5.51102616422e-05,-0.000203781736973,-4.54559448894e-05,1793247746697708800
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633.288731883,879,785,811.288731883,652,629.711268117,653,0.423116369076,0.00451046928369,0.0598958836987,0.999999981497,-4.99810392211e-05,-0.000179977520683,-4.60046085421e-05,1793247746714375680
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633.866916216,879,785,811.866916216,652,629.133083784,653,0.424153020623,0.00450905023683,0.0599593373153,0.999999995631,-4.96803208282e-05,-6.29686485802e-05,-4.80050759632e-05,1793247746731042304
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.373317058,634,879,784.542227647,812,652,629,653,0.425128804919,0.00450546227596,0.0600097927119,0.99999999743,-4.95456489986e-05,1.87240990087e-05,-4.83253064273e-05,1793247746747708928
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.847420936,633.949140312,879,784,812,652,629.050859688,652.949140312,0.42608364556,0.00450160020176,0.0600508029663,0.999999994238,-4.89229557955e-05,8.23967609827e-05,-4.83772623932e-05,1793247746764375808
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663.116496314,633.372165438,879,784,812,652,629.627834562,652.372165438,0.427010096301,0.0045016109367,0.0600343114701,0.999999995421,-4.27383785131e-05,6.88930325452e-05,-5.08509725634e-05,1793247746781042176
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.203616446,745,715,680,662.203616446,633,878.796383554,784,812,652,630,652.203616446,0.42792772256,0.00450101058732,0.0600136588637,0.99999999695,-3.62237303814e-05,4.48447926696e-05,-5.26860947411e-05,1793247746797708800
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.777230477,745,715,680,662.777230477,633,878.222769523,784,812,652,630,652.777230477,0.428829313533,0.00449929981821,0.0599854449792,0.999999998151,-2.91093008897e-05,1.63580381281e-06,-5.33608192199e-05,1793247746814375680
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.649219093,745,715,680,662.649219093,633,878.350780907,784,812.350780907,652,630.350780907,652.649219093,0.429711729264,0.00449876945096,0.0599475341542,0.999999996296,-2.12027140519e-05,-6.37428087644e-05,-5.38026666581e-05,1793247746831042304
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.075709068,745,715,680,662.075709068,633,878.924290932,784,812.924290932,652,630.924290932,652.075709068,0.430581969597,0.00449898858256,0.0599034662364,0.999999988202,-1.27931453243e-05,-0.000143198071314,-5.40966480445e-05,1793247746847708672
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633,879,784,813,652,630.481666808,652.518333192,0.431555399151,0.00449499588062,0.0599305160779,0.999999994486,-1.37552809159e-05,-8.82526591992e-05,-5.52357160853e-05,1793247746864375296
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.221619872,633,879.110809936,784.110809936,812.889190064,652,630,653,0.43253531068,0.0044907927766,0.059968245999,0.999999998167,-1.52138608489e-05,-1.69366590254e-05,-5.61067814086e-05,1793247746881041920
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.367470208,633,879.683735104,784.683735104,812.316264896,652,630,653,0.43347680571,0.00448838360111,0.0600054087041,0.999999997688,-1.27987342173e-05,3.74059831e-05,-5.53241842262e-05,1793247746897708800
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663.484280734,633,879.742140367,784.742140367,812.257859633,652,630,652.742140367,0.43439594108,0.00448637469801,0.0600149355248,0.999999997119,-1.09801223676e-05,5.0429448791e-05,-5.56613089592e-05,1793247746914375680
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.33307574,633,879.16653787,784.16653787,812.83346213,652,630,652.16653787,0.435287524288,0.00448485902299,0.0599904085324,0.999999998226,-9.8965547558e-06,1.25381148741e-05,-5.73781907402e-05,1793247746931042304
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633,879,784,813,652,630,652.419323237,0.436150137445,0.00448339503727,0.0599614048146,0.999999997408,-9.60804054611e-06,-4.04846151017e-05,-5.87672445846e-05,1793247746947708672
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.009249913,662.009249913,633,879,784,813,652,630,653,0.437000395999,0.00448198745661,0.0599306581899,0.999999993202,-9.48743988819e-06,-9.95356224444e-05,-5.99906325631e-05,1793247746964375040
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.592299188,662.592299188,633,879,784,813,652,630,653,0.437815897428,0.00448277344053,0.0599048524923,0.999999986937,2.95880583371e-07,-0.000150398678396,-5.92165134213e-05,1793247746981041664
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.827375838,662.827375838,633,879,784,813,652,630.172624162,653,0.43864525721,0.0044809599695,0.0598920755859,0.999999982498,4.59289502617e-06,-0.000177567674827,-5.87539913314e-05,1793247746997708288
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.253385139,662.253385139,633,879,784,813,652,630.746614861,653,0.439506838846,0.00447310253437,0.0599095917798,0.999999987054,-3.86624077786e-06,-0.000149645872349,-5.9015960439e-05,1793247747014375168
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.320621771,662.320621771,633,879.320621771,784,813,652,630.679378229,653,0.440382091417,0.00446980182867,0.0599512689229,0.999999994678,-6.73678936645e-06,-8.39877897957e-05,-5.95339781049e-05,1793247747031042048
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680.894641465,662.894641465,633,879.894641465,784,813,652,630.105358535,653,0.441268148536,0.00447010245637,0.0600120412575,0.999999998105,-5.19049334113e-06,1.14945145721e-05,-6.02543589563e-05,1793247747047708672
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.519013685,633,880,784,813.480986315,652,630.480986315,653,0.442059897266,0.00446852251772,0.0600136826537,0.99999999801,-5.30761725391e-06,1.54307427295e-05,-6.09331403981e-05,1793247747064375296
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,633,879.930723483,784,814,652,630.930723483,653,0.44282261748,0.00446632771608,0.0600003185405,0.99999999808,-5.95761795737e-06,-3.56641167284e-06,-6.15720956129e-05,1793247747081042176
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,633,879.348544868,784,814,652,630.348544868,653,0.443527386456,0.00446271068364,0.0599742761105,0.999999997249,-7.78426918319e-06,-3.9985483391e-05,-6.19854270971e-05,1793247747097708800
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.230811217,633,879,784,814,652,630,653,0.44424677183,0.00445979287479,0.0599616418664,0.999999996418,-8.06564204425e-06,-5.7189627462e-05,-6.18790994758e-05,1793247747114375424
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.80595662,633,879,784,814,652,630,653,0.444987962685,0.00445791819748,0.0599690105318,0.999999997076,-6.04170190005e-06,-4.57281145406e-05,-6.09975220152e-05,1793247747131041792
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.378995965,745,715,681,663,633,879.378995965,784,814,652,630,653,0.445660314952,0.00445642564677,0.0599621858535,0.999999995847,-6.37593589797e-06,-6.77260598014e-05,-6.06566788841e-05,1793247747147708416
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.950962946,745,715,681,663,633,879.950962946,784,814,652,630,653,0.44629761706,0.0044551276612,0.0599481344383,0.999999992434,-7.91086686658e-06,-0.000106760349829,-6.05911580664e-05,1793247747164375296
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.477014291,633,879.477014291,783.477014291,814,652,630,653,0.446942893395,0.00445218297335,0.0599375799993,0.999999986997,-9.68034872096e-05,-0.000112929290576,-6.23068421037e-05,1793247747181042176
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,681.099248636,662.099248636,633,879,783.099248636,814,651.900751364,630.099248636,653,0.447586449085,0.00444928881695,0.0599337227114,0.999999976168,-0.000178431173495,-0.00010824308246,-6.4113743899e-05,1793247747197708800
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681.696772942,662.696772942,633,879,783.696772942,814,651.303227058,630.696772942,653,0.448217612124,0.0044474236015,0.0599618419919,0.999999979125,-0.000182458402667,-6.45314683606e-05,-6.55400338717e-05,1793247747214375424
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681.718187601,662.718187601,633,879.281812399,783.718187601,814.281812399,651.281812399,631,653,0.448803333294,0.00444573808058,0.0599768889539,0.999999979688,-0.000185566548004,-4.0824260463e-05,-6.72538942817e-05,1793247747231042304
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.146011855,662.146011855,633,879.853988145,783.146011855,814.853988145,651.853988145,631,653,0.449342233726,0.00444423770673,0.0599784669463,0.999999979269,-0.000187727722047,-3.77284492408e-05,-6.92640508016e-05,1793247747247709184
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680.556397924,662,633,879.556397924,783,814.556397924,652,631,653,0.449828732554,0.00444463837117,0.0599478464701,0.99999997596,-0.000188811625432,-8.56510006555e-05,-7.137010191e-05,1793247747264375808
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.962060003,745,715,680.037939997,661.962060003,632.962060003,879,783,814,652.037939997,630.962060003,653,0.450294896551,0.00444556117007,0.0599070578532,0.99999996816,-0.000189758098928,-0.000149199234392,-7.35586398372e-05,1793247747281042176
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.385478668,745,715,680.614521332,661.385478668,632.385478668,879,783,814,652.614521332,630.385478668,653,0.450727255878,0.00444464972771,0.0598785309303,0.999999960884,-0.000193993552205,-0.000186423264566,-7.64518068618e-05,1793247747297708800
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,632,879.190459042,783.190459042,814,652.809540958,630,653,0.451154640681,0.00444391711172,0.0598603467332,0.999999955692,-0.000197075592824,-0.000208715841967,-7.88310651547e-05,1793247747314375424
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,632,879.765098579,783.765098579,814,652.234901421,630,653,0.45157199131,0.00444354521149,0.059863025145,0.999999957039,-0.000197831052301,-0.000200889757043,-8.0173703838e-05,1793247747331042048
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.341939087,745,715,681.341939087,661,632,880,783.658060913,814.341939087,652,630.341939087,653,0.451974841577,0.00444293429484,0.0598733410979,0.999999959924,-0.000198862274491,-0.000184400113383,-8.12570702281e-05,1793247747347708928
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.920301353,745,715,681.920301353,661,632,880,783.079698647,814.920301353,652,630.920301353,653,0.452367665994,0.00444215811772,0.0598889377917,0.999999963499,-0.00020008416414,-0.000161920321054,-8.21611707191e-05,1793247747364375808
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.490774075,661,632,880,783.509225925,814.490774075,652,631,653,0.452713049642,0.0044429375702,0.0598908208656,0.999999964458,-0.000198886045595,-0.000157110630919,-8.2736132551e-05,1793247747381042688
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.097777222,660.804445556,632,879.902222778,783.902222778,814,652,631,653,0.453039313561,0.00444361113624,0.0598884920285,0.999999966616,-0.000186854188137,-0.000159766871648,-7.95436132512e-05,1793247747397709824
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.676195389,659.647609222,632,879.323804611,783.323804611,814,652,631,653,0.453308862723,0.00444254202648,0.0598762328461,0.999999973533,-0.000123468469017,-0.000185240766901,-5.80899709029e-05,1793247747414376448
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.747443736,745,715,681.747443736,659,632,879.252556264,783,814.252556264,652,631,653,0.453561830469,0.00444438915477,0.0598616271119,0.999999972732,-8.69448174075e-05,-0.000211508622318,-4.73372262804e-05,1793247747431042816
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.173699265,745,715,681.173699265,659,632,879.826300735,783,814.826300735,652,631,653,0.453793710793,0.00444994500634,0.0598440371533,0.999999966654,-8.45829819745e-05,-0.000238786194785,-5.01933408518e-05,1793247747447709184
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,631.588919684,880,783,814.588919684,652,631,653,0.454011411435,0.00445068083203,0.0598355946378,0.999999962941,-8.83184192891e-05,-0.000252158856146,-5.22788359888e-05,1793247747464375552
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.000639708,745.000639708,715,681,658.999360292,631,880,783,814,652,631,653,0.454222946594,0.00444932348824,0.0598311388364,0.999999960395,-9.46982393616e-05,-0.000259468699789,-5.40293414786e-05,1793247747481042176
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.579644606,745.579644606,715,681,658.420355394,631,880,783,814,652,631,653,0.454426620419,0.0044476781761,0.0598401570151,0.99999996389,-9.83222616807e-05,-0.000243887759084,-5.54294622971e-05,1793247747497709568
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.841824354,715,681,658,631.158175646,880,783.158175646,814.158175646,652,630.841824354,653,0.454619366096,0.00444715692343,0.0598489611551,0.999999967004,-0.000101424891007,-0.000229071222578,-5.68482075692e-05,1793247747514376448
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.264548714,715,681,658,631.735451286,880,783.735451286,814.735451286,652,630.264548714,653,0.454783156753,0.00444961396279,0.0598571981832,0.999999969592,-0.000103146045552,-0.00021628003751,-5.83163002685e-05,1793247747531042816
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681,658,631.689407432,880,783.689407432,815,652,630,653,0.454925499201,0.00444871614893,0.05985980164,0.999999970132,-0.000106871982944,-0.000211686471036,-5.91808268224e-05,1793247747547709184
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681,658,631.116071727,880,783.116071727,815,652,630,653,0.455049697712,0.00444498032542,0.0598576394246,0.999999969019,-0.000112293849216,-0.000214027610978,-5.95347716523e-05,1793247747564376064
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+218,3.633333333,POSE1_TO_POSE2_PRESS,765.939188637,745,715,681.939188637,658,631,880,783,815,652,630.060811363,653,0.455230027616,0.00444999045803,0.0598414644239,0.999999964447,-0.000105451602477,-0.000237282048371,-6.06903371762e-05,1793247747597708544
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.360243227,745,715,681.360243227,658,631,880,783,815,652,630.639756773,653,0.455302230377,0.00444987113469,0.0598339778016,0.999999961813,-0.00010673092106,-0.000247353231443,-6.16284820528e-05,1793247747614375424
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.217537401,745,715,681,657.782462599,631,880,783.217537401,815,652,631,653,0.455369612263,0.00444977834568,0.0598296448565,0.999999960404,-0.000106966816738,-0.000252772988465,-6.20898882147e-05,1793247747631042304
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.793399358,745,715,681,657.206600642,631,880,783.793399358,815,652,631,653,0.455429053263,0.00444972926366,0.0598305066049,0.999999961146,-0.000105484000728,-0.000250530980783,-6.17660169689e-05,1793247747647709440
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,657.375804895,631,880,784,815,652,631,653,0.455476867398,0.00445001838882,0.0598317233853,0.99999996172,-0.000104587369512,-0.000248633637197,-6.16697092627e-05,1793247747664376320
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,657.961871603,631,880,784,815,652,631,653,0.45551817634,0.00445049673996,0.059833138805,0.9999999622,-0.000104018706947,-0.00024692913202,-6.17007227049e-05,1793247747681043200
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681.541405445,657.458594555,631,880,783.458594555,814.458594555,652,630.458594555,653,0.455545631232,0.00445022124089,0.0598313089305,0.999999961696,-0.000103411710379,-0.000249247497108,-6.15667614914e-05,1793247747697709824
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.879793649,745,715,681.879793649,657,631,879.879793649,783,814.120206351,652,630.120206351,653,0.45556989721,0.00444978302228,0.0598292863404,0.99999996102,-0.000103269410135,-0.000252036913332,-6.14177288502e-05,1793247747714376192
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.302052034,745,715,681.302052034,657,631,879.302052034,783,814.697947966,652,630.697947966,653,0.455585694755,0.00444892511624,0.0598273897708,0.999999959967,-0.00010490601258,-0.000255553776368,-6.12550255185e-05,1793247747731042560
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.2743511,745,715,681.2743511,657,631,879.2743511,783,814.7256489,652,631,653,0.455598591227,0.00444840245508,0.059825506185,0.999999959194,-0.000106263388222,-0.000258004998404,-6.12683725299e-05,1793247747747709184
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.849287728,745,715,681.849287728,657,631,879.849287728,783,814.150712272,652,631,653,0.455608309214,0.00444824709615,0.0598236368246,0.999999958737,-0.000107314836301,-0.000259288678848,-6.1474604455e-05,1793247747764375552
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.565829607,745,715,681.565829607,657,631,880,783,814,652,631,653,0.455614273622,0.00444919511284,0.0598231300209,0.999999958715,-0.000105608487917,-0.000260116625274,-6.12872491856e-05,1793247747781042688
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.022230328,745,715,681,657,631,880,783,814,652,631,653,0.455618800989,0.00445043393598,0.0598230519554,0.999999958815,-0.000103025038561,-0.000260841370827,-6.0969191976e-05,1793247747797709824
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.601366792,745,715,681,657,631,880,783,814,652,631,653,0.455620734915,0.00444913791401,0.0598215877582,0.999999958247,-0.000103013111864,-0.000263036790649,-6.08797560311e-05,1793247747814376448
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.640499203,745,715,681,657,631,880,783,814,652,630.820249602,653,0.455622931676,0.00444844440533,0.0598207199052,0.999999957963,-0.000102857934599,-0.000264176955798,-6.08715933667e-05,1793247747831043072
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.487057449,745,715,681,657,631,880,783,814,652,630.243528725,653,0.455625708895,0.00444908151966,0.0598211690513,0.999999958314,-0.000102386395053,-0.000262986639305,-6.10429190124e-05,1793247747847709440
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.332334413,745,715,681.332334413,657,631.332334413,880,783,814,652,630.332334413,653,0.455625937805,0.00444970305538,0.0598205610887,0.999999957993,-0.000102735687664,-0.000264049009923,-6.11368403432e-05,1793247747864376064
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.907570691,745,715,681.907570691,657,631.907570691,880,783,814,652,630.907570691,653,0.455624304165,0.00445031320483,0.0598191804897,0.999999957174,-0.0001036849231,-0.000266757860237,-6.11741871936e-05,1793247747881042432
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681.505260288,657,631.505260288,880,783.494739712,814,652,630.505260288,653,0.455623312628,0.00445050435064,0.059817873788,0.99999995699,-0.000100598137116,-0.000268659544272,-6.10092380736e-05,1793247747897708544
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.082733409,745,715,681,657,631,880,783.917266591,814.082733409,652,630,653,0.45562280227,0.00445046645344,0.059816899648,0.999999956935,-9.77709644455e-05,-0.000269945362361,-6.08296523341e-05,1793247747914375168
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.661967124,745,715,681,657,631,880,783.338032876,814.661967124,652,630,653,0.45562444187,0.00444953540682,0.0598178363804,0.999999957001,-0.000101138688737,-0.000268462579673,-6.07946429802e-05,1793247747931042304
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,879.761148386,783,815,652,630.238851614,653,0.455625187619,0.00445015868575,0.0598180247665,0.99999995703,-0.000101520422572,-0.000268213148974,-6.07886730954e-05,1793247747947709184
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,879.187556267,783,815,652,630.812443733,653,0.455624680674,0.00445296028671,0.0598171643767,0.999999957009,-9.77174160116e-05,-0.000269692209368,-6.08234008086e-05,1793247747964375552
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,879.395962778,783,814.604037222,652,631,653,0.455624939468,0.00445185561339,0.0598168763848,0.999999956934,-9.85774358256e-05,-0.000269726006089,-6.05125597511e-05,1793247747981042432
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,879.984304823,783,814.015695177,652,631,653,0.455625570299,0.00444885306923,0.0598168664935,0.99999995683,-0.000101702995958,-0.000269057618668,-6.00338234498e-05,1793247747997709568
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.563749314,715,681.563749314,657,631,879.436250686,783,814.563749314,652,631,653,0.455625957491,0.00444925602194,0.0598170968811,0.999999957109,-9.87433795264e-05,-0.000269111138226,-6.00895888551e-05,1793247748014375680
+244,4.066666667,HOLD_POSE2,766,745,715,682,657,631,880,783,815,652,631,653,0.45562676747,0.00445071804765,0.0598171138302,0.999999956586,-9.87118076556e-05,-0.000271007930452,-6.03294058433e-05,1793247748055770112
+245,4.083333333,HOLD_POSE2,766,745,715,681.425834465,657.574165535,631,880,783,815,652,631,653,0.455624966485,0.00445071746869,0.059815389396,0.999999956193,-9.87766057314e-05,-0.000272485658376,-6.00761003723e-05,1793247748072437248
+246,4.100000000,HOLD_POSE2,766,745,715,681,657.847889499,631,880,783,814.847889499,652,631,653,0.455623993233,0.00445073083841,0.0598144374193,0.999999955918,-9.93009039829e-05,-0.000273301652655,-6.00728164978e-05,1793247748089104640
+247,4.116666667,HOLD_POSE2,766,745,715,681,657.259094263,631,880,783,814.259094263,652,631,653,0.455625396266,0.00445078425251,0.0598157030431,0.999999955986,-0.00010114435321,-0.000272217916609,-6.07873042792e-05,1793247748105771520
+248,4.133333333,HOLD_POSE2,766,745,715,681,657,631,880,783,814.32608909,652,631,653,0.455625537026,0.00444994962639,0.0598159645793,0.999999956053,-0.000101589436854,-0.000271849050225,-6.05878187135e-05,1793247748122438144
+249,4.150000000,HOLD_POSE2,766,745,715,681,657,631,880,783,814.908434024,652,631,653,0.455624685834,0.00444841713733,0.0598154370572,0.999999956122,-0.000100935620232,-0.00027204196145,-5.96700907038e-05,1793247748139104256
+250,4.166666667,HOLD_POSE2,765.514030674,745,715,681,657.485969326,631,880,783,814.514030674,652,630.514030674,653,0.455624796215,0.00444955250994,0.0598148748204,0.999999955964,-9.97359774944e-05,-0.000273046954657,-5.97449083679e-05,1793247748155770368
+251,4.183333333,HOLD_POSE2,765,745,715,681,657.93808248,631,880,783,814,652,630,653,0.455625242093,0.00445092881073,0.059814530613,0.999999955858,-9.86648540555e-05,-0.000273774534486,-5.99780349914e-05,1793247748172436992
+252,4.200000000,HOLD_POSE2,765,745,715,681,657.367797493,631,880,783,814,652,630,653,0.455626969572,0.00445019649996,0.059816029691,0.999999956537,-9.94850414549e-05,-0.000270980463411,-5.99905235337e-05,1793247748189103616
+253,4.216666667,HOLD_POSE2,765.211358349,745,715,681,657,631,880,783,814.211358349,652,630.211358349,653,0.455627911216,0.00445012828026,0.0598167038311,0.999999956907,-9.90502399895e-05,-0.000269775962541,-5.9960465655e-05,1793247748205770240
+254,4.233333333,HOLD_POSE2,765.806627113,745,715,681,657,631,880,783,814.806627113,652,630.806627113,653,0.455627425473,0.00445126631289,0.059815879557,0.999999956724,-9.63358819536e-05,-0.000271458750591,-5.98531266356e-05,1793247748222436864
+255,4.250000000,HOLD_POSE2,766,745,715,681,657,631,880,783,814.610564781,652,630.610564781,653,0.455627648593,0.00445184874872,0.0598159214084,0.999999956882,-9.44529469311e-05,-0.000271516811392,-5.99406489539e-05,1793247748239104000
+256,4.266666667,HOLD_POSE2,766,745,715,681,657,631,880,783,814.03375209,652,630.03375209,653,0.455628212784,0.00445216385824,0.0598163799976,0.999999957207,-9.29700523797e-05,-0.000270793131839,-6.01219291539e-05,1793247748255771648
+257,4.283333333,HOLD_POSE2,766,745,715,681,657,631,880,783,814,652,630.540995415,653,0.455627389691,0.00445280542934,0.0598152714394,0.999999956614,-9.28925471412e-05,-0.000272960996684,-6.0298300852e-05,1793247748272437760
+258,4.300000000,HOLD_POSE2,766,745,715,681,657,631,879.88488258,783,814,652,631,653,0.455626902459,0.00445287902202,0.0598145835792,0.999999956167,-9.34417176037e-05,-0.000274396713763,-6.03470632069e-05,1793247748289104128
+259,4.316666667,HOLD_POSE2,766,745,715,681,657,631,879.312734136,783,814,652,631,653,0.455628090946,0.00445061711281,0.0598159526382,0.999999956536,-9.61320918324e-05,-0.000272212222034,-5.98904112175e-05,1793247748305770496
+260,4.333333333,HOLD_POSE2,766,745,715,681,657,631,879,783,814,652,631,653,0.455628495676,0.00444987645314,0.0598162603568,0.99999995672,-9.65887997975e-05,-0.000271420886805,-5.96849149069e-05,1793247748322436864
+261,4.350000000,HOLD_POSE2,766,745,715,681,657,631,879,783,814,652,631,653,0.455627955554,0.00445096971947,0.0598152885881,0.999999956686,-9.43527354927e-05,-0.000272309056399,-5.97821966253e-05,1793247748339103488
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,657,631,880,783,814,653,631,653,0.455627628784,0.00445228216642,0.0598141204193,0.999999956469,-9.27257822416e-05,-0.000273618843261,-5.99772979773e-05,1793247748371833600
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.423993615,657,631,880,783.576006385,814,652.423993615,631,653,0.455627759503,0.00445133054679,0.0598144561208,0.999999956535,-9.38713035999e-05,-0.000273002436903,-5.98971012907e-05,1793247748388499968
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.155971072,715,681,657,631,880,783.844028928,814,652,630.844028928,653,0.455627925822,0.00445072722687,0.0598147576406,0.999999956556,-9.4947490977e-05,-0.000272569612745,-5.98204765306e-05,1793247748405166336
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745.746976378,715,681,657,631,880,783.253023622,814,652,630.253023622,653,0.455628191435,0.00445109538359,0.0598149638207,0.999999956454,-9.58302924002e-05,-0.000272648835586,-5.97538145629e-05,1793247748421832192
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.669748684,745.669748684,715,681,657,631,879.669748684,783,814,652,630,653,0.455628350177,0.00445131815561,0.0598151937894,0.999999956489,-9.60404003152e-05,-0.000272452749892,-5.97239374429e-05,1793247748438498304
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.092260976,745.092260976,715,681,657,631,879.092260976,783,814,652,630,653,0.455628428911,0.0044514320881,0.0598154415669,0.999999956627,-9.57469089247e-05,-0.000272050559671,-5.9721598606e-05,1793247748455164928
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,631,879.484303874,783,814,652,630,653,0.455628427582,0.00445128653334,0.05981549703,0.99999995663,-9.61409617091e-05,-0.000271922655274,-5.96190991088e-05,1793247748471831296
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,631,879.938134028,783,814,652,630,653,0.455627905881,0.00445124778334,0.0598152414254,0.999999956531,-9.62750051405e-05,-0.000272262245834,-5.95165680208e-05,1793247748488497920
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,657,631,879.350607598,783,814,652,630,653,0.455623092055,0.00445253574881,0.0598126534498,0.999999955768,-9.30890325568e-05,-0.000276130900941,-5.95755854451e-05,1793247748505164800
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.233483147,745,715,681.233483147,656.766516853,631,879.233483147,783,814.233483147,652,630.233483147,653,0.455613966522,0.00445311080119,0.0598083504181,0.999999953908,-9.20768749436e-05,-0.000283079519797,-5.9769307181e-05,1793247748521831168
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.812489493,745,715,681.812489493,656.187510507,631,879.812489493,783,814.812489493,652,630.812489493,653,0.455598460255,0.00445263083934,0.0598015093375,0.999999950355,-9.4281667163e-05,-0.0002945860644,-6.01623729096e-05,1793247748538497792
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.610034094,656.389965906,631,880,783,814.610034094,652,631,653,0.45556304421,0.0044530427682,0.0597858201672,0.999999942374,-9.36336276577e-05,-0.000320706786057,-6.02710090634e-05,1793247748555164416
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.033290406,656.966709594,631,880,783,814.033290406,652,631,653,0.455518092192,0.00445388187633,0.0597658931217,0.999999931392,-9.16191980906e-05,-0.000353827103897,-6.02434150202e-05,1793247748571831040
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,657,631,880,783,814.542070057,652.542070057,631,653,0.455458216418,0.00445354057218,0.0597478364064,0.999999921818,-9.08041015524e-05,-0.000380135087491,-6.0131030547e-05,1793247748588498176
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,657.120152474,631,879.879847526,783,814.879847526,652.879847526,631,653,0.45539503779,0.00445332213676,0.0597318277412,0.999999912936,-9.04746699408e-05,-0.000402906158169,-6.00765082508e-05,1793247748605165056
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,657.709187871,631,879.290812129,783,814.290812129,652.290812129,631,653,0.455322537614,0.00445386536145,0.059723364277,0.999999908482,-9.17537962808e-05,-0.000413503278918,-6.02680565029e-05,1793247748621832192
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.706963492,745,715,681.293036508,657.706963492,631,879.293036508,783,814,652,630.706963492,653,0.455243385546,0.00445449050173,0.0597190931507,0.999999906169,-9.10618587413e-05,-0.000419240821618,-6.00490062941e-05,1793247748638499072
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.128172752,745,715,681.871827248,657.128172752,631,879.871827248,783,814,652,630.128172752,653,0.455157746898,0.00445519552185,0.0597189101786,0.999999906022,-8.84478403331e-05,-0.000420239551463,-5.94295614358e-05,1793247748655165696
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.446718392,745,714.553281608,681.553281608,657,631,880,783,814,652,630,653,0.45505409165,0.00445606784353,0.0597186169003,0.999999905947,-8.44840960439e-05,-0.000421378902745,-5.83827719516e-05,1793247748671832576
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.020522787,681,657.020522787,631,880,783,814,652,630.020522787,653,0.454944342396,0.00445694779471,0.0597183333536,0.999999905859,-8.01790867358e-05,-0.00042258789289,-5.72090828624e-05,1793247748688499712
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.594933149,681,657.594933149,631,880,783,814,652,630.594933149,653,0.454808429856,0.00445674934027,0.0597191592354,0.99999990533,-7.702509666e-05,-0.000424596857064,-5.5891092403e-05,1793247748705166336
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.824922646,745,715,681.175077354,657.824922646,631,879.824922646,783,814,652,630.824922646,653,0.454664848995,0.00445739550748,0.0597205090859,0.999999905257,-7.32821502814e-05,-0.000425590821838,-5.46555493287e-05,1793247748721832704
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.231063268,745,715,681.768936732,657.231063268,631,879.231063268,783,814,652,630.231063268,653,0.45450292566,0.00446006199521,0.05972311226,0.999999906287,-6.81304309993e-05,-0.000424156925205,-5.36172191728e-05,1793247748738499072
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.661368255,657.338631745,631.338631745,879,782.661368255,813.661368255,652,630.338631745,653,0.454314822858,0.00446068459554,0.0597254770235,0.999999907073,-6.44970302519e-05,-0.000423070043653,-5.20105354363e-05,1793247748755165440
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.107063366,657.892936634,631.892936634,879,782.107063366,813.107063366,652,630.892936634,653,0.454110046447,0.00446000545278,0.0597276899446,0.999999907708,-6.18306397284e-05,-0.000422204174417,-5.00418695778e-05,1793247748771832064
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.484670137,745,715,681,658,631.515329863,879.484670137,782.484670137,813.484670137,652,631,653,0.453873391435,0.00446041943874,0.0597224100591,0.999999904353,-5.80004635579e-05,-0.000430803586809,-4.83597066735e-05,1793247748788498688
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,658,631.081769074,880,783.081769074,814,652,631,653,0.453625825109,0.00446154377837,0.0597161943122,0.999999900774,-5.31083168408e-05,-0.000439825937821,-4.67487401593e-05,1793247748805165056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,658,631.657168955,880,783.657168955,814,652,631,653,0.45335845754,0.00446537671306,0.0597151570754,0.999999902234,-4.34870114007e-05,-0.000437722806075,-4.51535388682e-05,1793247748821832448
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.239232312,632,879.760767688,783.760767688,813.760767688,652,631,653,0.453077493355,0.00446809528298,0.0597182647915,0.999999906287,-3.53872757265e-05,-0.00042927896192,-4.35169826598e-05,1793247748838499584
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.831118301,632,879.168881699,783.168881699,813.168881699,652,631,653,0.452776486339,0.0044691711614,0.0597274826057,0.999999914028,-2.95304950469e-05,-0.000411488238545,-4.18194650284e-05,1793247748855166208
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.586355071,745,715,681,659.413644929,632,879.413644929,783,813.413644929,652,630.586355071,653,0.452453552563,0.00447131273841,0.0597391015058,0.999999922076,-2.09194229203e-05,-0.000392272478539,-3.91462809734e-05,1793247748871832576
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.00756512,745,715,681,659.99243488,632,879.99243488,783,813.99243488,652,630.00756512,653,0.452121864679,0.00447387978856,0.0597516790233,0.999999929913,-1.12087181498e-05,-0.000372487782311,-3.60835685321e-05,1793247748888498944
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.565956625,659.434043375,632,880,783.565956625,813.434043375,652,630.565956625,653,0.451738375015,0.00447628443805,0.0597615514037,0.999999935552,-2.38723024211e-06,-0.000357468989373,-3.32467345509e-05,1793247748905165824
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.143263686,632,879.856736314,783.856736314,813,652,631,653,0.451342433135,0.00447882557694,0.0597684920074,0.999999939195,6.64130455501e-06,-0.000347338805354,-3.03453070045e-05,1793247748921832704
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.732573296,632,879.267426704,783.267426704,813,652,631,653,0.450909857815,0.0044817983662,0.0597664161785,0.999999937462,1.63511358296e-05,-0.000352232602778,-2.7233456659e-05,1793247748938499328
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.316028479,632.316028479,879.316028479,783,812.683971521,652,630.683971521,653,0.450436517646,0.00448433923,0.05975860939,0.999999933497,2.63146314698e-05,-0.000362941038942,-2.42554976603e-05,1793247748955165696
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.89461975,632.89461975,879.89461975,783,812.10538025,652,630.10538025,653,0.449929309178,0.0044865212418,0.0597460412052,0.999999927482,3.64888776092e-05,-0.000378480393956,-2.1388777929e-05,1793247748971832576
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.527540649,661,632.527540649,880,783.472459351,812,652,630.472459351,652.527540649,0.44940440319,0.00448879325242,0.0597407171466,0.999999924941,4.98017241582e-05,-0.000383830025759,-1.76561015189e-05,1793247748988499456
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,744.378972577,715,681,661,632,879.378972577,783.378972577,812,652,631,652.621027423,0.44831913164,0.00449544020884,0.0597503451961,0.99999992784,7.62321188436e-05,-0.000372050912138,-9.32281437013e-06,1793247749021832704
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.19977705,744.19977705,715,681.19977705,661.19977705,632.19977705,879,783.19977705,812.19977705,652,630.80022295,652.80022295,0.447762903387,0.00449943383335,0.0597701813058,0.999999937201,8.9328690824e-05,-0.000342920496521,-4.80430193315e-06,1793247749038499072
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.792925586,744.792925586,715,681.792925586,661.792925586,632.792925586,879,783.792925586,812.792925586,652,630.207074414,652.207074414,0.447202725504,0.00450304042821,0.0598054915489,0.999999954635,0.000103509707471,-0.000282869280488,8.09494996203e-09,1793247749055165696
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.623109473,662,633,879,783.623109473,812.623109473,652,630.376890527,652.376890527,0.446562734563,0.00450678869359,0.059819812712,0.999999957007,0.000120255048774,-0.00026738827762,5.38374222103e-06,1793247749071832064
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.044070257,662,633,879,783.044070257,812.044070257,652,630.955929743,652.955929743,0.445879935173,0.00451061294514,0.0598228761886,0.999999952329,0.000138375788766,-0.000275812919407,1.10614938472e-05,1793247749088498688
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.46734814,745,714.46734814,681.53265186,661.46734814,633,879,783.53265186,812,652,631,653,0.44514445197,0.00451491876044,0.0597834281025,0.999999932443,0.000155329226953,-0.000332817301788,1.4794093949e-05,1793247749105165824
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,633,879,784,812,652,631,652.889180994,0.4444154476,0.00451902731482,0.0597497326366,0.999999913165,0.000171065554873,-0.000379567724239,1.82988596741e-05,1793247749121832448
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,633,879,784,812,652,631,652.304011645,0.44373275262,0.00452212170409,0.059755650988,0.999999916485,0.000182003763495,-0.000365297030778,2.15142924569e-05,1793247749138499328
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.278310452,745,714,681.721689548,661.556620904,633,879,784,812,652,631,652.278310452,0.443021602737,0.00452561257374,0.0597722741,0.9999999238,0.000193992958277,-0.000337799063123,2.56584854258e-05,1793247749155165952
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.85755393,745,714,681.14244607,662.715107859,633,879,784,812,652,631,652.85755393,0.442279684897,0.00452953215221,0.0598004721141,0.999999934269,0.000207118570185,-0.000295998634947,3.08069335873e-05,1793247749171832576
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.564921666,745,714.435078334,681,662.564921666,633,879,784,812,652,630.564921666,653,0.441464639662,0.00453524209079,0.0598015817563,0.99999992736,0.000222648731561,-0.000307266592188,3.59812009319e-05,1793247749188498944
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.588116704,745,715,681.588116704,661.411883296,633,879,784,811.411883296,652,630,653,0.439797601432,0.00454391160798,0.0597920488313,0.999999908627,0.000254131883475,-0.00034067564941,4.58579476796e-05,1793247749221831680
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.832340168,745.167659832,715,681.832340168,661.167659832,633,879,784,811.167659832,652,630,653,0.438975953989,0.00454665795245,0.0597973650578,0.99999990746,0.000268692192445,-0.000332182090146,5.03879098092e-05,1793247749238498560
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.244142673,745.755857327,715,681.244142673,661.755857327,633,879,784,811.755857327,652,630,653,0.438171155763,0.00455013301197,0.059820855825,0.999999917076,0.00028166741112,-0.000289040090777,5.44812116537e-05,1793247749255165696
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.338796597,745.661203403,715,681,662,633,879,784,811.661203403,652,630,652.661203403,0.437282449266,0.00455377717178,0.0598012546729,0.999999919571,0.000232306954181,-0.000324710860408,3.8124692515e-05,1793247749271832832
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.918004585,745.081995415,715,681,662,633,879,784,811.081995415,652,630,652.081995415,0.436334201168,0.00455754132568,0.0597510753251,0.999999903697,0.000138712853987,-0.000416307477137,7.25689961448e-06,1793247749288499968
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.505188152,745,715,681,661.010376304,633,879,784,811.494811848,652,630,652,0.435433300304,0.00455213986596,0.0597363369065,0.999999906754,0.000132976023136,-0.000410783858127,8.14962032345e-06,1793247749305166592
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.141395981,633,879,784,811.92930201,652,630,652.07069799,0.434541747778,0.00454718797497,0.059731788481,0.99999991459,0.000143541379487,-0.000387315620235,1.4247401011e-05,1793247749321832704
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.285716949,633,879,784,811.357141526,652,630,652.642858474,0.43366112106,0.00455614601479,0.0597580622467,0.999999924549,0.000166970844205,-0.000350168469432,2.01141445431e-05,1793247749338499072
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.183694546,633,879,784,811,652,630,653,0.431870967836,0.00456576768207,0.0597920730737,0.999999930447,0.00019513482954,-0.000316461458085,2.96891913302e-05,1793247749371832064
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.600197554,745,715,681,661.399802446,633,879,784,811,652,630,653,0.430969593447,0.00456684683639,0.0598119897335,0.99999994141,0.000192573101922,-0.000281401908104,3.01362811927e-05,1793247749388498944
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.021110369,745,715,681,661.978889631,633,879,784,811,652,630,653,0.430068334875,0.00456709634339,0.0598350975678,0.999999955183,0.000184449547216,-0.000234049354475,2.88565463845e-05,1793247749405165824
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.107633402,745,715,681,662,633.553816701,879,784,811,652,630,653,0.429050500516,0.00457134768744,0.0598015917623,0.999999932626,0.000187607623568,-0.000314027483132,3.06269805556e-05,1793247749421832704
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.71091766,680.71091766,660.578164679,634,879.71091766,784,811,651.28908234,630,653,0.426223212736,0.00457691868944,0.059750056691,0.999999913745,0.000180412298755,-0.000372991915105,2.89635051999e-05,1793247749471832832
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.96126367,633.96126367,879,785,811,652,630,653,0.423517555374,0.00458452268539,0.0598376001375,0.999999946398,0.000179577873405,-0.000271564106034,3.4775643139e-05,1793247749521831936
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.191395494,633,879,785,811,652.191395494,630,652.808604506,0.421705915638,0.00458343913804,0.0598432115191,0.99999995429,0.000165657121463,-0.000250533279842,3.48026533455e-05,1793247749555164928
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.780188047,633,879,785,811,652.780188047,630,652.219811953,0.420753560199,0.00458758612641,0.0597951085357,0.999999927941,0.000166592187216,-0.000339357355945,3.46546272739e-05,1793247749571831552
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.636330729,661.272661458,633.363669271,878.636330729,784.636330729,811,653,630,652,0.419829904605,0.00458711212961,0.0597483420153,0.999999901368,0.000161016574464,-0.000412536082556,3.39412860121e-05,1793247749588498176
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.518571188,660.518571188,633.481428812,878,784,810.481428812,652.481428812,630,652,0.418107641987,0.00458390946919,0.0597276141517,0.999999895744,0.000160461171438,-0.000426295870909,3.21958980588e-05,1793247749621831168
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.46812361,633.265938195,878,785,810,652,630,652,0.415728487965,0.00458373138797,0.0598376828217,0.999999915521,0.000305184970184,-0.000272926786525,3.64862346785e-05,1793247749671831296
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.302829811,633.848585094,878,785,810,652,630,652,0.414931368741,0.00457837738175,0.0598382233734,0.999999919387,0.000285447040579,-0.000279992783277,3.67518148552e-05,1793247749688497920
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.42659324,745,715,680,661.27977972,634,878,785,810,652.42659324,629.57340676,652,0.414166785288,0.00457836224823,0.0598395264659,0.999999923351,0.000276092428619,-0.000275150632563,3.69315398161e-05,1793247749705164800
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.997043152,745.002956848,715,680.002956848,662.997043152,634,878,785,810,653,629,652,0.41341337254,0.00458020170499,0.059840847498,0.999999927221,0.000270359861123,-0.000266623976458,3.70817912174e-05,1793247749721831680
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.423730645,745.576269355,715,680.576269355,662.423730645,634,878,785,810,653,629,652,0.412611109612,0.00457818255312,0.0597939828224,0.999999902865,0.000260043555583,-0.000353908150344,3.73616776125e-05,1793247749738499072
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.846588898,715,680.846588898,661.693177795,634,877.846588898,785,809.846588898,652.846588898,629,652,0.411837929433,0.00457673236418,0.0597547318935,0.999999879262,0.000249283158993,-0.000421870013892,3.68651596001e-05,1793247749755165952
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.258599669,715,680.258599669,660.517199337,634,877.258599669,785,809.258599669,652.258599669,629,652,0.411147133765,0.00457689391502,0.0597370489348,0.999999876615,0.000237264757823,-0.000435096273612,3.41692684677e-05,1793247749771832576
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.325934437,715,680,660.651868874,634,877,784.674065563,809.325934437,652.325934437,629,652,0.41050100497,0.00457510987279,0.059752576778,0.999999891935,0.000225640467072,-0.000405077723545,3.35864938995e-05,1793247749788499200
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.907755933,715,680,661.815511867,634,877,784.092244067,809.907755933,652.907755933,629,652,0.409889943622,0.0045717983697,0.0597941780084,0.999999918254,0.000214325587511,-0.000341108210882,3.46627008342e-05,1793247749805165568
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.516135166,715,680,661.516135166,634,877.483864834,784.483864834,810,652.516135166,629,652,0.409308239224,0.00456852219138,0.0598298092124,0.999999937838,0.000204541197637,-0.00028494186163,3.59960713803e-05,1793247749821832448
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.058891827,745,715,680,661,634,877.941108173,785,810,652,629,652,0.40873153976,0.0045656550929,0.0598598995442,0.999999952114,0.000195587423596,-0.000236933186436,3.71617757813e-05,1793247749838499072
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.633870067,745,715,680,661,634,877.366129933,785,810,652,629,652,0.408150227485,0.00456631455506,0.0598512909453,0.999999950387,0.000191385528214,-0.000247528482116,3.64335594795e-05,1793247749855166208
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.786161616,745,715,679.786161616,661,634,877,785,810,652.213838384,629,652,0.407580052589,0.00456550281662,0.0598390110951,0.999999947065,0.000184181809067,-0.000265869966792,3.55100518315e-05,1793247749871833088
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.197445308,745,715,679.197445308,661,634,877,785,810,652.802554692,629,652,0.40702940258,0.0045621119311,0.0598202952118,0.999999940331,0.000171715623152,-0.000297791216336,3.42441809397e-05,1793247749888499456
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.384696662,661,633.615303338,877,785,810,652.615303338,629.384696662,652.384696662,0.406529396148,0.00456002624954,0.0598166940514,0.999999940396,0.000165705397865,-0.000301009965966,3.37975802432e-05,1793247749905166080
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.963521107,661,633.036478893,877,785,810,652.036478893,629.963521107,652.963521107,0.406054945712,0.004558599207,0.0598207201653,0.999999944177,0.000162953014475,-0.000289744702465,3.37644041519e-05,1793247749921832704
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.540069975,715,680,661.540069975,633.540069975,877,785,809.459930025,652.540069975,629.459930025,652.459930025,0.405618255452,0.00455665409975,0.0598235793259,0.999999946848,0.000158101584187,-0.000283111954041,3.39972298724e-05,1793247749938498816
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.884162166,745.884162166,715,679.884162166,661.884162166,634,877,785,809.115837834,652.884162166,629,652.115837834,0.405185470979,0.0045547980192,0.0598216208308,0.999999947124,0.000153809020181,-0.000284462304875,3.42830896336e-05,1793247749955164928
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.310873954,745.310873954,715,679.310873954,661.310873954,634,877,785,809.689126046,652.310873954,629,652.689126046,0.404758080737,0.00455343111745,0.0598009470977,0.999999937841,0.000152280996984,-0.000316107895297,3.47077288475e-05,1793247749971832320
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.272732128,745,715,679.272732128,661,634,877,785,810,652,629,652.727267872,0.404349210407,0.00455218362005,0.05978026212,0.999999926885,0.000152036910971,-0.000349103840256,3.52285200647e-05,1793247749988499456
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.868561433,745,715,679.868561433,661,634,877,785,810,652,629,652.131438567,0.403962280062,0.00455107757728,0.0597595638222,0.999999913992,0.000153313865068,-0.000383699505875,3.58632195127e-05,1793247750005165824
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877,785,809.554785959,652,629,652,0.403653818391,0.00454938729278,0.0597641323067,0.999999919525,0.000152409151441,-0.000369334237502,3.62426913677e-05,1793247750021831936
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.016576033,634,877,785,809,652.016576033,629,652,0.403368712307,0.00454749505251,0.0597761212744,0.999999929791,0.000150989132972,-0.000340999072831,3.66042904614e-05,1793247750038498560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.592563513,634,877,785,809,652.592563513,629,652,0.403122289971,0.00454436778757,0.0597971923568,0.999999939838,0.000153017583727,-0.000308875114232,3.88006263888e-05,1793247750055165184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.827868646,661.827868646,634,877,785,809.172131354,652.827868646,629,652,0.402881810975,0.00454209270637,0.0598165668533,0.999999947023,0.000161718235465,-0.00027954363516,4.07071933885e-05,1793247750071831808
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.239646122,661.239646122,634,877,785,809.760353878,652.239646122,629,652,0.402655698782,0.00454187759976,0.0598318402087,0.999999948707,0.000186547522934,-0.0002569623903,4.19133049798e-05,1793247750088498432
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.655330459,745,715,679,661.344669541,634,877.344669541,785,809.655330459,652.344669541,629,652,0.402437579903,0.00454166866945,0.0598358261199,0.999999940687,0.000229280367119,-0.000253419198708,4.28342004062e-05,1793247750105165056
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.073700701,745,715,679,661.926299299,634,877.926299299,785,809.073700701,652.926299299,629,652,0.402224956405,0.00454146398533,0.0598320519178,0.999999924057,0.000284321903742,-0.000262964660784,4.35590098359e-05,1793247750121831680
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.503177207,745,715.503177207,679,661.496822793,634,877.496822793,785,809,653,629,652,0.402039715063,0.00453887454144,0.0598264005612,0.999999920858,0.000282846733065,-0.000276424194152,4.32595301641e-05,1793247750138498304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.07901649,745.07901649,715.92098351,679,661,634,877,785,809.07901649,653,629,652,0.401864789901,0.00453546422537,0.059821715607,0.999999922448,0.000265162154382,-0.000288299362322,4.09337293847e-05,1793247750155165184
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.652670496,745.652670496,715.347329504,679,661,634,877,785,809.652670496,653,629,652,0.401729571491,0.00452908142751,0.0598247853129,0.999999939068,0.000197342985721,-0.000286701302984,2.68536846557e-05,1793247750171831808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.765037377,745.765037377,715,679,661,634,877,785,810,653,629,652,0.401601794025,0.00452503888808,0.059826023198,0.999999946508,0.000156796381951,-0.000286441679461,1.86924912442e-05,1793247750188498688
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.169488769,745.169488769,715,679,661,634,877,785,810,653,629,652,0.40148543583,0.00452458783255,0.0598244498743,0.999999945769,0.000158103694042,-0.000288236091635,1.96146789665e-05,1793247750205165312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.409972567,661.409972567,634,877,785,809.590027433,653,629,652,0.401394034029,0.00452671950346,0.0598283141345,0.999999946852,0.000162655453199,-0.000281822890802,2.03769857668e-05,1793247750221831936
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.98303429,661.98303429,634,877,785,809.01696571,653,629,652,0.40131256001,0.00452987859601,0.0598343414931,0.999999948551,0.000168497869732,-0.00027214466,2.10756911049e-05,1793247750238498304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.44034338,662,634,877,785,809.55965662,653,629,652,0.401243151421,0.00452528825188,0.0598325309343,0.999999948471,0.000164396273249,-0.000274801330611,2.27201889983e-05,1793247750255164928
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.860098686,634,877.139901314,785,809.860098686,653,629,652,0.401177523771,0.00452222704209,0.0598300317749,0.999999947621,0.00016217161131,-0.000279084859513,2.3880221417e-05,1793247750271831808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.268509606,634,877.731490394,785,809.268509606,653,629,652,0.401122914886,0.00452486614652,0.0598260814274,0.999999944483,0.000166986344158,-0.000287405895286,2.33829388965e-05,1793247750288498432
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.685536513,785,809,653,629,652,0.40107956325,0.0045245001712,0.0598247159289,0.999999943447,0.000167984105426,-0.000290385768709,2.37561343883e-05,1793247750305165056
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.109724056,785,809,653,629,652,0.401045567449,0.00452163669003,0.0598254986845,0.999999944205,0.000165809601992,-0.000288926630795,2.48527795775e-05,1793247750321831680
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.467142872,661,634,877,785,809,653,628.532857128,652.467142872,0.401023672125,0.00452139073754,0.0598264156803,0.999999945247,0.000164535285064,-0.000286027372105,2.49446783088e-05,1793247750338498304
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.954873483,661.045126517,634,877,785,809,653,628.045126517,652.954873483,0.401005160074,0.00452175056445,0.0598274042125,0.999999946262,0.000163756406285,-0.000282918914015,2.48520677684e-05,1793247750355164928
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.366433082,661.633566918,634,877,785,809,653,628.633566918,652.366433082,0.400993084998,0.00452198487316,0.0598288735455,0.999999946249,0.000166391060903,-0.000281373533698,2.53858008479e-05,1793247750371831552
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745.218539486,715,679,661.781460514,634,877,785,809,653,629,652,0.400982621823,0.00452219747443,0.0598300537227,0.999999946401,0.000167677799779,-0.000280044138368,2.56557172614e-05,1793247750388498176
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745.797788204,715,679,661.202211796,634,877,785,809,653,629,652,0.400974819167,0.00452237424657,0.0598307566352,0.999999946834,0.000166739743067,-0.000279071236053,2.54901923941e-05,1793247750405164800
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745.626013373,715,679.373986627,661,634,876.626013373,784.626013373,809,653,628.626013373,652,0.400970338632,0.00452264953717,0.0598317618075,0.999999947019,0.000168045171013,-0.000277611279561,2.55737588521e-05,1793247750421831680
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.051450897,715,679.948549103,661,634,876.051450897,784.051450897,809,653,628.051450897,652,0.400967639813,0.00452297766499,0.0598329290873,0.999999947065,0.000170553820731,-0.00027589010706,2.57909175365e-05,1793247750438498304
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715.526122136,680,661,634,876.526122136,784.526122136,809,653,628,652,0.400965453929,0.00452133465966,0.0598325375083,0.999999947499,0.000165905398959,-0.000277159172351,2.57128029195e-05,1793247750455165184
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715.893993417,679.893993417,661,634,877,785,809,653,628.106006583,652,0.400963813005,0.00452026013316,0.0598323170098,0.999999947867,0.000162277691423,-0.000277992800503,2.55156905447e-05,1793247750471832064
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715.304925585,679.304925585,661,634,877,785,809,653,628.695074415,652,0.400964425517,0.00452265956159,0.0598335747817,0.999999947876,0.000166509047592,-0.000275501972719,2.49086578034e-05,1793247750488498688
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809.27926693,652.72073307,629,652,0.400966150978,0.00452343948644,0.0598354785674,0.999999948571,0.000168338716142,-0.000271848819595,2.48669796187e-05,1793247750505165056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809.858227599,652.141772401,629,652,0.400969070797,0.0045224814504,0.0598380756191,0.999999950003,0.00016759102763,-0.000266948323247,2.54320084286e-05,1793247750521831680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.435850613,661,633.564149387,877,785,809.564149387,652.435850613,628.564149387,652,0.400968142503,0.00452248247517,0.0598379703824,0.999999949827,0.000166963363862,-0.000267979688468,2.56173094613e-05,1793247750538498304
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715.012966961,679.987033039,661,633.012966961,877,785,809,653,628,652,0.400966039604,0.00452280903985,0.05983703102,0.999999949153,0.000166386188983,-0.000270831910747,2.56675040697e-05,1793247750555165440
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715.586931523,679.413068477,661,633.586931523,877,785,809,653,628,652,0.400967106546,0.00452376437707,0.0598379164555,0.999999949608,0.000166309442495,-0.00026923921878,2.51999440643e-05,1793247750571832064
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715.834550912,679.165449088,661,634,877,785,809,653,628.165449088,652,0.400967537449,0.00452388428298,0.0598384684769,0.999999950013,0.0001657543356,-0.000268092729934,2.49962429122e-05,1793247750588498688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715.244344456,679.755655544,661,634,877,785,809,653,628.755655544,652,0.400966335446,0.00452185938643,0.0598381645241,0.999999950296,0.00016397113426,-0.00026809177825,2.54699464984e-05,1793247750605165568
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.660700408,745,715,679.660700408,661,634,877,785,809,652.660700408,629,652,0.400965920826,0.00452152328451,0.0598380383382,0.999999950233,0.000164270875974,-0.000268147531693,2.543002582e-05,1793247750621832704
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.081692593,745,715,679.081692593,661,634,877,785,809,652.081692593,629,652,0.400966062477,0.00452238028153,0.0598380377409,0.999999949925,0.000166042174437,-0.000268243346146,2.50272400819e-05,1793247750638499584
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.495777469,745,715,679,661,634,877,785,809.495777469,652.495777469,629,652,0.400965419721,0.00452207907065,0.059837756536,0.999999949951,0.000165148425919,-0.000268681455869,2.51668140674e-05,1793247750655165952
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6330f95a857acf85caf54b40ea742022166570d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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+380,6.333333333,pose2_to_pose3_retreat,0.583299077025,0.00992796212233,1.05004251464,0.553870866847,0.0186024148065,1.04966589768
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+382,6.366666667,pose2_to_pose3_retreat,0.583271470795,0.00992775646051,1.05004250739,0.553843263674,0.0186022194223,1.04966588832
+383,6.383333333,pose2_to_pose3_retreat,0.583262895459,0.00992784981657,1.0500423991,0.553834686783,0.0186023077528,1.04966578582
+384,6.400000000,pose2_to_pose3_retreat,0.58325706648,0.00992792404122,1.05004249079,0.553828856525,0.0186023774901,1.04966587411
+385,6.416666667,pose2_to_pose3_retreat,0.583252905872,0.00992797526278,1.05004263844,0.553824695066,0.0186024255539,1.04966601559
+386,6.433333333,pose2_to_pose3_retreat,0.583250079883,0.00992795443606,1.05004234102,0.553821870084,0.0186024086757,1.04966573044
+387,6.450000000,pose2_to_pose3_retreat,0.583248557077,0.00992797097637,1.05004221394,0.553820347401,0.0186024258271,1.04966560787
+388,6.466666667,pose2_to_pose3_retreat,0.583248011064,0.00992802643573,1.05004222761,0.553819800683,0.0186024788,1.04966561937
+389,6.483333333,pose2_to_pose3_retreat,0.583247824484,0.00992804538702,1.05004223228,0.553819613861,0.0186024969016,1.0496656233
+390,6.500000000,pose2_to_pose3_retreat,0.58324747393,0.00992808099325,1.05004224105,0.553819262855,0.0186025309114,1.04966563068
+391,6.516666667,pose2_to_pose3_retreat,0.583247183612,0.0099281104813,1.05004224831,0.553818972162,0.0186025590774,1.04966563679
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+393,6.550000000,pose2_to_pose3_retreat,0.583246653266,0.00992816434939,1.05004226158,0.55381844113,0.0186026105304,1.04966564796
+394,6.566666667,pose2_to_pose3_retreat,0.583246366961,0.00992806674104,1.0500423432,0.553818155878,0.0186025163712,1.04966572678
+395,6.583333333,pose2_to_pose3_retreat,0.583246136359,0.00992798377694,1.0500424115,0.553817926172,0.0186024363482,1.04966579277
+396,6.600000000,pose2_to_pose3_retreat,0.583246133984,0.0099279829228,1.0500424122,0.553817923807,0.0186024355244,1.04966579345
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+398,6.633333333,pose2_to_pose3_retreat,0.583245708088,0.00992787349418,1.05004252966,0.553817498953,0.0186023294582,1.04966590695
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+401,6.683333333,pose2_to_pose3_retreat,0.583245589003,0.00992797922796,1.05004253553,0.553817378248,0.01860242969,1.04966591263
+402,6.700000000,pose2_to_pose3_retreat,0.583245539885,0.00992802283904,1.05004253794,0.553817328462,0.0186024710317,1.04966591498
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+405,6.750000000,pose2_to_pose3_retreat,0.583245421223,0.00992800388811,1.05004243404,0.55381721015,0.01860245341,1.04966581442
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42ee47c57793d40be3d529f88e4a40eff0dc185a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc123f096215884a7b2025ea5407a6aeb352d3c6b8f5972e55fedf581fc10603
+size 25915633
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ad4643c552b5023a76c7e075602ffdb47c8a0b8
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,409 @@
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+21,0.350000000,BASELINE,765,745,715,679,661.818664604,634,877.181335396,785,809,652.181335396,629,652,0.400966354798,0.00451942361823,0.0598405015602,0.999999951673,0.00016214256518,-0.000264005638752,2.57768211254e-05,1793247751278094080
+22,0.366666667,BASELINE,765,745,715,679,661.243508504,634,877.756491496,785,809,652.756491496,629,652,0.400964185041,0.00452073699455,0.0598396544436,0.999999951312,0.000161286515966,-0.00026595853751,2.5060553624e-05,1793247751294760704
+23,0.383333333,BASELINE,765,745,715,679,661,634,877.660336752,785,809,653,629,652,0.400964423255,0.00452131379833,0.0598399781594,0.999999951404,0.000161457769151,-0.000265526791619,2.48612791944e-05,1793247751311427328
+24,0.400000000,BASELINE,765,745,715,679,661,634,877.071279538,785,809,653,629,652,0.400966429496,0.00452134978204,0.0598411615458,0.999999951827,0.00016238330762,-0.000263344147089,2.50416011098e-05,1793247751328093952
+25,0.416666667,BASELINE,765,745,715,679,661,634,877,785,809,652.491356595,628.491356595,652,0.400966085507,0.00451964644912,0.0598403748863,0.999999951832,0.000160885765449,-0.000264219980431,2.53050039377e-05,1793247751344760832
+26,0.433333333,BASELINE,765,745.087062044,715,679,661,634,877,785,809,652.087062044,628,652,0.40096546755,0.00451813322983,0.0598396180828,0.999999951778,0.000159510697895,-0.000265234660632,2.55288153731e-05,1793247751361427712
+27,0.450000000,BASELINE,765,745.664091752,715,679,661,634,877,785,809,652.664091752,628,652,0.400965128598,0.004519037462,0.0598405555901,0.99999995174,0.00016070216748,-0.000264661195836,2.54654478101e-05,1793247751378094336
+28,0.466666667,BASELINE,765,745.759952694,715.240047306,679,661,634,877.240047306,784.759952694,809,652.759952694,628.240047306,652,0.400965005642,0.0045201605352,0.0598410214797,0.99999995175,0.000161629589645,-0.000264082834742,2.52294472991e-05,1793247751394760960
+29,0.483333333,BASELINE,765,745.185493588,715.814506412,679,661,634,877.814506412,784.185493588,809,652.185493588,628.814506412,652,0.400965183593,0.00452158847752,0.0598408303549,0.999999951825,0.000162189165191,-0.000263497652612,2.47529504673e-05,1793247751411427328
+30,0.500000000,BASELINE,765,745,715.599912268,679,661,634,877.599912268,784.400087732,809,652,629,652,0.400965330168,0.00452206878727,0.0598406796186,0.999999951849,0.000161863716614,-0.000263613855534,2.46861554694e-05,1793247751428093696
+31,0.516666667,BASELINE,765,745,715.009026897,679,661,634,877.009026897,784.990973103,809,652,629,652,0.400965461781,0.00452209718096,0.0598405481432,0.999999951848,0.000161116209309,-0.00026406454164,2.48147429882e-05,1793247751444760320
+32,0.533333333,BASELINE,765,745,715,679,661,634,877,785,809,652,629,652,0.400965264303,0.00452167966156,0.059840905322,0.999999951774,0.000162184028352,-0.000263685728751,2.48523606718e-05,1793247751461427200
+33,0.550000000,BASELINE,765,744.854506289,715,679,661,634,877,785,809.145493711,652,629,652,0.400965070349,0.0045214689234,0.0598411323119,0.99999995168,0.000163119432289,-0.000263461383259,2.48909000246e-05,1793247751478094080
+34,0.566666667,BASELINE,765,744.27886077,715,679,661,634,877,785,809.72113923,652,629,652,0.400964901905,0.00452188998622,0.059840951985,0.999999951533,0.000163580087842,-0.000263731766808,2.49363367804e-05,1793247751494761216
+35,0.583333333,BASELINE,765,744.295033456,715,679,661,634,877,785,809.704966544,652,628.704966544,652,0.400964889221,0.00452158757633,0.0598409504217,0.999999951616,0.000162789130038,-0.000263897239292,2.50104012842e-05,1793247751511428096
+36,0.600000000,BASELINE,765,744.867282225,715,679,661,634,877,785,809.132717775,652,628.132717775,652,0.400965022888,0.00452060538693,0.0598411168256,0.999999951914,0.000160822148415,-0.000263964136701,2.51113646075e-05,1793247751528094720
+37,0.616666667,BASELINE,765,745,715,679,661.457250986,634,877,785,809.457250986,652.457250986,628.457250986,652,0.400964611862,0.00451954213693,0.0598409411861,0.999999952198,0.00015852389683,-0.000264273380043,2.51927826678e-05,1793247751544761088
+38,0.633333333,BASELINE,765,745,715,679.050984218,661.949015782,634,877,784.949015782,809.949015782,652.949015782,629,652,0.400964125259,0.00451870033039,0.059840704604,0.999999952395,0.000156694562209,-0.000264612195858,2.52495458672e-05,1793247751561427456
+39,0.650000000,BASELINE,765,745,715,679.628342188,661.371657812,634,877,784.371657812,809.371657812,652.371657812,629,652,0.400964556413,0.00452039746206,0.0598409051354,0.999999951786,0.000160739155465,-0.0002645008267,2.51126973755e-05,1793247751578094080
+40,0.666666667,BASELINE,765,745,715,680,661,634,877,784.204780159,809,652.204780159,629,652,0.400965402496,0.0045211976033,0.0598414628016,0.999999951683,0.000162999668383,-0.000263512970383,2.50011863012e-05,1793247751594760448
+41,0.683333333,BASELINE,765,745,715,680,661,634,877,784.779555846,809,652.779555846,629,652,0.40096699827,0.00452037706766,0.0598426657366,0.999999952516,0.000162036715707,-0.000260941482486,2.49354547249e-05,1793247751611427072
+42,0.700000000,BASELINE,764.637030897,745,715,679.637030897,661,633.637030897,877,785,809,653,629,652,0.400967194998,0.00452035307829,0.0598422841084,0.999999952446,0.000162043817681,-0.000261209458737,2.48794581297e-05,1793247751628093952
+43,0.716666667,BASELINE,764.048243877,745,715,679.048243877,661,633.048243877,877,785,809,653,629,652,0.400966521323,0.00452082465295,0.0598409166587,0.999999951815,0.000162654430343,-0.000263243981805,2.48295180663e-05,1793247751644761088
+44,0.733333333,BASELINE,764.531852005,745,715,679,661.531852005,633.531852005,877,785,809,652.468147995,629,652,0.400966018294,0.00452225309486,0.0598410024901,0.999999951721,0.000162999499944,-0.000263408207093,2.45900717205e-05,1793247751661427456
+45,0.750000000,BASELINE,765,745,715,678.889976848,661.889976848,634,877,785,809.110023152,652.110023152,628.889976848,652,0.400965570541,0.00452322840333,0.0598412148973,0.999999951653,0.000163173477643,-0.000263571137653,2.44558769355e-05,1793247751678093824
+46,0.766666667,BASELINE,765,745,715,678.3166445,661.3166445,634,877,785,809.6833555,652.6833555,628.3166445,652,0.400965291419,0.004521935934,0.0598414141213,0.99999995149,0.000162726785315,-0.000264431541811,2.48361215049e-05,1793247751694760448
+47,0.783333333,BASELINE,765,745,715,678.513920116,661,634,877,785,809.743039942,652.743039942,628,652,0.400964934756,0.00452087213905,0.0598412992616,0.999999951479,0.000162138850232,-0.000264809741145,2.50752398056e-05,1793247751711427072
+48,0.800000000,BASELINE,765,745,715,679.661800972,661,634,877,785,809.169099514,652.169099514,628,652,0.400964482441,0.00452009043168,0.0598407969551,0.999999951658,0.000161376681081,-0.000264593103148,2.51402678443e-05,1793247751728093696
+49,0.816666667,BASELINE,765,745,715,679.580434123,661,634,877,785,809,652.419565877,628.419565877,652,0.400965330048,0.00452007240089,0.0598410480507,0.999999951998,0.000161562278675,-0.000263192043615,2.51243858082e-05,1793247751744760064
+50,0.833333333,BASELINE,765,745,715,679,661,634,877.013905411,784.986094589,809,652.986094589,629,652,0.40096672239,0.00452033425618,0.0598416320534,0.999999952411,0.000162060240887,-0.000261315115867,2.50805011912e-05,1793247751761426944
+51,0.850000000,BASELINE,765,745,715,679,661,634,877.589020151,784.410979849,809,652.410979849,629,652,0.400968185996,0.0045190182006,0.059842951225,0.999999953159,0.000159187754385,-0.000260199244119,2.5270418515e-05,1793247751778093824
+52,0.866666667,BASELINE,765,745,715,679,661,634,877.835877988,784.164122012,809,652,629,652,0.400968474205,0.00451878044531,0.0598431801052,0.9999999533,0.000158034418267,-0.000260349128818,2.53577557318e-05,1793247751794760704
+53,0.883333333,BASELINE,765,745,715,679,661,634,877.260808407,784.739191593,809,652,629,652,0.400965819321,0.00452124266238,0.0598406789887,0.999999951932,0.00016118568875,-0.00026366836013,2.51882410692e-05,1793247751811427584
+54,0.900000000,BASELINE,765,745,715,679,661,634,877,785,809,652,628.67699445,652,0.4009647091,0.00452220120483,0.0598399906463,0.999999951522,0.000161915427743,-0.000264806116335,2.48230781887e-05,1793247751828093952
+55,0.916666667,BASELINE,765,745,715,679,661,634,877,785,809,652,628.085923477,652,0.40096488081,0.0045219118331,0.0598408067427,0.99999995192,0.000160635514238,-0.000264133445145,2.4295544974e-05,1793247751844760320
+56,0.933333333,BASELINE,765,745,715,679,661,634,877,785,809,652.49472259,628,652,0.40096463859,0.00452159401742,0.0598408016404,0.999999951851,0.000160607511859,-0.000264386656804,2.45391239817e-05,1793247751861426944
+57,0.950000000,BASELINE,765,745,715,679,661,634,877,785,809,653,628,652,0.400964527006,0.00452126787133,0.0598407826463,0.999999951771,0.00016078364678,-0.000264551873282,2.48946033086e-05,1793247751878093824
+58,0.966666667,BASELINE,765,745,715,679,661,634,877,785,809,653,628,652,0.40096579571,0.00452091774924,0.0598416272813,0.999999952147,0.000160899312452,-0.000263031693426,2.51178327281e-05,1793247751894760704
+59,0.983333333,BASELINE,765,745,715,679,661,634,877,785,809,652.777224921,628,652,0.400966720717,0.00452097868619,0.0598421052206,0.999999952289,0.000161581156403,-0.000262070732961,2.51528057445e-05,1793247751911427328
+60,1.000000000,BASELINE,765,745,715,679,661,634,877,785,809,652.208064058,628,652,0.40096711132,0.00452167876551,0.0598420129968,0.999999952066,0.000163143332722,-0.000261979284462,2.48950649851e-05,1793247751928093952
+61,1.016666667,BASELINE,765,745,715,679,661,634,876.621811907,784.621811907,809,652.378188093,628,652,0.400967137818,0.00452118060928,0.059842199562,0.999999952234,0.000162543648358,-0.000261697120002,2.50243250058e-05,1793247751944760832
+62,1.033333333,BASELINE,765,745,715,679,661,634,876.02571179,784.02571179,809,652.97428821,628,652,0.40096695452,0.00451999202955,0.0598425467654,0.999999952626,0.000160698299514,-0.000261305064987,2.53765749384e-05,1793247751961427456
+63,1.050000000,BASELINE,765,745,715,679,661,634,876.554275069,784.554275069,809,653,628.554275069,652,0.400967626197,0.00452024530264,0.0598425009793,0.999999952604,0.000160858109862,-0.00026130165301,2.52695635656e-05,1793247751978094080
+64,1.066666667,BASELINE,765,745,715,679,661.132195772,634,877.132195772,785,809,653,629,652.132195772,0.400967844069,0.00452037990805,0.0598422841384,0.999999952502,0.00016098299552,-0.000261623132873,2.5174868416e-05,1793247751994760704
+65,1.083333333,BASELINE,765,745,715,679,661.705644334,634,877.705644334,785,809,653,629,652.705644334,0.400966418552,0.00451990146926,0.059841555469,0.999999952195,0.000160689603394,-0.000262970584019,2.51903854009e-05,1793247752011427584
+66,1.100000000,BASELINE,765,745,715,679.286804005,661.713195995,634,877.713195995,785,809,653,628.713195995,652.713195995,0.400966699,0.00451898429675,0.0598419401886,0.999999952526,0.000160113722296,-0.000262054948309,2.52859572545e-05,1793247752028093952
+67,1.116666667,BASELINE,765,745,715,679.876096446,661.123903554,634,877.123903554,785,809,653,628.123903554,652.123903554,0.400968778708,0.00451760439756,0.0598434991851,0.999999953521,0.000159239903789,-0.000258752464382,2.54659619306e-05,1793247752044760320
+68,1.133333333,BASELINE,764.541740008,745,715,680,661,634,877,785,809,653,628.458259992,652,0.400968749411,0.00451845607436,0.0598433019974,0.999999953613,0.000159014819525,-0.000258557337045,2.52238942172e-05,1793247752061426944
+69,1.150000000,BASELINE,764.038176435,745,715,679.961823565,661,634,877,785,809,653,628.961823565,652,0.400968062151,0.00451983187667,0.0598426171105,0.999999953437,0.000158973380563,-0.000259296642587,2.48759868839e-05,1793247752078093568
+70,1.166666667,BASELINE,764.613182859,745,715,679.386817141,661,634,877,785,809,653,628.386817141,652,0.400966018347,0.00452022332657,0.0598416490368,0.999999952841,0.00015908561625,-0.000261542542093,2.46199246318e-05,1793247752094760448
+71,1.183333333,BASELINE,765,745,715,679.188846536,661,634,877,785,809,652.811153464,628.188846536,652,0.400964571599,0.0045204627277,0.0598408187819,0.999999952372,0.000158942822449,-0.000263423869047,2.45327132298e-05,1793247752111427072
+72,1.200000000,BASELINE,765,745,715,679.765861281,661,634,877,785,809,652.234138719,628.765861281,652,0.400964352081,0.00452038959738,0.059840271809,0.999999952172,0.000158275823454,-0.00026455582882,2.47925694766e-05,1793247752128093696
+73,1.216666667,BASELINE,764.650889385,745,715,679.650889385,661,634,877.349110615,785,809,652,629,652,0.400964860633,0.00451974773246,0.059840683033,0.999999952243,0.00015803690476,-0.000264399364461,2.51355925146e-05,1793247752144760320
+74,1.233333333,BASELINE,764.063382692,745,715,679.063382692,661,634,877.936617308,785,809,652,629,652,0.400965866361,0.00451871749752,0.0598417485779,0.999999952498,0.00015809030797,-0.000263363077858,2.55354073849e-05,1793247752161426944
+75,1.250000000,BASELINE,764,745,715,679,661,633.481955129,878,785,809,652,629,652,0.400966146159,0.00451994998099,0.0598422287936,0.999999952573,0.000159455657641,-0.000262285853453,2.51624236952e-05,1793247752178093824
+76,1.266666667,BASELINE,764,745,715,679,661,633.097848601,878,784.902151399,809,652.097848601,628.902151399,652,0.40096625324,0.00452118078186,0.0598424439162,0.999999952571,0.000160761899344,-0.000261534511819,2.47850610837e-05,1793247752194760448
+77,1.283333333,BASELINE,764,745,715,679,661,633.673314507,878,784.326685493,809,652.673314507,628.326685493,652,0.400965945751,0.00452106771996,0.0598417105807,0.999999952304,0.000161005201098,-0.00026239802991,2.48424958815e-05,1793247752211427072
+78,1.300000000,BASELINE,764.24854048,745,715,679,661,634,877.75145952,784.24854048,809,652.75145952,628.24854048,652,0.400965602932,0.00452081905561,0.0598412664506,0.999999952123,0.000160799822427,-0.000263207403517,2.48910294679e-05,1793247752228093952
+79,1.316666667,BASELINE,764.82345134,745,715,679,661,634,877.17654866,784.82345134,809,652.17654866,628.82345134,652,0.400965213717,0.00452039232522,0.05984120209,0.999999952055,0.000160005260029,-0.000263945677348,2.4927874444e-05,1793247752244760832
+80,1.333333333,BASELINE,764.589439836,745,715,679,661.410560164,634,877,785,809,652.410560164,629,652,0.40096572335,0.00451977718179,0.0598418411784,0.999999952464,0.000158876906566,-0.000263068097665,2.50081648717e-05,1793247752261427712
+81,1.350000000,BASELINE,764.002995998,745,715,679,661.997004002,634,877,785,809,652.997004002,629,652,0.400966627479,0.00451909443048,0.0598427873281,0.999999953075,0.00015762762857,-0.000261482620739,2.51068553067e-05,1793247752278094336
+82,1.366666667,BASELINE,764.580286294,745,715,679,661.419713706,634,877,785,809,652.419713706,629,652,0.400966791496,0.00452145840285,0.0598428329744,0.999999952452,0.000161555282751,-0.000261474152944,2.50417626598e-05,1793247752294760704
+83,1.383333333,BASELINE,764.843035286,745,715,679,661,634,877,785,809,652.156964714,628.843035286,652,0.400966589539,0.00452275194177,0.0598427922189,0.999999952069,0.000163595046225,-0.000261676602859,2.49700600956e-05,1793247752311427328
+84,1.400000000,BASELINE,764.267986505,745,715,679,661,634,877,785,809,652.732013495,628.267986505,652,0.400965412788,0.00452119432338,0.0598425213278,0.999999952356,0.000160606310821,-0.000262440843587,2.48807516429e-05,1793247752328093696
+85,1.416666667,BASELINE,764.314236468,745,715.314236468,679,661,633.685763532,877,785,809,653,628,652,0.400965246027,0.00452071212242,0.0598426299868,0.999999952482,0.000160001559824,-0.000262323318764,2.49298524621e-05,1793247752344760576
+86,1.433333333,BASELINE,764.902720633,745,715.902720633,679,661,633.097279367,877,785,809,653,628,652,0.400965960727,0.00452116848466,0.0598430698958,0.999999952473,0.00016147741485,-0.000261436239132,2.50997490181e-05,1793247752361427968
+87,1.450000000,BASELINE,764.516585502,745,715.033171003,679.966828997,661,633.483414498,877,785,809,653,628.483414498,652,0.400966652203,0.00452120428037,0.0598429458341,0.999999952381,0.000162133330727,-0.00026137343862,2.51837340355e-05,1793247752378094592
+88,1.466666667,BASELINE,764.06229131,745,714.06229131,680.87541738,661,634,877,784.93770869,809,652.93770869,629,652,0.400967309206,0.00452104982637,0.0598427534103,0.999999952337,0.000162414201163,-0.000261363997565,2.52132344951e-05,1793247752394761472
+89,1.483333333,BASELINE,764.63890379,745,714.63890379,679.722192421,661,634,877,784.36109621,809,652.36109621,629,652,0.400967719551,0.00452001223708,0.0598429187336,0.999999952822,0.000160939177429,-0.000260447286776,2.49333525322e-05,1793247752411428096
+90,1.500000000,BASELINE,765,745,715,679.213017601,661,634,877,784.213017601,809,652.213017601,628.786982399,652,0.40096761317,0.00451939732713,0.0598429183491,0.999999953139,0.000159679875981,-0.000260015111509,2.48403848057e-05,1793247752428094720
+91,1.516666667,BASELINE,765,745,715,679.782944852,661,634,877,784.782944852,809,652.782944852,628.217055148,652,0.400966641019,0.00451949061386,0.0598426403219,0.999999953177,0.000158782016016,-0.000260394772554,2.50605907344e-05,1793247752444761088
+92,1.533333333,BASELINE,765,745,715,679.631307744,661,634,876.631307744,785,809,653,628.368692256,652,0.400965915839,0.00452023635289,0.0598423785235,0.999999953019,0.000158766554504,-0.000261024234968,2.49334538709e-05,1793247752461427200
+93,1.550000000,BASELINE,765,745,715,679.035829148,661,634,876.035829148,785,809,653,628.964170852,652,0.400965342571,0.00452138342194,0.0598421267075,0.999999952739,0.000159293865127,-0.000261807352768,2.45926629607e-05,1793247752478093824
+94,1.566666667,BASELINE,765,744.456053425,715,679,661,634,877.08789315,785,809,652.456053425,628.456053425,652,0.400964926478,0.00452152445325,0.0598419631701,0.999999952561,0.000159321122557,-0.000262454918188,2.47485638356e-05,1793247752494760704
+95,1.583333333,BASELINE,764.877978715,744.122021285,715,679,661,634,877.877978715,785,809,652,628.122021285,652.122021285,0.400964665981,0.00452126916156,0.0598418218193,0.999999952517,0.000158997392276,-0.00026280656948,2.48851312645e-05,1793247752511427840
+96,1.600000000,BASELINE,764.302489288,744.697510712,715,679,661,634,877.302489288,785,809,652,628.697510712,652.697510712,0.400964946336,0.00451978037016,0.0598417419171,0.999999952945,0.000157488257933,-0.000262090764889,2.4831676708e-05,1793247752528094720
+97,1.616666667,BASELINE,764.270550562,745,715,679,661,634,877.270550562,785,809,652,629,652.729449438,0.40096504934,0.004519147985,0.0598416124224,0.999999952957,0.000157294037036,-0.000262153457205,2.48997634094e-05,1793247752544761344
+98,1.633333333,BASELINE,764.840876198,745,715,679,661,634,877.840876198,785,809,652,629,652.159123802,0.400964955835,0.00451946451401,0.0598414279784,0.99999995251,0.000158556764883,-0.000263078738678,2.51025200978e-05,1793247752561427968
+99,1.650000000,BASELINE,764.568269508,745,715,679.431730492,661,634,877.568269508,785,809,652.431730492,628.568269508,652.431730492,0.400965108528,0.00451978471479,0.0598417744496,0.999999952393,0.000160297784341,-0.000262457748742,2.51855652283e-05,1793247752578094080
+100,1.666666667,BASELINE,764.029338472,745,715,679.970661528,661,634,877,785,809,652.970661528,628,652.970661528,0.400965373537,0.00452007744076,0.0598422756171,0.999999952423,0.000161976334127,-0.000261307438009,2.52067932383e-05,1793247752594760192
+101,1.683333333,BASELINE,764.604789456,745,715,679.395210544,661,634,877,785,809,652.395210544,628,652.395210544,0.400965955804,0.00451983229664,0.0598418320528,0.999999952865,0.000159046836664,-0.000261442321134,2.49396491623e-05,1793247752611426816
+102,1.700000000,BASELINE,765,745,715,679.180098977,661.180098977,634,877,785,809,652.180098977,628,652,0.400966321205,0.00452012971254,0.059841703221,0.999999953124,0.000157535607266,-0.00026139352933,2.46605881228e-05,1793247752628093440
+103,1.716666667,BASELINE,765,745,715,679.755098239,661.755098239,634,877,785,809,652.755098239,628,652,0.400966211086,0.0045216167916,0.0598422644984,0.999999952996,0.000159134193057,-0.000260941996292,2.43553969742e-05,1793247752644760320
+104,1.733333333,BASELINE,765,745,715,679.660438799,661.660438799,634,877,785,809,653,628.339561201,652,0.400965549678,0.00452204083244,0.0598420511033,0.999999952605,0.000160711368466,-0.000261469455538,2.43907130974e-05,1793247752661427456
+105,1.750000000,BASELINE,765,745,715,679.068954589,661.068954589,634,877,785,809,653,628.931045411,652,0.400964479264,0.00452167619736,0.0598412629728,0.999999952018,0.000162272659519,-0.00026272323648,2.46786540958e-05,1793247752678094848
+106,1.766666667,BASELINE,765,745,715,679,661,634,877.504185525,785,809,653,629,652,0.400965499269,0.00451979898482,0.0598415467341,0.999999952596,0.00015987990894,-0.000261966757447,2.48823457438e-05,1793247752694761472
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,877,785,809,653,629,652,0.40096750322,0.0045191778189,0.059843194866,0.999999953923,0.000155647977279,-0.00025942492822,2.50450226943e-05,1793247752737905408
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.588403028,679,661,634,877,785,809.588403028,653,629,652,0.400966210304,0.00452098777805,0.0598419843761,0.999999952781,0.000160155340964,-0.000261069460578,2.51009561802e-05,1793247752754572032
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.174124758,715,679,661,634,877,785,810,653,629,652,0.400965605314,0.00452207059105,0.0598415384166,0.999999952098,0.000163215748438,-0.000261793556681,2.50902657242e-05,1793247752771238656
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.753604655,715,679,661,634,877,785,810,653,629,652,0.400966601787,0.00452146063865,0.0598428722516,0.999999952522,0.000162907703418,-0.000260374916107,2.49244775364e-05,1793247752787905280
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.667694872,715,679,661,634,877,785,809.667694872,653,628.667694872,652,0.400966830712,0.00452069139115,0.0598429045266,0.999999952654,0.000162423693532,-0.000260154670205,2.50939428622e-05,1793247752804572160
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.089571001,715,679,661,634,877,785,809.089571001,653,628.089571001,652,0.400966491854,0.00451980430704,0.0598419739879,0.99999995257,0.000161809515761,-0.000260820922507,2.55114079727e-05,1793247752821238784
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809,652.513989671,628,652,0.400965570803,0.00451954857266,0.0598416164358,0.999999952224,0.000161591236476,-0.00026227267473,2.55499134144e-05,1793247752837905408
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.062456073,634,877,785,809,652,628.062456073,652,0.400964902882,0.00451947469427,0.059841500644,0.999999951924,0.000161380012589,-0.000263550574947,2.54969553504e-05,1793247752854571776
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.650090201,634,877,785,809,652,628.650090201,652,0.400967260998,0.00451995667429,0.0598425344079,0.999999952419,0.000160617776157,-0.000262155624179,2.52591285453e-05,1793247752871238144
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.765734357,634,877,785,809.234265643,652,628.765734357,652,0.400977307837,0.00452013814325,0.0598467968024,0.999999954536,0.000159156639608,-0.000254882799506,2.5139928526e-05,1793247752887904512
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.186649853,634,877,785,809.813350147,652,628.186649853,652,0.400998671813,0.00451987728575,0.0598558114634,0.99999995886,0.000156666782287,-0.000238958250508,2.51953369401e-05,1793247752904571136
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809.609861869,652.390138131,628.390138131,652,0.401040591634,0.00452079775026,0.059872036989,0.999999965165,0.000157787247105,-0.000210081423206,2.52656886588e-05,1793247752921238016
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809.034166104,652.965833896,628.965833896,652,0.401092288235,0.00452228007552,0.0598916921493,0.999999971458,0.000160624854222,-0.000175044227192,2.53431476981e-05,1793247752937904896
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.541663325,634,877,785,809,652.458336675,629,652,0.4011580509,0.00452043470264,0.0599071643011,0.999999974773,0.000159682796958,-0.000155832355906,2.59222256698e-05,1793247752954571776
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.879843389,634,877,785,809,652,628.879843389,652,0.401227754828,0.00451865795687,0.0599212099412,0.999999977658,0.000158325059115,-0.000137557791829,2.63620743021e-05,1793247752971238400
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.290991922,634,877,785,809,652,628.290991922,652,0.401309370762,0.0045179678585,0.0599307206394,0.999999980362,0.000156276060141,-0.000119044727206,2.6135381709e-05,1793247752987905280
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809,652.293956671,628.293956671,652,0.40140197119,0.00451808849864,0.0599370268192,0.999999982046,0.00015476759115,-0.000106333934447,2.5440470128e-05,1793247753004571904
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809,652.875092344,628.875092344,652,0.401505302841,0.00451900118438,0.0599402023654,0.99999998295,0.000153787189462,-9.92916334747e-05,2.42881351607e-05,1793247753021238528
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.449743612,661,634,877,784.550256388,809.449743612,652.550256388,629,652,0.401623613863,0.00451761042205,0.0599437133098,0.999999984219,0.000149974817776,-9.23056947615e-05,2.34343308297e-05,1793247753037904896
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.977281582,661,634,877,784,809.977281582,652.022718418,629,652,0.401747035416,0.00451574427423,0.0599472018088,0.999999985516,0.00014545209863,-8.54474497745e-05,2.26041533304e-05,1793247753054571520
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.401901619,661,634,877,784,809.401901619,652.598098381,629,652,0.401895012919,0.00451765507992,0.0599479104631,0.999999986332,0.000142510579573,-8.1320170087e-05,2.03604574668e-05,1793247753071237888
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.820958998,877,784.179041002,809,653,628.820958998,652,0.402052573734,0.00451869864252,0.0599487924012,0.999999987152,0.000139955572325,-7.5973286448e-05,1.83692691279e-05,1793247753087904768
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.227129306,877,784.772870694,809,653,628.227129306,652,0.402232336426,0.00451773304152,0.0599500757895,0.999999987995,0.000138296006887,-6.78009169438e-05,1.69630714876e-05,1793247753104571904
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.354914003,876.645085997,785,809,652.645085997,628.354914003,652,0.40243881496,0.00451769500238,0.0599508885665,0.999999988883,0.000134989390432,-6.16237093833e-05,1.46554563188e-05,1793247753121238784
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.92965704,876.07034296,785,809,652.07034296,628.92965704,652,0.402661840951,0.00451823148268,0.0599514098532,0.999999989788,0.000130662612223,-5.66822779205e-05,1.17895149306e-05,1793247753137905408
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.515591457,634,877.031182914,784.484408543,809,652.515591457,629,652,0.402909627486,0.0045182086602,0.0599533160423,0.999999990827,0.000126669566707,-4.70033007847e-05,9.53828769183e-06,1793247753154571520
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.89830744,634,877.89830744,784.10169256,809,653,628.89830744,652,0.403166237866,0.00451805052871,0.0599547355793,0.999999991756,0.000122131230358,-3.89813454136e-05,7.25367146302e-06,1793247753171238144
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.318756836,634,877.318756836,784.681243164,809,653,628.318756836,652,0.40344808584,0.00451762309766,0.0599529607586,0.999999992524,0.000114811843253,-4.1850429678e-05,4.40932195169e-06,1793247753187904768
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.260410169,661,634,876.739589831,785,809.260410169,653,628.260410169,652,0.403745934614,0.00451643219825,0.05994750507,0.999999993006,0.000106513133685,-5.13944326914e-05,1.3880336294e-06,1793247753204571136
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.839108284,661,634,876.160891716,785,809.839108284,653,628.839108284,652,0.404063340446,0.00451430814491,0.0599375504177,0.999999992905,9.70174415706e-05,-6.90968963998e-05,-1.8495190828e-06,1793247753221237760
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.414056383,745,715,679.585943617,661.414056383,634,876.414056383,784.585943617,809.585943617,652.585943617,629,652,0.404404197331,0.00451438812624,0.0599233295498,0.999999991415,9.05597054749e-05,-9.45605753029e-05,-5.25123379574e-06,1793247753237904896
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.987560389,745,715,679.012439611,661.987560389,634,876.987560389,784.012439611,809.012439611,652.012439611,629,652,0.404754084897,0.00451531685213,0.059907465819,0.99999998876,8.52718461157e-05,-0.000123012994779,-8.71616503983e-06,1793247753254571776
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.423956305,745,715,679,661.423956305,634,877,784.576043695,809.576043695,652,629,652.576043695,0.40515001628,0.00451611972069,0.0599025524694,0.99999998818,7.85462730006e-05,-0.000131562494418,-1.27565534375e-05,1793247753271238656
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809.837936888,652.162063112,629,652.837936888,0.405569203441,0.00451626370962,0.0599041689048,0.999999988957,7.10447905736e-05,-0.000129482057691,-1.65320380773e-05,1793247753287905280
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809.25910784,652.74089216,629,652.25910784,0.406045570465,0.00451472048152,0.0599219531597,0.999999992788,6.16299332652e-05,-0.000101200183226,-1.95934776438e-05,1793247753304571904
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.681048508,877,785,809,653,629,652,0.406560268958,0.00451339455156,0.0599482581271,0.999999996762,5.19674659285e-05,-5.69588842803e-05,-2.30544458553e-05,1793247753321238528
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.103612906,877,785,809,653,629,652,0.407106032023,0.00451224472381,0.0599814684375,0.999999998753,4.21043297725e-05,2.16226794986e-07,-2.68391996587e-05,1793247753337904896
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.472744891,661.472744891,633.472744891,877,785,809,653,629,652,0.407662507694,0.00451147282413,0.0599973391854,0.999999998835,3.21097156951e-05,1.97154839156e-05,-3.01809434032e-05,1793247753354571520
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679.950199379,661.950199379,633.950199379,877,785,809.049800621,652.950199379,629,652,0.408219703239,0.00451084163053,0.0600071755249,0.999999998832,2.21937125322e-05,2.68971484116e-05,-3.3459084673e-05,1793247753371238144
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.363069824,661.363069824,633.363069824,877,785,809.636930176,652.363069824,629,652,0.408759390898,0.00451083691178,0.0599928141435,0.999999999172,1.34360930663e-05,-9.93031805274e-06,-3.70962251588e-05,1793247753387905536
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.220973149,661,633.220973149,877,785,810,652,629,652.220973149,0.409329806108,0.00451014052655,0.0599824638971,0.999999998488,3.95225624123e-06,-3.63297657904e-05,-4.1100002119e-05,1793247753404572416
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.800014543,661,633.800014543,877,785,810,652,629,652.800014543,0.409950012674,0.00450832335443,0.0599786133556,0.999999997883,-6.70835367107e-06,-4.58314914561e-05,-4.56978822362e-05,1793247753421238784
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.377649888,715,679.622350112,661.377649888,633.622350112,877.377649888,784.622350112,810,652,629,652.622350112,0.410618399273,0.00450831049103,0.0599832313925,0.999999998115,-1.62939623806e-05,-3.04800197626e-05,-5.07412697009e-05,1793247753437905408
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.9545434,715,679.0454566,661.9545434,633.0454566,877.9545434,784.0454566,810,652,629,652.0454566,0.411312205067,0.00450924955966,0.0599923173515,0.999999998109,-2.53124127959e-05,-2.01629417652e-06,-5.60197014035e-05,1793247753454572032
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.460961017,715,679.539038983,662,633.539038983,878,784.539038983,810,652.539038983,629,652,0.412005397473,0.00450915465867,0.0599868302474,0.999999997596,-3.14130572071e-05,-1.19310430831e-05,-6.06457116794e-05,1793247753471238400
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679.877091187,661.877091187,634,877.877091187,785,810.122908813,652.877091187,629,652,0.412693919459,0.00451079928993,0.0599728045427,0.999999997463,-1.16910463615e-05,-3.87821601465e-05,-5.85938728204e-05,1793247753487905024
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679.297957867,661.297957867,634,877.297957867,785,810.702042133,652.297957867,629,652,0.413365299922,0.00451922916396,0.0599317113743,0.999999987425,0.000102955532743,-0.000116314196059,-3.19617052388e-05,1793247753504571392
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.281336162,715,679,661,634,877.281336162,785,810.718663838,652.281336162,629,652,0.414096875421,0.00452156610703,0.0599155443613,0.999999977368,0.000152662952125,-0.000146626669596,-2.14016601485e-05,1793247753521238016
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.860800566,715,679,661,634,877.860800566,785,810.139199434,652.860800566,629,652,0.414892238895,0.00451744645213,0.059925791263,0.999999982641,0.000133555211902,-0.000126901203904,-2.7873029549e-05,1793247753537904896
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.563363559,715,679,661.873272883,633.563363559,878,785,810,652.563363559,629,652,0.415750468146,0.00450897074238,0.0599691753617,0.999999991976,0.000112551434161,-4.8739714032e-05,-3.1696370765e-05,1793247753554571776
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679.011553548,663,633,878.011553548,785,810.011553548,652.011553548,629,652,0.416627495842,0.00449905388003,0.0600219159501,0.999999994194,9.12316750297e-05,4.57499516798e-05,-3.45713171529e-05,1793247753571238400
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.59783759,663,633,878.59783759,785,810.59783759,652.59783759,629,652,0.417450903604,0.00448595877168,0.0600189143905,0.999999995404,8.40142130821e-05,3.34048809415e-05,-3.19165099371e-05,1793247753587904768
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715.18207266,680,662.635854679,633,878.81792734,784.81792734,811,652.81792734,629,652.18207266,0.418284521954,0.00447617257714,0.0600104238682,0.999999996304,7.8533018162e-05,1.66596188604e-05,-3.07692496502e-05,1793247753604571648
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715.761832289,680,661.476335423,633,878.238167711,784.238167711,811,652.238167711,629,652.761832289,0.419140442441,0.00447361378312,0.0599899442369,0.999999996459,7.68442149479e-05,-9.69663376178e-06,-3.29148055066e-05,1793247753621238016
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.658841932,680,661.682316137,633,878.341158068,784,811,652,629,653,0.41998895426,0.00447549201512,0.059963278714,0.99999999474,8.35096669807e-05,-4.81181899861e-05,-3.50866671403e-05,1793247753637904640
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.079818668,680,662.840362664,633,878.920181332,784,811,652,629,653,0.420832300508,0.00448046386908,0.0599323002106,0.999999990189,9.59999454589e-05,-9.49520209472e-05,-3.72768697737e-05,1793247753654571264
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.505344776,745,715,680,662.505344776,633.494655224,879,784,811,652,629,653,0.42166117518,0.00447659232456,0.0598945047798,0.999999984564,-1.44238189259e-05,-0.000171400282609,-3.58623258906e-05,1793247753671238400
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.068808789,745,715,680,662,633.931191211,879,784,811,652,629.068808789,652.931191211,0.422511409044,0.00447223884151,0.0598666992193,0.999999964666,-0.000127690518388,-0.00023060787087,-3.43945248156e-05,1793247753687905536
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.645969522,745,715,680,662,633.354030478,879,784,811,652,629.645969522,652.354030478,0.42353653662,0.00447477122741,0.0599207503487,0.999999984383,-0.000116766683719,-0.000127460778055,-3.67914239343e-05,1793247753704572160
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.458515754,633,879,784.229257877,811,652,629.770742123,652.229257877,0.424538079093,0.00447531431512,0.0599747166815,0.999999992666,-0.000109741495202,-3.38940646534e-05,-3.84227117746e-05,1793247753721238528
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.644537482,633,879,784.822268741,811,652,629.177731259,652.822268741,0.42550220032,0.00447270107478,0.0600285484798,0.999999992327,-0.00010890210964,4.44719135981e-05,-3.88392399375e-05,1793247753737905152
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.794268792,633,879,784.598089597,811.401910403,652,629.401910403,653,0.426443205102,0.00447162407969,0.0600385334119,0.99999999141,-0.000105068862565,6.70544047565e-05,-4.05565833364e-05,1793247753754571520
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.072509155,633,879,784.024169718,811.975830282,652,629.975830282,653,0.427374316457,0.00447120456647,0.0600297527741,0.999999991925,-9.99543038982e-05,6.57626936409e-05,-4.28306492351e-05,1793247753771237888
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.099722379,633,878.45013881,784,811.45013881,652,630,653,0.428285776385,0.00447042950797,0.060001884861,0.99999999461,-9.07349809527e-05,2.50528179855e-05,-4.3810136621e-05,1793247753787904512
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.871755678,633,878.128244322,784.128244322,811.128244322,652,630,652.871755678,0.429186942526,0.00446946543667,0.0599699222796,0.999999995407,-8.10938510329e-05,-2.51265445208e-05,-4.44790286117e-05,1793247753804571136
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.277577938,633,878.722422062,784.722422062,811.722422062,652,630,652.277577938,0.4300538485,0.00446787144175,0.0599261319228,0.999999991184,-7.05758875998e-05,-0.000103413817519,-4.42262604105e-05,1793247753821238016
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633,879,784.693217996,812.306782004,652,630,652.306782004,0.430981674014,0.0044662667333,0.0599180100711,0.999999990472,-6.56456250059e-05,-0.000112767292638,-4.50486118264e-05,1793247753837904640
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633,879,784.117465811,812.882534189,652,630,652.882534189,0.431962910501,0.00446465263189,0.0599411604743,0.999999994849,-6.56143627036e-05,-6.16832677305e-05,-4.68135711746e-05,1793247753854571264
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662.91588639,633,879,784,812.542056805,652,630,652.542056805,0.432928291596,0.00446224570069,0.0599803235046,0.999999996831,-6.40318297806e-05,2.3238935707e-06,-4.72571660816e-05,1793247753871237632
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.965870249,680,663.931740498,633,879,784,812.034129751,652,630,652.034129751,0.433886864836,0.00445958588847,0.0600200104856,0.999999994912,-6.20715566997e-05,6.38541305755e-05,-4.73853454341e-05,1793247753887904000
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.375580478,680,662.751160955,633,879,784,812.624419522,652,630,652.624419522,0.434800724164,0.00445611673924,0.0600013542757,0.999999996545,-6.04351495997e-05,3.10446172018e-05,-4.78927287817e-05,1793247753904570624
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.210577001,680,662,633,879,784,813,651.789422999,630,653,0.435693785903,0.00445310204798,0.0599776430701,0.999999996958,-5.97063634428e-05,-1.2568108996e-05,-4.85924155831e-05,1793247753921237504
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.789506157,680,662,633,879,784,813,651.210493843,630,653,0.436550467575,0.00445088231745,0.059945089402,0.999999994116,-6.05652343368e-05,-7.50783778919e-05,-4.96284895379e-05,1793247753937904128
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.366188633,662.366188633,633,879,784.366188633,813,651.366188633,630,653,0.437382008591,0.00445056419716,0.0599172298001,0.999999988955,-5.46921832596e-05,-0.00012889548452,-4.98420431286e-05,1793247753954570752
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.941587506,662.941587506,633,879,784.941587506,813,651.941587506,630,653,0.438199186241,0.00445133250158,0.0598920520055,0.999999981963,-4.49730624026e-05,-0.000177746025261,-4.95856757582e-05,1793247753971237120
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.945356639,632.472678319,879,783.945356639,813,652,630,653,0.439048522386,0.00444687602529,0.0598985443467,0.999999983855,-4.87644188488e-05,-0.000165640623298,-4.97477995774e-05,1793247753987904000
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.225360974,632.112680487,879.112680487,783.112680487,813.112680487,652,630,653,0.439916193953,0.0044425950503,0.0599191690319,0.999999988725,-5.33359761726e-05,-0.000131121816394,-5.01147567132e-05,1793247754004570880
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.383307142,632.691653571,879.691653571,783.691653571,813.691653571,652,630,653,0.440844704841,0.00444148322556,0.0599834682996,0.999999996667,-5.48192022415e-05,-3.23527153494e-05,-5.11336822223e-05,1793247754021237248
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.2706024,745,715,680.7293976,663,633,879.7293976,784,814,652,630,653,0.441705814119,0.00443925401203,0.0600136475371,0.999999996974,-5.61099805477e-05,1.5441760655e-05,-5.16223141956e-05,1793247754037904128
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.849523552,745,715,680.150476448,663,633,879.150476448,784,814,652,630,653,0.442490127337,0.00443575166899,0.0600049511165,0.999999997025,-5.71814882346e-05,5.15680089461e-06,-5.15067410933e-05,1793247754054570752
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.574610523,745,715,680,662.149221046,633,879,784.425389477,814,652,630,653,0.443246659778,0.00443277531367,0.0599855501095,0.999999996883,-5.56106880632e-05,-2.17703291911e-05,-5.16439704488e-05,1793247754071237376
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.000186318,745,715,680.000372637,661.000372637,633,879.000186318,784.999813682,814,652,630.000186318,653,0.443993424437,0.0044299846821,0.0599623985606,0.999999995758,-5.3110527858e-05,-5.45292930693e-05,-5.186975037e-05,1793247754087904000
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.587311591,745,715,681.174623183,662.174623183,633,879.587311591,784.412688409,814,652,630.587311591,653,0.44470616654,0.0044303093008,0.0599678427912,0.999999996555,-4.6388672202e-05,-4.58377989061e-05,-5.13471615663e-05,1793247754104571392
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.828005075,662.828005075,633,879.828005075,784,814,652,630.828005075,652.828005075,0.445406360399,0.00442910776456,0.0599666767375,0.999999996338,-4.39379072154e-05,-5.28125207667e-05,-5.10357591691e-05,1793247754121238784
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.249098843,662.249098843,633,879.249098843,784,814,652,630.249098843,652.249098843,0.446076867354,0.00442429560034,0.0599498718545,0.999999992667,-5.15918289893e-05,-9.68508950201e-05,-5.12239884278e-05,1793247754137905664
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.670774298,745,715,681,662,633,879,784,814,652,630.329225702,652.329225702,0.446736789194,0.00442091697884,0.0599362995003,0.99999999014,-5.58762882937e-05,-0.000117655785516,-5.24895594392e-05,1793247754154572544
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.092889127,745,715,681,662,633,879,784,814,652,630.907110873,652.907110873,0.447388716209,0.00441862109197,0.0599251686298,0.999999989541,-5.76158403441e-05,-0.000120912755221,-5.4568831324e-05,1793247754171238656
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,633,879,784,814,652,630.518388287,653,0.448046389023,0.00441501022995,0.0599530044994,0.999999993519,-6.44243617992e-05,-7.56845009683e-05,-5.5524504921e-05,1793247754187905024
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.057010793,745,715,681.057010793,662,633,879,783.942989207,814,652,630.057010793,653,0.448694072233,0.00441131638766,0.0599844998396,0.999999995437,-7.21954014504e-05,-2.72510937231e-05,-5.63183983559e-05,1793247754204571392
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.6468633,745,715,681.6468633,662,633,879,783.3531367,814,652,630.6468633,653,0.449238103987,0.00440920086992,0.059980444962,0.999999994514,-7.98886919763e-05,-3.56527738599e-05,-5.7611551767e-05,1793247754221238016
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.767584449,745,715,681.535168899,661.767584449,632.767584449,879.232415551,783,814,652,631,653,0.449758969848,0.00440740845292,0.0599592950073,0.999999992107,-8.62795902492e-05,-6.9539320023e-05,-5.92082345464e-05,1793247754237904640
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.188447447,745,715,680.376894894,661.188447447,632.188447447,879.811552553,783,814,652,631,653,0.450245276386,0.00440609804328,0.0599126423276,0.999999984005,-9.07275567337e-05,-0.000141444619697,-6.12577272545e-05,1793247754254571520
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,744.611618317,715,680.388381683,661,632,880,783,814,652,630.611618317,653,0.450707752461,0.0044055464984,0.0598799400149,0.99999996854,-0.000154198582386,-0.000187344372289,-6.35928682463e-05,1793247754271238144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,744.035902328,715,680.964097672,661,632,880,783,814,652,630.035902328,653,0.451158734052,0.00440536098872,0.0598539666,0.999999943171,-0.000246139137017,-0.000220700461495,-6.60657902887e-05,1793247754287904256
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.461964861,744.538035139,715,681,661,632,880,783,814,652,630.538035139,653,0.451596581168,0.00440410196164,0.0598563805626,0.999999943376,-0.000252962266205,-0.000211491798759,-6.73042992737e-05,1793247754304570880
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.230817887,745,715,681,660.884591057,632,880,783.115408943,814.115408943,652,630.884591057,653,0.452028510101,0.00440269111995,0.0598638414417,0.999999946178,-0.00025437130328,-0.000195582547491,-6.84551735313e-05,1793247754321237504
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.414927482,745,715,681,660.292536259,632,880,783.707463741,814.707463741,652,630.292536259,653,0.45243960456,0.00440094815369,0.0598843488002,0.999999951208,-0.000256800303189,-0.000163691362692,-6.95831862319e-05,1793247754337903872
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.70762106,745,715,681,660,632,880,784,815,652,630,652.70762106,0.452820456793,0.0044006957022,0.0598920104743,0.999999953521,-0.000254611247547,-0.000152478602988,-6.98633779926e-05,1793247754354570496
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.129679059,745,715,681,660,632,880,784,815,652,630,652.129679059,0.453171771778,0.00440189901902,0.0598871259188,0.999999953833,-0.000247911791546,-0.000161462219158,-6.93155130205e-05,1793247754371237120
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.553655466,631.553655466,880,783.553655466,814.553655466,652,630.446344534,652.446344534,0.45346492758,0.004401011257,0.0598728486386,0.999999961592,-0.000196269124657,-0.000188622319702,-5.21185684047e-05,1793247754387904000
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+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,681.609966661,659,631,879.390033339,783.609966661,814.609966661,652,630.390033339,652.390033339,0.453981488899,0.00440553763471,0.0598379459078,0.999999958598,-0.000135198822598,-0.000251729778413,-3.40328275822e-05,1793247754421237504
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.194866608,745,715,682,659,631,879.194866608,784,815,652,630.194866608,652.194866608,0.45422631147,0.00440817333015,0.0598277583033,0.999999954322,-0.000137889815703,-0.000266458868753,-3.66244817845e-05,1793247754437904128
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.774260406,745,715,682,659,631,879.774260406,784,815,652,630.774260406,652.774260406,0.454477593823,0.00440467400052,0.0598327397983,0.999999957786,-0.000143754412619,-0.000249569809523,-3.84492846973e-05,1793247754454570752
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.647250487,745,715,682,658.647250487,631,879.647250487,784,815,652,631,653,0.454707735189,0.00440379419094,0.059842188921,0.999999961031,-0.000147883419925,-0.000233342117575,-4.02534479315e-05,1793247754471237376
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.069338792,745,715,682,658.069338792,631,879.069338792,784,815,652,631,653,0.454924382158,0.00440458643678,0.0598544897586,0.999999964069,-0.000150904590281,-0.000217536578754,-4.20444369087e-05,1793247754487904000
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,681.494737502,658,631,879.505262498,783.494737502,815,652,631,653,0.455098523264,0.00440524740106,0.0598555183442,0.999999964249,-0.000155122646067,-0.000213360426462,-4.37714541091e-05,1793247754504570880
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.081505847,745.081505847,715,681,657.918494153,631,880,783.081505847,815,652,631,653,0.455260719809,0.00440554740284,0.0598537517003,0.999999963579,-0.00015914801778,-0.000213215141255,-4.53133673699e-05,1793247754521237504
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.670791288,745.670791288,715,681,657.329208712,631,880,783.670791288,815,652,631,653,0.455384606343,0.00440371012646,0.059844145429,0.999999959938,-0.000160956345831,-0.000228304127224,-4.57564252802e-05,1793247754537904128
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,879.314526128,784,815,652,630.685473872,653,0.456006268727,0.00440746614022,0.0598262702824,0.999999954332,-0.000160831371651,-0.000251000080013,-4.96868056577e-05,1793247754671237888
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+235,3.916666667,POSE1_TO_POSE2_PRESS,765.722422996,745,715,681,656.722422996,630.277577004,879.722422996,783,815,652,631,653,0.456114901994,0.00441285897453,0.0598080400115,0.999999948604,-0.00014973303171,-0.00027913379715,-4.95594263887e-05,1793247754871237888
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.144912361,745,715,681,656.144912361,630.855087639,879.144912361,783,815,652,631,653,0.45611501658,0.00441415098183,0.0598078802189,0.999999948634,-0.000149150842234,-0.000279296841756,-4.97863501152e-05,1793247754887904256
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765.99155276,745,715,681.99155276,656.99155276,631,879.99155276,783.00844724,814.99155276,652,630.00844724,652.00844724,0.45611585936,0.00441480888404,0.0598073040383,0.999999948955,-0.000147014429182,-0.000279234373451,-5.00552749793e-05,1793247754921237760
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.404074775,745,715,681.404074775,656.404074775,631,879.404074775,783.595925225,814.404074775,652,630.595925225,652.595925225,0.456116889723,0.00441439348136,0.0598073604495,0.999999949172,-0.000147033144978,-0.000278464681285,-4.99409767587e-05,1793247754937904384
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.180810211,745,715,681,656,630.819189789,879,783.819189789,814.180810211,652,631,653,0.456117997537,0.00441411304581,0.0598075079983,0.999999949306,-0.000147643131083,-0.000277679452426,-4.98301599947e-05,1793247754954571264
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.759982256,745,715,681,656,630.240017744,879,783.240017744,814.759982256,652,631,653,0.456119275993,0.00441412997043,0.0598078563418,0.999999949254,-0.000149555806476,-0.000276859993103,-4.97270135978e-05,1793247754971237888
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.335735799,715,681,656,630.335735799,879.335735799,783,815,652,630.664264201,653,0.456119305932,0.00441318084883,0.0598078505819,0.999999948882,-0.00015070853265,-0.000277604037836,-4.95909774107e-05,1793247754987904256
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+245,4.083333333,HOLD_POSE2,766,745,715,681,656,631,880,783,815,652,631,653,0.456117770429,0.0044112674674,0.0598057332168,0.999999948395,-0.000148675422283,-0.00028048369891,-4.93507766647e-05,1793247755064281856
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+247,4.116666667,HOLD_POSE2,766,745,715,681,656,630.158026655,879.841973345,783,814.841973345,652.841973345,630.841973345,653,0.4561191095,0.00441247901964,0.0598064848829,0.999999948198,-0.000151063663093,-0.000279770739238,-5.01227547926e-05,1793247755097615104
+248,4.133333333,HOLD_POSE2,766,745,715,681,656,630.732501636,879.267498364,783,814.267498364,652.267498364,630.267498364,653,0.456118210226,0.00441456372476,0.0598063569502,0.999999948371,-0.000148721278295,-0.000280439541896,-4.99327425169e-05,1793247755114281728
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,656,631,880,783.061702063,814,652.061702063,630.061702063,652,0.456118037683,0.0044157875372,0.0598043898278,0.99999994818,-0.00014221960709,-0.000284691062305,-4.86310071813e-05,1793247755436430080
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.514151745,745,715,681.514151745,656,631,879.485848255,783.514151745,814,652,630,652.514151745,0.456118876003,0.00441565397735,0.0598045545061,0.999999948091,-0.000144582085314,-0.000283717604633,-4.91826102854e-05,1793247755453096960
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.906590893,656,630.906590893,879.093409107,783.906590893,814,652,630,653,0.456119599099,0.00441559700513,0.0598047961682,0.999999948007,-0.000146900534716,-0.000282714620132,-4.97772191131e-05,1793247755469763840
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.310793346,656,630.310793346,879.689206654,783.310793346,814,652,630,653,0.456119682672,0.00441584779651,0.0598058481112,0.999999948379,-0.000145904108213,-0.000281906252728,-4.98217893117e-05,1793247755486430720
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,656.276717588,630.276717588,880,783,814,652,630.276717588,653,0.456115969496,0.00441673514199,0.059804353594,0.999999947929,-0.000144025510343,-0.000284447565687,-4.98848453192e-05,1793247755503097088
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,656.855192043,630.855192043,880,783,814,652,630.855192043,653,0.456108116017,0.00441831664129,0.0598000821954,0.999999946549,-0.000141184916338,-0.000290641660772,-4.99680598521e-05,1793247755519763456
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,657,631,880,783,814,652,631,652.570198074,0.456085413956,0.00441884212892,0.0597887531403,0.999999941533,-0.000139573049832,-0.000308153919466,-4.9937528999e-05,1793247755536430080
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.996786741,745,715,681,656.996786741,631,880,783,814,652,631,652.003213259,0.456057608802,0.00441902907299,0.0597750279957,0.99999993489,-0.00013836807679,-0.000329526301763,-4.98735063987e-05,1793247755553096704
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.406598057,745,715,681,656.406598057,631,880,783,814,652,631,652.593401943,0.456003330574,0.00442178715224,0.0597541005103,0.999999922542,-0.000136542468869,-0.000365660845817,-5.06296163826e-05,1793247755569763584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.820008485,681.179991515,656,631,879.820008485,783,814,652,630.820008485,653,0.455944407684,0.00442334697703,0.0597340784255,0.999999910758,-0.000135421095639,-0.000396895200963,-5.11765668337e-05,1793247755586430208
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.241389754,681.758610246,656,631,879.241389754,783,814,652,630.241389754,653,0.455875198246,0.00442225302816,0.0597160615271,0.999999902397,-0.000135859390952,-0.000417277115309,-5.12602919155e-05,1793247755603097088
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.335509359,745,714,681.664490641,656,631,879,783,814,652,630,653,0.455802164672,0.00442313381772,0.0597062124524,0.999999897325,-0.000134109780034,-0.000429821261706,-5.11654941016e-05,1793247755619764224
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.911177529,745,714,681.088822471,656,631,879,783,814,652,630,653,0.455726393771,0.00442542813223,0.0597022099364,0.999999894771,-0.000130794057929,-0.000436755104341,-5.09429089573e-05,1793247755636430592
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.513197243,745,714.486802757,681,656.486802757,631,879.486802757,783,814,652,630.486802757,653,0.455635401841,0.0044253637625,0.0597046091756,0.999999895767,-0.000129311663059,-0.000434986612973,-5.0319363179e-05,1793247755653097216
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.064073281,745,715,681.064073281,657,630.935926719,879.935926719,783,814,652,630.935926719,653,0.45553931125,0.00442663153624,0.0597081873463,0.999999897692,-0.000126485953495,-0.000431407921377,-5.00403188548e-05,1793247755669763840
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.654935302,745,715,681.654935302,657,630.345064698,879.345064698,783,814,652,630.345064698,653,0.455424132743,0.00444238976526,0.0597118556641,0.999999901812,-0.000109865977608,-0.000425999872716,-5.31950890077e-05,1793247755686430208
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.75902376,657,630.24097624,879.481952479,783.24097624,814,652,630,653,0.455293519529,0.00446056426098,0.0597150227654,0.999999904876,-9.01501918281e-05,-0.000422993378699,-5.65425830314e-05,1793247755703096832
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.17975099,657,630.82024901,880.64049802,783.82024901,814,652,630,653,0.455141238183,0.00448213085182,0.0597174862294,0.99999990639,-6.60883285584e-05,-0.000423358327897,-6.01606338194e-05,1793247755719763456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.603538092,744.603538092,715,681,657,631,880.207076184,783.603538092,814,652,630.396461908,653,0.454969873029,0.00448471360624,0.0597172036086,0.999999905617,-5.94729376694e-05,-0.000426334366167,-5.88926333994e-05,1793247755736430336
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.028701827,744.028701827,715,681,657,631,879.057403654,783.028701827,814,652,630.971298173,653,0.454789921761,0.00447875524033,0.0597156854819,0.999999903963,-6.07069829957e-05,-0.000430485173969,-5.54263231433e-05,1793247755753097728
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,744.554577846,715,681,657,631,879.554577846,783,814,652,631,653,0.45458075382,0.00447972493899,0.0597152071616,0.999999901448,-5.78468790274e-05,-0.000436825609799,-5.42371283922e-05,1793247755769764096
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.137305401,657.137305401,631.137305401,879.862694599,783,814,652,630.862694599,653.137305401,0.454362272936,0.0044818976824,0.059716226648,0.999999900328,-5.30025079673e-05,-0.000440129041013,-5.31057382877e-05,1793247755786430976
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.716825777,657.716825777,631.716825777,879.283174223,783,814,652,630.283174223,653.716825777,0.454118743341,0.00448677238453,0.059721894073,0.999999903892,-4.24604506062e-05,-0.000433280675582,-5.17750915591e-05,1793247755803097088
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.295045689,745,715,681.704954311,657.704954311,631.704954311,879.295045689,783,813.704954311,652,630,653.704954311,0.453844695666,0.00448813423604,0.0597221493816,0.99999990438,-3.57634166971e-05,-0.0004330249644,-4.9492977355e-05,1793247755819763456
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.872022906,745,715,681.127977094,657.127977094,631.127977094,879.872022906,783,813.127977094,652,630,653.127977094,0.453541486389,0.00448613937547,0.0597172331304,0.999999902001,-3.27405036503e-05,-0.000439068878261,-4.63016864921e-05,1793247755836430080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.568811939,745,715,681,657.431188061,631,879.568811939,783,813,652,630,653,0.453222893785,0.00449035991264,0.0597151515197,0.999999902635,-2.42105851207e-05,-0.00043828660819,-4.52585106771e-05,1793247755853096704
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.014723709,745,715,681,657.985276291,631,879.014723709,783,813,652,630,653,0.452899916526,0.004496352005,0.0597138778576,0.99999990404,-1.41110222881e-05,-0.000435558692365,-4.482760535e-05,1793247755869763328
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.584401875,658.584401875,631,879,783,813,652,630.584401875,653,0.452556973127,0.00449661051671,0.0597285469186,0.999999915123,-4.84911151695e-06,-0.00040993986534,-4.09921728777e-05,1793247755886430208
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.817453075,659,631.182546925,879.182546925,783,813,652,631,653,0.45219932967,0.00449638595212,0.0597432292826,0.999999925003,3.01434255581e-06,-0.000385486406565,-3.72158076256e-05,1793247755903097344
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.224279297,659,631.775720703,879.775720703,783,813,652,631,653,0.451809845515,0.00449542681403,0.0597569625966,0.999999932765,7.78349890132e-06,-0.000365059997407,-3.37813675297e-05,1793247755919764224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.358540276,632,879.641459724,783,813,652,630.641459724,653,0.45137552068,0.00449929238627,0.0597662388707,0.99999993705,1.98269252539e-05,-0.000352951522302,-3.05222977249e-05,1793247755936430848
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.935064789,632,879.064935211,783,813,652,630.064935211,653,0.450913933706,0.00450609127125,0.0597728053686,0.999999939143,3.62929408261e-05,-0.000345900157683,-2.73698486878e-05,1793247755953097216
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.505425611,660,632,879.505425611,783.505425611,812.494574389,652,630.505425611,653,0.450416725524,0.00450646910192,0.0597615837752,0.999999934394,4.54842535289e-05,-0.000358592512159,-2.35481950736e-05,1793247755969764096
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.921430366,660.078569634,632,880,784,812.078569634,652,631,653,0.449908626689,0.00450660722664,0.0597484731257,0.999999928481,5.41730517835e-05,-0.000373779179859,-1.97871107169e-05,1793247755986430464
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.324774968,660.675225032,632,880,784,812.675225032,652,631,653,0.449358528589,0.00451053891583,0.059737794049,0.999999922084,6.56369387461e-05,-0.000388888537777,-1.6985515244e-05,1793247756003097600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,632,879.737020161,784,812.737020161,652,630.737020161,653,0.448795403513,0.00451513084906,0.0597361192963,0.999999919904,7.99801633178e-05,-0.000391934246117,-1.348078607e-05,1793247756019764480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,632,879.159897596,784,812.159897596,652,630.159897596,653,0.448216717085,0.00452051147697,0.0597452006651,0.999999922763,9.77629016843e-05,-0.000380569313639,-9.1361282759e-06,1793247756036431360
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.413885617,744.586114383,715,681,661.413885617,632.413885617,879,784,812,652,630.413885617,653,0.447625889267,0.00452287887169,0.0597737403748,0.999999938157,0.000112039478087,-0.00033334140568,-4.14174561055e-06,1793247756053098240
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.986389041,744.013610959,715,681,661.986389041,632.986389041,879,784,812,652,630.986389041,653,0.447030408387,0.00452409147274,0.0598097373123,0.999999955098,0.000124972349806,-0.000272369345646,1.10163797249e-06,1793247756069764864
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.435614057,744.564385943,715,681.564385943,662,633,879,784,812,652,630.435614057,653,0.446358695158,0.00452957385451,0.0598191400572,0.999999953819,0.000140246648381,-0.000269552962941,5.81076024752e-06,1793247756086431232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.853670347,661.853670347,633,879,783.853670347,811.853670347,652,630,653,0.445667244423,0.00453483945349,0.0598150519174,0.999999947342,0.00015595873148,-0.000284404080461,1.03265829133e-05,1793247756103097600
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.260071928,661.260071928,633,879,783.260071928,811.260071928,652,630,653,0.444921139096,0.00453912460141,0.0597717073915,0.999999924086,0.000172834644256,-0.000348928370501,1.42913378562e-05,1793247756119763712
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,632.677163714,879.322836286,783.322836286,811.322836286,652,630.322836286,653,0.444185555953,0.0045417509855,0.0597530044298,0.999999913122,0.000185601819865,-0.00037279086067,1.8320004808e-05,1793247756136430336
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,632.102591275,879.897408725,783.897408725,811.897408725,652,630.897408725,653,0.44345817755,0.00454308392553,0.0597535160713,0.999999914111,0.00019516515185,-0.000364946745793,2.23985085107e-05,1793247756153096704
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.47320948,632.47320948,879.52679052,784,811.52679052,652,630.52679052,653,0.442700686576,0.0045490095304,0.0597782868338,0.999999923945,0.000211040646504,-0.00032688403391,2.67963410651e-05,1793247756169763584
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.949437338,633,879,784,811.050562662,652,630,653,0.441931949616,0.00455550465148,0.0598050868367,0.999999931816,0.000228115287527,-0.000288700342002,3.13630308976e-05,1793247756186429952
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.358341986,633,879,784,811.641658014,652,630,653,0.441112960787,0.00455741618696,0.0597972095311,0.999999918687,0.000243341746764,-0.000319441893885,3.69928476952e-05,1793247756203096576
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,632.772587042,879,784,811.772587042,652,630,652.772587042,0.44028772308,0.00456060358115,0.0597926410488,0.999999908422,0.000259195012185,-0.000337917436009,4.22658748406e-05,1793247756219763456
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,632.195054109,879,784,811.195054109,652,630,652.195054109,0.439452864785,0.00456575525916,0.0597931667584,0.999999903848,0.000276013293989,-0.000337508498508,4.69895962135e-05,1793247756236430080
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.379343682,661.379343682,632.379343682,878.620656318,784,811.379343682,652,630.379343682,652,0.43861090465,0.00456977150762,0.0598046484189,0.999999906006,0.000291003256484,-0.000317254667669,5.1522264486e-05,1793247756253096704
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.952142616,661.952142616,632.952142616,878.047857384,784,811.952142616,652,630.952142616,652,0.437765322788,0.00457320871685,0.0598217173248,0.999999910753,0.000305060823693,-0.000286880465443,5.59575005386e-05,1793247756269763328
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.472305839,661.472305839,633,878,784,812,652,630.472305839,652.527694161,0.43680426168,0.00457355238318,0.0597755337474,0.999999908414,0.000209617332441,-0.000372175981486,2.67919230301e-05,1793247756286430208
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,633,878.106433778,784,811.893566222,652,630,652.893566222,0.43585352062,0.00457231273285,0.0597326869422,0.999999893883,0.000123967819689,-0.000443693869136,1.16757555132e-06,1793247756303096832
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,633,878.698576754,784,811.301423246,652,630,652.301423246,0.434997919213,0.00456513467387,0.0597313830196,0.999999910024,0.000128569849395,-0.000404214521936,5.68287352497e-06,1793247756319763456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.284563649,633,879,784,811,652,630,652,0.434120802571,0.00456585183811,0.0597427340892,0.999999921786,0.000144765592246,-0.000367892524933,1.12179869318e-05,1793247756336430080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.864167884,633,879,784,811,652,630,652,0.433221378451,0.00457475490751,0.0597672060766,0.99999992882,0.000172981900929,-0.000334844119174,1.78104634275e-05,1793247756353096960
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.560069206,633,879,784,811,652,630,652,0.432303253461,0.00457909148181,0.0597838192334,0.999999931809,0.000186161206285,-0.000318151681598,2.24687072045e-05,1793247756369763840
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.014850835,633,879.014850835,784.014850835,811,652,630,652,0.431380004669,0.00458191827142,0.0597983364252,0.999999934095,0.000194282233009,-0.000305558622604,2.64355913042e-05,1793247756386430208
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.602614934,633,879.602614934,784.602614934,811,652,630,652,0.430479910349,0.00458042250786,0.0598247937775,0.999999949291,0.000184824388777,-0.000257977639056,2.65709522995e-05,1793247756403096832
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.812490689,662.187509311,633,879.624981378,784.812490689,811,652,630,652.187509311,0.429541652123,0.00458174751168,0.0598276926429,0.999999950248,0.00018031068468,-0.000257424717752,2.6934505493e-05,1793247756419763456
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.233586422,662.766413578,633,878.467172844,784.233586422,811,652,630,652.766413578,0.428523733049,0.00458896040519,0.0597814170263,0.99999991927,0.000186117063032,-0.000355035171532,2.77743724354e-05,1793247756436430336
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.967061614,633,878,784,811,652,630,652.655687205,0.427566666507,0.00458973438986,0.0597532543601,0.999999905853,0.000183431524817,-0.000392282398492,2.75989536358e-05,1793247756453096960
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.235403595,633,878,784,811,652,630,652.078467865,0.42665076302,0.00458615284627,0.0597373439986,0.999999908787,0.000175001725104,-0.000388697592722,2.67367562286e-05,1793247756469763584
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.498079636,661.494238908,633,878.498079636,784,811,652,630,652.498079636,0.425733783987,0.00458820000876,0.0597650379075,0.999999921319,0.000173309343002,-0.00035570246467,2.83290427318e-05,1793247756486430464
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.924009965,681,662.84801993,633,879,784,811,652,630,652.924009965,0.42481758808,0.00459046720156,0.059797762434,0.999999933737,0.000171527592113,-0.000319669664891,3.02599649609e-05,1793247756503097344
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.33620847,681,661.67241694,633,879,784,811,652,630,652.33620847,0.42390780685,0.00458825191238,0.0598181642717,0.999999943051,0.000162004641335,-0.000294341968731,3.18707956066e-05,1793247756519763968
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.247707886,680.752292114,661,633,878.752292114,784.247707886,810.752292114,652,630,652.247707886,0.423008722561,0.00458693008501,0.0598355970582,0.99999995203,0.000153914928048,-0.000266769443709,3.29308818769e-05,1793247756536430592
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.82643254,680.17356746,661,633,878.17356746,784.82643254,810.17356746,652,630,652.82643254,0.422123932674,0.00458680220739,0.0598490622481,0.999999960639,0.000147740476012,-0.000236197107582,3.32549981712e-05,1793247756553096960
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.402505536,661.402505536,633,878,785,810.402505536,652,630,652.597494464,0.421177430901,0.00459091778936,0.0598139074866,0.999999942837,0.000148558188138,-0.000301890848202,3.34421225827e-05,1793247756569763584
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.977442541,661.977442541,633,878,785,810.977442541,652,630,652.022557459,0.420204492101,0.00459685124935,0.059757924167,0.999999904259,0.00015237130929,-0.000408824519826,3.35705599836e-05,1793247756586430208
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.342697979,633.552434007,878,784.447565993,810.447565993,652,630,652.552434007,0.419315211449,0.00459129989831,0.059723151595,0.99999989122,0.000134571006919,-0.000445467298229,3.17765928013e-05,1793247756603096832
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.525081396,634,878,784.131270349,810,652,630,652.868729651,0.418445969375,0.00458656406981,0.0597060548135,0.999999887919,0.000119223305979,-0.000457186309616,3.04704116012e-05,1793247756619763456
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.894413041,634,878,784.72360326,810,652,630,652.27639674,0.417635109854,0.00458633990056,0.059747998646,0.999999916219,0.000115589964982,-0.000391447204651,3.11532217878e-05,1793247756636430336
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.309038911,745,715,680.690961089,662.690961089,634,878,784.690961089,810.309038911,652,630,652,0.416832497902,0.00458664815672,0.0597880393458,0.999999926233,0.00018390972831,-0.000335607700931,3.28451485167e-05,1793247756653097216
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.888440463,745,715,680.111559537,662.111559537,634,878,784.111559537,810.888440463,652,630,652,0.416037101378,0.00458742220517,0.0598264150881,0.999999908109,0.000315177651483,-0.000288428861119,3.54199002582e-05,1793247756669763840
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.537495408,745,715,680,661.074990815,633.537495408,877.537495408,784,810.537495408,652,629.537495408,652.462504592,0.415261147477,0.00458530984539,0.0598351113437,0.999999906748,0.000324468828622,-0.000282739581267,3.58176665785e-05,1793247756686430464
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.072713017,633,877,784.036356509,810,652,629,652.963643491,0.414489939702,0.00458269303595,0.0598365428236,0.999999911676,0.000305603994484,-0.000286314935906,3.57458623379e-05,1793247756703096832
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.252715362,633,877,784.626357681,810,652,629,652.373642319,0.413720406742,0.00458287563917,0.059835118455,0.999999914777,0.00030090177058,-0.00028031504366,3.64285196769e-05,1793247756719763456
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.787660035,633,877.212339965,785,810,652,629,652,0.412938478735,0.00458189278055,0.059815726557,0.999999907923,0.000293292064809,-0.000311065370814,3.70283740393e-05,1793247756736430080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.208618103,633,877.791381897,785,810,652,629,652,0.412135144892,0.0045788972196,0.0597653055098,0.999999877785,0.000280661260578,-0.000405281740305,3.74852311171e-05,1793247756753096704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.632082743,745,715,680,660.632082743,633,877.632082743,784.632082743,810,652.367917257,629,652,0.411419392712,0.00457926445971,0.0597418906615,0.999999868511,0.000268620176131,-0.000435404047114,3.5277715953e-05,1793247756769764096
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.056959087,745,715,680,660.056959087,633,877.056959087,784.056959087,810,652.943040913,629,652,0.410752965479,0.00458152558751,0.0597336853698,0.999999874295,0.000256911216163,-0.000429429375072,3.1569659756e-05,1793247756786431744
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764.527520536,745,715,680,661.055041072,633.527520536,877.527520536,784.527520536,810,652.472479464,629,652,0.410158758714,0.00457777768727,0.0597730405792,0.999999901867,0.000241354631926,-0.000370031483837,3.30168887688e-05,1793247756803097856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.775782734,634,877.887891367,784.887891367,810,652,629,652,0.409569686323,0.0045737643488,0.0598146900009,0.99999992618,0.000226426701651,-0.000308481859459,3.47726855224e-05,1793247756819764224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.614297916,634,877.307148958,784.307148958,810,652,629,652,0.408968890898,0.00457140260793,0.0598440753639,0.999999941617,0.000215894660392,-0.00026248583382,3.54494729135e-05,1793247756836430848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634,877,784.272358808,810,652,629,652,0.408378396054,0.00456966919239,0.0598533163625,0.999999947662,0.000206596181646,-0.000246435853718,3.55557107825e-05,1793247756853097472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634,877,784.850480468,810,652,629,652,0.40779946517,0.00456864116468,0.059839942345,0.9999999448,0.000198682559448,-0.000264004720969,3.50214228474e-05,1793247756869764096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.576177333,715,680,660.423822667,634,877,785,809.576177333,652,629,652,0.407255692036,0.00456667860663,0.059825895465,0.999999940595,0.000190197275432,-0.000285385102491,3.45063235888e-05,1793247756886430464
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.00450242,715,680,660.99549758,634,877,785,809.00450242,652,629,652,0.406724183779,0.00456439003381,0.0598116138532,0.999999935487,0.000181512564164,-0.000308095147422,3.3997918319e-05,1793247756903097088
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.587454474,715,679.412545526,661,634,877,785,809,652.587454474,629,652,0.406264381217,0.00456405529481,0.0598156353756,0.999999939491,0.000176349452041,-0.000297972672997,3.36232885367e-05,1793247756919763712
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.175531378,634,877,784.824468622,809.175531378,653,628.824468622,652,0.40580749222,0.00456307447576,0.0598182236568,0.999999942687,0.000170631093317,-0.000290513657357,3.33519190139e-05,1793247756936430848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.754324706,634,877,784.245675294,809.754324706,653,628.245675294,652,0.405355988968,0.00456057373359,0.0598171854395,0.999999944083,0.000163572897349,-0.000289772392043,3.3315337567e-05,1793247756953097984
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.331853097,661.668146903,634,877.331853097,784.331853097,810,652.668146903,628.331853097,652,0.404922593197,0.00455897684665,0.0598054644404,0.999999939303,0.000159602032009,-0.000307878798942,3.36426977354e-05,1793247756969765120
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.908448561,661.091551439,634,877.908448561,784.908448561,810,652.091551439,628.908448561,652,0.404502551759,0.00455804655502,0.059785864867,0.999999929185,0.000157908079877,-0.000339885404038,3.42384655956e-05,1793247756986432000
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.515660534,661,634,877.515660534,785,810,652,629,652,0.404125203513,0.00455770592488,0.0597665686716,0.9999999181,0.000158533586457,-0.000370769436587,3.46010964579e-05,1793247757003097856
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.938505008,661,634,877.061494992,784.938505008,810,652,629,652,0.403765518894,0.00455729614851,0.0597509143387,0.999999908638,0.000159517777607,-0.000395032986044,3.5015924775e-05,1793247757019763712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.349357418,661,634,877.650642582,784.349357418,810,652,629,652,0.403488252082,0.00455533808691,0.0597660173667,0.999999920211,0.000159823170438,-0.000364308095473,3.62562044311e-05,1793247757036430336
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.235466848,661,634,877.764533152,784.235466848,809.764533152,652,628.764533152,652,0.403223328944,0.00455406268978,0.0597847432003,0.999999931653,0.000161093495608,-0.000330653814148,3.75554995647e-05,1793247757053096960
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.813992285,661,634,877.186007715,784.813992285,809.186007715,652,628.186007715,652,0.402976389695,0.00455378188682,0.059808747205,0.999999942986,0.000163769659113,-0.000292731619856,3.89407759799e-05,1793247757069764096
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809.391623267,652,628.391623267,652,0.402748729416,0.00455272482546,0.0598262198161,0.999999949849,0.000168463469939,-0.000265153857482,4.02020338446e-05,1793247757086430976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809.968830433,652,628.968830433,652,0.402530205106,0.00455129990784,0.0598405973083,0.999999954587,0.000174113411255,-0.00024247814983,4.14045214567e-05,1793247757103097600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809.458521487,652.541478513,629,652,0.402318505453,0.00455016571232,0.0598352737615,0.999999939056,0.000233540702323,-0.00025605182796,4.22450065486e-05,1793247757119763968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.882139895,877,785,809,653,628.882139895,652,0.402114667575,0.00454911594565,0.0598288862409,0.999999921288,0.000286117843792,-0.000271499873892,4.29855452071e-05,1793247757136430336
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.289675894,877,785,809,653,628.289675894,652,0.401940918997,0.00454833933346,0.0598227428423,0.999999913488,0.000298749018562,-0.000286163246997,4.34068280096e-05,1793247757153096960
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.295651221,877,785,809,653,628,652,0.401784977844,0.00454697956695,0.0598210628965,0.999999912016,0.000298330361686,-0.000291763771782,4.29138884602e-05,1793247757169763584
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.874150478,877,785,809,653,628,652,0.401646072975,0.0045450618997,0.0598236531138,0.999999916731,0.000285426995757,-0.000288693914297,4.15463169631e-05,1793247757186430208
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809,652.550435679,628.449564321,652,0.401531950252,0.00453939649516,0.0598236342322,0.999999931961,0.000227315811676,-0.00028907863594,2.89686740761e-05,1793247757203097088
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,876.97528496,785,809,652.02471504,628.97528496,652,0.401426012408,0.00453295918185,0.0598231990226,0.999999945133,0.000159645017509,-0.000289918988582,1.39758493442e-05,1793247757219763712
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,876.386562511,785,809,652.613437489,628.386562511,652,0.401349620946,0.0045326849512,0.0598298170504,0.999999947996,0.000160651142575,-0.000279238705151,1.49923943132e-05,1793247757236430336
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,876.199090216,784.800909784,809,652.800909784,628.199090216,652.199090216,0.401275274094,0.00453248197086,0.0598329353597,0.999999949093,0.000161855953672,-0.00027452732557,1.58849230897e-05,1793247757253096704
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,876.778873073,784.221126927,809,652.221126927,628.778873073,652.778873073,0.401204836876,0.00453241523264,0.0598293616416,0.999999946962,0.000163440684451,-0.000281229455189,1.65403127674e-05,1793247757269763072
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.643352389,661,634,877,784.356647611,809,652.356647611,629,652.643352389,0.401145419317,0.0045309970573,0.0598259718559,0.999999945429,0.000162589193305,-0.000287065033117,1.73207121946e-05,1793247757286429696
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.06681601,661,634,877,784.93318399,809,652.93318399,629,652.06681601,0.401092795851,0.00452874566219,0.0598226954721,0.999999944258,0.000160235665505,-0.000292366344874,1.81781856347e-05,1793247757303096576
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.487264166,661,634,876.512735834,785,809,653,628.512735834,652,0.401057917004,0.00453059520787,0.0598224222722,0.999999943479,0.000162842423334,-0.000293588520714,1.81653718834e-05,1793247757319763456
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.957011562,876.042988438,785,809,653,628.042988438,652.042988438,0.401026316939,0.00453259285264,0.0598226020387,0.999999942862,0.00016573728347,-0.000294070261137,1.81384751879e-05,1793247757336430336
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.340030148,876.659969852,785,809,653,628.659969852,652.659969852,0.401007438237,0.00452939023017,0.0598235735692,0.999999943821,0.000163797157086,-0.000291805076161,1.94467711897e-05,1793247757353096960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.258391555,877,785,809,652.741608445,628.741608445,652.741608445,0.400993592145,0.00452811487423,0.0598255569429,0.999999945091,0.000162758408143,-0.000287977177223,1.99057957633e-05,1793247757369763840
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.834026323,877,785,809,652.165973677,628.165973677,652.165973677,0.4009859249,0.00452920574219,0.0598287826184,0.99999994673,0.000162826335865,-0.000282230638323,1.93221174644e-05,1793247757386430976
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.590226983,877,784.590226983,809,652.409773017,628.409773017,652,0.400977602456,0.00452926486486,0.059829449692,0.999999946656,0.000163970556763,-0.000281814242603,1.95546373844e-05,1793247757403097344
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.014434956,877,784.014434956,809,652.985565044,628.985565044,652,0.40096901456,0.00452890597723,0.0598290801512,0.999999945892,0.000165550836455,-0.000283557347669,2.01178389758e-05,1793247757419763712
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633,877,784.575703135,809,653,629,652,0.400966431039,0.00452883684785,0.05983049625,0.999999946579,0.000164696282723,-0.000281634126835,1.99929341335e-05,1793247757436430080
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633,876.836997898,784.836997898,809.163002102,652.836997898,628.836997898,652,0.400964170354,0.00452898602852,0.0598313616278,0.999999947064,0.000164103475364,-0.000280261408549,1.98704762363e-05,1793247757453096704
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633,876.257888384,784.257888384,809.742111616,652.257888384,628.257888384,652,0.400962339652,0.00452967348465,0.0598307039245,0.999999946951,0.000164338677104,-0.000280534667459,1.97994342386e-05,1793247757469763328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.318942659,876.318942659,784.318942659,809.681057341,652.318942659,628.318942659,652,0.400962633873,0.00452970310809,0.0598315148405,0.999999947498,0.000164228434419,-0.000278634817944,1.98796228987e-05,1793247757486430208
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.89394452,876.89394452,784.89394452,809.10605548,652.89394452,628.89394452,652,0.400964634062,0.00452920459871,0.0598335048194,0.999999948567,0.000163840855937,-0.000274990315001,2.00812252304e-05,1793247757503097088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,876.53048329,785,809,652.53048329,629,652,0.400964260979,0.00452904431077,0.0598340913034,0.999999948419,0.000165652732577,-0.000274431234909,2.01993176446e-05,1793247757519763712
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.046430898,661,634,876.046430898,785,809,652.046430898,629,652,0.400963410141,0.00452901209903,0.0598343440521,0.999999948042,0.000167668941279,-0.000274576414211,2.02733511901e-05,1793247757536430080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.637576273,661,634,876.637576273,785,809,652.637576273,629,652,0.400963251204,0.00452958506915,0.0598344052785,0.999999948223,0.000166246700948,-0.000274797493093,2.00520677435e-05,1793247757553096448
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.775897498,661,634,877,785,809,652.775897498,629,652,0.400962948148,0.00452948773279,0.0598341363908,0.999999948347,0.000164666387862,-0.000275304795212,1.99547804882e-05,1793247757569763072
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.196690632,661,634,877,785,809,652.196690632,629,652,0.400962416725,0.00452832825404,0.0598333444167,0.99999994838,0.000162835598739,-0.000276265635853,2.00539729306e-05,1793247757586429696
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.619737385,745,715,679,661,633.619737385,877,785,809,652,628.619737385,652,0.400962729714,0.00452783622134,0.0598339817027,0.999999948489,0.000163671342287,-0.000275362498927,2.0203719645e-05,1793247757603096320
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.043942971,745,715,679,661,633.043942971,877,785,809,652,628.043942971,652,0.400963476902,0.00452768739076,0.0598353539172,0.999999948633,0.000165878222331,-0.00027350090097,2.03794614643e-05,1793247757619762944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.54036348,745,715,679,661,633.54036348,877,785,809.54036348,652,628.54036348,652,0.400962696004,0.00452851188087,0.0598353896011,0.999999948465,0.000166278602954,-0.000273868100866,2.04215443106e-05,1793247757636429824
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.124471862,634,877,785,809.875528138,652.124471862,629,652,0.400962041448,0.00452931920308,0.0598353959536,0.999999948406,0.000166235447647,-0.00027411253751,2.03880735996e-05,1793247757653096448
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.705275606,634,877,785,809.294724394,652.705275606,629,652,0.400962312945,0.0045297687598,0.0598356996166,0.999999948839,0.000165113425831,-0.000273231788642,2.01180987738e-05,1793247757669763072
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.715981265,634,877,785,809,652.715981265,628.715981265,652,0.40096301577,0.00452965861745,0.0598362546691,0.999999949236,0.000164911433586,-0.000271893889339,2.0130395509e-05,1793247757686429952
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.139360951,634,877,785,809,652.139360951,628.139360951,652,0.400964162957,0.00452897186238,0.0598370687078,0.999999949597,0.000165657273411,-0.000270085024733,2.04334938174e-05,1793247757703096576
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.419535087,785,809.419535087,652,628,652,0.400962628283,0.00452948671692,0.0598365888925,0.999999948764,0.000167843700244,-0.000271808076027,2.05152171335e-05,1793247757719762944
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877.972782105,785,809.972782105,652,628,652,0.40096023886,0.00453038454195,0.0598356967071,0.999999947538,0.000170489263052,-0.000274656800371,2.05263850027e-05,1793247757736429568
+405,6.750000000,POSE2_TO_POSE3_RETREAT,764.415564591,745,715,679,661,634,877.415564591,785,809.415564591,652,628.584435409,652,0.400962099837,0.00453051098257,0.0598367051603,0.999999948603,0.000168906662564,-0.000271764794668,2.02149833461e-05,1793247757753096448
+406,6.766666667,POSE2_TO_POSE3_RETREAT,764.187604163,745,715,679,661,633.812395837,877,785,809.187604163,652,628.812395837,652,0.400963149981,0.0045306500288,0.059837417389,0.999999949423,0.000167142443872,-0.000269857156087,1.98814426041e-05,1793247757769763072
+407,6.783333333,POSE2_TO_POSE3_RETREAT,764.766757391,745,715,679,661,633.233242609,877,785,809.766757391,652,628.233242609,652,0.400962048827,0.004530898687,0.0598373061144,0.999999949503,0.000165455774062,-0.000270623940971,1.95365300242e-05,1793247757786429696
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18e275ca448e0065a9aecc997002de3f5ca421cc
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_04/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,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+1,0.016666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+2,0.033333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+3,0.050000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+4,0.066666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+5,0.083333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+6,0.100000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+7,0.116666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+8,0.133333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+9,0.150000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+10,0.166666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+11,0.183333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+12,0.200000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+13,0.216666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+14,0.233333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+15,0.250000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+16,0.266666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+17,0.283333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+18,0.300000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+19,0.316666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+20,0.333333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+21,0.350000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+22,0.366666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+23,0.383333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+24,0.400000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+25,0.416666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+26,0.433333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+27,0.450000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+28,0.466666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+29,0.483333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+30,0.500000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+32,0.533333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+35,0.583333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+41,0.683333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+42,0.700000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/fem_node.csv
new file mode 100644
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--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/fem_node.csv
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+size 26041808
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70d6cba20689ce93fa82d9fb3dc27747f0ca59ec
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,715,679,661,634,877,785,809,653,629,652,0.400962159221,0.00453156754467,0.0598372583057,0.999999948765,0.000169331974223,-0.00027088058849,2.04886957113e-05,1793247757908566272
+1,0.016666667,BASELINE,765,745,715,679,661,634,877,785,809.583404109,652.416595891,628.416595891,652,0.400962598953,0.00453003168799,0.0598373857889,0.999999949686,0.000164544930329,-0.000270448000147,2.02561468356e-05,1793247757925232896
+2,0.033333333,BASELINE,765,745,715,679,661,634,877.164243259,785,809.835756741,652.164243259,628,652,0.400962128587,0.00452908919481,0.0598370471263,0.999999949946,0.000162293394548,-0.000270855784824,2.01637928801e-05,1793247757941899776
+3,0.050000000,BASELINE,765,745,715,679,661,634,877.73867666,785,809.26132334,652.73867666,628,652,0.400959385293,0.00452962859995,0.0598355442859,0.999999948588,0.000166374175111,-0.000273362363193,2.04215693765e-05,1793247757958566400
+4,0.066666667,BASELINE,765,745,715,679.323725601,661,633.676274399,878,785,809.323725601,652.676274399,628,652,0.400959057562,0.00452959868379,0.0598354345469,0.99999994832,0.000167531275481,-0.000273619300021,2.0640671079e-05,1793247757975233280
+5,0.083333333,BASELINE,765,745,715,679.917634292,661,633.082365708,878,785,809.917634292,652.082365708,628,652,0.400960745872,0.00452909360906,0.0598364874978,0.999999948972,0.000166248256726,-0.000271998674028,2.08274945795e-05,1793247757991899904
+6,0.100000000,BASELINE,765,745,715,679.504536727,661,633.495463273,877.504536727,785,809.504536727,652.495463273,628,652,0.400961679469,0.00452881758302,0.0598370815157,0.999999949354,0.000165343459522,-0.000271155031456,2.0723097216e-05,1793247758008566272
+7,0.116666667,BASELINE,764.929063283,745,715,679,661,634,877,785,809,653,628,652,0.400962487082,0.00452880417813,0.0598376956123,0.999999949649,0.000164977709015,-0.000270298608267,2.05798630825e-05,1793247758025232896
+8,0.133333333,BASELINE,764.351923391,745,715,679,661,634,877,785,809,653,628,652,0.400963262838,0.00453040165745,0.0598389803028,0.999999949639,0.00016802401172,-0.000268458232862,2.04941017066e-05,1793247758041899520
+9,0.150000000,BASELINE,764,745,715,679,661,634,877,785,809,652.769970934,628.230029066,652,0.400963690382,0.00453030456356,0.0598394945951,0.999999949887,0.000168033605452,-0.000267520222966,2.05656442592e-05,1793247758058566400
+10,0.166666667,BASELINE,764,745,715,679,661,634,877,785,809,652.180498415,628.819501585,652,0.400963573813,0.00452755952916,0.0598388050631,0.999999950539,0.000163298037026,-0.000267992249717,2.08829899611e-05,1793247758075233024
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+12,0.200000000,BASELINE,764.980566782,745,715,679,661,634,877,785,809,652.980566782,628.019433218,652,0.400962970954,0.00452982012084,0.0598382020608,0.999999949471,0.000167623461075,-0.000269345045607,2.03440264099e-05,1793247758108566272
+13,0.216666667,BASELINE,765,745,715,679,661,634,877.556170346,785,809,653,628,652,0.400961652907,0.00453008319527,0.0598375454333,0.999999949121,0.000167694133862,-0.000270609684827,2.01986399143e-05,1793247758125233152
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+15,0.250000000,BASELINE,765,745,715,679,661,634,877.278883092,785,809,653,628.721116908,652,0.400963502416,0.00452862468695,0.0598388828183,0.999999950356,0.000163631084924,-0.000268505551995,2.0424351031e-05,1793247758158566144
+16,0.266666667,BASELINE,765,745,715,679,661,633.695901401,877,785,809,653,628.695901401,652,0.400964769125,0.00452792523032,0.0598396878647,0.999999950838,0.000162726784111,-0.000267244420562,2.06073565842e-05,1793247758175232768
+17,0.283333333,BASELINE,765,745,715,679,661,633.116429175,877,785,809,653,628.116429175,652,0.400965051388,0.00452778579451,0.0598398547465,0.999999950665,0.000163972092315,-0.000267121550728,2.07116584665e-05,1793247758191899648
+18,0.300000000,BASELINE,765,745,715,679,661,633.460045634,877,785,809,653,628.460045634,652.460045634,0.400965177033,0.00452848839375,0.0598396593987,0.99999995066,0.000165050191405,-0.000266479003031,2.06935108656e-05,1793247758208566272
+19,0.316666667,BASELINE,765,745,715,679.035700466,661,634,877.035700466,785,809,652.964299534,629,652.964299534,0.400965159913,0.00452932261328,0.0598393638096,0.999999950672,0.000166003924338,-0.000265841660508,2.0644476466e-05,1793247758225232896
+20,0.333333333,BASELINE,765,745,715,679.610354531,661,634,877.610354531,785,809,652.389645469,629,652.389645469,0.400963582045,0.00452894754002,0.0598389299199,0.999999950344,0.000165714872178,-0.000267255557643,2.05939675903e-05,1793247758241899520
+21,0.350000000,BASELINE,765,745,715,679.808691476,661,634,877.808691476,785,809,652,629,651.808691476,0.400962744539,0.00452863529989,0.0598387384347,0.99999995023,0.000165447127215,-0.0002678618436,2.04310312471e-05,1793247758258566144
+22,0.366666667,BASELINE,765,745,715,679.214469319,661,634,877.214469319,785,809,652,629,651.214469319,0.400963466307,0.00452845539223,0.0598390574761,0.999999950567,0.000165224257239,-0.000266767224757,2.00313121559e-05,1793247758275233024
+23,0.383333333,BASELINE,765,745,715,679.369189612,661.369189612,634,877,785,809.369189612,652.369189612,628.630810388,651.369189612,0.400963467339,0.00452878551406,0.0598391043175,0.999999950172,0.000166778516082,-0.000267263380528,2.02544319851e-05,1793247758291899648
+24,0.400000000,BASELINE,765,745,715,679.946882905,661.946882905,634,877,785,809.946882905,652.946882905,628.053117095,651.946882905,0.400963061328,0.00452940368032,0.0598389974313,0.999999949357,0.000169336426932,-0.000268657942743,2.08293065505e-05,1793247758308566272
+25,0.416666667,BASELINE,765,745,715,679.477507045,661.477507045,634,877.522492955,785,809.477507045,653,628,652,0.400963141459,0.00452933331705,0.0598387473722,0.999999949637,0.000168189348295,-0.000268357666363,2.05374671089e-05,1793247758325232640
+26,0.433333333,BASELINE,765,745,715,679,661,633.902340721,877.902340721,785,809,653,628.097659279,652,0.400963097783,0.00452906329358,0.0598385052747,0.999999949946,0.000166663770873,-0.000268180591469,2.02540565133e-05,1793247758341899520
+27,0.450000000,BASELINE,765,745,715,679,661,633.328309678,877.328309678,785,809,653,628.671690322,652,0.400962210072,0.00452815942824,0.0598383727295,0.999999949859,0.000165121890595,-0.000269441598183,2.04398497898e-05,1793247758358566144
+28,0.466666667,BASELINE,765,745,715,679,661,633.254211403,877,785,809.254211403,652.745788597,629,652,0.400962006561,0.00452758995113,0.0598383285433,0.999999949808,0.000164778810835,-0.000269819976023,2.07340564227e-05,1793247758375232768
+29,0.483333333,BASELINE,765,745,715,679,661,633.848076035,877,785,809.848076035,652.151923965,629,652,0.400962717212,0.004527467252,0.0598384024144,0.999999949806,0.000166037455019,-0.000269019068579,2.1173114716e-05,1793247758391899392
+30,0.500000000,BASELINE,765,745,715,679,661,634,877,785,810,652.427598249,629.427598249,652,0.400962680368,0.00452878468607,0.0598385923311,0.999999949836,0.000166391160472,-0.00026870381464,2.09596133272e-05,1793247758408566784
+31,0.516666667,BASELINE,765,745,715,679,661,634,877,784.997805879,809.997805879,653,629.997805879,652,0.400962392787,0.00453058425988,0.0598388227043,0.999999949881,0.000166427462,-0.000268550875212,2.05227652057e-05,1793247758425234432
+32,0.533333333,BASELINE,765,745,715,679,661,634,877,784.422138783,809.422138783,653,629.422138783,652,0.40096373247,0.00452900477039,0.0598392004524,0.999999950517,0.000164812653065,-0.000267186123035,2.03422613276e-05,1793247758441900544
+33,0.550000000,BASELINE,765,745,715,679,661,634,877,784.15759111,809.15759111,652.84240889,628.84240889,652,0.400964363801,0.00452803941985,0.0598392772193,0.999999950844,0.000163985596935,-0.000266473566848,2.02955582872e-05,1793247758458566912
+34,0.566666667,BASELINE,765,745,715,679,661,634,877,784.7484919,809.7484919,652.2515081,628.2515081,652,0.400963047457,0.00452876269499,0.0598385264139,0.999999950329,0.000165324532001,-0.000267554277245,2.06167516513e-05,1793247758475233280
+35,0.583333333,BASELINE,765,745,715,679,661,634,877.331932612,785,809.668067388,652.331932612,628.331932612,652.331932612,0.400963973148,0.00452841272937,0.0598394853434,0.999999950752,0.00016495426274,-0.000266183771026,2.07902371336e-05,1793247758491899904
+36,0.600000000,BASELINE,765,745,715,679,661,634,877.909845069,785,809.090154931,652.909845069,628.909845069,652.909845069,0.400966560307,0.00452726743492,0.0598417112779,0.999999951863,0.000163317381663,-0.000262996782114,2.08542631974e-05,1793247758508566528
+37,0.616666667,BASELINE,765,745,715,679,661,634,877.513898135,785,809,652.513898135,629,652.513898135,0.400965249666,0.00452888874198,0.0598405408342,0.999999950941,0.000165293993197,-0.00026527935021,2.05734167091e-05,1793247758525233408
+38,0.633333333,BASELINE,765,745,715,679,661,634,877,785,809,652.061620393,629,652,0.400963585738,0.00453074775218,0.0598390549551,0.999999949856,0.000167551379488,-0.00026796121774,2.0268765387e-05,1793247758541900544
+39,0.650000000,BASELINE,765,745,715,679,661,634,877,785,809,652.633559557,629,652,0.400964962537,0.00453034038,0.0598401557329,0.99999995065,0.000166602714244,-0.000265577454883,2.02948820968e-05,1793247758558566656
+40,0.666666667,BASELINE,765,745,715,679,661.213670808,634,877,785,809,653,629,652,0.400965604614,0.00453019633494,0.0598407929608,0.999999951105,0.000165700106289,-0.000264432450781,2.02116855358e-05,1793247758575233024
+41,0.683333333,BASELINE,765,745,715,679,661.808354295,634,877,785,809,653,629,652,0.400964936552,0.00453052184851,0.0598406035972,0.999999950965,0.000164879626648,-0.000265496371829,1.99335641613e-05,1793247758591899648
+42,0.700000000,BASELINE,765,745,715,679.391996432,661.608003568,634,877,785,809,652.608003568,629,652,0.400963623687,0.00452960140973,0.0598396495653,0.999999950625,0.000164996721206,-0.000266676351706,2.02649246889e-05,1793247758608566528
+43,0.716666667,BASELINE,765,745,715,679.970388358,661.029611642,634,877,785,809,652.029611642,629,652,0.400962004216,0.0045280885168,0.0598383319311,0.999999950189,0.000165559635164,-0.000267911517878,2.08860957189e-05,1793247758625233408
+44,0.733333333,BASELINE,765,745,715,680,661,634,877,785,809,652.545244146,629,652,0.400962439293,0.00452873841315,0.0598385396487,0.999999950053,0.000166868667372,-0.000267619241363,2.06933929843e-05,1793247758641899776
+45,0.750000000,BASELINE,764.880766526,745,715,679.880766526,661,633.880766526,877,785,809,653,628.880766526,652.119233474,0.40096275611,0.00452925174843,0.0598387681908,0.999999949983,0.000167625458753,-0.00026741869236,2.05523204674e-05,1793247758658566400
+46,0.766666667,BASELINE,764.309339752,745,715,679.309339752,661,633.309339752,877,785,809,653,628.309339752,652.690660248,0.40096220398,0.00452880458268,0.0598387635623,0.999999950104,0.000166135189441,-0.000267878595731,2.07736066506e-05,1793247758675233024
+47,0.783333333,BASELINE,764.273732958,745,715,679,661,633.273732958,877,785,809,652.726267042,628,652.726267042,0.400962149044,0.00452883134348,0.0598390056372,0.99999995022,0.000165771718668,-0.000267683642605,2.06044206972e-05,1793247758691899648
+48,0.800000000,BASELINE,764.870551377,745,715,679,661,633.870551377,877,785,809,652.129448623,628,652.129448623,0.400962680941,0.00452941747702,0.0598395388947,0.999999950331,0.000166738201633,-0.000266715766124,1.99743627222e-05,1793247758708566528
+49,0.816666667,BASELINE,765,745,715,679,661,634,877,785,809,652.450103983,628.450103983,652,0.400962568093,0.00452998445789,0.0598391182907,0.999999950099,0.000167463363504,-0.000267123531599,2.00931932257e-05,1793247758725233152
+50,0.833333333,BASELINE,764.975000056,745,715,679,661,634,877,785,809.024999944,652.975000056,629,652,0.400962303933,0.00453048358419,0.059838493057,0.999999949804,0.000168040334537,-0.000267838212608,2.04159689491e-05,1793247758741899776
+51,0.850000000,BASELINE,764.397328628,745,715,679,661,634,877,785,809.602671372,652.397328628,629,652,0.400962642531,0.00452959992856,0.0598391845959,0.999999950251,0.000166818876099,-0.000266914781945,2.06618934951e-05,1793247758758566144
+52,0.866666667,BASELINE,764.183851068,745,715,679,661.183851068,634,877,785,809.816148932,652.183851068,629,652,0.400963037043,0.00452854271587,0.0598398718864,0.999999950692,0.000165464550259,-0.00026609660439,2.07453489165e-05,1793247758775233024
+53,0.883333333,BASELINE,764.772760092,745,715,679,661.772760092,634,877,785,809.227239908,652.772760092,629,652,0.40096355474,0.00452710312488,0.0598405498168,0.999999951125,0.000163817492999,-0.000265510318982,2.04708547487e-05,1793247758791899648
+54,0.900000000,BASELINE,764.644258528,745,715,679,661.644258528,634,877.355741472,785,809,653,629,652,0.400963912678,0.00452794922129,0.0598406231608,0.999999950929,0.000165230898352,-0.000265368245723,2.05114146193e-05,1793247758808566272
+55,0.916666667,BASELINE,764.065001562,745,715,679,661.065001562,634,877.934998438,785,809,653,629,652,0.400964170236,0.00453023143526,0.0598403166379,0.999999950331,0.000168567219334,-0.000265505274883,2.07499257227e-05,1793247758825232896
+56,0.933333333,BASELINE,764.509952167,745,715,679,661,634,877.490047833,785.509952167,809,653,629,652,0.400962584259,0.00453128005425,0.0598387943272,0.999999950003,0.00016714652724,-0.000267669265261,2.02134966388e-05,1793247758841899520
+57,0.950000000,BASELINE,765,745,715,679.085921127,661,634,877,785.914078873,809,653,628.914078873,652,0.400961221965,0.00453184305275,0.0598375399025,0.999999949761,0.000165747984739,-0.000269469291976,1.97797749001e-05,1793247758858566144
+58,0.966666667,BASELINE,765,745,715,679.670946796,661,634,877,785.329053204,809,653,628.329053204,652,0.400962512607,0.00453049089677,0.0598387342705,0.99999994986,0.000167970883926,-0.000267666829945,2.05116569416e-05,1793247758875232768
+59,0.983333333,BASELINE,765,745,715,679.745331983,661,634,877,785,809,652.745331983,628,652.254668017,0.400963266205,0.0045291190527,0.0598395223495,0.99999995031,0.000167080449306,-0.000266508248673,2.0929552762e-05,1793247758891899648
+60,1.000000000,BASELINE,765,745,715,679.163287555,661,634,877,785,809,652.163287555,628,652.836712445,0.400963329433,0.00452772189933,0.0598397881432,0.999999951203,0.000162187816114,-0.000266177377578,2.09438185619e-05,1793247758908566272
+61,1.016666667,BASELINE,764.580887357,745,715,679,661,634,877,785,809,652,628,652.580887357,0.400962737963,0.00452846792342,0.0598397410074,0.999999950836,0.000163981059119,-0.000266472486189,2.07419677526e-05,1793247758925232896
+62,1.033333333,BASELINE,764,745,715,679,661,633.998387613,877.001612387,785,809,652.001612387,628,652,0.400961894766,0.00453004860224,0.0598395706667,0.999999949968,0.000168376758335,-0.000267010182935,2.04566368879e-05,1793247758941899776
+63,1.050000000,BASELINE,764,745,715,679,661,633.429656324,877.570343676,785,809,652.570343676,628,652,0.400962303979,0.0045312624334,0.0598389841786,0.999999949494,0.000171156563802,-0.000267019368636,2.04495736517e-05,1793247758958566400
+64,1.066666667,BASELINE,764,745,715,679,661,633.144148103,877.855851897,785,809,653,628.144148103,652,0.400962685421,0.00453154211917,0.0598386937459,0.999999949433,0.00017151187534,-0.000267017887751,2.04533129047e-05,1793247758975233024
+65,1.083333333,BASELINE,764,745,715,679,661,633.733625382,877.266374618,785,809,653,628.733625382,652,0.400962981071,0.00452893586885,0.0598393179425,0.99999995064,0.000164376988388,-0.000266983453655,2.04904252209e-05,1793247758991899648
+66,1.100000000,BASELINE,764.317642564,745,715,679,661.317642564,634,877,785,809,652.682357436,629,652,0.400963298969,0.00452805120659,0.0598399889754,0.999999951181,0.000162214109312,-0.000266273434547,2.05724376748e-05,1793247759008566528
+67,1.116666667,BASELINE,764.897158265,745,715,679,661.897158265,634,877,785,809,652.102841735,629,652,0.400963635211,0.00452858586828,0.0598406986211,0.999999951199,0.000164150288632,-0.000265006444852,2.06914670179e-05,1793247759025233152
+68,1.133333333,BASELINE,764.527416138,745,715,679,661.527416138,634,877,785,809,652,629,652,0.400963304898,0.0045294293601,0.0598403250612,0.99999995085,0.000166377664967,-0.000264936251549,2.06607981633e-05,1793247759041899776
+69,1.150000000,BASELINE,764.04712402,745,715,679,661,634,877,784.95287598,809,652.04712402,629,652,0.400962894829,0.00453018885594,0.0598397517984,0.999999950473,0.000168265375001,-0.000265171819077,2.06075538692e-05,1793247759058566400
+70,1.166666667,BASELINE,764.621630091,745,715,679,661,634,877,784.378369909,809,652.621630091,629,652,0.400963201581,0.00452926264484,0.0598395590112,0.999999950705,0.000165648652787,-0.000265939577196,2.06631091024e-05,1793247759075233280
+71,1.183333333,BASELINE,765,745,715,678.797582333,661.202417667,634,877,784.202417667,809,652.797582333,629,652,0.400963394459,0.00452842258705,0.0598394470946,0.999999950867,0.000163832085349,-0.000266457400136,2.06178952425e-05,1793247759091899648
+72,1.200000000,BASELINE,765,745,715,678.204676886,661.795323114,634,877,784.795323114,809,652.204676886,629,652,0.40096336766,0.0045277487291,0.0598394911874,0.999999950907,0.000163559111292,-0.000266493068488,2.03782858136e-05,1793247759108566272
+73,1.216666667,BASELINE,765,745,715,678.378635888,662,634,877,785,809,652.378635888,629,652,0.400963844232,0.00452793218326,0.0598402051182,0.999999951141,0.000163593258574,-0.000265594515074,2.03436054489e-05,1793247759125233152
+74,1.233333333,BASELINE,765,745,715,678.9568913,662,634,877,785,809,652.9568913,629,652,0.400964586186,0.00452856761847,0.0598412721925,0.999999951476,0.00016378932242,-0.00026420343332,2.04169651538e-05,1793247759141899776
+75,1.250000000,BASELINE,765,745,715,679,661.468408853,634,877,785,809,652.468408853,629,652,0.400964261183,0.00452957964104,0.0598401800473,0.999999950964,0.000165068124295,-0.000265366077775,2.01439838906e-05,1793247759158566656
+76,1.266666667,BASELINE,764.891314949,745,715,679,661.108685051,634,877,785,809.108685051,652.108685051,629,652,0.400963791945,0.00453003916028,0.0598392857232,0.99999995056,0.000165903681349,-0.00026637856037,1.99668593184e-05,1793247759175233536
+77,1.283333333,BASELINE,764.302376688,745,715,679,661.697623312,634,877,785,809.697623312,652.697623312,629,652,0.400963065156,0.00452792325223,0.0598400341042,0.999999950951,0.000164395241894,-0.000265818507376,2.03365835907e-05,1793247759191900160
+78,1.300000000,BASELINE,764.281981543,745.281981543,715,679.281981543,661.718018457,634,877,785,809.718018457,653,629,652,0.400963270122,0.0045273480224,0.0598403644466,0.999999951194,0.000163608193934,-0.000265375037196,2.05253556283e-05,1793247759208566784
+79,1.316666667,BASELINE,764.861506937,745.861506937,715,679.861506937,661.138493063,634,877,785,809.138493063,653,629,652,0.400964458264,0.00452839849956,0.0598402536791,0.999999951283,0.000163582350515,-0.000265054583969,2.05231888165e-05,1793247759225233152
+80,1.333333333,BASELINE,765,745.561857048,715,680,661,633.561857048,877,784.561857048,809,653,628.561857048,652,0.400963750151,0.00452927169853,0.0598400897287,0.999999950838,0.000165383735435,-0.000265612019475,2.0566804624e-05,1793247759241899776
+81,1.350000000,BASELINE,765.013849462,745,715,679.986150538,661,633.013849462,877,784.013849462,809,653,628,652,0.400962489053,0.0045300624399,0.0598399250722,0.999999950245,0.000167650636495,-0.000266416378912,2.06242816265e-05,1793247759258566656
+82,1.366666667,BASELINE,765.588655711,745,715,679.411344289,661,633.588655711,877,784.588655711,809,653,628,652,0.400962948516,0.00452976813382,0.0598404082497,0.999999950693,0.000165532156728,-0.000266056214202,2.06608798072e-05,1793247759275233536
+83,1.383333333,BASELINE,765.831929616,745,715,679,661,634,877,785,809,653,628.168070384,652,0.400963008068,0.0045298745049,0.0598404515632,0.999999950703,0.000165307558167,-0.000266162349858,2.06256012142e-05,1793247759291900160
+84,1.400000000,BASELINE,765.240917939,745,715,679,661,634,877,785,809,653,628.759082061,652,0.400962061264,0.0045309891613,0.0598393879795,0.999999949605,0.000169848822987,-0.000267441908585,2.0409448076e-05,1793247759308567040
+85,1.416666667,BASELINE,765,745,715,679,661,634,877,785,809,653,629,652,0.400961168813,0.00453066034492,0.0598385655639,0.99999994939,0.00017004049686,-0.000268118619272,2.04673589992e-05,1793247759325233408
+86,1.433333333,BASELINE,765,745,715,679,661,634,877,785,809,653,629,652,0.400960313764,0.00452933819897,0.0598379091089,0.999999949787,0.000167238988309,-0.00026838047846,2.07138678214e-05,1793247759341900032
+87,1.450000000,BASELINE,765,745,715,679,661,634,876.507096623,785,809.492903377,653,629,652,0.400962033381,0.00452936176205,0.0598394513082,0.999999950444,0.000166525070321,-0.000266383816243,2.05242303704e-05,1793247759358566656
+88,1.466666667,BASELINE,765,745,715,679,661,634,876.067088617,785,809.932911383,652.932911383,628.932911383,652,0.400964023071,0.0045295490794,0.0598411370997,0.999999951037,0.000166405762856,-0.00026423906628,2.03304170545e-05,1793247759375233024
+89,1.483333333,BASELINE,765,745,715,679,661,634,876.65874812,785,809.34125188,652.34125188,628.34125188,652,0.40096489598,0.00452932935578,0.059841188653,0.999999950834,0.000168318031503,-0.00026376847321,2.06508566256e-05,1793247759391899648
+90,1.500000000,BASELINE,764.754910751,745,715,679,661,634,877,785,809,652.245089249,628.245089249,652,0.400965045657,0.00452903802198,0.0598410601473,0.999999950642,0.000169138410619,-0.000263953601064,2.09160175215e-05,1793247759408566528
+91,1.516666667,BASELINE,764.175817475,745,715,679,661,634,877,785,809,652.824182525,628.824182525,652,0.400964209724,0.00452864909889,0.0598406862599,0.999999950465,0.000168470778564,-0.000265032335801,2.11058454249e-05,1793247759425233152
+92,1.533333333,BASELINE,764.40268278,745,715,679.40268278,661,634,877,785,809,652.59731722,628.59731722,652,0.40096296892,0.00452790635893,0.0598400717435,0.999999950549,0.000166040001472,-0.000266247387559,2.10949460361e-05,1793247759441900032
+93,1.550000000,BASELINE,764.980924545,745,715,679.980924545,661,634,877,785,809,652.019075455,628.019075455,652,0.400961551603,0.0045270093642,0.0598393523191,0.999999950737,0.00016284053997,-0.000267521870004,2.09965349017e-05,1793247759458566912
+94,1.566666667,BASELINE,765,745,715,679.444091722,661,634,877,784.444091722,809,652.555908278,628,652,0.400962725582,0.00452773462529,0.0598399809543,0.999999951006,0.000164423658841,-0.000265568649697,2.0626052232e-05,1793247759475233024
+95,1.583333333,BASELINE,765,745,715,679,661,634,877,784.133730159,809,653,628.133730159,652,0.400963956689,0.00452854733652,0.0598405692258,0.999999951281,0.000165543216339,-0.000263857814705,2.02892512478e-05,1793247759491899648
+96,1.600000000,BASELINE,765,745,715,679,661,634,877,784.721567084,809,653,628.721567084,652,0.400965081612,0.00452946907807,0.0598408642742,0.999999951587,0.000164534642296,-0.000263343946175,2.00983399343e-05,1793247759508566272
+97,1.616666667,BASELINE,765,745,715,679.306440107,661,634,877,785,809,652.693559893,629,652,0.400964961784,0.00452968576424,0.0598412991969,0.999999951637,0.000164257161405,-0.0002633202243,2.02118481696e-05,1793247759525232896
+98,1.633333333,BASELINE,765,745,715,679.888645876,661,634,877,785,809,652.111354124,629,652,0.400963721805,0.00452926797054,0.0598418599926,0.999999951456,0.000164637591805,-0.000263737585766,2.05993037778e-05,1793247759541899520
+99,1.650000000,BASELINE,765,745,715,680,661.46366543,634,877,785,809,652,629,652,0.400963688435,0.0045287546484,0.0598415205532,0.99999995152,0.000164033814465,-0.000263875495522,2.0546540508e-05,1793247759558566400
+100,1.666666667,BASELINE,765,745,715,680,661.96297101,633.96297101,877.03702899,784.96297101,809,652.03702899,628.96297101,652,0.400963856611,0.00452828976104,0.0598409353251,0.999999951585,0.000163342378177,-0.00026407093788,2.04012115991e-05,1793247759575233536
+101,1.683333333,BASELINE,765,745,715,680,661.388976417,633.388976417,877.611023583,784.388976417,809,652.611023583,628.388976417,652,0.400962809428,0.00452885484899,0.0598398731883,0.999999950826,0.000164755089346,-0.000266059044131,2.04232845468e-05,1793247759591899904
+102,1.700000000,BASELINE,765,745.191750999,715,680,661,633.191750999,878,784.191750999,809,653,628.191750999,652,0.400962474611,0.00452897955782,0.0598390772131,0.999999950515,0.000165197725305,-0.000266956035753,2.03320972566e-05,1793247759608566016
+103,1.716666667,BASELINE,765,745.786633218,715,680,661,633.786633218,878,784.786633218,809,653,628.786633218,652,0.400963637449,0.00452817842747,0.059838840808,0.999999951156,0.000163600905725,-0.000265559102334,2.00027952314e-05,1793247759625232896
+104,1.733333333,BASELINE,765,745.63182694,715.36817306,679.63182694,661,634,877.63182694,784.63182694,809,652.63182694,628.63182694,652.36817306,0.400964108613,0.00452875552438,0.0598394233713,0.999999951296,0.00016371699543,-0.000264958025067,2.00522644628e-05,1793247759641899520
+105,1.750000000,BASELINE,765,745.057748918,715.942251082,679.057748918,661,634,877.057748918,784.057748918,809,652.057748918,628.057748918,652.942251082,0.400964192951,0.00453010341046,0.0598404639519,0.999999951156,0.000164791048939,-0.000264802039251,2.0313565787e-05,1793247759658566144
+106,1.766666667,BASELINE,765.520534683,745,715.479465317,679.520534683,661,634,877,784.520534683,809,652.520534683,628.520534683,652.479465317,0.400963445584,0.00452927018221,0.0598402853741,0.999999950963,0.000164778530843,-0.000265533122032,2.03311255151e-05,1793247759675232768
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634,877,785,809,652,629,652,0.400961764441,0.00452871694299,0.0598392090251,0.999999950234,0.000166627919409,-0.000267073326931,2.09436372296e-05,1793247759718113536
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714.593925151,679,661.593925151,634,877,785,809,652,629,652,0.400965121016,0.00452860440338,0.0598416605501,0.999999951377,0.000166850907644,-0.000262627238276,2.08434965693e-05,1793247759734780672
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.817707783,745,715,679,661.635415566,633.817707783,877,785,809.182292217,652.182292217,629,652.182292217,0.400966882436,0.00452891852218,0.0598429158685,0.999999951807,0.000167735964865,-0.00026042822718,2.06947465276e-05,1793247759751447808
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.241355485,745,715,679,660.48271097,633.241355485,877,785,809.758644515,652.758644515,629,652.758644515,0.400965195618,0.00453015494608,0.0598415853545,0.999999950725,0.000170052213015,-0.000263086710427,2.04409178356e-05,1793247759768114432
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.332682948,745,715,679.332682948,660.332682948,633.332682948,877.332682948,785,809.667317052,653,629,653,0.400965051162,0.00453052037586,0.0598415367105,0.999999950742,0.000169109528056,-0.000263634078511,2.03503225384e-05,1793247759784780800
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.905054274,745,715,679.905054274,660.905054274,633.905054274,877.905054274,785,809.094945726,653,629,653,0.400966017934,0.00453025827965,0.0598424116168,0.999999951549,0.000165818876534,-0.000262660449423,2.03773321649e-05,1793247759801447168
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.504600184,661,634,877.009200368,785,809,652.504600184,629,653,0.400966405729,0.00453002896596,0.0598423784196,0.999999951738,0.00016502859969,-0.000262448211798,2.02424469012e-05,1793247759818113792
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,876.086841181,785,809,652,628.913158819,652.913158819,0.400966653991,0.0045299020306,0.0598421896396,0.999999951782,0.000164745477093,-0.000262470393632,2.0103165955e-05,1793247759834780160
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,876.66427941,785,809,652,628.33572059,652.33572059,0.400966764452,0.00453031663645,0.0598421421612,0.99999995169,0.00016451830702,-0.00026296148012,2.01209393887e-05,1793247759851447040
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809,652.239336261,628.239336261,652,0.400969394743,0.00452991466778,0.0598433846164,0.999999952204,0.000163724500477,-0.000261490894371,2.02187469317e-05,1793247759868114176
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,785,809,652.811085579,628.811085579,652,0.400975524817,0.0045283785624,0.0598464186544,0.999999953546,0.000162143695106,-0.000257295750822,2.04277134879e-05,1793247759884781312
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,784.613648809,809,653,629,651.613648809,0.401000638386,0.00452778791429,0.059856838919,0.999999958112,0.000162129295389,-0.000238869821967,2.07485573499e-05,1793247759901447936
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,784.036647987,809,653,629,651.036647987,0.40103511959,0.00452766381328,0.059870904006,0.999999963736,0.000162887857108,-0.000213421540874,2.11246084182e-05,1793247759918114304
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.556336498,715,679,661,634,876.443663502,784.556336498,809,652.443663502,628.443663502,651.556336498,0.401093810072,0.00452790827494,0.0598912555681,0.999999971033,0.000161654211953,-0.000177097195204,2.09261801613e-05,1793247759934780416
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,746,715,679,661,634,876.146196865,785,809,652,628.146196865,652.146196865,0.401157402316,0.00452779984754,0.0599104349872,0.999999976405,0.000160471334073,-0.000144926712759,2.08844277082e-05,1793247759951446784
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,746,715,679,661,634,876.723644151,785,809,652,628.723644151,652.723644151,0.401230610399,0.00452657673537,0.0599248991493,0.999999978909,0.000159836773789,-0.000127185141821,2.14197677459e-05,1793247759968113408
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.704526162,715,679,661,634,877,784.704526162,809,652.295473838,629,652.704526162,0.401311810836,0.00452606241317,0.0599344542095,0.999999980803,0.000159355563676,-0.000112034875609,2.11630429851e-05,1793247759984780032
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.137852607,715,679,661,634,877,784.137852607,809,652.862147393,629,652.137852607,0.401400347027,0.00452619865166,0.0599395034653,0.999999982227,0.000159015105579,-9.92630312341e-05,2.01793240502e-05,1793247760001446656
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,634,877,784.4524682,809.4524682,653,629,652,0.401502176635,0.00452592151792,0.0599428037067,0.999999983216,0.00015658339313,-9.31347252254e-05,1.93975587942e-05,1793247760018114048
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.951146939,634,877,785,809.951146939,652.951146939,629,652,0.401610602544,0.00452564549885,0.0599456131784,0.999999984096,0.000153567356852,-8.8753879274e-05,1.86305344005e-05,1793247760034780928
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.371471275,634,877,785,809.371471275,652.371471275,629,652,0.401744268185,0.0045268254941,0.0599491993749,0.99999998516,0.000151506952227,-8.01546314185e-05,1.73182586522e-05,1793247760051447296
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.793550109,715,679,660.206449891,633.793550109,876.793550109,785,809,652,629,652,0.401886159509,0.00452786183375,0.0599512786309,0.999999985871,0.000149942461826,-7.43369239979e-05,1.58139712018e-05,1793247760068113664
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.218759322,715,679,660.781240678,633.218759322,876.218759322,785,809,652,629,652,0.402042726803,0.00452864186784,0.0599506692544,0.999999986063,0.000149262765008,-7.34819476638e-05,1.39671031238e-05,1793247760084780288
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.363701739,715,679,661,633.363701739,876.363701739,785,809,652.363701739,628.636298261,652,0.4022199726,0.00452789052682,0.059949642276,0.999999986888,0.000145042793312,-7.09870211738e-05,1.21097424038e-05,1793247760101446656
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.950875765,715,679,661,633.950875765,876.950875765,785,809,652.950875765,628.049124235,652,0.402409924077,0.00452619825033,0.059948358707,0.999999988059,0.000138647540968,-6.74844463653e-05,1.02459344233e-05,1793247760118113536
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.469217953,745,715,679,661,633.469217953,876.469217953,785,809,652.469217953,628,652,0.402640490202,0.00452580173813,0.0599492544427,0.999999989094,0.000134564303583,-6.03742201246e-05,7.76819269089e-06,1793247760134780160
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.109690339,745,715,679.109690339,661,633.109690339,876.109690339,785,809.109690339,652.109690339,628,652,0.402881373263,0.00452565578849,0.0599510333884,0.999999990123,0.000130357575647,-5.22897000841e-05,5.18574046276e-06,1793247760151446784
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.687172539,745,715,679.687172539,661,633.687172539,876.687172539,785,809.687172539,652.687172539,628,652,0.403150440666,0.00452607387643,0.0599557303772,0.99999999136,0.000124723982303,-4.14548426345e-05,2.39577760922e-06,1793247760168113920
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.737320627,661,634,877,785,809.737320627,653,628.262679373,652,0.403431846423,0.00452680194298,0.059956750924,0.999999992036,0.000120412281703,-3.78047882899e-05,-2.52392526427e-07,1793247760184781056
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.164148751,661,634,877,785,809.164148751,653,628.835851249,652,0.403727836357,0.0045278964107,0.0599534258393,0.999999992165,0.000117663086264,-4.26473218296e-05,-2.73296054242e-06,1793247760201447680
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.421229489,745,715,679,661,634,877,785,809.421229489,653,629,652,0.404042863632,0.00452764842656,0.0599414620366,0.999999991927,0.000110913204497,-6.16749241597e-05,-6.33829452955e-06,1793247760218114048
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.988717011,745,715,679,661,634,877,784.988717011,810,652.988717011,629,652,0.404366264025,0.00452686771853,0.0599260586362,0.99999999095,0.000102554470412,-8.64585394592e-05,-1.03751978562e-05,1793247760234779904
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.409899195,745,715,679,661,634,877,784.409899195,810,652.409899195,629,652,0.404726538252,0.00452639019515,0.0599120276013,0.999999988943,9.40296956096e-05,-0.000114424937756,-1.34151282264e-05,1793247760251446528
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.168326334,661,634,877.168326334,784.168326334,810,652.168326334,629,652.168326334,0.405106382893,0.004525976235,0.0599023940322,0.999999987191,8.51715942263e-05,-0.00013446482482,-1.68417897648e-05,1793247760268113408
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.745114532,661,634,877.745114532,784.745114532,810,652.745114532,629,652.745114532,0.405533717189,0.00452571651788,0.0599034313866,0.999999987776,7.55046416287e-05,-0.000135270180257,-2.12068954488e-05,1793247760284780032
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.680568672,661,633.680568672,877.680568672,785,810,653,628.680568672,652.680568672,0.406006360915,0.00452457767701,0.0599210247813,0.999999991809,6.64010123893e-05,-0.000106633099218,-2.45456329006e-05,1793247760301446912
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.108208693,661,633.108208693,877.108208693,785,810,653,628.108208693,652.108208693,0.406514881108,0.00452274273787,0.0599517274008,0.999999996471,5.77434265631e-05,-5.46832271184e-05,-2.70716830028e-05,1793247760318114304
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633,877,785,810,652.519596885,628.480403115,652,0.407064226945,0.0045230877973,0.0599806464482,0.999999998264,5.00809020266e-05,-4.53596401855e-06,-3.07146437379e-05,1793247760334781184
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.928631926,745,715,679,661,633.071368074,877,785,810,652,629,652,0.40762057449,0.00452340870542,0.0600052398386,0.999999997854,4.19606765569e-05,3.66358914767e-05,-3.44881812748e-05,1793247760351448064
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.347913036,745,715,679,661,633.652086964,877,785,810,652,629,652,0.408158965218,0.00451993004437,0.0600019288246,0.999999998745,2.89182182891e-05,1.67499613065e-05,-3.73352640425e-05,1793247760368114688
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.460007151,745,715,679.230003576,661,634,877.230003576,785,810,652.230003576,629,652,0.408710208922,0.00451860188748,0.0599952369226,0.999999998956,1.95801062319e-05,-5.97849096089e-06,-4.08510866125e-05,1793247760384781056
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.607464661,745,715,679.803732331,661,634,877.803732331,785,810,652.803732331,629,652,0.409280660517,0.00452048751749,0.0599834925065,0.999999998303,1.57778961463e-05,-3.29549038917e-05,-4.53662965605e-05,1793247760401447424
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.622813755,745,715,680,661.377186245,634,878,785,810,652.622813755,629,652,0.409905299334,0.00452058202698,0.0599818831453,0.99999999808,5.24580063688e-06,-3.55281929831e-05,-5.05003839896e-05,1793247760418114048
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.049502766,745,715,680,661.950497234,634,878,785,810,652.049502766,629,652,0.410558113748,0.00451974521122,0.0599855436878,0.999999998073,-8.78561920494e-06,-2.54126399532e-05,-5.59562677068e-05,1793247760434780416
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.541031035,745,715,680,662,634,878,784.458968965,810,652.541031035,629,652.541031035,0.411257221729,0.00451840550595,0.0599919590049,0.999999997883,-2.03275055499e-05,-9.74997291207e-06,-6.10442991116e-05,1793247760451447552
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.869386684,745,715,679.869386684,661.869386684,634,877.869386684,784,810,652.869386684,629,653,0.411957838849,0.00451754792615,0.0599927560644,0.999999997959,-1.55214889475e-05,-5.68874257668e-06,-6.17098939098e-05,1793247760468115200
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288692114,745,715,679.288692114,661.288692114,634,877.288692114,784,810,652.288692114,629,653,0.412648580327,0.0045185154755,0.0599732960205,0.999999996937,4.48071384789e-05,-4.34114376934e-05,-4.72559787758e-05,1793247760484781568
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.711857792,877.288142208,784.288142208,810,652,629,653,0.413335594013,0.00452552998147,0.0599463130799,0.999999989142,0.000106846593587,-9.51653729692e-05,-3.52590146153e-05,1793247760501447680
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,633.138839886,877.861160114,784.861160114,810,652,629,653,0.414018922252,0.00453852289314,0.0599118925233,0.999999972195,0.000170577488502,-0.000160791488069,-2.569114652e-05,1793247760518113792
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679.445528973,661,633.445528973,878,784.554471027,810,652,629,653,0.414837911478,0.00453627847171,0.0599317994164,0.999999978325,0.000167824046034,-0.000120000149381,-2.80126832972e-05,1793247760534780160
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.066342486,634,878.033171243,784.033171243,810.033171243,652.033171243,629,652.966828757,0.415699873325,0.00452847842194,0.0599689318295,0.999999988051,0.000143590484313,-4.62729338202e-05,-3.37517142391e-05,1793247760551446784
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.229841602,634,878.614920801,784.614920801,810.614920801,652.614920801,629,652.385079199,0.416555079353,0.00450938160169,0.0600036313032,0.999999992712,0.000115718649739,9.36345979401e-06,-3.31326929371e-05,1793247760568113664
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633.805366615,879,784.805366615,811,652.805366615,629,652.194633385,0.417404687506,0.00449154584443,0.0600231339352,0.99999999434,9.26613317006e-05,4.11713664016e-05,-3.2229442653e-05,1793247760584780288
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633.229642447,879,784.229642447,811,652.229642447,629,652.770357553,0.418243335005,0.00447617924067,0.0600128812568,0.999999996057,7.90308051748e-05,2.63232615865e-05,-3.07696742793e-05,1793247760601447424
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662.65518124,633.34481876,879,784,811,652,629,653,0.419080982496,0.00447501870208,0.0599928602551,0.999999996041,8.29023019009e-05,-6.21251147791e-06,-3.17128327564e-05,1793247760618114304
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662.081558093,633.918441907,879,784,811,652,629,653,0.419917966396,0.00448328459447,0.0599663574857,0.999999993299,9.83872614402e-05,-5.048493103e-05,-3.42504526497e-05,1793247760634781184
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,633.494730056,879.505269944,784.505269944,811,652,629.505269944,653,0.420765103392,0.00448530710485,0.0599323003093,0.999999994023,-1.51647164175e-05,-0.000101947487038,-3.64723717833e-05,1793247760651447552
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.093032462,661.906967538,633,879.906967538,784.906967538,811.093032462,652,630,652.906967538,0.421619073153,0.00448545196231,0.0598998229536,0.999999979547,-0.000126963451953,-0.000152752924057,-3.81173273341e-05,1793247760668113920
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.674213947,661.325786053,633,879.325786053,784.325786053,811.674213947,652,630,652.325786053,0.422500064687,0.00448117440086,0.0598822050228,0.99999997364,-0.000117341120814,-0.000193857232736,-3.70094702761e-05,1793247760684780288
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.747655434,661.504689132,633,879,784,811.747655434,652,629.747655434,652.252344566,0.423439798075,0.00447932927768,0.0599034517996,0.999999980055,-0.000109166706887,-0.000163055925745,-3.72138721811e-05,1793247760701446656
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.173416467,662.653167067,633,879,784,811.173416467,652,629.173416467,652.826583533,0.424454463548,0.00448058700756,0.0599742749608,0.999999993127,-0.00010283927492,-4.05307725578e-05,-3.90922102372e-05,1793247760718113280
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633,878.598454594,784,811.401545406,652,629,653,0.425428574333,0.00447767813076,0.0600185620176,0.999999993585,-0.000100562394249,3.38397286119e-05,-3.96444550256e-05,1793247760734780160
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,633,878.023179989,784,811.976820011,652,629,653,0.426385139013,0.00447296656551,0.0600513681863,0.999999990394,-0.000100037990987,8.73760428749e-05,-3.96229636123e-05,1793247760751447040
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.86372956,632.43186478,878.56813522,784,812,652,629.56813522,652.43186478,0.427342726652,0.0044753900403,0.0600324532664,0.999999992466,-9.18501412699e-05,6.93062194717e-05,-4.27569651819e-05,1793247760768113408
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.156627554,661.313255108,632.156627554,878.843372446,784,812,652,630,652.156627554,0.428281898506,0.00447635603877,0.0600078279705,0.999999994648,-8.43136643405e-05,3.94276325772e-05,-4.5179171938e-05,1793247760784780032
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.735689972,662.471379943,632.735689972,878.264310028,784,812,652,630,652.735689972,0.429171285884,0.00447258317112,0.0599736581947,0.99999999572,-7.94017748411e-05,-1.41914494777e-05,-4.53242998394e-05,1793247760801446400
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.688187032,662.376374065,633,878.311812968,784,812.311812968,652,630,653,0.430055088176,0.00447119395554,0.059938927355,0.999999993687,-7.13680231465e-05,-7.38930779302e-05,-4.55183286257e-05,1793247760818113024
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.114532414,661.229064828,633,878.885467586,784,812.885467586,652,630,653,0.430934200407,0.00447180638684,0.0599037253696,0.999999987491,-6.07127207403e-05,-0.000138702457715,-4.57534213362e-05,1793247760834779648
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.472206206,661.944412411,633,879,784,812.527793794,652,630,653,0.431913307823,0.00447157658347,0.0599386698757,0.999999994671,-5.732586644e-05,-7.16604240417e-05,-4.73007529442e-05,1793247760851446272
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.938989331,663.061010669,633,879,784,812,652,630,652.938989331,0.432913236639,0.00447070103988,0.0599874869991,0.99999999705,-5.5822697555e-05,1.9828854762e-05,-4.88955733985e-05,1793247760868112896
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.360350069,663.639649931,633,879,784,812,652,630,652.360350069,0.433878181345,0.00446612945398,0.0600055394694,0.999999996547,-5.49176861102e-05,3.96742710571e-05,-4.81159848724e-05,1793247760884779520
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.216947913,663.34915626,633,879.216947913,784,812.216947913,652,630,652.216947913,0.434813939623,0.00446147877243,0.060005489866,0.999999996758,-5.52466852703e-05,3.35277265153e-05,-4.80348628648e-05,1793247760901446400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.792031815,661.623904556,633,879.792031815,784,812.792031815,652,630,652.792031815,0.43570151732,0.00445669751964,0.0599755574977,0.999999997014,-5.76127796791e-05,-1.55261489982e-05,-4.91067639713e-05,1793247760918113280
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.368278895,633,879.631721105,784,813,652,630,653,0.436568122672,0.00445605848778,0.0599487586312,0.999999995405,-5.43254105219e-05,-6.09732062616e-05,-5.02069871563e-05,1793247760934779648
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.945184873,633,879.054815127,784,813,652,630,653,0.437422847303,0.00445776599162,0.0599237348704,0.999999992092,-4.78353987786e-05,-0.000104377026502,-5.13232544777e-05,1793247760951446272
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.533341726,745,715,681,662,633,879,784,813,652,630,653,0.438226811986,0.00445725999303,0.0598962516107,0.999999984433,-4.05225021439e-05,-0.000164181129841,-5.03675808851e-05,1793247760968112896
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.87962468,745,715,681,662,633,879,783.87962468,813,652,630.12037532,653,0.439058250532,0.00445516099157,0.0598848194316,0.999999979211,-3.6956289836e-05,-0.000194293536233,-4.9617164882e-05,1793247760984779520
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.30135715,745,715,681,662,633,879,783.30135715,813,652,630.69864285,653,0.440014468302,0.00444788642844,0.0599354257573,0.999999992072,-4.79706217982e-05,-0.000104912698499,-5.0475002732e-05,1793247761001446400
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.276099104,633,879,783.276099104,813,652,631,652.723900896,0.440923291722,0.00444338688703,0.0599801665584,0.999999996793,-5.31926277642e-05,-3.13212095951e-05,-5.10162254497e-05,1793247761018113024
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.852672421,633,879,783.852672421,813,652,631,652.147327579,0.441780536571,0.0044419073576,0.0600185240002,0.999999997016,-5.21109380216e-05,2.508697867e-05,-5.12128811766e-05,1793247761034779648
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.563408147,681,662.126816294,633,879,784,813,652,630.563408147,652.436591853,0.442557823323,0.00443855373521,0.0600102800924,0.999999997107,-5.44745912617e-05,1.3612543415e-05,-5.13159054112e-05,1793247761051446528
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.022716018,745,714.022716018,681,661.022716018,633,879,784,813.022716018,652,630,653,0.443307950956,0.00443474436658,0.0599863924226,0.99999999682,-5.7464372822e-05,-2.04945960846e-05,-5.13693536807e-05,1793247761068113152
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.601093793,745,714.601093793,681,661.601093793,633,879,784,813.601093793,652,630,653,0.444065034989,0.00443552119423,0.0599710895872,0.999999996869,-4.68439875107e-05,-3.83040422711e-05,-5.09962140588e-05,1793247761084779776
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.820815311,745,715,681,662.179184689,632.820815311,879,784,814,652,630.179184689,652.820815311,0.444813128721,0.00443514013389,0.0599609359757,0.999999996453,-4.07307256194e-05,-5.3338005429e-05,-5.08943586357e-05,1793247761101446400
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.243361943,745,715,681,662.756638057,632.243361943,879,784,814,652,630.756638057,652.243361943,0.445541240115,0.00443218546919,0.0599622273939,0.999999995748,-4.46353159269e-05,-6.22029853753e-05,-5.13954788029e-05,1793247761118113024
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.666245482,632.333754518,879,784,814,652,630.666245482,652.333754518,0.446223029994,0.00442831346301,0.0599478004309,0.999999993149,-5.10360571622e-05,-9.1529414197e-05,-5.2146895251e-05,1793247761134779904
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.089374468,632.910625532,879,784,814,652,630.089374468,652.910625532,0.446871077893,0.00442377323879,0.0599219237421,0.99999998762,-5.92550669965e-05,-0.000135760556625,-5.30806346766e-05,1793247761151446528
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,633,879.496690395,784,814,652,630.496690395,652.503309605,0.447533857918,0.00442188320647,0.0599310468452,0.999999990213,-6.50271251312e-05,-0.000110954195015,-5.50937714634e-05,1793247761168113152
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.083186688,633,880,784,814.083186688,652,631,652.083186688,0.448196122546,0.00442012597374,0.0599480890881,0.999999993163,-7.07833675829e-05,-7.34766201787e-05,-5.71369338775e-05,1793247761184779776
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.662207845,633,880,784,814.662207845,652,631,652.662207845,0.448839216478,0.00441626426947,0.0599740870102,0.999999994533,-7.91192720565e-05,-3.59136727252e-05,-5.81795420992e-05,1793247761201446656
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.760323289,633,880,784,814.760323289,652,630.760323289,653,0.449435459062,0.00441296425595,0.0599756167506,0.999999993802,-8.65442241815e-05,-3.71094831339e-05,-5.94013195387e-05,1793247761218113024
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.185028137,633,880,784,814.185028137,652,630.185028137,653,0.449966095817,0.00441045077627,0.0599428837815,0.999999989566,-9.26935722414e-05,-9.25790464834e-05,-6.08739868704e-05,1793247761234779648
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.611640898,632.611640898,880,783.611640898,814,652,630,653,0.450457444513,0.00441045707016,0.0599066741295,0.999999982431,-9.99372820596e-05,-0.000145560943707,-6.29420794281e-05,1793247761251446528
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.039158162,632.039158162,880,783.039158162,814,652,630,653,0.450930166527,0.00441165800524,0.059868816156,0.999999972593,-0.000107699836477,-0.00019736342656,-6.52924670928e-05,1793247761268113152
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.857280857,715,681,661,632,880,783.142719143,814.857280857,652.142719143,630.142719143,653,0.451843347254,0.00440929720173,0.0598588433749,0.999999946177,-0.000247030100415,-0.000204851466412,-6.82547100576e-05,1793247761301446656
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.279763519,715,681,661,632,880,783.720236481,814.279763519,652.720236481,630.720236481,653,0.452293551575,0.00440533556529,0.0598724284958,0.999999949272,-0.000250930814087,-0.000183715041785,-6.88328018739e-05,1793247761318113280
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.703630705,632,880,784,814.296369295,652.703630705,631,653,0.452720107837,0.00440262582287,0.059882686752,0.99999995228,-0.000251325974091,-0.000165936990747,-6.88456820353e-05,1793247761334779904
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.128798797,632,880,784,814.871201203,652.128798797,631,653,0.453124444832,0.00440109233506,0.0598898191522,0.99999995536,-0.00024842738636,-0.000151314401111,-6.83275006989e-05,1793247761351446528
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.457075949,745,715,681,660,632,879.542924051,783.542924051,815,652,630.542924051,653,0.453447851646,0.00440169748684,0.0598758666635,0.999999958608,-0.000215822545841,-0.00018120657026,-5.80450441837e-05,1793247761368113408
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.045301639,659.954698361,632,879,783,815,652,630.045301639,653,0.453746345225,0.00440334645548,0.0598557892471,0.99999995871,-0.000175404761158,-0.00022303588468,-4.54793211037e-05,1793247761384779776
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.623668501,659.376331499,632,879,783,815,652,630.623668501,653,0.454026677373,0.0044100111439,0.059835284124,0.999999956588,-0.000143990923754,-0.000254072930664,-3.92244308935e-05,1793247761401446656
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681.798666713,659,631.798666713,879.201333287,783,815,652,631,653,0.454307059329,0.00441262234864,0.059824088723,0.999999954916,-0.000127225117013,-0.000269653429465,-3.56279618842e-05,1793247761418113024
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681.222309752,659,631.222309752,879.777690248,783,815,652,631,653,0.45458753403,0.00440768312532,0.0598302345511,0.999999956948,-0.000137744212733,-0.000256443002619,-3.69833370017e-05,1793247761434779648
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.645252955,745,715,681,658.645252955,631,879.645252955,783.354747045,815,652,631,653,0.454850781977,0.00440717470833,0.0598392857318,0.999999960416,-0.000143208213745,-0.000238992266184,-3.92786836373e-05,1793247761451446272
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.067756668,745,715,681,658.067756668,631,879.067756668,783.932243332,815,652,631,653,0.455103213099,0.00440944843878,0.0598501612133,0.999999964572,-0.000145498070891,-0.000218878995324,-4.21642479767e-05,1793247761468113152
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.480209167,681.519790833,658,631,879.519790833,783.480209167,815,652,631,653,0.455305546026,0.00441013483983,0.0598526932845,0.999999965374,-0.000147572222014,-0.000213492980115,-4.35273870814e-05,1793247761484779520
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.106778381,745,714.106778381,681.893221619,657.893221619,631,879.893221619,783,815,652,631,653,0.455493637262,0.00441012570134,0.0598522307161,0.999999964995,-0.000150091696088,-0.000213284548408,-4.46258657159e-05,1793247761501446400
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.685388093,745,714.685388093,681.314611907,657.314611907,631,879.314611907,783,815,652,631,653,0.455648223362,0.00440797545898,0.0598434360782,0.999999961167,-0.000154705657645,-0.000227304518783,-4.54490827607e-05,1793247761518113024
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,879.262660722,783,815,652,631,653,0.455790612259,0.00440667105052,0.0598351508355,0.999999957512,-0.000158805833432,-0.000240019221961,-4.63383107444e-05,1793247761534780160
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+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681,657,631,879.577607992,783,815,652,631,652.577607992,0.456034890915,0.00440748776652,0.0598249322333,0.999999953484,-0.000161924063423,-0.000253932642224,-4.82739316247e-05,1793247761568113408
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+220,3.666666667,POSE1_TO_POSE2_PRESS,765.411583099,745,715,681,656.411583099,631,879.588416901,783,815,652,631,652.588416901,0.456233032327,0.00440972689199,0.0598230726588,0.999999954109,-0.00015908409943,-0.00025302347518,-4.95261480493e-05,1793247761601446656
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+226,3.766666667,POSE1_TO_POSE2_PRESS,765.929139556,745,715,681.929139556,656,630.929139556,879.070860444,783,815,652,630.070860444,653,0.456512722347,0.00441097754285,0.0597911555707,0.999999942032,-0.000159338160025,-0.000296483617161,-5.14306855596e-05,1793247761701446400
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+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,682,655.343711425,631,879.343711425,783,814.656288575,652,630.656288575,653,0.456582673127,0.00441353942278,0.0597782515619,0.999999937715,-0.000148222597874,-0.000316365038075,-5.01316262708e-05,1793247761968113408
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681.493941267,656,631,880,783.506058733,814.506058733,652,630,653,0.456582122345,0.00441325508587,0.0597777568739,0.999999937347,-0.000148258275732,-0.000317547592181,-4.98881709638e-05,1793247762001446656
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.905017673,745,715,681.094982327,656,630.905017673,880,783.905017673,814.905017673,652,630,653,0.456582981963,0.00441173946839,0.0597780942176,0.999999937025,-0.000151567585771,-0.000317029712992,-4.970098375e-05,1793247762018113280
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.326920478,745,715,681.673079522,656,630.326920478,880,783.326920478,814.326920478,652,630,653,0.456582605772,0.0044125839432,0.0597774123452,0.999999936993,-0.000150153405597,-0.000317759326134,-4.99742116635e-05,1793247762034779904
+247,4.116666667,HOLD_POSE2,766,745,715,682,656,631,880,783,815,652,631,653,0.456580038495,0.00441125735819,0.0597753597689,0.999999936047,-0.000149798406701,-0.000320970500246,-4.94319254302e-05,1793247762073159168
+248,4.133333333,HOLD_POSE2,766,745,715,681.412630608,656,630.412630608,880,783,815,652,631,653,0.456581939671,0.00441232098001,0.0597764315854,0.999999937091,-0.000146088893433,-0.000319485096046,-4.90449476028e-05,1793247762089825792
+249,4.150000000,HOLD_POSE2,765.827758689,745,715,681,656,630.172241311,880,783,815,652,631,653,0.456582873894,0.00441307861632,0.0597768147658,0.999999937457,-0.00014452220137,-0.000319063759183,-4.89678718998e-05,1793247762106492416
+250,4.166666667,HOLD_POSE2,765.248784223,745,715,681,656,630.751215777,880,783,815,652,631,653,0.456581524744,0.00441311369419,0.059775571791,0.999999936244,-0.000148015597963,-0.00032115512624,-4.9622603539e-05,1793247762123159040
+251,4.183333333,HOLD_POSE2,765,745,715,681,656,631,880,783.329992247,815,652,630.670007753,653,0.45658155565,0.00441314199244,0.0597756864781,0.999999936263,-0.000148824890452,-0.000320711839434,-4.9697491014e-05,1793247762139825664
+252,4.200000000,HOLD_POSE2,765,745,715,681,656,631,880,783.9086195,815,652,630.0913805,653,0.456582626372,0.00441316518254,0.0597768241054,0.999999937212,-0.000147611825394,-0.000318358799516,-4.93354907383e-05,1793247762156492288
+253,4.216666667,HOLD_POSE2,765.488883722,745,715,681,656,631,879.511116278,783.511116278,815,652,630.488883722,653.488883722,0.456581955264,0.00441418166301,0.0597763488099,0.999999937038,-0.000146231174358,-0.00031950067325,-4.96023498219e-05,1793247762173159168
+254,4.233333333,HOLD_POSE2,766,745,715,681,656,630.930325181,879,783,814.930325181,652,630.930325181,653.930325181,0.4565812984,0.00441519780646,0.0597757777571,0.99999993677,-0.000144933411122,-0.000320880964504,-4.98961085252e-05,1793247762189825792
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+256,4.266666667,HOLD_POSE2,765.766769709,745,715,681,656,630.233230291,879,783.233230291,814.233230291,652,630,653,0.456584598613,0.00441486777287,0.0597776742715,0.999999937966,-0.000143852122469,-0.000317710788932,-4.93425251888e-05,1793247762223159296
+257,4.283333333,HOLD_POSE2,765.187497039,745,715,681,656,630.812502961,879,783.812502961,814.812502961,652,630,653,0.456585448115,0.00441546526086,0.0597786143405,0.999999938458,-0.000142977661292,-0.000316536576157,-4.94601166792e-05,1793247762239825920
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+259,4.316666667,HOLD_POSE2,765.96419498,745,715,681.96419498,656,630.03580502,879.96419498,783.03580502,815,652,630.96419498,653,0.456581467566,0.00441486620606,0.0597744906636,0.99999993678,-0.000143796496577,-0.000321412577684,-4.95695417333e-05,1793247762273159168
+260,4.333333333,HOLD_POSE2,765.449469783,745.550530217,715,681.449469783,656,630.550530217,880,783,815,652,631,653,0.456581587199,0.00441399719572,0.0597750784412,0.999999936532,-0.000145955326952,-0.000321254924659,-4.92768307383e-05,1793247762289825792
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+262,4.366666667,HOLD_POSE2,765.7148943,746,715,681.7148943,656,631,880,783.7148943,815,652,631,653,0.456584908193,0.00441539989789,0.0597783079874,0.999999937727,-0.000146291987659,-0.000317325412696,-4.94890970093e-05,1793247762323160064
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,631,880,784,815,652,631,653,0.456583090291,0.00441414591318,0.059775713896,0.99999993701,-0.000144415230489,-0.000320515554432,-4.89309277461e-05,1793247762360242176
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,630.156853762,880,784,815,652,631,653,0.456583928278,0.00441362096814,0.0597758879773,0.999999936746,-0.000146756376717,-0.000320212182713,-4.93467244733e-05,1793247762393573376
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.906703681,656,631,880,784,815,652,631,653,0.456581719002,0.00441338329062,0.0597745982435,0.999999936288,-0.000146484423919,-0.000321748074347,-4.94464032867e-05,1793247762443573248
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.516706809,656,631,879.516706809,783.516706809,815,652,630.516706809,653,0.456582392226,0.00441250331938,0.0597746244157,0.999999936419,-0.000146373627934,-0.000321488265178,-4.88019210046e-05,1793247762460240128
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,631,879.05930218,783,815,652,630.05930218,653,0.456583188192,0.00441199661082,0.0597749134533,0.999999936665,-0.000145773355017,-0.000321093019247,-4.81660664105e-05,1793247762476906752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,631,879.635014475,783,815,652,630.635014475,653,0.456581802293,0.0044143694003,0.0597745948106,0.999999936591,-0.000143979822924,-0.000322030338911,-4.88274898078e-05,1793247762493573376
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,631,879.784329992,783,815,652,630.784329992,653,0.456577821322,0.00441560280775,0.0597724305784,0.99999993565,-0.000143475222818,-0.000325072027614,-4.94206222892e-05,1793247762510240000
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,655.612822311,630.612822311,879,783,815,652,630.387177689,653,0.456548896993,0.00441553910494,0.0597578318477,0.99999992832,-0.000143143056669,-0.000346995995628,-4.96457789791e-05,1793247762543573248
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,655.033961278,630.033961278,879,783,815,652,630.966038722,653,0.456522520859,0.00441691665733,0.0597466745357,0.999999921959,-0.000139207707325,-0.000366466819345,-4.90373791458e-05,1793247762560239872
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,655.541729718,630,879,783,815,652,631,653,0.45646876919,0.00441608820176,0.0597264095705,0.999999908385,-0.000141505576987,-0.000401008740414,-4.89763130322e-05,1793247762576906496
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,630.116929745,879,783.116929745,815,652,630.883070255,653,0.456411548075,0.0044153934801,0.059706511202,0.999999894935,-0.000143599461191,-0.000432547743157,-4.91151014058e-05,1793247762593573120
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,630.690982952,879,783.690982952,815,652,630.309017048,653,0.456347433731,0.00441575908118,0.0596902651235,0.999999887822,-0.000143377131898,-0.000448675039027,-4.99018374455e-05,1793247762610239744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.726485823,745,715,681,656,630.726485823,879.273514177,783.726485823,815,652,630,653,0.456279236114,0.00441693400403,0.0596807140692,0.999999883219,-0.000141458609953,-0.000459384744355,-5.01745126075e-05,1793247762626906368
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.134069747,745,715,681,656,630.134069747,879.865930253,783.134069747,815,652,630,653,0.456206277638,0.00441905254978,0.0596789690315,0.999999881751,-0.000137562424356,-0.000463777847842,-4.98478221267e-05,1793247762643573248
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.446249075,745,715,681,656,630,879.553750925,783,815,652,630.446249075,653,0.456116013373,0.00442002300552,0.0596808995535,0.99999988333,-0.000133308470658,-0.00046171763127,-4.88523680815e-05,1793247762660240640
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,656,630.022962564,879,783.022962564,814.977037436,652,631,653,0.456019734503,0.00442062527883,0.0596840864092,0.999999885835,-0.000129097756761,-0.000457592896967,-4.76639374807e-05,1793247762676908288
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.176788004,656,631,879,783.823211996,814.176788004,652,630.823211996,653,0.455773433906,0.00442023564327,0.0596979516962,0.999999892955,-0.000127017088327,-0.000442604169907,-4.53578467945e-05,1793247762710240768
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.763884798,656,631,879,783.236115202,814.763884798,652,630.236115202,653,0.455627900633,0.00441993339653,0.0597014351235,0.999999894525,-0.000123800754245,-0.000440093587089,-4.40460525249e-05,1793247762726907136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,714.651892728,681.651892728,656,631,879.696214543,783,814.651892728,652,630,653,0.455461733644,0.00442136698389,0.0597041516617,0.999999896177,-0.000118520693407,-0.000437935796747,-4.25635409862e-05,1793247762743573504
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.069603832,681.069603832,656,631,880.860792336,783,814.069603832,652,630,653,0.455281685756,0.00442396831601,0.0597063522921,0.999999897851,-0.000111852304779,-0.000436015339632,-4.09661829709e-05,1793247762760240384
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.507680709,681.507680709,656.507680709,631,880.492319291,783,814,652,630,653,0.455071675659,0.00442365475233,0.0597090440617,0.999999898221,-0.000108284360359,-0.000436264422656,-3.8809682146e-05,1793247762776907008
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.233677599,745,715,681,657,631,879,783.766322401,814,652,630,653,0.45433025761,0.00442864345058,0.05971974433,0.999999900521,-9.25743376815e-05,-0.000435100088264,-3.28097360802e-05,1793247762826907648
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.212012274,661.575975452,632,879.212012274,783,812,652,630.787987726,652.212012274,0.448710605936,0.00446307127395,0.0597405129475,0.999999925737,4.63473246134e-05,-0.000382540109714,6.41648408742e-06,1793247763043574528
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.370893571,715,681.370893571,661.629106429,632.370893571,879,783.370893571,812,652,631,652.370893571,0.448108196862,0.00446786412476,0.0597519851638,0.999999932204,6.19727385394e-05,-0.000362818163121,1.07306737322e-05,1793247763060240896
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.950911773,715,681.950911773,661.049088227,632.950911773,879,783.950911773,812,652,631,652.950911773,0.447500304426,0.00447181257207,0.0597706208132,0.999999942104,7.69237731183e-05,-0.000331117353099,1.53639650682e-05,1793247763076907520
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.473479988,715,681.473479988,661.526520012,632.473479988,879,783.473479988,812,652,631,653,0.446864346919,0.00447468647614,0.0598012863071,0.999999952764,8.98346364378e-05,-0.000293208979217,2.0725409114e-05,1793247763093573888
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.101505612,661.898494388,632.101505612,879,783.101505612,812.101505612,651.898494388,631,653,0.446206091778,0.00447783399224,0.0598228833563,0.999999958039,0.000102978671445,-0.000269528642959,2.5926467423e-05,1793247763110240512
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.675490712,661.324509288,632.675490712,879,783.675490712,812.675490712,651.324509288,631,653,0.445456125859,0.00448271753451,0.059797092212,0.999999943043,0.00011808606064,-0.000314747244873,3.00676060147e-05,1793247763126907904
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.741658205,661,633,879,784,812.741658205,651.258341795,631,653,0.444700676725,0.0044879143435,0.0597725040341,0.999999928966,0.00013323502969,-0.000350996311941,3.34455290778e-05,1793247763143574528
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.147274482,661,633,879,784,812.147274482,651.852725518,631,653,0.443938095115,0.0044935186395,0.059749480629,0.999999917812,0.000148438086643,-0.000375578130084,3.58306888268e-05,1793247763160240384
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.435295663,745,715,681,661.435295663,633,879,784,812,652,630.564704337,653,0.443184450187,0.0044976232205,0.0597634590214,0.999999924451,0.000164232924697,-0.00035002119482,4.01404140211e-05,1793247763176907008
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.986154665,745,715,681,662,632.986154665,879,784,812,652,630.013845335,653,0.442432439918,0.00450163926038,0.0597891820919,0.999999934936,0.000180531195276,-0.000309055861919,4.49539245507e-05,1793247763193573632
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.412823205,745,715,681,662,632.412823205,879,784,812,652,630.587176795,653,0.441627530762,0.00452203958893,0.0597969859165,0.999999928178,0.000209296084623,-0.000312821479516,4.4508031556e-05,1793247763210240256
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.164333496,661.671333008,632.164333496,879,784,811.835666504,652,631,652.835666504,0.440804722338,0.0045442046295,0.0597995066791,0.999999917993,0.000241157368337,-0.00032233307528,4.42583121692e-05,1793247763226907136
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.751328584,660.497342832,632.751328584,879,784,811.248671416,652,631,652.248671416,0.439935877495,0.00457090846351,0.0597884395396,0.99999989946,0.000280982498333,-0.000346623181356,4.45131463844e-05,1793247763243574272
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.664400536,660.671198928,633,879,784.335599464,811.335599464,652,630.664400536,652.335599464,0.439083982964,0.00457954514186,0.0597989916323,0.999999898894,0.000301791100932,-0.000329835476478,4.84074569019e-05,1793247763260241152
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.082132003,661.835735995,633,879,784.917867997,811.917867997,652,630.082132003,652.917867997,0.438244547123,0.0045749022732,0.0598254340842,0.999999910861,0.000308622357715,-0.000282855155436,5.49768200068e-05,1793247763276907776
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.494420403,745,715,681,661.505579597,633,878.505579597,784.505579597,811.505579597,652,630.494420403,653,0.437309485533,0.00457379005044,0.0597949442558,0.999999916756,0.000213592315721,-0.000346606986659,2.70352713948e-05,1793247763293574144
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.930071203,745,715,681,660.930071203,633,878,784,811,652,630.930071203,652.930071203,0.436367196092,0.00457321178675,0.059757504461,0.999999905779,0.000117347343733,-0.000417932900951,-1.9505066754e-06,1793247763310240768
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.355323369,745,715,681,660.355323369,633,878,784,811,652,630.355323369,652.355323369,0.435486093792,0.0045723025976,0.0597373860967,0.999999905995,0.000133088931892,-0.000412662899974,2.43826636148e-06,1793247763326907392
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.655465489,633,878.218488496,784,811,652,630,652,0.434600937242,0.0045729900442,0.0597345306669,0.99999991182,0.000149459316797,-0.000392378611216,7.85179174752e-06,1793247763343574016
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.372354394,633,878.790784798,784,811,652,630,652,0.433709215335,0.00457626299147,0.0597596298449,0.999999925494,0.000166847941566,-0.000347781040122,1.49247433042e-05,1793247763360240896
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.621666777,745,715,681,662.243333554,633,878.621666777,784,811,651.621666777,630,652,0.432784686194,0.00458130642059,0.0597794703203,0.999999930862,0.000183191561981,-0.0003229471139,2.05242963816e-05,1793247763376907264
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.025329785,745,715,681,661.050659569,633,878.025329785,784,811,651.025329785,630,652,0.431841252871,0.00458737003937,0.0597962806164,0.999999931998,0.000198933027376,-0.00030950142935,2.52748450337e-05,1793247763393573632
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.550890072,745,715,681,661,633,879.101780144,784,811,651.550890072,630,652,0.430939334551,0.0045868935742,0.0598181926023,0.999999945616,0.000193589172402,-0.000265763461475,2.57218451682e-05,1793247763410240256
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.126091721,633,879.873908279,784,811,652,630,652.126091721,0.430019262041,0.00458661897391,0.0598298297796,0.999999952013,0.00018813478665,-0.000244732995728,2.61800258394e-05,1793247763426906880
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.700845664,633,879.299154336,784,811,652,630,652.700845664,0.429028040142,0.00458809495409,0.0598041016537,0.999999934572,0.000185615260158,-0.00030928224435,2.7357270533e-05,1793247763443573504
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.714895022,745,715,681,661.429790043,633,878.714895022,784,811,652,630,652.714895022,0.428046437256,0.00458949911487,0.0597744519594,0.999999918283,0.000182456054022,-0.00035971746155,2.73393505947e-05,1793247763460240128
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.120317978,745,715,681,660.240635956,633,878.120317978,784,811,652,630,652.120317978,0.427075275559,0.00459082531796,0.0597405455335,0.999999905766,0.00017860249733,-0.00039483235902,2.60241187999e-05,1793247763476906752
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.459755327,745,715,681,660.919510654,633,878,784,811,652.459755327,630,652,0.426154304104,0.00459342809226,0.0597569013247,0.999999916219,0.000176537866872,-0.000368351686718,2.67106241474e-05,1793247763493573376
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.964011527,680.964011527,662,633,878,784.035988473,811,652.964011527,630,652,0.425245979322,0.00459620916018,0.0597858877826,0.999999930825,0.000174791955004,-0.000327132810583,2.79675584591e-05,1793247763510240256
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.390179288,680.390179288,662,633,878,784.609820712,811,652.390179288,630,652,0.424336363896,0.00459681472218,0.0598130704512,0.999999940163,0.000171026602892,-0.000299190898736,3.01599640577e-05,1793247763526906880
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.811858698,633,878,784.811858698,810.811858698,652,630,652,0.423441214145,0.00459576332184,0.0598358561307,0.999999949426,0.000165045108587,-0.000269972802732,3.19770980173e-05,1793247763543573504
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,661.224002283,633,878,784.224002283,810.224002283,652,630,652,0.422576797235,0.00459119162661,0.0598493002034,0.99999995921,0.000154355314569,-0.000238043387979,3.29969500255e-05,1793247763560240128
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.35831115,680.35831115,661.35831115,633.35831115,878.35831115,784.35831115,810,652,630,652,0.421634718612,0.00459281335981,0.0598307054993,0.999999951303,0.000151139223836,-0.000270983522313,3.34507474221e-05,1793247763576906752
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.937212079,680.937212079,661.937212079,633.937212079,878.937212079,784.937212079,810,652,630,652,0.420644828578,0.00459824800005,0.0597923865221,0.999999928685,0.000152524225155,-0.000343859784403,3.35560601852e-05,1793247763593573376
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.48499922,660.96999844,634,878.48499922,785,810,652,630,652.51500078,0.419719452793,0.0045966792734,0.0597426140322,0.999999902227,0.000138422948127,-0.000418780697203,3.17314496171e-05,1793247763610240000
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.092107291,633.907892709,878.092107291,784.907892709,810,652,630,653,0.418819481563,0.00459440449512,0.0597046951723,0.999999880648,0.000123336016569,-0.00047180318114,2.99121217242e-05,1793247763626906880
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.666351131,633.333648869,878.666351131,784.333648869,810,652,630,653,0.418011407673,0.00459289367054,0.059736117928,0.999999909592,0.000112951429323,-0.00040889607902,2.93494341263e-05,1793247763643574272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.753111688,680,661.246888312,633.246888312,878.753111688,784,810,652,630,652.753111688,0.417218325071,0.00459257321693,0.0597740915206,0.999999933692,0.00010759531611,-0.000346575580978,3.04220516597e-05,1793247763660241408
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.163847166,680,661.836152834,633.836152834,878.163847166,784,810,652,630,652.163847166,0.416446031938,0.00459390352891,0.0598211495857,0.999999952834,0.000109212518608,-0.000285068571305,3.37624541379e-05,1793247763676908032
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.419038155,680,661.16192369,633.580961845,877.580961845,784.419038155,810,652,630,652.419038155,0.415637354198,0.00459070504402,0.059835073417,0.999999938913,0.00021163228549,-0.000275963595948,3.50815070658e-05,1793247763693574400
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.999466609,680,660.001066781,633.000533391,877.000533391,784.999466609,810,652,630,652.999466609,0.414814663057,0.00458576231742,0.0598362357796,0.999999895909,0.000352875616311,-0.000287040973586,3.56220477533e-05,1793247763710241024
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.573900793,745,715,680,660.573900793,633.573900793,877,784.426099207,810,652.573900793,629.426099207,652.426099207,0.414063221826,0.0045876161156,0.0598369766777,0.999999902606,0.000342782640135,-0.00027584832599,3.45925106672e-05,1793247763726907648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,633.848262608,877,784,810,652.848262608,629,652,0.413304567008,0.00458851665499,0.0598277570302,0.999999902957,0.000332924125837,-0.000286492693376,3.41971297127e-05,1793247763743574272
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,633.26063607,877,784,810,652.26063607,629,652,0.412525001606,0.00458666085301,0.0597899252874,0.999999882059,0.000324139009569,-0.000359926106999,3.5627608666e-05,1793247763760240640
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.355421942,633.322289029,877,784,810,652,629,652,0.411779635938,0.00458550625931,0.0597563128783,0.999999865334,0.000312319273292,-0.00041299381168,3.50005426968e-05,1793247763776907008
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,659.19706662,633.90146669,877,784,810,652,629,652,0.411061530081,0.00458491058152,0.0597260635982,0.999999853865,0.000298080717445,-0.000449828508589,3.27334584251e-05,1793247763793573632
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.520178548,745,715,680,660.439464355,634,876.520178548,784.479821452,810,652,629,652,0.41042277314,0.00458137607739,0.059757155679,0.999999879909,0.000281261094015,-0.000399978428615,3.30383467275e-05,1793247763810240768
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.057348325,661.942651675,633.942651675,876.057348325,785,810,652,629,652.057348325,0.409805285981,0.00457761658498,0.0598000370918,0.999999908865,0.000264732306773,-0.000333229576549,3.38272838377e-05,1793247763826907904
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.628963972,661.371036028,633.371036028,876.628963972,785,810,652,629,652.628963972,0.409232663344,0.0045772421066,0.0598358718756,0.99999992914,0.000255556479653,-0.00027429878459,3.42287205686e-05,1793247763843575296
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.584620314,661,633.207689843,877.207689843,784.792310157,809.792310157,652,629,652.792310157,0.408660799934,0.00457619788466,0.0598566929444,0.999999940913,0.00024490053457,-0.000238800328041,3.42457533933e-05,1793247763860241920
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+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.38369401,661,633.61630599,878,784.38369401,809.38369401,652,629,652,0.407527939461,0.00457211082653,0.0598361591128,0.999999938292,0.000222598653658,-0.00026971841996,3.34204793893e-05,1793247763893574400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.963850191,661,633.036149809,878,784.963850191,809.963850191,652,629,652,0.406969663443,0.00457055225533,0.0598191817872,0.999999930935,0.000215987574224,-0.000300584418687,3.35774272616e-05,1793247763910240512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715.540629607,680,661,633.540629607,877.459370393,785,809.459370393,652.540629607,629,652,0.406476066474,0.00457031370717,0.0598179037059,0.999999934198,0.000208091208407,-0.000295352168139,3.27019952253e-05,1793247763926907648
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.703751495,745,715.296248505,680,661.703751495,634,877,785,809,653,629,652,0.405569290846,0.00456595146466,0.0598228577516,0.999999940355,0.000195450195951,-0.000282820794778,3.31910461645e-05,1793247763960240640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.71440512,745,715,680,661.71440512,634,877,785,809.28559488,653,629,652,0.405143230982,0.00456392607465,0.0598174715062,0.999999939141,0.000190711646462,-0.000290204756965,3.35850926233e-05,1793247763976907264
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.13567417,745,715,680,661.13567417,634,877,785,809.86432583,653,629,652,0.404720813694,0.004563440415,0.0598021712368,0.999999933801,0.000186467745143,-0.000310670842681,3.33248030982e-05,1793247763993574400
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877,785,810,652.556849413,629,652,0.404317266711,0.00456293571428,0.0597791436912,0.999999920908,0.000183088039859,-0.000351486598004,3.34662133987e-05,1793247764010241280
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.978233627,661.021766373,634,877,785,809.978233627,652.021766373,629,652,0.40392326086,0.00456238659855,0.0597551063697,0.999999904957,0.000179990069637,-0.000395664098816,3.37513231243e-05,1793247764026907648
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.405632955,661.594367045,634,877,785,809.405632955,652.594367045,629,652,0.403624473972,0.00456086104526,0.0597653973672,0.999999916257,0.000177324809253,-0.000367216794459,3.45600219054e-05,1793247764043574016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715.172302024,679.172302024,661.827697976,634,877,785,809,653,629,652,0.403340218722,0.00455981198088,0.0597785453646,0.99999992656,0.000176085138743,-0.000338536595646,3.55988978434e-05,1793247764060240640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715.763196131,679.763196131,661.236803869,634,877,785,809,653,629,652,0.40309126681,0.00455992050313,0.059798634182,0.999999935581,0.000178308809669,-0.00030929060552,3.71969681539e-05,1793247764076907008
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715.653513322,680,661,634,877.346486678,785,809,652.653513322,629,652,0.402860536163,0.00455838497886,0.0598173958738,0.999999944712,0.000176819997354,-0.000278987917128,3.84145434232e-05,1793247764093573376
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715.075307727,680,661,634,877.924692273,785,809,652.075307727,629,652,0.402641991275,0.00455574997023,0.0598352700296,0.99999995354,0.000172848398259,-0.00024797854059,3.93776562432e-05,1793247764110240256
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.497600526,661,634,877.497600526,785,809.502399474,652.502399474,629,652,0.402424433817,0.00455493478831,0.0598360112011,0.999999952714,0.000170877550308,-0.000252492773016,4.02557631463e-05,1793247764126906880
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.079393918,661,634,877,785,810,652.920606082,629,652,0.402210944416,0.00455433505706,0.0598334572548,0.999999950185,0.000169449442576,-0.000263113772066,4.10759924647e-05,1793247764143573504
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.652421063,661,634,877,785,810,652.347578937,629,652,0.402021828786,0.00455338052944,0.0598263676577,0.999999945946,0.000169533015906,-0.000278629162959,4.16155126142e-05,1793247764160240384
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877,785,810,652.232916846,629,652.232916846,0.401851873992,0.00455200327315,0.0598220896091,0.999999943623,0.000166139959244,-0.000288844881066,4.14785522812e-05,1793247764176907008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877,785,810,652.824927171,629,652.824927171,0.401711459928,0.00454997428601,0.0598221461927,0.999999944494,0.000157386898894,-0.000290889965839,4.02986457634e-05,1793247764193573632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745.407618134,715,679.592381866,661,634,877,785,809.592381866,652.592381866,629,652.592381866,0.401588688867,0.00454880009544,0.0598216981654,0.999999950686,0.000108217238759,-0.000293484654353,2.7995741638e-05,1793247764210240512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745.986395864,715,679.013604136,661,634,877,785,809.013604136,652.013604136,629,652.013604136,0.401473326138,0.00454798483554,0.0598210382511,0.999999955154,4.20765745807e-05,-0.000296310121265,1.10222704843e-05,1793247764226906880
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,746,715,679,661,633.440236295,877,785,809,652,628.440236295,652.559763705,0.401394261417,0.0045382849629,0.0598302137488,0.999999960355,3.23175509691e-05,-0.000279407174819,1.33130726151e-05,1793247764243573504
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745.863236457,715,679,660.863236457,633.136763543,877,785,809,652.136763543,628.136763543,652.863236457,0.401317338499,0.00453231274107,0.0598367632001,0.999999963831,2.79934371727e-05,-0.000267059239125,1.52569978493e-05,1793247764260240128
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.929643058,634,877,785,809.309881019,653,629,652,0.401178916823,0.00453972554816,0.0598298065775,0.999999960208,3.88490198698e-05,-0.000279022389663,1.48502997616e-05,1793247764293573888
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,662.665577657,634,877,785,809.888525886,653,629,652,0.401119317319,0.00453422220386,0.0598248190769,0.999999957357,3.40341404113e-05,-0.000289599533204,1.61120622775e-05,1793247764310240768
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,662.063830616,634,877,785,809.531915308,652.531915308,629,652,0.401079527516,0.00453616792555,0.0598233377666,0.999999956509,3.77624475889e-05,-0.000292057545229,1.60915415247e-05,1793247764326907392
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809,652,629,652,0.401045482843,0.00453943739142,0.0598228948384,0.999999956212,4.31058076768e-05,-0.000292346998537,1.58557611415e-05,1793247764343574016
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809,652,629,652,0.401022754386,0.00453766441479,0.0598246940975,0.999999956836,4.37427443751e-05,-0.000290066878589,1.66281292543e-05,1793247764360240384
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.800509897,877,785,809,652,628.800509897,652,0.401003865047,0.00453663168204,0.0598265523057,0.999999957703,4.37213664549e-05,-0.000287037817775,1.70657546562e-05,1793247764376906752
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,633.212198374,877,785,809,652,628.212198374,652,0.400992458442,0.00453704174114,0.0598285254103,0.999999959041,4.24168831185e-05,-0.000282549014258,1.68509409493e-05,1793247764393573376
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745.369431096,715,679.369431096,661.369431096,633,877,785,809,652.369431096,628,652,0.400981718517,0.00453850546835,0.0598292502728,0.999999959007,4.46362918526e-05,-0.000282326793922,1.68613863059e-05,1793247764410240512
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745.947290614,715,679.947290614,661.947290614,633,877,785,809,652.947290614,628,652,0.400971354726,0.00454056366196,0.0598292708925,0.999999958189,4.88438366474e-05,-0.000284511726826,1.69989200278e-05,1793247764426907648
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745.475663183,715,680,661.475663183,633.524336817,877,785,809,653,628.524336817,652,0.400968658875,0.00453743778028,0.0598300055851,0.999999958893,4.53689634102e-05,-0.000282574348998,1.75055549725e-05,1793247764443574272
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.90068573,661,634,877,785,809,652.90068573,628.90068573,652,0.400966865907,0.00453489353636,0.0598308276487,0.999999959611,4.2508471422e-05,-0.000280446618215,1.79365941008e-05,1793247764460240896
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.335039007,661,634,877,785,809,652.335039007,628.335039007,652,0.400965698625,0.00453752359129,0.0598317234298,0.999999959753,4.61534708836e-05,-0.000279367886353,1.78387173464e-05,1793247764476907008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.246591095,661,634,877,785,809,652,628.246591095,652,0.400964377912,0.00453866767092,0.0598321400918,0.999999959823,4.79995275359e-05,-0.000278809545886,1.77652396096e-05,1793247764493573632
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.85144278,661,634,877,785,809,652,628.85144278,652,0.400962834287,0.00453765284742,0.0598318606643,0.999999959805,4.72319854373e-05,-0.000279007257419,1.77272100421e-05,1793247764510240256
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,634,877,785,809,652.434364372,629,652,0.400962334101,0.00453704986623,0.0598319369364,0.999999959819,4.7091772633e-05,-0.000278971396597,1.7894675135e-05,1793247764526906880
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.989867738,661,634,877,785,809.010132262,652.989867738,629,652.010132262,0.400962199722,0.00453659579267,0.0598321523833,0.999999959857,4.71698272308e-05,-0.000278807027169,1.8123471402e-05,1793247764543573504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.414870141,661,634,877,785,809.585129859,652.414870141,629,652.585129859,0.400963519896,0.00453696807817,0.0598336706141,0.999999960674,4.80298109209e-05,-0.000275717847866,1.8041613566e-05,1793247764560240384
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.164456292,745,715,679.164456292,661,634,877,785,809.835543708,652,629,652.835543708,0.40096425319,0.00453750495132,0.0598345021402,0.999999961137,4.87430801092e-05,-0.000273916234933,1.79079022758e-05,1793247764576907008
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.754998164,745,715,679.754998164,661,634,877,785,809.245001836,652,629,652.245001836,0.400963465954,0.00453846825039,0.0598335545005,0.999999960704,4.90762304154e-05,-0.000275450544804,1.76398452102e-05,1793247764593573632
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.323208921,745,715,680,661,634,877,785,809,652.338395539,629,652,0.400963531195,0.00453851935277,0.0598338695865,0.999999960765,4.96805636061e-05,-0.000275115818493,1.76814453774e-05,1793247764610240000
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.166545691,745,715,680,661,634,877,785,809,652.916727154,629,652,0.400964200877,0.00453792367089,0.0598350799958,0.999999961176,5.04771763772e-05,-0.000273455870137,1.79426050143e-05,1793247764626906624
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,745,715,679.507957985,661,634,877,785,809,652.507957985,628.507957985,652,0.400963152301,0.00453667715008,0.059834611153,0.999999961033,4.80508284749e-05,-0.000274401766714,1.81395922319e-05,1793247764643573504
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.066836215,745,715,679,661,634,877,785,809,652.066836215,628.066836215,652,0.400961931291,0.00453553197891,0.0598339292867,0.999999960806,4.56172945975e-05,-0.000275629760803,1.82915812048e-05,1793247764660240384
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.641529668,745,715,679,661,634,877,785,809,652.641529668,628.641529668,652,0.400961596206,0.00453598877664,0.0598337750644,0.999999960721,4.72485356008e-05,-0.000275670662187,1.81836703602e-05,1793247764676907008
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.222914288,661,634,877,785,809,652.777085712,628.777085712,652,0.400961659499,0.00453616992725,0.05983382296,0.999999960759,4.75899046176e-05,-0.000275486489436,1.80205614308e-05,1793247764693573632
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.815392104,661,634,877,785,809,652.184607896,628.184607896,652,0.400962383253,0.00453589409008,0.059834205941,0.999999961001,4.57928302437e-05,-0.000274929172413,1.77659410823e-05,1793247764710240256
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.398106158,715,679.601893842,661,634,877,785,809.398106158,652,628.398106158,652,0.400963497754,0.00453510105596,0.0598352206267,0.99999996152,4.55253845929e-05,-0.000273060224626,1.80155023268e-05,1793247764726906880
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745.976400957,715,679.023599043,661,634,877,785,809.976400957,652,628.976400957,652,0.400964789112,0.00453407393098,0.0598365212311,0.999999962162,4.59502712651e-05,-0.000270597613706,1.84932635109e-05,1793247764743573504
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745.451738836,715,679,661,634,877,785,810,652.548261164,629,652,0.400962598347,0.00453371986446,0.0598352878326,0.999999961579,4.48899762124e-05,-0.000272921972406,1.84484568185e-05,1793247764760240128
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809.875926075,652.875926075,629,652,0.400961030887,0.00453379816503,0.059834307993,0.999999961121,4.4581630466e-05,-0.000274649915503,1.83711609033e-05,1793247764776907008
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,634,877,785,809.284183217,652.284183217,629,652,0.400962371238,0.00453539824463,0.0598346902411,0.999999961349,4.73457542033e-05,-0.00027336216203,1.82552034035e-05,1793247764793573632
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..025cf2ab8b79692fb1fbd9c5cc50b858f0dac9f5
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_09/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+1,0.016666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+2,0.033333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+3,0.050000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+4,0.066666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+5,0.083333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+6,0.100000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+7,0.116666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+8,0.133333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+9,0.150000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+10,0.166666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+11,0.183333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+12,0.200000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+13,0.216666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+14,0.233333333,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+15,0.250000000,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
+16,0.266666667,pose1_baseline,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
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+372,6.200000000,pose2_to_pose3_retreat,0.584051459002,0.00992802658428,1.05004237035,0.554623248275,0.0186024776419,1.04966575852
+373,6.216666667,pose2_to_pose3_retreat,0.58391988587,0.00992795219453,1.05004269146,0.554491675462,0.0186024039271,1.04966607024
+374,6.233333333,pose2_to_pose3_retreat,0.583808136126,0.00992791473911,1.05004249732,0.554379927008,0.0186023710442,1.04966588064
+375,6.250000000,pose2_to_pose3_retreat,0.583713088133,0.00992788937175,1.0500423046,0.554284878398,0.0186023437127,1.04966569121
+376,6.266666667,pose2_to_pose3_retreat,0.583630271716,0.00992791010319,1.05004238765,0.554202061694,0.0186023634785,1.04966577463
+377,6.283333333,pose2_to_pose3_retreat,0.58355774725,0.00992796222933,1.05004254747,0.554129538438,0.0186024197495,1.04966593526
+378,6.300000000,pose2_to_pose3_retreat,0.583495091532,0.00992793275622,1.05004236829,0.554066882748,0.018602390347,1.04966575549
+379,6.316666667,pose2_to_pose3_retreat,0.583439754513,0.00992784195958,1.05004250364,0.554011546207,0.0186023009436,1.04966588557
+380,6.333333333,pose2_to_pose3_retreat,0.583392160432,0.00992780349504,1.05004256192,0.553963951897,0.0186022612291,1.0496659329
+381,6.350000000,pose2_to_pose3_retreat,0.583353451817,0.00992783829778,1.05004243757,0.553925244123,0.0186022990827,1.04966581315
+382,6.366666667,pose2_to_pose3_retreat,0.583323126097,0.00992792767048,1.05004248211,0.553894916085,0.0186023809036,1.04966586485
+383,6.383333333,pose2_to_pose3_retreat,0.583301365135,0.00992788435714,1.05004257252,0.55387315553,0.0186023390541,1.04966595718
+384,6.400000000,pose2_to_pose3_retreat,0.583284759839,0.00992790573021,1.0500425256,0.553856549985,0.01860235952,1.04966590881
+385,6.416666667,pose2_to_pose3_retreat,0.583272334741,0.00992796743705,1.05004236569,0.553844123971,0.018602418125,1.04966574908
+386,6.433333333,pose2_to_pose3_retreat,0.583263444785,0.00992788053204,1.05004223149,0.553835235389,0.0186023362215,1.04966562272
+387,6.450000000,pose2_to_pose3_retreat,0.583257464701,0.00992796305234,1.05004232566,0.553829253635,0.0186024129191,1.04966571338
+388,6.466666667,pose2_to_pose3_retreat,0.583253254739,0.00992802206961,1.05004237791,0.553825042744,0.018602468733,1.04966576444
+389,6.483333333,pose2_to_pose3_retreat,0.583250650511,0.00992804429146,1.05004237326,0.553822438521,0.0186024910499,1.04966576155
+390,6.500000000,pose2_to_pose3_retreat,0.583249403544,0.00992803384203,1.05004237407,0.553821192005,0.0186024821119,1.04966576197
+391,6.516666667,pose2_to_pose3_retreat,0.583248517098,0.00992800043227,1.05004237839,0.553820306431,0.0186024515826,1.0496657645
+392,6.533333333,pose2_to_pose3_retreat,0.58324786311,0.00992797578379,1.05004238158,0.553819653087,0.0186024290591,1.04966576637
+393,6.550000000,pose2_to_pose3_retreat,0.583247557752,0.00992796427495,1.05004238307,0.553819348029,0.0186024185425,1.04966576724
+394,6.566666667,pose2_to_pose3_retreat,0.583247540271,0.00992796361612,1.05004238315,0.553819330565,0.0186024179405,1.04966576729
+395,6.583333333,pose2_to_pose3_retreat,0.58324745174,0.00992796027943,1.05004238358,0.553819242121,0.0186024148915,1.04966576754
+396,6.600000000,pose2_to_pose3_retreat,0.583247283962,0.00992795395594,1.0500423844,0.553819074508,0.0186024091132,1.04966576802
+397,6.616666667,pose2_to_pose3_retreat,0.583247037216,0.00992794256299,1.05004240769,0.553818828109,0.0186023989436,1.0496657924
+398,6.633333333,pose2_to_pose3_retreat,0.583246995877,0.00992794037303,1.05004241456,0.553818786842,0.0186023970152,1.04966579967
+399,6.650000000,pose2_to_pose3_retreat,0.583246734761,0.00992792654024,1.05004245796,0.553818526181,0.0186023848347,1.04966584556
+400,6.666666667,pose2_to_pose3_retreat,0.583246524493,0.00992791540116,1.05004249291,0.55381831628,0.0186023750262,1.04966588252
+401,6.683333333,pose2_to_pose3_retreat,0.583246314006,0.00992790425047,1.05004252789,0.55381810616,0.0186023652075,1.04966591951
+402,6.700000000,pose2_to_pose3_retreat,0.5832461096,0.00992789342192,1.05004256186,0.55381790211,0.0186023556724,1.04966595544
+403,6.716666667,pose2_to_pose3_retreat,0.583246070751,0.00992789136387,1.05004256832,0.553817863329,0.0186023538602,1.04966596227
+404,6.733333333,pose2_to_pose3_retreat,0.583245774276,0.00992793163975,1.05004248277,0.553817565676,0.0186023899979,1.04966587341
+405,6.750000000,pose2_to_pose3_retreat,0.583245672427,0.00992795062621,1.05004244098,0.553817463266,0.0186024070095,1.04966582991
+406,6.766666667,pose2_to_pose3_retreat,0.58324560854,0.00992796253583,1.05004241476,0.553817399028,0.0186024176803,1.04966580263
+407,6.783333333,pose2_to_pose3_retreat,0.583245607318,0.00992796276346,1.05004241426,0.5538173978,0.0186024178843,1.04966580211
+408,6.800000000,pose2_to_pose3_retreat,0.583245498215,0.0099279819923,1.05004237411,0.553817288091,0.0186024349759,1.04966575997
+409,6.816666667,pose2_to_pose3_retreat,0.583245388229,0.00992798671933,1.05004239465,0.553817177441,0.0186024372628,1.04966577629
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c20b3be71b3f3e2086fec61fee17bc2704481d6
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92bb9c6e96f2521d3b83b62b46fe6a622596b47dfa3b28685518fb451c8a884f
+size 25793857
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..353f9f32812e50b51c6ea2a065b509f99bec4126
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+38,0.633333333,BASELINE,765,745,715,678.078021221,663,634,877,786,809,653,629,652,0.400940302018,0.00455015881275,0.0499280407642,0.999999975198,7.23632249269e-05,-0.000209402126411,-2.2749441212e-05,1793247766670854400
+39,0.650000000,BASELINE,765,745,715,678.659468661,663,634,877,786,809,653,629,652,0.400942934241,0.00455006969055,0.0499301521411,0.99999997592,7.16358390998e-05,-0.0002061701917,-2.28613462913e-05,1793247766687521024
+40,0.666666667,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400944486792,0.00455010202351,0.049931391401,0.999999976337,7.1896683072e-05,-0.000204045461662,-2.28696862909e-05,1793247766704187392
+41,0.683333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400944513242,0.00455030603154,0.0499313979367,0.999999976333,7.35543751152e-05,-0.000203485749051,-2.27316385943e-05,1793247766720853760
+42,0.700000000,BASELINE,765,745.385391237,715,679,663,634,877,785.614608763,809,653,629,652,0.400944003564,0.00455019551915,0.0499309524413,0.999999976088,7.37221928511e-05,-0.000204636007403,-2.26588676768e-05,1793247766737520384
+43,0.716666667,BASELINE,765,745.961663165,715,679,663,634,877,785.038336835,809,653,629,652,0.400943228349,0.00454992922771,0.0499302830592,0.99999997572,7.31520896687e-05,-0.000206633198463,-2.26184277441e-05,1793247766754187008
+44,0.733333333,BASELINE,765,745.449865227,715,679,663,634,877,785,809,652.449865227,629,652,0.400941754672,0.00454950356323,0.0499289011389,0.999999975442,7.16168524537e-05,-0.000208524726078,-2.24580608309e-05,1793247766770853888
+45,0.750000000,BASELINE,765,745,715,679,663,634,877,785,809,652.136928643,629,652,0.400940855236,0.00454983459203,0.0499278923003,0.999999975225,7.1086767312e-05,-0.000209744217326,-2.24684574721e-05,1793247766787521024
+46,0.766666667,BASELINE,765,745,715,679,663,634,877,785,809,652.715506759,629,652,0.400941968502,0.00455264289246,0.0499282505856,0.999999975192,7.40205477023e-05,-0.000208820411099,-2.30572015214e-05,1793247766804187648
+47,0.783333333,BASELINE,765,745,715,679,663,634,877.292541611,785.292541611,809,653,629,652,0.400942568967,0.00455372164416,0.0499285214857,0.999999975257,7.59166714616e-05,-0.000207794149328,-2.331207736e-05,1793247766820854016
+48,0.800000000,BASELINE,765,745,715,679,663,634,877.868083603,785.868083603,809,653,629,652,0.400942673357,0.00455312725661,0.0499287078507,0.999999975424,7.68089820601e-05,-0.000206668773488,-2.32439741539e-05,1793247766837520640
+49,0.816666667,BASELINE,764.557427003,745,715,678.557427003,663,634,877.557427003,786,809,653,629,652,0.400941642043,0.00455156073128,0.0499282835067,0.999999975284,7.44629427722e-05,-0.000208256637913,-2.27274011473e-05,1793247766854187264
+50,0.833333333,BASELINE,764.017313868,745,715,678.034627735,663,634,876.982686132,786,809,653,629,652,0.400940313438,0.00454976419289,0.0499276960167,0.999999975043,7.12834962273e-05,-0.000210580600252,-2.21077683918e-05,1793247766870854144
+51,0.850000000,BASELINE,764.610841978,745,715,679.221683956,663,634,876.389158022,786,809,653,629,652,0.400940330117,0.00454993325044,0.0499277226869,0.999999974959,7.24154546177e-05,-0.000210551285078,-2.24964377545e-05,1793247766887520768
+52,0.866666667,BASELINE,765,745,715,679.801253456,663,634,876.198746544,785.801253456,809,653,629,652,0.400940660368,0.00455036140711,0.0499281032906,0.99999997499,7.37909512584e-05,-0.000209904340125,-2.27077036563e-05,1793247766904187392
+53,0.883333333,BASELINE,765,745,715,679.224057179,663,634,876.775942821,785.224057179,809,653,629,652,0.400941587715,0.00455128293582,0.0499291578484,0.999999975236,7.56301891551e-05,-0.000208081315233,-2.25811609331e-05,1793247766920854528
+54,0.900000000,BASELINE,765,745,715,679,663,634,877.351328359,785.351328359,809,653,629,652.351328359,0.400942407037,0.00455142383467,0.049929551819,0.999999975563,7.51026988638e-05,-0.000206696153034,-2.25945509934e-05,1793247766937520640
+55,0.916666667,BASELINE,765,745,715,679,663,634,877.925565012,785.925565012,809,653,629,652.925565012,0.400943157821,0.00455106944506,0.0499295266649,0.999999975939,7.30735838044e-05,-0.000205588802881,-2.2696724606e-05,1793247766954186752
+56,0.933333333,BASELINE,765,745,715,679,663.513134118,634,877.486865882,786,809,653,629,653,0.400942753179,0.0045504474211,0.0499293461274,0.999999975762,7.21646475601e-05,-0.000206778583694,-2.25878378315e-05,1793247766970853376
+57,0.950000000,BASELINE,765,745,715,679,663.899066831,634,877,785.899066831,809,653,629,652.899066831,0.400942392651,0.00455019948452,0.0499292240374,0.999999975545,7.1909853746e-05,-0.000207920187207,-2.25314337935e-05,1793247766987520256
+58,0.966666667,BASELINE,765,745,715,679,663.31959179,634,877,785.31959179,809,653,629,652.31959179,0.400943057117,0.0045519141384,0.0499294887728,0.999999975535,7.39655073637e-05,-0.000207211371812,-2.28728891493e-05,1793247767004186880
+59,0.983333333,BASELINE,765,745,715,679,663,634,877.258382787,785.258382787,809,652.741617213,629,652,0.400942811527,0.00455244913562,0.0499293699021,0.999999975463,7.42959446311e-05,-0.00020742188137,-2.303070597e-05,1793247767020853504
+60,1.000000000,BASELINE,765,745,715,679,663,634,877.834512244,785.834512244,809,652.165487756,629,652,0.400941446793,0.00455153344831,0.0499287792912,0.999999975317,7.25047944473e-05,-0.000208762932249,-2.2962693037e-05,1793247767037519872
+61,1.016666667,BASELINE,765.407863955,745,715,679,663,634,877.592136045,786,809,652.407863955,629,652,0.400941430622,0.00455138198361,0.0499287641791,0.999999975331,7.24802401989e-05,-0.000208724720024,-2.27774815407e-05,1793247767054186752
+62,1.033333333,BASELINE,765.980096205,745,715,679,663,634,877.019903795,786,809,652.980096205,629,652,0.400941957918,0.00455153849902,0.0499289809918,0.99999997541,7.31676204172e-05,-0.000208130667655,-2.25450392799e-05,1793247767070853632
+63,1.050000000,BASELINE,765.427937916,745,715,679.572062084,663,634,877,786,808.427937916,653,629,652,0.400942406916,0.00455099385515,0.0499291751006,0.999999975542,7.26399183295e-05,-0.000207669091264,-2.26388093227e-05,1793247767087520000
+64,1.066666667,BASELINE,765,745,714.839508632,679.839508632,663,634,877.160491368,786,808.160491368,653,629,652,0.40094253183,0.00455070033008,0.0499291413059,0.999999975586,7.2050636928e-05,-0.000207650857701,-2.27456474826e-05,1793247767104186368
+65,1.083333333,BASELINE,765,745,714.262113553,679.262113553,663,634,877.737886447,786,808.737886447,653,629,652,0.40094182221,0.00455112476454,0.049928517618,0.999999975396,7.14151367185e-05,-0.000208771881713,-2.28558955459e-05,1793247767120852992
+66,1.100000000,BASELINE,765,745,714.314878467,679,663,634,877.685121533,786,809,653,629,652,0.400942105217,0.00455126620788,0.0499288160933,0.999999975533,7.16504638306e-05,-0.000208036912158,-2.28061467529e-05,1793247767137519872
+67,1.116666667,BASELINE,765,745,714.891535371,679,663,634,877.108464629,786,809,653,629,652,0.400943213458,0.00455117238272,0.0499298812214,0.99999997594,7.26097649448e-05,-0.000205758937406,-2.26233824227e-05,1793247767154186496
+68,1.133333333,BASELINE,765,745,715,679.476629953,663,634,877,785.523370047,809,653,629,652,0.400942420702,0.00455036418635,0.0499291669115,0.999999975706,7.32019616489e-05,-0.00020669645516,-2.24785078318e-05,1793247767170853120
+69,1.150000000,BASELINE,765,745,715,679.936799112,663,634,877.063200888,785,809,653,629,652.063200888,0.400941445125,0.00454963352757,0.0499282500368,0.999999975394,7.36826854325e-05,-0.000208042671632,-2.23992032902e-05,1793247767187519744
+70,1.166666667,BASELINE,765,745,715,679.354160237,663,634,877.645839763,785,809,653,629,652.645839763,0.400942586539,0.00455090032468,0.0499290564234,0.999999975659,7.39462096377e-05,-0.000206625513396,-2.27866652687e-05,1793247767204186368
+71,1.183333333,BASELINE,765,745,715,679,663,634,877.774779416,785,809,653,629,652.774779416,0.400942600382,0.00455128894598,0.0499292525994,0.999999975701,7.35003604009e-05,-0.00020656191529,-2.29580454771e-05,1793247767220852992
+72,1.200000000,BASELINE,765,745,715,679,663,634,877.20044875,785,809,653,629,652.20044875,0.400940866401,0.0045503163241,0.0499285029,0.999999975395,7.19549251207e-05,-0.000208596444401,-2.27944815627e-05,1793247767237519872
+73,1.216666667,BASELINE,765,745,715,678.625215272,663,633.625215272,877,785,809,653,629,652,0.400941513839,0.00454956705106,0.0499285667895,0.999999975505,7.10340468144e-05,-0.000208418897758,-2.2486330539e-05,1793247767254186496
+74,1.233333333,BASELINE,765,745,715,678.049497806,663,633.049497806,877,785,809,653,629,652,0.400943438024,0.00454893752172,0.0499290668672,0.999999975838,7.04480113351e-05,-0.000207055394347,-2.21006622689e-05,1793247767270853120
+75,1.250000000,BASELINE,765,745,715,678.539326253,663.539326253,633.539326253,877,785,809,653,629,652,0.400943041197,0.00454821359069,0.0499294140175,0.999999976097,6.86231829198e-05,-0.000206384937301,-2.23919739506e-05,1793247767287519744
+76,1.266666667,BASELINE,765,745,715,679,663.873211519,633.873211519,877,785,808.873211519,653,629,652,0.400942520092,0.00454845580088,0.0499295261977,0.999999976126,6.86679873793e-05,-0.000206203491245,-2.26639183648e-05,1793247767304186624
+77,1.283333333,BASELINE,765,745,715,679,663.294987764,633.294987764,877,785,808.294987764,653,629,652,0.400942333834,0.00455216961065,0.0499288529753,0.999999975337,7.57845821568e-05,-0.00020753107608,-2.26401741332e-05,1793247767320853248
+78,1.300000000,BASELINE,765,745,715,679,663,633.281391501,877,785.281391501,808.281391501,653,629,652,0.400942905094,0.00455333474568,0.0499289570224,0.999999975257,7.79384670789e-05,-0.00020713411303,-2.25112104361e-05,1793247767337519872
+79,1.316666667,BASELINE,765,745,715,679,663,633.855849711,877,785.855849711,808.855849711,653,629,652,0.400944265304,0.00455184545873,0.0499298705885,0.999999975945,7.49237340278e-05,-0.000204941048841,-2.22726616172e-05,1793247767354186496
+80,1.333333333,BASELINE,765,745,715,679,663,633.558420225,877,785.558420225,809,653,629,652.441579775,0.400942389636,0.00455117733455,0.0499289080393,0.999999975685,7.29181423773e-05,-0.00020688600334,-2.26116995571e-05,1793247767370853376
+81,1.350000000,BASELINE,765,745,715,678.969468484,663,633.030531516,877,785.030531516,809,653,628.969468484,652.969468484,0.400939685191,0.00455080081976,0.0499274585392,0.999999975147,7.14286350062e-05,-0.00020993117329,-2.31001883381e-05,1793247767387520000
+82,1.366666667,BASELINE,765,745,715,678.390475272,663,633.609524728,877,785.609524728,809,653,628.390475272,652.390475272,0.400941565513,0.00455072116333,0.0499285515517,0.999999975467,7.3137198677e-05,-0.000207838815875,-2.27976071766e-05,1793247767404186624
+83,1.383333333,BASELINE,765.187611017,745,715,678,663,634,877,786,809,653,628.187611017,652,0.400943046818,0.00455063164313,0.0499294700319,0.999999975807,7.34398941474e-05,-0.000206099033203,-2.27008958713e-05,1793247767420853504
+84,1.400000000,BASELINE,765.763818911,745,715,678,663,634,877,786,809,653,628.763818911,652,0.400943701644,0.0045505216922,0.0499300270053,0.999999976195,7.08306287703e-05,-0.000205089534795,-2.30306007463e-05,1793247767437520128
+85,1.416666667,BASELINE,765.661285276,745,715,678.338714724,663,634,877,785.661285276,809,653,629,652,0.400943854021,0.0045517014259,0.0499298832707,0.999999976113,7.19513280388e-05,-0.000205090837341,-2.31074615252e-05,1793247767454186752
+86,1.433333333,BASELINE,765.087300863,745,715,678.912699137,663,634,877,785.087300863,809,653,629,652,0.400943657399,0.00455377696861,0.0499292528274,0.999999975697,7.56628437343e-05,-0.000205794237635,-2.30086979391e-05,1793247767470853376
+87,1.450000000,BASELINE,765,745,715,679,663,634,877,785.500979467,809,653,629,652,0.400944372791,0.00455303309941,0.0499298630671,0.999999975896,7.57466568031e-05,-0.000204796451002,-2.29913341204e-05,1793247767487520000
+88,1.466666667,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400944955291,0.00455170791764,0.0499304735223,0.999999976164,7.48213345945e-05,-0.000203835152201,-2.29043401042e-05,1793247767504186624
+89,1.483333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400943926515,0.00454997205475,0.0499298756819,0.999999976204,7.19482732704e-05,-0.000204730531835,-2.23595875437e-05,1793247767520852992
+90,1.500000000,BASELINE,765.245839471,745,715,679.245839471,663,634.245839471,877.245839471,786,808.754160529,653,629,652,0.400943257428,0.0045500345565,0.0499291211317,0.999999975991,7.19115596e-05,-0.000205797827554,-2.22223141945e-05,1793247767537520128
+91,1.516666667,BASELINE,765.819427103,745,715,679.819427103,663,634.819427103,877.819427103,786,808.180572897,653,629,652,0.400943067872,0.00455249460142,0.0499281576591,0.999999975438,7.56562069238e-05,-0.000207094318218,-2.26282838512e-05,1793247767554187776
+92,1.533333333,BASELINE,765.596722435,745,715,679.596722435,663,634.596722435,877.596722435,785.596722435,808.403277565,653,629,652,0.400942643064,0.00455228665942,0.049928333986,0.999999975441,7.53777462195e-05,-0.000207159480378,-2.28186442354e-05,1793247767570854656
+93,1.550000000,BASELINE,765.008156604,745,715,679.008156604,663,634.008156604,877.008156604,785.008156604,808.991843396,653,629,652,0.400942110167,0.00455085289525,0.0499290340005,0.999999975701,7.32508450379e-05,-0.000206658901478,-2.29099416981e-05,1793247767587521024
+94,1.566666667,BASELINE,765,745,715,679,663,634,877,785.570433804,809,653,629,652,0.400942160876,0.00455081867613,0.0499290475634,0.999999975782,7.23088633255e-05,-0.000206616397736,-2.27464443872e-05,1793247767604187648
+95,1.583333333,BASELINE,765.149507183,745,715,679,663,634,877,786,809,653,629,652,0.400942698201,0.0045504328471,0.0499292514006,0.999999975964,7.11039354728e-05,-0.000206171000528,-2.25844599644e-05,1793247767620854272
+96,1.600000000,BASELINE,765.730378659,745,715,679,663,634,877,786,809,653,629,652,0.400944615868,0.00454897579152,0.0499300320588,0.999999976442,6.90922995939e-05,-0.000204544584964,-2.24371716771e-05,1793247767637520640
+97,1.616666667,BASELINE,765.693545064,745,715,679,663,634,877,786,809,653,629,652,0.400944216262,0.00454906250979,0.0499300187693,0.999999976371,6.92839551143e-05,-0.000204826493829,-2.24631619607e-05,1793247767654187776
+98,1.633333333,BASELINE,765.121622675,745,715,679,663,634,877,786,809,653,629,652,0.40094180931,0.00455048652662,0.0499293177202,0.999999975821,7.1384218146e-05,-0.000206761494212,-2.26392553038e-05,1793247767670854656
+99,1.650000000,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652.463787004,0.40094141419,0.00455075475713,0.0499288195753,0.999999975603,7.2489745795e-05,-0.000207428081164,-2.26440401909e-05,1793247767687521280
+100,1.666666667,BASELINE,765.051961349,745,715,679,663,634,876.948038651,786,809,653,629,653,0.400941566459,0.00455067151149,0.0499283724363,0.999999975491,7.31512686368e-05,-0.000207741288233,-2.25957614826e-05,1793247767704187648
+101,1.683333333,BASELINE,765.631224299,745,715,679,663,634,876.368775701,786,809,653,629,653,0.400941759399,0.00455018938315,0.0499278867638,0.999999975532,7.20335092233e-05,-0.000207944992283,-2.24785331953e-05,1793247767720853760
+102,1.700000000,BASELINE,765.78991457,745,715,678.78991457,663,634,876.420170859,785.78991457,809,653,629,652.78991457,0.40094171686,0.00454972008227,0.0499277883216,0.999999975583,7.14263289381e-05,-0.000207916735715,-2.24226815506e-05,1793247767737520384
+103,1.716666667,BASELINE,765.211757495,745,715,678.211757495,663,634,877.576485011,785.211757495,809,653,629,652.211757495,0.400941261757,0.00454927325524,0.0499283683104,0.999999975652,7.17136881994e-05,-0.000207482081943,-2.2474362373e-05,1793247767754187008
+104,1.733333333,BASELINE,765,745,715,678.362240307,663,634,878,785,809,653,629,652,0.400942114492,0.00454980496788,0.0499289406171,0.999999975873,7.24828134549e-05,-0.000206132323802,-2.25561388406e-05,1793247767770853632
+105,1.750000000,BASELINE,765,745,715,678.933834345,663,634,878,785,809,653,629,652,0.40094372308,0.00455090221923,0.0499295084839,0.99999997618,7.35303713324e-05,-0.000204253688764,-2.26553088374e-05,1793247767787520256
+106,1.766666667,BASELINE,765,745,715,679,663,634,877.476656344,785.523343656,809,653,628.476656344,652.523343656,0.400943240737,0.0045510850381,0.0499286616593,0.999999975874,7.35808183226e-05,-0.000205715955544,-2.27947230086e-05,1793247767804187136
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877,786,809,653,629,652,0.400938545995,0.00454897546018,0.0499255588044,0.999999975037,6.83238608449e-05,-0.000211546178801,-2.25130312964e-05,1793247767846509824
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.423857578,745,715,679,663,634,877,786,809,653,629,652,0.400941949827,0.00454909318005,0.0499276549326,0.999999975709,6.92847378649e-05,-0.000208011986311,-2.26389157127e-05,1793247767863176448
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,808.848522506,653,628.848522506,652.151477494,0.400944213122,0.00454936179983,0.0499291861801,0.999999976133,7.04328693939e-05,-0.000205568553601,-2.26846265281e-05,1793247767879842816
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,808.275434417,653,628.275434417,652.724565583,0.400943301938,0.00455005042262,0.0499291451833,0.999999975896,7.21021906776e-05,-0.000206161055438,-2.2507188451e-05,1793247767896509440
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,785.690436433,808.309563567,653,628.309563567,652.690436433,0.400943056501,0.0045509517688,0.0499290130099,0.999999975712,7.38101785644e-05,-0.00020644877921,-2.2517363424e-05,1793247767913176064
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,785.094417641,808.905582359,653,628.905582359,652.094417641,0.400943427115,0.00455204995891,0.0499287964659,0.999999975576,7.55539465645e-05,-0.000206454475992,-2.27011464944e-05,1793247767929842688
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.483344566,785,809,653,629,652,0.400947823109,0.00455126629682,0.049929773968,0.999999976307,7.41486420232e-05,-0.000203387572508,-2.28148824688e-05,1793247767946509312
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.941969298,785,809,653,629,652,0.400953884862,0.00455022207959,0.0499313011778,0.999999977306,7.23721555955e-05,-0.000199063210016,-2.28938492302e-05,1793247767963175936
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.364054291,785,809,653,629,652,0.400968081659,0.00455001703681,0.0499357395392,0.999999979311,7.25807191259e-05,-0.000188654977718,-2.27794490358e-05,1793247767979842560
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,785.218394052,809,653,629,652,0.400987116454,0.00454969985956,0.0499406309713,0.99999998169,7.25104464635e-05,-0.000175617734438,-2.28047084909e-05,1793247767996509696
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,785.808559414,809,653,629,652,0.401014386955,0.00454919179627,0.0499462936633,0.999999984646,7.19655120531e-05,-0.000158105137458,-2.30677100122e-05,1793247768013176576
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.392162206,745,715,679,663,634,877,785.607837794,808.607837794,653,629,652,0.401050292153,0.00455040676735,0.0499519081826,0.999999987588,7.24320862692e-05,-0.000137861066854,-2.39134543834e-05,1793247768029842944
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.97261415,745,715,679,663,634,877,785.02738585,808.02738585,653,629,652,0.401090343152,0.00455244902282,0.0499574995732,0.99999999023,7.33843183672e-05,-0.000116305525972,-2.5038992429e-05,1793247768046509056
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.453984353,745,715,679,663.546015647,634,877.546015647,785,808.546015647,653,629,652,0.401143587807,0.00455212886399,0.049961069353,0.99999999259,7.24134585492e-05,-9.43854284652e-05,-2.58429108764e-05,1793247768063175936
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663.877589008,634,877.877589008,785.122410992,809,653,629,652.122410992,0.401199508451,0.00455132267594,0.0499642742922,0.999999994189,7.0926227796e-05,-7.68356339757e-05,-2.62432380399e-05,1793247768079842560
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663.288447401,634,877.288447401,785.711552599,809,653,629,652.711552599,0.401263141241,0.00454910936441,0.0499664698362,0.999999994493,6.78332433381e-05,-7.60178226422e-05,-2.51654668958e-05,1793247768096510208
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,678.704828391,663,634,877,786,809,653,628.704828391,652.704828391,0.40133727864,0.00454842080361,0.0499687538513,0.999999994893,6.5772353243e-05,-7.26808970078e-05,-2.46055537248e-05,1793247768113177088
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,678.126507085,663,634,877,786,809,653,628.126507085,652.126507085,0.401421492806,0.0045491948928,0.0499711227341,0.999999995366,6.47015219854e-05,-6.69274570002e-05,-2.45424069857e-05,1793247768129843200
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,678,663,634,877,786,809,653,628,652,0.401520473882,0.00454856521716,0.0499708978792,0.999999995306,6.37710052026e-05,-6.90015286706e-05,-2.3682087628e-05,1793247768146509568
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,678.027755977,663,634,877,786,809,653,628.027755977,652,0.401625202981,0.00454750300461,0.0499700810335,0.999999995125,6.28032982811e-05,-7.2758273387e-05,-2.26222853934e-05,1793247768163175936
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,678.600398594,663,634,877,786,809,653,628.600398594,652,0.401761603671,0.00454566563829,0.0499718997057,0.999999995725,6.03342282817e-05,-6.65223859315e-05,-2.20282139836e-05,1793247768179842560
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.401907641484,0.00454379826554,0.0499739581455,0.999999996227,5.72599903052e-05,-6.18098927889e-05,-2.11487903e-05,1793247768196509184
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.402075934133,0.00454186159968,0.0499765702765,0.999999996577,5.27882478455e-05,-6.06153508867e-05,-1.96104072111e-05,1793247768213175808
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.402258096565,0.00453978087712,0.0499758771357,0.999999996619,5.00458557149e-05,-6.27122612824e-05,-1.80339566057e-05,1793247768229842688
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.402451801604,0.00453758026874,0.049972433311,0.999999996396,4.87426477976e-05,-6.75483549986e-05,-1.64258256176e-05,1793247768246509568
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.510196113,786,809,653,629,652,0.402670864547,0.00453557554745,0.0499683798922,0.999999996004,4.32214633102e-05,-7.68404424239e-05,-1.48298233455e-05,1793247768263176192
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.911345837,786,809,653,628.911345837,652.088654163,0.402902820574,0.00453328408811,0.0499658022907,0.999999995762,3.74548860845e-05,-8.3066532757e-05,-1.31440864044e-05,1793247768279843328
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.324709867,786,809,653,628.324709867,652.675290133,0.403188547613,0.00452923790515,0.0499719629106,0.999999997016,3.34123011331e-05,-6.87930648952e-05,-1.09453767989e-05,1793247768296509696
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.258523257,745,714.741476743,679,663,634,877.258523257,786,809,653,628.258523257,652.741476743,0.403493481124,0.00452602448126,0.0499799282498,0.999999998252,2.91233867183e-05,-5.06897932344e-05,-8.90362327919e-06,1793247768313176064
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.837537836,745,714.162462164,679,663,634,877.837537836,786,809,653,628.837537836,652.162462164,0.403822224885,0.00452384342916,0.0499901308993,0.999999999287,2.45290978673e-05,-2.78387140546e-05,-7.05644837388e-06,1793247768329842688
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.584587819,745,714.415412181,679,663,634,877.584587819,786,809,653,629,652.415412181,0.404177734574,0.00452007250343,0.0499986161699,0.999999999743,1.89368189005e-05,-1.16110202259e-05,-4.42864870586e-06,1793247768346509056
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.007158199,745,714.992841801,679,663,634,877.007158199,786,809,653,629,652.992841801,0.404543683398,0.00451568150143,0.0500064316349,0.999999999913,1.29553078239e-05,2.03344611875e-06,-1.4963928525e-06,1793247768363175680
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,653,0.404944780977,0.00451255923317,0.0500103358707,0.999999999856,8.81717582797e-06,1.44717929869e-05,5.95858521386e-07,1793247768379842816
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.147054243,715,679,663,634,877,786,809,653,629,652.852945757,0.405351213541,0.0045093242033,0.0500095378872,0.999999999829,4.80125208583e-06,1.76024919339e-05,2.86073355549e-06,1793247768396509952
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.734743668,715,679,663,634,877,786,809,653,629,652.265256332,0.405772309841,0.0045057035744,0.0499947972223,0.999999999958,1.08218269771e-06,-7.11100042391e-06,5.67445397062e-06,1793247768413176576
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.31776105,745.68223895,715,679,663,634,877.31776105,786,809,653,629,652.31776105,0.406210555545,0.00450157436562,0.0499759892773,0.999999999185,-3.50413247155e-06,-3.93138862989e-05,8.47270601147e-06,1793247768429842944
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.896934942,745.103065058,715,679,663,634,877.896934942,786,809,653,629,652.896934942,0.406662909617,0.00449702676245,0.0499538352968,0.999999996881,-8.80390610837e-06,-7.76780826465e-05,1.12582329682e-05,1793247768446509312
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.526255491,745,715,678.526255491,663,634,877.526255491,785.526255491,809,653,629,653,0.407162220373,0.0044925596643,0.0499433106627,0.99999999504,-1.09010356603e-05,-9.79099399567e-05,1.46636023287e-05,1793247768463175936
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.950081977,715,678,663,634,877,785,809.049918023,653,629,652.950081977,0.407679315468,0.00448777262728,0.0499379444779,0.999999993871,-1.0238120334e-05,-0.000108716215798,1.82729154162e-05,1793247768479842816
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.375214584,715,678,663,634,877,785,809.624785416,653,629,652.375214584,0.408276538804,0.00447943776782,0.0499603516626,0.999999997768,1.21592797392e-05,-6.16789690374e-05,2.26158864865e-05,1793247768496509696
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.205025115,714.794974885,678.205025115,663,634,877.205025115,785.205025115,810,653,629,652.205025115,0.40889305113,0.00447162278257,0.049984297787,0.999999999159,2.68197171755e-05,-1.58392495788e-05,2.66847498941e-05,1793247768513176576
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.795361142,714.204638858,678.795361142,663,634,877.795361142,785.795361142,810,653,629,652.795361142,0.409545813896,0.0044647848157,0.0500111360936,0.999999998795,2.69398072422e-05,2.77499116696e-05,3.02384729331e-05,1793247768529843712
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.378083311,679,663.378083311,633.621916689,878,785.621916689,810,653,629,652.621916689,0.410179591137,0.00445816395847,0.050014633863,0.999999999105,7.43398795338e-06,2.87917964015e-05,3.00958152047e-05,1793247768546510592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.956765788,679,663.956765788,633.043234212,878,785.043234212,810,653,629,652.043234212,0.410803295232,0.00445165829302,0.0500057478732,0.999999999329,-2.24847242609e-05,7.2594271663e-06,2.79919734655e-05,1793247768563177472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663.468447024,633.531552976,878,785,810,652.468447024,629,652.531552976,0.411427415691,0.00444357098182,0.0499702008796,0.999999996433,-3.71710774148e-05,-6.98953888135e-05,2.9459575293e-05,1793247768579843840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,679.101442826,663.101442826,634,878,785.101442826,810,652.101442826,629,653,0.412075883803,0.00443599023185,0.0499419577026,0.999999990211,-4.83682456107e-05,-0.000127637722094,3.07769604878e-05,1793247768596509952
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679.651084523,663.651084523,634,878,785.651084523,810,652.651084523,629,653,0.412831777005,0.00443121184013,0.0499554957735,0.999999995135,-4.9583437577e-05,-7.97679023197e-05,3.0156553397e-05,1793247768613176064
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664,634,878,786,810.227684626,653,629,652.772315374,0.413604186071,0.00442804753057,0.0499713928518,0.999999997669,-4.6032961941e-05,-4.01287822982e-05,3.0543812017e-05,1793247768629842688
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664,634,878,786,810.851145703,653,629,652.148854297,0.414405304226,0.00442768892444,0.049991390515,0.999999998772,-3.41984885667e-05,-1.47968003504e-05,3.2682661685e-05,1793247768646509568
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.559843007,715,680,663.559843007,634,878.440156993,785.559843007,811,653,629,652.440156993,0.415168110438,0.00443631175708,0.0499718823028,0.999999997921,-2.6038512643e-05,-4.87637400521e-05,3.31973281942e-05,1793247768663176448
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.018177092,715,680,663.018177092,633.981822908,878.981822908,785,811,652.981822908,629,653,0.415920896562,0.00444761025586,0.0499409268322,0.999999994304,-1.91657787682e-05,-9.9629435353e-05,3.31544144811e-05,1793247768679843328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.59051376,715,680,663.59051376,633.40948624,878.40948624,785,811,652.40948624,629,653,0.416734534292,0.00445460264133,0.0499387278845,0.999999994496,-1.6402131856e-05,-9.86804449659e-05,3.16427721461e-05,1793247768696509952
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.167503489,745,715,680,664.167503489,633.167503489,878.167503489,785.167503489,811,652.167503489,629.167503489,653,0.417560556725,0.00445641076779,0.0499450563161,0.999999995832,-1.56350532596e-05,-8.43807986786e-05,3.11800104586e-05,1793247768713176576
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.75619327,745,715,680,664.75619327,633.75619327,878.75619327,785.75619327,811,652.75619327,629.75619327,653,0.418417720351,0.00444518311272,0.0499728267806,0.999999998579,-1.98883311508e-05,-3.6511026247e-05,3.33546514898e-05,1793247768729843200
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.65924129,745,715,680,664.65924129,634,879,785.65924129,811.34075871,653,629.65924129,653,0.419274761785,0.00443860522959,0.0499758611867,0.999999998299,-2.64779214069e-05,-3.84622182817e-05,3.49550731388e-05,1793247768746509568
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.077591478,745,715,680,664.077591478,634,879,785.077591478,811.922408522,653,629.077591478,653,0.420131716803,0.00443531439041,0.0499614090353,0.999999995884,-3.47191108214e-05,-7.5633134427e-05,3.61495642344e-05,1793247768763175936
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.498467981,745,715,680,664,633.501532019,879,785,811.501532019,652.501532019,629.498467981,653,0.421046389636,0.00443354965575,0.0499699252252,0.999999997692,-4.01623569097e-05,-4.14609337517e-05,3.58244952118e-05,1793247768779842560
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.926489464,745,715,679.926489464,664.073510536,633,878.926489464,785,811,652.073510536,629.926489464,653,0.421969021934,0.00443248222847,0.0499823269536,0.999999998404,-4.40463609372e-05,9.36467348127e-07,3.53589820368e-05,1793247768796509440
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.352511698,745,715,679.352511698,664.647488302,633,878.352511698,785,811,652.647488302,629.352511698,653,0.422885354655,0.00443456279153,0.0499971111077,0.999999998257,-4.0247115148e-05,2.45646082715e-05,3.55298030709e-05,1793247768813176320
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.227606063,745,715,679.227606063,664.772393937,633,878.227606063,785,811.227606063,652.772393937,629.227606063,652.772393937,0.423787170845,0.00443667835765,0.0500001055958,0.999999998266,-3.81240039666e-05,2.69433671578e-05,3.59012844031e-05,1793247768829842944
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.817497061,745,715,679.817497061,664.182502939,633,878.817497061,785,811.817497061,652.182502939,629.817497061,652.182502939,0.424665880936,0.00443884963913,0.0499843342484,0.999999998573,-3.86688277972e-05,-4.50091918429e-06,3.65921606083e-05,1793247768846509824
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633,879,785,812,652.401279575,629.598720425,652.401279575,0.425612579817,0.00443624622115,0.0499921489306,0.999999998398,-4.17841826553e-05,5.99351993027e-06,3.77224211364e-05,1793247768863176448
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633,879,785,812,652.982325557,629.017674443,652.982325557,0.426589736464,0.00443150381908,0.0500105297527,0.999999997555,-4.60510915292e-05,3.5275794792e-05,3.90495182899e-05,1793247768879843072
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.44265667,745,715,680,664,633,879,785,812,653,629.55734333,653,0.427465112704,0.00442976017812,0.0499973239821,0.999999998522,-3.2923599276e-05,-1.19245956205e-05,4.15882554347e-05,1793247768896509440
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,784.865140574,812,652.865140574,630,652.865140574,0.428338890063,0.00442886014719,0.0499798511257,0.999999997099,-2.36834598504e-05,-5.79538956998e-05,4.33835087714e-05,1793247768913176064
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,784.278624004,812,652.278624004,630,652.278624004,0.429218006633,0.00443047036757,0.0499514061917,0.999999994431,-2.92900670192e-05,-9.20250715767e-05,4.25614567997e-05,1793247768929842688
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.303989241,633,879.303989241,784.303989241,812,652.303989241,630,652.303989241,0.430138969042,0.00443151751237,0.0499441670412,0.999999994258,-3.57643900047e-05,-9.20537082514e-05,4.16136652791e-05,1793247768946509568
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.883070183,633,879.883070183,784.883070183,812,652.883070183,630,652.883070183,0.431097799333,0.00443205510806,0.0499561178314,0.999999996375,-4.30239425143e-05,-6.12759237776e-05,4.05520871909e-05,1793247768963176448
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.539280823,633,879.539280823,785,812.460719177,652.539280823,630.460719177,653,0.432019175561,0.00443131816109,0.0499453668623,0.99999999512,-4.1154619493e-05,-7.97672654761e-05,4.1267174147e-05,1793247768979843072
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,784.962257823,813,652,630.962257823,653,0.43293145436,0.00443017423944,0.0499312823778,0.999999992789,-3.70589918294e-05,-0.000106078261359,4.23869292303e-05,1793247768996509952
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,784.388977084,813,652,630.388977084,653,0.433849108571,0.00442783131521,0.0499513986565,0.999999996289,-3.4146922178e-05,-6.64648854086e-05,4.28702950523e-05,1793247769013177088
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.190138695,745,715,680,664,633,879,784.190138695,813,652,630.190138695,653,0.434748064493,0.00442720897998,0.0499688601638,0.99999999776,-3.42828259433e-05,-3.7742969567e-05,4.3357250316e-05,1793247769029843456
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.781569571,745,715,680,664,633,879,784.781569571,813,652,630.781569571,653,0.435607557411,0.00443021798784,0.0499807187177,0.999999997692,-4.08515487568e-05,-3.2007728927e-05,4.38517813888e-05,1793247769046509568
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.635737965,745,715,680,664,633,879,784.635737965,813,652,630.635737965,653,0.436442230708,0.00443141084351,0.0499649061434,0.999999995286,-4.62599319941e-05,-7.25274966968e-05,4.50291360879e-05,1793247769063176448
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.058162782,745,715,680,664,633,879,784.058162782,813,652,630.058162782,653,0.437262369495,0.00443154015379,0.049932889257,0.999999987795,-5.09888156699e-05,-0.000140134362569,4.6606354543e-05,1793247769079843584
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.519319374,745,715,680.519319374,664,633,879,784,813.519319374,652,630,653,0.438176252751,0.00443101196434,0.0499577422235,0.999999995484,-2.59398167655e-05,-7.96209135849e-05,4.49346274575e-05,1793247769096510208
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.901828469,745,715,680.901828469,664.098171531,633,879,784,814,652,630,653,0.439076486282,0.00443058439207,0.0499830159719,0.999999998871,-4.12747222346e-06,-1.90104092025e-05,4.33458494199e-05,1793247769113176576
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.316120947,745,715,680.316120947,664.683879053,633,879,784,814,652,630,653,0.439856801583,0.00443102213781,0.0499787539872,0.999999998496,-1.49484093336e-05,-2.91657998449e-05,4.3975754341e-05,1793247769129843456
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.733576962,633,879,784,814,652,630.266423038,653,0.440631263755,0.00442959122386,0.0499701020621,0.999999997665,-2.63205839656e-05,-4.45570649402e-05,4.46196006409e-05,1793247769146510336
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.154742628,633,879,784,814,652,630.845257372,653,0.441398862413,0.00442596909396,0.0499563024331,0.999999996056,-3.83391464855e-05,-6.6087987294e-05,4.52797947371e-05,1793247769163176960
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.424646965,664,633,879.424646965,784.424646965,814,652,630.575353035,653,0.442182322334,0.00442334808049,0.0499700086775,0.999999997161,-4.57337917383e-05,-3.8907924591e-05,4.55303328463e-05,1793247769179843072
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.004194724,633,879.995805276,785,814,652,630,653,0.442970942415,0.00442112219972,0.0499935474334,0.999999997626,-5.1310010981e-05,5.59911516072e-06,4.56392529771e-05,1793247769196509184
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.577705123,633,879.422294877,785,814,652,630,653,0.443674415597,0.00442294699377,0.0499894211185,0.999999998086,-3.90726048733e-05,-1.05202696915e-05,4.68145950386e-05,1793247769213176064
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.689878618,633,879,784.844939309,814.155060691,652,630.155060691,653,0.444356416619,0.00442422081456,0.0499768484207,0.999999997705,-3.02568022145e-05,-3.73907982436e-05,4.7712684784e-05,1793247769229842944
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663.513690651,633,879,784.256845326,814.743154674,652,630.743154674,653,0.44497845315,0.00442395594945,0.049940687764,0.999999993931,-3.09964050082e-05,-9.42857236464e-05,4.78365006054e-05,1793247769246509824
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663.326586867,633,879.326586867,784,815,652,631,653,0.445630051168,0.0044239674723,0.0499334352237,0.999999993893,-3.32882518633e-05,-9.42869876762e-05,4.70761915241e-05,1793247769263176448
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663.906404341,633,879.906404341,784,815,652,631,653,0.446304570686,0.00442419330229,0.0499485976099,0.999999997024,-3.6783685675e-05,-5.01737481592e-05,4.56303451288e-05,1793247769279843328
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.482449137,633,880,784,815,652,631,653,0.446929685881,0.00442219319557,0.0499638182991,0.999999997943,-3.8863206714e-05,-2.19456521296e-05,4.60668303599e-05,1793247769296510208
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.942411514,633,880,784,815,652,631,653,0.447537485803,0.00442009970381,0.0499750820254,0.999999998099,-4.01928982262e-05,-2.67126956211e-06,4.66842392647e-05,1793247769313177088
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.368877822,633,880,784,815,652,631,653,0.44807535809,0.0044210084168,0.0499507940868,0.999999997607,-3.72466251957e-05,-3.62191841047e-05,4.56762996351e-05,1793247769329843200
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.211447334,633,879.788552666,784,815.211447334,652,631,653,0.448596731387,0.00442100537548,0.0499315658463,0.999999996256,-3.64734827765e-05,-6.41274208822e-05,4.52157283009e-05,1793247769346509568
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.80401356,633,879.19598644,784,815.80401356,652,631,653,0.449088366363,0.00441935896126,0.049921457357,0.999999994818,-3.96172552418e-05,-8.18705330549e-05,4.57417498532e-05,1793247769363176448
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.613205314,632.613205314,879.386794686,784,815.613205314,652,631,653,0.44957521769,0.00441869481299,0.049930703795,0.999999995659,-3.98944667342e-05,-7.04029920355e-05,4.61960161716e-05,1793247769379843072
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.035259851,632.035259851,879.964740149,784,815.035259851,652,631,653,0.45005970502,0.00441851609238,0.0499495152791,0.999999997172,-3.87550474563e-05,-4.44997862042e-05,4.66148216653e-05,1793247769396509952
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664,632.541400307,880,784,815,652,631,653,0.450511838295,0.00441942859358,0.0499680953151,0.999999998013,-3.76270541177e-05,-1.86235213484e-05,4.70338172125e-05,1793247769413176576
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664,632.88281375,880,784.11718625,815,652,631,653,0.450945209706,0.00441997027486,0.0499815000606,0.999999998184,-3.69277036247e-05,-2.08022850146e-06,4.75778421607e-05,1793247769429843456
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664,632.310101263,880,784.689898737,815,652,631,653,0.45131382158,0.00441879490399,0.0499748458844,0.999999997863,-3.78916870082e-05,-2.1809240186e-05,4.86078334434e-05,1793247769446510336
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,744.728213597,715,681,664,632,880,784.728213597,815,652,631,653,0.451647926259,0.00441879269925,0.0499605783391,0.999999996558,-3.75359795837e-05,-5.50726294053e-05,4.9421377018e-05,1793247769463176960
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,744.135491567,715,681,664,632,880,784.135491567,815,652,631,653,0.451941283518,0.00442017581334,0.0499373206413,0.999999992675,-3.56219314088e-05,-0.00010431792041,4.99793308501e-05,1793247769479843072
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,744,715,681,663.569519055,632,880,784,815.430480945,652,631,653,0.452218289675,0.00442217090517,0.0499158580886,0.999999988215,-3.40925942764e-05,-0.000141243907341,4.95784321773e-05,1793247769496509440
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,744,715,681,663.011473265,632,880,784,815.988526735,652,631,653,0.452490450488,0.00442434734496,0.0498949274934,0.999999983042,-3.26772589648e-05,-0.000174519301719,4.88933957541e-05,1793247769513175552
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.585246801,744.585246801,715,681,663.585246801,632,880,784,815.414753199,652,631,653,0.45275701095,0.00442429386154,0.049897076202,0.999999984552,-3.33335951717e-05,-0.000165599598177,4.85916739312e-05,1793247769529842432
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,744.820106013,715,681,663.820106013,632,880,784,815,652,631,653,0.453015083181,0.00442466333566,0.0499025949539,0.999999986669,-3.28730435686e-05,-0.000152432555329,4.84376491542e-05,1793247769546509056
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,744.232004746,715,681,663.232004746,632,880,784,815,652,631,653,0.453254161026,0.00442609878264,0.04991466153,0.999999989711,-2.97794217991e-05,-0.000131637501788,4.8600513622e-05,1793247769563175424
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,744.350752508,715,681,663,632,879.649247492,784,815,652,631,653,0.45346407197,0.00442733508981,0.0499196932041,0.999999990876,-2.80908658452e-05,-0.000122838575461,4.86855076934e-05,1793247769579842304
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,744.930028077,715,681,663,632,879.069971923,784,815,652,631,653,0.453654980051,0.00442844165312,0.0499201414841,0.999999991016,-2.73177412196e-05,-0.000121855390782,4.87197674959e-05,1793247769596508928
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.49212572,745,715,681.50787428,663,632,880.015748559,784,815.50787428,652,631,653,0.453806997643,0.00442905682928,0.0499116527508,0.999999989446,-2.54411331227e-05,-0.00013470453706,4.81176239711e-05,1793247769613175552
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.084879163,745,715,681.915120837,663,631.915120837,880.915120837,784,816,652,630.915120837,653,0.45394880176,0.00442964914712,0.0499012876429,0.999999987324,-2.36487569037e-05,-0.000150137931044,4.74432813424e-05,1793247769629842688
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.658173133,745,715,681.341826867,663,631.341826867,880.341826867,784,816,652,630.341826867,653,0.454062580445,0.00443049840391,0.0498871906713,0.999999984267,-2.32134397882e-05,-0.000169506418964,4.68566026536e-05,1793247769646510592
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.761470658,745,715,681,662.761470658,631,879.761470658,784,816,652,630.238529342,653,0.454171271012,0.00443103114348,0.049877308493,0.999999982103,-2.39785679946e-05,-0.000181901198886,4.61603009672e-05,1793247769663177472
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.170685084,745,715,681,662.170685084,631,879.170685084,784,816,652,630.829314916,653,0.454272447525,0.00443109645556,0.0498736506534,0.999999981695,-2.65164942549e-05,-0.000183997319805,4.53021098867e-05,1793247769679843072
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.411598973,631,879.411598973,784,816,652,631,653,0.454356843359,0.00443209334819,0.0498723891275,0.999999981457,-2.57226649036e-05,-0.000185423993882,4.51829000307e-05,1793247769696509696
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.990428886,631,879.990428886,784,816,652,631,653,0.454434421271,0.00443346873811,0.049872101214,0.999999981287,-2.35751571393e-05,-0.00018657867446,4.53639351721e-05,1793247769713176576
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.438061497,631,880.561938503,784,816,652,631,653,0.454490300624,0.00443485407503,0.04987041651,0.999999980708,-2.11170037779e-05,-0.000190027908189,4.50240770498e-05,1793247769729843200
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,744.861908703,715,681,662.138091297,631,880.861908703,784,816,652,631,653,0.45454238724,0.00443598067849,0.0498685517828,0.999999980106,-1.94167586083e-05,-0.000193422162185,4.47036447043e-05,1793247769746509568
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,744.270095714,715,681,662.729904286,631,880.270095714,784,816,652,631,653,0.45458321087,0.00443625662075,0.0498661727224,0.999999979499,-2.02239070379e-05,-0.000196509012889,4.44758146418e-05,1793247769763175936
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.315011332,744.315011332,715,681,662.684988668,631,880,784,815.684988668,652,631,653,0.454614700242,0.00443700201244,0.0498632408133,0.999999978795,-2.01441205683e-05,-0.000200151772304,4.40868550085e-05,1793247769779842304
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.894488508,744.894488508,715,681,662.105511492,631,880,784,815.105511492,652,631,653,0.454638353101,0.00443814152757,0.0498598447632,0.999999978003,-1.9319713395e-05,-0.000204261241831,4.35626199997e-05,1793247769796508928
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.528471279,745,715,680.528471279,662.471528721,631,880.471528721,784,815,652.471528721,631,653,0.45465404335,0.00443868439214,0.0498569504703,0.999999976959,-1.76232732691e-05,-0.000209438838347,4.36736731124e-05,1793247769813175808
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.047968032,745,715,680,662.952031968,631,880.952031968,784,815,652.952031968,631,653,0.454667683413,0.00443911712176,0.0498544182287,0.999999975925,-1.58153940623e-05,-0.000214415455688,4.38945443816e-05,1793247769829842688
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.623765131,745,715,680,662.376234869,631,880.376234869,784,815,652.376234869,631,653,0.454678268871,0.00443979950452,0.0498546408107,0.999999975912,-1.491739124e-05,-0.000214564070469,4.3767630762e-05,1793247769846509312
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680.408267343,662,631,880,784,815,652,631,653,0.454686218909,0.00443982563518,0.0498538860256,0.999999975579,-1.48991475864e-05,-0.000216119433644,4.37201389419e-05,1793247769863175680
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681.586241436,662,631,880,784,815,652,631,653,0.454689200388,0.00443861453318,0.0498512886093,0.999999974631,-1.65395146558e-05,-0.000220326940688,4.38223811115e-05,1793247769879842304
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.624178046,745,715,681.624178046,662.375821954,631,880,784,815.375821954,652,631,653.375821954,0.454691423652,0.00443895333726,0.0498501354398,0.999999974107,-1.69437567944e-05,-0.000222699308078,4.36311416754e-05,1793247769896508928
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.044880067,745,715,681.044880067,662.955119933,631,880,784,815.955119933,652,631,653.955119933,0.454693236405,0.00444013128535,0.0498497642089,0.999999973819,-1.66787410481e-05,-0.000224078101338,4.32810065953e-05,1793247769913175552
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,663,631,880,784,815.468876312,652,631,653.468876312,0.454693622701,0.00444047076413,0.0498479312293,0.999999973343,-1.53810050557e-05,-0.000226276944182,4.33107428902e-05,1793247769929848064
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,663,631,880,784,815.106451056,652,631,653,0.454694090727,0.00444075101852,0.0498464833351,0.999999972998,-1.42837821928e-05,-0.00022785989022,4.33489664477e-05,1793247769946518784
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,663,631,880,784,815.68002414,652,631,653,0.454695443067,0.0044410803749,0.0498472639229,0.999999973322,-1.44470100953e-05,-0.00022643799585,4.32844457178e-05,1793247769963179264
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.261481039,745,715,681,662.738518961,631,880,784,815.738518961,652,631,652.738518961,0.45469613252,0.00444131955915,0.0498473296645,0.999999973348,-1.44085362284e-05,-0.000226365302686,4.30729900687e-05,1793247769979842560
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.85288541,745,715,681,662.14711459,631,880,784,815.14711459,652,631,652.14711459,0.454695985578,0.0044414449689,0.04984649345,0.999999972999,-1.41155654614e-05,-0.00022799496204,4.26761394844e-05,1793247769996509184
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.56476535,745,715,681,662.43523465,631,880,784,815,652,631,652.43523465,0.45469634222,0.00444186726874,0.0498465972794,0.999999972916,-1.370399112e-05,-0.000228386291541,4.26486554256e-05,1793247770013175552
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.985534517,631,880,784,815,652,630.985534517,653,0.45469683267,0.00444231783227,0.0498469620795,0.999999972921,-1.33041973501e-05,-0.000228375701393,4.27371370507e-05,1793247770029842432
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.410950608,631,880,784,815,652,630.410950608,653,0.45469604759,0.00444005624142,0.0498453792313,0.999999972836,-1.4881225404e-05,-0.000228679522695,4.25801241056e-05,1793247770046509056
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,631,880,784,815.167669058,652,630.167669058,653,0.454695403254,0.00443866216024,0.0498440900853,0.999999972677,-1.55599503655e-05,-0.000229335293133,4.2541100434e-05,1793247770063175680
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,631,880,784,815.756424137,652,630.756424137,653,0.454695112384,0.00443944675307,0.0498435385466,0.999999972335,-1.39826663971e-05,-0.000230874952713,4.27983964054e-05,1793247770079842048
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,744.66076215,715.33923785,681,662,631,880,784,815.66076215,652,631,653,0.454696615986,0.00444114257805,0.0498441976037,0.99999997258,-1.1625540442e-05,-0.000229972672285,4.26216630175e-05,1793247770096508928
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,744.082140989,715.917859011,681,662,631,880,784,815.082140989,652,631,653,0.454699385858,0.00444348141431,0.0498457109182,0.999999973231,-8.71811877297e-06,-0.000227347235939,4.21386566438e-05,1793247770113175552
+244,4.066666667,HOLD_POSE2,766,745,715,681,663,631,880,784,816,652,631,653,0.454696034368,0.00444259584232,0.0498441416704,0.999999972129,-1.1543745076e-05,-0.000231984283948,4.23347080989e-05,1793247770144413696
+245,4.083333333,HOLD_POSE2,765.426032454,745,715,681,663,631,880,784,815.426032454,652,631,653,0.454697458805,0.00444331444057,0.0498446667446,0.999999972593,-1.07192267787e-05,-0.000230087994367,4.19251489288e-05,1793247770161080576
+246,4.100000000,HOLD_POSE2,765.15226134,745,715,681,662.84773866,631,880,784,815,652,631,653,0.454698232597,0.00444381101727,0.0498451334391,0.999999972858,-9.93494008457e-06,-0.000229024377591,4.16340208095e-05,1793247770177747200
+247,4.116666667,HOLD_POSE2,765.743014261,745,715,681,662.256985739,631,880,784,815,652,631,653,0.454697132624,0.00444366820275,0.0498454320082,0.999999972556,-9.26651464653e-06,-0.000230358742783,4.16839576271e-05,1793247770194413824
+248,4.133333333,HOLD_POSE2,766,745,715,681,662.327563277,631,880,784,815.327563277,652,631,653,0.454696836636,0.00444398558081,0.0498452349293,0.999999972364,-9.26349567357e-06,-0.00023121597422,4.15285707037e-05,1793247770211080448
+249,4.150000000,HOLD_POSE2,766,745,715,681,662.90733553,631,880,784,815.90733553,652,631,653,0.454697159681,0.00444465728644,0.0498446562237,0.999999972259,-9.77280976068e-06,-0.00023170583407,4.12150937412e-05,1793247770227747328
+250,4.166666667,HOLD_POSE2,765.517113699,745,715,681.482886301,663,631,880,784,815.517113699,652,631,653,0.454697145112,0.00444316559934,0.0498439300275,0.999999972039,-1.15093608379e-05,-0.000232516287536,4.15409269654e-05,1793247770244413696
+251,4.183333333,HOLD_POSE2,765.057555946,745,715,681.942444054,662.942444054,631,880,784,815,652,631,653,0.454697168885,0.00444131203801,0.0498433598857,0.999999971857,-1.33747885119e-05,-0.000233106562102,4.2041832747e-05,1793247770261080320
+252,4.200000000,HOLD_POSE2,765.631525256,745,715,681.368474744,662.368474744,631,880,784,815,652,631,653,0.454698112935,0.00443990419399,0.0498444416663,0.999999972252,-1.43018351363e-05,-0.000231174104342,4.3022347851e-05,1793247770277747200
+253,4.216666667,HOLD_POSE2,766,745,715,681.212337905,662,631,880,784,815,652.212337905,631,653,0.454698090013,0.00443973888289,0.0498446760614,0.999999972336,-1.52255651907e-05,-0.000230733464262,4.3099103599e-05,1793247770294414080
+254,4.233333333,HOLD_POSE2,766,745,715,681.805421362,662,631,880,784,815,652.805421362,631,653,0.454696333203,0.00444180157208,0.0498433909996,0.999999971869,-1.61433481652e-05,-0.000232967819904,4.1555317902e-05,1793247770311080448
+255,4.250000000,HOLD_POSE2,766,745,715,681.614594764,662,631,880,784,815.385405236,652.614594764,631,653,0.454696459271,0.00444225180621,0.0498433998873,0.999999971894,-1.52840573073e-05,-0.000232939117911,4.14497550013e-05,1793247770327747072
+256,4.266666667,HOLD_POSE2,766,745,715,681.041006993,662,631,880,784,815.958993007,652.041006993,631,653,0.454697504695,0.00444191472408,0.049844040574,0.999999972157,-1.3557071373e-05,-0.00023180542874,4.2046435693e-05,1793247770344413696
+257,4.283333333,HOLD_POSE2,766,745,715,681,662,631,880,784.538159757,816,652,631,653,0.454697598231,0.00444377466432,0.0498443027926,0.99999997222,-1.10244878351e-05,-0.000231742835132,4.16266246678e-05,1793247770361080320
+258,4.300000000,HOLD_POSE2,766,745,715,681,662,631,880,784.883838741,816,652,631,653,0.454697583179,0.00444509771818,0.0498443941994,0.999999972226,-8.91589051726e-06,-0.0002318611686,4.1337566167e-05,1793247770377747200
+259,4.316666667,HOLD_POSE2,766,745,715,681,662,631,880,784.312091934,816,652,631,653,0.454697429693,0.00444365163799,0.0498439299711,0.999999972089,-8.71344635076e-06,-0.000232365648171,4.18682823587e-05,1793247770394414848
+260,4.333333333,HOLD_POSE2,765.729554173,745,715,681,662,631,880,784,816,652.270445827,631,653,0.454698203193,0.00444212384322,0.0498445174031,0.999999972224,-9.13295400457e-06,-0.000231701122393,4.22214568691e-05,1793247770411082240
+261,4.350000000,HOLD_POSE2,765.134046273,745,715,681,662,631,880,784,816,652.865953727,631,653,0.454700090885,0.00444049783178,0.0498463688772,0.999999972684,-1.03000159993e-05,-0.000229631511846,4.23612353124e-05,1793247770427748864
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663,631,880,785,816,653,631,654,0.454697751131,0.00444402034958,0.0498443464345,0.999999972008,-1.00953375989e-05,-0.00023269314165,4.16605842034e-05,1793247770460500736
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.577304054,745,715,681.577304054,662.422695946,631,880,784.422695946,815.422695946,653,631,653.422695946,0.454698418368,0.00444409196139,0.0498444871825,0.999999972157,-9.72003682833e-06,-0.000232119941501,4.13802567522e-05,1793247770477167360
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.842385468,745,715,681.842385468,662.157614532,631,880,784,815,652.842385468,631,653,0.454698799964,0.00444418405986,0.0498443482673,0.999999972237,-9.09108931988e-06,-0.000231824505137,4.12368887924e-05,1793247770493833728
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.253855343,745,715,681.253855343,662.746144657,631,880,784,815,652.253855343,631,653,0.454698400621,0.00444433216852,0.0498434447575,0.999999972131,-7.76867563032e-06,-0.000232288470358,4.14679658138e-05,1793247770510500096
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.684400626,631,880,784,815,652,631.315599374,652.684400626,0.454698568408,0.0044442926715,0.0498435029575,0.999999972123,-8.13456780019e-06,-0.000232314625359,4.14576107768e-05,1793247770527166464
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.129414896,631,880,784,815,652,631.870585104,652.129414896,0.454699166369,0.00444411087304,0.0498442906273,0.999999972187,-9.78106267273e-06,-0.000232008695411,4.12641262733e-05,1793247770543832832
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.46083469,631,880,784.46083469,815,652,631.53916531,652.46083469,0.454698709997,0.00444374232788,0.0498439914101,0.999999972195,-9.51393660538e-06,-0.000231939205891,4.15156252899e-05,1793247770560499456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.058909794,662.941090206,631,880,784.941090206,815.058909794,652,631,653,0.454697222588,0.00444338442027,0.0498430105374,0.999999972034,-8.95104639903e-06,-0.000232601935303,4.18206745412e-05,1793247770577166336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.63170393,662.36829607,631,880,784.36829607,815.63170393,652,631,653,0.454689538033,0.00444361469202,0.0498389666185,0.999999970517,-1.08844216526e-05,-0.000239024778387,4.14124418011e-05,1793247770593833472
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.212321389,745,715,681.787678611,662.212321389,631,880,784,815.787678611,652,631,653,0.454675943783,0.00444398766701,0.0498321464082,0.999999967787,-1.13402079194e-05,-0.000250215642488,4.11108828339e-05,1793247770610500096
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.807028402,745,715,681.192971598,662.807028402,631,880,784,815.192971598,652,631,653,0.454651706317,0.00444461764702,0.0498203261656,0.999999962669,-9.13489239195e-06,-0.000269993594947,4.10014407556e-05,1793247770627166720
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.609977729,745,715,681,663,631,880.390022271,784,815.390022271,652,631,653,0.454609945252,0.00444468471761,0.0498031794138,0.999999954336,-9.45090094852e-06,-0.00029929297198,4.07669099037e-05,1793247770643833600
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.032610159,745,715,681,663,631,880.967389841,784,815.967389841,652,631,653,0.454559766808,0.00444448139746,0.0497834740981,0.999999943621,-1.09780150522e-05,-0.000333165920468,4.04722932242e-05,1793247770660499968
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.541820505,631,880.458179495,784,815.458179495,652.541820505,631,653,0.454491105843,0.00444609248559,0.0497612499573,0.999999933439,-9.31034426038e-06,-0.000362637453101,3.91033368096e-05,1793247770677166336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.881984272,631,880.118015728,784,815,652.881984272,631.118015728,653,0.454419786807,0.00444776885185,0.0497416755845,0.999999923781,-7.12946762154e-06,-0.000388522626199,3.79211066197e-05,1793247770693832960
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.298129743,631,880.701870257,784,815,652.298129743,631.701870257,653,0.454342342896,0.00444927416163,0.0497331557026,0.999999918764,-3.67772942859e-06,-0.000401291525241,3.77297889752e-05,1793247770710499584
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.286220554,745,715,681.286220554,663,631,880.713779446,784,815,652,631.713779446,653,0.454258137743,0.00445095391491,0.0497284343544,0.999999916397,-8.19405978917e-07,-0.000407215506955,3.7166105879e-05,1793247770727166464
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.871088109,745,715,681.871088109,663,631,880.128911891,784,815,652,631.128911891,653,0.454166877809,0.00445281568518,0.0497276764563,0.999999916926,1.41973904127e-06,-0.000405997394185,3.62138908643e-05,1793247770743833600
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.551807746,663,631,880,784,815,652,631,653,0.454060357723,0.00445306220577,0.0497337586271,0.999999919785,3.12691633754e-06,-0.000398896938814,3.60747062759e-05,1793247770760500736
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,880,784,815,652,631,653,0.453947990165,0.00445297029361,0.0497415408119,0.999999923119,4.78760398937e-06,-0.000390426627366,3.61304025877e-05,1793247770777167360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,880,784,815,652,631,653,0.453799005267,0.00445570281918,0.0497437366698,0.99999992369,8.9303887692e-06,-0.000388961032252,3.5350404403e-05,1793247770793833728
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,880,784,815,652,631,653,0.453643582779,0.00445732131279,0.0497469197439,0.999999924732,1.26104357564e-05,-0.000386211637494,3.49011361988e-05,1793247770810500352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,880,784,815,652,631,653,0.453473196457,0.00445635029467,0.0497523975521,0.999999926882,1.5214871394e-05,-0.000380478115113,3.52206333424e-05,1793247770827166464
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.069331855,744.069331855,715,681,663,631,879.069331855,784,815,652,631,653,0.453067367135,0.00446410080643,0.0497583065549,0.999999926987,2.35870913239e-05,-0.000379956894249,3.32082501543e-05,1793247770860499200
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,744.502252148,715,681,663,631.502252148,879.502252148,784,815,652,631,653,0.452826428351,0.00446719941013,0.0497626291906,0.999999927013,3.05693416986e-05,-0.000379413907928,3.2941066263e-05,1793247770877166848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.075695965,744.924304035,715,681,663,631.924304035,880,784,815,652,631,652.924304035,0.452576613154,0.00447004427545,0.0497672987686,0.999999927413,3.78524449427e-05,-0.000377721640163,3.26624711142e-05,1793247770893833984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.66865957,744.33134043,715,681,663,631.33134043,880,784,815,652,631,652.33134043,0.452294112303,0.00447297705771,0.0497724945528,0.999999930168,4.4950642538e-05,-0.000369680250429,3.13179734505e-05,1793247770910500608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.74446019,744.25553981,715,681,663,631.25553981,880,784,815,652,631,652.25553981,0.451988590715,0.00447687650758,0.049774167617,0.999999930736,5.26355779544e-05,-0.000367238989867,2.98837356989e-05,1793247770927167232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.165284441,744.834715559,715,681,663,631.834715559,880,784,815,652,631,652.834715559,0.451653913854,0.00448200022201,0.0497713792282,0.999999928583,6.10636043855e-05,-0.000371890178755,2.83358440455e-05,1793247770943833344
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.587861174,663,632,880,784,814.587861174,652,631,653,0.451305102067,0.00448732383464,0.0497695001804,0.999999930514,7.052323897e-05,-0.000365143148992,2.58458514543e-05,1793247770960499968
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.011137763,663,632,880,784,814.011137763,652,631,653,0.45095064561,0.00449272727502,0.0497679842712,0.999999933901,8.03948384109e-05,-0.000353844324908,2.29796378683e-05,1793247770977166848
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.124545261,663.562272631,632,879.437727369,784,814,652,631,653,0.450576881559,0.00449700882486,0.0497907565979,0.999999947267,8.69490644569e-05,-0.000312186676111,2.11077092472e-05,1793247770993833472
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.860111326,664,632.139888674,879.139888674,784,814,652,631,653,0.450187132801,0.00450156805465,0.0498119188493,0.999999957984,9.36095401281e-05,-0.000273679294177,1.91910301549e-05,1793247771010499840
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.268710439,664,632.731289561,879.731289561,784,814,652,631,653,0.449747018214,0.00450709484614,0.0498263405607,0.999999964201,0.000100823805474,-0.000247269511654,1.70667153598e-05,1793247771027166464
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.315615457,745,715,681,664,632.684384543,879.684384543,784,814,652,631,653,0.449267760742,0.00451330385138,0.0498292870524,0.999999964705,0.000109760280775,-0.000241517098172,1.45833785458e-05,1793247771043833344
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.89404994,745,715,681,664,632.10595006,879.10595006,784,814,652,631,653,0.448755908193,0.00452008094964,0.0498226779109,0.999999960719,0.000120130874048,-0.000252966467937,1.18010770047e-05,1793247771060500480
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.529651908,745,715,681,664,632.470348092,879,784.470348092,813.529651908,652,631,653,0.448200878085,0.00452874263351,0.0498014110737,0.999999951878,0.000130047624959,-0.000281547176015,7.88600749837e-06,1793247771077167104
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879,785,813,652,630.953838753,653,0.44763215612,0.00453765413626,0.0497769916837,0.999999940783,0.000140009448198,-0.000314349735106,3.85141473365e-06,1793247771093833984
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879,785,813,652,630.378093389,653,0.447017432444,0.00454458341628,0.0497541129578,0.999999926718,0.000151655923454,-0.000351515468818,1.35974165917e-06,1793247771110500608
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.797766556,633,879,785,813,652,630.202233444,653,0.446400193286,0.00455122639736,0.0497395506844,0.999999916522,0.000162019840914,-0.000375104048443,-1.40454352275e-06,1793247771127167232
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.208675753,633,879,785,813,652,630.791324247,653,0.445778142237,0.0045573217097,0.0497408971605,0.999999916091,0.00016993032148,-0.000372720552553,-4.69031500049e-06,1793247771143833600
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.37430774,633,879,784.62569226,813,652,630.62569226,652.62569226,0.445142238787,0.00456201862893,0.0497621918547,0.999999923417,0.000177703202299,-0.000348621512523,-7.06707072373e-06,1793247771160500224
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.953941062,633,879,784.046058938,813,652,630.046058938,652.046058938,0.444498736656,0.00456594846288,0.0497944290944,0.999999933911,0.000185400602664,-0.000312610464278,-8.94518799229e-06,1793247771177167360
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,744.470721844,714.470721844,681,664,633,879,784,813,652,630,652.529278156,0.443783307175,0.00457476113505,0.0497869857773,0.999999927474,0.00019276315656,-0.000328228968194,-1.26602300058e-05,1793247771193833728
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,744,714.106581275,681,664,632.893418725,879,784,812.893418725,652,630.106581275,653,0.443056065367,0.00458284097092,0.0497751760101,0.999999922856,0.000180552976785,-0.000348445229281,-1.65706972509e-05,1793247771210500096
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,744,714.69443655,681,664,632.30556345,879,784,812.30556345,652,630.69443655,653,0.442303521063,0.00458570835844,0.0497591163595,0.999999928389,8.0091486138e-05,-0.000369298253832,-2.06476029094e-05,1793247771227166720
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,744,715,681,664,632.278210555,879,784.278210555,812.278210555,652,631,653,0.441562099547,0.00457893500724,0.0497678259196,0.999999937674,2.29799301716e-05,-0.000351489833078,-2.40648281038e-05,1793247771243833344
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,744,715,681,664,632.857566911,879,784.857566911,812.857566911,652,631,653,0.440832717673,0.00456172615018,0.0498033466237,0.999999956977,1.27919980968e-05,-0.000291832782353,-2.67679904321e-05,1793247771260499712
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,744,714.564768244,681,664,633,879,784.564768244,812.564768244,652,631,653,0.440045159123,0.00454620055837,0.0498135648419,0.999999960911,6.46592069973e-06,-0.00027813719197,-2.78397920932e-05,1793247771277166336
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,744.012247732,714.012247732,681,663.987752268,633,879.012247732,784.012247732,812,652,631,652.987752268,0.439237443414,0.00453187388314,0.0498147916789,0.999999960224,1.98970242446e-06,-0.000280599957739,-2.84747920493e-05,1793247771293832704
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,744.58480713,714.58480713,681,663.41519287,633,879.58480713,784.58480713,812,652,631,652.41519287,0.438375189799,0.00454729205372,0.0497820277764,0.999999942411,2.45474027655e-05,-0.000336831943707,-3.34562062793e-05,1793247771310499328
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.837329321,680.837329321,663.162670679,633,880,785,812,652,631,652.162670679,0.437513619839,0.00455953905477,0.0497628709121,0.999999929285,4.46128470555e-05,-0.000371588621236,-3.68872248305e-05,1793247771327166208
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.245471435,680.245471435,663.754528565,633,880,785,812,652,631,652.754528565,0.436653853672,0.00456341930188,0.0497796145991,0.999999936516,5.81027694881e-05,-0.000349685255022,-3.62277090435e-05,1793247771343833600
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.339013593,680.339013593,664,633.339013593,879.660986407,785.339013593,812,652,630.660986407,653,0.435768976449,0.00456841285522,0.0497850340503,0.999999935238,8.3918755357e-05,-0.000348819831051,-2.83969191666e-05,1793247771360500480
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.91827372,680.91827372,664,633.91827372,879.08172628,785.91827372,812,652,630.08172628,653,0.434866303977,0.0045741953678,0.0497824284291,0.999999927028,0.000118469770917,-0.000362863227916,-1.5484109629e-05,1793247771377166848
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633.507291514,879,785.507291514,812,652,630.492708486,653,0.433988489182,0.00457562455879,0.049774069267,0.999999925114,0.000122399616103,-0.000366691995343,-1.80945883197e-05,1793247771393833216
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.931937514,664,633,879,785,811.931937514,652.068062486,630.931937514,653,0.433116765705,0.00457513709495,0.0497693673013,0.999999926184,0.000120516489053,-0.000364127796696,-2.27843898297e-05,1793247771410499328
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.343495596,664,633,879,785,811.343495596,652.656504404,630.343495596,653,0.43226039605,0.00456546292023,0.0497998526603,0.999999940391,0.000112646431222,-0.000325513896915,-2.38763521007e-05,1793247771427165952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.240605032,663.759394968,633,879,785,811,652.759394968,630,653,0.431357948341,0.00455970775259,0.0498091017374,0.999999945401,9.88317873995e-05,-0.000314269484314,-2.57911589122e-05,1793247771443832832
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.818617822,663.181382178,633,879,785,811,652.181382178,630,653,0.430390883853,0.00455944832641,0.0497885705346,0.999999938365,7.66808687479e-05,-0.00034140613099,-2.88598658338e-05,1793247771460499456
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.601712793,745,715,680.601712793,663.398287207,633,878.601712793,785,811,652,630,653,0.429446350928,0.00456297076234,0.0497753678886,0.9999999332,7.09806461501e-05,-0.000357290518014,-3.00825002273e-05,1793247771477166336
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.02128587,745,715,680.02128587,663.97871413,633,878.02128587,785,811,652,630,653,0.428512121913,0.00456822267212,0.0497655166475,0.999999929163,7.28034511948e-05,-0.00036802916104,-3.04609116759e-05,1793247771493833216
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.717682597,745,715,680.717682597,663.282317403,633,878,785,811,652,630,653,0.425741438132,0.00458361179781,0.0497641856049,0.999999919371,0.000124855859702,-0.000380525432265,-2.94953562801e-05,1793247771543833344
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.698440281,745,715,680.698440281,663.301559719,633.301559719,878.301559719,785,811,652,630,653,0.424855731804,0.00458158048875,0.0497831407319,0.99999993646,0.000115049738474,-0.000335959370982,-3.1222831248e-05,1793247771560499712
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.119907836,745,715,680.119907836,663.880092164,633.880092164,878.880092164,785,811,652,630,653,0.423980206585,0.00457485958278,0.0498280772087,0.999999962378,9.13751510242e-05,-0.000256661678867,-3.19252819426e-05,1793247771577166080
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.962976905,680,662.962976905,633,878.962976905,785,811,652.962976905,630,652,0.422152980704,0.00457103787607,0.0498276159999,0.999999960949,0.000103165770815,-0.000257863275637,-3.10603432901e-05,1793247771610504960
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.183202461,680,662.366404922,633.183202461,878,785,811,652.183202461,630,652,0.420340317162,0.00457397256767,0.0497881517883,0.99999993756,0.000108695990495,-0.000334609258611,-3.3180214057e-05,1793247771643833856
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,634,877.749998954,785,810,653,629.749998954,652.250001046,0.414537283895,0.00457582643582,0.0498049138783,0.999999946748,0.000100097844513,-0.000308485244525,-3.63485806121e-05,1793247771760499712
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,634,877.158919806,785,810,653,629.158919806,652.841080194,0.413749459171,0.00457702517375,0.0497808710256,0.999999931591,9.53415133291e-05,-0.000355572841089,-3.59952171952e-05,1793247771777167104
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.577399828,680,663,633.577399828,877.422600172,785,810,652.577399828,629,653,0.412991838413,0.00457979517167,0.0497745919493,0.999999927789,9.96672420554e-05,-0.000364894719848,-3.6619624117e-05,1793247771793833984
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.000600987,680,663,633,878,785.000600987,810,652.000600987,629,652.999399013,0.412245399426,0.00458313914462,0.0497748706098,0.999999928625,0.000107328983882,-0.000360301343047,-3.7600955556e-05,1793247771810500352
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.574807113,680,663,633,878,785.574807113,810,652.574807113,629,652.425192887,0.411570349501,0.00458282628113,0.0497993798149,0.999999938875,0.000111390227271,-0.000329455048251,-3.60670978388e-05,1793247771827166720
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.152992171,745,715,680,663,633.152992171,878,785.847007829,810,653,629.152992171,652,0.410896335075,0.0045829237019,0.0498132574558,0.999999943403,0.000112870466718,-0.000315003029554,-3.50346636781e-05,1793247771843833088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.742530808,745,715,680,663,633.742530808,878,785.257469192,810,653,629.742530808,652,0.410225275176,0.00458419182396,0.049796799094,0.99999993333,0.000106986094162,-0.000347330282344,-3.54329866325e-05,1793247771860499968
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.673604536,744.673604536,715,679.673604536,663,634,877.673604536,785,810,653,629.673604536,652.326395464,0.409585722748,0.00458424568123,0.049785711743,0.999999928079,0.00010578096028,-0.000362405454913,-3.62658481607e-05,1793247771877166592
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.09413922,744.09413922,715,679.09413922,663,634,877.09413922,785,810,653,629.09413922,652.90586078,0.408970599595,0.00458335806146,0.049778788792,0.999999927159,0.00010820386201,-0.000364104271464,-3.74356280078e-05,1793247771893833472
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.481722791,714.518277209,679.481722791,663,633.518277209,877,785.481722791,809.518277209,653,629,652.518277209,0.408406012667,0.00457796791504,0.0497996745936,0.999999938736,0.000102148172233,-0.000332759323109,-3.69430875317e-05,1793247771910499840
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.056940829,680,663,633.056940829,877,786,809.056940829,653,629,652,0.40785365289,0.0045723988507,0.0498235736861,0.999999950191,9.49430902936e-05,-0.000298824060637,-3.61581842735e-05,1793247771927166208
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.632659667,680,663,633.632659667,877,786,809.632659667,653,629,652,0.407323383058,0.00457315672643,0.0498257817012,0.999999950204,9.22497749411e-05,-0.000299685052627,-3.56473283674e-05,1793247771943832576
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.786007661,679.786007661,663,633.786007661,877,786,809.786007661,652.786007661,629,652,0.406795059658,0.00457547753541,0.0498166653091,0.99999994439,9.08735076213e-05,-0.000318901911956,-3.55454817873e-05,1793247771960499200
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.194778699,679.194778699,663,633.194778699,877,786,809.194778699,652.194778699,629,652,0.406270167581,0.00458055356288,0.0497875856732,0.999999926504,9.18189999566e-05,-0.000370477431027,-3.61646577256e-05,1793247771977165824
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.387238256,679.387238256,663,633.387238256,876.612761744,786,809,652.387238256,629,652,0.405784513271,0.00458336761691,0.0497709876308,0.999999915973,9.53776138512e-05,-0.000396969411758,-3.70579003106e-05,1793247771993832704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.96472934,679.96472934,663,633.96472934,876.03527066,786,809,652.96472934,629,652,0.405318136699,0.00458507034822,0.049760521879,0.999999909736,0.000100220072555,-0.000411137681809,-3.80857938113e-05,1793247772010500352
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.460427271,715,679.460427271,663,634,876.539572729,785.460427271,809,653,629,652,0.404926356295,0.0045858538938,0.0497788453037,0.999999921379,0.000103493273664,-0.000380933088039,-3.77090238748e-05,1793247772027166720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.117132579,744.117132579,715,679,663,634,877.117132579,785.117132579,809,653,629,652,0.404551523026,0.0045863134469,0.0498002526307,0.999999933477,0.000106146652559,-0.000346983498329,-3.71658519355e-05,1793247772043832832
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.706334648,744.706334648,715,679,663,634,877.706334648,785.706334648,809,653,629,652,0.404225434134,0.0045857082143,0.0498265413915,0.999999945729,0.000106713411992,-0.000309573537487,-3.63202902563e-05,1793247772060499968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.709458525,745,715,679.290541475,663,634,877.709458525,785.709458525,809,653,629,652,0.403903207202,0.00458693697698,0.0498423485793,0.999999952083,0.000109992073808,-0.000287151814897,-3.5782749884e-05,1793247772077166848
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.130215344,745,715,679.869784656,663,634,877.130215344,785.130215344,809,653,629,652,0.403584817793,0.00458998812174,0.0498477405639,0.999999953549,0.000115965465743,-0.000279623424457,-3.55512804495e-05,1793247772093833728
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.553767018,663,634,877,785,809,653,629,652.446232982,0.403277275519,0.00458976703931,0.0498416892999,0.999999949012,0.000116880976945,-0.000295111747077,-3.49972406715e-05,1793247772110500352
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,633.978164134,877,785.021835866,809,653,629,652.978164134,0.402974358387,0.0045884931332,0.049832250967,0.999999942459,0.000115307705972,-0.000317183973963,-3.43710048201e-05,1793247772127166976
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,633.403445964,877,785.596554036,809,653,629,652.403445964,0.402708902948,0.00458458854572,0.049821075776,0.999999938783,8.78567847839e-05,-0.000336957097365,-3.42852825771e-05,1793247772143833344
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.825878633,679,663,633,877,786,809,653,629,652,0.402460688968,0.00457915842034,0.0498119529998,0.999999934904,6.92763821269e-05,-0.000352502193547,-3.37037632974e-05,1793247772160499968
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.241599945,679,663,633,877,786,809,653,629,652,0.402253088709,0.00457013476449,0.0498076648585,0.999999932813,7.15912255613e-05,-0.000358087818962,-3.19543530723e-05,1793247772177166336
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.343218793,679,663,633.343218793,877,786,809,653,629,652,0.402069547274,0.00456029825955,0.0498075847137,0.999999934611,6.79045087726e-05,-0.000353865662581,-3.07625093872e-05,1793247772193832960
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.928418345,679,663,633.928418345,877,786,809,653,629,652,0.401902968096,0.00454988866782,0.049810471347,0.99999993902,5.99864909916e-05,-0.000342728691655,-2.99637686278e-05,1793247772210499840
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,876.495302549,785.495302549,809,653,629,652,0.401761633658,0.00455466572648,0.0498138401886,0.999999941042,6.71323357366e-05,-0.000335311631591,-3.12449128916e-05,1793247772227166720
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,876.079981444,785.079981444,809,653,629,652,0.401628505806,0.00456024486695,0.0498180497578,0.999999943176,7.50023664175e-05,-0.000327058225973,-3.24964607393e-05,1793247772243833856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,876.656806931,785.656806931,809,653,629,652,0.401524501505,0.0045576586952,0.0498270644496,0.999999948562,7.43295010194e-05,-0.000310388933776,-3.1763496421e-05,1793247772260502784
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877.239128197,786,809,653,629,652,0.401426929743,0.00455729928936,0.0498315889195,0.999999951418,7.47276819176e-05,-0.000300969069707,-3.15698677664e-05,1793247772277169920
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877.829522421,786,809,653,629,652,0.401338807031,0.004560210879,0.0498295175027,0.999999950879,7.66991703459e-05,-0.000302198213632,-3.21684932724e-05,1793247772293833984
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.58957155,663.41042845,633.58957155,877.58957155,786,809,653,629,652,0.401264123041,0.00456165337868,0.0498279527965,0.999999950467,7.77286377596e-05,-0.000303237522414,-3.27180456343e-05,1793247772310499584
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.012517547,663.987482453,633.012517547,877.012517547,786,809,653,629,652,0.401194894899,0.00456249945783,0.0498265938044,0.999999950107,7.83756638714e-05,-0.000304199761981,-3.32476752893e-05,1793247772327166208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.563483602,663.436516398,633.563483602,877,786,809,653,629,652,0.401147191371,0.00456020925712,0.0498270720671,0.999999950814,7.78047645088e-05,-0.000302061637212,-3.28313799515e-05,1793247772343833088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.142535193,663.142535193,633.857464807,877,786,809,653,629,652,0.401104404884,0.00455856732972,0.0498284724833,0.999999951944,7.74131395321e-05,-0.000298423953758,-3.25883237264e-05,1793247772360499712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.731207668,663.731207668,633.268792332,877,786,809,653,629,652,0.401075514962,0.00455917217285,0.0498326317446,0.999999954302,7.7667172964e-05,-0.000290307801969,-3.29531579347e-05,1793247772377167104
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.685062947,663.685062947,633.314937053,877,786,809,653,629,652,0.401051165344,0.00456007532794,0.0498354487298,0.99999995579,7.76993929342e-05,-0.000285109358735,-3.30924739451e-05,1793247772393833984
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.105487132,663.105487132,633.894512868,877,786,809,653,629,652,0.401030630902,0.00456122915195,0.049837137813,0.999999956583,7.75452250849e-05,-0.000282362638785,-3.304228909e-05,1793247772410500608
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809,653,629,652,0.401014548553,0.00456027500439,0.0498367585558,0.99999995656,7.68039994198e-05,-0.000282684972908,-3.27209367145e-05,1793247772427166976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.046250472,633.953749528,877,786,809,653,629,652,0.40100007265,0.00455902789079,0.0498360249289,0.999999956411,7.61239544888e-05,-0.000283431967055,-3.23826316396e-05,1793247772443833344
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.634713021,633.365286979,877,786,809,653,629,652,0.400992816388,0.00455984489235,0.0498365321803,0.999999956929,7.76925017839e-05,-0.000281151749102,-3.25529271045e-05,1793247772460499712
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.780621243,664,633.219378757,877,786,809,653,629,652,0.400987259435,0.00455993574505,0.0498371149979,0.999999957412,7.79862355606e-05,-0.000279345566229,-3.25567358994e-05,1793247772477166336
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.202170053,664,633.797829947,877,786,809,653,629,652,0.400984483861,0.00455883805947,0.0498378215001,0.999999957846,7.6193393496e-05,-0.000278315269603,-3.22880443986e-05,1793247772493833216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,663.624474269,633.624474269,877,786,809,653,629,652.375525731,0.400982891855,0.00455818079723,0.0498387618149,0.999999958274,7.57608596215e-05,-0.000276914322962,-3.21004970316e-05,1793247772510500096
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,663.047184373,633.047184373,877,786,809,653,629,652.952815627,0.400981935763,0.00455776016767,0.0498398277535,0.999999958698,7.60591983509e-05,-0.000275314231834,-3.19565471611e-05,1793247772527167232
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.527591244,663,633.527591244,877.527591244,786,809,653,629,652.472408756,0.400981081013,0.004558135191,0.0498400678972,0.999999958938,7.55868533712e-05,-0.000274578510669,-3.18862628545e-05,1793247772543833856
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877.895702872,786,809,653,629,652,0.400980424326,0.00455862873422,0.0498403029014,0.999999959143,7.53681449643e-05,-0.000273899320632,-3.18359212386e-05,1793247772560500480
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877.309034688,786,809,653,629,652,0.400980641959,0.00455934288518,0.0498408540866,0.999999959257,7.66397622737e-05,-0.000273125754025,-3.18474883907e-05,1793247772577166848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809,653,629,652,0.400981080471,0.00455993316595,0.0498413994344,0.999999959516,7.74030974341e-05,-0.000271935094792,-3.20532038648e-05,1793247772593833216
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809,653,629,652,0.400981764843,0.00456038556651,0.0498419382847,0.999999959936,7.76006622175e-05,-0.000270280168282,-3.24750264788e-05,1793247772610499840
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.563881406,663,634,877,786,809,652.563881406,629,652,0.400981245142,0.0045601311452,0.0498426881966,0.999999960158,7.74444894531e-05,-0.000269522482251,-3.230921445e-05,1793247772627166464
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.011121766,663,634,877,786,809,652.011121766,629,651.988878234,0.400980367637,0.00455964405277,0.0498434898235,0.999999960319,7.71577762265e-05,-0.000269047099138,-3.19636366285e-05,1793247772643833088
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.585697633,663,634,877,786,809,652.585697633,629,651.414302367,0.400980790335,0.00455877366121,0.0498435060478,0.999999960584,7.59650303789e-05,-0.000268397126714,-3.19920158022e-05,1793247772660500224
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.835774837,715,679,663,634,877,786,809,653,629,651.164225163,0.400981047089,0.00455849080451,0.0498434263637,0.999999960667,7.53361405486e-05,-0.000268264617307,-3.20118678194e-05,1793247772677167104
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,744.247032402,715,679,663,634,877,786,809,653,629,651.752967598,0.400980874881,0.00455972670834,0.0498430987593,0.99999996028,7.61648021937e-05,-0.000269469734794,-3.20096773833e-05,1793247772693833728
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.336349947,715,679,663,634,877.336349947,786,809,653,628.663650053,652,0.400981184056,0.00455959059503,0.049843468293,0.999999960457,7.66189954634e-05,-0.000268700272314,-3.18736460634e-05,1793247772710499840
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae6df1493147b2a7f64aa67bb193b7a8aff98e41
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+346,5.766666667,pose2_to_pose3_retreat,0.591072538936,0.00992789592912,1.04004218126,0.561644329848,0.0186023527092,1.03966557269
+347,5.783333333,pose2_to_pose3_retreat,0.59053589158,0.00992793454695,1.04004233059,0.561107683197,0.0186023937622,1.03966572305
+348,5.800000000,pose2_to_pose3_retreat,0.590019977142,0.00992787296719,1.04004253656,0.560591768897,0.0186023323276,1.03966592158
+349,5.816666667,pose2_to_pose3_retreat,0.589528024138,0.00992789193044,1.04004261699,0.560099815175,0.0186023484653,1.03966599302
+350,5.833333333,pose2_to_pose3_retreat,0.58905489308,0.0099278777762,1.04004226271,0.559626684318,0.018602335469,1.03966564975
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+356,5.933333333,pose2_to_pose3_retreat,0.586590925497,0.00992792606535,1.04004238015,0.557162716466,0.0186023828505,1.03966576738
+357,5.950000000,pose2_to_pose3_retreat,0.586272435852,0.00992784023452,1.04004218157,0.556844228828,0.0186023040148,1.03966557319
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+359,5.983333333,pose2_to_pose3_retreat,0.585700344639,0.00992782344083,1.04004243094,0.556272136256,0.0186022820433,1.03966580949
+360,6.000000000,pose2_to_pose3_retreat,0.585433560025,0.00992800940283,1.04004239301,0.556005348656,0.0186024580881,1.03966577645
+361,6.016666667,pose2_to_pose3_retreat,0.585177241692,0.00992802682861,1.04004235253,0.55574903074,0.0186024773477,1.03966574569
+362,6.033333333,pose2_to_pose3_retreat,0.584933605624,0.00992791915601,1.04004235705,0.555505397318,0.0186023785963,1.03966574891
+363,6.050000000,pose2_to_pose3_retreat,0.584708841545,0.00992788563914,1.0400423919,0.555280633814,0.0186023466589,1.0396657753
+364,6.066666667,pose2_to_pose3_retreat,0.584505136594,0.00992787072239,1.04004239147,0.555076928657,0.0186023310475,1.03966577497
+365,6.083333333,pose2_to_pose3_retreat,0.584324533076,0.00992783522149,1.04004238953,0.554896325588,0.0186022971367,1.03966577463
+366,6.100000000,pose2_to_pose3_retreat,0.584165053207,0.00992788649085,1.04004241603,0.55473684461,0.0186023444212,1.03966579596
+367,6.116666667,pose2_to_pose3_retreat,0.584025003376,0.00992794717581,1.04004238073,0.554596794614,0.018602404866,1.03966576807
+368,6.133333333,pose2_to_pose3_retreat,0.583902678893,0.0099277535072,1.04004240187,0.55447447366,0.0186022229889,1.03966578509
+369,6.150000000,pose2_to_pose3_retreat,0.583794852843,0.00992785035931,1.04004231393,0.554366643455,0.0186023056953,1.03966569596
+370,6.166666667,pose2_to_pose3_retreat,0.583700397124,0.00992790391115,1.04004242045,0.554272188099,0.018602360626,1.03966580622
+371,6.183333333,pose2_to_pose3_retreat,0.583617234821,0.00992787172009,1.04004243898,0.554189026751,0.0186023317151,1.03966582588
+372,6.200000000,pose2_to_pose3_retreat,0.583544924296,0.00992786609935,1.04004250623,0.554116715471,0.0186023234915,1.03966589206
+373,6.216666667,pose2_to_pose3_retreat,0.583482219981,0.00992795496353,1.04004267148,0.554054009673,0.0186024073095,1.03966605699
+374,6.233333333,pose2_to_pose3_retreat,0.583428750875,0.00992798887251,1.04004240848,0.554000540601,0.0186024412337,1.03966579157
+375,6.250000000,pose2_to_pose3_retreat,0.583385372898,0.00992789055854,1.04004252226,0.553957163835,0.0186023468608,1.03966590155
+376,6.266666667,pose2_to_pose3_retreat,0.583350466282,0.00992803541425,1.04004259891,0.553922255845,0.0186024873697,1.03966598542
+377,6.283333333,pose2_to_pose3_retreat,0.583323833396,0.0099279170644,1.04004265973,0.553895624593,0.0186023741817,1.03966603739
+378,6.300000000,pose2_to_pose3_retreat,0.583302400793,0.00992785771005,1.04004256023,0.553874192776,0.0186023175017,1.03966593813
+379,6.316666667,pose2_to_pose3_retreat,0.583285631787,0.00992790912895,1.04004233373,0.553857422747,0.0186023658858,1.03966572167
+380,6.333333333,pose2_to_pose3_retreat,0.583272702663,0.00992790230199,1.04004214179,0.553844492044,0.0186023537453,1.03966553078
+381,6.350000000,pose2_to_pose3_retreat,0.583262850421,0.00992782851376,1.04004256297,0.55383464057,0.0186022821602,1.03966594233
+382,6.366666667,pose2_to_pose3_retreat,0.583255913621,0.00992789507012,1.0400424319,0.553827704354,0.0186023504945,1.03966580684
+383,6.383333333,pose2_to_pose3_retreat,0.58325132285,0.00992789117631,1.04004221381,0.553823113866,0.0186023479152,1.03966559713
+384,6.400000000,pose2_to_pose3_retreat,0.583248803537,0.00992785000691,1.04004214916,0.55382059445,0.0186023068024,1.03966554185
+385,6.416666667,pose2_to_pose3_retreat,0.583247389487,0.00992794593671,1.04004251651,0.553819178985,0.0186023974357,1.03966589776
+386,6.433333333,pose2_to_pose3_retreat,0.583246618135,0.0099279590563,1.04004264247,0.553818407396,0.0186024095185,1.03966601841
+387,6.450000000,pose2_to_pose3_retreat,0.583246250526,0.00992791245596,1.04004260216,0.553818040393,0.0186023649211,1.03966597684
+388,6.466666667,pose2_to_pose3_retreat,0.583246077205,0.00992789048478,1.04004258316,0.553817867358,0.0186023438943,1.03966595724
+389,6.483333333,pose2_to_pose3_retreat,0.583246060851,0.0099278884116,1.04004258137,0.553817851031,0.0186023419102,1.03966595539
+390,6.500000000,pose2_to_pose3_retreat,0.583246045146,0.0099278864208,1.04004257965,0.553817835352,0.018602340005,1.03966595362
+391,6.516666667,pose2_to_pose3_retreat,0.583246039722,0.00992788573319,1.04004257905,0.553817829937,0.0186023393469,1.039665953
+392,6.533333333,pose2_to_pose3_retreat,0.583246025525,0.00992788393346,1.0400425775,0.553817815763,0.0186023376245,1.0396659514
+393,6.550000000,pose2_to_pose3_retreat,0.583246022331,0.00992788352856,1.04004257715,0.553817812574,0.018602337237,1.03966595104
+394,6.566666667,pose2_to_pose3_retreat,0.583245937175,0.00992787273376,1.04004256781,0.553817727559,0.0186023269062,1.03966594141
+395,6.583333333,pose2_to_pose3_retreat,0.58324593133,0.00992787199282,1.04004256717,0.553817721724,0.0186023261971,1.03966594075
+396,6.600000000,pose2_to_pose3_retreat,0.583245785408,0.00992788059598,1.04004251012,0.553817575806,0.0186023349368,1.03966588649
+397,6.616666667,pose2_to_pose3_retreat,0.583245721416,0.0099278849925,1.04004248415,0.55381751181,0.0186023393781,1.03966586183
+398,6.633333333,pose2_to_pose3_retreat,0.583245703149,0.0099278862475,1.04004247674,0.553817493543,0.0186023406458,1.03966585479
+399,6.650000000,pose2_to_pose3_retreat,0.583245655741,0.00992788950459,1.0400424575,0.553817446132,0.018602343936,1.03966583653
+400,6.666666667,pose2_to_pose3_retreat,0.583245619483,0.00992789199564,1.04004244279,0.553817409873,0.0186023464524,1.03966582255
+401,6.683333333,pose2_to_pose3_retreat,0.583245529651,0.00992789816744,1.04004240634,0.553817320036,0.018602352687,1.03966578793
+402,6.700000000,pose2_to_pose3_retreat,0.583245475528,0.00992793331245,1.04004239576,0.553817265601,0.0186023868371,1.03966577877
+403,6.716666667,pose2_to_pose3_retreat,0.583245423454,0.00992799130118,1.04004239434,0.55381721299,0.0186024430743,1.03966577894
+404,6.733333333,pose2_to_pose3_retreat,0.583245406998,0.00992800962737,1.04004239389,0.553817196364,0.0186024608469,1.03966577899
+405,6.750000000,pose2_to_pose3_retreat,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812393,1.03966577906
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99a01c3fcfa50e5ebed3bd97f679e0a5b3f70896
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28a8874db5b9e7d1910c14a4ecea9c89cc1d8e0c5ef2e46b7edd450865d41fca
+size 25728410
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..609d60aa795182d3d69f3a80105a8f7d0988b406
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+24,0.400000000,BASELINE,765,745,715,678.942195402,663,634,877,785.942195402,808.942195402,653,628.942195402,652,0.40098299762,0.00455655766355,0.049848168859,0.999999962916,7.28281063772e-05,-0.000260542162973,-3.13258746116e-05,1793247773388877056
+25,0.416666667,BASELINE,765,745,715,679,663,633.471500178,877,785.471500178,809.528499822,653,629,652.528499822,0.400983488115,0.00455687902113,0.0498480791448,0.999999962881,7.4061459925e-05,-0.000260353546065,-3.11243866543e-05,1793247773405543424
+26,0.433333333,BASELINE,765,745,715,679,663,633.114977563,877,785.114977563,809.885022437,653,629,653,0.400983860436,0.00455734917417,0.0498479283935,0.999999962785,7.5518331172e-05,-0.000260326743658,-3.09439575679e-05,1793247773422209792
+27,0.450000000,BASELINE,765,745,715,679,663,633.696186794,877,785.696186794,809.303813206,653,629,653,0.400983695445,0.00455766243399,0.0498478776318,0.999999962598,7.66319862491e-05,-0.000260704734662,-3.10701862632e-05,1793247773438876416
+28,0.466666667,BASELINE,765,745,715,678.725222728,663,634,877,786,809,653,629,652.725222728,0.400982640967,0.00455850917947,0.0498471513246,0.999999962182,7.78798495072e-05,-0.000261913094691,-3.11851175177e-05,1793247773455543040
+29,0.483333333,BASELINE,765,745,715,678.149500429,663,634,877,786,809,653,629,652.149500429,0.400980612292,0.00455994021581,0.0498456851377,0.999999961512,7.92747018732e-05,-0.00026403090192,-3.12876754387e-05,1793247773472209664
+30,0.500000000,BASELINE,765,745,715,678.425888774,663,634,876.574111226,786,809,653,629,652,0.400981790231,0.00455871339426,0.0498463004003,0.999999962085,7.77624571855e-05,-0.000262337641585,-3.10122110379e-05,1793247773488876544
+31,0.516666667,BASELINE,765,745,715,679,663,634,876.001193801,785.998806199,809,653,629,652,0.400984088851,0.00455655950949,0.0498476452508,0.99999996308,7.52346794953e-05,-0.000259311603361,-3.06054292056e-05,1793247773505543168
+32,0.533333333,BASELINE,765,745,715,679,663,634,876.592652787,785.407347213,809,653,629,652,0.40098437926,0.0045569766156,0.0498487449681,0.999999963383,7.4760040898e-05,-0.00025825433003,-3.08298749847e-05,1793247773522210048
+33,0.550000000,BASELINE,765,745,715,679,663,634,877,785.179703445,809,653,629,652,0.400984428763,0.00455740080121,0.0498492637677,0.999999963421,7.5111129393e-05,-0.000257981146509,-3.10156593914e-05,1793247773538876416
+34,0.566666667,BASELINE,765,745,715,679,663,634,877,785.7570006,809,653,629,652,0.400983945257,0.00455784065017,0.0498484972873,0.999999962874,7.72891384009e-05,-0.000259442761132,-3.11159055168e-05,1793247773555543040
+35,0.583333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.40098323094,0.00455832114635,0.0498477811756,0.999999962535,7.73860348669e-05,-0.000260716030624,-3.11219136593e-05,1793247773572209664
+36,0.600000000,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400982348847,0.00455883118885,0.0498471016767,0.999999962349,7.59701806722e-05,-0.000261852393081,-3.10594206672e-05,1793247773588876544
+37,0.616666667,BASELINE,765,745,715,679,663,634,876.506433632,785.506433632,809,653,628.506433632,652,0.400982002034,0.00455867568422,0.0498469161797,0.999999962121,7.76353456879e-05,-0.000262257319705,-3.08643517294e-05,1793247773605543168
+38,0.633333333,BASELINE,765,745,715,678.921678926,663,634,876.078321074,785,809,653,628.078321074,652,0.4009818252,0.00455848687094,0.0498468908145,0.999999961973,7.94181614586e-05,-0.000262300492292,-3.07372197038e-05,1793247773622210048
+39,0.650000000,BASELINE,765,745,715,678.339004099,663,634,876.660995901,785,809,653,628.660995901,652,0.400982103855,0.0045588781942,0.049847306815,0.999999962418,7.8280015669e-05,-0.000260887423593,-3.12058608609e-05,1793247773638876672
+40,0.666666667,BASELINE,765,745,715,678.241254539,663,634,877,785,809,653,629,652,0.400981902836,0.00455882077977,0.0498470196785,0.999999962561,7.69565570623e-05,-0.000260717943664,-3.13425386315e-05,1793247773655543296
+41,0.683333333,BASELINE,765,745,715,678.818151651,663,634,877,785,809,653,629,652,0.400981034474,0.00455813906422,0.0498457543109,0.999999962283,7.53752842222e-05,-0.000262278592231,-3.10173761741e-05,1793247773672209920
+42,0.700000000,BASELINE,765,745,715,679,663,634,877.39336903,785.39336903,809.39336903,652.60663097,629,652.39336903,0.40098179762,0.00455810771622,0.0498464242961,0.999999962492,7.57181449279e-05,-0.000261366540177,-3.11571316442e-05,1793247773688876544
+43,0.716666667,BASELINE,765,745,715,679,663,634,877.967813182,785.967813182,809.967813182,652.032186818,629,652.967813182,0.40098331178,0.00455837574459,0.0498479851603,0.999999962921,7.69467203336e-05,-0.000259316257737,-3.15108975401e-05,1793247773705543424
+44,0.733333333,BASELINE,765,745.55751064,715,679,663,634,877.44248936,786,809.44248936,652.55751064,629,652.44248936,0.400983553201,0.00455716692846,0.0498485847815,0.999999963371,7.5916814464e-05,-0.00025792931406,-3.11108472578e-05,1793247773722210048
+45,0.750000000,BASELINE,764.855038348,745.855038348,715,679,663,634,877,786,809,653,629,652,0.40098311175,0.00455615974298,0.0498485554672,0.999999963539,7.45362536776e-05,-0.000257720860827,-3.07614492989e-05,1793247773738876672
+46,0.766666667,BASELINE,764.277003568,745.277003568,715,679,663,634,877,786,809,653,629,652,0.400980855911,0.00455601681753,0.0498468176638,0.999999962862,7.25086061775e-05,-0.000260915520173,-3.06970490678e-05,1793247773755543296
+47,0.783333333,BASELINE,764.298478688,745,715,679,663,634,877.298478688,785.701521312,809,653,629,652,0.400981594411,0.00455656879147,0.0498472266062,0.999999962943,7.34080802609e-05,-0.000260356955417,-3.0643133182e-05,1793247773772209920
+48,0.800000000,BASELINE,764.871612222,745,715,679,663,634,877.871612222,785.128387778,809,653,629,652,0.400985088248,0.00455776019961,0.049849610946,0.999999963711,7.70010399736e-05,-0.000256344740136,-3.05988647987e-05,1793247773788876544
+49,0.816666667,BASELINE,765,745,715,679,663,634,877.556481002,785.443518998,809,652.556481002,629,652,0.400984553325,0.00455771308329,0.0498493659234,0.99999996357,7.69110453928e-05,-0.000256906119928,-3.07285597576e-05,1793247773805543168
+50,0.833333333,BASELINE,765,745,715,679,663,634,877,785.984206733,809,652.015793267,629,652,0.400982876462,0.00455730391619,0.0498483785049,0.999999963171,7.57244683477e-05,-0.000258783347483,-3.09125372926e-05,1793247773822210048
+51,0.850000000,BASELINE,765,745,715,679,663,634,877,785.385286809,809,652.614713191,629,652,0.400981977507,0.00455672794998,0.0498480054736,0.999999962896,7.33047132672e-05,-0.000260496533212,-3.12465459377e-05,1793247773838876672
+52,0.866666667,BASELINE,765,745,715,679,663,634,877,785.205213002,809,653,629,652,0.400981426216,0.0045571121737,0.0498476840805,0.999999962677,7.34432129465e-05,-0.000261275362559,-3.14362251695e-05,1793247773855543296
+53,0.883333333,BASELINE,765,745,715,679,663,634,877,785.780527124,809,653,629,652,0.400981501938,0.00455922809754,0.049847455817,0.999999962555,7.81955186279e-05,-0.000260369082484,-3.13656066569e-05,1793247773872210176
+54,0.900000000,BASELINE,765,745,715,679,663.355480065,633.644519935,877,786,808.644519935,653,629,652,0.400982178077,0.00455888731317,0.0498478000582,0.99999996279,7.81477912869e-05,-0.000259508356885,-3.11023057391e-05,1793247773888876544
+55,0.916666667,BASELINE,765,745,715,679,663.93021022,633.06978978,877,786,808.06978978,653,629,652,0.400983224538,0.00455703130031,0.0498484974042,0.999999963249,7.51395386287e-05,-0.00025867572804,-3.07201637446e-05,1793247773905543168
+56,0.933333333,BASELINE,765,745,715,679,663.480029047,633.519970953,876.480029047,785.480029047,808.519970953,653,629,652,0.400983020792,0.00455665212916,0.0498483495664,0.99999996327,7.38693043353e-05,-0.000258950950047,-3.07950162894e-05,1793247773922210048
+57,0.950000000,BASELINE,765,745,715,679,663,634,876.109047254,785.109047254,809,653,629,652,0.400982763636,0.00455657936205,0.0498481826488,0.999999963266,7.30626220556e-05,-0.000259176016037,-3.09359989723e-05,1793247773938876416
+58,0.966666667,BASELINE,765,745,715,679,663,634,876.686265894,785.686265894,809,653,629,652,0.400983019035,0.00455694572964,0.0498484353416,0.999999963418,7.32147762598e-05,-0.000258528357516,-3.10897204004e-05,1793247773955543040
+59,0.983333333,BASELINE,764.73737995,745,715,679,663,634,877,786,809,653,629,652.26262005,0.400983288387,0.0045575556742,0.0498484671376,0.99999996343,7.39103516514e-05,-0.000258276728504,-3.11627324765e-05,1793247773972209920
+60,1.000000000,BASELINE,764.16205507,745,715,679,663,634,877,786,809,653,629,652.83794493,0.400983574353,0.0045584556488,0.0498482359093,0.999999963273,7.5252985161e-05,-0.000258496656472,-3.11396429837e-05,1793247773988876800
+61,1.016666667,BASELINE,764.412675239,745,714.587324761,679,663,634,877,786,809,653,629,652.587324761,0.400983867678,0.00455656548581,0.0498489191805,0.999999963574,7.37364880085e-05,-0.000257793602953,-3.09454904713e-05,1793247774005543424
+62,1.033333333,BASELINE,764.987172363,745,714.012827637,679,663,634,877,786,809,653,629,652.012827637,0.40098416389,0.00455358122918,0.0498499610534,0.999999964047,7.10988430212e-05,-0.000256728621707,-3.06842592069e-05,1793247774022210048
+63,1.050000000,BASELINE,765,745,714.580954319,679,663,633.419045681,877,786,809,653,629,652,0.40098155175,0.00455430904981,0.0498476553142,0.999999963128,7.12176096993e-05,-0.000260220650325,-3.09253850017e-05,1793247774038876416
+64,1.066666667,BASELINE,765,745,715,679.170215104,663,633.170215104,877,786,809,653,629,652,0.40098008913,0.00455532804241,0.0498462398925,0.999999962504,7.22875691702e-05,-0.000262303738169,-3.10521817755e-05,1793247774055543296
+65,1.083333333,BASELINE,765,745,715,679.747607042,663,633.747607042,877,786,809,653,629,652,0.400981535199,0.00455684075654,0.0498471371151,0.999999962675,7.54823168804e-05,-0.000260767494179,-3.08780435315e-05,1793247774072209664
+66,1.100000000,BASELINE,764.6773797,745,715,679.6773797,663,634,877,786,809,653,629,652,0.400981892167,0.00455607398843,0.0498475761819,0.999999962896,7.47241959275e-05,-0.00026015526472,-3.07246761863e-05,1793247774088876288
+67,1.116666667,BASELINE,764.104213743,745,715,679.104213743,663,634,877,786,809,653,629,652,0.400981403343,0.0045535369833,0.0498476594466,0.999999963151,7.08962925604e-05,-0.000260260621384,-3.05874394473e-05,1793247774105543168
+68,1.133333333,BASELINE,764.480215764,745,715,679,663.480215764,634,877,785.519784236,809,653,628.519784236,652,0.400981345361,0.0045565866031,0.0498479599783,0.999999962969,7.34287330026e-05,-0.000260220676614,-3.0902922104e-05,1793247774122209792
+69,1.150000000,BASELINE,765,745,715,679,663.933381739,634,877,785.066618261,809,653,628.066618261,652,0.400981448558,0.00456028638362,0.0498482330658,0.999999962722,7.69344451481e-05,-0.000260114155458,-3.1268673012e-05,1793247774138876416
+70,1.166666667,BASELINE,765,745,715,679,663.351082772,634,877,785.648917228,809,653,628.648917228,652,0.400982058261,0.00455940872203,0.0498479199663,0.999999962812,7.70328962622e-05,-0.000259742228237,-3.12447647692e-05,1793247774155543040
+71,1.183333333,BASELINE,765,745,715,679,663,634,877,786,809,653,628.77163077,652,0.40098208806,0.00455809580626,0.049847732996,0.999999962922,7.58604293163e-05,-0.000259679902889,-3.11004389149e-05,1793247774172209664
+72,1.200000000,BASELINE,765,745,715,679,663,634,877,786,809,653,628.196501563,652,0.40098123732,0.00455612199255,0.0498477375427,0.999999963057,7.27581773692e-05,-0.000260087682572,-3.07732687735e-05,1793247774188876544
+73,1.216666667,BASELINE,765,745,715,679,663,634,877,785.622173914,809,653,628.377826086,652,0.400982391075,0.00455700870415,0.0498485643151,0.999999963297,7.37667139885e-05,-0.000258870030891,-3.08237499565e-05,1793247774205543680
+74,1.233333333,BASELINE,765,745,715,679,663,634,877,785.048262296,809,653,628.951737704,652,0.40098458513,0.00455937998152,0.0498498178093,0.999999963584,7.69086825351e-05,-0.000256808807004,-3.10702259928e-05,1793247774222211328
+75,1.250000000,BASELINE,765,745,715,679,663,634,877.539720575,785.539720575,809,653,629,652,0.400983485716,0.00455824243211,0.0498491207172,0.999999963383,7.62942194696e-05,-0.000257791707648,-3.09289245415e-05,1793247774238877696
+76,1.266666667,BASELINE,765,745,715,679,663,634,877.745684003,785.872842001,809,653,629,652,0.400982849799,0.0045570949843,0.0498486274472,0.999999963292,7.56149123532e-05,-0.000258363279853,-3.07658277543e-05,1793247774255544064
+77,1.283333333,BASELINE,765,745,715,679,663,634,876.583921525,785.291960762,809,653,629,652,0.400984946699,0.0045570617494,0.0498495004871,0.999999963759,7.593488012e-05,-0.000256469865744,-3.06520015725e-05,1793247774272210688
+78,1.300000000,BASELINE,765,745,715,679,663,634,876.57184702,785,809,653,629,652,0.400984973131,0.00455691954938,0.0498493027494,0.999999963682,7.6087364664e-05,-0.000256743301577,-3.0495150753e-05,1793247774288877312
+79,1.316666667,BASELINE,765,745,715,679,663,634,877.72155849,785,809,653,629,652,0.400982907308,0.00455666723765,0.0498480229664,0.999999963054,7.60706035742e-05,-0.000259206388784,-3.02948225635e-05,1793247774305544448
+80,1.333333333,BASELINE,765,745,715,679,663,634,877.55794938,785,809,653,629,652,0.400982373785,0.00455614937791,0.0498475730132,0.999999962995,7.46580619835e-05,-0.000259826653783,-3.04244807792e-05,1793247774322211072
+81,1.350000000,BASELINE,765,745.025449753,715,679,663,634,877.025449753,785.025449753,809,652.974550247,629,652,0.400982365756,0.00455563580396,0.0498474421902,0.999999963131,7.29745393531e-05,-0.000259755523397,-3.06569042607e-05,1793247774338877952
+82,1.366666667,BASELINE,765,745.610550797,715,679,663,634,877.610550797,785.610550797,809,652.389449203,629,652,0.400983144972,0.00455708267739,0.0498484973606,0.999999963566,7.51411983333e-05,-0.000257431163849,-3.08301248955e-05,1793247774355544320
+83,1.383333333,BASELINE,765,745.807394934,715,679,663,634,877.807394934,786,809,652.192605066,629,652,0.400983530412,0.004557964612,0.0498490747803,0.999999963741,7.63038349933e-05,-0.000256395215756,-3.09405369211e-05,1793247774372210688
+84,1.400000000,BASELINE,765,745.23140523,715,679,663,634,877.23140523,786,809,652.76859477,629,652,0.400983132033,0.00455772202366,0.0498487012269,0.999999963412,7.54679434475e-05,-0.000257923878699,-3.09259270548e-05,1793247774388877056
+85,1.416666667,BASELINE,765,745,715,678.656672453,663,634,877.343327547,786,809.343327547,653,629,652,0.400982968927,0.00455730006202,0.0498485122589,0.999999963463,7.4032798931e-05,-0.000258123649085,-3.10618842056e-05,1793247774405543936
+86,1.433333333,BASELINE,765,745,715,678.082783798,663,634,877.917216202,786,809.917216202,653,629,652,0.400982963818,0.00455675764251,0.049848447249,0.999999963769,7.2195227016e-05,-0.000257431003542,-3.12989544154e-05,1793247774422210816
+87,1.450000000,BASELINE,765,745,715,678.505904894,663,634,877.494095106,786,809.494095106,653,629,652,0.400981848079,0.00455601558059,0.049847720533,0.999999963294,7.36361214632e-05,-0.000258920660541,-3.08204598708e-05,1793247774438877696
+88,1.466666667,BASELINE,765,745,715,679,663,634,877,786,809,652.90476419,629,652,0.40098093359,0.00455539006467,0.0498471681521,0.999999962872,7.51304206273e-05,-0.000260174590022,-3.03336432681e-05,1793247774455544576
+89,1.483333333,BASELINE,765,745,715,679,663,634,877,786,809,652.324861217,629,652,0.400981996044,0.00455552893072,0.0498480706333,0.999999963419,7.40840509048e-05,-0.000258356770657,-3.0418326227e-05,1793247774472210944
+90,1.500000000,BASELINE,765,745,715,679,663,634,877.252548826,785.747451174,809,652.252548826,628.747451174,652,0.400982292634,0.0045558472706,0.0498483246516,0.999999963511,7.36410888276e-05,-0.000258112600974,-3.05419307411e-05,1793247774488877568
+91,1.516666667,BASELINE,765,745,715,679,663,634,877.826783441,785.173216559,809,652.826783441,628.173216559,652,0.400981613701,0.00455639421651,0.0498477526856,0.999999963026,7.39667214301e-05,-0.000259872878437,-3.0715111845e-05,1793247774505543936
+92,1.533333333,BASELINE,765,745,715,678.589559369,663,634,877.589559369,785,809,653,628.410440631,652,0.400981922913,0.00455682962309,0.0498481581574,0.999999963092,7.46507191069e-05,-0.00025941846716,-3.07315609944e-05,1793247774522210560
+93,1.550000000,BASELINE,765,745,715,678.001832122,663,634,877.001832122,785,809,653,628.998167878,652,0.400982658947,0.00455721685117,0.0498489858259,0.999999963396,7.54895097985e-05,-0.000258007438582,-3.06803110185e-05,1793247774538876928
+94,1.566666667,BASELINE,765,745,715,678,663,634,877,785.576581721,809,653,628.423418279,652,0.400983976488,0.00455626564507,0.0498490586883,0.999999963847,7.39775738443e-05,-0.000256715836043,-3.04940571582e-05,1793247774555543808
+95,1.583333333,BASELINE,765,745,715,678.154953695,663,634,876.845046305,786,809,653,628.154953695,652,0.400984317345,0.00455568259906,0.0498489524883,0.999999964006,7.28684498783e-05,-0.000256420913899,-3.04251424478e-05,1793247774572210432
+96,1.600000000,BASELINE,765,745,715,678.733290969,663,634,876.266709031,786,809,653,628.733290969,652,0.40098198462,0.00455611692092,0.0498483634809,0.999999963372,7.28800229833e-05,-0.000258848224081,-3.06779896685e-05,1793247774588877568
+97,1.616666667,BASELINE,765,745,715,678.691754925,663,634,876,786,808.691754925,653,629,652,0.400981954793,0.00455731100018,0.0498487824258,0.999999963239,7.4684461549e-05,-0.000258818813474,-3.09339476627e-05,1793247774605544448
+98,1.633333333,BASELINE,765,745,715,678.11969636,663,634,876,786,808.11969636,653,629,652,0.400983895914,0.00455915532255,0.0498500640331,0.999999963526,7.80233353189e-05,-0.000256686802744,-3.11925680165e-05,1793247774622211328
+99,1.650000000,BASELINE,765,745,715,678.467967625,663,634,876.467967625,786,808.467967625,653,629,652,0.400982824822,0.00455811562858,0.0498485259544,0.999999963065,7.59553758068e-05,-0.000259106271123,-3.10486661793e-05,1793247774638877440
+100,1.666666667,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400981325698,0.00455661162687,0.0498466395904,0.999999962509,7.30795565328e-05,-0.000262088433958,-3.0828393837e-05,1793247774655543296
+101,1.683333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.40098311174,0.00455776785098,0.0498482948222,0.999999963021,7.57483700738e-05,-0.000259358272111,-3.08764311802e-05,1793247774672209920
+102,1.700000000,BASELINE,765,745,715,679,663,634,877,785.783714248,809,653,629,652,0.400984139083,0.00455830935482,0.0498491623902,0.999999963294,7.74997663634e-05,-0.000257796128924,-3.07646191179e-05,1793247774688876800
+103,1.716666667,BASELINE,765,745,715,679,663,634,877,785.208838467,809,653,629,652,0.400983908543,0.00455783168576,0.0498487240546,0.999999963191,7.77301344195e-05,-0.000258170497508,-3.038778542e-05,1793247774705543424
+104,1.733333333,BASELINE,765,745,714.626140744,679,663,634,877,785,809,653,629,652.373859256,0.400984059742,0.00455813889568,0.0498491184817,0.999999963437,7.71202590724e-05,-0.000257370042265,-3.06327149586e-05,1793247774722210304
+105,1.750000000,BASELINE,765,745,714.038980246,679,663,634,877,785,809,653,629,652.961019754,0.400984428739,0.00455889390954,0.0498499880323,0.99999996388,7.60309922137e-05,-0.000255899304383,-3.12323845643e-05,1793247774738877440
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,876,786,809,653,629,652,0.400981840346,0.00455722678881,0.0498482763412,0.999999962829,7.83096799464e-05,-0.000259436295981,-3.00410959044e-05,1793247774768752384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.423053607,745,715,679,663,634,876.576946393,786,809,652.423053607,629,652,0.400981798192,0.00455616950919,0.0498482462733,0.999999963245,7.47246598416e-05,-0.000258833233683,-3.05365677687e-05,1793247774785419520
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,652.153673431,629,652,0.400982132183,0.00455564701333,0.0498484705902,0.999999963571,7.26915896229e-05,-0.000258107478479,-3.08823894045e-05,1793247774802086400
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,652.72979759,629,652,0.400983500202,0.00455659464635,0.0498493942148,0.999999963682,7.49248537487e-05,-0.000257044438378,-3.08168202725e-05,1793247774818752512
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.3109016,785.6890984,809,653,629,652,0.40098408005,0.00455749755023,0.0498498062427,0.999999963703,7.59318543778e-05,-0.000256672503917,-3.0787298629e-05,1793247774835418880
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.89640398,785.10359602,809,653,629,652,0.400983963752,0.00455836094747,0.0498497664079,0.999999963647,7.58557697059e-05,-0.000256910981776,-3.07896155791e-05,1793247774852085248
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.520539771,785.479460229,809,653,629,652,0.400983023065,0.00455825561556,0.0498493066146,0.999999963387,7.56637458549e-05,-0.000257972675924,-3.08336898631e-05,1793247774868752384
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652.060984893,0.400981973659,0.00455787228348,0.0498487910638,0.999999963128,7.51963629983e-05,-0.00025910693932,-3.08734888941e-05,1793247774885419264
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652.634064336,0.400981499461,0.00455690324515,0.0498485653924,0.999999963253,7.26260558901e-05,-0.000259364560208,-3.08020109354e-05,1793247774902085632
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663.20729314,634,877,786,809,653,629,652.79270686,0.400983293591,0.00455591799776,0.0498490300663,0.99999996367,7.0965989398e-05,-0.000258228047953,-3.06968549158e-05,1793247774918752256
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663.780785739,634,877,786,809,653,629,652.219214261,0.400989094898,0.00455490411591,0.0498507142889,0.999999964602,7.0913934047e-05,-0.000254628691001,-3.05322039893e-05,1793247774935418880
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663.634411195,634,877,786,809,653,629,652,0.401006867651,0.00455585449451,0.0498572300579,0.999999967637,7.3234026583e-05,-0.000241735008414,-3.04601619597e-05,1793247774952084992
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663.042609574,634,877,786,809,653,629,652,0.401032047893,0.00455802028464,0.0498667354092,0.999999971686,7.70219163676e-05,-0.000223090340862,-3.04454228614e-05,1793247774968751360
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.401090196694,0.00455799855474,0.049886527821,0.999999979997,7.73516050759e-05,-0.000181929084083,-3.04182447647e-05,1793247774985417984
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.401152698705,0.00455732830899,0.0499060075969,0.999999986349,7.68884735837e-05,-0.000143121296974,-3.01149317803e-05,1793247775002084864
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.401222398313,0.00455473852885,0.0499210342096,0.999999989535,7.43225229998e-05,-0.000120752546295,-2.87084374986e-05,1793247775018752000
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663.268660138,634,876.731339862,786,809,653,629,652,0.401299289022,0.00455343840095,0.0499332388517,0.999999991845,7.17137610129e-05,-0.000101941753409,-2.78476456417e-05,1793247775035419136
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663.845580134,634,876.154419866,786,809,653,629,652,0.401384430777,0.0045536180164,0.0499422055718,0.999999993431,6.90558775221e-05,-8.72133522949e-05,-2.76129912484e-05,1793247775052085504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663.566257037,634,876.867485926,786,809,653,629,652,0.401479196523,0.00455334326446,0.0499447463593,0.999999993757,6.83097270958e-05,-8.4280563251e-05,-2.67772017717e-05,1793247775068752128
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663.025275839,634,877.974724161,786,809,653,629,652,0.401578440908,0.00455286263282,0.0499448461971,0.99999999367,6.81327376322e-05,-8.57695273858e-05,-2.57230756437e-05,1793247775085418496
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663.60072118,634,877.39927882,786,809,653,629,652,0.401698606557,0.00455151541422,0.0499429362965,0.999999993554,6.51356721009e-05,-8.96651555069e-05,-2.46988265155e-05,1793247775102084864
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663.823592761,634,877,786,809,653,629,652.176407239,0.401830705855,0.00454979961579,0.0499434289702,0.999999993712,6.24831300354e-05,-9.0102066555e-05,-2.35366248613e-05,1793247775118751488
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663.247361199,634,877,786,809,653,629,652.752638801,0.401989852572,0.00454724843695,0.0499493670421,0.9999999945,6.06114455724e-05,-8.26998474395e-05,-2.2061756045e-05,1793247775135418624
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,652.664315891,629,652.664315891,0.40216116764,0.00454512540408,0.0499501968878,0.999999994552,5.80702113849e-05,-8.42815187845e-05,-2.05198212431e-05,1793247775152085504
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,652.076145533,629,652.076145533,0.402341635202,0.00454332440277,0.0499471845596,0.999999994018,5.50253722883e-05,-9.26204612673e-05,-1.89274423157e-05,1793247775168752128
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809.502489943,652.502489943,629,652.502489943,0.402554126763,0.00454030610125,0.0499472492765,0.999999994115,5.07991413104e-05,-9.43409608103e-05,-1.70263652296e-05,1793247775185419008
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.079385311,663,634,877,786,809.920614689,653,629.079385311,652.920614689,0.402777812108,0.00453728195553,0.0499484120897,0.999999994405,4.62779564596e-05,-9.39168181562e-05,-1.50943610275e-05,1793247775202085632
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.654270273,663,634,877,786,809.345729727,653,629.654270273,652.345729727,0.403041640134,0.00453535126782,0.0499535726842,0.999999995352,4.10123607368e-05,-8.62499046582e-05,-1.32558616238e-05,1793247775218752000
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.764525312,663,634,876.764525312,786,809.235474688,653,629.764525312,652.235474688,0.403321795313,0.00453309026487,0.0499592555635,0.999999996415,3.63872180466e-05,-7.56323220184e-05,-1.12281073901e-05,1793247775235418368
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.173786686,663,634,876.173786686,786,809.826213314,653,629.173786686,652.826213314,0.403626583478,0.00453033091082,0.0499657264209,0.999999997591,3.27283360741e-05,-6.05630242334e-05,-8.91482186995e-06,1793247775252084736
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,876.40832456,785.59167544,809.59167544,653,629,652.59167544,0.403975239033,0.00452644254851,0.0499758518511,0.99999999881,2.77925506707e-05,-3.95532957066e-05,-6.50119614164e-06,1793247775268751616
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,876.986839876,785.013160124,809.013160124,653,629,652.013160124,0.404342178625,0.00452208361263,0.0499875005166,0.999999999614,2.23245486204e-05,-1.6067580299e-05,-4.04574840434e-06,1793247775285418240
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,785.565793347,809.565793347,653,629,652,0.404732792162,0.00451900974022,0.0499928578517,0.999999999809,1.91245218693e-05,-3.61265842947e-06,-1.55990196331e-06,1793247775302084864
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.143541607,663,634,877.143541607,786,809.856458393,653,629,652.143541607,0.405129275874,0.00451550769994,0.0499947503766,0.999999999894,1.44221335039e-05,1.68774617535e-06,9.9809958348e-07,1793247775318751488
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.717644071,663,634,877.717644071,786,809.282355929,653,629,652.717644071,0.40554171445,0.00451063162107,0.0499866892906,0.999999999886,5.05497469354e-06,-1.37020175185e-05,3.77041132136e-06,1793247775335418624
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.700833611,663,634,877.700833611,786,809.299166389,653,629,652.700833611,0.405959640445,0.00450570177397,0.0499723462568,0.999999999089,-2.59006556608e-06,-4.20485734429e-05,6.85282962926e-06,1793247775352085248
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.112130196,663,634,877.112130196,786,809.887869804,653,629,652.112130196,0.406382877282,0.00450071988871,0.0499519234732,0.999999996472,-8.56841875007e-06,-8.29348790259e-05,1.02353733298e-05,1793247775368752128
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.468869454,745.468869454,715,679,663,634,877,785.531130546,809.531130546,653,629,652.468869454,0.406874686893,0.00449561133899,0.0499363092669,0.999999993939,-1.42498349711e-05,-0.000108360592586,1.32850573944e-05,1793247775385418496
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.952213578,745.952213578,715,679,663,634,877.047786422,785,809.047786422,652.952213578,629,653,0.407388067569,0.0044905339999,0.0499242883732,0.99999999177,-1.96006972224e-05,-0.000125734466896,1.63267611844e-05,1793247775402084864
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.376281476,745.376281476,715,679,663,634,877.623718524,785,809.623718524,652.376281476,629,653,0.407961539142,0.00448613098351,0.0499394772409,0.999999995105,-2.20703693477e-05,-9.43216295382e-05,2.01458396648e-05,1793247775418751488
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,878,785,810,652.199147365,629,653,0.40855645298,0.0044801649305,0.0499601034437,0.999999997847,-2.59565562309e-05,-5.51193779171e-05,2.43706946451e-05,1793247775435418368
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,878,785,810,652.773627678,629,653,0.409191779008,0.00447125302333,0.0499909773886,0.99999999904,-3.25124476605e-05,-1.2364227261e-06,2.93603161645e-05,1793247775452085248
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.357151105,745.357151105,715,679,663,634,877.642848895,785,810,653,629,652.642848895,0.409817319938,0.00446432222429,0.0500042858748,0.999999999175,1.40891052857e-05,1.82419563092e-05,3.34396061804e-05,1793247775468752128
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.946555185,745.946555185,715,679,663,634,877.053444815,785,810,653,629,652.053444815,0.41043649766,0.00445867972697,0.0500061716592,0.999999994663,9.52585891189e-05,1.5347267292e-05,3.69269133768e-05,1793247775485419008
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.472265064,715,679,663,634,877.527734936,785,810,652.472265064,629,652.527734936,0.411070917101,0.00445213720633,0.049977147572,0.999999994234,8.69869483251e-05,-4.7900059562e-05,4.08834888934e-05,1793247775502085888
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.107398205,634,878,785.107398205,810.107398205,652.107398205,629,653,0.411721806217,0.00444506459737,0.0499500557415,0.999999992248,5.51931770619e-05,-0.000103815658454,4.09930600892e-05,1793247775518752256
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.684018878,634,878,785.684018878,810.684018878,652.684018878,629,653,0.412438010785,0.00443606814714,0.0499448723838,0.999999993752,-4.04020854754e-05,-0.000101405230121,2.40906338318e-05,1793247775535418368
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,878.264563674,785.735436326,811,653,629,653,0.413180979798,0.00442740151519,0.0499546770886,0.99999999286,-9.05937745593e-05,-7.59874070158e-05,1.7264489414e-05,1793247775552084992
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,664,634,878.849865879,785.150134121,811,653,629,653,0.41395639625,0.0044191347307,0.0499826522734,0.99999999581,-8.57413533283e-05,-2.26770247712e-05,2.26541236912e-05,1793247775568751616
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.569432294,745,715,679.430567706,664,634,879,785.430567706,811,653,629.430567706,653,0.414718334139,0.00441917855007,0.049975936999,0.999999996678,-6.89087940757e-05,-3.40965992318e-05,2.70833135025e-05,1793247775585418240
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.009660379,745,715,680,664,634,879,786,811,653,630,653,0.415476606546,0.00442244232304,0.0499572579909,0.999999996073,-4.79255903496e-05,-6.77507407216e-05,3.10934881923e-05,1793247775602084864
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.587460519,745,715,680,664,634,879,786,811,653,630,653,0.416292790593,0.00444645319487,0.0499388473919,0.999999994639,-2.59151341119e-05,-9.56746358075e-05,2.99483197229e-05,1793247775618751488
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.837157897,745,715,679.837157897,664,633.837157897,879,785.837157897,811,653,629.837157897,653,0.417120197009,0.00446437067056,0.0499338130899,0.999999994434,-6.58059889394e-06,-0.000101301031805,2.87465552383e-05,1793247775635418368
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.267813779,745,715,679.267813779,664,633.267813779,879,785.267813779,811,653,629.267813779,653,0.417975617726,0.00446707722725,0.0499621699798,0.999999998292,6.07404526222e-06,-5.12662787625e-05,2.74035104728e-05,1793247775652084992
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679.31481828,664,633.31481828,879,785.31481828,811,652.68518172,629.31481828,653,0.41881741738,0.00446511584209,0.0499760433522,0.999999999041,4.73736342391e-06,-3.38402824724e-05,2.73873570871e-05,1793247775668751872
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.909252415,664,633.909252415,879,785.909252415,811,652.090747585,629.909252415,653,0.419647119009,0.00445900847597,0.0499770527269,0.999999998522,-9.02615968769e-06,-4.5376792027e-05,2.85497245405e-05,1793247775685418496
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.510056332,664,633.510056332,879,785.510056332,811.489943668,652.489943668,630,653,0.420530528256,0.00445798320307,0.0499685878664,0.999999998547,-1.47553835518e-05,-4.39178892726e-05,2.75648605806e-05,1793247775702085120
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679,664,633,879,785,812,652.931911528,629.931911528,653,0.42143205774,0.00445757297824,0.0499624592162,0.999999998865,-1.80942494345e-05,-3.5240656128e-05,2.64619064726e-05,1793247775718751488
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,664,633,879,785,812,652.354294155,629.354294155,653,0.422396775347,0.00445491343995,0.049986586842,0.999999999473,-1.4377493736e-05,9.93271987952e-06,2.73702464522e-05,1793247775735418368
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.221162011,745,715,679.221162011,664,633,879,785,812,652,629.221162011,652.778837989,0.423330902755,0.00445544316405,0.0499964003373,0.999999999163,-1.24382157388e-05,2.68110464431e-05,2.82832159385e-05,1793247775752084992
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.793189589,745,715,679.793189589,664,633,879,785,812,652,629.793189589,652.206810411,0.424216500065,0.0044610325377,0.0499835049839,0.999999999484,-1.33188415595e-05,-1.19969698106e-06,2.9203530168e-05,1793247775768751872
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.621743787,745,715,680,664,633,879,785,811.621743787,652.378256213,630,652.378256213,0.425125544018,0.00446530448526,0.0499837763751,0.999999999478,-1.35105396068e-05,-1.14674317835e-06,2.93305562185e-05,1793247775785418240
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.029293617,745,715,680,664,633,879,785,811.029293617,652.970706383,630,652.970706383,0.426047864975,0.00446883041776,0.0499915036582,0.999999999381,-1.33121206366e-05,1.4797753961e-05,2.90083694117e-05,1793247775802084864
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,785,811.550204418,652.449795582,630,653,0.426973421049,0.00446036034745,0.0499998153826,0.999999999457,1.71830362583e-06,7.37408342345e-06,3.20614901352e-05,1793247775818751744
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,785,812,652,630.128635818,653,0.427893009898,0.00445330614021,0.0499969321326,0.99999999925,1.11251057818e-05,-1.38913311758e-05,3.44083249748e-05,1793247775835418368
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,785,812,652,630.705697517,653,0.428791210262,0.00445336289769,0.0499549171008,0.999999996297,-1.76160747623e-06,-7.91718394495e-05,3.36809905235e-05,1793247775852084992
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.281491456,633,879,785,812.281491456,652,630.718508544,653,0.429721248346,0.00445489107619,0.0499396770979,0.999999994955,-1.21062595642e-05,-9.42279149105e-05,3.26284944671e-05,1793247775868751616
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.855965843,633,879,785,812.855965843,652,630.144034157,653,0.430684423822,0.00445795074431,0.0499523051777,0.999999997691,-1.98050737693e-05,-5.70092150037e-05,3.1237562687e-05,1793247775885418240
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.442668763,665,633,879,785,813,652,630,653.442668763,0.431579691651,0.00446108339187,0.0499460090619,0.999999996789,-1.50696820987e-05,-7.1916647803e-05,3.19737619758e-05,1793247775902085376
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.967272316,664.967272316,633,879.032727684,785,813,652,630,653.967272316,0.432455771399,0.00446374424116,0.0499345868017,0.999999994324,-6.34160970687e-06,-0.000100985506835,3.3369857551e-05,1793247775918752256
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.389470774,664.389470774,633,879.610529226,785,813,652,630,653.389470774,0.433390728363,0.00445814065053,0.0499432549511,0.999999996582,-4.12565831058e-07,-7.54090050369e-05,3.39018070284e-05,1793247775935418880
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879.812639068,784.812639068,813,652,630,653,0.434324452863,0.00445293956917,0.0499571119008,0.999999998234,-3.2834281009e-06,-4.82664309347e-05,3.45247696569e-05,1793247775952085504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879.237812895,784.237812895,813,652,630,653,0.435255628781,0.00444857088202,0.0499816993694,0.999999998919,-2.43526283618e-05,-1.78851909336e-05,3.53359489664e-05,1793247775968751872
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,784.345521068,813.345521068,652,630.345521068,653,0.43610834562,0.00444936924913,0.0499733484728,0.999999997571,-3.32248735345e-05,-4.89907084758e-05,3.6784384766e-05,1793247775985418240
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,784.934858503,813.934858503,652,630.934858503,653,0.436905697885,0.00445381373976,0.0499417546719,0.999999991067,-3.3490356207e-05,-0.000123484256059,3.86824993644e-05,1793247776002084864
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715.515347719,680.515347719,664,633,879,785,814,652.515347719,631,653,0.437795243199,0.00445932555622,0.0499538021656,0.999999995717,-1.47196569079e-05,-8.34224289989e-05,3.72749307001e-05,1793247776018751488
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715.906045111,680.906045111,664.093954889,633,879.093954889,784.906045111,814,652.906045111,631,653,0.438685641358,0.00446361872104,0.0499695762281,0.999999998657,4.47838058752e-06,-3.71240627412e-05,3.58800826896e-05,1793247776035418368
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715.331440932,680.331440932,664.668559068,633,879.668559068,784.331440932,814,652.331440932,631,653,0.439521792513,0.0044609990427,0.0499766703689,0.99999999873,1.37606906842e-05,-3.17474897975e-05,3.66518342714e-05,1793247776052085248
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.243674372,664.756325628,633,879.756325628,784,814,652,630.756325628,653,0.440344408211,0.004455771353,0.0499738542766,0.999999998592,7.01352074342e-06,-3.77043836998e-05,3.66746745873e-05,1793247776068752128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680.819486312,664.180513688,633,879.180513688,784,814,652,630.180513688,653,0.441148574491,0.00444698884342,0.0499575301537,0.999999997384,-2.15824495292e-05,-5.91092304691e-05,3.56767198698e-05,1793247776085418752
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,879.405984373,784,814,652,630.405984373,653,0.441938514839,0.00444134986164,0.0499663651268,0.999999997906,-3.58167769637e-05,-4.05362149705e-05,3.55206559418e-05,1793247776102085376
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,879.997362324,784,814,652,630.997362324,653,0.442721958956,0.00443714637737,0.04998668905,0.999999998408,-4.34928338891e-05,-3.70723041126e-06,3.57490430137e-05,1793247776118752000
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.576753634,745,715,681,664.576753634,633,879.423246366,784,814,652,631,653,0.443451326392,0.00443967971246,0.0499949228361,0.999999999085,-1.94675762659e-05,4.72624901095e-06,3.77983011913e-05,1793247776135418624
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.845460049,745,715,681,664.845460049,633,879,784,814.154539951,652,631,653,0.444156758271,0.00444424362362,0.0499891862981,0.99999999918,-4.72907141325e-07,-9.66604556757e-06,3.93139854845e-05,1793247776152084992
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.271879977,745,715,681,664.271879977,633,879,784,814.728120023,652,631,653,0.444797945203,0.00445423166832,0.049945715646,0.999999995551,4.49604804359e-06,-8.56062148427e-05,3.93607468125e-05,1793247776168752128
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.309229434,633,879,784,815,652,631.309229434,653,0.445467456397,0.00446035123464,0.0499294732842,0.999999994152,8.24067817638e-06,-0.000100434078856,3.92439684281e-05,1793247776185419008
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.897123947,633,879,784,815,652,631.897123947,653,0.446162492232,0.00446298468384,0.0499377679608,0.99999999737,1.08819957251e-05,-6.01899968046e-05,3.89798147586e-05,1793247776202085888
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.521672745,633,879.478327255,784,815.478327255,652.478327255,631.521672745,653,0.446819138653,0.00445972775144,0.049956609322,0.999999998824,7.20404426511e-06,-2.65868835302e-05,3.99128026672e-05,1793247776218752512
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.057505821,745,715,680.942494179,664,633,879.942494179,784,815.942494179,652.942494179,631,653,0.447457261413,0.0044554142357,0.0499732934855,0.999999999153,2.63769676324e-06,-9.05725007306e-07,4.10553237326e-05,1793247776235418880
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.631248875,745,715,680.368751125,664,633,879.368751125,784,815.368751125,652.368751125,631,653,0.448002192815,0.0044528316071,0.049950530089,0.999999998556,2.12872729784e-06,-3.36958038109e-05,4.17993543321e-05,1793247776252085248
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.792993102,745,715,680.207006898,664,633,879.414013795,784,815,652,631,653,0.448542336999,0.00445038127731,0.0499321388033,0.99999999726,5.54631033734e-07,-6.05377782656e-05,4.26085183048e-05,1793247776268751616
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.213610503,745,715,680.786389497,664,633,880.572778993,784,815,652,631,653,0.449073869605,0.00444816893437,0.0499216123201,0.999999996108,-2.93547542487e-06,-7.66799631303e-05,4.35348478471e-05,1793247776285418240
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.37090313,745,715,681,664,633,880.62909687,784,815,652,631,653,0.449592171201,0.00444435245707,0.049929856446,0.999999996789,-8.99319754516e-06,-6.58116572831e-05,4.48385876219e-05,1793247776302085120
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.958413338,745,715,681,664,633,880.041586662,784,815,652,631,653,0.45010274595,0.0044395991666,0.049949062589,0.999999998021,-1.65504051161e-05,-3.91692518467e-05,4.63627346811e-05,1793247776318752000
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.461478147,745,715,681,664.538521853,633,880,784.538521853,815,652,631,653,0.450579427696,0.004437190071,0.049968175503,0.999999998296,-3.6886122314e-05,-1.25778356904e-05,4.34601696024e-05,1793247776335419136
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.882754177,632.882754177,880,784.882754177,815.117245823,652,631,653,0.451034161853,0.00443469750253,0.0499816638523,0.999999997338,-6.14299230627e-05,3.5406708441e-06,3.92202639505e-05,1793247776352086272
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.307237883,632.307237883,880,784.307237883,815.692762117,652,631,653,0.45141320268,0.00443118069293,0.0499731956267,0.999999994429,-9.86168121204e-05,-2.12603554255e-05,3.10712270371e-05,1793247776368752640
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.27393646,745,715,681,664,632,879.72606354,784,816,652,631,653,0.451762488308,0.00443017872844,0.0499543973521,0.999999990925,-0.000115727254989,-6.3208895974e-05,2.76189619302e-05,1793247776385419008
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.861590478,745,715,681,664,632,879.138409522,784,816,652,631,653,0.452077697661,0.00443205681552,0.0499237688976,0.999999985744,-0.000109845744363,-0.000124795114169,2.95455350978e-05,1793247776402085120
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.558800471,632,879.441199529,784,816,652,631,653,0.452385148895,0.00443619851865,0.0499045468108,0.999999982734,-9.73559675716e-05,-0.000155249428205,3.08409416019e-05,1793247776418751744
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.018420232,632,879.981579768,784,815.981579768,652.018420232,631,653,0.452689887045,0.00444139695642,0.0498895306189,0.999999980933,-8.06618552481e-05,-0.000174958231114,3.19071458203e-05,1793247776435418624
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663.598392824,632,879.401607176,784,815.401607176,652.598392824,631,653,0.4529847829,0.00445754974187,0.0498956001646,0.99999998677,2.13634559371e-06,-0.000159487874108,3.19141685725e-05,1793247776452084992
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.825002591,745,715,681,663.825002591,632,879.174997409,784,815.174997409,652.825002591,631,653,0.453266691748,0.00447157898112,0.049903368936,0.999999987359,6.06540689489e-05,-0.000143463558528,3.19650670393e-05,1793247776468751616
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.255981482,745,715,681,663.255981482,632,879.744018518,784,815.744018518,652.255981482,631,653,0.453519359042,0.00448082684722,0.0499149636782,0.999999989442,6.45019224737e-05,-0.000126191955499,3.21147563726e-05,1793247776485418752
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.327034284,745,715,681,663,632,880,784,815.672965716,652,631,653,0.453748629725,0.00447968817813,0.0499176193515,0.999999990283,5.99008968057e-05,-0.000121421192567,3.32161509425e-05,1793247776502085632
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.921493947,745,715,681,663,632,880,784,815.078506053,652,631,653,0.453958768352,0.00447005614032,0.0499129652913,0.999999990165,4.83909790715e-05,-0.000126872725685,3.50957823844e-05,1793247776518752256
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631.496596876,880,784,815.503403124,652,631,653,0.454127042481,0.004469125317,0.0499003040461,0.999999988119,4.18594082835e-05,-0.000144302457749,3.44521014263e-05,1793247776535419136
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.917166747,745,715,681,663,631,880,784,815.917166747,652,630.917166747,653,0.454284854052,0.00446956657908,0.0498870023223,0.999999985497,3.6768190967e-05,-0.000162868598545,3.35917063969e-05,1793247776552086016
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.341126717,745,715,681,663,631,880,784,815.341126717,652,630.341126717,653,0.454418297642,0.00447029443557,0.0498771413663,0.999999983066,3.57428776783e-05,-0.000177349202838,3.37270104974e-05,1793247776568752128
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.233707706,745,715,681,663,631,880,784,815.233707706,652,630.233707706,653,0.454542189558,0.00446993001198,0.0498697051881,0.999999981119,3.33355941323e-05,-0.000188462612954,3.36591875507e-05,1793247776585418496
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.806791386,745,715,681,663,631,880,784,815.806791386,652,630.806791386,653,0.454652211114,0.00446797944631,0.049865790124,0.999999980076,2.89214983433e-05,-0.000194686389704,3.32963959829e-05,1793247776602084864
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631.392675774,880,784,816,652,631,653,0.454745995884,0.00446911493613,0.0498620967956,0.999999978743,2.90426658293e-05,-0.00020135982426,3.35307353142e-05,1793247776618752000
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631.985070723,880,784,816,652,631,653,0.454831522443,0.00447182002744,0.0498585162447,0.999999977238,3.14705177595e-05,-0.000208261959483,3.40687819363e-05,1793247776635419392
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.437315791,631.437315791,880,784,816,652,631,653,0.454893321753,0.00446959631793,0.0498530550254,0.999999975404,2.74097272813e-05,-0.000217495232982,3.36990821669e-05,1793247776652085760
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681.139756468,662.139756468,631,880,784,816,652,631,653,0.454950691641,0.00446814370259,0.0498476362796,0.999999973603,2.47367159032e-05,-0.000225986138969,3.33409843704e-05,1793247776668752128
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681.7163314,662.7163314,631,880,784,816,652,631,653,0.45499613435,0.0044694994705,0.0498425022571,0.999999972185,2.6925623379e-05,-0.000231968353326,3.30925004497e-05,1793247776685418752
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681.70109634,663,631,880,784,815.70109634,652,631,653,0.455034434617,0.0044706884812,0.0498385145179,0.999999970762,2.88973485128e-05,-0.000237804333991,3.30256444662e-05,1793247776702085376
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681.112715829,663,631,880,784,815.112715829,652,631,653,0.455065817707,0.00447171599405,0.0498356369101,0.999999969335,3.06587410487e-05,-0.00024349869358,3.31346882178e-05,1793247776718752000
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.531609357,745,715,681,663,631,880,784,815.468390643,652,631,653,0.455086972818,0.00447164061037,0.0498312137236,0.999999967809,3.10481662318e-05,-0.000249659834304,3.29981237767e-05,1793247776735418624
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.047582752,745,715,681,662.952417248,631,880,784,816,652,631.047582752,653,0.455105188311,0.00447145075581,0.0498267024982,0.9999999663,3.11105881755e-05,-0.000255651108919,3.27780155342e-05,1793247776752084992
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.624653537,745,715,681,662.375346463,631,880,784,816,652,631.624653537,653,0.45511766251,0.00447289530736,0.0498252871034,0.999999965577,3.11519214811e-05,-0.000258521317401,3.22758939353e-05,1793247776768751872
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681.200254683,662.200254683,631,880,784.200254683,816,652,631.799745317,653,0.455128628655,0.00447445233136,0.0498239910104,0.999999965002,3.2696878931e-05,-0.00026058836403,3.19468438397e-05,1793247776785418752
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681.773121251,662.773121251,631,880,784.773121251,816,652,631.226878749,653,0.455136788778,0.00447621863165,0.0498229169011,0.999999964701,3.70396147855e-05,-0.000261160975259,3.19398261898e-05,1793247776802085632
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681.644614231,663,631,880,784.644614231,815.644614231,652.355385769,631,653,0.455141773106,0.00447693241526,0.0498220010457,0.999999964451,3.73433554554e-05,-0.000262121015066,3.15518568132e-05,1793247776818752512
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681.056187105,663,631,880,784.056187105,815.056187105,652.943812895,631,653,0.455144674932,0.00447695601944,0.0498211889641,0.999999964237,3.49985573802e-05,-0.000263335108022,3.09140814092e-05,1793247776835418880
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880,784,815,652.474265061,631,653,0.455146027788,0.00447641245925,0.0498206166153,0.999999963793,3.49417642458e-05,-0.000264954898378,3.14963167774e-05,1793247776852085248
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.893983423,745,715,681,662.893983423,631,880,784,815,652,631,653,0.455147058044,0.00447601430718,0.0498200696037,0.999999963354,3.51043768104e-05,-0.000266522830283,3.20341779595e-05,1793247776868751872
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.317930212,745,715,681,662.317930212,631,880,784,815,652,631,653,0.455147383002,0.00447652629695,0.0498195227225,0.999999963052,3.51688617098e-05,-0.000267670956928,3.18042816898e-05,1793247776885418240
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.256124832,745,715,681.256124832,662,631,880,784,815.256124832,652,631,653,0.455148006881,0.00447778359065,0.0498196517653,0.99999996299,3.60933706408e-05,-0.00026783023922,3.13653226769e-05,1793247776902085120
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.827718812,745,715,681.827718812,662,631,880,784,815.827718812,652,631,653,0.455148998942,0.00447995887581,0.0498206133439,0.999999963221,3.80771718217e-05,-0.00026677156134,3.0668860896e-05,1793247776918752000
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.587146387,745,715,681.587146387,662.412853613,631,880,784,815.587146387,652,631,653,0.455149069242,0.00447904566583,0.0498199826272,0.999999963029,3.90327147176e-05,-0.000267258393085,3.14888350549e-05,1793247776935418880
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.996230174,631,880,784,815,652,631,653,0.455148747422,0.00447682517646,0.0498186674036,0.999999962652,3.95504325818e-05,-0.000268412567208,3.29479647634e-05,1793247776952086016
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.414612372,631,880,784,815,652,631,653,0.455149279025,0.00447847258401,0.049817732267,0.999999962291,4.09588860265e-05,-0.000269649710115,3.20922455279e-05,1793247776968752640
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.164507803,745,715,681,662,631,880,784,815,652,631,653,0.455149381507,0.00447941510609,0.049816857316,0.999999962002,4.07130102527e-05,-0.000270831881401,3.14317110193e-05,1793247776985419008
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.737427265,745,715,681,662,631,880,784,815,652,631,653,0.455148418637,0.00447860765976,0.0498161317834,0.999999961892,3.63600505453e-05,-0.000271877578533,3.12557476074e-05,1793247777002085632
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.689714569,745,715,681,662,631,880,784,815.310285431,652.310285431,631,653,0.45514827375,0.00447883434366,0.0498157641063,0.999999961677,3.60563264235e-05,-0.00027270737318,3.12525094286e-05,1793247777018752256
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.116908292,745,715,681,662,631,880,784,815.883091708,652.883091708,631,653,0.455148820929,0.00447993596634,0.0498156991975,0.999999961378,3.91785086302e-05,-0.000273354500793,3.13954075898e-05,1793247777035418880
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.473159037,745,715,681,662,631,880,784,816,653,631,653,0.455148183911,0.00448070210404,0.0498151640099,0.999999961295,4.10338906534e-05,-0.000273393998197,3.13411419605e-05,1793247777052085504
+244,4.066666667,HOLD_POSE2,765,745,715,681,662,631,880,784,815,652,631,653,0.455148038436,0.00447971169951,0.0498151418458,0.999999960957,4.11731575961e-05,-0.000274640820626,3.10315083516e-05,1793247777095615744
+245,4.083333333,HOLD_POSE2,765,745,715,681,662.573380041,631,880,784,815,652,631,653,0.4551467969,0.00448064193668,0.0498135030097,0.999999960512,4.12422571954e-05,-0.000276260796095,3.09148148489e-05,1793247777112281856
+246,4.100000000,HOLD_POSE2,765,745,715,681,662.849235381,631,880,784,815,652,631,653,0.455145919878,0.00448072727219,0.0498124088782,0.999999960221,4.04419934575e-05,-0.000277428994909,3.0899418487e-05,1793247777128948480
+247,4.116666667,HOLD_POSE2,765,745,715,681,662.260209789,631,880,784,815,652,631,653,0.455146102468,0.00447835654477,0.0498128981597,0.999999960382,3.71145584245e-05,-0.00027728391465,3.11784849729e-05,1793247777145615104
+248,4.133333333,HOLD_POSE2,765,745,715,681,662.322972547,631,880,784,815.322972547,652,631,652.677027453,0.455146653984,0.00447924625101,0.049813557659,0.999999960493,3.83145663901e-05,-0.000276740400897,3.1007655107e-05,1793247777162281728
+249,4.150000000,HOLD_POSE2,765,745,715,681,662.901530764,631,880,784,815.901530764,652,631,652.098469236,0.45514749745,0.00448271611516,0.049814351861,0.999999960551,4.30973854282e-05,-0.000275881585144,3.04807978722e-05,1793247777178948608
+250,4.166666667,HOLD_POSE2,765,745,715,681,662.521668129,630.521668129,879.521668129,784,815.521668129,652,631,652.478331871,0.45514637759,0.00448245036728,0.0498129349976,0.999999959997,4.29856036773e-05,-0.000277847736528,3.09630314467e-05,1793247777195615232
+251,4.183333333,HOLD_POSE2,765,745,715,681,662.054769007,630,879,784,815.054769007,652,631,653,0.455145167565,0.00448168703873,0.0498113375281,0.999999959435,4.20673367521e-05,-0.000279942698215,3.15107571221e-05,1793247777212281600
+252,4.200000000,HOLD_POSE2,765,745,715,681,662.631172119,630,879,784,815.631172119,652,631,653,0.455146934122,0.00448348208338,0.0498123392008,0.999999960031,4.3029423684e-05,-0.000277745953416,3.07110033442e-05,1793247777228948224
+253,4.216666667,HOLD_POSE2,765,744.787451638,715,681,662.787451638,630.212548362,879.212548362,784,816,652.212548362,631,653,0.455147817075,0.00448435842221,0.0498128555129,0.999999960374,4.31769253425e-05,-0.000276554385898,3.0101449389e-05,1793247777245614592
+254,4.233333333,HOLD_POSE2,765,744.197239002,715,681,662.197239002,630.802760998,879.802760998,784,816,652.802760998,631,653,0.455147130008,0.00448360236828,0.049812509417,0.999999960273,4.18770398033e-05,-0.000277148857077,2.98298500323e-05,1793247777262281216
+255,4.250000000,HOLD_POSE2,765,744.38555949,715,681,662.38555949,631,880,784,816,652.61444051,631,653,0.455148168188,0.00448264739413,0.0498130293772,0.999999960535,4.15248301785e-05,-0.000276226632264,3.00901644013e-05,1793247777278947840
+256,4.266666667,HOLD_POSE2,765,744.96463677,715,681,662.96463677,631,880,784,816,652.03536323,631,653,0.455150072293,0.00448159257901,0.0498139840231,0.999999960977,4.16482724536e-05,-0.000274543156222,3.06174538084e-05,1793247777295614464
+257,4.283333333,HOLD_POSE2,765.515211057,745,715,681.515211057,662.484788943,631,880,784,815.484788943,652,631.515211057,653,0.455149780705,0.00448176967599,0.0498138331724,0.999999960733,4.17036721171e-05,-0.000275413853935,3.06771822757e-05,1793247777312281088
+258,4.300000000,HOLD_POSE2,766,745,715,681.928022753,662.071977247,631,880,784,815,652,631.928022753,653,0.455149267305,0.00448206570832,0.0498135353912,0.999999960429,4.18711500942e-05,-0.000276487404486,3.07068193565e-05,1793247777328947712
+259,4.316666667,HOLD_POSE2,766,745,715,681.31024585,662.68975415,631,880,784,815,652,631.31024585,653,0.455148154818,0.0044826560474,0.04981266867,0.999999960009,4.29220703492e-05,-0.000277839470086,3.07388741649e-05,1793247777345614336
+260,4.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,631,880,784,816,652,631,653,0.455149956536,0.00448371614832,0.0498136568073,0.99999996034,4.36179777949e-05,-0.00027659071702,3.02633941103e-05,1793247777382937856
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.579229507,631,880,784,816,652,631,653,0.455149075687,0.00448324610559,0.0498130837101,0.999999960142,4.34109865602e-05,-0.000277293937959,3.06662696653e-05,1793247777399605248
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.157024209,681,662.842975791,631,880,784,816,652,631,653,0.455148559739,0.00448304416621,0.0498127280564,0.999999960027,4.3160160908e-05,-0.000277729259459,3.08147963935e-05,1793247777416272384
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.731009071,681,662.268990929,631,880,784,816,652,631,653,0.455149012747,0.0044835541459,0.0498129498001,0.999999960136,4.27929376976e-05,-0.000277453203385,3.02879276543e-05,1793247777432938496
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.686534829,681,662.313465171,631,880,784,815.686534829,652.313465171,631,653,0.455148532756,0.00448352547373,0.0498129489941,0.99999996001,4.3421998979e-05,-0.000277804168219,3.03253093123e-05,1793247777449605120
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715.096607515,681,662.903392485,631,880,784,815.096607515,652.903392485,631,653,0.455147229901,0.00448302173489,0.0498127519091,0.999999959675,4.49297382729e-05,-0.00027870813723,3.0860334405e-05,1793247777466272000
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.485631822,662.514368178,630.514368178,880,784,815.485631822,652.514368178,631,653,0.455147678654,0.00448485652313,0.0498124592035,0.999999959695,4.68368383251e-05,-0.000278377233775,3.03636621931e-05,1793247777482938624
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.934316789,662.065683211,630.065683211,880,783.934316789,816,652,631,653,0.455148233141,0.0044866691897,0.0498121862698,0.999999959792,4.81679764629e-05,-0.000277866847509,2.97652692816e-05,1793247777499605248
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.359554342,662.640445658,630.640445658,880,783.359554342,816,652,631,653,0.455146948537,0.00448476099517,0.0498122117116,0.999999959967,4.44289605182e-05,-0.000277839659946,2.99443936652e-05,1793247777516272128
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.780628471,745,715,681,662.780628471,631,880,783.219371529,816,652,631,653,0.45514182556,0.00448349945824,0.0498099520906,0.999999959021,4.23122809421e-05,-0.000281548105293,2.99877796646e-05,1793247777532939008
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.194746708,745,715,681,662.194746708,631,880,783.805253292,816,652,631,653,0.455130289705,0.00448331831074,0.0498038747502,0.99999995615,4.29060851249e-05,-0.000291497778487,2.98043836759e-05,1793247777549605888
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.383892186,631,880,784,815.616107814,652,631,653,0.455106681208,0.00448346869739,0.0497926630744,0.999999950361,4.28399702843e-05,-0.000310727480346,2.98614107105e-05,1793247777566272512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.958924897,631,880,784,815.041075103,652,631,653,0.455077061723,0.00448378415541,0.0497788950044,0.999999942677,4.24452807571e-05,-0.000334577723849,3.00381447175e-05,1793247777582938880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663,631,880.542478933,784,815,652,631,653,0.455018887199,0.00448599174594,0.0497565494688,0.999999928577,4.5290494403e-05,-0.000374040100719,2.98092856845e-05,1793247777599605248
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.124437208,745,715,681,662.875562792,631,880.875562792,784,815,652,631,653,0.454956991164,0.00448764851073,0.0497351019806,0.999999914377,4.76826937819e-05,-0.000410009691834,2.9388918418e-05,1793247777616271616
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.698265436,745,715,681,662.301734564,631,880.301734564,784,815,652,631,653,0.454889588131,0.00448679037972,0.0497192805792,0.999999906434,4.75388103697e-05,-0.000429028303774,2.83896180383e-05,1793247777632937984
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.720720248,745,715,681,662.279279752,631,880,784,815,652,631,653,0.454817111347,0.00448662109925,0.0497087727248,0.999999900802,4.75423342076e-05,-0.000442008835361,2.76225917765e-05,1793247777649604864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.131737052,745,715,681,662.868262948,631,880,784,815,652,631,653,0.454739008098,0.00448721571016,0.0497041572564,0.999999898011,4.77093233121e-05,-0.000448293519663,2.7113142775e-05,1793247777666272512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.449768031,745,715,681,662.550231969,631,880,784,815,652,631.449768031,653,0.454649287214,0.00448896266193,0.0497060546749,0.999999899446,5.05319102033e-05,-0.000444806492816,2.64829738774e-05,1793247777682939136
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.970982566,745,715,681,662.029017434,631,880,784,815.029017434,652,631.970982566,653,0.454555256525,0.00449095612582,0.0497101393761,0.999999902263,5.4004447911e-05,-0.000438052734705,2.58290996702e-05,1793247777699605504
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.39364461,745,715,681,662.60635539,631,880,784,815.60635539,652,631.39364461,653,0.45444303529,0.00449133417942,0.0497200981021,0.999999908782,5.53010334118e-05,-0.000422769088884,2.53845061958e-05,1793247777716271872
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.182394272,745,715,681,663,631,880,784,815.817605728,652.182394272,631,653,0.454318788801,0.00449174269424,0.049728320762,0.999999913784,5.72702072738e-05,-0.000410512502473,2.51499521584e-05,1793247777732938240
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.755649238,745,715,681,663,631,880,784,815.244350762,652.755649238,631,653,0.45416877288,0.0044922164857,0.0497328231288,0.999999915929,6.06807001269e-05,-0.000404742736737,2.53655009214e-05,1793247777749604864
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.660799773,745,715,681.339200227,663,631,880,784,815.339200227,652.660799773,631,653,0.453996224804,0.00449512346048,0.0497353768944,0.999999915984,6.55193201065e-05,-0.000403882250918,2.48464337707e-05,1793247777766271488
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.069599564,745,715,681.930400436,663,631,880,784,815.930400436,652.069599564,631,653,0.453806937034,0.00449983810552,0.0497364829979,0.999999914477,7.14189303329e-05,-0.000406668986275,2.37816028628e-05,1793247777782938368
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.510235262,745,715,682,663,631.510235262,880,784,815.489764738,652,631,653,0.453593754053,0.00450296518019,0.0497424120625,0.999999916012,7.79609532559e-05,-0.000401694707402,2.32392377514e-05,1793247777799605248
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.911195543,745,715,681.911195543,663,631.911195543,880,784,815,652,631,653,0.453373310135,0.00450597513087,0.0497493895915,0.999999918154,8.45526117831e-05,-0.000395001256075,2.27383274979e-05,1793247777816272384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.331238436,745,715,681.331238436,663,631.331238436,880,784,815,652,631,653,0.453130342328,0.0045095089128,0.0497586065924,0.99999992169,9.09446998328e-05,-0.000384527086037,2.20811180867e-05,1793247777832939264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663,631,880,784,815,652,631,653,0.452861057674,0.00451245487293,0.0497652996895,0.999999923738,9.7067638206e-05,-0.000377685220479,2.13668589855e-05,1793247777849605632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663,631,880,784,815,652,631,653,0.452556724802,0.00451461798388,0.0497686315028,0.999999923933,0.000102832128216,-0.000375680783839,2.05766223254e-05,1793247777866272000
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.412444416,745,715,681,663,631.412444416,880,784,815,652,631,653,0.452228225237,0.00451887300918,0.0497701572887,0.999999923426,0.000110060511043,-0.000375072416371,1.88763419416e-05,1793247777882938624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.990651536,745,715,681,663,631.990651536,880,784,815,652,631,653,0.451890013008,0.00452396878135,0.0497709572264,0.999999922589,0.000117877236836,-0.00037502513351,1.68103121514e-05,1793247777899604736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.430428445,745,715,681,663.569571555,632,880,784,814.430428445,652,631,653,0.451504717394,0.00452929402134,0.0497644245241,0.999999920565,0.000125036527807,-0.000378197507132,1.42013738329e-05,1793247777916271360
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.852520239,632,880.147479761,784,814.147479761,652,631,653,0.451119249055,0.00453456111746,0.0497637712181,0.99999992252,0.000132819414644,-0.000370380236387,1.17650048006e-05,1793247777932937984
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.277578777,632,880.722421223,784,814.722421223,652,631,653,0.450735522834,0.00453964875593,0.0497805082788,0.999999935173,0.000142441072333,-0.000330556746048,9.85467841385e-06,1793247777949605120
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.304006848,745,715,681,663.304006848,632,880.391986303,784.304006848,815,652.304006848,631,653,0.450321957569,0.00454600588257,0.0497993145315,0.999999945463,0.000151683437982,-0.000293268467437,7.71084301045e-06,1793247777966271744
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.891794661,745,715,681,663.891794661,632,879.216410678,784.891794661,815,652.891794661,631,653,0.449880538436,0.00455354803765,0.0498200523126,0.999999953723,0.000160571747411,-0.0002583467258,5.34903396338e-06,1793247777982938112
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632,879.473301588,785,814.526698412,652.526698412,631,653,0.449382697267,0.00455839036913,0.049828802473,0.999999955302,0.000167960101881,-0.000247338210504,3.18326814199e-06,1793247777999604736
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632.052979513,879.947020487,784.947020487,814,652,631,653,0.448866517548,0.00456295597681,0.0498325321743,0.99999995482,0.00017528165089,-0.000244203906187,9.01374438795e-07,1793247778016271360
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,664,632.628594653,879.371405347,784.371405347,814,652,631,653,0.448295011594,0.00457080087809,0.0498134171898,0.99999994758,0.000185282702762,-0.000265522738825,-2.96244954473e-06,1793247778032937984
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.791780065,745,715,681,664,632.791780065,879.208219935,784.208219935,814,652,631,653,0.447708036069,0.00457847939923,0.0497913905795,0.999999937394,0.000195641487435,-0.000294773905325,-6.63990777621e-06,1793247778049604608
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.204861398,745,715,681,664,632.204861398,879.795138602,784.795138602,814,652,631,653,0.44709292539,0.00458585531702,0.0497640684687,0.999999921323,0.000206650895747,-0.00033845195406,-9.97841420002e-06,1793247778066271232
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.376799971,745,715,681,664.376799971,632.376799971,879.623200029,784.623200029,813.623200029,652,631,653,0.446445027399,0.00459203278028,0.0497480195737,0.999999909999,0.000215708478446,-0.000365096221717,-1.32849829663e-05,1793247778082937856
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.955642327,745,715,681,664.955642327,632.955642327,879.044357673,784.044357673,813.044357673,652,631,653,0.445779548676,0.00459756762485,0.0497380154449,0.999999901643,0.000223719480379,-0.000382606873413,-1.65744264676e-05,1793247778099604480
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.467520727,745,715,681,664.467520727,632.467520727,879.532479273,784,812.467520727,652,631,653,0.44513283797,0.00460321084738,0.0497657955443,0.999999911987,0.000233404724776,-0.000348130903752,-1.87831659779e-05,1793247778116271104
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,632,879.890890914,784.109109086,812.109109086,652,631,653,0.444471382459,0.00460891438003,0.0497909453288,0.999999919684,0.000242790348525,-0.000318188266248,-2.10187955874e-05,1793247778132937984
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,632,879.314435595,784.685564405,812.685564405,652,631,653,0.443740099207,0.0046148377112,0.049791397276,0.999999915209,0.000250297453299,-0.000326143273869,-2.3753768151e-05,1793247778149604608
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.732543953,632.267456047,879,784.732543953,813,652,631,653,0.4430004729,0.00462041324323,0.0497813014632,0.999999920889,0.000195858385773,-0.000345150196968,-2.70643602378e-05,1793247778166270976
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.144128398,632.855871602,879,784.144128398,813,652,631,653,0.442250834449,0.00462557140114,0.0497585478551,0.999999926045,6.70810721465e-05,-0.000377419921635,-3.10657221478e-05,1793247778182937600
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,663.437614965,633,879,784.437614965,812.562385035,652,631,653,0.441494720485,0.00460939047924,0.0497765232302,0.999999940799,2.34092026337e-05,-0.000341553565051,-3.45699856643e-05,1793247778199604224
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879.017060324,785,812,652,631,653,0.440735247085,0.00458636214737,0.0498071470621,0.99999995868,7.47861533456e-06,-0.000284878520599,-3.78012881767e-05,1793247778216270848
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879.592139582,785,812,652,631,653,0.439934600012,0.00456578908643,0.049819317562,0.999999962692,-4.10957261924e-06,-0.000270557980887,-3.73790344304e-05,1793247778232937472
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879.829468328,784.829468328,812,652.170531672,631,652.829468328,0.439116898282,0.00455535562147,0.0498176793504,0.999999960658,-4.97814798504e-06,-0.000277779915534,-3.8687191625e-05,1793247778249604352
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879,784.339708471,812,652.660291529,630.660291529,652.339708471,0.437394179868,0.00457920574209,0.0497742466257,0.999999934999,3.86473979885e-05,-0.000355237713645,-4.81112782134e-05,1793247778282937856
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,633,879,784.919747323,812,652.080252677,630.080252677,652.919747323,0.43652784639,0.00458540073165,0.049785379046,0.999999938469,5.20932854103e-05,-0.000343164183588,-5.08509894281e-05,1793247778299604480
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.502729468,745,714.502729468,680.502729468,664,633,879,785,811.502729468,652.497270532,630.497270532,653,0.435603030025,0.00459046580236,0.0497833736314,0.999999934931,4.29604529234e-05,-0.000354139996758,-5.36388845234e-05,1793247778316270848
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.776605506,745,715,681,663.446788987,633,878.776605506,785,811.223394494,652.776605506,630,653,0.432920743955,0.00459384300501,0.0497816830483,0.999999921525,0.000187971676473,-0.000348465845275,-1.37376862434e-05,1793247778366270976
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.202710908,745,715,681,664.594578184,633,878.202710908,785,811.797289092,652.202710908,630,653,0.432038242673,0.00459423447609,0.0498073063921,0.999999931588,0.00018998572721,-0.000316872840098,-1.7898392347e-05,1793247778382937600
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,664.026258415,633,878.973741585,785,811.026258415,652,630,653,0.430205958961,0.00458159037183,0.0497897368166,0.999999932777,0.000143961284778,-0.000336077516492,-2.77977195244e-05,1793247778416271104
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.877622151,715,681,663.122377849,633,878.122377849,785,811,652.877622151,630.877622151,653,0.425509181071,0.00460817674845,0.0497578073391,0.99999991375,0.000161541511973,-0.000380978043971,-3.5502292163e-05,1793247778499604224
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.542126829,715,681,663.457873171,633,878,785,811,653,630.542126829,652.542126829,0.424638044251,0.00460497667146,0.0497896057282,0.999999938102,0.000138983345582,-0.000321113510774,-3.69501597233e-05,1793247778516270848
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.963900828,664,633,878.036099172,785,811,652.963900828,630,652.036099172,0.423768271507,0.00460002994098,0.0498295052266,0.999999961494,0.000110249742438,-0.000251792373638,-3.81841190386e-05,1793247778532937472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.387418332,664,633,878.612581668,785,811,652.387418332,630,652.612581668,0.422829719773,0.00459305654057,0.0498261072229,0.999999959581,0.000117563986209,-0.000256153719524,-3.74437845537e-05,1793247778549604096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.811254553,633,878.811254553,785,811,652,630,653,0.421896846334,0.00458913385184,0.0498159267171,0.999999953984,0.000124750244297,-0.000274008358568,-3.72675937192e-05,1793247778566270976
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.235743764,633,878.235743764,785,811,652,630,653,0.420975608328,0.00459146248905,0.0497918479326,0.999999939555,0.000131674243323,-0.000319512608866,-3.82474105185e-05,1793247778582937856
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.348283167,745,714.651716833,680,663.348283167,633,878,785,811,652,630,653,0.420094909661,0.00459696335893,0.0497921775173,0.999999935684,0.000131736533896,-0.000331392528595,-3.81753109857e-05,1793247778599604480
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.938218896,745,714.061781104,680,663.938218896,633,878,785,811,652,630,653,0.419242338839,0.00460466524849,0.0498094425903,0.999999940051,0.00012703790091,-0.00031994256257,-3.73733504961e-05,1793247778616271104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.480986675,744.480986675,714.519013325,680,663.480986675,633.519013325,878,785,811,652.519013325,630,652.480986675,0.418346543455,0.00460812237007,0.0497850590605,0.999999924292,0.00012938625209,-0.000365116469643,-3.69391422167e-05,1793247778632937728
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.098156737,715,680,663,633.901843263,878,785,811,653,630,652.098156737,0.417461552227,0.00460938899534,0.0497632590905,0.999999909835,0.000131638411488,-0.000402040641894,-3.69298062712e-05,1793247778649604352
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.674466431,715,680,663,633.325533569,878,785,811,653,630,652.674466431,0.416653821963,0.00460240378412,0.049777776875,0.999999923709,0.00012940644509,-0.000366512026711,-3.87806058661e-05,1793247778666271232
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.254732777,745,715,680,663.254732777,633.254732777,878,785,810.745267223,653,629.745267223,653,0.415869093145,0.00459606477796,0.0497934095411,0.999999936349,0.000125319859304,-0.000331660310135,-3.99776186702e-05,1793247778682938112
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.840135224,745,715,680,663.840135224,633.840135224,878,785,810.159864776,653,629.159864776,653,0.415114222661,0.00459056461381,0.0498104894383,0.999999947818,0.000118825784655,-0.000297687281379,-4.03259480112e-05,1793247778699605760
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+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.999542856,663,633.999542856,878,785.000457144,810.999542856,652.999542856,629.000457144,653,0.413529784073,0.00459494303161,0.0497747488316,0.999999925921,0.00011452702758,-0.000365281456019,-4.0135560869e-05,1793247778732939008
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.44575165,663,633.44575165,878,785.55424835,810.44575165,652.44575165,629.55424835,653,0.412800665389,0.00460094521503,0.0497718947065,0.999999923664,0.000127564920765,-0.00036699269132,-4.14177888737e-05,1793247778749605376
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.116880161,633.116880161,878,786,810.116880161,652.116880161,629.883119839,653,0.412077647903,0.00460556166634,0.049774947914,0.999999924382,0.000137379283529,-0.00036136737025,-4.2144607275e-05,1793247778766272000
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.715986893,633.715986893,878,786,810.715986893,652.715986893,629.284013107,653,0.411379802641,0.00460446083748,0.0498023737147,0.999999937247,0.000133893942247,-0.000325472734673,-4.05799057135e-05,1793247778782938368
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744.689129233,715,680,663.689129233,634,877.689129233,786,810.689129233,653,629,653,0.410693484717,0.00460425753374,0.0498058394511,0.999999937548,0.000129303129663,-0.000326502801453,-3.97461807146e-05,1793247778799604992
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744.098051714,715,680,663.098051714,634,877.098051714,786,810.098051714,653,629,653,0.410017557126,0.00460486322411,0.0497877085209,0.99999992647,0.000123715888684,-0.000360815353002,-3.95713294937e-05,1793247778816271872
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,744.483014084,715,680,663,634,877,785.516985916,810,653,629.483014084,653,0.409400727006,0.00460217236224,0.0497791200731,0.99999992391,0.000122777703453,-0.000368015306715,-4.08768545795e-05,1793247778832938752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.938340711,745,715,679.938340711,663,634,877.061659289,785.061659289,810,653,629.938340711,652.938340711,0.408801865917,0.00459835979268,0.0497759020823,0.999999924782,0.00012165512739,-0.000365870499353,-4.21242223282e-05,1793247778849605888
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.363271627,745,715,679.363271627,663,634,877.636728373,785.636728373,810,653,629.363271627,652.363271627,0.40825476169,0.00459066623157,0.0498015995081,0.99999993827,0.000111298535737,-0.000330813489169,-4.04358880182e-05,1793247778866272512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.211570169,745,715,679.211570169,663,634,877.788429831,786,810,653,629,652,0.407708500084,0.00458746267391,0.0498178105467,0.999999945782,0.000104197991851,-0.000309861227547,-3.95624926286e-05,1793247778882939136
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.786022062,745,715,679.786022062,663,634,877.213977938,786,810,653,629,652,0.407163683784,0.00459196029822,0.0498177506849,0.999999944909,0.000102682169605,-0.000313101206324,-4.00868675187e-05,1793247778899605760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877.360704494,786,810,653,629,652,0.406627866909,0.00459439506931,0.0497989161886,0.999999933205,0.0001062963538,-0.000347347922799,-4.05060045587e-05,1793247778916272128
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877.935523827,786,810,653,629,652,0.406097392055,0.00459560532743,0.0497689370351,0.999999912786,0.000112955718717,-0.000400000294423,-4.0862672178e-05,1793247778932938752
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.471126279,663,634,877.471126279,786,810,653,629.528873721,652,0.405635201968,0.00459901283981,0.0497596196989,0.999999906043,0.000117783225232,-0.000415065864843,-4.19684487529e-05,1793247778949604864
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,877,786,809.879530425,653,629.879530425,652,0.405197937422,0.00460264498091,0.0497588314825,0.999999905359,0.000122203740107,-0.000415329197534,-4.30030925111e-05,1793247778966271488
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,877,786,809.303423073,653,629.303423073,652,0.404822316711,0.00460607678138,0.0497804289719,0.999999919846,0.000125960268742,-0.000377568130305,-4.34107477733e-05,1793247778982938880
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.135217832,745,715,679,663,634,877,786,809,653,629,652,0.404127637787,0.0046104120462,0.0498270844598,0.999999942422,0.00013389948599,-0.000308741691282,-4.36414564684e-05,1793247779016272640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809,653,629,652,0.403802863803,0.00461113584234,0.0498371394201,0.999999945961,0.000137167066044,-0.000295575683208,-4.35665459438e-05,1793247779032939008
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.025872158,745,715,679,663,634,877,786,809.025872158,653,629,652,0.403482948325,0.00461155878384,0.0498424976716,0.999999947325,0.000140165448947,-0.000289503516186,-4.34907318531e-05,1793247779049605120
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.602513524,745,715,679,663,634,877,786,809.602513524,653,629,652,0.403187093383,0.00461189770795,0.0498363881019,0.99999994187,0.000142391867212,-0.000306683276076,-4.39422402248e-05,1793247779066271744
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.821926809,745,715,679,663,634,877,786,809.821926809,653,629,652.178073191,0.402903300529,0.00461228709464,0.0498295092296,0.999999936416,0.000144350440358,-0.000323047234821,-4.43974194253e-05,1793247779082938112
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.248767159,745,715,679,663,634,877,786,809.248767159,653,629,652.751232841,0.402646269565,0.00461278844134,0.0498209235263,0.99999993139,0.000145714752119,-0.000337601194158,-4.48607429589e-05,1793247779099604480
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809.334202681,653,629,652.665797319,0.40241129684,0.00461110335064,0.0498129312131,0.999999928912,0.000133523630769,-0.000350395538237,-3.9630423434e-05,1793247779116271360
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809.924695733,653,629,652.075304267,0.402193239913,0.00460774154437,0.0498053939525,0.999999927931,0.00011093723983,-0.000361840485641,-3.00338137216e-05,1793247779132938496
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809.493330266,653,629,652,0.402017531432,0.00459508061052,0.0498051992063,0.999999931027,0.000102181685779,-0.000355899924325,-2.89799088042e-05,1793247779149605632
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.08655926,745,715,679,663,634,877,786,809,653,629,652,0.401853664644,0.00458182190772,0.049806696168,0.999999934883,9.51295051419e-05,-0.000346891692758,-2.91546855601e-05,1793247779166272768
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.661711728,745,715,679,663,634,877,786,809,653,629,652,0.401721699399,0.00457286139252,0.0498116841248,0.999999939768,8.62808885814e-05,-0.000334911796363,-2.92166214432e-05,1793247779182938880
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.232837517,715,679,663,634,877,786,809,653,629,652.232837517,0.401601271152,0.00457089180202,0.0498174667887,0.999999943659,8.40674963504e-05,-0.000323568245903,-3.02959458738e-05,1793247779199605248
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.798212386,715,679,663,634,877,786,809,653,629,652.798212386,0.401497319995,0.00457890661501,0.0498243844487,0.999999946264,9.13304982021e-05,-0.000313133522229,-3.28282994384e-05,1793247779216271872
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.613271106,745.613271106,715,679,663.386728894,634,877,786,809,653,629,652.613271106,0.40140352215,0.00457962682246,0.0498264552187,0.999999948075,9.1247732653e-05,-0.00030722469487,-3.37034954602e-05,1793247779232938240
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.011911219,745.011911219,715,679,663.988088781,634,877,786,809,653,629,652.011911219,0.401315359304,0.00457629859043,0.049825836009,0.999999949486,8.70881332845e-05,-0.000303827698841,-3.36589841512e-05,1793247779249604608
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.431538665,634,877,786,809,653,629,652,0.401244097589,0.00457808137468,0.0498245884558,0.99999994842,9.28146690788e-05,-0.000305537264596,-3.45356312215e-05,1793247779266271744
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.852877106,663.147122894,634,877,786,809,653,629,652,0.401179512908,0.0045800524766,0.0498239858127,0.99999994771,9.79456971369e-05,-0.000306172744805,-3.527039875e-05,1793247779282938624
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.277957618,663.722042382,634,877,786,809,653,629,652,0.401133350303,0.0045822708456,0.0498252953273,0.999999948271,0.000100764246629,-0.000303385000942,-3.55384904277e-05,1793247779299604736
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.303232428,663.696767572,633.696767572,876.696767572,786,809,653,629,652,0.401095656004,0.00458160766771,0.0498278290677,0.999999949989,9.99534923177e-05,-0.000297930176484,-3.56168115513e-05,1793247779316271360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.890291812,663.109708188,633.109708188,876.109708188,786,809,653,629,652,0.401065888072,0.00457824734886,0.0498315086894,0.999999952742,9.57456931563e-05,-0.000289978951899,-3.55175065865e-05,1793247779332937984
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809.949203615,653,629,652,0.401025483315,0.00458203156545,0.0498365529487,0.999999954958,0.000100810977088,-0.000280367561929,-3.62611874649e-05,1793247779366271232
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.201548239,634,877,786,809,653,629,652,0.400998754632,0.00457845548478,0.0498355755683,0.999999955169,9.51355611036e-05,-0.000281646522979,-3.58689406545e-05,1793247779399605760
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.778271576,634,877,786,809,653,629,652,0.400991044085,0.00457864693613,0.0498355692665,0.999999955319,9.54887505447e-05,-0.000281035270326,-3.55292971439e-05,1793247779416272128
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715.362735851,679,664,634,877,786,809.362735851,653,629,652,0.400987074364,0.00457821530018,0.0498365399165,0.999999955844,9.58339533309e-05,-0.000279085025412,-3.51984166189e-05,1793247779432938752
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715.952035064,679,664,634,877,786,809.952035064,653,629,652,0.400985441149,0.00457739448637,0.0498381207666,0.999999956597,9.61741676703e-05,-0.000276298451307,-3.48730094322e-05,1793247779449605632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.532531282,745,715.467468718,679,663.467468718,634,877.532531282,786,810,653,629,652,0.400983126365,0.00457781324371,0.0498385132067,0.999999956724,9.70600528773e-05,-0.000275499180301,-3.50836271105e-05,1793247779466272000
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a95ccf316cd60134bc5e4e905ee4f120ffb98310
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
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+377,6.283333333,pose2_to_pose3_retreat,0.583321195787,0.00992788417859,1.04004238439,0.553892987113,0.0186023419252,1.03966576654
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+379,6.316666667,pose2_to_pose3_retreat,0.583285349464,0.00992783040395,1.0400420994,0.5538571416,0.0186022914899,1.03966549522
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+381,6.350000000,pose2_to_pose3_retreat,0.583264448427,0.00992784259944,1.04004254416,0.553836239483,0.0186022995791,1.03966592941
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+383,6.383333333,pose2_to_pose3_retreat,0.58325420375,0.00992766067164,1.04004266333,0.553825998548,0.0186021300045,1.03966604113
+384,6.400000000,pose2_to_pose3_retreat,0.583251605563,0.0099278229128,1.04004265022,0.553823398298,0.0186022853229,1.03966602975
+385,6.416666667,pose2_to_pose3_retreat,0.583250007545,0.00992792269936,1.04004264216,0.553821799012,0.0186023808516,1.03966602276
+386,6.433333333,pose2_to_pose3_retreat,0.583249036613,0.00992793338105,1.04004258096,0.553820827875,0.0186023909299,1.03966596365
+387,6.450000000,pose2_to_pose3_retreat,0.583248435476,0.00992791921868,1.04004251964,0.553820226847,0.0186023772189,1.03966590424
+388,6.466666667,pose2_to_pose3_retreat,0.583248311127,0.00992791628912,1.04004250695,0.553820102521,0.0186023743827,1.03966589195
+389,6.483333333,pose2_to_pose3_retreat,0.583247984311,0.00992790858956,1.04004247362,0.553819775764,0.0186023669286,1.03966585965
+390,6.500000000,pose2_to_pose3_retreat,0.583247861432,0.00992790569461,1.04004246109,0.553819652907,0.0186023641259,1.0396658475
+391,6.516666667,pose2_to_pose3_retreat,0.58324777383,0.00992790363076,1.04004245215,0.55381956532,0.0186023621279,1.03966583885
+392,6.533333333,pose2_to_pose3_retreat,0.583247585865,0.00992789920245,1.04004243298,0.55381937739,0.0186023578407,1.03966582027
+393,6.550000000,pose2_to_pose3_retreat,0.583247265727,0.00992789166021,1.04004240032,0.553819057309,0.0186023505389,1.03966578863
+394,6.566666667,pose2_to_pose3_retreat,0.583246857955,0.00992788561411,1.04004240378,0.55381864961,0.0186023447467,1.0396657923
+395,6.583333333,pose2_to_pose3_retreat,0.583246837698,0.00992788566884,1.04004240845,0.553818629357,0.0186023448089,1.03966579687
+396,6.600000000,pose2_to_pose3_retreat,0.583246551552,0.00992788644195,1.04004247435,0.553818343259,0.0186023456866,1.03966586138
+397,6.616666667,pose2_to_pose3_retreat,0.58324647293,0.00992788665437,1.04004249245,0.55381826465,0.0186023459278,1.03966587911
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+401,6.683333333,pose2_to_pose3_retreat,0.583245584454,0.00992796579461,1.04004244018,0.553817373835,0.018602417095,1.03966582599
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02961e497247b0901e7e6c5f4245650f59e573c3
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c41cf01c198b4e8680260a954249e557b02ab021fc3d49c9b362941030886e6c
+size 25858229
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba20f1c46415d6791e8145cbc6cba30825523e7f
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+12,0.200000000,BASELINE,765.02855817,745,715,679,663,634,877,786,809.02855817,653,629,652,0.400978448551,0.0045779342153,0.0498433243426,0.999999959623,9.51769398788e-05,-0.000265536876692,-3.44450255934e-05,1793247780139938304
+13,0.216666667,BASELINE,765,745,715,679,663,634,877,786,809.561252586,653,629,652,0.400979828948,0.00457843439865,0.0498442229084,0.999999959978,9.5408192921e-05,-0.00026408882258,-3.46074918106e-05,1793247780156605440
+14,0.233333333,BASELINE,765.148842301,745,715,678.851157699,663.148842301,634,877.148842301,786,809.851157699,653,629,652,0.400980727527,0.00457860823643,0.0498448323331,0.999999960284,9.50619380471e-05,-0.000263044044764,-3.46815986235e-05,1793247780173272320
+15,0.250000000,BASELINE,765.727882403,745,715,678.272117597,663.727882403,634,877.727882403,786,809.272117597,653,629,652,0.400979872312,0.00457801279181,0.0498443501365,0.999999960348,9.33479205716e-05,-0.00026343623787,-3.45106693087e-05,1793247780189939200
+16,0.266666667,BASELINE,765.695562651,745,715,678.304437349,663.695562651,634,877.695562651,786,809,653,629,652,0.400979278158,0.00457802344156,0.0498441394826,0.999999960159,9.38045916396e-05,-0.00026397972552,-3.46062098641e-05,1793247780206605568
+17,0.283333333,BASELINE,765.12121108,745,715,678.87878892,663.12121108,634,877.12121108,786,809,653,629,652,0.400978915462,0.00457857145475,0.0498441695786,0.999999959742,9.61857957696e-05,-0.000264657350922,-3.49380026776e-05,1793247780223271680
+18,0.300000000,BASELINE,765.46357041,745,715,679,663,634,877,786,809,653,629,652,0.400979258206,0.00457790305534,0.049844818967,0.99999995998,9.58614114205e-05,-0.000263909514072,-3.46671771383e-05,1793247780239938560
+19,0.316666667,BASELINE,766,745,715,678.949907955,663,634,877,786,809,653,629,652,0.400979804271,0.00457713280253,0.0498455397357,0.999999960348,9.49865791319e-05,-0.000262880324324,-3.428836344e-05,1793247780256605184
+20,0.333333333,BASELINE,766,745,715,678.374397319,663,634,877,786,809,653,629,652,0.400980503709,0.00457870713023,0.0498452716476,0.999999960247,9.59292189794e-05,-0.000262899470792,-3.44676405024e-05,1793247780273271552
+21,0.350000000,BASELINE,765.796936326,745,715,678,663,634,877,786,809,653,629,652,0.400980839054,0.00457935742714,0.0498449490547,0.999999960174,9.6207773384e-05,-0.000263058808918,-3.45774244255e-05,1793247780289938432
+22,0.366666667,BASELINE,765.215844566,745,715,678,663,634,877,786,809,653,629,652,0.400980496593,0.00457828752651,0.0498445249944,0.999999960156,9.52500506843e-05,-0.000263479131109,-3.45578382747e-05,1793247780306605056
+23,0.383333333,BASELINE,765,745,715,678,663,634,877,786,809,653,628.637020371,652.362979629,0.400980973644,0.00457843520288,0.0498451715729,0.99999996043,9.44207207492e-05,-0.000262710091355,-3.47460922135e-05,1793247780323271424
+24,0.400000000,BASELINE,765,745,715,678,663,634,877,786,809,653,628.05953615,652.94046385,0.400981934988,0.00457930241225,0.0498464508507,0.999999960876,9.36672650568e-05,-0.000261238192364,-3.50571702711e-05,1793247780339938048
+25,0.416666667,BASELINE,765,745,715,678.527405131,663,634,877.527405131,786,809,653,628.527405131,653,0.400982129285,0.00457742577826,0.0498466371413,0.999999961231,9.10297773514e-05,-0.000260866356152,-3.46572951628e-05,1793247780356604672
+26,0.433333333,BASELINE,765,745.113679432,715,679,663.113679432,634,877.886320568,786,809,653,629,652.886320568,0.400981968229,0.00457603217624,0.0498465088976,0.999999961364,8.93711780853e-05,-0.000260973488038,-3.43092523642e-05,1793247780373271296
+27,0.450000000,BASELINE,765,745.692772749,715,679,663.692772749,634,877.307227251,786,809,653,629,652.307227251,0.400980713302,0.00457790740297,0.0498456072817,0.999999960657,9.2606861366e-05,-0.000262523868989,-3.45079901804e-05,1793247780389937920
+28,0.466666667,BASELINE,765.270429727,745.729570273,715,679,663.729570273,634,877,785.729570273,809.270429727,653,629,652,0.400980201551,0.00457852766322,0.0498454771078,0.99999996045,9.39425486367e-05,-0.00026283352679,-3.45480017475e-05,1793247780406604288
+29,0.483333333,BASELINE,765.846463511,745.153536489,715,679,663.153536489,634,877,785.153536489,809.846463511,653,629,652,0.400980529639,0.00457772972553,0.049846218716,0.999999960817,9.31311104924e-05,-0.000261741082625,-3.4408641804e-05,1793247780423271168
+30,0.500000000,BASELINE,766,745,715,679,663,634,877,785.429955195,810,653,629,652,0.40098104975,0.00457693408838,0.0498466999313,0.999999961077,9.22481656515e-05,-0.000261078599703,-3.42648672893e-05,1793247780439937792
+31,0.516666667,BASELINE,765.984070935,745,715,679,663,634,877,786,809.984070935,653,629,652,0.400981620121,0.00457619828415,0.0498470639248,0.999999961289,9.13958736162e-05,-0.000260582745815,-3.41310692378e-05,1793247780456604416
+32,0.533333333,BASELINE,765.406141941,745,715,679,663,634,877,786,809.406141941,653,629,652,0.400981501726,0.00457754397363,0.0498466307592,0.999999961208,9.25418674638e-05,-0.000260453117197,-3.44058555685e-05,1793247780473271296
+33,0.550000000,BASELINE,765,745,715,679,663,634,876.827661287,786,809,653,629,652,0.400981138013,0.00457855053433,0.0498462027221,0.999999961035,9.3815802319e-05,-0.0002606452974,-3.45354020986e-05,1793247780489937920
+34,0.566666667,BASELINE,765,745,715,679,663,634,876.247876474,786,809,653,629,652,0.400980194315,0.00457875532086,0.04984578681,0.999999960644,9.53922173062e-05,-0.000261598303482,-3.43215701972e-05,1793247780506604544
+35,0.583333333,BASELINE,765,745,715,679,663,634,876.328480287,786,809,653,629,652.328480287,0.400979294838,0.00457852993689,0.0498452196856,0.999999960397,9.46296001213e-05,-0.000262786832346,-3.45527037622e-05,1793247780523271168
+36,0.600000000,BASELINE,765,745,715,679,663,634,876.902276965,786,809,653,629,652.902276965,0.400978428384,0.00457798329206,0.0498445396325,0.999999960252,9.21201418091e-05,-0.000264151254962,-3.51161474198e-05,1793247780539937792
+37,0.616666667,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652.5118662,0.400980522345,0.00457710585132,0.0498453635609,0.999999960883,9.16332204718e-05,-0.000261943543581,-3.49602524809e-05,1793247780556604416
+38,0.633333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400982524934,0.00457634706939,0.0498462605773,0.999999961468,9.16535162281e-05,-0.000259736614852,-3.46470067499e-05,1793247780573271296
+39,0.650000000,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400979848062,0.0045768371295,0.0498455802665,0.999999960716,9.22900199985e-05,-0.000262443298179,-3.42688752716e-05,1793247780589937920
+40,0.666666667,BASELINE,765,745,715,679,663.232992493,634,877,786,809,653,629,652,0.400979427095,0.00457766231232,0.0498456928765,0.999999960586,9.28402691879e-05,-0.000262751360756,-3.42079463909e-05,1793247780606605056
+41,0.683333333,BASELINE,765,745,715,679,663.808954275,634,877,786,809,653,629,652,0.400982326866,0.00457898080195,0.049846972681,0.999999961374,9.32635499892e-05,-0.000259528608746,-3.46139456651e-05,1793247780623272704
+42,0.700000000,BASELINE,765,745,715,679,663.616197378,634,877,786,809,653,629,652,0.400982191559,0.00457858365174,0.0498465322646,0.999999961287,9.27845152346e-05,-0.00026000218816,-3.48752941524e-05,1793247780639939328
+43,0.716666667,BASELINE,765,745,715,679,663.041901681,634,877,786,809,653,629,652,0.40098054985,0.00457733497652,0.0498452380495,0.999999960763,9.18576334365e-05,-0.000262310370919,-3.50648479821e-05,1793247780656605696
+44,0.733333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400979511803,0.00457694124271,0.04984499643,0.999999960677,9.17964873038e-05,-0.000262686023066,-3.48758133912e-05,1793247780673272064
+45,0.750000000,BASELINE,765.136705774,745,715,679,663,634,877,785.863294226,809,653,629,652,0.400979017796,0.00457682741668,0.0498450058635,0.999999960669,9.17889628545e-05,-0.000262742600292,-3.46894256014e-05,1793247780689938432
+46,0.766666667,BASELINE,765.716001759,745,715,679,663,634,877,785.283998241,809,653,629,652,0.400980131323,0.00457740195695,0.0498455598805,0.999999960804,9.17344442088e-05,-0.000262258584578,-3.4608074374e-05,1793247780706604800
+47,0.783333333,BASELINE,765.706924689,745,715,679,663,634,877,785.293075311,809,653,629,652.293075311,0.400980799551,0.00457744893345,0.0498460176566,0.999999961009,9.18911433759e-05,-0.00026144277668,-3.44447465958e-05,1793247780723271424
+48,0.800000000,BASELINE,765.131988463,745,715,679,663,634,877,785.868011537,809,653,629,652.868011537,0.400981039521,0.00457698853326,0.0498463828743,0.99999996128,9.22509781943e-05,-0.00026030787242,-3.42025790529e-05,1793247780739938304
+49,0.816666667,BASELINE,765,745,715,679.452599932,663,634,877,785.547400068,809.452599932,653,629,653,0.400980351377,0.00457655768637,0.0498461517134,0.999999961052,9.20195215215e-05,-0.000261292665188,-3.39876781029e-05,1793247780756605184
+50,0.833333333,BASELINE,765,745.03950028,715,679.96049972,663,634,877,785.03950028,810,653,629,652.96049972,0.400979468112,0.00457632859627,0.0498457598841,0.999999960699,9.17659541636e-05,-0.0002627480107,-3.38439222346e-05,1793247780773272064
+51,0.850000000,BASELINE,765,745.618692789,715,679.381307211,663,634,877,785.618692789,810,653,629,652.381307211,0.400979697489,0.00457873578881,0.0498456008593,0.999999960698,9.36175930235e-05,-0.0002620026687,-3.45612117291e-05,1793247780789938944
+52,0.866666667,BASELINE,765.197008657,745.802991343,715,679.197008657,663,634,876.802991343,786,809.802991343,653,629,652,0.40098040479,0.00457967034266,0.0498458268377,0.999999960801,9.45896803746e-05,-0.000261210142832,-3.49154282917e-05,1793247780806605568
+53,0.883333333,BASELINE,765.77363528,745.22636472,715,679.77363528,663,634,876.22636472,786,809.22636472,653,629,652,0.400982033006,0.00457776725405,0.0498467946829,0.999999961112,9.38669509501e-05,-0.000260326697937,-3.45700359204e-05,1793247780823272192
+54,0.900000000,BASELINE,765.650196777,745,715,679.650196777,663,634,877.049409669,786,809.349803223,653,629,652,0.400982696256,0.00457704705261,0.0498473472884,0.999999961398,9.34631510003e-05,-0.000259396864972,-3.43712036238e-05,1793247780839938560
+55,0.916666667,BASELINE,765.07432529,745,715,679.07432529,663,634,878.777024131,786,809.92567471,653,629,652,0.400982735875,0.00457709131891,0.0498476315357,0.999999961669,9.32654664831e-05,-0.000258437052699,-3.42670891118e-05,1793247780856604928
+56,0.933333333,BASELINE,765,745,715,679.513589835,663,634,877.972820329,786,810,653,629,652.513589835,0.400981803307,0.00457890650362,0.0498470082831,0.999999961244,9.40763836692e-05,-0.000259697626054,-3.49224291027e-05,1793247780873271552
+57,0.950000000,BASELINE,765,745,715,679.898634736,663.101365264,634,877,786,809.898634736,653,629,652.898634736,0.400981223199,0.00458035051999,0.0498466219387,0.999999960967,9.46027228898e-05,-0.000260499522455,-3.5454636174e-05,1793247780889938176
+58,0.966666667,BASELINE,765,745,715,679.319922179,663.680077821,634,877,786,809.319922179,653,629,652.319922179,0.400982981344,0.00457881077643,0.0498479845503,0.999999961883,9.30850657685e-05,-0.000257591898067,-3.4876991714e-05,1793247780906605824
+59,0.983333333,BASELINE,765,745,715,679,664,634,877,786,809,653,629,652,0.400982865771,0.00457781067313,0.049848039055,0.99999996198,9.21938127243e-05,-0.000257587025124,-3.44961947764e-05,1793247780923272704
+60,1.000000000,BASELINE,765,745,715,679,664,634,877,786,809,653,629,652,0.40098043387,0.0045774776846,0.0498464764497,0.999999961066,9.20769337333e-05,-0.000261170595857,-3.43587449229e-05,1793247780939939072
+61,1.016666667,BASELINE,765,745.416249543,715,679,664,634,877,786,809,653,629,652,0.400980571621,0.0045771926137,0.0498465630778,0.999999961022,9.27298683637e-05,-0.000261109274835,-3.43250448036e-05,1793247780956605696
+62,1.033333333,BASELINE,765,745.996018698,715,678.996018698,663.996018698,634,877,786,809,653,629,652,0.400981761902,0.00457693087535,0.0498473226559,0.999999961339,9.36719332961e-05,-0.000259553739897,-3.4336525261e-05,1793247780973272064
+63,1.050000000,BASELINE,765,745.416938701,715,678.416938701,663.416938701,634,877,786,809,653,629,652,0.400982019285,0.0045771869926,0.049847111276,0.999999961722,9.05520107071e-05,-0.000259138763009,-3.46981361772e-05,1793247780989938176
+64,1.066666667,BASELINE,765,745,715,678,663,634,877,786,809.161629238,653,629,652.161629238,0.400981731008,0.0045772781181,0.0498467543248,0.999999961817,8.91362916945e-05,-0.0002592413626,-3.48537727771e-05,1793247781006604800
+65,1.083333333,BASELINE,765,745,715,678,663,634,877,786,809.73888041,653,629,652.73888041,0.400980039595,0.00457694497506,0.0498460230441,0.999999961188,9.21028516963e-05,-0.00026067488564,-3.44797561515e-05,1793247781023271680
+66,1.100000000,BASELINE,765.313569818,745,715,678.313569818,663,634,877,786,809.686430182,653,629,653,0.400979815566,0.00457714674866,0.0498461133213,0.999999961013,9.38125523966e-05,-0.000260766418847,-3.42562020764e-05,1793247781039938304
+67,1.116666667,BASELINE,765.88614322,745,715,678.88614322,663,634,877,786,809.11385678,653,629,653,0.400980803573,0.00457779035473,0.0498468821921,0.999999961218,9.44841075467e-05,-0.000259749490143,-3.41569276467e-05,1793247781056605440
+68,1.133333333,BASELINE,765.526717047,745,715,679,663,634,877,786,809.473282953,653,629,652.526717047,0.400980919016,0.00457714528167,0.0498469810625,0.999999961238,9.4452620401e-05,-0.000259698168999,-3.40524907373e-05,1793247781073272320
+69,1.150000000,BASELINE,765,745,715,678.93707057,663,634,877,786,809.93707057,653,628.93707057,652.06292943,0.400980994428,0.00457632230766,0.049847022207,0.999999961284,9.39874479562e-05,-0.000259699854584,-3.39721503473e-05,1793247781089939200
+70,1.166666667,BASELINE,765,745,715,678.356543758,663,634,877,786,809.356543758,653,628.356543758,652.643456242,0.400982521925,0.00457666694954,0.049847956369,0.999999961918,9.13904664065e-05,-0.000258166219936,-3.41005442554e-05,1793247781106605312
+71,1.183333333,BASELINE,765,745,715,678,663,634,876.777548819,786,809,652.777548819,628.222451181,652.777548819,0.40098281114,0.00457630001761,0.0498479301068,0.999999962102,8.91752711599e-05,-0.000258227546421,-3.40874143922e-05,1793247781123271424
+72,1.200000000,BASELINE,765,745,715,678,663,634,876.200992277,786,809,652.200992277,628.799007723,652.200992277,0.400981129214,0.00457480037831,0.0498463750087,0.999999961577,8.7567815944e-05,-0.000260827786095,-3.3849002192e-05,1793247781139938304
+73,1.216666667,BASELINE,765,745,715,678.373148599,663,634,876.373148599,786,809,652.373148599,629,652,0.400980959195,0.00457590678764,0.0498466008412,0.999999961589,8.85911837709e-05,-0.00026039446937,-3.41736578677e-05,1793247781156605440
+74,1.233333333,BASELINE,765,745,715,678.945996639,663,634,876.945996639,786,809,652.945996639,629,652,0.40098159831,0.00457840788662,0.0498477797815,0.999999961883,9.10224998679e-05,-0.000258337671879,-3.47996528629e-05,1793247781173272576
+75,1.250000000,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652.535658994,0.400980552674,0.00457802291336,0.0498467919234,0.999999961464,9.19460089e-05,-0.000259640654976,-3.47203062883e-05,1793247781189939200
+76,1.266666667,BASELINE,765,745,715,679,663,634,877.124504388,786,809,653,629,653,0.400979845355,0.0045774031396,0.0498459467344,0.999999961099,9.27624964372e-05,-0.000260775916906,-3.45283352448e-05,1793247781206605824
+77,1.283333333,BASELINE,765,745,715,679,663,634,877.70396928,786,809,653,629,653,0.400981015089,0.00457702305421,0.0498464470038,0.999999961215,9.37613888906e-05,-0.000260020436415,-3.41930848717e-05,1793247781223272704
+78,1.300000000,BASELINE,765.280904828,745,715,679,663,634,877.719095172,786,809.280904828,653,629,652.719095172,0.40098125194,0.00457687966925,0.0498464883642,0.999999961242,9.39505001121e-05,-0.000259870820936,-3.40148725006e-05,1793247781239939072
+79,1.316666667,BASELINE,765.855198586,745,715,679,663,634,877.144801414,786,809.855198586,653,629,652.144801414,0.400980514448,0.00457698350427,0.0498460504204,0.999999961178,9.3293841372e-05,-0.000260353996646,-3.40006773075e-05,1793247781256605184
+80,1.333333333,BASELINE,765.559915015,745,715,679,663,634,877,786,809.559915015,653,629,652,0.400980711225,0.00457744674852,0.0498464891567,0.99999996118,9.46722636015e-05,-0.000259835049319,-3.41052457933e-05,1793247781273271808
+81,1.350000000,BASELINE,765.028081171,745,715,679.028081171,663,634,877,786,809,653,629,652,0.400981193414,0.00457795146552,0.0498471670024,0.999999961209,9.64687579005e-05,-0.000259045050813,-3.42381552479e-05,1793247781289938688
+82,1.366666667,BASELINE,765.60702378,745,715,679.60702378,663,634,877,786,809,653,629,652,0.400981095493,0.00457689271724,0.0498467372967,0.999999961405,9.30070496716e-05,-0.000259565651025,-3.41415548802e-05,1793247781306605056
+83,1.383333333,BASELINE,765.81477332,745,715,679.81477332,663,634,877,786,809,653.18522668,629,652.18522668,0.400981183516,0.00457627433491,0.0498465249898,0.999999961576,9.07233697151e-05,-0.000259726717495,-3.40629974741e-05,1793247781323271680
+84,1.400000000,BASELINE,765.238133435,745,715,679.238133435,663,634,877,786,809,653.761866565,629,652.761866565,0.400981664466,0.00457658651514,0.0498467720804,0.999999961714,9.09290487514e-05,-0.000259128032538,-3.40225676758e-05,1793247781339939072
+85,1.416666667,BASELINE,765,745,715,679,663,634,877,786,809,653.662583546,629.337416454,653,0.400982219454,0.00457725351679,0.049847011305,0.999999961832,9.13989025925e-05,-0.000258472323641,-3.42785493066e-05,1793247781356605952
+86,1.433333333,BASELINE,765,745,715,679,663,634,877,786,809,653.087800484,629.912199516,653,0.400982826525,0.00457817012911,0.0498472449958,0.999999961935,9.20545988014e-05,-0.000257776499431,-3.47430512248e-05,1793247781373272576
+87,1.450000000,BASELINE,765,745,715,679,663,634,877,786,809.49862888,653,629.50137112,652.50137112,0.400981285455,0.00457760838708,0.0498465677932,0.999999961625,9.14324603036e-05,-0.000259233628003,-3.44817171554e-05,1793247781389938944
+88,1.466666667,BASELINE,765,745,715,679,663,634,877,786,810,653,629,652,0.400979802565,0.00457691341644,0.049846009526,0.999999961339,9.07544969931e-05,-0.000260612763463,-3.41608234008e-05,1793247781406605056
+89,1.483333333,BASELINE,765,745,715,679,663,634,877,786,810,653,629,652,0.400980882264,0.00457698531016,0.0498470801471,0.999999961645,9.10806925461e-05,-0.000259310344706,-3.42501064452e-05,1793247781423271680
+90,1.500000000,BASELINE,765,745,715,679,663,634,877.24510145,786,809.75489855,653,629,652,0.400980955701,0.00457697441163,0.0498468349617,0.99999996156,9.14411775269e-05,-0.000259483860834,-3.44343676437e-05,1793247781439938304
+91,1.516666667,BASELINE,765,745,715,679,663,634,877.820491339,786,809.179508661,653,629,652,0.400979673139,0.00457685194574,0.0498448166505,0.999999960949,9.18478694768e-05,-0.000261646285051,-3.47466174136e-05,1793247781456604928
+92,1.533333333,BASELINE,765,745,715,679,663.395494586,634,877.604505414,786,809,653,629,652,0.400981019807,0.00457543908011,0.0498455197706,0.999999961413,9.02760867293e-05,-0.000260466556966,-3.43851253628e-05,1793247781473272064
+93,1.550000000,BASELINE,765,745,715,679,663.970322563,634,877.029677437,786,809,653,629,652,0.400983558675,0.00457344109454,0.0498474568986,0.999999962353,8.78071828148e-05,-0.000257771360765,-3.37181312911e-05,1793247781489939456
+94,1.566666667,BASELINE,765.559466753,745,715,678.440533247,663.440533247,634,877,785.440533247,809,653,629,652,0.400981726359,0.00457564948495,0.0498464637064,0.999999961676,9.05928601842e-05,-0.000259385642976,-3.40597107236e-05,1793247781506605824
+95,1.583333333,BASELINE,765.853093969,745,715,678.146906031,663,634,877.146906031,785.146906031,809,653,629,652,0.400980679703,0.00457736249017,0.0498459747146,0.999999961281,9.26033455861e-05,-0.000260160352783,-3.43418257592e-05,1793247781523272448
+96,1.600000000,BASELINE,765.272980356,745,715,678.727019644,663,634,877.727019644,785.727019644,809,653,629,652,0.400982651588,0.00457693940145,0.0498474429619,0.999999962005,9.14843495225e-05,-0.000257767451865,-3.42866777002e-05,1793247781539939072
+97,1.616666667,BASELINE,765,745,715,679,663,634,878,786,809,653,629,652,0.400982686469,0.00457605953804,0.0498479024445,0.99999996209,9.03887992104e-05,-0.000257854498023,-3.40596855023e-05,1793247781556605696
+98,1.633333333,BASELINE,765,745,715,679,663,634,878,786,809,653,629,652,0.40098099974,0.0045747736929,0.049847465336,0.999999961606,8.93140875708e-05,-0.000260145723566,-3.36799580787e-05,1793247781573271808
+99,1.650000000,BASELINE,765,745,715,679,663,634,877.536180932,786,809,653,629,652.463819068,0.400980317468,0.0045760620782,0.0498470043038,0.999999961437,9.01731230954e-05,-0.000260486435253,-3.380262602e-05,1793247781589938176
+100,1.666666667,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652.949792312,0.400980110811,0.00457785611475,0.0498466741929,0.999999961392,9.14940500869e-05,-0.00026016420094,-3.4050780271e-05,1793247781606604800
+101,1.683333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652.375041421,0.40098207474,0.00457776123539,0.049847778527,0.999999961787,9.22532400651e-05,-0.000258349904286,-3.42102976432e-05,1793247781623271936
+102,1.700000000,BASELINE,765,745,715,679,663,634,877,786,809.202394389,653,629,652,0.400982609841,0.00457774965275,0.0498481329386,0.999999961884,9.26899058264e-05,-0.000257812024327,-3.42593341854e-05,1793247781639938816
+103,1.716666667,BASELINE,765,745,715,679,663,634,877,786,809.784872237,653,629,652,0.400980461694,0.00457789449593,0.0498470790444,0.999999961424,9.25208920651e-05,-0.000259671171857,-3.4100894919e-05,1793247781656605696
+104,1.733333333,BASELINE,765,745,715,679,663,634,877,786,809.637693816,653,629,652,0.400980437753,0.0045782499047,0.0498472144557,0.99999996145,9.32395247097e-05,-0.000259315739461,-3.40906471333e-05,1793247781673272320
+105,1.750000000,BASELINE,765,745,715,679,663,634,877,786,809.063213627,653,629,652,0.400981657789,0.00457872862504,0.0498480463488,0.999999961758,9.44779814569e-05,-0.000257663403372,-3.41671833324e-05,1793247781689938944
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,653,0.400980757112,0.00457722886859,0.0498477818888,0.999999961689,9.30072229427e-05,-0.000258455064188,-3.42359485737e-05,1793247781720186624
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.582764165,745,715,679,663,634,877,786,809.582764165,653,629,653,0.400980740457,0.00457783731124,0.0498473302917,0.999999961747,9.25680201403e-05,-0.000258373410124,-3.43695738069e-05,1793247781736853504
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634.163381374,877,786,809.836618626,653,629,652.836618626,0.40098063565,0.00457825559558,0.0498468811251,0.9999999617,9.22700238203e-05,-0.000258644029116,-3.44977023555e-05,1793247781753520384
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634.73858702,877,786,809.26141298,653,629,652.26141298,0.400980308648,0.00457819456098,0.0498464380849,0.99999996139,9.23279569448e-05,-0.000259802598722,-3.46119758149e-05,1793247781770187264
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.686781577,745,715,678.686781577,663.313218423,634.686781577,877,786,809.313218423,653,629,652,0.400980372628,0.00457839311106,0.0498466045308,0.999999961465,9.15129066893e-05,-0.000259790334481,-3.47056696758e-05,1793247781786853888
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.112628597,745,715,678.112628597,663.887371403,634.112628597,877,786,809.887371403,653,629,652,0.400980762325,0.00457880791473,0.0498472787244,0.999999961858,8.99705954663e-05,-0.000258802677315,-3.47822191727e-05,1793247781803520512
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,678.474140609,663.525859391,634,877,786,810,653,629,652,0.400980210676,0.00457909269349,0.0498474262148,0.999999961662,9.10700183252e-05,-0.000259199903274,-3.4619915203e-05,1793247781820187136
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663.063026698,634,877,786,809.936973302,653,629,652,0.400979439415,0.00457934258941,0.0498473840788,0.999999961322,9.26607407641e-05,-0.000259969987429,-3.44239624026e-05,1793247781836854016
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663.644007642,634,877,786,809.355992358,653,629,652,0.400978751248,0.00457956658152,0.0498468398888,0.999999961016,9.29909940361e-05,-0.000261026853648,-3.44305016968e-05,1793247781853520128
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663.777904455,634,877,786,809,653,629,652,0.400979883245,0.00457887797069,0.0498469378278,0.999999961135,9.28373076969e-05,-0.00026063882537,-3.43357293657e-05,1793247781870186752
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663.204394174,634,877,786,809,653,629,652,0.400983895229,0.00457674537715,0.0498480517872,0.999999961922,9.19178990314e-05,-0.000257964586262,-3.40806548631e-05,1793247781886853888
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.401000819768,0.00457653212676,0.0498550452821,0.999999965225,9.14844328124e-05,-0.000244996639085,-3.40246240286e-05,1793247781903520512
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652,0.401024894499,0.00457738169258,0.0498652945093,0.999999969637,9.13200520863e-05,-0.000226328657197,-3.40788115337e-05,1793247781920186880
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809.543021211,653,629,652,0.401078633486,0.00457731650233,0.0498845517223,0.999999977677,9.0481096031e-05,-0.000187961956726,-3.35975072564e-05,1793247781936853760
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663.123974471,634,877,786,810,653,629,652,0.401138301745,0.00457685878108,0.0499043580346,0.999999984257,8.94463722548e-05,-0.000149656777632,-3.29898374023e-05,1793247781953520640
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663.700754504,634,877,786,810,653,629,652,0.401211829793,0.00457520779181,0.0499238024105,0.999999988809,8.78739164978e-05,-0.000116753504452,-3.20613665717e-05,1793247781970187264
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,664,634,877,786,810,653,629,652,0.401287894088,0.00457351900265,0.0499377875057,0.999999991375,8.63008758509e-05,-9.40146865767e-05,-3.10333617276e-05,1793247781986853632
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,664,634,877,786,810,653,629,652,0.40136669303,0.00457178945668,0.0499458862514,0.999999992582,8.47272047221e-05,-8.22354692815e-05,-2.98980366215e-05,1793247782003520256
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.438440705,745,715,679,663.561559295,634,876.561559295,786,809.561559295,653,629,652,0.401457083445,0.00457142018037,0.0499481238737,0.999999992829,8.41072635872e-05,-8.01018266858e-05,-2.91783372673e-05,1793247782020187136
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,633.968675682,876.031324318,785.968675682,809.031324318,653,629,652,0.401552624043,0.0045714727952,0.0499480594838,0.999999992741,8.37712082381e-05,-8.17508074489e-05,-2.85955060089e-05,1793247782036853760
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,633.392054185,876.607945815,785.392054185,809.607945815,653,629,652,0.401666309693,0.0045704779834,0.0499440797596,0.999999992183,8.24933318304e-05,-8.97427861041e-05,-2.78312176504e-05,1793247782053520128
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.815901626,745,715,679,663,633.184098374,877,785.184098374,809.815901626,653,629,652,0.401792922604,0.00456922958321,0.0499434214968,0.999999992166,8.03499407912e-05,-9.21303484175e-05,-2.69016438945e-05,1793247782070186752
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.240745248,745,715,679,663,633.759254752,877,785.759254752,809.240745248,653,629,652,0.401946995322,0.00456744251585,0.0499498186154,0.999999993343,7.63680414163e-05,-8.26131229942e-05,-2.5620974372e-05,1793247782086853888
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652.340986868,0.402109592529,0.0045651632984,0.0499512458134,0.999999993709,7.19108130336e-05,-8.26193190112e-05,-2.41685710529e-05,1793247782103520512
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652.927452972,0.402278326599,0.00456252977787,0.0499490951255,0.999999993489,6.71113910001e-05,-8.94815030188e-05,-2.2592535037e-05,1793247782120187136
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.510462281,786,809,653,629,653,0.402494789381,0.00456063312854,0.0499495062231,0.999999993793,6.45412344962e-05,-8.84247302981e-05,-2.07361882242e-05,1793247782136853760
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.908156247,786,809,653,629,652.908156247,0.402721991086,0.00455891662012,0.0499503853162,0.999999994112,6.21424761561e-05,-8.69390550344e-05,-1.88665918486e-05,1793247782153520640
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.332775674,786,809,653,629,652.332775674,0.402970259003,0.00455760087105,0.0499518243861,0.999999994146,5.89893031928e-05,-8.90806596849e-05,-1.71355653369e-05,1793247782170187008
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652.241865516,0.403243079213,0.0045553956594,0.0499570222095,0.999999995018,5.5408980956e-05,-8.16111936675e-05,-1.5262092051e-05,1793247782186853632
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809,653,629,652.815492479,0.403549577235,0.00455197039215,0.0499673758297,0.999999996742,5.12427479149e-05,-6.09584397112e-05,-1.31932278527e-05,1793247782203520000
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,678.599030153,663,634,877,786,809.400969847,653,629,653,0.403881576534,0.0045479324193,0.0499780148679,0.999999998125,4.56755889689e-05,-3.93083649275e-05,-1.08839924298e-05,1793247782220186880
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,678.007933731,663,634,877,786,809.992066269,653,629,653,0.404225667684,0.00454360392191,0.0499887892414,0.999999999039,3.94441576289e-05,-1.71853943344e-05,-8.46078101745e-06,1793247782236854016
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,678.571614442,663.571614442,634,877,785.428385558,810,653,629,653,0.404617411991,0.00453979478421,0.0499948010159,0.999999999372,3.45334021856e-05,-5.72920941453e-06,-5.58736010514e-06,1793247782253520896
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.149676112,745,715,679,663.850323888,634,877,785.149676112,810,653,629,652.850323888,0.405014304926,0.00453595657935,0.0499977646068,0.999999999549,2.99101502323e-05,4.61929571955e-07,-2.69486905126e-06,1793247782270187520
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.723966347,745,715,679,663.276033653,634,877,785.723966347,810,653,629,652.276033653,0.405423964699,0.00453201587033,0.0499922646584,0.99999999963,2.60515425369e-05,-7.87158710008e-06,2.34345546429e-07,1793247782286853888
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.305658538,679,663,634,877.305658538,786,810,653,629,652.305658538,0.405836317313,0.00452853344378,0.0499794447609,0.999999999248,2.26775514466e-05,-3.13321801481e-05,2.98740321909e-06,1793247782303520256
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.894201236,679,663,634,877.894201236,786,810,653,629,652.894201236,0.406251162173,0.00452547515298,0.0499598503175,0.999999997423,1.97520680899e-05,-6.87927439443e-05,5.57742961644e-06,1793247782320186624
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.524545437,745,715.524545437,679,663,634,877.524545437,785.524545437,810,653,629.475454563,653,0.406725840287,0.00452071215811,0.0499427235301,0.999999995132,1.50155578553e-05,-9.71628184816e-05,8.34274015028e-06,1793247782336853504
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.054828141,745,715,679,663,634,877.054828141,785.054828141,810,653,629.945171859,653,0.407221668634,0.00451546408561,0.0499285009937,0.999999992764,9.59917207843e-06,-0.000119387639834,1.12704026584e-05,1793247782353520384
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.631516051,745,715,679,663,634,877.631516051,785.631516051,810,653,629.368483949,653,0.407793995243,0.00450915500295,0.0499367738727,0.99999999467,1.48945918611e-06,-0.000102084089231,1.53777069193e-05,1793247782370187264
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.793721287,786,810,653,629,653,0.408383955452,0.00450312772316,0.0499526217006,0.999999997262,-5.21295944248e-06,-7.12449094482e-05,1.93384203451e-05,1793247782386854144
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,634,877.222366009,786,810,653,629,653,0.409005123956,0.0044975991846,0.0499818758377,0.999999999555,-9.42471748845e-06,-1.64500787639e-05,2.3039693838e-05,1793247782403521024
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.6377757,663.3622243,634,877,786,810,653,629,653,0.409627570719,0.00449029253874,0.0499993317423,0.999999998849,3.77365548953e-05,1.06906912895e-05,2.76166086799e-05,1793247782420187904
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.044752429,663.955247571,634,877,786,810,653,629,653,0.410250831928,0.00448185293393,0.0500092701491,0.999999992341,0.000117631253993,2.02110821276e-05,3.2751456912e-05,1793247782436854272
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.464588094,745,715,678.535411906,664,634,877.535411906,786,810,653,629,653,0.410870782253,0.00447713711259,0.0499849266824,0.999999989621,0.000135261029061,-3.36955925594e-05,3.64317568471e-05,1793247782453520896
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.113975175,745,715,679,663.886024825,634,878,785.886024825,810,653,629,653,0.411509318724,0.00447223154344,0.0499602395874,0.999999985567,0.00014195069102,-8.43759370458e-05,3.99529302656e-05,1793247782470187520
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.690301245,745,715,679,663.309698755,634,878,785.309698755,810,653,629,653,0.412224347756,0.00446532323371,0.0499455098875,0.999999986168,0.000124877807336,-0.000100966509652,4.33102188911e-05,1793247782486853888
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.728604484,715,679.271395516,663.271395516,634,878,785.271395516,810,653,629,653,0.41296837786,0.00445901093785,0.0499503914166,0.999999989794,0.000106598825797,-8.33939836921e-05,4.57715315096e-05,1793247782503520512
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.141971673,715,679.858028327,663.858028327,634,878,785.858028327,810,653,629,653,0.413746094021,0.00445339093624,0.0499780522105,0.999999994767,8.6918908474e-05,-2.61395852234e-05,4.71921306852e-05,1793247782520186880
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.438983929,715,679.561016071,664,634,878,785.561016071,810.438983929,653,629,653,0.414507068049,0.0044477726145,0.0499788529586,0.999999999047,6.5806903883e-06,-2.87473745064e-05,3.21896608331e-05,1793247782536853248
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.981893808,745,715,679,664.018106192,634,878.018106192,785.018106192,811,653,629,653,0.415263739222,0.00444309614989,0.049970585391,0.999999994702,-8.85730375392e-05,-5.09102855277e-05,1.26182362437e-05,1793247782553519616
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.403411603,745,715,679,664.596588397,634,878.596588397,785.596588397,811,653,629,653,0.416052679235,0.00446755300007,0.0499470775695,0.999999995221,-4.28604398802e-05,-8.67617653468e-05,1.39256420952e-05,1793247782570186240
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.17379091,745,715,679.17379091,664.82620909,633.82620909,879,786,811.17379091,653,629,653,0.41686936417,0.00448589336973,0.049937838802,0.999999995062,-4.60689240699e-06,-9.80162331878e-05,1.57080064141e-05,1793247782586852864
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.748044623,745,715,679.748044623,664.251955377,633.251955377,879,786,811.748044623,653,629,653,0.417749981113,0.00449013965825,0.0499614799223,0.999999998309,1.64589168882e-05,-5.25923129182e-05,1.85848077034e-05,1793247782603519488
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.670194477,745,715,680,664,633,879,785.670194477,812,653,629.329805523,653,0.418604858824,0.00448586842135,0.0499770106185,0.999999999214,1.91298852277e-05,-2.76534312066e-05,2.09953577355e-05,1793247782620186880
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.082564893,745,715,680,664,633,879,785.082564893,812,653,629.917435107,653,0.419439614958,0.00447493864506,0.0499862010239,0.999999999532,7.42076410192e-06,-1.87286432475e-05,2.30414177237e-05,1793247782636854272
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633.498074449,879,785,811.501925551,653,630,653,0.420293958663,0.00447113460297,0.0499693641111,0.999999998928,-4.28220720152e-06,-4.00908151117e-05,2.27486883801e-05,1793247782653520896
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664,634,879.077266998,785,811.077266998,652.922733002,630,653,0.421165223941,0.00446839911426,0.0499548754934,0.999999998144,-1.32228170293e-05,-5.51191559067e-05,2.23469011715e-05,1793247782670187520
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664,634,879.654491795,785,811.654491795,652.345508205,630,653,0.422125261253,0.00446504039793,0.0499831122733,0.999999999705,-4.29600632974e-06,2.87208505802e-06,2.37133341528e-05,1793247782686854400
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679.770914721,664,633.770914721,879.770914721,785.229085279,812,652.229085279,630,653.229085279,0.423063167458,0.00446676557289,0.0499954372807,0.999999999337,2.29943448982e-06,2.68285510451e-05,2.44944766293e-05,1793247782703521024
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679.200244653,664,633.200244653,879.200244653,785.799755347,812,652.799755347,630,653.799755347,0.423968074525,0.00447607124288,0.0499840365452,0.999999999688,5.4186144683e-06,3.64073007931e-08,2.44029036364e-05,1793247782720187392
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679.385624319,664.385624319,633,879,785.614375681,812,652.614375681,630,653.228751361,0.424886937379,0.00448024850536,0.0499816579601,0.999999999703,9.04966050288e-09,-2.63842738228e-06,2.42087251277e-05,1793247782736853760
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.979709484,664.979709484,633,879,785.020290516,812,652.020290516,630,652.040581032,0.4258133444,0.00448165345207,0.0499841565709,0.999999999633,-1.00109852991e-05,7.7240776103e-06,2.39590801236e-05,1793247782753520128
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,665,633,879,785,812,652,630,652.558849339,0.426746672355,0.00447122906802,0.0500001854535,0.999999999482,5.75350594868e-06,1.51603469363e-05,2.78022391821e-05,1793247782770186752
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,665,633.136631581,879,785,812,652,630,653,0.427664550374,0.00446232391952,0.0500026799806,0.999999999371,1.7019556108e-05,2.06758531885e-06,3.10431742002e-05,1793247782786853632
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,665,633.711752914,879,785,812,652,630,653,0.428532059649,0.00445963690393,0.0499602033902,0.9999999965,1.09226227478e-05,-7.65766096726e-05,3.18869212073e-05,1793247782803520512
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.713851876,633.713851876,879,785,812.286148124,652,630,653,0.429463302872,0.00446091262285,0.049943358372,0.999999994684,1.98443824e-06,-9.82256748543e-05,3.12899198887e-05,1793247782820187136
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.140186299,633.140186299,879,785,812.859813701,652,630,653,0.430458584981,0.00446617003966,0.0499522675854,0.999999997564,-9.80859348217e-06,-6.26068623212e-05,2.92452757785e-05,1793247782836854016
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.447187299,633,879,785,813,652,630,653,0.431375671633,0.00447195472866,0.049947464962,0.999999997056,-1.04955618766e-05,-7.02919708491e-05,2.89447617435e-05,1793247782853520640
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.961884768,633,879,785,813,652,630,653,0.432269261772,0.00447706308745,0.0499388259333,0.999999995498,-6.53888952118e-06,-9.00333325078e-05,2.9248551599e-05,1793247782870187520
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.383416257,633,879,785,813,652,630,653,0.433188252052,0.00447016580341,0.0499386642978,0.999999996095,1.23312825343e-05,-8.21561429391e-05,3.01230416108e-05,1793247782886853632
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.194109568,715,680,664.194109568,633,879,785,813.194109568,652,630.194109568,653,0.434112433473,0.00446348422912,0.0499484239998,0.999999997349,1.58683656147e-05,-6.38865070494e-05,3.11190266818e-05,1793247782903520000
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.769782445,715,680,664.769782445,633,879,785,813.769782445,652,630.769782445,653,0.435046819338,0.00445722667663,0.0499776861838,0.999999999102,-1.07349693959e-05,-2.51883238122e-05,3.23538360564e-05,1793247782920186624
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.647425123,715,680,664.647425123,633,879,785,814,652,631,653,0.435919104876,0.00445719446026,0.0499749106489,0.999999998015,-2.20113286802e-05,-4.80470108204e-05,3.43213135674e-05,1793247782936853248
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.05988813,715,680,664.05988813,633,879,785,814,652,631,653,0.436750005603,0.00446131091807,0.0499507846112,0.999999992794,-2.30735193679e-05,-0.00011192828405,3.67770538951e-05,1793247782953520128
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.517913525,745,715,680.517913525,664,633,879,784.482086475,814,652,630.482086475,653,0.437643880681,0.00446797620448,0.0499544753335,0.999999995596,-1.17854374603e-05,-8.6444671356e-05,3.45785875725e-05,1793247782970187264
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.904929237,745,715,681,664.095070763,633,879,784.095070763,814,652,630,653,0.438537362737,0.00447382443698,0.0499620638725,0.999999998018,1.67995605741e-06,-5.40552265917e-05,3.22498592287e-05,1793247782986854144
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.325425318,745,715,681,664.674574682,633,879,784.674574682,814,652,630,653,0.43939242159,0.00447403528291,0.0499734262167,0.999999998579,1.9097195748e-05,-3.81603258694e-05,3.19490910023e-05,1793247783003520768
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.748199441,633,879.251800559,784.748199441,814.251800559,652,630,653,0.44022266646,0.00447067087894,0.0499727131961,0.999999998553,1.81098628927e-05,-3.9410819209e-05,3.18256664805e-05,1793247783020187392
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.173891336,633,879.826108664,784.173891336,814.826108664,652,630,653,0.441021129379,0.00446272727516,0.0499565339808,0.999999997509,-6.45014935752e-06,-6.26212290624e-05,3.19293847683e-05,1793247783036853504
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680.585615117,664,633,880,784,814.585615117,652,630.414384883,653,0.441833329346,0.00445567014683,0.0499628482704,0.999999998179,-2.00820650726e-05,-4.65289349549e-05,3.27830698369e-05,1793247783053519616
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.008454047,664,633,880,784.008454047,814.008454047,652,631,653,0.442650558182,0.00444911181642,0.0499788878956,0.999999998924,-2.85297880148e-05,-1.3591308148e-05,3.39578118385e-05,1793247783070186240
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.584196109,664,633,880,784.584196109,814.584196109,652,631,653,0.443404920515,0.00445019134013,0.0499920386315,0.999999999356,-7.56076225607e-06,4.39012135513e-06,3.48214923322e-05,1793247783086853888
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880,784.840285302,815,652.159714698,631,653,0.444129703378,0.00445284661192,0.0499897511134,0.999999999317,7.97852566447e-06,-4.09148472308e-06,3.58555684946e-05,1793247783103521024
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664,633,880,784.265347569,815,652.734652431,631,653,0.444777586296,0.00445959848186,0.0499473275381,0.999999995948,9.40169566626e-06,-8.13711507055e-05,3.73326359752e-05,1793247783120187392
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,664.310072741,633,879.689927259,784,815,652.689927259,631,652.689927259,0.445460416231,0.00446759097079,0.0499315248146,0.999999994538,1.49395981746e-05,-9.65138830537e-05,3.7233708818e-05,1793247783136854272
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.88590663,633,879.11409337,784,815,652.11409337,631,652.11409337,0.446173198969,0.00447664678504,0.0499385386369,0.999999997366,2.40042086628e-05,-5.8399485968e-05,3.57840078439e-05,1793247783153521152
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.476441133,745,715,681,665,633,879.476441133,784,815,652,631,652.952882266,0.446851197871,0.00447471659196,0.0499552709973,0.999999998658,2.410368366e-05,-2.61480098722e-05,3.7682548541e-05,1793247783170187520
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.931635341,745,715,681,664.931635341,633,880,784,815.068364659,652,631,653.931635341,0.447508606188,0.00447016319047,0.0499694855493,0.999999998951,2.18442100002e-05,-2.86201962229e-06,4.01591856672e-05,1793247783186854400
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.356346698,745,715,681,664.356346698,633,880,784,815.643653302,652,631,653.356346698,0.448077066392,0.0044662872936,0.0499472242153,0.999999998373,1.85190796605e-05,-3.53130486999e-05,4.07877496723e-05,1793247783203521024
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.216888569,745,715,681,664,633,880,784,816,652,631,653,0.448631579722,0.00446318860965,0.0499292701179,0.999999997035,1.69584847364e-05,-6.24843301405e-05,4.16931178698e-05,1793247783220187648
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.786781736,745,715,681,664,633,880,784,816,652,631,653,0.449163393271,0.00446135490622,0.0499183264168,0.999999995621,1.82698216574e-05,-8.10623700225e-05,4.30490084241e-05,1793247783236853760
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,880,784,816,652,631,653,0.449702973585,0.00445879238607,0.0499285681503,0.999999996643,1.57317259478e-05,-6.68090427319e-05,4.47616956687e-05,1793247783253520640
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664,633,880,784,816,652,631,653,0.45024719688,0.00445579418308,0.0499514744202,0.999999998309,1.08924604493e-05,-3.29293043377e-05,4.66876741289e-05,1793247783270188032
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.45517645,745.54482355,715,681,664,633,880,784,815.45517645,652,631,653,0.450737247384,0.00445010526317,0.049968582632,0.999999998713,6.58658957446e-06,-1.11679664398e-05,4.90567935821e-05,1793247783286854656
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.874888879,715,681,664,633,880,784,815.125111121,652,631,653,0.451203752446,0.00444524071417,0.0499796912913,0.999999998683,2.92255648905e-06,-8.37342264654e-07,5.12261991101e-05,1793247783303521024
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.299615332,715,681,664,633,880,784,815.700384668,652,631,653,0.45159872515,0.00444399728947,0.0499706242852,0.999999998206,1.43808394452e-06,-2.8685792538e-05,5.25691480885e-05,1793247783320187904
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.280894605,745,715,681,664,632.719105395,880.280894605,784,815.719105395,652,631,653.280894605,0.451958410356,0.00444366221268,0.0499491123743,0.999999995843,1.78912920262e-07,-7.40813750478e-05,5.31599989179e-05,1793247783336854528
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.867095984,745,715,681,664,632.132904016,880.867095984,784,815.132904016,652,631,653.867095984,0.452279741252,0.00444431442713,0.0499140739896,0.999999989001,-8.3537584505e-07,-0.00013854908547,5.29333875561e-05,1793247783353520640
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.552752568,632,880.105505136,784,815.447247432,652,631.447247432,653.552752568,0.452614042983,0.00444504012327,0.0498950951689,0.999999984557,-4.93236335824e-05,-0.000164668270229,3.65860111394e-05,1793247783370187264
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,632,879.025660077,784,816,652,631.974339923,653,0.452951203562,0.00444609914124,0.0498820271813,0.999999978454,-0.000105718314724,-0.000177877736684,1.65611306535e-05,1793247783386853632
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,632,879.604827876,784,816,652,631.395172124,653,0.453267998806,0.00445388344061,0.0498948930184,0.999999987256,-3.24154156291e-05,-0.000155146749092,1.91641106762e-05,1793247783403520768
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.81740999,745,715,681.18259001,663,632,880,784,816,652,631,653,0.453568963913,0.00446541356528,0.0499062442705,0.999999990253,2.30565791147e-05,-0.000136158763867,2.0554248924e-05,1793247783420187648
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.242666914,745,715,681.757333086,663,632,880,784,816,652,631,653,0.453835930204,0.00448498869036,0.0499143426092,0.999999991165,4.02326909839e-05,-0.00012520972169,1.9339536839e-05,1793247783436854016
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.339878092,745,715,681.660121908,663,631.660121908,880,784,816,652.339878092,630.660121908,653,0.454071685421,0.00449130049128,0.0499123843088,0.999999990763,4.48598120612e-05,-0.000126726809404,2.00256405006e-05,1793247783453520640
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.928124471,745,715,681.071875529,663,631.071875529,880,784,816,652.928124471,630.071875529,653,0.454284632956,0.00448792002757,0.0499030770501,0.99999998951,4.03166723516e-05,-0.000137353607388,2.21007784068e-05,1793247783470187008
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681.508398909,663,631,880,784,816,652.491601091,630.508398909,653,0.454468306292,0.00448312628395,0.0498897547663,0.999999986793,3.24734951323e-05,-0.00015760591507,2.28114465005e-05,1793247783486853376
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631,880.08725947,784,816,652,631,653,0.454642587091,0.004479442072,0.049876583555,0.99999998356,2.55824703795e-05,-0.000178008789546,2.31897608031e-05,1793247783503519744
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,682,663,631,880.664412227,784,816,652,631,653,0.454787012948,0.00448309143119,0.0498673980835,0.999999981005,2.66158858431e-05,-0.000191735010197,2.27684525228e-05,1793247783520186368
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715.241164931,681.758835069,663,631,880.758835069,784,816,652.241164931,631,653,0.454918472814,0.00448392344505,0.0498584136693,0.999999978179,2.65810747729e-05,-0.000205912324415,2.31262966323e-05,1793247783536853504
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715.817361834,681.182638166,663,631,880.182638166,784,816,652.817361834,631,653,0.455031920016,0.00448084153654,0.0498497085692,0.999999975026,2.50622583061e-05,-0.000220716307573,2.45665575284e-05,1793247783553520896
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715.598205007,681,663,631,880,784,816,652.598205007,631,653,0.455128631152,0.00448150572356,0.0498401579082,0.999999971892,2.58677879088e-05,-0.000234375150894,2.47986201201e-05,1793247783570187520
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715.00994968,681,663,631,880,784,816,652.00994968,631,653,0.455217575607,0.00448390835501,0.0498302148495,0.999999968687,2.77519729684e-05,-0.000247502570643,2.44699960909e-05,1793247783586854144
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.430746905,745,715,681.569253095,662.430746905,631,880.569253095,784,816,652,631,653.569253095,0.45529300254,0.00448533319419,0.0498247497191,0.999999966602,2.74813378915e-05,-0.000255827425724,2.43533112852e-05,1793247783603520768
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.147093418,745,715,682,662,631,880.705813163,784.147093418,816,652,631,653.852906582,0.455362524092,0.00448591998831,0.0498199182826,0.999999964576,2.74955175246e-05,-0.000263619255807,2.44191896607e-05,1793247783620187136
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.721428696,745,715,682,662,631,879.557142609,784.721428696,816,652,631,653.278571304,0.45541556859,0.00448412149171,0.0498167036759,0.999999962805,2.84446410507e-05,-0.000270102877454,2.50047428598e-05,1793247783636853248
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681.696821743,662.303178257,631,879.303178257,784.696821743,816,652,631,653,0.455461660971,0.00448470835624,0.0498145948295,0.9999999614,2.98484777304e-05,-0.0002751055485,2.50239029106e-05,1793247783653519872
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681.108088819,662.891911181,631,879.891911181,784.108088819,816,652,631,653,0.455501205363,0.00448754192194,0.0498135274657,0.999999960357,3.16805954418e-05,-0.00027871335657,2.4509594013e-05,1793247783670186752
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662.527076296,631,880,784,815.527076296,652.472923704,631,653,0.455535259187,0.00448893379837,0.0498164644671,0.999999961396,3.31130824532e-05,-0.000274783264287,2.46041826498e-05,1793247783686853632
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880.052078587,784,815.052078587,652.947921413,631,653,0.455566423918,0.00448983830288,0.0498196316109,0.9999999626,3.42838835555e-05,-0.000270199101093,2.48558239476e-05,1793247783703521024
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880.630007536,784,815.630007536,652.369992464,631,653,0.45558088422,0.00448909534,0.0498160298424,0.999999960988,3.37198204805e-05,-0.000276126943908,2.53106400995e-05,1793247783720187648
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.793817516,745,715,681,662.206182484,631,880.793817516,784,816,652,631,653,0.455593332282,0.00448833411578,0.049813313602,0.999999959735,3.30925509391e-05,-0.000280674761468,2.56206949899e-05,1793247783736854016
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.22076359,745,715,681,662.77923641,631,880.22076359,784,816,652,631,653,0.455602199859,0.00448754039822,0.0498121730286,0.999999959168,3.23528148115e-05,-0.000282767026477,2.56731684553e-05,1793247783753520128
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.636762268,631,880,784,816,652,630.636762268,653,0.455607886467,0.00448882224142,0.0498108498449,0.999999958363,3.37432384752e-05,-0.000285447170213,2.56001583552e-05,1793247783770186752
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.045900757,631,880,784,816,652,630.045900757,653,0.455611579714,0.00449140473967,0.0498094122281,0.999999957396,3.64685318126e-05,-0.000288495709455,2.54485136812e-05,1793247783786853120
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.534096617,745,715,681,662,631,880,784,816,652,630.534096617,653,0.455613895953,0.00449030148247,0.0498087268151,0.999999957042,3.55044416782e-05,-0.0002897862547,2.60714794166e-05,1793247783803520256
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.887844393,745,715,681,662.112155607,631,880,784,816,652,631,653,0.455615866131,0.00448947025388,0.0498081176375,0.999999956743,3.46052553292e-05,-0.000290890933958,2.64314727395e-05,1793247783820187136
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.313998087,745,715,681,662.686001913,631,880,784,816,652,631,653,0.455616889183,0.00449103677903,0.0498075614763,0.99999995647,3.52524472824e-05,-0.000291840031915,2.54403583761e-05,1793247783836854016
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.260638235,745,715,681,662.739361765,631,880,784.260638235,816,652.260638235,631,653,0.455618171174,0.00449217606157,0.0498075036636,0.999999956365,3.67385422644e-05,-0.000292052123177,2.49986923543e-05,1793247783853520640
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.836229281,745,715,681,662.163770719,631,880,784.836229281,816,652.836229281,631,653,0.455619766067,0.00449279906834,0.0498080480505,0.999999956463,3.92383599286e-05,-0.00029137362255,2.52209744533e-05,1793247783870187520
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.577207799,745,715,681,662,631,880,784.577207799,816,652.577207799,631,653,0.455619897468,0.00449236507934,0.0498075238152,0.999999956241,3.8551139549e-05,-0.000292216012807,2.5319435103e-05,1793247783886853632
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.013475775,745,715,681,662,631,880,784,815.986524225,652,631,653,0.45561948108,0.00449156606883,0.0498065973638,0.999999955902,3.66367279802e-05,-0.000293617687003,2.53545685489e-05,1793247783903520000
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.593953838,745,715,681,662,631,880,784,815.406046162,652,631,653,0.455620503931,0.0044930946597,0.0498066280581,0.999999956075,3.64143720265e-05,-0.000293103381942,2.47970036663e-05,1793247783920186624
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880,784,815.172851708,652,631,653,0.45562100211,0.00449438596355,0.0498065176619,0.999999956019,3.69722595951e-05,-0.000293255357261,2.44364661672e-05,1793247783936853504
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880,784,815.748071137,652,631,653,0.45562027895,0.00449512490572,0.0498060788325,0.999999955425,3.93464139122e-05,-0.000294958313625,2.45345730505e-05,1793247783953519872
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.670784684,745,715,681,662.329215316,631,880,784,815.670784684,652,631,653,0.455619914862,0.0044951246808,0.0498052951193,0.999999955021,4.04033025294e-05,-0.000296167866104,2.46824483888e-05,1793247783970187008
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.085023585,745,715,681,662.914976415,631,880,784,815.085023585,652,631,653,0.455619830587,0.00449454844921,0.0498042426506,0.999999954771,4.04336927382e-05,-0.000296992926411,2.48691065091e-05,1793247783986854400
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.503899359,630.503899359,880,784,815.496100641,652,631,653,0.455619934324,0.00449631826576,0.0498046993337,0.999999954799,4.25810957536e-05,-0.000296615746504,2.46590082e-05,1793247784003520768
+244,4.066666667,HOLD_POSE2,766,745,715,681,662,631,880,784,816,652,631,653,0.455618044352,0.00449539324654,0.0498016112094,0.999999953969,4.10137239235e-05,-0.000299586113503,2.50504293219e-05,1793247784046855424
+245,4.083333333,HOLD_POSE2,765.424752662,745,715,681.575247338,662,631,880,784,816,652,631,653,0.455618610295,0.00449692194811,0.0498033801596,0.999999954387,4.22943537226e-05,-0.000298073045044,2.43014373242e-05,1793247784063522304
+246,4.100000000,HOLD_POSE2,765.15398838,745,715,681.84601162,662.15398838,631,880,784,815.84601162,652.15398838,631,653,0.455619329264,0.00449771790202,0.0498047651018,0.999999954742,4.2993495684e-05,-0.000296823998975,2.37453496688e-05,1793247784080188928
+247,4.116666667,HOLD_POSE2,765.742590108,745,715,681.257409892,662.742590108,631,880,784,815.257409892,652.742590108,631,653,0.455620480132,0.00449644576572,0.0498050662285,0.999999954931,4.20514597157e-05,-0.000296320123429,2.37337107284e-05,1793247784096855296
+248,4.133333333,HOLD_POSE2,766,745,715,681,662.674080405,630.674080405,880.325919595,784,815.325919595,652.674080405,631,653,0.455621100335,0.00449628817933,0.0498045674058,0.999999954721,4.21471168384e-05,-0.000296997147195,2.39612495556e-05,1793247784113521920
+249,4.150000000,HOLD_POSE2,766,745,715,681,662.094848658,630.094848658,880.905151342,784,815.905151342,652.094848658,631,653,0.455621308094,0.00449699684664,0.049803446844,0.999999954198,4.30492927824e-05,-0.000298591992902,2.43746828057e-05,1793247784130188800
+250,4.166666667,HOLD_POSE2,765.518311553,745,715,681.481688447,662,630,880.518311553,784,815.518311553,652,631,653,0.455620343391,0.00449709543537,0.0498027565728,0.999999953893,4.3019856921e-05,-0.000299605625502,2.44751643692e-05,1793247784146855680
+251,4.183333333,HOLD_POSE2,765.058737254,745,715,681.941262746,662,630,880,784,815.058737254,652.058737254,631,653,0.455619264204,0.00449701943321,0.0498022447821,0.999999953668,4.28319061048e-05,-0.000300379490573,2.4513301735e-05,1793247784163522304
+252,4.200000000,HOLD_POSE2,765.645122768,745,715,681.354877232,662,630,880,784,815.645122768,652.645122768,631,653,0.455619218969,0.00449644819309,0.0498025794223,0.999999953774,4.28587169045e-05,-0.000300021847923,2.45418801658e-05,1793247784180188672
+253,4.216666667,HOLD_POSE2,766,745,715,681,662.228606371,630.228606371,880,784,815.771393629,652.771393629,631,653,0.455618760345,0.00449594524815,0.0498023699936,0.999999953689,4.27851676273e-05,-0.000300312144269,2.45842396837e-05,1793247784196855040
+254,4.233333333,HOLD_POSE2,766,745,715,681,662.807641604,630.807641604,880,784,815.192358396,652.192358396,631,653,0.45561766804,0.00449554699239,0.0498013265662,0.999999953311,4.25577771957e-05,-0.000301595661111,2.46477241159e-05,1793247784213521664
+255,4.250000000,HOLD_POSE2,766,745,715,681,662.613123775,630.613123775,880,784,815.386876225,652.386876225,631,653,0.455619599264,0.00449535113957,0.0498023401208,0.999999953758,4.20841892595e-05,-0.000300178442876,2.4611411201e-05,1793247784230188032
+256,4.266666667,HOLD_POSE2,766,745,715,681,662.033789913,630.033789913,880,784,815.966210087,652.966210087,631,653,0.455623034591,0.00449525597523,0.0498043769533,0.99999995461,4.14881264988e-05,-0.000297417701799,2.45254525384e-05,1793247784246854400
+257,4.283333333,HOLD_POSE2,766,745,715,681.539710881,662,630.539710881,880,784,816,652.460289119,631,653,0.455621413345,0.00449587234728,0.0498029347132,0.999999954012,4.16350831852e-05,-0.000299419615426,2.43158420186e-05,1793247784263521536
+258,4.300000000,HOLD_POSE2,765.884874296,745,715,681.884874296,662,630.884874296,880.115125704,784,816,652,631,653,0.45561992853,0.0044967153395,0.049801770817,0.999999953467,4.20664031547e-05,-0.000301187853496,2.41197275248e-05,1793247784280188672
+259,4.316666667,HOLD_POSE2,765.300178833,745,715,681.300178833,662,630.300178833,880.699821167,784,816,652,631,653,0.455620277628,0.00449830290495,0.0498026211364,0.999999953527,4.34698627794e-05,-0.000300799796382,2.40098981601e-05,1793247784296855552
+260,4.333333333,HOLD_POSE2,765.283440368,745,715,681,662.283440368,630,880.716559632,784,815.716559632,652,631,653,0.455621090561,0.00449845878352,0.0498034108956,0.99999995385,4.40893348012e-05,-0.000299623462391,2.41275560649e-05,1793247784313522176
+261,4.350000000,HOLD_POSE2,765.865924023,745,715,681,662.865924023,630,880.134075977,784,815.134075977,652,631,653,0.455622392865,0.00449710416314,0.0498041367609,0.99999995445,4.38816619232e-05,-0.000297615458217,2.44852240413e-05,1793247784330188544
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,816,652,631,653,0.455619327495,0.00449825597652,0.0498012586335,0.999999953387,4.35007660663e-05,-0.000301248492665,2.41465569263e-05,1793247784362845440
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.57061923,662,630.57061923,880,784,816,652,631,653,0.455621074232,0.00449827188499,0.0498027868394,0.999999953966,4.40312021953e-05,-0.00029923857901,2.4210666468e-05,1793247784379512064
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.853303068,662,631,880,784,815.853303068,652,631,653,0.455622033962,0.00449837763721,0.0498036518435,0.999999954256,4.431909394e-05,-0.000298224860581,2.41930209366e-05,1793247784396178944
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.26063085,662,631,880,784,815.26063085,652,631,653,0.455620601104,0.00449875652458,0.0498025006398,0.99999995368,4.38696234216e-05,-0.000300239687955,2.39268307414e-05,1793247784412845568
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.675226532,880.324773468,784,815,652,631,653,0.455619895837,0.00449813711597,0.0498018240398,0.999999953411,4.28651638804e-05,-0.00030127346223,2.3977847261e-05,1793247784429511936
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.095527077,880.904472923,784,815,652,631,653,0.455619761684,0.00449673411012,0.0498015199729,0.999999953385,4.14250741843e-05,-0.000301537173694,2.42778503768e-05,1793247784446178304
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.480612635,880.519387365,784,815,652,631,653,0.45562050457,0.00449709679276,0.0498020708597,0.999999953684,4.26550887635e-05,-0.000300386629079,2.41106609041e-05,1793247784462844928
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.942807367,880,784,815.057192633,652,631,653,0.455620825141,0.00449791244341,0.0498024722613,0.999999953861,4.44053716455e-05,-0.000299562908855,2.38522115615e-05,1793247784479511552
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.355639229,880,784,815.644360771,652,631,653,0.455615628854,0.00449969735278,0.0497999253657,0.999999952344,4.6095028204e-05,-0.00030435335959,2.36022605065e-05,1793247784496178176
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.228429343,880,784,816,652,631,653,0.45560376911,0.00450050519793,0.0497942329514,0.999999949312,4.6912881375e-05,-0.000314043050174,2.34952201867e-05,1793247784512844544
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.807736785,880,784,816,652,631,653,0.455581673986,0.00449981222682,0.0497837088744,0.999999943779,4.63916038158e-05,-0.000331258200621,2.36076974247e-05,1793247784529511168
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,631,880,784,816,652,631,653,0.455540441353,0.00449919128719,0.0497651946932,0.99999993268,4.5373510965e-05,-0.000363349755931,2.36385989387e-05,1793247784546177792
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,631,880,784,816,652,631,653,0.455489702208,0.00449860612897,0.0497427114466,0.999999917612,4.41086262401e-05,-0.000402831129838,2.36289778943e-05,1793247784562844416
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.464357448,745,715,681,662,631,880,784,815.464357448,652,631,653,0.455424876851,0.00449935796919,0.0497213973368,0.999999904626,4.43928461895e-05,-0.000433904421526,2.24560282779e-05,1793247784579511808
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.112377919,745,715,681,662,631,880,784,815.112377919,652,631,653,0.455356904703,0.00450009068236,0.0497017995969,0.999999892369,4.47373811883e-05,-0.000461305789202,2.1377644092e-05,1793247784596178688
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.703946337,745,715,681,662,631,880,784,815.703946337,652,631,653,0.455279732233,0.00450034149,0.049689170538,0.999999885689,4.48752472436e-05,-0.000475567409621,2.10508389277e-05,1793247784612845056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,631,880,784,816,652,631,653.289364054,0.455196322094,0.00450213892669,0.049681646024,0.999999882262,4.83168342497e-05,-0.00048242474657,2.01743492792e-05,1793247784629511424
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,631,880,784,816,652,631,653.868619818,0.455106662917,0.00450548581272,0.0496792353638,0.999999882211,5.50681665426e-05,-0.000481864297531,1.87471728181e-05,1793247784646177536
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,631,880,784,816,652,631,653.554421057,0.455003498613,0.00450725133538,0.0496822529397,0.999999884704,5.76625901743e-05,-0.000476371659261,1.83658715893e-05,1793247784662844160
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.978163599,745,715,681,662,631,880,784,816,652,631,653,0.45489536176,0.00450859557468,0.0496868982295,0.999999887859,5.91584487334e-05,-0.000469518917091,1.82696432634e-05,1793247784679510784
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.402615163,745,715,681,662,631,880,784,816,652,631,653,0.454761590076,0.00451101990961,0.0496924409364,0.999999889765,6.37181245215e-05,-0.000464864864267,1.76225282849e-05,1793247784696177408
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.176795265,744.823204735,715,681,662.176795265,631,879.823204735,784,815.823204735,652,631,653,0.454619962203,0.00451283048135,0.0496994975648,0.99999989319,6.72526282278e-05,-0.000456950704593,1.71371682071e-05,1793247784712844032
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.765196923,744.234803077,715,681,662.765196923,631,879.234803077,784,815.234803077,652,631,653,0.454460043944,0.00451321211827,0.0497100788327,0.999999900078,6.84003740418e-05,-0.000441446518652,1.70283983432e-05,1793247784729510400
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,744.928875481,715,681.928875481,662.071124519,631,879.928875481,784,815,652,631,653,0.454082717361,0.00451694983005,0.0497301595008,0.999999912205,7.75672129279e-05,-0.000411489835458,1.58234145759e-05,1793247784762843904
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.494921699,662.505078301,631,880,784,815,652,630.494921699,653,0.453848875036,0.00452161304577,0.0497365421817,0.99999991365,8.53874239407e-05,-0.000406425913709,1.50912670064e-05,1793247784779510528
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,880,784,815,652,630.08218715,653,0.453605893904,0.00452605827545,0.0497428181683,0.999999914941,9.27323350199e-05,-0.000401636863058,1.43627544918e-05,1793247784796177152
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,880,784,815,652,630.6682783,653,0.453339443835,0.00452709089322,0.0497514576432,0.999999919273,9.51240381732e-05,-0.00039015267932,1.36621742176e-05,1793247784812843776
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.748406082,745,715,681,663,631,880,784,815,652,631,653,0.453045710891,0.00452956456205,0.0497577264212,0.999999921232,0.000100623067335,-0.000383728105102,1.27569490682e-05,1793247784829510400
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.168710055,745,715,681,663,631,880,784,815,652,631,653,0.452716398528,0.0045339174968,0.0497609035872,0.999999920173,0.000110174341456,-0.000383901737845,1.1584847815e-05,1793247784846177024
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.409934448,745,715,681,663,631.409934448,880,784,815,652,631,653,0.452365511421,0.00453717424869,0.0497645287618,0.99999992011,0.000118685486004,-0.000381548752804,1.07292522204e-05,1793247784862843648
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.988147285,745,715,681,663,631.988147285,880,784,815,652,631,653,0.452005767873,0.00453998101661,0.0497683378442,0.999999920413,0.000126769656366,-0.000378158589309,1.00035824569e-05,1793247784879510528
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.56007162,663.56007162,632,880,784.56007162,815,652,631,653,0.451600334297,0.00454720647182,0.0497639810805,0.999999918618,0.000136978588061,-0.000379410106692,6.97160495375e-06,1793247784896177152
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.86358814,745,715,681.86358814,663.86358814,632,879.86358814,784.86358814,815,652,631,653.13641186,0.451193558556,0.0045537143464,0.0497634844869,0.999999919885,0.000145744786726,-0.000372789086035,4.00771250237e-06,1793247784912843776
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.272076535,745,715,681.272076535,663.272076535,632,879.272076535,784.272076535,815,652,631,653.727923465,0.450785495224,0.0045575197012,0.0497764364037,0.999999931159,0.000149549360121,-0.000339579477429,1.43199360899e-06,1793247784929510400
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.312738979,663.312738979,632,879.312738979,784,815,652,631,653.687261021,0.450344163916,0.00456196615894,0.0497958496179,0.999999942552,0.000155969891985,-0.000300947671142,-5.27442821924e-07,1793247784946177024
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.89185121,663.89185121,632,879.89185121,784,815,652,631,653.10814879,0.449874496796,0.00456695867206,0.0498207661987,0.999999953244,0.000164618548581,-0.000257697541757,-1.96196523531e-06,1793247784962843904
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.469958375,745,715,681.530041625,664,632.469958375,879.530041625,784,814.530041625,652,631,653,0.449352674059,0.00457411370926,0.0498290386813,0.999999954314,0.000174674070145,-0.000246656130338,-4.5525347239e-06,1793247784979510528
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.048233284,664,632.951766716,879.048233284,784.048233284,814,652,631,653,0.448815126331,0.00458175058771,0.0498313779462,0.999999952729,0.000185209069694,-0.000245322478193,-7.47214984942e-06,1793247784996177152
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.630924713,664,632.369075287,879.630924713,784.630924713,814,652,631,653,0.44823604408,0.0045892240777,0.0498103238563,0.999999944097,0.000197477265401,-0.000269602637617,-1.10962660546e-05,1793247785012843776
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.627081364,744.372918636,715,681,664,633,879.627081364,784,813,652,631,653,0.4462892935,0.00460463760042,0.0497432896179,0.999999905881,0.000221753813936,-0.000372307507228,-2.1245114107e-05,1793247785062843648
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,664,632.103804536,879,785,813,652.103804536,631,653,0.444254608202,0.00462366859758,0.0497903908072,0.999999914259,0.000256588295211,-0.000323756815559,-2.87364376746e-05,1793247785112845056
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.85055589,745,715,681,663.14944411,633,879,785,813,652.14944411,631,653,0.442001376083,0.00462478368172,0.0497666279082,0.99999993446,2.48874170424e-05,-0.000358803863235,-4.14686214807e-05,1793247785162844160
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,664.346252678,633,879.653747322,784.653747322,812,652,631,652,0.433398614042,0.00460715434812,0.0497759815114,0.999999917131,0.00018410782212,-0.000362493809878,-2.09919154556e-05,1793247785329511680
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.761464911,681,664,633,879.761464911,785,812,652,631,652.238535089,0.432521494386,0.00460584689488,0.0497871630911,0.999999922838,0.000201514638966,-0.000336638901762,-1.97667658937e-05,1793247785346178048
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.181295906,681,664,633,879.181295906,785,812,652,631,652.818704094,0.431622187362,0.00459315817572,0.049811257314,0.999999936656,0.000181933060745,-0.000305136827211,-2.18964693902e-05,1793247785362844416
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.396336578,745,714.396336578,681,664,633,879,785,811.603663422,652.396336578,630.603663422,652.603663422,0.430675724277,0.00459060707299,0.0497977388198,0.99999993591,0.000143413774195,-0.0003269673469,-2.65513703172e-05,1793247785379511040
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.450611002,745,714.450611002,681,664,633,879,785,811,652.450611002,630,652.549388998,0.428753887024,0.00459927381607,0.0497698165959,0.999999925905,0.000107516735948,-0.000367946020622,-3.52972165546e-05,1793247785412844032
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.128453376,681,664,633,878.871546624,785,811.128453376,652.128453376,630,652.871546624,0.427801210984,0.00460535868248,0.0497714590549,0.999999923843,0.000124382172842,-0.000368069984679,-3.69684254552e-05,1793247785429510912
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.716413903,681,664,633,878.283586097,785,811.716413903,652.716413903,630,652.283586097,0.426850588889,0.00460875858421,0.0497634507552,0.999999909616,0.000151076507103,-0.000395912387285,-3.45956743669e-05,1793247785446177792
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.700153489,663.700153489,633.299846511,878.299846511,785,811.700153489,652.700153489,630,652,0.425935031555,0.0046120983222,0.0497635343896,0.99999991073,0.000164406608459,-0.000387626169196,-3.54538764353e-05,1793247785462844672
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.120939583,663.120939583,633.879060417,878.879060417,785,811.120939583,652.120939583,630,652,0.425052144158,0.00461538200537,0.0497711572903,0.99999992582,0.000165285234565,-0.00034567886514,-3.93223620082e-05,1793247785479511552
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.455087324,633.544912676,878.544912676,785,811,652,630,652,0.424175489223,0.00460873386217,0.0498040805007,0.999999947773,0.000140525522037,-0.000288361001323,-3.94282411008e-05,1793247785496178176
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.969158605,633,878,785,811,652.030841395,630,652,0.423297240931,0.00459971922608,0.0498404722101,0.999999966103,0.000111154702411,-0.000232268812216,-3.85889162605e-05,1793247785512844544
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.383177452,633,878,785,811,652.616822548,630,652,0.422360708286,0.00459528623394,0.0498191148918,0.999999955197,0.000120571866631,-0.000271251786285,-3.86091957714e-05,1793247785529510912
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.201031917,663,633.201031917,878,785,811,653,630,652.201031917,0.421433164176,0.0045945303213,0.0498013528439,0.999999944358,0.000131698531582,-0.000303999898465,-3.90269109996e-05,1793247785546177536
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.781893776,663,633.781893776,878,785,811,653,630,652.781893776,0.420522602853,0.00460072188619,0.0497903837004,0.999999935724,0.000146055131116,-0.000324967862558,-4.0195541825e-05,1793247785562844160
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.361316828,745,715,681,663.361316828,633.638683172,878,785,811,652.638683172,630,653,0.419628009952,0.00460787222598,0.0497912617176,0.99999993254,0.000139696669559,-0.000337378568096,-3.97608362141e-05,1793247785579511040
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.939874764,745,715,681,663.939874764,633.060125236,878,785,811,652.060125236,630,653,0.418743018092,0.00461559902712,0.0497992628201,0.999999932568,0.000120883313041,-0.000344644235679,-3.83621273149e-05,1793247785596178176
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.485869755,745,715,681,663.485869755,633.514130245,878,785,811,652.514130245,630,653,0.417875975604,0.00461738166672,0.0497758273325,0.999999918882,0.000132000575363,-0.000378509267344,-3.92645955051e-05,1793247785612844800
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.911695314,663.088304686,634,878,785.088304686,811,653,630,653,0.417022534585,0.00461685641147,0.0497573259056,0.999999908304,0.000143781187777,-0.000401356583396,-4.04018045823e-05,1793247785629511424
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.33521038,663.66478962,634,878,785.66478962,811,653,630,653,0.416232779153,0.00460738338836,0.0497862573783,0.999999929398,0.000140038970048,-0.000346239753245,-4.13613425878e-05,1793247785646178048
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.246937072,745,715,680,664,634,878,786,810.753062928,653,630,652.753062928,0.415450752329,0.0046002014905,0.0498050266022,0.999999942144,0.00013008125432,-0.000311515699089,-4.18112278268e-05,1793247785662844416
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.836951591,745,715,680,664,634,878,786,810.163048409,653,630,652.163048409,0.414679463168,0.00459620272584,0.0498096770917,0.999999946372,0.00011148815235,-0.000305123976078,-4.1553036485e-05,1793247785679511040
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.580671702,745,715,680,663.580671702,634,878,786,810.419328298,653,630,652,0.41389304745,0.00460066323594,0.0497909964582,0.99999993519,0.000116433253768,-0.000338079293393,-4.20159246221e-05,1793247785696177664
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.001211651,745,715,680,663.001211651,634,878,786,810.998788349,653,630,652,0.413100855186,0.0046083541466,0.0497634062101,0.999999916067,0.000130367047497,-0.000386060331842,-4.27541761846e-05,1793247785712844288
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.572747419,634,878,786,810.427252581,653,630,652.572747419,0.412399442967,0.00461204615426,0.0497761228673,0.999999923078,0.000139763488502,-0.000363962571799,-4.29061845063e-05,1793247785729511168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,664,634,877.849486167,785.849486167,810,653,629.849486167,653,0.411702909743,0.00461463696024,0.0497905175357,0.999999930342,0.000144647769782,-0.00034141068578,-4.27887145291e-05,1793247785746177792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,664,634,877.260597062,785.260597062,810,653,629.260597062,653,0.411020032533,0.0046140448946,0.0498095534695,0.999999939267,0.000136417967144,-0.000317963822187,-4.18899601635e-05,1793247785762844672
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.322408534,745,715,680,663.677591466,634,877.322408534,785.322408534,810,653,629.322408534,653,0.410340653117,0.00461336870676,0.0498031895563,0.99999993466,0.000132465171827,-0.000333744735856,-4.18026009401e-05,1793247785779511552
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.900743787,745,715,680,663.099256213,634,877.900743787,785.900743787,810,653,629.900743787,653,0.409664050277,0.00461262574305,0.049776663336,0.99999991795,0.000131907449649,-0.000380664517128,-4.23593242211e-05,1793247785796177920
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,634,877.521898452,786,810,653,629.521898452,653,0.409071071416,0.00460653866449,0.0497786255465,0.999999923268,0.000123436980346,-0.000369306627174,-4.29028941345e-05,1793247785812844544
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.943873668,663.056126332,634,877,786,810,653,629.056126332,652.943873668,0.408498477819,0.00459957115334,0.0497879596732,0.999999932868,0.000113929757641,-0.000345563323784,-4.3240286247e-05,1793247785829511424
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.357636061,663.642363939,634,877,786,810,653,629.642363939,652.357636061,0.407954785221,0.00459474545788,0.0498111745591,0.999999942228,0.000110114257467,-0.000318879137775,-4.16560750346e-05,1793247785846178048
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.774226068,634,877.225773932,786,810,653,630,652,0.407415120338,0.00459400580336,0.0498217469408,0.999999945295,0.000110666430755,-0.000309006385438,-4.09545601279e-05,1793247785862844672
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.195239795,634,877.804760205,786,810,653,630,652,0.40688175667,0.00459965856167,0.0498125407374,0.999999939211,0.000118051617254,-0.000325434306449,-4.16339808529e-05,1793247785879511296
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.617274351,745,715,679,663.382725649,634,877.617274351,786,810,653,629.617274351,652,0.406360018546,0.00460213535965,0.0497914928393,0.999999926553,0.000121271045893,-0.000361092244771,-4.24262077642e-05,1793247785896178176
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.039828225,745,715,679,663.960171775,634,877.039828225,786,810,653,629.039828225,652,0.405844195137,0.00460299631527,0.0497644202058,0.999999908941,0.000122371049872,-0.000406533897634,-4.32758274109e-05,1793247785912844800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.537942462,663.462057538,633.462057538,877,786,809.462057538,652.462057538,629,652,0.405405893906,0.00460677693069,0.0497660553575,0.999999907712,0.000127864624949,-0.00040777849829,-4.40741668338e-05,1793247785929511936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.882830105,663,633.117169895,877,786,809.117169895,652.117169895,629,652,0.404987755987,0.00461027242592,0.049773109979,0.999999910961,0.000132797821638,-0.000398025380584,-4.49306511902e-05,1793247785946178304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.297882727,663,633.702117273,877,786,809.702117273,652.702117273,629,652,0.404627187926,0.00461176611597,0.0497933101203,0.999999926055,0.000134194374933,-0.000357437812535,-4.60344344835e-05,1793247785962844416
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,785.715271617,810,652.715271617,629,652,0.404281679841,0.00461355716801,0.0498154069255,0.999999937733,0.000137453830559,-0.000321690118235,-4.64314576253e-05,1793247785979510784
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,785.441418531,810,652.441418531,629,652,0.403636695552,0.00461728464472,0.0498468785269,0.999999947696,0.000145544654764,-0.000285119846875,-4.61603276559e-05,1793247786012844032
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.983166198,715,679,663,634,877,785.983166198,810,653,629,652.016833802,0.403326724787,0.00461870451471,0.0498488301551,0.999999946717,0.000147658177115,-0.000287428255813,-4.63571808339e-05,1793247786029510656
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.173296774,744.173296774,715,679,663,634,877,785.173296774,809.826703226,653,629,652.826703226,0.402761193732,0.0046180083248,0.0498261260953,0.999999933985,0.000142060683184,-0.000331017717571,-4.77036943764e-05,1793247786062845440
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.762114206,744.762114206,715,679,663,634,877,785.762114206,809.237885794,653,629,652.237885794,0.40251119857,0.00461989953487,0.0498146111425,0.999999929459,0.000127830516356,-0.000349733708572,-4.92643320069e-05,1793247786079511808
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+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.929802023,663,634,877,786,809,653,629,652,0.402084827175,0.00462036671079,0.0497991104595,0.999999929364,4.17459291165e-05,-0.000369916041487,-5.18863649489e-05,1793247786112844288
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.496714129,745,715,679.496714129,663,634,877,786,809,653,629.503285871,652,0.401923673385,0.00461008958151,0.0498017563183,0.999999932968,2.93429563915e-05,-0.000361107546959,-5.29570637579e-05,1793247786129510656
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,876.405800792,786.594199208,809,653,629,652.594199208,0.401358011941,0.00458321076784,0.049828979475,0.999999946477,0.000122822474186,-0.000301917553804,-2.84101252014e-05,1793247786212845056
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809,653,629,652,0.401153593308,0.00457875704713,0.0498261325422,0.999999946568,0.000119131697117,-0.000303013758437,-2.92273615623e-05,1793247786262844416
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72b48b47f6e11339e555b55c38a6ed97c18942a0
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86a8059e78a2b36ac8e9c6032f3a66c1592d2679
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:186ca6428561a4606d581404b845ae20d0440509a821c579392695fc4de37baa
+size 25917059
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..023858e03536690b32a7a107bc88fb556b49042b
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/franka_data.csv
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+2,0.033333333,BASELINE,766,745.81633259,715,679,663,634.81633259,877,786,809,653,629,652,0.400982547781,0.00458240371627,0.0498472848021,0.99999995914,0.000111087075408,-0.000261472202766,-3.18009580515e-05,1793247786924512256
+3,0.050000000,BASELINE,766,745.233738054,715,679,663,634.233738054,877,786,809,653,629,652,0.400981731787,0.0045815448789,0.0498472903252,0.999999959227,0.000109737526547,-0.000261724536081,-3.16869149178e-05,1793247786941178880
+4,0.066666667,BASELINE,765.657295147,745,715,679,663,634,877,786,809,653,629,652,0.400982046244,0.00458101932556,0.0498479650378,0.999999959521,0.000108611009697,-0.000261073098658,-3.16516594411e-05,1793247786957845504
+5,0.083333333,BASELINE,765.084973941,745,715,679,663,634,877,786,809,653,629,652,0.400983118117,0.00458071707655,0.0498490881152,0.999999959954,0.000107633927047,-0.000259816124008,-3.16691926446e-05,1793247786974512128
+6,0.100000000,BASELINE,765,745,715,679,663.488207647,633.511792353,877.488207647,786,809,653,629,652,0.400983082704,0.00458259164958,0.0498489525926,0.999999959549,0.000111728939531,-0.000259629206929,-3.17945859191e-05,1793247786991178752
+7,0.116666667,BASELINE,765,745,715,679,663.936260596,633.063739404,877.936260596,786,809,653,629,652,0.400982837892,0.00458437970342,0.0498486423389,0.999999959096,0.000115640348339,-0.00025964544382,-3.19162261215e-05,1793247787007845120
+8,0.133333333,BASELINE,765,745,715,679,663.342431215,633.657568785,877.342431215,786,809,653,629,652,0.400982457245,0.00458229167553,0.0498487039888,0.999999959621,0.000110669923237,-0.00025979955678,-3.18502492349e-05,1793247787024511744
+9,0.150000000,BASELINE,765,745,715,679,663.244759218,634,876.755240782,786,809,653,629.244759218,652,0.40098215976,0.00458156508466,0.0498485913848,0.999999959724,0.000109005859957,-0.000260113848972,-3.17785074884e-05,1793247787041178624
+10,0.166666667,BASELINE,765,745,715,679,663.822906647,634,876.177093353,786,809,653,629.822906647,652,0.400981975548,0.00458269291667,0.0498482414285,0.999999959275,0.00011184541522,-0.00026064632239,-3.16989133928e-05,1793247787057845248
+11,0.183333333,BASELINE,765,745,715,679,663.60202683,634,876.39797317,786,809.39797317,653,629.60202683,652,0.400983185125,0.00458286137905,0.0498487286898,0.999999959524,0.00011317940328,-0.000259098828314,-3.17954148061e-05,1793247787074511872
+12,0.200000000,BASELINE,765,745,715,679,663.028320693,634,876.971679307,786,809.971679307,653,629.028320693,652,0.400985010156,0.0045826062128,0.049849585641,0.999999960078,0.000113848578446,-0.000256632883273,-3.19696746863e-05,1793247787091178752
+13,0.216666667,BASELINE,765.560734097,745,715,679,663,634,877,786,809.439265903,653,629,652.560734097,0.400983355327,0.00458077313213,0.0498491376706,0.999999960045,0.000109829563259,-0.000258538843714,-3.17048488747e-05,1793247787107845376
+14,0.233333333,BASELINE,765.852508911,745,715,679,663,634,877,786,809,653,629,653,0.400982239222,0.00457982686735,0.0498487670832,0.999999959917,0.000107567695125,-0.000260004182798,-3.15119452922e-05,1793247787124512000
+15,0.250000000,BASELINE,765.274779512,745,715,679,663,634,877,786,809,653,629,653,0.400983221714,0.00458170650102,0.0498488198897,0.999999959649,0.000111141653015,-0.000259521971115,-3.15953530179e-05,1793247787141178624
+16,0.266666667,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652.698290041,0.400983021658,0.00458252431858,0.0498487574491,0.999999959478,0.000112752139007,-0.000259484754861,-3.16063436594e-05,1793247787157845504
+17,0.283333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652.122925234,0.400981749017,0.00458237905505,0.0498485904781,0.999999959404,0.000112581730299,-0.000259851155268,-3.15516510612e-05,1793247787174512128
+18,0.300000000,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400983729284,0.00458142977212,0.0498497682182,0.999999960105,0.000110707506299,-0.000257965309478,-3.14284732288e-05,1793247787191179008
+19,0.316666667,BASELINE,765.050972526,745,715,678.949027474,663,634,877,786,809,653,629,652,0.400986188817,0.0045803257551,0.0498510810338,0.9999999609,0.000108593064122,-0.000255786819191,-3.13055522857e-05,1793247787207845376
+20,0.333333333,BASELINE,765.630290545,745,715,678.369709455,663,634,877,786,809,653,629,652,0.40098445527,0.00457988214604,0.0498500069818,0.999999960587,0.000108786959922,-0.000256917739324,-3.1378161658e-05,1793247787224512000
+21,0.350000000,BASELINE,766,745,715,678.208967601,663,634,877,785.791032399,809,653,629,652,0.400983319691,0.00458064202397,0.0498493255955,0.99999996022,0.000109671782032,-0.000257941511534,-3.1597342129e-05,1793247787241178624
+22,0.366666667,BASELINE,766,745,715,678.786514057,663,634,877,785.213485943,809,653,629,652,0.400983238813,0.00458352462269,0.0498493367964,0.999999959756,0.000111775265909,-0.000258776295192,-3.20750459604e-05,1793247787257845248
+23,0.383333333,BASELINE,766,745,715,678.636878138,663.363121862,634,877,785.363121862,809,652.636878138,629,652,0.400982370441,0.00458349470797,0.0498486231257,0.999999959448,0.000111167963704,-0.000260216563921,-3.21265104057e-05,1793247787274512128
+24,0.400000000,BASELINE,766,745,715,678.060820707,663.939179293,634,877,785.939179293,809,652.060820707,629,652,0.400981040281,0.00458175688834,0.0498474843886,0.999999959228,0.000108971049946,-0.000262011890692,-3.19280270522e-05,1793247787291178752
+25,0.416666667,BASELINE,765.474431878,745,715,678,663.474431878,634,877.525568122,786,809,652.525568122,629,652,0.400982256442,0.00458211270852,0.0498484405635,0.999999959741,0.000109370747811,-0.000259882263513,-3.1879914337e-05,1793247787307845376
+26,0.433333333,BASELINE,765,745,715,678.112053146,663,634,877.887946854,786,809,653,629,652,0.400983547385,0.00458259668813,0.049849444665,0.999999960205,0.000110256851088,-0.000257714714604,-3.18886578104e-05,1793247787324512000
+27,0.450000000,BASELINE,765,745,715,678.693829245,663,634,877.306170755,786,809,653,629,652,0.400983891798,0.00458258189691,0.0498496130334,0.999999960116,0.000111897049273,-0.000257330411697,-3.20613314799e-05,1793247787341178624
+28,0.466666667,BASELINE,765,745,715,679,663,634,877,786,809.272040461,653,629,652,0.400983199885,0.00458209360392,0.0498493160051,0.999999959905,0.000111943697603,-0.00025812768563,-3.20618643879e-05,1793247787357845504
+29,0.483333333,BASELINE,765,745,715,679,663,634,877,786,809.846291404,653,629,652,0.400981356714,0.00458107929652,0.0498485019663,0.999999959556,0.000110220067008,-0.000260237576479,-3.18711656499e-05,1793247787374511872
+30,0.500000000,BASELINE,765.420784515,745,715,679.420784515,663,634,877.420784515,786,809.579215485,653,629,652,0.400981321052,0.00458274939339,0.0498484952983,0.999999959451,0.000111894748203,-0.000259901683549,-3.20643692081e-05,1793247787391179008
+31,0.516666667,BASELINE,765.995366126,745,715,679.995366126,663,634,877.995366126,786,809.004633874,653,629,652,0.400981946036,0.00458540064231,0.0498487837251,0.999999959429,0.00011481151527,-0.000258671854532,-3.23978893842e-05,1793247787407846400
+32,0.533333333,BASELINE,765.411665814,745,715,678.823331627,663.588334186,634,877.411665814,786,809.588334186,653,629,652,0.400981485238,0.00458173954578,0.049848392264,0.999999959897,0.000109886001292,-0.000259085214619,-3.17076641985e-05,1793247787424513024
+33,0.550000000,BASELINE,765,745,715,678,663.823661963,634,877,786,809.823661963,653,629,652,0.400981308023,0.00457933416175,0.0498482689154,0.999999960238,0.000106638610791,-0.000259180638399,-3.12749487819e-05,1793247787441179648
+34,0.566666667,BASELINE,765,745,715,678,663.247259813,634,877,786,809.247259813,653,629,652,0.400981794213,0.00457989409093,0.0498487663838,0.999999960327,0.000107343092456,-0.000258524439595,-3.14453382451e-05,1793247787457845760
+35,0.583333333,BASELINE,765,745,715,678.327999629,663,634,877,785.672000371,809,653,629,652,0.400982447352,0.0045813925338,0.0498492984138,0.999999960272,0.000109379629177,-0.000257847508563,-3.17383795137e-05,1793247787474512640
+36,0.600000000,BASELINE,765,745,715,678.902400701,663,634,877,785.097599299,809,653,629,652,0.400983225907,0.00458359601146,0.0498498564075,0.999999960101,0.000112416838714,-0.000257155002896,-3.21235598734e-05,1793247787491179264
+37,0.616666667,BASELINE,765,745,715,679,663,634,877,785.489492009,809,653,629,652,0.400982420048,0.00458202360801,0.0498492930052,0.9999999601,0.000110414067466,-0.000258031577961,-3.20541104321e-05,1793247787507845888
+38,0.633333333,BASELINE,765,745,715,679,663.077742547,634,877,786,809,653,629,652,0.400981480277,0.00458029245685,0.0498486447269,0.999999960085,0.000108295389842,-0.000259010067795,-3.18878892567e-05,1793247787524512512
+39,0.650000000,BASELINE,765,745,715,679,663.656719427,634,877,786,809,653,629,652,0.40098176815,0.00458252101059,0.0498489291822,0.999999959786,0.000112080923031,-0.000258574849027,-3.16977422122e-05,1793247787541179136
+40,0.666666667,BASELINE,765.234488739,745.234488739,715.234488739,679,663.765511261,634,876.765511261,786,809,653,629,652,0.400982478704,0.00458375117471,0.0498495824324,0.999999959852,0.000113846004999,-0.000257560264623,-3.15873393429e-05,1793247787557846016
+41,0.683333333,BASELINE,765.81049925,745.81049925,715.81049925,679,663.18950075,634,876.18950075,786,809,653,629,652,0.400983804872,0.00458352723135,0.0498507728148,0.999999960462,0.000112668394973,-0.000255701861564,-3.15930801101e-05,1793247787574512640
+42,0.700000000,BASELINE,765.614949368,745.614949368,715.614949368,679,663,634,876.385050632,786,809,653,629,652.385050632,0.400984166715,0.00458247995271,0.0498510983997,0.999999960816,0.000110380383104,-0.00025529704112,-3.17419180218e-05,1793247787591179520
+43,0.716666667,BASELINE,765.041113396,745.041113396,715.041113396,679,663,634,876.958886604,786,809,653,629,652.958886604,0.400984055761,0.00458102900345,0.0498509999855,0.999999961039,0.000107547955619,-0.000255604893468,-3.19609146106e-05,1793247787607846144
+44,0.733333333,BASELINE,765.550045694,745.550045694,715,678.449954306,663,634,877,786,809,653,629,652.449954306,0.400983039565,0.00458112503113,0.0498502602841,0.999999960643,0.000108698023108,-0.000256702000897,-3.16739529032e-05,1793247787624512768
+45,0.750000000,BASELINE,765.860674105,745.860674105,715,678.139325895,663,634,877,786,809,653,629,652,0.40098215971,0.00458145586418,0.049849728039,0.999999960296,0.000109792365471,-0.000257612586699,-3.1459106549e-05,1793247787641179392
+46,0.766666667,BASELINE,765.281545233,745.281545233,715,678.718454767,663,634,877,786,809,653,629,652,0.40098193077,0.00458215102465,0.0498500068899,0.999999960264,0.000109740597196,-0.00025774211253,-3.15951634555e-05,1793247787657846016
+47,0.783333333,BASELINE,765.295202249,745,715,679,663,634,877,786,809.295202249,653,629,652.295202249,0.400982213579,0.00458187582872,0.0498500579248,0.999999960411,0.000108896362765,-0.000257521752596,-3.16529970953e-05,1793247787674512896
+48,0.800000000,BASELINE,765.869696755,745,715,679,663,634,877,786,809.869696755,653,629,652.869696755,0.400982980556,0.00458068257405,0.0498498934221,0.999999960726,0.000107302372319,-0.000256970364088,-3.16368233454e-05,1793247787691180032
+49,0.816666667,BASELINE,765.545935345,745,715,679,663.454064655,634,877,786,809.545935345,653,629,652.545935345,0.400983916032,0.0045801713076,0.0498507818321,0.99999996107,0.00010776426329,-0.000255435928321,-3.16012281391e-05,1793247787707846656
+50,0.833333333,BASELINE,765.040769104,745,715.040769104,679,663.959230896,634,877,786,809,653,629,652,0.400984792304,0.00457996190113,0.0498518590216,0.999999961368,0.000108822049054,-0.000253819222758,-3.15805857632e-05,1793247787724513280
+51,0.850000000,BASELINE,765.620079284,745,715.620079284,679,663.379920716,634,877,786,809,653,629,652,0.40098423357,0.00458109721411,0.0498513498545,0.999999960974,0.000109784769165,-0.000254925088051,-3.18327217049e-05,1793247787741179392
+52,0.866666667,BASELINE,765.801590876,745,715.801590876,679,663,634,877,786,809.198409124,653,629,652.198409124,0.400983403753,0.00458183867342,0.0498509120563,0.999999960623,0.000110397611487,-0.000256023553536,-3.19219020316e-05,1793247787757845760
+53,0.883333333,BASELINE,765.225129031,745,715.225129031,679,663,634,877,786,809.774870969,653,629,652.774870969,0.400982057406,0.00458182967599,0.0498506102459,0.999999960357,0.000110343789605,-0.000257107919213,-3.17005834496e-05,1793247787774512128
+54,0.900000000,BASELINE,765,745,715,679,663.351146538,634,877,786,810,653,629,653,0.400982308138,0.00458148103366,0.0498500100535,0.99999996045,0.000109183430882,-0.000257248943459,-3.16590949364e-05,1793247787791179008
+55,0.916666667,BASELINE,765,745,715,679,663.927302723,634,877,786,810,653,629,653,0.400983582256,0.00458091475176,0.0498492186622,0.999999960769,0.000107314019282,-0.000256785488054,-3.17328389506e-05,1793247787807846400
+56,0.933333333,BASELINE,765.513543193,745,715,679,663.486456807,634,877,786,810,653,629.513543193,653,0.400981977972,0.00458036905421,0.0498493038929,0.99999996056,0.00010654401946,-0.000257921830853,-3.16910984646e-05,1793247787824513280
+57,0.950000000,BASELINE,766,745,715,679,663,634,877,786,810,653,629.900168883,652.900168883,0.400980718067,0.00458002810633,0.0498496547998,0.999999960397,0.000106363800351,-0.000258642407031,-3.15615413177e-05,1793247787841179904
+58,0.966666667,BASELINE,766,745,715,679,663,634,877,786,810,653,629.320649817,652.320649817,0.400983110004,0.0045806566978,0.0498506740606,0.999999960824,0.00010825468023,-0.000256255254047,-3.10901511207e-05,1793247787857846528
+59,0.983333333,BASELINE,765.742590795,745,715,679,663,634,877,786,809.742590795,653,629,652,0.400984296815,0.00458088744828,0.0498510430759,0.999999961009,0.000109125619814,-0.00025517490083,-3.0986290342e-05,1793247787874512896
+60,1.000000000,BASELINE,765.166340186,745,715,679,663,634,877,786,809.166340186,653,629,652,0.400983990888,0.0045806254108,0.0498506066609,0.999999960903,0.000108733204703,-0.00025571322239,-3.13376719426e-05,1793247787891179264
+61,1.016666667,BASELINE,765.408206019,745,715,679,663.408206019,634,877,786,809.408206019,653,629.408206019,652,0.40098333763,0.00458115874694,0.0498504934535,0.99999996071,0.000109439950013,-0.000256141474864,-3.1529302228e-05,1793247787907846144
+62,1.033333333,BASELINE,765.982060549,745,715,679,663.982060549,634,877,786,809.982060549,653,629.982060549,652,0.400982543426,0.0045820148428,0.0498505114024,0.999999960481,0.000110592730629,-0.000256525061672,-3.16561059924e-05,1793247787924513024
+63,1.050000000,BASELINE,766,745,715,679,663.428775078,634.571224922,877,786,809.428775078,653.571224922,628.857550156,652,0.400983203521,0.00458167118711,0.0498502937766,0.999999960587,0.00010955996235,-0.000256547390437,-3.17227435556e-05,1793247787941179392
+64,1.066666667,BASELINE,766,745,715,679,663,634.84185406,877,786,809,653.84185406,628.15814594,652.15814594,0.400983614077,0.00458092757573,0.0498502866585,0.999999960737,0.000108286643733,-0.000256505181863,-3.17089984147e-05,1793247787957846272
+65,1.083333333,BASELINE,766,745,715,679,663,634.262228614,877,786,809,653.262228614,628.737771386,652.737771386,0.400983234505,0.00457922121398,0.0498508608312,0.999999960976,0.000106560193375,-0.000256322042551,-3.14861974448e-05,1793247787974513152
+66,1.100000000,BASELINE,766,745,715,679,663,634,877,786,809,653,629,652.68478695,0.400982425212,0.0045790241301,0.0498503991517,0.999999960809,0.00010664048462,-0.00025695433074,-3.13774811018e-05,1793247787991180032
+67,1.116666667,BASELINE,766,745,715,679,663,634,877,786,809,653,629,652.109149523,0.40098126089,0.00458007398943,0.0498490816663,0.999999960304,0.000108213479235,-0.000258260313117,-3.1363019807e-05,1793247788007846656
+68,1.133333333,BASELINE,766,745,715,679,663,634,877,786,809.475495317,653,629,652,0.40098203655,0.00458042281747,0.0498499461419,0.999999960491,0.00010886033245,-0.000257260672886,-3.13880299701e-05,1793247788024513024
+69,1.150000000,BASELINE,765.93861394,745.06138606,715,679,663.06138606,634,877.06138606,786,809.93861394,653,629,652,0.400983240322,0.00458043122869,0.0498511895079,0.999999960838,0.000109054148917,-0.000255822124328,-3.14069275553e-05,1793247788041179392
+70,1.166666667,BASELINE,765.35998402,745.64001598,715,679,663.64001598,634,877.64001598,786,809.35998402,653,629,652,0.40098422664,0.00457895337616,0.0498513235965,0.999999961187,0.000107256572081,-0.000255230942339,-3.12965002304e-05,1793247788057845760
+71,1.183333333,BASELINE,765,745.782903793,715,679,664,634,877.782903793,786,809,653,629,652,0.400985048489,0.00457919465157,0.049851504138,0.999999961367,0.00010708982621,-0.000254590185946,-3.13458922241e-05,1793247788074512384
+72,1.200000000,BASELINE,765,745.208374928,715,679,664,634,877.208374928,786,809,653,629,652,0.400985599553,0.00458226634222,0.0498517611608,0.999999961267,0.000109608121198,-0.000253867808912,-3.1658414748e-05,1793247788091178752
+73,1.216666667,BASELINE,765.364519302,745,715,679,664,634,877,786,809,653,629,652,0.400985128872,0.00458289591273,0.0498515690452,0.999999961153,0.000109728528651,-0.000254247157629,-3.181226496e-05,1793247788107845376
+74,1.233333333,BASELINE,765.936483242,745,715,679,664,634,877,786,809,653,629,652,0.400984076725,0.00458213569458,0.0498511213291,0.99999996103,0.000108484319848,-0.000255253488548,-3.18758161762e-05,1793247788124512256
+75,1.250000000,BASELINE,765.470006288,745,715,679,663.470006288,634,877,786,809,653,629,652,0.4009838458,0.00458179213922,0.0498510181008,0.999999960923,0.000108765009497,-0.000255570612918,-3.17562090831e-05,1793247788141179136
+76,1.266666667,BASELINE,765.122709491,745,715,679,663,634,877,786,809.122709491,653,629,652.122709491,0.400983269164,0.00458148010255,0.0498505812951,0.999999960708,0.000108966567858,-0.000256338920042,-3.16183979135e-05,1793247788157845760
+77,1.283333333,BASELINE,765.702440624,745,715,679,663,634,877,786,809.702440624,653,629,652.702440624,0.400981022871,0.0045810915958,0.0498487418284,0.999999960086,0.000108163925043,-0.000259108285295,-3.14980044181e-05,1793247788174512384
+78,1.300000000,BASELINE,766,745.279740935,715,678.720259065,663.279740935,634,877,786,810,653,628.720259065,653,0.400980568039,0.00458157482765,0.049848525474,0.99999995994,0.000108720228254,-0.000259429800019,-3.15469336516e-05,1793247788191179008
+79,1.316666667,BASELINE,766,745.854477828,715,678.145522172,663.854477828,634,877,786,810,653,628.145522172,653,0.400982002361,0.00458297733636,0.0498500207444,0.999999960299,0.000110709584509,-0.00025716997619,-3.17744192434e-05,1793247788207845632
+80,1.333333333,BASELINE,765.563172918,745.563172918,715,678,663.563172918,634.436827082,877,786,809.563172918,653,628.436827082,653,0.400981371007,0.00458268195351,0.0498495075347,0.999999960246,0.000110228687905,-0.0002575514256,-3.2028607997e-05,1793247788224512256
+81,1.350000000,BASELINE,765.021662092,745.021662092,715,678.021662092,663.021662092,634.978337908,877.021662092,786.021662092,809,653,629,652.978337908,0.400980143771,0.00458181878882,0.0498483812573,0.999999960074,0.000108961916942,-0.000258724377113,-3.22719565023e-05,1793247788241178880
+82,1.366666667,BASELINE,765.604032761,745.604032761,715,678.604032761,663.604032761,634.395967239,877.604032761,786.604032761,809,653,629,652.395967239,0.400981620657,0.00458115949362,0.0498490123489,0.999999960467,0.000109032000175,-0.000257205288186,-3.20003678659e-05,1793247788257845504
+83,1.383333333,BASELINE,765.81621506,745.81621506,715,679,664,634,877.81621506,786.81621506,809.18378494,653,629,652,0.400982270907,0.00458069350868,0.0498493753447,0.999999960712,0.000108602980393,-0.000256452146675,-3.18279287747e-05,1793247788274512384
+84,1.400000000,BASELINE,765.242025096,745.242025096,715,679,664,634,877.242025096,786.242025096,809.757974904,653,629,652,0.400981165176,0.0045806381628,0.0498491688384,0.999999960647,0.000107113741413,-0.000257326068116,-3.18661079812e-05,1793247788291179264
+85,1.416666667,BASELINE,765,745,715,679,664,634,877,786,809.665785728,653,629,652.334214272,0.400981087719,0.00457996267398,0.049849439125,0.999999960771,0.000105443196075,-0.000257526027006,-3.19452227244e-05,1793247788307845888
+86,1.433333333,BASELINE,765,745,715,679,664,634,877,786,809.08805314,653,629,652.91194686,0.400981759492,0.00457883533082,0.0498500568169,0.999999961031,0.000103640545698,-0.000257234916972,-3.20541642975e-05,1793247788324512512
+87,1.450000000,BASELINE,765,745,715,678.500050698,663.500050698,634,877,786,809,653,629,652.500050698,0.400982590894,0.00457926522454,0.0498502455673,0.999999960846,0.000106265912872,-0.000256928367765,-3.16681543648e-05,1793247788341179136
+88,1.466666667,BASELINE,765,745,715,678.087577615,663.087577615,634,877.087577615,786,809.087577615,653,629,652.087577615,0.400983372395,0.00457998850677,0.049850495217,0.999999960655,0.000109204348135,-0.000256489340864,-3.1261543926e-05,1793247788357845504
+89,1.483333333,BASELINE,765,745,715,678.662839015,663.662839015,634,877.662839015,786,809.662839015,653,629,652.662839015,0.400983716179,0.00458078623779,0.0498515135021,0.999999960926,0.000109452214597,-0.00025532805981,-3.12358285975e-05,1793247788374512384
+90,1.500000000,BASELINE,765,745,715,679,664,634,877.518840736,786,809.759420368,653,629,652.759420368,0.400984354331,0.00458148239792,0.0498521876128,0.99999996119,0.000109216759233,-0.000254366591239,-3.14496097962e-05,1793247788391179008
+91,1.516666667,BASELINE,765,745,715,679,664,634,876.356338234,786,809.178169117,653,629,652.178169117,0.400985409323,0.00458203472903,0.049852374357,0.999999961445,0.000108296898325,-0.000253688066265,-3.20025288905e-05,1793247788407845888
+92,1.533333333,BASELINE,765,745,715,679,664,634,876.405582019,786,809,653,629,652,0.400984826088,0.00458197523168,0.0498520746584,0.999999961385,0.000107794803666,-0.00025411806939,-3.21504672425e-05,1793247788424512256
+93,1.550000000,BASELINE,765,745,715,679,664,634,876.990438198,786,809,653,629,652,0.400983518728,0.00458164529578,0.0498515599438,0.999999961186,0.000107477368725,-0.000255038060757,-3.21193972573e-05,1793247788441178880
+94,1.566666667,BASELINE,765.569784131,745,715,679,663.430215869,634,876.430215869,786,809.569784131,653,629,652.569784131,0.400984008715,0.00458124761889,0.049851088186,0.999999961291,0.000107851738709,-0.000254498263112,-3.18748099305e-05,1793247788457845504
+95,1.583333333,BASELINE,765.851005451,745,715,679,663,634,876.297989097,786,810,653,629,653,0.400983778805,0.00458084267134,0.0498504944832,0.999999961205,0.000107981095299,-0.000254802991685,-3.17059372331e-05,1793247788474512128
+96,1.600000000,BASELINE,765.271921713,745,715,679,663,634,877.456156575,786,810,653,629,653,0.400981384599,0.00458041998618,0.0498495467113,0.999999960548,0.000107370002719,-0.000257615575213,-3.17658671351e-05,1793247788491178752
+97,1.616666667,BASELINE,765,745,715,679,663.304992393,634,877.695007607,786,809.695007607,653,629,653,0.400980355914,0.0045803293549,0.0498492584442,0.999999960272,0.00010727214007,-0.00025873349501,-3.17262471736e-05,1793247788507845376
+98,1.633333333,BASELINE,765,745,715,679,663.879985749,634,877.120014251,786,809.120014251,653,629,653,0.400980536084,0.00458053268135,0.0498495540178,0.999999960336,0.000107628625105,-0.000258351177742,-3.15984985875e-05,1793247788524512000
+99,1.650000000,BASELINE,765,745,715,679,663.53654077,634,877,786,809.46345923,653,629,652.53654077,0.400982483746,0.00458082079837,0.049849975332,0.999999960582,0.000108654594464,-0.000256981798316,-3.14597552909e-05,1793247788541178624
+100,1.666666667,BASELINE,765.048682149,745,715,679.048682149,663,634,877,786,810,653,629,652.048682149,0.40098452698,0.00458104894227,0.049850339761,0.999999960822,0.000109685872994,-0.000255623235435,-3.13417445128e-05,1793247788557845248
+101,1.683333333,BASELINE,765.62858609,745,715,679.62858609,663,634,877,786,810,653,629,652.62858609,0.400982525602,0.00458037859767,0.0498497215267,0.999999960498,0.000108848058055,-0.000257223838908,-3.14816148024e-05,1793247788574512128
+102,1.700000000,BASELINE,766,745,715,679.792110015,663,634,877.207889985,786,810,653,629,652.792110015,0.40098171569,0.00457980925734,0.0498497389918,0.999999960527,0.000107751401661,-0.000257573780304,-3.14905511683e-05,1793247788591179008
+103,1.716666667,BASELINE,766,745,715,679.213875132,663,634,877.786124868,786,810,653,629,652.213875132,0.400983028315,0.0045794198508,0.0498508889216,0.999999961183,0.00010619363314,-0.000255695733876,-3.12662357309e-05,1793247788607845632
+104,1.733333333,BASELINE,765.637269073,745,715,678.637269073,663,634,878,786,810,653,629,652.362730927,0.400983728226,0.00458001047884,0.0498513526364,0.999999961559,0.000105539367316,-0.0002544597664,-3.15213113754e-05,1793247788624512256
+105,1.750000000,BASELINE,765.061619061,745,715,678.061619061,663,634,878,786,810,653,629,652.938380939,0.400984068482,0.00458117637641,0.0498514135507,0.999999961773,0.000105415447542,-0.000253600692067,-3.20577843181e-05,1793247788641178624
+106,1.766666667,BASELINE,765,745,715,678.524550522,663,634,877.475449478,786,809.475449478,653,629,652.475449478,0.400984465065,0.00458010918199,0.0498511130821,0.999999961649,0.000105026697961,-0.000254306170093,-3.16259612392e-05,1793247788657845248
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,634,877,786,810,653,629,653,0.400981423243,0.00458238139916,0.0498493601929,0.999999960131,0.00011078225767,-0.000257734346141,-3.22138624254e-05,1793247788700040448
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.424172463,745,715,678.575827537,663,634,877,786,809.424172463,653.575827537,629,652.424172463,0.400982990401,0.0045814551737,0.049850567678,0.999999960782,0.000108741804186,-0.000256109119554,-3.1914225594e-05,1793247788716707328
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,678.848619486,663,634,877,786,809,653.848619486,629,652.151380514,0.400984048893,0.00458091984816,0.0498514065246,0.999999961244,0.000107673180331,-0.000254777030496,-3.17356940939e-05,1793247788733373952
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,678.273834309,663,634,877,786,809,653.273834309,629,652.726165691,0.400983684672,0.00458147785237,0.0498512143056,0.99999996119,0.000109322720899,-0.000254264833895,-3.18958888306e-05,1793247788750040576
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.310427102,678,663,634,877,786,809.310427102,653,629,653,0.400983394878,0.00458216877656,0.0498510046515,0.999999960984,0.000110105230876,-0.000254722037784,-3.20219445266e-05,1793247788766707200
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.903310874,678,663,634,877,786,809.903310874,653,629,653,0.400983172805,0.00458298064421,0.0498507791331,0.99999996064,0.000110098832272,-0.000256061296245,-3.21169372045e-05,1793247788783373824
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,716,678,663.483577053,634,877,786,810,653,629,652.516422947,0.400982602954,0.00458353678493,0.0498509130162,0.999999960589,0.000110369823295,-0.000256133239348,-3.22041077782e-05,1793247788800040448
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.06106595,745,715.93893405,678.06106595,663.93893405,634,877,786,809.93893405,653,629,652,0.40098229853,0.00458387808929,0.0498511657174,0.99999996068,0.000110427037145,-0.000255740651424,-3.22931849185e-05,1793247788816706816
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.635874505,745,715.364125495,678.635874505,663.364125495,634,877,786,809.364125495,653,629,652,0.400984797264,0.00458283121992,0.0498518288404,0.999999961482,0.00010823102294,-0.000253517578818,-3.24111250193e-05,1793247788833373696
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.784914348,745,715,679.215085652,663,634,877,786,809,653,629,652.215085652,0.40098874559,0.00458158586606,0.0498532462748,0.999999962364,0.000106316482826,-0.000250853136192,-3.22770591499e-05,1793247788850040320
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.198094217,745,715,679.801905783,663,634,877,786,809,653,629,652.801905783,0.400995199257,0.00457999746978,0.0498559673922,0.999999963387,0.000104888417156,-0.00024742587,-3.17074490716e-05,1793247788866706944
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.617725687,663,634,877.382274313,786,809,653,629,652.617725687,0.401020657917,0.00457985502408,0.0498661924286,0.999999967983,0.000105323369305,-0.000227934755648,-3.14024228038e-05,1793247788883373824
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.040644831,663,634,877.959355169,786,809,653,629,652.040644831,0.401055801499,0.00458044943295,0.0498802414536,0.999999973767,0.000106707712956,-0.000200257522623,-3.12322280647e-05,1793247788900040448
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.535153183,745,715,679,663,634,877.464846817,786,809,653,629,652,0.401114322555,0.00457955063023,0.0498984638981,0.999999981158,0.000104848191405,-0.000160389735973,-3.10753792789e-05,1793247788916707328
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.226850517,634,877,786,809,653.113425258,629,652,0.401176141148,0.00457846930714,0.0499160525127,0.999999986496,0.00010323423736,-0.000124118804543,-3.07427678284e-05,1793247788933374464
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664.404959282,634,877,786,809,653.702479641,629,652,0.401244359886,0.0045770970411,0.0499296572945,0.999999988482,0.000103680672359,-0.000106803845141,-2.96688860051e-05,1793247788950040832
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664.42645265,634,877,786,809,653.713226325,629,652,0.401321362911,0.00457594575772,0.0499402063891,0.999999990187,0.000102212646067,-9.13717851759e-05,-2.88048787107e-05,1793247788966707456
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.267580845,634,877,786,809,653.133790423,629,652,0.401407330591,0.00457501999469,0.0499476370507,0.999999991693,9.87908473079e-05,-7.7861288771e-05,-2.81550555329e-05,1793247788983374336
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.555488342,745.444511658,715,679,663.444511658,634,877,786,809,653,629,652,0.401501885325,0.00457513890746,0.0499471033951,0.999999991428,9.89870116411e-05,-8.12583161324e-05,-2.72593932969e-05,1793247789000041472
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.022347096,745.977652904,715,679,663.977652904,634,877.022347096,786,809,653,629.022347096,652.022347096,0.401600022505,0.00457551046422,0.0499442386061,0.999999990633,0.0001001261575,-8.95486692852e-05,-2.62812507842e-05,1793247789016708096
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.597062174,745.402937826,715,679,663.402937826,634,877.597062174,786,809,653,629.597062174,652.597062174,0.401722987762,0.00457437459899,0.0499428541914,0.999999990555,9.77259051845e-05,-9.332550485e-05,-2.50886779459e-05,1793247789033374720
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.824128076,745,715,679,663,634,877.824128076,786,809.175871924,653,629.824128076,653,0.401856451058,0.00457299264717,0.0499431387251,0.999999990762,9.4783973692e-05,-9.44255684241e-05,-2.39901977335e-05,1793247789050041344
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.23571354,745,715,679,663,634,877.23571354,786,809.76428646,653,629.23571354,653,0.402014539579,0.00457103345041,0.0499473381094,0.999999991649,9.05714261794e-05,-8.92467298079e-05,-2.31124306771e-05,1793247789066707968
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.34710754,786,809.65289246,653,629,652.65289246,0.402189040216,0.00456862915524,0.0499485172385,0.999999991855,8.80471673529e-05,-8.98313005311e-05,-2.16122977115e-05,1793247789083374592
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.926190514,786,809.073809486,653,629,652.073809486,0.40237450925,0.00456592739615,0.0499476779012,0.999999991609,8.66512082918e-05,-9.42676147473e-05,-1.96962313062e-05,1793247789100040960
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.502707285,745,715,679,663,634,877.497292715,786,809,653,629,652.502707285,0.402594791325,0.0045647952339,0.0499472829712,0.99999999173,8.40503466986e-05,-9.56683944793e-05,-1.79939295521e-05,1793247789116707840
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.921441434,745,715,678.921441434,663,634,877,786,809.078558566,653,629,652.921441434,0.402826160222,0.00456342464275,0.0499477715574,0.999999992085,8.06655649657e-05,-9.5186169295e-05,-1.62301509394e-05,1793247789133374720
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.347422826,745,715,678.347422826,663,634,877,786,809.652577174,653,629,652.347422826,0.403095379327,0.00455910423844,0.0499534229493,0.999999993541,7.34467617637e-05,-8.56246802059e-05,-1.38817027329e-05,1793247789150041344
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.233121457,745,715,678.233121457,663.233121457,634,877,786,809.766878543,653,629,652,0.403380478785,0.00455530810587,0.0499607642039,0.999999995076,6.75824464602e-05,-7.17009680295e-05,-1.17825760571e-05,1793247789166707968
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.82367105,745,715,678.82367105,663.82367105,634,877,786,809.17632895,653,629,652,0.403689926415,0.00455231580118,0.0499706964016,0.999999996609,6.37948691343e-05,-5.10889777646e-05,-1.00657160481e-05,1793247789183374848
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.593465851,745,715,679,663.593465851,634,877,786,809,653,629,652,0.404035567609,0.00455015159119,0.0499796689288,0.999999997484,6.22246831937e-05,-3.31691319459e-05,-7.70836319277e-06,1793247789200041216
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.013874818,745,715,679,663.013874818,634,877,786,809,653,629,652,0.404396615975,0.00454833989162,0.0499882329352,0.999999997956,6.15984151994e-05,-1.63953013931e-05,-5.07835998637e-06,1793247789216707584
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.560171621,663,634,877,786,809.560171621,653,629,652,0.404798637758,0.00454318934437,0.0499937447745,0.999999998542,5.3874155745e-05,-2.94281784579e-06,-2.26284832297e-06,1793247789233374464
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.133986137,745,715,679.866013863,663.133986137,634,877.133986137,786,810,653,629,652.133986137,0.40520248957,0.00453797365706,0.0499948113651,0.999999998928,4.62695752612e-05,1.65863970246e-06,5.76300806471e-07,1793247789250041344
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.70748584,745,715,679.29251416,663.70748584,634,877.70748584,786,810,653,629,652.70748584,0.405609047905,0.00453281291203,0.0499815417995,0.999999998955,3.96286314651e-05,-2.25066379875e-05,3.47806246972e-06,1793247789266707968
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.709041884,634,877.709041884,786,810,653,629,652.709041884,0.40602639751,0.00452863705327,0.0499637287007,0.999999997852,3.43606007663e-05,-5.54797758139e-05,6.10651924069e-06,1793247789283374848
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.115187797,634,877.115187797,786,810,653,629,652.115187797,0.406454981196,0.0045254864895,0.0499411856483,0.999999994733,3.05218122166e-05,-9.7622158498e-05,8.45045791505e-06,1793247789300041728
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.535619649,745,715,679,663,634,877,786,810,653,629,652.464380351,0.406944282298,0.00452072125028,0.0499296949267,0.999999992788,2.43514564218e-05,-0.000117036530964,1.15941922839e-05,1793247789316708608
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.040629782,745,715,679,663,634,877,785.959370218,810,652.959370218,629,653,0.407454802024,0.0045154560733,0.0499226234441,0.999999991597,1.74675911023e-05,-0.000127583727496,1.49358721787e-05,1793247789333375232
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.618454381,745,715,679,663,634,877,785.381545619,810,652.381545619,629,653,0.408052683104,0.00450871829783,0.0499388164696,0.999999995451,8.56828750918e-06,-9.32057861764e-05,1.83500113712e-05,1793247789350041600
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.194481599,634,877,785.194481599,810,652.194481599,629,653,0.408663037986,0.00450216285858,0.0499596935832,0.999999998339,3.10619726377e-07,-5.32606034281e-05,2.20073566067e-05,1793247789366708224
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.767014862,634,877,785.767014862,810,652.767014862,629,653,0.409297640585,0.00449596186205,0.0499896760679,0.999999999633,-6.69977534293e-06,-2.49329414148e-06,2.61374684707e-05,1793247789383374848
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.64577358,745,715,679,664,633.64577358,877,785.64577358,810,652.64577358,629,653,0.409925822991,0.00449018278098,0.050001183891,0.99999999939,-9.30268743929e-06,1.47082162582e-05,3.02926252299e-05,1793247789400041216
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.048490354,745,715,679,664,633.048490354,877,785.048490354,810,652.048490354,629,653,0.410549600077,0.00448469320263,0.050000015097,0.999999999327,-8.88135070629e-06,8.87813959711e-06,3.44649667155e-05,1793247789416707328
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.526804331,745,715,679,663.473195669,633.526804331,877,785.526804331,810.526804331,652.526804331,629,653,0.411166283117,0.00447781200301,0.0499704532459,0.999999993035,9.56211113322e-05,-5.73288478105e-05,3.8717206222e-05,1793247789433374464
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.899491569,745,715,678.899491569,663,634,877.100508431,785.899491569,810.899491569,653,629,653,0.411805919304,0.004470780186,0.0499440518703,0.999999975362,0.000186166546061,-0.000113148193513,4.26158217866e-05,1793247789450041600
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.324123252,745,715,678.324123252,663,634,877.675876748,785.324123252,810.324123252,653,629,653,0.412556960667,0.0044636177071,0.0499444352461,0.999999980515,0.00016732168578,-9.46856457934e-05,4.4810361288e-05,1793247789466708480
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.258892217,745,715,678.258892217,663.258892217,634,878.258892217,785,810.517784434,652.741107783,629.258892217,653,0.413321130295,0.00445354614496,0.0499559233565,0.999999992994,9.11604809195e-05,-6.71561189765e-05,3.45364426408e-05,1793247789483375104
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.851773115,745,715,678.851773115,663.851773115,634,878.851773115,785,811.703546229,652.148226885,629.851773115,653,0.414102236386,0.00443972166533,0.0499817373344,0.999999997839,-5.89427362341e-05,-2.79295646924e-05,8.17735917878e-06,1793247789500040960
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.5676311,745,715,679,663.5676311,634,879,785.4323689,811.5676311,652,630,653,0.414859099848,0.0044417715851,0.0499703632907,0.999999994969,-8.83945331255e-05,-4.69862411503e-05,6.44808222156e-06,1793247789516707328
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.008854559,745,715,679,663.008854559,634,878.991145441,786,811,652,630,653,0.415608771854,0.00444946936242,0.049946794875,0.999999993322,-7.71045936231e-05,-8.51186713651e-05,1.28359722525e-05,1793247789533373952
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.584392476,745,715,679,663.584392476,634,878.415607524,786,811,652,630,653,0.416415399803,0.00447995556794,0.0499361783667,0.999999994322,-3.2395140405e-05,-0.000100649734083,1.32553081639e-05,1793247789550040576
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.836319208,745,715,679,664,634,878.163680792,786,811,652.163680792,630,653,0.417242637191,0.00449992009417,0.0499372878327,0.999999995208,7.45675283683e-06,-9.65124411622e-05,1.46398804974e-05,1793247789566707456
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.247284846,745,715,679,664,634,878.752715154,786,811,652.752715154,630,653,0.418123431813,0.00449254216885,0.0499688693227,0.999999998375,3.4685412129e-05,-4.12634370852e-05,1.85327908744e-05,1793247789583374592
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.335946997,745,715,679.335946997,664,633.664053003,879,785.664053003,811.335946997,652.664053003,629.664053003,652.664053003,0.418981968016,0.00448436177787,0.0499787786343,0.999999998728,3.27728933906e-05,-3.1967307309e-05,2.11541117209e-05,1793247789600041472
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.914980198,745,715,679.914980198,664,633.085019802,879,785.085019802,811.914980198,652.085019802,629.085019802,652.085019802,0.419824398323,0.00447560073509,0.0499730062814,0.999999998127,9.77425445166e-06,-5.59219901363e-05,2.28553293183e-05,1793247789616708096
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.508961922,745,715,679.508961922,664,633.491038078,879,785,811.508961922,652,629.491038078,652.491038078,0.420709002445,0.00447179487225,0.0499648418489,0.999999998383,-6.47016593707e-06,-5.182993948e-05,2.25060798054e-05,1793247789633374208
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679.0665998,664.0665998,633.9334002,878.9334002,785.0665998,811.0665998,652.0665998,630,653.0665998,0.42160712052,0.00446918223552,0.0499600089343,0.999999998858,-1.70576696127e-05,-3.88447114934e-05,2.19896898996e-05,1793247789650040576
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679.642282719,664.642282719,633.357717281,878.357717281,785.642282719,811.642282719,652.642282719,630,653.642282719,0.42255305716,0.00446917188431,0.0499837886854,0.999999999702,6.71051465693e-06,5.22317969255e-06,2.28931221366e-05,1793247789666707200
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.777009644,633.222990356,878.222990356,785.777009644,812,653,630,653.777009644,0.423483970888,0.00447206813027,0.049992627603,0.999999999338,1.84551519358e-05,2.08313855393e-05,2.34479947273e-05,1793247789683374080
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.18805553,633.81194447,878.81194447,785.18805553,812,653,630,653.18805553,0.424390229701,0.00447973457905,0.0499769461654,0.999999999618,1.04671797741e-05,-1.0267414424e-05,2.34308239562e-05,1793247789700040448
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,634,879,785.390745667,812,652.609254333,630,653,0.425325734666,0.00448336914029,0.0499812049976,0.999999999719,2.46366204516e-06,-2.32252660241e-06,2.3453238689e-05,1793247789716707328
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664,634,879,785.964784247,812,652.035215753,630,653,0.426274958506,0.00448511240327,0.0499948175114,0.999999999422,-5.54714739569e-06,2.3937169682e-05,2.34942223801e-05,1793247789733374464
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.454780919,664,633.454780919,879,785.454780919,812,652,630,653,0.42717723887,0.00447412408203,0.0499875751892,0.999999999322,1.92665854435e-05,-1.50202587283e-05,2.75414423177e-05,1793247789750041088
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.125066221,663.874933779,633,879,785,812,652,630,653,0.42807848407,0.00446440877669,0.0499742796799,0.999999997248,3.52605217821e-05,-5.76066557487e-05,3.06873776406e-05,1793247789766707968
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.701285336,663.298714664,633,879,785,812,652,630,653,0.428987062576,0.00446228726761,0.0499440652238,0.999999994699,1.16999021293e-05,-9.79081215234e-05,2.96375777753e-05,1793247789783374336
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.568598801,633,879,784.7157006,812.2842994,652,630,653,0.429931727091,0.00446363822188,0.0499365849756,0.999999994588,-4.74586127712e-06,-9.98478094593e-05,2.88504776644e-05,1793247789800040960
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.749255451,633,879,784.125372274,812.874627726,652,630,653,0.430915235675,0.00446872704638,0.0499535765544,0.999999997677,-1.35329653838e-05,-6.04936559506e-05,2.83461560177e-05,1793247789816707584
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.547172041,633,879,784.452827959,813,652.452827959,630.452827959,653,0.431836889603,0.0044757619536,0.0499466086958,0.99999999674,-2.09694513232e-06,-7.55625337126e-05,2.83802614294e-05,1793247789833373952
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,784.972144246,813,652.972144246,630.972144246,653,0.432743418772,0.0044825901997,0.0499344898472,0.999999994263,1.40647059413e-05,-0.000102266683659,2.85843707685e-05,1793247789850040320
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633,879,784.395189045,813,652.395189045,630.395189045,653,0.433680578092,0.004475000716,0.0499481844256,0.999999997061,1.58876695495e-05,-6.90547827871e-05,2.92777517566e-05,1793247789866707200
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.185890182,664.185890182,633,879,784,813.185890182,652,630,653,0.434613598868,0.00446810467205,0.0499631926537,0.999999998664,1.06591287745e-05,-4.06293777948e-05,3.01157925322e-05,1793247789883374336
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.775935824,664.775935824,633,879,784,813.775935824,652,630,653,0.435537621953,0.00446271627735,0.0499810569721,0.999999999207,-9.90052790814e-06,-2.26105863588e-05,3.12683473676e-05,1793247789900040960
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.640799475,664.640799475,633,879,784,814,652,630,653,0.436406889246,0.00446375346412,0.0499680595634,0.99999999748,-1.7775732181e-05,-6.04418391895e-05,3.27250622494e-05,1793247789916707328
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.061686293,664.061686293,633,879,784,814,652,630,653,0.437242633449,0.0044687245728,0.049936167737,0.999999990476,-1.7885156879e-05,-0.000132466059694,3.43679922642e-05,1793247789933373952
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.514105826,664,633,879,784.514105826,814,652,630.514105826,653,0.438155901536,0.00447318699542,0.0499522704274,0.999999995929,1.49976240923e-05,-8.3315435559e-05,3.12299971418e-05,1793247789950040576
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,664.08866565,633,879,784.91133435,814,652,630.91133435,653,0.439062009403,0.00447702171739,0.0499697837688,0.999999998145,4.38128858733e-05,-3.16031927406e-05,2.81424052693e-05,1793247789966707200
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,664.658684948,633,879,784.341315052,814,652,630.341315052,653,0.439879070786,0.00447777796782,0.0499638925719,0.999999998184,2.91930949375e-05,-4.44104482123e-05,2.84227327684e-05,1793247789983373824
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.239152681,745,715,680.760847319,665,633,879,784,814,652,630.239152681,653,0.440700354634,0.00447505744773,0.0499578784075,0.999999997925,1.38196465201e-05,-5.57056916668e-05,2.92459139267e-05,1793247790000040704
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.835213458,745,715,680.164786542,665,633,879,784,814,652,630.835213458,653,0.441527939955,0.00446714824412,0.0499516807284,0.999999997424,-2.67854840671e-06,-6.47444285131e-05,3.08792422316e-05,1793247790016707328
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.580761646,745,715,680,664.580761646,633,878.580761646,784,814,652,631,653,0.442350216736,0.00446163158706,0.0499692181827,0.99999999897,-4.67215626839e-07,-3.20304578204e-05,3.2158991403e-05,1793247790033374464
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.001335519,745,715,680,664.001335519,633,878.001335519,784,814,652,631,653,0.443170465233,0.0044570291031,0.0499958246498,0.999999999267,8.89288342409e-06,1.66369028408e-05,3.33036407582e-05,1793247790050041088
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.574344918,633,879.148689836,784,814.574344918,652,631,653,0.443882781977,0.00445787975758,0.0499807575266,0.999999999174,9.30703519148e-06,-1.8031193457e-05,3.52202990292e-05,1793247790066707712
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.847485453,633,879.847485453,784,815,652,631,653,0.444584303521,0.00445970666164,0.0499618198768,0.999999997829,9.75894356747e-06,-5.38743752691e-05,3.66562791196e-05,1793247790083374080
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.262228341,633,879.262228341,784,815,652,631,653,0.44525590258,0.00446426781697,0.0499321732178,0.999999994993,1.0376622776e-05,-9.25054719438e-05,3.67233299065e-05,1793247790100040704
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.310344081,745,715,680.310344081,664,633,879.310344081,784,815,652,631,653,0.445961011278,0.00446978957249,0.049931237159,0.999999996048,1.49523825423e-05,-7.97119415366e-05,3.64068833506e-05,1793247790116707328
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.87261929,745,715,680.87261929,664,633,879.87261929,784,815,652,631,653,0.446693322392,0.00447609112377,0.0499536077941,0.999999998785,2.27412330228e-05,-2.51729231212e-05,3.57791212504e-05,1793247790133374464
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.538547784,745,715,681,664,633,879.538547784,784,815,652.461452216,631,653,0.4473485748,0.00447492257798,0.0499542753932,0.999999998722,2.54030198261e-05,-2.29503375034e-05,3.71890123213e-05,1793247790150041088
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.055952214,745,715,681.055952214,664,633,879,784,815,652.944047786,631,653,0.447975684464,0.00447173033033,0.049947302668,0.999999998188,2.63143879595e-05,-3.74987641954e-05,3.90666308948e-05,1793247790166707712
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.630866153,745,715,681.630866153,664,633,879,784,815,652.369133847,631,653,0.448551111287,0.00447006190019,0.0499284253711,0.999999996756,2.49190378125e-05,-6.54730291963e-05,3.97468204909e-05,1793247790183374848
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681.789327514,664.210672486,633,879,784,815.210672486,652,631,653,0.449118187003,0.00446827921745,0.0499196161314,0.999999995833,2.36923662764e-05,-7.81967288797e-05,4.07241212811e-05,1793247790200041728
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681.200745138,664.799254862,633,879,784,815.799254862,652,631,653,0.44967028222,0.00446629158557,0.0499288672419,0.999999996829,2.27682750784e-05,-6.35635573502e-05,4.22343879726e-05,1793247790216708352
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,681.381948851,665,633,879.381948851,784.381948851,816,652,631,653,0.450225652963,0.00446294026555,0.0499495042775,0.999999998235,2.01923313006e-05,-3.42298574359e-05,4.41718525013e-05,1793247790233374720
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,681.961595055,665,633,879.961595055,784.961595055,816,652,631,653,0.450782719174,0.00445888309813,0.0499760346874,0.999999998783,1.67613858055e-05,2.71286151294e-06,4.63304354234e-05,1793247790250041344
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,681.461481528,664.461481528,633,880,784.461481528,816,652,631,653,0.451239272062,0.00445552591572,0.0499772876804,0.99999999871,1.42291067669e-05,-7.4140403543e-06,4.82020251002e-05,1793247790266707968
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.888356001,745,715,681,664,632.888356001,880.111643999,784,816,652,631,653,0.451666619034,0.00445255009887,0.0499705634284,0.999999998215,1.16888016829e-05,-3.07466873426e-05,4.98822684398e-05,1793247790283374848
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.329664293,745,715,681,664,632.329664293,880.670335707,784,816,652,631,653,0.45200557778,0.00445090246895,0.0499390785242,0.999999994287,8.86102101735e-06,-9.35842961834e-05,5.08778613714e-05,1793247790300041216
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.248852143,745,715,681,663.751147857,632.248852143,880.502295714,784,816,652.248852143,631,653,0.452359947277,0.00444976804914,0.0499100683645,0.999999988229,3.77122372018e-06,-0.000144796842693,5.06118791139e-05,1793247790316707840
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.85590445,745,715,681,663.14409555,632.85590445,879.288191101,784,816,652.85590445,631,653,0.452736499138,0.00444937234901,0.0498846203775,0.999999982742,-4.57454183069e-06,-0.000179276159466,4.85299735439e-05,1793247790333374976
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.441233,632.558767,879.882466001,784,815.558767,652.558767,631,653,0.453104884427,0.0044470506766,0.0498881147504,0.999999983252,-5.93965430363e-05,-0.000169861762214,3.33995239208e-05,1793247790350041600
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680.980255855,663.980255855,631.980255855,880.980255855,784,815.019744145,652,631,653,0.453468717422,0.0044443927398,0.0499003942364,0.999999981164,-0.000125606029962,-0.000147216711391,1.49394053037e-05,1793247790366707712
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680.40332126,663.40332126,631.40332126,880.40332126,784,815.59667874,652,631,653,0.453775814749,0.00444916232281,0.0499063745484,0.999999984997,-0.000104945148771,-0.000136742897243,1.71281861019e-05,1793247790383374336
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.828727358,745,715,680.171272642,663,631,880,784.171272642,816,652,631,653,0.454066604493,0.00445962682686,0.049908943944,0.99999998921,-6.41394603316e-05,-0.000130873371782,1.83810656772e-05,1793247790400040704
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.259571197,745,715,680.740428803,663,631,880,784.740428803,816,652,631,653,0.454319510049,0.00448332120274,0.0499035894381,0.999999990365,2.34646322937e-05,-0.000135700071463,1.74597525113e-05,1793247790416707584
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.323952009,745,715,681,663,631,880,784.676047991,816,652,631.323952009,653,0.454545810484,0.00449661705485,0.0498934526438,0.999999986404,6.44347154649e-05,-0.000150822221381,1.70997056953e-05,1793247790433373952
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.919521317,745,715,681,663,631,880,784.080478683,816,652,631.919521317,653,0.454749803906,0.00450119427578,0.049879306143,0.999999982415,6.6304561249e-05,-0.000174576584278,1.72102521651e-05,1793247790450040576
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880,784,816,652,631.49980519,653,0.454925046246,0.00449647878562,0.0498630795783,0.999999978277,5.82977239875e-05,-0.000199249651896,1.86055543651e-05,1793247790466707200
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681.0781053,662.9218947,631,880,784.0781053,816,652,631,653.0781053,0.455091160189,0.00449146854321,0.0498466578742,0.999999973453,5.02950283531e-05,-0.000223973783083,1.9991597701e-05,1793247790483373568
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681.653243696,662.346756304,631,880,784.653243696,816,652,631,653.653243696,0.455227770663,0.00449382201901,0.0498310625025,0.999999967661,5.21387218553e-05,-0.000248109439764,2.00413345505e-05,1793247790500040192
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,681.767243568,662.232756432,631,880,785,816,652,631,653.767243568,0.45535625161,0.00449538850863,0.0498190202719,0.999999962867,5.23654906384e-05,-0.00026668410467,2.00914512347e-05,1793247790516707072
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,681.181089235,662.818910765,631,880,785,816,652,631,653.181089235,0.455472389355,0.0044957601041,0.0498123728344,0.999999960227,5.01372560733e-05,-0.000276815423435,2.01421446383e-05,1793247790533373696
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,879.595873837,784.595873837,816,652,631,653,0.455580877983,0.00449410967649,0.0498127156344,0.999999959849,4.68282107264e-05,-0.000278696937979,2.0903326315e-05,1793247790550040576
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,879.011078216,784.011078216,816,652,631,653,0.455685946979,0.00449155527915,0.0498161835041,0.999999960498,4.30359759934e-05,-0.000276890278153,2.198214031e-05,1793247790566707200
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.435159939,631,879.564840061,784,816,652,631,653,0.455768194283,0.00449523671305,0.0498169840995,0.999999960962,4.63857044757e-05,-0.00027469049116,2.16672876491e-05,1793247790583373824
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880,784,816,652,631,653,0.455843720783,0.00449776225193,0.0498173920425,0.999999961086,4.87320170593e-05,-0.000273836021616,2.16026839271e-05,1793247790600040448
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880,784,816,652,631,653,0.455899808336,0.0044963372298,0.0498167440255,0.999999960208,4.75455799759e-05,-0.000277169221239,2.23959758292e-05,1793247790616707328
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880,784,816,652,631,653,0.455946837119,0.00449477092208,0.0498150673861,0.999999958938,4.58528520035e-05,-0.000281947273322,2.29471814902e-05,1793247790633373952
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880,784,816,652,631,653,0.455984515286,0.00449305877666,0.0498123289841,0.999999957243,4.36375213109e-05,-0.000288216728537,2.32485014688e-05,1793247790650040576
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.536428444,745,715,681,662,631,880,784,816,652,631,653,0.456014419545,0.00449449129944,0.0498109662644,0.999999956737,4.53177138003e-05,-0.000289717482442,2.31623084099e-05,1793247790666706944
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.043827928,745,715,681,662,630.956172072,880,784,816,652.043827928,631,653,0.456041801554,0.00449647178669,0.0498101188057,0.999999956606,4.77123790568e-05,-0.000289795171135,2.30284594284e-05,1793247790683373568
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.618096851,745,715,681,662,630.381903149,880,784,816,652.618096851,631,653,0.456062439932,0.0044954637189,0.0498112988353,0.999999957374,4.68366211761e-05,-0.000287238635833,2.35033562608e-05,1793247790700040448
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880,784,816,652.807439053,631,653,0.456079468154,0.00449560975339,0.0498117546475,0.999999957684,4.67721351782e-05,-0.000286162913851,2.35587702427e-05,1793247790716707072
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880,784,816,652.232587516,631,653,0.456089329146,0.00449804702325,0.0498107726735,0.999999957093,4.83182645256e-05,-0.000288027045641,2.2781386329e-05,1793247790733373696
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681.354132334,662,630,880,784,816,652,631,653.354132334,0.45609460111,0.0044999311722,0.0498094011276,0.999999956096,5.06185967294e-05,-0.000291092417218,2.25910819177e-05,1793247790750040576
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681.948917343,662,630,880,784,816,652,631,653.948917343,0.456096754572,0.00450143944453,0.0498077648459,0.999999954808,5.34314517788e-05,-0.000294974098153,2.27997308065e-05,1793247790766707200
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630,879.493342751,784,816,652,631,653.493342751,0.456098801222,0.00450100708218,0.0498065055886,0.99999995439,5.33751691082e-05,-0.000296376856928,2.30549457243e-05,1793247790783373824
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.934278738,745,715,681.934278738,662,630,879.065721262,784,816,652,631,653,0.456100566916,0.00450035105894,0.0498052683539,0.999999954009,5.27484551155e-05,-0.000297754842192,2.32904584812e-05,1793247790800040448
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.336304107,745,715,681.336304107,662,630,879.663695893,784,816,652,631,653,0.456100138526,0.00449936030467,0.0498039225968,0.999999953248,4.96851316487e-05,-0.000300818394657,2.33309783685e-05,1793247790816707328
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.258485322,745,715,681.258485322,662,630,880,784,816,652,631,653,0.456101495998,0.00449973423204,0.0498036646267,0.999999953164,4.96831470957e-05,-0.000301100878833,2.3287136125e-05,1793247790833373696
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.849181147,745,715,681.849181147,662,630,880,784,816,652,631,653,0.456105148698,0.00450186207541,0.0498048047021,0.99999995395,5.36156560989e-05,-0.000297809078863,2.31348699901e-05,1793247790850040320
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+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.989848673,631,880,784.989848673,815.010151327,652.010151327,631,653,0.456102946144,0.00450293016565,0.0498015476228,0.999999952588,5.50618870901e-05,-0.000302140884488,2.24507435404e-05,1793247790883373824
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661.415827258,631,880,784.415827258,815.584172742,652.584172742,631,653,0.456102429889,0.0045037484478,0.0498014843044,0.99999995218,5.50684734809e-05,-0.000303490338163,2.24050502233e-05,1793247790900040448
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.158833892,631,880,784,816,652.841166108,631,653,0.456102220944,0.00450415326996,0.0498014070084,0.99999995194,5.43961983476e-05,-0.000304407993274,2.22786483033e-05,1793247790916707072
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.735176609,631,880,784,816,652.264823391,631,653,0.456102819794,0.00450347127622,0.0498012929711,0.999999952144,5.19394761233e-05,-0.000304190627887,2.19400967405e-05,1793247790933373696
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+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.509030587,631,880.509030587,784,816,652,631.490969413,653,0.456104687986,0.00450388735991,0.0498014767353,0.999999952168,5.43634879053e-05,-0.000303644455534,2.25489781112e-05,1793247790983373824
+245,4.083333333,HOLD_POSE2,766,745,715,681,662,630,880,784,816,652,631,653,0.456103334474,0.00450245744419,0.0498010624967,0.999999951494,5.43820607956e-05,-0.0003058551146,2.25167346255e-05,1793247791027092224
+246,4.100000000,HOLD_POSE2,765.411725425,745,715,681,662,630,880,784,816,652.588274575,631,653,0.456103765358,0.00450506730079,0.0498001467136,0.999999951378,5.57690366459e-05,-0.000306034129411,2.18304716714e-05,1793247791043759104
+247,4.116666667,HOLD_POSE2,765.173631048,745,715,681,662,630.173631048,880,784.173631048,816,652.826368952,631,653,0.456104497933,0.00450684265655,0.049799879108,0.999999951467,5.69836918498e-05,-0.000305537177104,2.15971312445e-05,1793247791060425472
+248,4.133333333,HOLD_POSE2,765.752182411,745,715,681,662,630.752182411,880,784.752182411,816,652.247817589,631,653,0.456105934076,0.00450667189579,0.0498011230993,0.999999952033,5.77964829679e-05,-0.000303463820028,2.24200391724e-05,1793247791077091840
+249,4.150000000,HOLD_POSE2,766,745,715,681,662,630.669526107,880.330473893,784.669526107,816,652,631,653,0.45610616349,0.00450696982152,0.049801484567,0.999999951955,5.88777632777e-05,-0.000303504076846,2.25723558197e-05,1793247791093759232
+250,4.166666667,HOLD_POSE2,766,745,715,681,662,630.091429387,880.908570613,784.091429387,816,652,631,653,0.456105488707,0.00450761893226,0.0498011847631,0.999999951392,6.01602214643e-05,-0.000305128056604,2.22222009332e-05,1793247791110426880
+251,4.183333333,HOLD_POSE2,766,745,715,681.480129762,662,630,880.519870238,784,816,652,631,653,0.456106642546,0.00450782853554,0.0498014352043,0.999999951727,5.98557241087e-05,-0.000304104924437,2.19820415608e-05,1793247791127092992
+252,4.200000000,HOLD_POSE2,766,745,715,681.947409576,662.052590424,630.052590424,880.052590424,784,816,652,631,653,0.456107841268,0.00450775559732,0.049801709143,0.999999952149,5.91122380435e-05,-0.000302873635127,2.18195310947e-05,1793247791143759104
+253,4.216666667,HOLD_POSE2,766,745,715,681.353007531,662.646992469,630.646992469,880.646992469,784,816,652,631,653,0.456105963088,0.00450562245277,0.0498011601595,0.999999951736,5.69176481662e-05,-0.000304621321264,2.22440993243e-05,1793247791160425472
+254,4.233333333,HOLD_POSE2,765.764886866,745,715,681,662.764886866,630.764886866,880.764886866,784,815.764886866,652,631,653,0.456104406733,0.00450459149466,0.0498002841349,0.999999951279,5.6242437961e-05,-0.00030622787994,2.24466267209e-05,1793247791177092608
+255,4.250000000,HOLD_POSE2,765.185951938,745,715,681,662.185951938,630.185951938,880.185951938,784,815.185951938,652,631,653,0.456103321004,0.00450517233831,0.0497989298561,0.999999950764,5.77891193131e-05,-0.000307628058257,2.23244487951e-05,1793247791193760000
+256,4.266666667,HOLD_POSE2,765.390014006,745,715,681,662,630.390014006,880,784,815.390014006,652,631,653,0.456103777573,0.00450543400561,0.0497988402943,0.999999950677,5.72886419128e-05,-0.000308012911635,2.21884506461e-05,1793247791210426880
+257,4.283333333,HOLD_POSE2,765.964575135,745,715,681,662,630.964575135,880,784,815.964575135,652,631,653,0.456104963927,0.00450554464485,0.0497993491722,0.999999950793,5.5819488516e-05,-0.000307917332908,2.20459130226e-05,1793247791227093504
+258,4.300000000,HOLD_POSE2,766,745,715,681.551183965,662,630.448816035,880,784,816,652.551183965,631,653,0.456104878734,0.00450657100757,0.0497992520645,0.999999950805,5.88016789957e-05,-0.000307318707493,2.2075032652e-05,1793247791243760128
+259,4.316666667,HOLD_POSE2,766,745,715,681.863289793,662,630,880,784,815.863289793,652.863289793,631,653,0.456104636354,0.00450757873345,0.0497989397434,0.999999950713,6.13090813662e-05,-0.000307129406076,2.20408993355e-05,1793247791260426496
+260,4.333333333,HOLD_POSE2,766,745,715,681.283833146,662,630,880,784,815.283833146,652.283833146,631,653,0.45610415549,0.00450833124031,0.0497980593887,0.999999950335,6.13316181594e-05,-0.000308372777922,2.17653885329e-05,1793247791277092608
+261,4.350000000,HOLD_POSE2,766,745,715,681,662,630,880,784,815,652,631,653,0.456104235696,0.00450723645896,0.0497979634604,0.999999950355,5.90277718459e-05,-0.000308757950378,2.17947196661e-05,1793247791293758976
+262,4.366666667,HOLD_POSE2,766,745,715,681,662,630,880,784,815,652,631,653,0.456104854594,0.00450436806497,0.0497986206732,0.99999995074,5.44903258566e-05,-0.000308319151041,2.21167347016e-05,1793247791310425344
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,816,652,631,653,0.4561051084,0.00450682129734,0.0497981843737,0.999999950675,5.67522682198e-05,-0.000308135063445,2.19328767669e-05,1793247791343066624
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.587237872,715,681,662,630.587237872,880,784,816,652,631,653,0.456104996707,0.00450795226746,0.0497981212399,0.999999950485,5.89373490417e-05,-0.000308324754529,2.21804228617e-05,1793247791359733248
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.827557291,745.655114582,715,681,662,630.827557291,879.827557291,784,815.827557291,652.172442709,631,653,0.456104355548,0.00450875508038,0.0497979222994,0.999999950159,6.08353310348e-05,-0.000309003666495,2.23209834588e-05,1793247791376399872
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.247161945,744.49432389,715,681,662,630.247161945,879.247161945,784,815.247161945,652.752838055,631,653,0.456102461816,0.00450878156267,0.0497974020774,0.999999949517,6.20541155778e-05,-0.000310839942308,2.2208445461e-05,1793247791393066496
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.330312107,744.330312107,715,681,662,630,879.330312107,784,815.330312107,652.669687893,631,653,0.456102889761,0.00450828675247,0.0497977449823,0.999999949666,6.14614655708e-05,-0.00031046957727,2.2340936911e-05,1793247791409733376
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.905619377,744.905619377,715,681,662,630,879.905619377,784,815.905619377,652.094380623,631,653,0.456105039712,0.00450740529541,0.0497987280753,0.999999950397,5.95252598244e-05,-0.000308462528744,2.26551686922e-05,1793247791426400768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.519417887,745,715,681,662,630,880,784,815.519417887,652,631,653,0.456105550612,0.00450768250032,0.0497986215533,0.999999950475,5.87684041964e-05,-0.000308392148372,2.21388079168e-05,1793247791443067136
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.057074067,630.057074067,880,784,815,652,631,653,0.456105323291,0.00450820170151,0.0497982019173,0.999999950346,5.8392357281e-05,-0.000308927228034,2.15000660601e-05,1793247791459733760
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,662.648516745,630.648516745,880,784,815,652,631,653,0.45610119582,0.00450885770935,0.0497968527524,0.999999949471,5.94147664723e-05,-0.000311572607823,2.12416433633e-05,1793247791476400640
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.234511255,745,715,680.765488745,662.765488745,630.765488745,879.765488745,784,815.234511255,652,631,653,0.456091819545,0.00450987970035,0.0497926576075,0.999999947275,6.02978056911e-05,-0.000318394079125,2.09623761681e-05,1793247791493067520
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.812525447,745,715,680.187474553,662.187474553,630.187474553,879.187474553,784,815.812525447,652,631,653,0.456074755028,0.00451143776914,0.049784293782,0.999999943037,6.09767011145e-05,-0.000331332526109,2.06525767853e-05,1793247791509734400
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.387750496,662,630,879.775500991,784,816,652,631,653,0.456037838462,0.00451148613203,0.0497671733653,0.999999932892,6.23769019013e-05,-0.000360419482533,2.05820238005e-05,1793247791526401024
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.961636695,662,630,880.923273391,784,816,652,631,653,0.455991392119,0.00451080977602,0.0497458494348,0.999999918824,6.41233580253e-05,-0.000397258368354,2.06263185798e-05,1793247791543067648
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.549993707,880.450006293,784,816,652,631,653,0.45592904783,0.00451111534078,0.049723223999,0.9999999052,6.25930982106e-05,-0.000430444671047,1.99808685575e-05,1793247791559733760
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.137055249,662,630.862944751,880,784,816,652,631,653,0.455862417937,0.00451154925305,0.0497025216977,0.999999892217,6.16475615877e-05,-0.000459778451645,1.92185063039e-05,1793247791576400128
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.716587796,662,630.283412204,880,784,816,652,631,653,0.455785628971,0.00451217043401,0.049688329161,0.999999883815,6.3347610235e-05,-0.00047751929089,1.82382199588e-05,1793247791593066752
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.70754435,662,630.29245565,880,784,816,652,631,653,0.455703982492,0.0045133427794,0.049679510064,0.999999878278,6.54960974847e-05,-0.000488717526211,1.75940318357e-05,1793247791609733376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.135183953,662,630.864816047,880,784,816,652,631,653,0.455617686968,0.00451504263562,0.0496758338034,0.999999875687,6.80737782473e-05,-0.000493653936251,1.72715181487e-05,1793247791626400256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630.55889977,880,784,816,652,631,653.44110023,0.455515897992,0.00451604728595,0.049676838314,0.999999876252,7.05103403854e-05,-0.000492187451672,1.66214864043e-05,1793247791643067136
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.019058314,662,630.019058314,880,784,816,652,631,653.980941686,0.455408534609,0.00451685709431,0.0496792459339,0.999999877791,7.29068945847e-05,-0.000488722972479,1.58847408135e-05,1793247791659733504
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.610858261,662,630.610858261,880,784,816,652,631,653.389141739,0.455277624991,0.00451827185099,0.0496803228027,0.999999879561,7.54125042398e-05,-0.000484714915059,1.55855972482e-05,1793247791676400128
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.802634356,662,630.802634356,880,784,815.802634356,652.197365644,631,653,0.4551339442,0.00452003310176,0.0496808862252,0.999999880575,7.85915800396e-05,-0.000482122822465,1.52175585598e-05,1793247791693066496
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.226289751,662,630.226289751,880,784,815.226289751,652.773710249,631,653,0.454965740384,0.0045224596858,0.0496804637349,0.99999988016,8.30638365442e-05,-0.000482249647708,1.47172283808e-05,1793247791709733120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.34969848,630.34969848,879.65030152,784,815.34969848,652.65030152,631,652.65030152,0.454783336203,0.00452434520515,0.0496841279858,0.999999881225,8.74297349866e-05,-0.000479273269041,1.42199935859e-05,1793247791726399744
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.925456394,630.925456394,879.074543606,784,815.925456394,652.074543606,631,652.074543606,0.454591752307,0.00452588095835,0.0496904340738,0.999999883223,9.17268796566e-05,-0.000474290852149,1.37247597242e-05,1793247791743066368
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,879,784,815.507116073,652,631,652.492883927,0.454384514981,0.0045289208379,0.0497061917496,0.999999893506,9.7750932838e-05,-0.000450837331134,1.33361868518e-05,1793247791759733504
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.937052569,745,715,681,662.937052569,631,879.062947431,784,815,652,631,653,0.454169688934,0.00453209828373,0.0497230619945,0.999999904009,0.000104038790309,-0.00042543067615,1.29040367384e-05,1793247791776400128
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.333723977,745,715,681,662.333723977,631,879.666276023,784,815,652,631,653,0.453909701976,0.00453453628104,0.0497374158511,0.999999911076,0.000110386470306,-0.000406840211796,1.19616110219e-05,1793247791793066752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.25828701,745,715.25828701,681,662.25828701,631,880,784,815,652.25828701,631,653,0.453624434994,0.00453742410176,0.0497483283235,0.999999915925,0.000117447785492,-0.000392727572664,1.10087933835e-05,1793247791809733376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.83628872,745,715.83628872,681,662.83628872,631,880,784,815,652.83628872,631,653,0.453307875727,0.00454086872602,0.0497549809558,0.999999918299,0.000125392457407,-0.000384157708832,1.0043112401e-05,1793247791826400000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.586731951,681,663,631.413268049,880,784.413268049,815,652.586731951,631,653,0.452965141015,0.00454529800919,0.0497600263118,0.999999918791,0.000132271627244,-0.000380587309713,8.68236949975e-06,1793247791843066624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.010156639,681,663,631.989843361,880,784.989843361,815,652.010156639,631,653,0.452612062805,0.00455011639072,0.0497644365353,0.999999918534,0.000138729752421,-0.000378992502415,7.16551370516e-06,1793247791859733248
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,632,880,784.424151097,815,652.575848903,631,653.575848903,0.452230143029,0.00455424819221,0.0497700758655,0.999999919334,0.000144058428854,-0.000374885968779,6.33821969193e-06,1793247791876399872
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,632,880,784,815,652.839735202,631,653.839735202,0.451829736455,0.00455906850949,0.0497720316454,0.999999919037,0.000150724279572,-0.00037307551652,4.84541565045e-06,1793247791893066496
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,632,880,784,815,652.259923503,631,653.259923503,0.451382288404,0.00456572347624,0.0497642867992,0.999999915834,0.00016094364972,-0.000377393732249,1.57804695299e-06,1793247791909733120
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.763139278,745,715,680.236860722,664,633,879,785,812.763139278,652,631,653,0.43866814796,0.00457908973784,0.0498071464441,0.999999953717,-1.26436528141e-05,-0.000299680866044,-5.09632635255e-05,1793247792226399744
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+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.929673212,680.070326788,664,633,879,785,812.929673212,652,630.929673212,652.929673212,0.435042072236,0.00460468973157,0.0497988747918,0.999999941078,5.84399522922e-05,-0.000333288872384,-5.78568087884e-05,1793247792293066240
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.823065754,745,714.823065754,681,664,633,879,785,812,652,630.823065754,652.823065754,0.43236958838,0.00460273013913,0.0498071534395,0.999999930713,0.000197455544118,-0.000315081191786,-1.76027200612e-05,1793247792343066368
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.715565402,745.284434598,715,680.284434598,664,633,879,785,812,652,630,653,0.427627774077,0.00460708963481,0.0497798241428,0.999999922599,0.00013411223464,-0.000368159375161,-3.5704774485e-05,1793247792426400000
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.032581491,745,715,680.967418509,663.065162981,633,879,785,811.967418509,652.032581491,630,653,0.423995416068,0.00460856532325,0.0498228530799,0.999999959804,0.000109005472305,-0.000258747561548,-3.94967976973e-05,1793247792493066496
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+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.362215475,633,879,785,811,652.362215475,630,652.362215475,0.42031473467,0.00460410908969,0.0497931088973,0.999999934243,0.00015036055927,-0.000327635696952,-3.95014257729e-05,1793247792559733504
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.088627912,680,663.911372088,633,878.911372088,785.911372088,810.911372088,653,630,653,0.417659873958,0.00462321401786,0.0497706441431,0.999999911137,0.000143172381784,-0.000394710603972,-3.78208853271e-05,1793247792609733376
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+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.004378102,745,715,679,663,634,877.991243796,785.995621898,809,653,629,652,0.400988132746,0.00458405483646,0.0498479203226,0.999999959171,0.000114407022014,-0.000260034564487,-3.08512766279e-05,1793247793526400256
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.59326962,745,715,679,663,634,876.81346076,785.40673038,809,653,629,652,0.400987979882,0.00458284000754,0.0498483677529,0.999999959448,0.000113073462509,-0.000259569516802,-3.0705647489e-05,1793247793543066880
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.820616159,745,715,679,663,634,876.179383841,785.179383841,809,653,629,652,0.400987832491,0.00458237100745,0.0498486498324,0.999999959585,0.000112676615434,-0.00025921843982,-3.06509536768e-05,1793247793559733760
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.240703139,745,715,679,663,634,876.759296861,785.759296861,809,653,629,652,0.400987697322,0.00458356729795,0.0498485627157,0.999999959413,0.000114371264867,-0.000259121837252,-3.07993007475e-05,1793247793576400640
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.662730233,663,634,877,786,809.337269767,653,629,652,0.400987192076,0.00458370278243,0.0498488400564,0.999999959412,0.000114418641584,-0.000259104628102,-3.08042075888e-05,1793247793593067520
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+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.489797251,663,633.510202749,877,786,810,653,629,652,0.400986634556,0.00458325179141,0.0498490913422,0.999999959446,0.000113910385824,-0.000259186361697,-3.08904762811e-05,1793247793626400768
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.067440782,633.067440782,877,786,809.932559218,652.932559218,629,652,0.400986855847,0.00458360083227,0.0498487538359,0.999999959314,0.000114849599273,-0.000259260434582,-3.10640607293e-05,1793247793643067392
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+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.75526844,634,877,786,809,652.24473156,629,652,0.40098570721,0.00458427905493,0.0498494274874,0.999999959247,0.000115651015908,-0.000259199316178,-3.07626414431e-05,1793247793676400384
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.178578893,634,877,786,809,652.821421107,629,652,0.400986822229,0.00458327729672,0.0498496324652,0.999999959829,0.00011343796233,-0.000257889392465,-3.11037818776e-05,1793247793693067008
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809.39251532,653,629,652,0.400986481518,0.00458293931019,0.0498498252534,0.999999959758,0.000113797296956,-0.000258050900652,-3.0715169339e-05,1793247793709733888
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809.961099621,653,629,652,0.400985487816,0.00458289906905,0.0498500125738,0.999999959394,0.000115310517305,-0.000258872443069,-2.99992144916e-05,1793247793726400512
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663,634,877,786,809.445368794,653,629,652,0.400984636523,0.00458222452734,0.0498493386159,0.999999959545,0.000111575196233,-0.000259879093183,-3.0389051155e-05,1793247793743067136
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1178b92d6d5e6d10266cd58a1bcf00634f654144
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_04/simulation_data.csv
@@ -0,0 +1,409 @@
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+388,6.466666667,pose2_to_pose3_retreat,0.583248427836,0.00992775026413,1.04004266351,0.553820218597,0.0186022057565,1.03966603807
+389,6.483333333,pose2_to_pose3_retreat,0.583247992043,0.00992772120757,1.04004266746,0.553819782857,0.0186021768409,1.03966604106
+390,6.500000000,pose2_to_pose3_retreat,0.583247928906,0.00992771699791,1.04004266803,0.553819719728,0.0186021726516,1.03966604149
+391,6.516666667,pose2_to_pose3_retreat,0.583247776855,0.00992772985872,1.04004264087,0.553819567695,0.0186021856322,1.03966601565
+392,6.533333333,pose2_to_pose3_retreat,0.583247571375,0.00992775797485,1.04004259084,0.55381936224,0.0186022139431,1.03966596818
+393,6.550000000,pose2_to_pose3_retreat,0.583247473611,0.00992777135193,1.04004256703,0.553819264488,0.0186022274128,1.03966594559
+394,6.566666667,pose2_to_pose3_retreat,0.583247375005,0.00992778484443,1.04004254302,0.553819165893,0.0186022409988,1.03966592281
+395,6.583333333,pose2_to_pose3_retreat,0.583246982557,0.00992783854359,1.04004244747,0.553818773493,0.0186022950699,1.03966583214
+396,6.600000000,pose2_to_pose3_retreat,0.583246619186,0.00992788826423,1.04004235899,0.553818410166,0.018602345135,1.0396657482
+397,6.616666667,pose2_to_pose3_retreat,0.583246371162,0.00992792220168,1.0400422986,0.553818162172,0.0186023793075,1.0396656909
+398,6.633333333,pose2_to_pose3_retreat,0.583246175863,0.00992794892473,1.04004225105,0.553817966896,0.0186024062157,1.03966564578
+399,6.650000000,pose2_to_pose3_retreat,0.583246036851,0.00992796642813,1.04004221986,0.553817827897,0.0186024238325,1.03966561617
+400,6.666666667,pose2_to_pose3_retreat,0.583245895499,0.00992791429732,1.04004231058,0.553817686396,0.0186023709746,1.03966570179
+401,6.683333333,pose2_to_pose3_retreat,0.583245783306,0.0099278729206,1.04004238258,0.553817574085,0.0186023290208,1.03966576975
+402,6.700000000,pose2_to_pose3_retreat,0.583245753234,0.00992786182992,1.04004240188,0.553817543981,0.0186023177755,1.03966578797
+403,6.716666667,pose2_to_pose3_retreat,0.583245741671,0.00992785756542,1.0400424093,0.553817532406,0.0186023134515,1.03966579497
+404,6.733333333,pose2_to_pose3_retreat,0.583245638306,0.00992781944439,1.04004247564,0.553817428932,0.0186022747988,1.03966585758
+405,6.750000000,pose2_to_pose3_retreat,0.583245560248,0.00992780673664,1.04004251259,0.553817350676,0.0186022613176,1.03966589218
+406,6.766666667,pose2_to_pose3_retreat,0.583245536828,0.0099278760625,1.04004246388,0.553817326671,0.0186023287198,1.03966584486
+407,6.783333333,pose2_to_pose3_retreat,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3701906d5537ae3f7a4a75cb69808e3160acaa49
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a27895315aed43ffccb431ed3625253aad5ff4b9e4c6c78109ba5b6fe970dfdc
+size 25925515
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b223cd876020a079d0ab230fa2e3e072e34c6214
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_05/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,765,745,715,679,664,634,877,785,809,653,629,652,0.400987149288,0.00458339970698,0.0498507465695,0.999999960892,0.000111127937374,-0.000254760797213,-3.10343266629e-05,1793247793899411200
+1,0.016666667,BASELINE,765,745,715,679,663.422350415,633.422350415,876.422350415,785.577649585,809,653,629,652,0.400985833577,0.00458329752876,0.0498500772538,0.99999996012,0.000113605204417,-0.000256745075877,-3.05948784815e-05,1793247793916077824
+2,0.033333333,BASELINE,765,745,715,679,663,633.158913934,876.158913934,786,809.158913934,653,629,652,0.400985318244,0.00458300073107,0.0498499727832,0.999999959834,0.000114332361484,-0.000257560649113,-3.03715750941e-05,1793247793932744448
+3,0.050000000,BASELINE,765,745,715,679,663,633.750009097,876.750009097,786,809.750009097,653,629,652,0.40098697961,0.00458217464762,0.0498514044613,0.999999960882,0.000110299932165,-0.000255197819627,-3.07360974888e-05,1793247793949411328
+4,0.066666667,BASELINE,765,745,715,679,663,634,877,786,809.665810425,653,629,652,0.400986285619,0.00458293384629,0.0498512804095,0.999999960775,0.000110182757996,-0.000255630710108,-3.10370711846e-05,1793247793966077952
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+6,0.100000000,BASELINE,765,745,715,678.513605604,663.486394396,634,877,786,809,653,629,652,0.400984335408,0.00458438698558,0.0498499262716,0.999999959834,0.000112831196008,-0.000258091876796,-3.14610535594e-05,1793247793999410944
+7,0.116666667,BASELINE,765,745,715,677.941312439,664,634,877,785.941312439,809,653,629,652,0.40098538289,0.00458352722571,0.0498501821163,0.999999960083,0.000112101698137,-0.000257430789562,-3.15637676411e-05,1793247794016077568
+8,0.133333333,BASELINE,765,745,715,677.366723633,664,634,877,785.366723633,809,653,629,652,0.400987033644,0.00458292011649,0.0498516598559,0.999999960915,0.000110292632215,-0.000255013249418,-3.12099377687e-05,1793247794032744448
+9,0.150000000,BASELINE,765,745,715,677.430021029,663.784989485,634,877,785.215010515,809,652.784989485,629,652,0.400987910078,0.00458263173196,0.0498525831443,0.999999961335,0.000110018030922,-0.000253517445095,-3.08885875409e-05,1793247794049411328
+10,0.166666667,BASELINE,765,745,715,678.61870136,663.19064932,634,877,785.80935068,809,652.19064932,629,652,0.400987420425,0.00458290565357,0.0498525282488,0.99999996104,0.00011245059013,-0.000253647802095,-3.06245391632e-05,1793247794066077696
+11,0.183333333,BASELINE,765,745,715,679,663.390553254,634,877,785.609446746,809,652.390553254,629,652,0.400986764743,0.00458333992159,0.0498522257833,0.999999960986,0.000112326903004,-0.000253879119462,-3.09215984359e-05,1793247794082744320
+12,0.200000000,BASELINE,765,745,715,679,663.965551445,634,877,785.034448555,809,652.965551445,629,652,0.40098603065,0.00458384991576,0.049851806399,0.999999961046,0.000110995988418,-0.00025415811697,-3.14836496286e-05,1793247794099411200
+13,0.216666667,BASELINE,765.543156132,745,715,679,663.456843868,634,876.456843868,785.543156132,809,653,629,652,0.400987428503,0.00458232166981,0.0498521848067,0.999999961322,0.000109867512791,-0.000253614644853,-3.10596332239e-05,1793247794116078080
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+15,0.250000000,BASELINE,765.288663623,745,715,678.288663623,663,634,876.711336377,786,809,653,629,652.711336377,0.400987335697,0.00458199605859,0.0498523787106,0.999999961039,0.000111135118638,-0.000254222841585,-3.06830751531e-05,1793247794149411584
+16,0.266666667,BASELINE,765,745,715,678.294975216,663,634,876.705024784,786,809,653,629,653,0.400986381604,0.00458295133821,0.0498522036895,0.999999960722,0.000112330015711,-0.000254937055881,-3.07514630304e-05,1793247794166078464
+17,0.283333333,BASELINE,765,745,715,678.874197502,663,634,876.125802498,786,809,653,629,653,0.400985548422,0.00458404187268,0.0498519759582,0.999999960508,0.000112963369399,-0.000255479416228,-3.08790576885e-05,1793247794182745344
+18,0.300000000,BASELINE,765,745,715,679,663,634,876.452619195,786,809.452619195,653,629,652.547380805,0.400985750543,0.00458425942257,0.0498515314124,0.999999960487,0.000113023286871,-0.000255510837828,-3.10715663093e-05,1793247794199411712
+19,0.316666667,BASELINE,765,745,715,679,663,634,877,786,810,653,629,652,0.400986164294,0.00458422390536,0.0498510197952,0.999999960511,0.000112949817925,-0.000255427944426,-3.12626159046e-05,1793247794216077824
+20,0.333333333,BASELINE,765,745,715,679,663,634,877,786,810,653,629,652,0.400985234955,0.00458399558473,0.0498503853453,0.999999960369,0.000113333079655,-0.00025583253229,-3.1107860837e-05,1793247794232744448
+21,0.350000000,BASELINE,765,745,715,679,663.18109992,634,877,786,809.81890008,653,629,652,0.400984797855,0.00458347688589,0.0498503354,0.999999960358,0.000113385051096,-0.000255870474136,-3.09521667614e-05,1793247794249411072
+22,0.366666667,BASELINE,765,745,715,679,663.770581633,634,877,786,809.229418367,653,629,652,0.400985470756,0.00458230338184,0.0498516035175,0.999999960643,0.000112689960187,-0.000255081626175,-3.07943552362e-05,1793247794266077952
+23,0.383333333,BASELINE,765,745,715,678.645578319,663.645578319,634,877,785.645578319,809,653,629,652.354421681,0.400985507292,0.00458234443111,0.0498517183754,0.999999960665,0.000112295129889,-0.000255182103306,-3.06745584316e-05,1793247794282744576
+24,0.400000000,BASELINE,765,745,715,678.065332863,663.065332863,634,877,785.065332863,809,653,629,652.934667137,0.400985138361,0.00458315934661,0.049851098421,0.999999960521,0.00011209161396,-0.000255849223879,-3.057898312e-05,1793247794299411456
+25,0.416666667,BASELINE,765,745,715,678.510866069,663,634,877,785.510866069,809,653,629,652.489133931,0.400986287324,0.00458235506145,0.0498518172426,0.999999960902,0.000110928700014,-0.000254879168339,-3.04700030704e-05,1793247794316078592
+26,0.433333333,BASELINE,765,745,715,679,663,634,877,786,809.08608968,653,629,652,0.40098733884,0.00458149543301,0.0498524527926,0.999999961276,0.000109797463428,-0.000253907282621,-3.03930087511e-05,1793247794332745472
+27,0.450000000,BASELINE,765,745,715,679,663,634,877,786,809.658703193,653,629,652,0.400986751234,0.00458148409183,0.0498516577719,0.999999961253,0.000109533185666,-0.000254098995352,-3.05063891937e-05,1793247794349411840
+28,0.466666667,BASELINE,765.2396572,745,715,679,663,634,877,786,809.7603428,653,629,652,0.400986360909,0.0045819828134,0.0498514047349,0.99999996125,0.000109689830842,-0.000254016316281,-3.07277450927e-05,1793247794366078208
+29,0.483333333,BASELINE,765.832917173,745,715,679,663,634,877,786,809.167082827,653,629,652,0.400986261665,0.00458323410827,0.0498519513691,0.999999961276,0.000110467527762,-0.000253528785174,-3.11084136225e-05,1793247794382744576
+30,0.500000000,BASELINE,765.584008996,745,715,679,663,634,877,786,809.415991004,653,629,652,0.400986290986,0.0045833624446,0.0498517712983,0.999999961198,0.000110297843577,-0.000253911184294,-3.10897018697e-05,1793247794399411200
+31,0.516666667,BASELINE,765.004928657,745,715,679,663,634,877,786,809.995071343,653,629,652,0.40098637071,0.00458305052485,0.0498513063226,0.999999961079,0.000109756738472,-0.000254634639699,-3.09144130097e-05,1793247794416077824
+32,0.533333333,BASELINE,765.571172947,745,715,678.428827053,663.571172947,634,877,786,809.428827053,653,629,652,0.400986469984,0.00458254141267,0.0498516657445,0.999999960961,0.000111354082308,-0.000254428620869,-3.07335460305e-05,1793247794432744960
+33,0.550000000,BASELINE,765.850264768,745,715,678.149735232,663.850264768,634,877,786,809.149735232,653,629,652,0.400986193108,0.00458218097927,0.0498518057742,0.999999960817,0.000112276762557,-0.000254602735701,-3.06099586262e-05,1793247794449412096
+34,0.566666667,BASELINE,765.264461977,745,715,678.735538023,663.264461977,634,877,786,809.735538023,653,629,652,0.400984820297,0.00458225846656,0.0498512862678,0.999999960605,0.000111181188213,-0.000255907134108,-3.06533235776e-05,1793247794466078720
+35,0.583333333,BASELINE,765,745,715,679,663.317920155,634,877,786,809.682079845,653,629,652,0.400985456451,0.0045826204568,0.0498518912189,0.999999960875,0.000111363213284,-0.000254772840422,-3.06356334414e-05,1793247794482745344
+36,0.600000000,BASELINE,765,745,715,679,663.897487163,634,877,786,809.102512837,653,629,652,0.400987745974,0.00458321659171,0.0498534215935,0.999999961535,0.000112596696792,-0.000251631514279,-3.0567695248e-05,1793247794499411712
+37,0.616666667,BASELINE,765,745,715,679,663.525065857,634,877,786,809,653,629,652.474934143,0.400987211051,0.00458305013163,0.0498530958491,0.999999961776,0.000110528630616,-0.000251593668404,-3.05186670489e-05,1793247794516078080
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+40,0.666666667,BASELINE,765,745,715,679,663,634,877,786,809.793417564,653,629,652.793417564,0.400985027353,0.004583596191,0.0498511384107,0.999999960792,0.000112025187427,-0.000254770587476,-3.09482046858e-05,1793247794566077696
+41,0.683333333,BASELINE,765,745,715,679,663,634,877,786,809.205375386,653,629,652.205375386,0.400985775298,0.00458261612139,0.0498517710821,0.999999961169,0.00011015008123,-0.000254122030346,-3.08403437365e-05,1793247794582744576
+42,0.700000000,BASELINE,765,745,715,678.621740592,663,634,877.378259408,786,809,653,629,652,0.400986087562,0.00458187600361,0.0498519515427,0.999999961235,0.000110524395942,-0.000253720348605,-3.0674857612e-05,1793247794599411456
+43,0.716666667,BASELINE,765,745,715,678.040471238,663,634,877.959528762,786,809,653,629,652,0.400986165997,0.00458126466681,0.049851889304,0.999999961133,0.000112105963741,-0.000253451163679,-3.04784443456e-05,1793247794616078592
+44,0.733333333,BASELINE,765,745,715,678.53466342,663.53466342,634,877.46533658,786,809,653,628.46533658,652,0.400986484349,0.00458249833391,0.0498518225915,0.999999961243,0.000110855854725,-0.000253482630754,-3.11824184184e-05,1793247794632745472
+45,0.750000000,BASELINE,765,745,715,679,663.890650786,634,877,786,809,653,628.109349214,652.109349214,0.400986681665,0.00458358568938,0.0498518207954,0.999999961305,0.000109918085482,-0.000253582932875,-3.16944654048e-05,1793247794649412352
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+48,0.800000000,BASELINE,765,745,715,679,663,634,877,786,809.856397987,653,629,652.143602013,0.400987375766,0.00458264759678,0.0498537665436,0.999999961465,0.000113548732154,-0.000251446055627,-3.086137668e-05,1793247794699411200
+49,0.816666667,BASELINE,765,745,715,679,663,634,877.438708542,785.561291458,809.561291458,653,629,652,0.400986720726,0.00458330189966,0.049852827756,0.999999961123,0.000114070169597,-0.00025254970895,-3.10002440701e-05,1793247794716078080
+50,0.833333333,BASELINE,765,745,715,679,663,634,877.981762905,785.018237095,809.018237095,653,629,652,0.400985605798,0.0045842489917,0.0498513171448,0.999999960604,0.000114257610064,-0.00025449347633,-3.11580490121e-05,1793247794732744704
+51,0.850000000,BASELINE,765,745,715,679,663,634,877.406901619,785.593098381,809.593098381,653,629,652,0.400985703879,0.00458266002945,0.0498518275373,0.999999961273,0.000110134554429,-0.000253686275872,-3.10973893717e-05,1793247794749411840
+52,0.866666667,BASELINE,765.171495059,745,715,679,663,634,877,786,810,653,629,652,0.400986027379,0.00458187097184,0.0498523828565,0.999999961738,0.000107894374882,-0.000252813968757,-3.11169527085e-05,1793247794766078720
+53,0.883333333,BASELINE,765.758456596,745,715,679,663,634,877,786,810,653,629,652,0.400986896981,0.00458301977517,0.049853047016,0.999999961738,0.000110215679152,-0.000251783933346,-3.13308654257e-05,1793247794782745600
+54,0.900000000,BASELINE,766,745,715,679,663,634,877,785.657043118,809.657043118,653,629,652,0.400987837957,0.00458375805228,0.049853414057,0.999999961693,0.000112038958838,-0.000251158822995,-3.13273623871e-05,1793247794799412480
+55,0.916666667,BASELINE,766,745,715,679,663,634,877,785.074263955,809.074263955,653,629,652,0.400988828845,0.00458420925729,0.0498535733294,0.999999961617,0.00011351398068,-0.000250816867968,-3.11718252348e-05,1793247794816078848
+56,0.933333333,BASELINE,765.496784631,745,715,679,663,634,877,785.503215369,809.503215369,653,629,652,0.400988238937,0.00458373139733,0.0498532745214,0.999999961688,0.000111263565858,-0.00025154717317,-3.11196570748e-05,1793247794832744960
+57,0.950000000,BASELINE,765.078922295,745,715,679,663,634,877,786,809.921077705,653,629,652,0.400987513815,0.00458300627084,0.0498529945903,0.999999961783,0.000108836686546,-0.000252239988288,-3.10446895729e-05,1793247794849411072
+58,0.966666667,BASELINE,765.64842292,745,715,679,663,634,877,786,809.35157708,653,629,652,0.400987383224,0.00458158753506,0.0498532478349,0.999999961937,0.000108694804927,-0.000251726384682,-3.07341653729e-05,1793247794866077696
+59,0.983333333,BASELINE,765.773328203,745.226671797,715,678.773328203,663,634,877,786,809.226671797,653,629,652.226671797,0.400986530334,0.00458135914601,0.0498528433368,0.999999961661,0.000109765770471,-0.000252370131958,-3.06250456101e-05,1793247794882744576
+60,1.000000000,BASELINE,765.180965635,745.819034365,715,678.180965635,663,634,877,786,809.819034365,653,629,652.819034365,0.400984512154,0.00458305114924,0.0498513776993,0.999999960681,0.00011279342853,-0.000254881039252,-3.08408526079e-05,1793247794899411456
+61,1.016666667,BASELINE,765,745.597622521,715,678.402377479,663,634,877,786,810,653,629,653,0.400985006611,0.0045823209088,0.0498515904135,0.999999961044,0.000111079217228,-0.000254206929068,-3.08595592557e-05,1793247794916077824
+62,1.033333333,BASELINE,765,745.018246925,715,678.981753075,663,634,877,786,810,653,629,653,0.400986606328,0.00458052516983,0.0498525414025,0.999999961986,0.000107279148592,-0.000252131790787,-3.07915652365e-05,1793247794932744192
+63,1.050000000,BASELINE,765.557872377,745,715,679,663,634,877,786,810,653,629,652.442127623,0.400986320042,0.00458271113315,0.0498524401998,0.999999961353,0.000111335949098,-0.000252898445427,-3.06716212415e-05,1793247794949411072
+64,1.066666667,BASELINE,765.866471897,745,715,679,663,634,877,786,809.866471897,653,629,652,0.400985826469,0.00458429257719,0.0498521102591,0.999999960784,0.000114358277278,-0.000253803062797,-3.06379432691e-05,1793247794966077440
+65,1.083333333,BASELINE,765.291997386,745,715,679,663,634,877,786,809.291997386,653,629,652,0.400984850909,0.00458345016084,0.0498511379513,0.999999960648,0.000113120790419,-0.000254858107255,-3.08947179702e-05,1793247794982744320
+66,1.100000000,BASELINE,765,745,715,678.709321076,663,634,876.709321076,786,809,653,629,652.290678924,0.400985324636,0.00458337875174,0.0498513429298,0.999999960805,0.00011277912982,-0.000254371989742,-3.10743363582e-05,1793247794999411200
+67,1.116666667,BASELINE,765,745,715,678.118166579,663,634,876.118166579,786,809,653,629,652.881833421,0.400987296494,0.00458410433495,0.0498527648723,0.999999961263,0.000113363487269,-0.000252292768964,-3.11741980457e-05,1793247795016077568
+68,1.133333333,BASELINE,765,745,715,678.463493629,663,634,876,785.536506371,809,653,629,652.536506371,0.400986466858,0.00458330723863,0.0498527711457,0.999999961424,0.000111263961266,-0.000252597775137,-3.10893097052e-05,1793247795032744192
+69,1.150000000,BASELINE,765,745,715,679,663,634,876.04246741,785.04246741,809,653,629,652,0.400985191179,0.00458226413982,0.0498525104231,0.999999961508,0.000108902709396,-0.000253309790104,-3.09598811421e-05,1793247795049410816
+70,1.166666667,BASELINE,765,745,715,679,663,634,876.617497045,785.617497045,809,653,629,652,0.400987098971,0.00458290659158,0.0498533367186,0.999999961624,0.000111667872685,-0.000251656132374,-3.08507166348e-05,1793247795066077440
+71,1.183333333,BASELINE,765.196369867,745,715,679,663.196369867,634,877,786,809,653,629,652,0.400988230487,0.00458304818999,0.0498539201223,0.999999961786,0.000112518732019,-0.000250641414667,-3.07715715682e-05,1793247795082744320
+72,1.200000000,BASELINE,765.782878258,745,715,679,663.782878258,634,877,786,809,653,629,652,0.400987819732,0.00458219471636,0.0498540209602,0.99999996205,0.000109566341748,-0.000250896113001,-3.07520677118e-05,1793247795099410944
+73,1.216666667,BASELINE,765.635125789,745,715,679,663.635125789,634,877,786,809.364874211,653,629,652,0.400988342565,0.00458256822187,0.0498542078608,0.999999962137,0.000109806724193,-0.000250438236631,-3.08121419925e-05,1793247795116077568
+74,1.233333333,BASELINE,765.055782235,745,715,679,663.055782235,634,877,786,809.944217765,653,629,652,0.400989414151,0.00458366293328,0.0498544453482,0.999999962118,0.000111923786073,-0.000249561516097,-3.09189914922e-05,1793247795132744192
+75,1.250000000,BASELINE,765,745,715,679,663.523240623,633.476759377,877,786,809.476759377,653,629,652.523240623,0.400989709291,0.00458264947841,0.0498544932186,0.999999962307,0.00011104541901,-0.000249213231275,-3.0794803199e-05,1793247795149411072
+76,1.266666667,BASELINE,765.101160406,745,715,678.898839594,663.898839594,633.101160406,877,785.898839594,809,653,629,652.898839594,0.400989601488,0.00458185508934,0.0498545017645,0.999999962416,0.000110321488672,-0.000249109028486,-3.07024489296e-05,1793247795166077696
+77,1.283333333,BASELINE,765.67409519,745,715,678.32590481,663.32590481,633.67409519,877,785.32590481,809,653,629,652.32590481,0.400988000306,0.00458312984863,0.0498544211328,0.999999962053,0.000111806164513,-0.000249880563683,-3.08733548955e-05,1793247795182744320
+78,1.300000000,BASELINE,765.745670405,745,715,678.254329595,663,634,877,785.254329595,809,653,629,652,0.400986600733,0.00458357686047,0.0498536372133,0.99999996166,0.000112047141602,-0.000251330865568,-3.09702208875e-05,1793247795199410944
+79,1.316666667,BASELINE,765.155805712,745,715,678.844194288,663,634,877,785.844194288,809,653,629,652,0.400985467142,0.00458293183131,0.0498519254514,0.999999961223,0.000110647316281,-0.000253676659112,-3.09694064922e-05,1793247795216077568
+80,1.333333333,BASELINE,765,745,715,679,663,634,877,786,809,653,629,652,0.400985504569,0.0045819123794,0.0498520892118,0.999999961429,0.000108954875895,-0.000253592540474,-3.10173817793e-05,1793247795232744448
+81,1.350000000,BASELINE,765,745,715,678.98966409,663,634,877,786,809,653,629,652,0.40098595645,0.00458079074363,0.0498529056154,0.999999961848,0.000107229455049,-0.000252664299005,-3.10763935783e-05,1793247795249411072
+82,1.366666667,BASELINE,765,745,715,678.415339659,663,634,877,786,809,653,629,652,0.40098608726,0.0045814269756,0.0498525992374,0.999999961466,0.000109435729087,-0.000253269118744,-3.07820049338e-05,1793247795266077696
+83,1.383333333,BASELINE,765,745,715,678.159088822,663.159088822,634,877,785.840911178,809.159088822,653,629,652,0.400986705456,0.0045821036664,0.0498527678722,0.999999961462,0.000110246654315,-0.000252945122976,-3.06786364527e-05,1793247795282744320
+84,1.400000000,BASELINE,765,745,715,678.73378925,663.73378925,634,877,785.26621075,809.73378925,653,629,652,0.400988596919,0.004582886054,0.0498541774542,0.99999996245,0.00010741230091,-0.000250194643197,-3.10742985486e-05,1793247795299410944
+85,1.416666667,BASELINE,765,745,715,679,663.681877639,634,876.681877639,785.318122361,809.681877639,653,629,652,0.400988511787,0.00458354777806,0.0498543365939,0.999999962434,0.000108193714617,-0.000249898081843,-3.12739866339e-05,1793247795316077568
+86,1.433333333,BASELINE,765,745,715,679,663.089232054,634,876.089232054,785.910767946,809.089232054,653,629,652,0.400986720954,0.00458410537565,0.0498534166663,0.999999961546,0.00011209534942,-0.000251719125961,-3.130455921e-05,1793247795332744192
+87,1.450000000,BASELINE,765,745,715,679,663.490008964,634,876.490008964,786,809,653,629,652,0.40098801253,0.00458320556487,0.0498543596481,0.999999962272,0.000109236812745,-0.000250088926506,-3.1289190472e-05,1793247795349411072
+88,1.466666667,BASELINE,765.066554259,745,715,679,663.933445741,634,877,785.933445741,809,653,629,652,0.400989660201,0.00458224368198,0.0498554955629,0.999999963145,0.000105921161472,-0.000248016405258,-3.1268997647e-05,1793247795366077696
+89,1.483333333,BASELINE,765.640661414,745,715,679,663.359338586,634,877,785.359338586,809,653,629,652,0.40098985681,0.00458277850262,0.0498555845976,0.999999963088,0.000108257653468,-0.000247235943859,-3.12741175038e-05,1793247795382744320
+90,1.500000000,BASELINE,765.779144065,745,715,678.779144065,663.220855935,634,877.220855935,785.220855935,809.220855935,653,629,652,0.400989473865,0.00458310998685,0.0498550171232,0.999999962755,0.000109940582205,-0.000247850230578,-3.11850943119e-05,1793247795399410944
+91,1.516666667,BASELINE,765.188764571,745,715,678.188764571,663.811235429,634,877.811235429,785.811235429,809.811235429,653,629,652,0.400988121243,0.00458310126014,0.0498533512153,0.999999961963,0.000110530005912,-0.000250798130422,-3.09385563374e-05,1793247795416077568
+92,1.533333333,BASELINE,765,745,715,678.393485775,663.606514225,634,877.606514225,786,809.606514225,653,629,652.393485775,0.400986536916,0.0045822084464,0.0498524216488,0.999999961515,0.00011060803214,-0.000252574911005,-3.06938860359e-05,1793247795432744192
+93,1.550000000,BASELINE,765,745,715,678.971915359,663.028084641,634,877.028084641,786,809.028084641,653,629,652.971915359,0.400984843684,0.00458090009943,0.0498518381728,0.99999996123,0.000110445694465,-0.000253801249439,-3.04500935452e-05,1793247795449410816
+94,1.566666667,BASELINE,765,745,715,679,663.547603187,634,877,786,809,653,629,652.452396813,0.400985239805,0.00458178201219,0.0498522991341,0.999999961528,0.000110265955317,-0.00025265745092,-3.08039676681e-05,1793247795466077696
+95,1.583333333,BASELINE,765,745,715,679,663.874505382,634,876.874505382,786,809,653,629,652,0.400985566731,0.0045826354088,0.0498527343113,0.99999996172,0.00011026123138,-0.000251864412439,-3.11023721065e-05,1793247795482744320
+96,1.600000000,BASELINE,765,745,715,679,663.288004855,634,876.288004855,786,809,653,629,652,0.40098524779,0.00458297345885,0.0498528789774,0.999999961412,0.000110902689889,-0.000252804207303,-3.10849678269e-05,1793247795499411200
+97,1.616666667,BASELINE,765,745,715.295152839,679,663,634,876.295152839,786,809.295152839,653,629,652,0.400985952969,0.00458296900254,0.049853317269,0.999999961604,0.00011019671163,-0.000252352392538,-3.10936227135e-05,1793247795516077568
+98,1.633333333,BASELINE,765,745,715.87508515,679,663,634,876.87508515,786,809.87508515,653,629,652,0.400987646274,0.00458263407748,0.0498540388664,0.999999962273,0.00010819065323,-0.000250557877242,-3.11274208986e-05,1793247795532744448
+99,1.650000000,BASELINE,765,745,715.546877691,679,663,634,877,786,810,653,629,652,0.400988617263,0.0045826851557,0.0498545217009,0.99999996243,0.000109367725759,-0.000249424666461,-3.10726276173e-05,1793247795549411072
+100,1.666666667,BASELINE,765.030457104,745,715,679,663,634,877.030457104,786,809.969542896,653,629,652,0.400989244845,0.00458275126174,0.0498548269596,0.999999962422,0.000111147208634,-0.000248678208242,-3.09949207214e-05,1793247795566077696
+101,1.683333333,BASELINE,765.604541874,745,715,679,663,634,877.604541874,786,809.395458126,653,629,652,0.400987282335,0.00458119417025,0.0498531326177,0.999999962031,0.000108081646202,-0.000251594467709,-3.09423306477e-05,1793247795582744320
+102,1.700000000,BASELINE,765.817264496,745,715,678.817264496,663,634,877.817264496,786,809.182735504,653,629,652.182735504,0.400986138931,0.00458052802686,0.0498521676187,0.999999961815,0.000106122349738,-0.000253279623282,-3.094805316e-05,1793247795599410944
+103,1.716666667,BASELINE,765.229974416,745,715,678.229974416,663,634,877.229974416,786,809.770025584,653,629,652.770025584,0.40098680893,0.00458183433636,0.0498528172979,0.999999962022,0.000106612194369,-0.00025223926153,-3.10828727792e-05,1793247795616077824
+104,1.733333333,BASELINE,765.354207176,745,715,678.354207176,663,634,877,786,809.645792824,653,629,652.645792824,0.400988023642,0.00458272425382,0.0498535697789,0.999999962256,0.000108371785217,-0.000250558070389,-3.10592017345e-05,1793247795632744192
+105,1.750000000,BASELINE,765.936388149,745,715,678.936388149,663,634,877,786,809.063611851,653,629,652.063611851,0.400989588941,0.00458334617437,0.0498543884251,0.999999962499,0.000110948606499,-0.000248464430385,-3.09335234002e-05,1793247795649411072
+106,1.766666667,BASELINE,765.487397717,745,715,679,663,634,877.512602283,786,809.512602283,653,629,652,0.400988282641,0.00458339072506,0.0498540908353,0.999999962263,0.000111074745816,-0.00024935485741,-3.0964830874e-05,1793247795666077440
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,633,876,786,809,653,629,652,0.400986897942,0.00458337696386,0.0498539345266,0.999999961751,0.000111626306297,-0.000251147890901,-3.1008004089e-05,1793247795709225984
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.41099331,745,715,679,663,633.58900669,876.58900669,785.41099331,809,653,629,652.58900669,0.400986550978,0.00458274344946,0.0498534213998,0.999999961953,0.000108055882369,-0.00025185784452,-3.14033550256e-05,1793247795725892096
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.175219277,745,715,678.824780723,663,634,877,785,809,653,629,652.824780723,0.400986417296,0.00458228295748,0.0498531324196,0.999999962019,0.000106430533048,-0.000252267963374,-3.15535164321e-05,1793247795742558464
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.754981017,745,715,678.245018983,663,634,877,785,809,653,629,652.245018983,0.400986776033,0.00458222193575,0.0498533609441,0.999999961794,0.000109295929051,-0.000251985830378,-3.11375896528e-05,1793247795759225344
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.331960725,745,715,678.331960725,663,634,877,785.331960725,809,653,629,652,0.40098604082,0.00458293235368,0.049853013711,0.999999961458,0.000111200939286,-0.000252500901108,-3.10082167572e-05,1793247795775891968
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.906904057,745,715,678.906904057,663,634,877,785.906904057,809,653,629,652,0.400984504878,0.00458420743605,0.0498522450452,0.999999961043,0.000112402983548,-0.00025359949462,-3.10885904146e-05,1793247795792559104
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.521086522,745,715,679,663,634,877.478913478,786,809,653,629,652,0.400986079675,0.00458391921366,0.0498533995753,0.999999961683,0.000109892440011,-0.000252180816243,-3.101828009e-05,1793247795809225472
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.947285065,786,809,653,629,652.052714935,0.400988162256,0.00458327253242,0.0498547886484,0.999999962435,0.000107001342079,-0.000250450793928,-3.09164385436e-05,1793247795825892096
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.349073734,786,809,653,629,652.650926266,0.400989280072,0.00458204202955,0.0498547597236,0.999999962355,0.000107594853153,-0.00025053177015,-3.07895740893e-05,1793247795842558208
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.239296577,679,663.239296577,634,877,786,809,653,629,652.760703423,0.400998019395,0.00458104867443,0.0498580915419,0.999999963834,0.000108279230344,-0.000244273909703,-3.06170114919e-05,1793247795859224576
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.813878307,679,663.813878307,634,877,786,809,653,629,652.186121693,0.401017437427,0.00458038759379,0.0498661321918,0.999999967337,0.000109090922532,-0.000229134527161,-3.03804199488e-05,1793247795875891456
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715.611084051,678.611084051,663.611084051,634,877,786,809,653,629,652,0.401057314907,0.00458060828447,0.0498796635252,0.999999973537,0.000108960283334,-0.000200333142336,-3.03263808333e-05,1793247795892558336
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715.035827918,678.035827918,663.035827918,634,877,786,809,653,629,652,0.401106995065,0.00458125145567,0.0498958255947,0.999999980056,0.000108378147565,-0.000164985919958,-3.0359807489e-05,1793247795909225472
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.108529408,663,634,877,786,809.554264704,652.445735296,629,652,0.401174292994,0.00458112092705,0.0499140360455,0.999999985186,0.000106799048903,-0.000131602101829,-3.00566993129e-05,1793247795925892096
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.857970852,663,634,877,786,809.857970852,652.142029148,629,652,0.401245277443,0.00458060754242,0.0499303295484,0.999999988665,0.000105118164707,-0.000103696002666,-2.94406159014e-05,1793247795942558976
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.280368352,663,634,877,786,809.280368352,652.719631648,629,652,0.401323979108,0.00457907761498,0.0499403269453,0.999999990022,0.000103328198005,-9.21889733742e-05,-2.79332527492e-05,1793247795959225344
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809.296619484,653,629,652,0.401411670626,0.00457811170269,0.049946847978,0.999999990854,0.000102668233108,-8.38664994015e-05,-2.67893988409e-05,1793247795975891712
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,809.8730275,653,629,652,0.401507841885,0.00457767780194,0.0499500899037,0.999999991265,0.000103074150916,-7.85478815763e-05,-2.59884278184e-05,1793247795992558336
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.45763903,745,715,679,663.45763903,634,877,786,809.54236097,653,629,652,0.401614883413,0.00457708401888,0.0499495974868,0.999999991214,0.000102475389327,-8.02190051446e-05,-2.52294104273e-05,1793247796009224960
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.955981556,745,715,679,663.955981556,634,876.955981556,786,809.044018444,653,629,652.044018444,0.401727544772,0.00457632554164,0.0499483140082,0.99999999108,0.000101402622608,-8.3423733889e-05,-2.44425225878e-05,1793247796025891584
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.37629192,745,715,679,663.37629192,634,876.37629192,786,809.62370808,653,629,652.62370808,0.401871223259,0.00457411253621,0.0499502425773,0.999999991626,9.80156595227e-05,-8.12605473537e-05,-2.31722357662e-05,1793247796042558464
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,678.797212325,663,634,876.202787675,785.797212325,809.797212325,653,629,652.797212325,0.402024058869,0.00457276830312,0.0499507016103,0.999999991822,9.54618285991e-05,-8.22137158316e-05,-2.20003258179e-05,1793247796059225088
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,678.219261391,663,634,876.780738609,785.219261391,809.219261391,653,629,652.219261391,0.402193835415,0.00457303132509,0.0499484419575,0.999999991364,9.4449317454e-05,-8.89322344746e-05,-2.10104161664e-05,1793247796075891968
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,678.355493648,663,634,876.644506352,785,809,653,629,652,0.402389442897,0.00457107226218,0.0499472302798,0.999999991446,9.03776772796e-05,-9.25186117135e-05,-1.95154743675e-05,1793247796092558848
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,678.928295141,663,634,876.071704859,785,809,653,629,652,0.402600840452,0.0045677548727,0.0499466592131,0.999999991843,8.44360380866e-05,-9.419035933e-05,-1.77118140232e-05,1793247796109225472
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877.033462618,785.516731309,809,653,629,652,0.402839687916,0.00456550281277,0.0499500742975,0.999999992363,8.24822654293e-05,-9.0676068134e-05,-1.57928559469e-05,1793247796125891584
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.105268259,745,715,679,663,634,877.894731741,785.894731741,809.105268259,653,629,652.105268259,0.403091517015,0.00456307150417,0.0499544301722,0.999999993078,8.00510368916e-05,-8.51218915368e-05,-1.3791303217e-05,1793247796142557952
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.684192307,745,715,679,663,634,877.315807693,785.315807693,809.684192307,653,629,652.684192307,0.403384083265,0.00455914773864,0.0499604526161,0.999999994559,7.29038553897e-05,-7.37283158975e-05,-1.14923499949e-05,1793247796159224832
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.73851405,663,634,877,785.26148595,810,653,629,653,0.403699721067,0.00455502264441,0.0499685052158,0.999999996092,6.63485806578e-05,-5.7723146627e-05,-9.07347687892e-06,1793247796175891456
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.163177347,663,634,877,785.836822653,810,653,629,653,0.404043050679,0.00455065590393,0.0499789945269,0.999999997494,6.05037475128e-05,-3.61828732719e-05,-6.51066901945e-06,1793247796192558592
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678.412012469,663,634,877,786,810,653,629.412012469,652.587987531,0.40441706431,0.00454776720659,0.0499871980084,0.99999999814,5.75420615447e-05,-1.98221702237e-05,-3.99166448246e-06,1793247796209225216
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.987144117,663,634,877,786,810,653,629.987144117,652.012855883,0.404803225993,0.00454546367898,0.0499944965106,0.999999998431,5.57218377774e-05,-5.5121028631e-06,-1.4900021078e-06,1793247796225891840
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.423103679,745,715,679,663,634,877,786,810,653,629.423103679,652.576896321,0.405206435219,0.00454014135249,0.0499929649791,0.999999998692,5.06497555136e-05,-6.90792825452e-06,1.38688932814e-06,1793247796242558976
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,810,653,629,653,0.405613371786,0.00453554512874,0.0499857774961,0.999999998749,4.59872046807e-05,-1.9221569512e-05,4.1993803939e-06,1793247796259225600
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679,663,634,877,786,810,653,629,653,0.406028765066,0.00453296360467,0.0499647704294,0.999999997373,4.2550722131e-05,-5.82890459322e-05,6.82695415138e-06,1793247796275891712
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.320270724,745,715,679,663,634,877,786,810,653,629,652.679729276,0.406477936423,0.00452902038811,0.04994610063,0.999999995193,3.71580341378e-05,-9.02489069034e-05,9.45044129066e-06,1793247796292558336
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.895712543,745,715,679,663,634,877,786,810,653,629,652.104287457,0.406954020023,0.00452399226235,0.0499292930126,0.999999992679,3.02067672197e-05,-0.000116545881654,1.20706727604e-05,1793247796309225216
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.472010927,633.527989073,877,786,810,653,629,652.944021854,0.40750166844,0.00451750191901,0.0499307344592,0.999999993488,2.06968602528e-05,-0.000111179757815,1.53396745205e-05,1793247796325892096
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.950562624,745,715,679,663.950562624,633.049437376,877,786,810,653,629,653.950562624,0.408068425981,0.00451067408321,0.0499380082094,0.999999995191,1.06054144432e-05,-9.56575667721e-05,1.88273296727e-05,1793247796342558720
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.362918992,745,715,679,663.362918992,633.637081008,877,786,810,653,629,653.362918992,0.408670768408,0.00450369558747,0.0499648013862,0.99999999868,3.48508929204e-07,-4.58684855937e-05,2.31320461662e-05,1793247796359225600
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.22207016,745,715,679,663.22207016,633.77792984,877,786,810.22207016,653,629,653,0.409286695326,0.00449704066662,0.0499872382742,0.999999999558,-8.77900959631e-06,-7.30934073714e-06,2.74444910097e-05,1793247796375892224
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.802772424,745,715,679,663.802772424,633.197227576,877,786,810.802772424,653,629,653,0.409924560476,0.00449090830332,0.050002639974,0.99999999928,-1.60826244948e-05,1.31140203619e-05,3.17694165611e-05,1793247796392559104
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.622034852,663.622034852,633.377965148,877,786,811,653,629,653,0.410548222373,0.00448404279842,0.049994400636,0.999999996789,7.09126544575e-05,-9.8250191947e-06,3.59982689459e-05,1793247796409225728
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678.049675797,663.049675797,633.950324203,877,786,811,653,629,653,0.411164579275,0.00447680022651,0.0499740023093,0.999999976375,0.00020640745862,-5.50660799248e-05,4.0177708534e-05,1793247796425892352
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678.539404987,663.539404987,634,877.539404987,786,811,653,629,652.460595013,0.411834266433,0.00447159093206,0.0499478718705,0.99999997225,0.000208529460239,-0.00010076793075,4.31455778198e-05,1793247796442558720
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.873051772,745,715,679,664,634,878,786,811,653,629,652.126948228,0.412536086191,0.00446568820597,0.0499339554319,0.999999973144,0.00019233619955,-0.000121108662631,4.52893260386e-05,1793247796459225088
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.296580562,745,715,679,664,634,878,786,811,653,629,652.703419438,0.4133337396,0.00445664577232,0.0499652177698,0.99999998547,0.000156173444495,-5.14907271056e-05,4.4922602346e-05,1793247796475891712
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679.280374683,664.280374683,634,878.280374683,786,811,653,629,652.719625317,0.414110291324,0.00444597129138,0.0499795058452,0.999999996466,7.30421068395e-05,-2.36779199696e-05,3.42508535857e-05,1793247796492558336
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679.857842897,664.857842897,634,878.857842897,786,811,653,629,652.142157103,0.414864483162,0.00443356744244,0.0499758074802,0.999999997322,-5.98585728511e-05,-4.01630880653e-05,1.26595868708e-05,1793247796509224960
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.432329731,745,715,679.135340538,664.567670269,634,878.567670269,785.567670269,811,652.567670269,629.432329731,652.432329731,0.41563887542,0.00444968184453,0.0499561766583,0.999999994851,-7.06996012807e-05,-7.21578413354e-05,9.64172294019e-06,1793247796525892096
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.993955052,745,715,678.006044948,664,633.993955052,878.006044948,785,811.006044948,652,630,653,0.416420674115,0.00447504176111,0.049931768102,0.999999993168,-4.16128834402e-05,-0.000108502216335,1.2673910509e-05,1793247796542559232
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.400611576,745,715,678.599388424,664,633.400611576,878.599388424,785,811.599388424,652,630,653,0.417281143985,0.00449384088754,0.049948673554,0.999999997042,-5.97653250029e-06,-7.53558823901e-05,1.42137871184e-05,1793247796559225344
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.187833059,745,715,679,664.187833059,633.187833059,879,785.187833059,811.812166941,652,630,653,0.418144121891,0.00450196130266,0.049964932171,0.999999998575,2.13243328717e-05,-4.60432863839e-05,1.66093159885e-05,1793247796575891456
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.766094952,745,715,679,664.766094952,633.766094952,879,785.766094952,811.233905048,652,630,653,0.419012312936,0.00448788500214,0.0499798462794,0.999999998989,3.12990985549e-05,-2.46994806594e-05,2.07833992168e-05,1793247796592557824
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.657684378,745,715,679.342315622,664.657684378,634,879,785.657684378,811.342315622,652.342315622,630,653,0.419861604193,0.00447945985651,0.0499714943003,0.999999998718,2.04103528451e-05,-4.07154559467e-05,2.2122337759e-05,1793247796609224704
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.082850234,745,715,679.917149766,664.082850234,634,879,785.082850234,811.917149766,652.917149766,630,653,0.420698057699,0.00447487326888,0.0499473387877,0.999999996386,-4.64997208084e-06,-8.21081325243e-05,2.15354988141e-05,1793247796625891328
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.503034212,745,715,679.496965788,664,634,879,785.503034212,811.496965788,652.496965788,630,653,0.421653091951,0.00447035437275,0.0499690773601,0.999999999247,-1.29997577775e-05,-2.93679914092e-05,2.17613997116e-05,1793247796642558208
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.910050079,745,715,679,664.089949921,633.910050079,879.089949921,786,811.089949921,652,630,653,0.422617846026,0.00446717594389,0.0499932923366,0.999999999302,-1.45682746527e-05,2.61694213388e-05,2.23348225232e-05,1793247796659225344
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.327676235,745,715,679,664.672323765,633.327676235,879.672323765,786,811.672323765,652,630,653,0.423526491218,0.00447127339729,0.0499887546841,0.999999999643,5.58139146274e-06,1.02397341262e-05,2.40614672747e-05,1793247796675891968
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679.250090313,664.749909687,633,879.749909687,786,812,652.250090313,630.250090313,653,0.424442791449,0.00447744501688,0.0499843938512,0.999999999613,1.35227232747e-05,6.70925456342e-07,2.43231241117e-05,1793247796692559616
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679.821929516,664.178070484,633,879.178070484,786,812,652.821929516,630.821929516,653,0.425368940248,0.00448628511568,0.0499802605014,0.999999999726,5.75765984626e-06,-7.14419279391e-07,2.27000291376e-05,1793247796709228288
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.396277722,745,715,680,664.396277722,633.396277722,879,786,812.396277722,652.603722278,631,653.396277722,0.426306317792,0.00448494060545,0.0499925391029,0.999999999667,1.70482991636e-06,9.23753091548e-06,2.40304550062e-05,1793247796725893888
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.971760517,745,715,680,664.971760517,633.971760517,879,786,812.971760517,652.028239483,631,653.971760517,0.427248773152,0.0044789904015,0.0500122395321,0.999999999348,-6.69249924162e-07,2.43164430617e-05,2.66965248614e-05,1793247796742557952
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.437439134,745,715,680,665,633.437439134,879,785.437439134,813,652,630.437439134,653.437439134,0.428134979825,0.00447206480645,0.0499731511557,0.999999998042,1.37445273375e-05,-5.38801820757e-05,2.86885779678e-05,1793247796759224576
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.151222351,715,680,664.848777649,633,879.151222351,785,813,652,630.151222351,653,0.429044685847,0.00446707610283,0.04994339647,0.999999993633,1.98574257118e-05,-0.000107049136771,2.96820856251e-05,1793247796775891456
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.73157128,715,680,664.26842872,633,879.73157128,785,813,652,630.73157128,653,0.430029313176,0.00446772658536,0.0499487369358,0.999999996757,-4.35749354589e-08,-7.55377564039e-05,2.79407018085e-05,1793247796792558336
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.691877296,715,680,664.308122704,633,879.691877296,785,813,652,631,653,0.430979605646,0.00447274768986,0.0499490059992,0.999999997294,-8.37164363252e-06,-6.77770080803e-05,2.73599584473e-05,1793247796809225472
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.118593915,715,680,664.881406085,633,879.118593915,785,813,652,631,653,0.43190035057,0.00448153001367,0.0499449107736,0.999999996355,-6.74041124929e-06,-8.04553059284e-05,2.77780257489e-05,1793247796825892864
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.533789901,633,879.466210099,785,813,652,631,653,0.43281431785,0.00448152955666,0.0499410922793,0.999999996057,1.87494748792e-05,-8.21078415346e-05,2.81411021543e-05,1793247796842559488
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633.053254046,879.946745954,785,813.053254046,652,631,653,0.433731748227,0.00447880088882,0.0499400911059,0.999999995555,4.48564384195e-05,-7.78481204402e-05,2.85780738445e-05,1793247796859225600
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664,633.632738939,879.367261061,785,813.632738939,652,631,653,0.434700866858,0.00447174954253,0.0499662161155,0.999999998482,1.55692496902e-05,-4.35834313215e-05,2.98869731723e-05,1793247796875892224
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.211583365,633.788416635,879,785,814,652,631,653,0.435625528788,0.00446757042476,0.049974849799,0.999999998593,-6.42702248326e-06,-4.23391535616e-05,3.1302037078e-05,1793247796892558848
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,664.789319533,633.210680467,879,785,814,652,631,653,0.436473256919,0.00446836180301,0.0499532141031,0.999999994509,-1.58060998896e-05,-9.82379077882e-05,3.29008229276e-05,1793247796909225216
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,664.633564864,633,879,784.633564864,814,652,631,653,0.437365831423,0.00447095769959,0.0499491318715,0.99999999467,-7.85185800789e-06,-9.7787258494e-05,3.21846669128e-05,1793247796925891840
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,664.056805484,633,879,784.056805484,814,652,631,653,0.43828414653,0.00447458934275,0.0499551248734,0.999999997383,1.0051259224e-05,-6.49935127066e-05,3.01397943392e-05,1793247796942558464
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.529476062,745,715,680.529476062,664.529476062,633,879.529476062,784,814,652.529476062,631,653,0.439153100224,0.0044747604802,0.0499687537208,0.999999998533,1.55215916648e-05,-4.27705975078e-05,2.93983352798e-05,1793247796959225344
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680.884831361,664.884831361,633,879.884831361,784,814.115168639,652.884831361,631,653,0.440012811228,0.00447403370985,0.0499775512088,0.999999998974,1.67768425149e-05,-3.02595650149e-05,2.92472165954e-05,1793247796975892224
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680.305702382,664.305702382,633,879.305702382,784,814.694297618,652.305702382,631,653,0.440857012741,0.00447121273193,0.0499635247233,0.999999998138,6.52343895564e-06,-5.22207017535e-05,3.09006423737e-05,1793247796992558848
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633,879,784.271294452,814.728705548,652,631,653,0.441693308202,0.00446687475599,0.0499643785157,0.999999998371,4.53894771443e-06,-4.69651109267e-05,3.21179566264e-05,1793247797009225472
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633,879,784.845907422,814.154092578,652,631,653,0.44252076431,0.00446084071315,0.0499818690808,0.999999999327,1.17994461506e-05,-1.12800815709e-05,3.28476798706e-05,1793247797025892608
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.422901507,633,879.422901507,784.577098493,814.422901507,652,631,653,0.443305151389,0.00445960302938,0.049991004064,0.999999999358,1.14995507331e-05,1.95778272527e-06,3.38916525288e-05,1793247797042558720
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999216518,745,715,680.000783482,664.999216518,633,880,784,815,652,631,653,0.444073628083,0.00446012595647,0.0499970145482,0.999999999327,8.43742825132e-06,6.86852362557e-06,3.50511013698e-05,1793247797059224576
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.409821796,745,715,680.590178204,664.409821796,633,880,784,815,652,631,653,0.444745542529,0.00446295248552,0.0499558914144,0.999999997179,1.14993363619e-05,-6.46556814784e-05,3.64544903617e-05,1793247797075891200
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.176619785,745,715,681,664,633,879.823380215,784,815,652,631,653,0.445445501871,0.00446662975527,0.0499302445774,0.999999994111,1.46093701268e-05,-0.000100930364509,3.71041412652e-05,1793247797092557568
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.756321816,745,715,681,664,633,879.243678184,784,815,652,631,653,0.446209465502,0.00447224858879,0.0499399177867,0.999999997581,1.78292371157e-05,-5.67584886989e-05,3.60336092523e-05,1793247797109224192
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,664.333320487,633,879.333320487,784.333320487,815,652,630.666679513,653,0.446917225091,0.00447489489978,0.0499502383565,0.999999998619,2.15028115827e-05,-3.11101216146e-05,3.64819508467e-05,1793247797125891072
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,681,664.908358698,633,879.908358698,784.908358698,815,652,630.091641302,653,0.447584226525,0.00447538559321,0.0499610283792,0.999999998773,2.55054059704e-05,-1.88946560376e-05,3.80317510017e-05,1793247797142557696
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680.506292522,665,633,880,784.506292522,815,652,630,653,0.448176570459,0.00447216562497,0.0499413435341,0.999999997694,2.56072039879e-05,-4.92139822953e-05,3.91801835814e-05,1793247797159224320
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.920120062,745,715,680.079879938,665,633,879.920120062,784,815,652,630.079879938,653,0.448757011059,0.00446837045606,0.0499198952077,0.999999995547,2.45057654504e-05,-8.17288819689e-05,4.03142725512e-05,1793247797175890944
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.341015835,745,715,680.658984165,665,633,879.341015835,784,815,652,630.658984165,653,0.449351513874,0.00446537686045,0.049923532332,0.999999995906,2.05061470415e-05,-7.75701613139e-05,4.18342594787e-05,1793247797192557568
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.236521661,745,715,681,665,633,879.236521661,784,815,652,631,653,0.449940941411,0.00446355997961,0.0499363664943,0.999999997149,1.86528478846e-05,-5.90446813167e-05,4.32233700087e-05,1793247797209224192
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.811815065,745,715,681,665,633,879.811815065,784,815,652,631,653,0.450523099541,0.00446342851639,0.0499623736427,0.999999998617,1.9873738158e-05,-1.99415848248e-05,4.44250251213e-05,1793247797225891072
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.613283172,745,715,681,664.613283172,633,880,784,815.386716828,652,631,653,0.451040168455,0.00446264263317,0.0499732566117,0.999999998633,2.27610090387e-05,-1.10629442617e-05,4.5759107435e-05,1793247797242557696
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.038571745,745,715,681,664.038571745,633,880,784,815.961428255,652,631,653,0.451525595611,0.00446153861683,0.0499767872677,0.999999998396,2.64583574108e-05,-1.68773107765e-05,4.7157566693e-05,1793247797259224320
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.551949028,745,715,681,664,632.448050972,879.448050972,784,816,652,631,653,0.451919555196,0.00445860685525,0.049949925419,0.999999995752,2.20644916066e-05,-7.52955239884e-05,4.83709978186e-05,1793247797275890944
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.859765171,632,879,784,816,652,631,653,0.452306459108,0.00445617381408,0.0499214354436,0.999999990101,1.65938394623e-05,-0.000130908765474,4.88335989641e-05,1793247797292557568
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.282000884,632,879,784,816,652,631,653,0.452691880563,0.00445570702767,0.0498946877038,0.999999985078,9.57980733061e-06,-0.000165963013094,4.6995160288e-05,1793247797309224448
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,632,879.294931308,784.294931308,816,652,631,653,0.45307715123,0.00445459433165,0.0498850266537,0.999999983345,-2.9371744868e-05,-0.000176470250543,3.61440341079e-05,1793247797325891072
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,632,879.871070091,784.871070091,816,652,631,653,0.4534622781,0.00445286578171,0.0498916572119,0.999999981604,-9.87746902058e-05,-0.000163572704129,1.66996015415e-05,1793247797342557952
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,681.455521404,663.455521404,632,880,784.544478596,816,652,631,653,0.453809327037,0.0044493329621,0.0499005596999,0.999999982508,-0.000116830549266,-0.000145400732672,1.38726291403e-05,1793247797359225344
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,681.958171344,663.958171344,631.958171344,880,784,816,652,631,653,0.454141472195,0.00444596532639,0.0499089378569,0.999999984592,-0.000119375010844,-0.000127749579773,1.57045305159e-05,1793247797375893248
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,681.378810572,663.378810572,631.378810572,880,784,816,652,631,653,0.454423165814,0.00445140503387,0.0499021607157,0.999999984217,-0.000112820076662,-0.000136332457846,1.58410918521e-05,1793247797392559616
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880,784,816,652,631,653,0.454684852233,0.00445884239625,0.0498917714667,0.99999998299,-0.000102959858104,-0.000152098106108,1.69193804728e-05,1793247797409225728
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880,784,816,652,631,653,0.454908747893,0.00447005304102,0.0498745594657,0.999999979574,-8.68564330656e-05,-0.000181430973923,1.97764565672e-05,1793247797425892096
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880,784,816,652,631,653,0.455110332672,0.00448899330059,0.0498543547016,0.999999976948,-1.46397204248e-05,-0.000213410942119,1.85747423334e-05,1793247797442558720
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,631,880,784,816,652,631,653,0.455297775438,0.00451283307545,0.0498322529348,0.999999965031,9.31451117335e-05,-0.000247068809221,1.4800312564e-05,1793247797459225088
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.484368635,631,880,784,816,652.515631365,631,653,0.455463062147,0.00450991962921,0.0498199625884,0.99999995931,9.80558128651e-05,-0.000267379809259,1.65060338483e-05,1793247797475891968
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880,784,816,653,631,653,0.45562187677,0.00450366267539,0.0498111002362,0.999999955866,8.9315478614e-05,-0.000282731133958,1.88201650273e-05,1793247797492558592
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,631,880,784,816,653,631,653,0.455765716953,0.0044997993161,0.0498114422515,0.999999955698,8.61423179536e-05,-0.000284203982876,2.02937984832e-05,1793247797509225216
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.739064595,745,715,681,662,631,880,784,816,652.739064595,631,653,0.455900022207,0.00449866890504,0.0498125473729,0.999999955972,8.40264603085e-05,-0.000283827314497,2.09044350777e-05,1793247797525891584
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.164075484,745,715,681,662,631,880,784,816,652.164075484,631,653,0.456022851507,0.00450082778534,0.0498145709451,0.999999956787,8.31831397508e-05,-0.000281224624763,2.0476395507e-05,1793247797542558208
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.410897757,745,715,681,662.410897757,631,880,784,816,652.410897757,631,653,0.456125897117,0.00449959741929,0.0498151707857,0.999999957009,8.02486126606e-05,-0.00028121979944,2.14118640423e-05,1793247797559225600
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.985864646,745,715,681,662.985864646,631,880,784,816,652.985864646,631,653,0.456221043208,0.00449701374643,0.0498152021383,0.99999995698,7.64790787363e-05,-0.000282252286634,2.28917736056e-05,1793247797575892480
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681.576960153,662.423039847,631,880,784,816,652.423039847,631,652.423039847,0.456290179932,0.00449886248268,0.0498130576428,0.999999955687,7.7542806076e-05,-0.00028655115604,2.23770848588e-05,1793247797592559104
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715.164972789,682,662,631,880.164972789,784,816.164972789,652,631,652.164972789,0.456353209053,0.0045001171327,0.0498106440043,0.999999954321,7.79859841245e-05,-0.000291182603171,2.20970109464e-05,1793247797609225472
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715.74422285,682,662,631,880.74422285,784,816.74422285,652,631,652.74422285,0.456402547042,0.00449959938295,0.0498076922134,0.999999952876,7.65649378747e-05,-0.000296442476109,2.25323418315e-05,1793247797625892096
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715.680520612,682,662.319479388,630.680520612,881,784,816.680520612,652,631,653,0.456444640293,0.00449876912515,0.0498042303396,0.999999951427,7.53186059066e-05,-0.000301578599694,2.28921471397e-05,1793247797642558464
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715.108421778,682,662.891578222,630.108421778,881,784,816.108421778,652,631,653,0.456481004974,0.00449769176025,0.0498003651315,0.999999949971,7.42104242475e-05,-0.000306616872484,2.31922327439e-05,1793247797659225088
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745.467527707,715,681.532472293,662.532472293,630,880.532472293,784,816,652,631,653,0.456513181623,0.00450023771298,0.0498023971341,0.999999950979,7.53799397663e-05,-0.000303072001232,2.25342027538e-05,1793247797675891456
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.954430766,715,681,662,630,880,784,816,652,631.045569234,653,0.456542870052,0.00450340320252,0.0498053058529,0.999999952306,7.69878972168e-05,-0.000298307656557,2.17588251065e-05,1793247797692558336
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.36209064,715,681,662,630,880,784,816,652,631.63790936,653,0.456554453316,0.00450383653551,0.049802188468,0.999999950849,7.74661457307e-05,-0.000302992587938,2.22635728828e-05,1793247797709225472
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880,784,816,652,631.775761491,653,0.456564118323,0.00450345773427,0.0497995866192,0.999999949556,7.7047888122e-05,-0.000307302278177,2.27466440609e-05,1793247797725892352
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630,880,784,816,652,631.198885247,653,0.456570766674,0.00450180176979,0.0497977955033,0.999999948535,7.52197839281e-05,-0.00031102186349,2.31956265658e-05,1793247797742558720
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,681.376195489,662,630,880,784,815.623804511,652,631,653,0.456576703367,0.00450161864552,0.04979684606,0.999999948104,7.52192953017e-05,-0.00031243468871,2.27898443458e-05,1793247797759225088
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,681.950331474,662,630,880,784,815.049668526,652,631,653,0.456582265611,0.00450221047669,0.0497963394745,0.999999947988,7.61804321195e-05,-0.000312633779864,2.19343157464e-05,1793247797775891456
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.460838125,745,715,681.460838125,662,630,880,784,815.539161875,652,631,653,0.456583878857,0.00450395744819,0.0497954885603,0.999999947374,7.88685235034e-05,-0.000313909155394,2.21843625587e-05,1793247797792558336
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.12666134,745,715,681,662,630,879.87333866,784,816,652,631,653.12666134,0.456584665473,0.00450534029008,0.0497943881435,0.999999946681,8.07054168882e-05,-0.000315626473253,2.24467960067e-05,1793247797809225472
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.704463564,745,715,681,662,630,879.295536436,784,816,652,631,653.704463564,0.456583839846,0.00450503653712,0.0497925151969,0.999999945896,7.89280013003e-05,-0.00031855485299,2.23804249183e-05,1793247797825895168
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.281648828,662,630,879.281648828,784,816,652,631,653.718351172,0.456584188847,0.00450482326619,0.0497916665037,0.999999945546,7.80459058821e-05,-0.000319863462296,2.24404167799e-05,1793247797842562304
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.858188199,662,630,879.858188199,784,816,652,631,653.141811801,0.4565857677,0.00450470473124,0.0497918902187,0.999999945661,7.81012238753e-05,-0.00031947614806,2.2632712535e-05,1793247797859226368
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630.433888463,880,784,816,652,631,653.433888463,0.456585591995,0.00450626231012,0.049791248725,0.999999945375,7.88733446714e-05,-0.000320212158605,2.22161884608e-05,1793247797875892224
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630.990434257,880.009565743,784,816,652,631,653.990434257,0.456584886651,0.00450833306624,0.0497903724476,0.99999994497,7.98875140392e-05,-0.000321264111027,2.16227633428e-05,1793247797892558592
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,630.39951635,880.60048365,784,816,652,631,653.39951635,0.45658677719,0.0045083627085,0.04979238019,0.999999945478,8.14013406624e-05,-0.000319247195399,2.23482082461e-05,1793247797909225216
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,681.812570391,662,630,880.812570391,784,816,652,631,653,0.45658779039,0.00450850013106,0.0497934775778,0.99999994573,8.19843974258e-05,-0.000318284943598,2.26420619135e-05,1793247797925891840
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,681.233915193,662,630,880.233915193,784,816,652,631,653,0.456586972303,0.00450886252558,0.0497926747642,0.999999945459,8.06246394646e-05,-0.000319524112923,2.20350464772e-05,1793247797942558208
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630.342730309,880,784,816,652,631,653,0.456587406241,0.00450938130266,0.0497926349849,0.999999945445,8.14179266253e-05,-0.000319381269904,2.1824662415e-05,1793247797959224576
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630.918012156,880,784,816,652,631,653,0.456588689711,0.0045100061894,0.0497931129445,0.999999945602,8.36721116412e-05,-0.00031830069507,2.18834032073e-05,1793247797975891200
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,630.496715618,880,784,816,652,631,653,0.456588992026,0.00450961499834,0.0497925683386,0.999999945448,8.24315578324e-05,-0.00031910829866,2.1864148393e-05,1793247797992558080
+245,4.083333333,HOLD_POSE2,766,745,715,681,662,630,880,784,816,652,631,653,0.456587660308,0.00451271993214,0.049790514157,0.999999944483,8.47226311324e-05,-0.0003215679837,2.1197945681e-05,1793247798035425280
+246,4.100000000,HOLD_POSE2,766,745,715,681,662,630,880.57745667,784,816,652,631,653,0.456587989878,0.0045118648778,0.0497899610285,0.999999944522,8.31556950013e-05,-0.000321846065515,2.13783646459e-05,1793247798052091904
+247,4.116666667,HOLD_POSE2,766,745,715,681,662,630,881,784,816,652,631,653,0.456588393685,0.00451160455897,0.0497897344295,0.999999944519,8.2632276842e-05,-0.00032197888987,2.15144669831e-05,1793247798068758784
+248,4.133333333,HOLD_POSE2,766,745,715,681,662,630,881,784,816,652,631,653,0.456588999982,0.00451296644754,0.0497903984761,0.999999944409,8.49551703205e-05,-0.000321715508318,2.15296908019e-05,1793247798085425408
+249,4.150000000,HOLD_POSE2,766,745,715,681,662,630.31016173,880.68983827,784.31016173,816,652,631,653,0.456588295113,0.00451297062495,0.0497903716182,0.999999944073,8.57867737751e-05,-0.000322525266392,2.17489256844e-05,1793247798102092288
+250,4.166666667,HOLD_POSE2,766,745,715,681,662,630.90166062,880.09833938,784.90166062,816,652,631,653,0.456586400931,0.00451174326867,0.0497897180646,0.999999943532,8.52656786133e-05,-0.000324308432951,2.21532120654e-05,1793247798118758912
+251,4.183333333,HOLD_POSE2,766,745,715,681.482289136,662,630.517710864,880,784.517710864,816.482289136,652,631,653,0.45658752717,0.00451073069162,0.0497902349837,0.999999943911,8.42775445888e-05,-0.000323387540219,2.22459540891e-05,1793247798135425280
+252,4.200000000,HOLD_POSE2,766,745,715,681.939517322,662,630,880,784,816.939517322,652,631,653,0.456589042691,0.00450991111186,0.0497908760211,0.999999944362,8.34128126297e-05,-0.000322212233781,2.23204351116e-05,1793247798152091648
+253,4.216666667,HOLD_POSE2,766,745,715,681.363602091,662,630,880,784,816.363602091,652,631,653,0.456588742942,0.00451037126893,0.049790585758,0.999999943865,8.43933702748e-05,-0.000323463939678,2.27687166605e-05,1793247798168758528
+254,4.233333333,HOLD_POSE2,766,745,715,681,662,630,880,784,816,652,631,653,0.456588844357,0.0045113761147,0.0497905292703,0.999999943702,8.54582818937e-05,-0.000323694397399,2.26966267075e-05,1793247798185425152
+255,4.250000000,HOLD_POSE2,766,745,715,681,662,630,880,784,816,652,631,653,0.456589632794,0.00451331378034,0.0497908731403,0.99999994411,8.66676558617e-05,-0.000322175891583,2.17333618332e-05,1793247798202091776
+256,4.266666667,HOLD_POSE2,766,745,715,681,662,630,880,784,816,652,631,653,0.456589211608,0.00451271747962,0.0497907267434,0.999999944089,8.57224843445e-05,-0.000322504430492,2.15736781072e-05,1793247798218758400
+257,4.283333333,HOLD_POSE2,766,745,715,681,662,630,880,784,816,652,631,653,0.45658806965,0.00451061127561,0.0497902882133,0.999999943808,8.34934933142e-05,-0.000323933559748,2.18928206858e-05,1793247798235425024
+258,4.300000000,HOLD_POSE2,766,745,715,681,662,630,880,784,816,652,631,653,0.456588674951,0.00451135450115,0.0497902025433,0.99999994385,8.28393804149e-05,-0.000323972588816,2.19066645739e-05,1793247798252091648
+259,4.316666667,HOLD_POSE2,766,745,715,681.115886603,662,630,880,784,816,652,631,653,0.456589403713,0.00451242553554,0.0497902505992,0.999999943957,8.29588385036e-05,-0.00032361799202,2.18117753465e-05,1793247798268758272
+260,4.333333333,HOLD_POSE2,766,745,715,681.692080155,662,630,880,784,816,652,631,653,0.456590158304,0.0045140410236,0.0497907360004,0.999999944232,8.57322208379e-05,-0.000322069500848,2.13661672747e-05,1793247798285425152
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,662,630,880,784,816,652,631,653,0.456587457223,0.0045134474479,0.0497885294959,0.999999943054,8.40093766022e-05,-0.000326165198631,2.1237130708e-05,1793247798322866688
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.415772188,661.415772188,630,880,784,816,652.584227812,631,653,0.456586578894,0.00451389101977,0.0497882585079,0.999999942755,8.63271992533e-05,-0.000326470458142,2.13243243175e-05,1793247798339533312
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.166315104,630,880,784,816,652.833684896,631,653,0.456586537437,0.00451376613607,0.0497884637159,0.999999942834,8.66258596078e-05,-0.000326147193408,2.13699784411e-05,1793247798356199936
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.743119411,630,880,784,816,652.256880589,631,653,0.456588561497,0.00451223822368,0.0497898442425,0.999999943839,8.19409422953e-05,-0.000324272642,2.13131072563e-05,1793247798372866816
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,815.682237519,652,631,653,0.456589494098,0.00451237459034,0.0497905792116,0.999999944079,8.24749937187e-05,-0.000323376422786,2.16433800989e-05,1793247798389533952
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,815.109329834,652,631,653,0.45658955032,0.00451384727853,0.0497907958347,0.999999943699,8.71995805616e-05,-0.000323265748805,2.22845075855e-05,1793247798406201856
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.478936829,662,630,880,784,815.478936829,652.478936829,631,653,0.456589076873,0.00451420177902,0.0497901706398,0.999999943655,8.61964702099e-05,-0.000323703912772,2.18103110911e-05,1793247798422868224
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.930813693,662,630,880.069186307,784,816,653,631,653,0.456588412317,0.0045143145968,0.049789364534,0.999999943645,8.42583466307e-05,-0.000324286132897,2.1206321293e-05,1793247798439534592
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.352625463,662,630,880.647374537,784,816,653,631,653,0.456587260781,0.00451458948722,0.0497886880795,0.999999943318,8.53792704238e-05,-0.000324975902097,2.15826029213e-05,1793247798456201728
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.22251385,662,630,880.77748615,784,816,652.77748615,631,653,0.456583888864,0.00451441776636,0.0497870087648,0.999999942484,8.56815662278e-05,-0.000327442166751,2.17531758439e-05,1793247798472868352
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.792886696,662,630,880.207113304,784,816,652.207113304,631,653,0.456577045796,0.00451354785185,0.0497837616647,0.999999940839,8.47040894081e-05,-0.000332685651378,2.16021614514e-05,1793247798489534208
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.630359106,662,630,880,784,816,652,631,653,0.456556199716,0.0045151452033,0.0497730864031,0.9999999348,8.70715571978e-05,-0.000349823240017,2.10348342558e-05,1793247798506200320
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.049966508,662,630,880,784,816,652,631,653,0.456527369782,0.00451814927268,0.0497581759558,0.999999925782,9.13461535944e-05,-0.000373742282865,2.02301452245e-05,1793247798522866944
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.541325208,662,630,880.541325208,784,816,652,631,653,0.456476084352,0.00451765134458,0.0497369273593,0.999999911462,8.96089419255e-05,-0.000410638051505,2.05690906807e-05,1793247798539533568
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.869892778,662,630,880.869892778,784,815.869892778,652,631,653,0.456418549871,0.00451706295887,0.0497152177438,0.999999896303,8.81976191004e-05,-0.000446308210285,2.05812729536e-05,1793247798556200192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.293247826,662,630,880.293247826,784,815.293247826,652,631,653,0.456346828115,0.00451729632496,0.0496939750189,0.999999883644,8.98484116443e-05,-0.000473576570361,1.91022382586e-05,1793247798572867072
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,815.282725285,652,631,653,0.456270909211,0.00451840998634,0.0496779078616,0.999999872862,9.08814893485e-05,-0.000495672580057,1.80355105609e-05,1793247798589533952
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,815.858003166,652,631,653,0.456190647274,0.00452043454136,0.0496671961718,0.999999864398,9.12753808594e-05,-0.000512416451031,1.73954214275e-05,1793247798606200832
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,816,652,631,653,0.456105457541,0.00452173124056,0.0496652876912,0.999999863657,9.39674601197e-05,-0.00051338956823,1.69571406517e-05,1793247798622867456
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,815.979210441,652,631,653,0.456017836562,0.00452274824408,0.0496665301271,0.999999865642,9.73623931641e-05,-0.000508883231804,1.65938492593e-05,1793247798639533824
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880,784,815.392902695,652,631,653,0.455908010897,0.00452264562749,0.0496750052779,0.999999871958,9.93885555384e-05,-0.000495917320405,1.6471345439e-05,1793247798656200448
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880.190084048,784,815,652,631,653,0.455785133059,0.0045230810332,0.0496806061703,0.99999987557,0.000101478457657,-0.000488160099056,1.61986324675e-05,1793247798672866816
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880.766324097,784,815,652,631,653,0.455635739727,0.00452460943196,0.0496803680019,0.999999873969,0.000103697846932,-0.000490984340351,1.56207694203e-05,1793247798689533184
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,880.317525284,784,815.341237358,652,631.341237358,653,0.455469480953,0.00452701950689,0.0496782056088,0.999999871737,0.00010780349716,-0.000494657777392,1.47775904912e-05,1793247798706199808
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,630,879.169508748,784,815.915245626,652,631.915245626,653,0.45529171761,0.00453003100666,0.0496747306292,0.999999869043,0.000113195837554,-0.000498910483247,1.37534295042e-05,1793247798722866432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.504220796,630.504220796,879.504220796,784,816,652,631.495779204,653,0.45509069619,0.00453427613684,0.0496738062918,0.999999868156,0.000120470220631,-0.000499012665096,1.26668430393e-05,1793247798739533312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.906485814,631,880,784.093514186,816,652,631,653,0.454880354561,0.00453814388034,0.0496746517179,0.999999868167,0.000127493792444,-0.00049726601607,1.17171273215e-05,1793247798756199680
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662.328964593,631,880,784.671035407,816,652,631,653,0.454642627026,0.00453895228098,0.0496823700928,0.999999871394,0.000131531775881,-0.000489671648876,1.15317925165e-05,1793247798772866560
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.752106756,745,715,681.247893244,662.247893244,631,880,784.752106756,816,652,631,653,0.454393551937,0.00454153841464,0.0496962433173,0.999999880386,0.000137198908193,-0.000469350284632,1.07044248712e-05,1793247798789533184
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.17612694,745,715,681.82387306,662.82387306,631,880,784.17612694,816,652,631,653,0.454129458381,0.00454647737694,0.0497182624816,0.999999896052,0.000145022217767,-0.000432184746829,9.02732711702e-06,1793247798806199808
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.407756105,745,715,681.592243895,663,631,880,784,816,652,631,653,0.45384025898,0.00454889174212,0.0497362884901,0.999999906855,0.000149587065372,-0.000404775248906,8.39708042467e-06,1793247798822866432
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.995120342,745,715,681.004879658,663,631,880,784,816,652,631,653,0.453540000981,0.00455019407433,0.0497525555955,0.999999915472,0.000152716627638,-0.000381663085799,8.22795002373e-06,1793247798839533312
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,663,631,880,784,815.425741966,652,631,653,0.453175833997,0.00455636805436,0.0497584758605,0.99999991602,0.000162214943121,-0.000376301815717,6.57740843079e-06,1793247798856199936
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.847026583,745,715,681,663,631.152973417,879.847026583,784,815,652,631,653,0.452798376926,0.00456192647577,0.0497637928039,0.999999915743,0.000170814624869,-0.000373242875505,5.15404144301e-06,1793247798872866560
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.269292558,745,715,681,663,631.730707442,879.269292558,784,815,652,631,653,0.452385503996,0.0045656623566,0.0497676751866,0.999999913617,0.000176770927551,-0.000376163897298,4.39592893827e-06,1793247798889533184
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.631957537,715,680,663.631957537,634,878,785.368042463,810,653,629.368042463,652,0.407631942607,0.00460000778335,0.049822437743,0.999999946155,0.00012315266518,-0.000301236070073,-4.21990555795e-05,1793247799856200192
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.055213789,715,680,663.055213789,634,878,785.944786211,810,653,629.944786211,652,0.407094691245,0.00460079104268,0.0498208993708,0.999999944568,0.000121190871863,-0.000307249387187,-4.21145422533e-05,1793247799872866816
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.464676442,745,715,680,663.535323558,634,877.464676442,785.464676442,810,653,629.464676442,652,0.406568583572,0.00460273288073,0.0497990505076,0.999999930593,0.000125692571723,-0.000348082667246,-4.30491182114e-05,1793247799889533952
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.124641584,745,715,679.875358416,663.875358416,634,877,785.124641584,810,653,629,652,0.406052805569,0.004604744066,0.0497772805551,0.999999915535,0.000130101546605,-0.000387368025656,-4.41608155347e-05,1793247799906201088
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.704180077,745,715,679.295819923,663.295819923,634,877,785.704180077,810,653,629,652,0.40557042126,0.00460656068879,0.0497636462249,0.999999907246,0.000131674725278,-0.000407550190762,-4.55251835695e-05,1793247799922867712
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.281791733,634,877.281791733,786,810,653,629.281791733,652.281791733,0.405137302911,0.00460942312746,0.0497641311364,0.999999907878,0.000134616870081,-0.000404907098776,-4.66070331489e-05,1793247799939534080
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.857394335,634,877.857394335,786,810,653,629.857394335,652.857394335,0.404755551868,0.0046133759886,0.049779337512,0.9999999176,0.000138986370783,-0.000378465193033,-4.73943140494e-05,1793247799956200960
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.440525449,663.559474551,634,878,786,810,653,630,652.559474551,0.404418952146,0.0046150509427,0.0498054542138,0.999999931064,0.000141819930137,-0.000339887865007,-4.72805604764e-05,1793247799972867584
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.974119943,663,634,877.974119943,786,810,653,629.974119943,652.025880057,0.404097516169,0.00461601678369,0.0498345334413,0.99999994404,0.000144146175325,-0.000298236766749,-4.68649212993e-05,1793247799989534208
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.394244874,663,634,877.394244874,786,810,653,629.394244874,652.605755126,0.403782359647,0.00461786254405,0.0498501108391,0.999999950021,0.000146441203814,-0.000276343173477,-4.63393878961e-05,1793247800006200832
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,876.814477508,786,810,653,629,653,0.403467055829,0.00461937053033,0.0498561011264,0.999999951282,0.000148796107392,-0.000270498858899,-4.61010432694e-05,1793247800022867456
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,876.234938955,786,810,653,629,653,0.403151439223,0.00462016114561,0.0498417301313,0.999999942855,0.000151278174536,-0.000298740298729,-4.64726354999e-05,1793247800039534080
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,876.34111619,786,810,653,629,653,0.402866428965,0.00462224698212,0.0498270993092,0.999999934408,0.000153793314923,-0.000324488219395,-4.73125517426e-05,1793247800056200448
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,876.914796498,786,810,653,629,653,0.402602285283,0.00462521586674,0.0498122913422,0.999999925867,0.000156331004021,-0.000348536126575,-4.84717591101e-05,1793247800072867072
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.499855486,745,715,679,663,634,877.500144514,786,810,653,629,652.499855486,0.402378377873,0.00462700258329,0.0498028698498,0.99999992706,0.000101358647948,-0.000364976901789,-4.89810143575e-05,1793247800089534208
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.086790157,745,715,679,663,634,878,786.086790157,810,653,629,652.086790157,0.402168947194,0.00462839333894,0.0497966200299,0.999999927217,4.6863963591e-05,-0.000375421504329,-4.92789018804e-05,1793247800106200832
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.669224099,745,715,679,663,634,878,786.669224099,810,653,629,652.669224099,0.402002110322,0.00462870041404,0.049803117499,0.999999932914,5.2384198898e-05,-0.000359200635588,-4.90171374197e-05,1793247800122867200
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,878,786.752047007,810,653.247952993,629,652.752047007,0.401849721617,0.00463040230374,0.0498103251938,0.999999937084,8.61021964068e-05,-0.000341428882266,-4.29430009209e-05,1793247800139533568
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,634,878,786.178188011,810,653.821811989,629,652.178188011,0.401716323391,0.00463393751856,0.049818466399,0.999999935547,0.000156882943961,-0.00032161866728,-2.92291624391e-05,1793247800156200192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.604749638,745,715,679,663,634,877.209499276,786,809.604749638,653.604749638,629,652,0.401600122818,0.00462677680104,0.0498256661487,0.999999937735,0.00016825618207,-0.000309073267172,-2.63528190801e-05,1793247800172867072
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.031500705,745,715,679,663,634,876.063001409,786,809.031500705,653.031500705,629,652,0.401491667104,0.00461479923604,0.0498324419195,0.999999942973,0.000152875611809,-0.000299799532756,-2.83570754368e-05,1793247800189533952
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.561332095,745,715,679,663.561332095,634,876.561332095,786,809.561332095,653,629,652,0.401403422188,0.00458875634445,0.0498336558343,0.999999948065,0.000123747286958,-0.000296434395382,-2.61485981875e-05,1793247800206201344
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.848513148,745,715,679,663.848513148,634,877,786,809.848513148,653,629.151486852,652,0.401320014481,0.00457120298466,0.0498338323399,0.999999950849,0.000104203780135,-0.000294652706689,-2.49751733751e-05,1793247800222867968
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.269139291,745,715,679,663.269139291,634,877,786,809.269139291,653,629.730860709,652,0.401246950477,0.00457993908536,0.0498319920737,0.999999949209,0.000113991302368,-0.000296373176006,-2.74172355103e-05,1793247800239534336
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.306593304,634,877,786,809,653,629.693406696,652,0.401187443227,0.00458374720301,0.0498322431205,0.999999949118,0.000118373187444,-0.000294823917058,-2.88188046106e-05,1793247800256200960
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.879167041,634,877,786,809,653,629.120832959,652,0.401139696928,0.0045832801237,0.0498343084544,0.999999950423,0.000118065494013,-0.0002904380545,-2.93177098265e-05,1793247800272867328
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,663.535055988,634,877,786,809.464944012,653,629.464944012,652.464944012,0.401103980747,0.00458109877493,0.0498369163924,0.999999952336,0.000115219021905,-0.000284958437368,-2.91853759128e-05,1793247800289533696
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.053316715,745,715,679,663,634,877,786,810,653,629.946683285,652.946683285,0.401072535727,0.00457901078941,0.0498396256206,0.999999954251,0.000112308907499,-0.000279362809567,-2.89909378741e-05,1793247800306200320
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.632459593,745,715,679,663,634,877,786,810,653,629.367540407,652.367540407,0.40105147876,0.00458236582393,0.0498419024167,0.999999954936,0.000115468430755,-0.000275508369957,-2.98492186231e-05,1793247800322866944
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.210247139,634,877,786,810,653,629,652,0.401032022932,0.00458298339401,0.0498431228275,0.999999955494,0.000115503422281,-0.000273419822892,-3.0196935123e-05,1793247800339533824
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.785680519,634,877,786,810,653,629,652,0.401015348182,0.00457884615791,0.0498425083627,0.999999955851,0.000110111295755,-0.000274398521911,-2.96578331313e-05,1793247800356200704
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.639632774,634,877,786,810,653,629,652,0.401004003279,0.00458051193504,0.0498420705778,0.999999955558,0.000112249484607,-0.00027455187383,-3.00985799042e-05,1793247800372867840
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.065389237,634,877,786,810,653,629,652,0.400995821616,0.00458562177433,0.0498417376518,0.999999954855,0.000118856881639,-0.000274215385949,-3.11208624887e-05,1793247800389534976
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.524893474,634,877,786,810,653,629.524893474,652,0.40099162537,0.00458536514538,0.0498425304669,0.999999955314,0.000118215701349,-0.00027281902902,-3.10848337817e-05,1793247800406201088
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.885396627,745,715,679,663.885396627,634,877,786,810,653,629.885396627,652.114603373,0.400988423219,0.00458429167183,0.0498433769968,0.99999995597,0.000116281475938,-0.000271254663158,-3.09674716733e-05,1793247800422866944
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.306360791,745,715,679,663.306360791,634,877,786,810,653,629.306360791,652.693639209,0.400987174207,0.00458270256378,0.0498438549649,0.999999956814,0.00011288193204,-0.000269561376033,-3.10716310316e-05,1793247800439533568
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.27050407,745.27050407,715,679,663,634,877,785.72949593,810,653,628.72949593,652.72949593,0.400986997102,0.00458203376105,0.0498447706997,0.999999957668,0.000110441580492,-0.000267375423082,-3.12468451789e-05,1793247800456200192
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.844929829,745.844929829,715,679,663,634,877,785.155070171,810,653,628.155070171,652.155070171,0.400988024326,0.00458239895642,0.049846178282,0.999999958539,0.000109078917881,-0.000264635940979,-3.15018921183e-05,1793247800472867072
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,663,634,877,785.429316545,810,653,628.429316545,652,0.400988906031,0.00458312422781,0.0498472108312,0.999999958981,0.000110517259797,-0.000262370690571,-3.13891164794e-05,1793247800489534208
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.982891779,745.982891779,715.017108221,679,663,634,877,786,810,653,629,652,0.400989670547,0.00458397546935,0.0498480988537,0.999999959246,0.000112966912459,-0.000260337036354,-3.11473872878e-05,1793247800506201344
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.404237651,745.404237651,715.595762349,679,663,634,877,786,810,653,629,652,0.400988354777,0.00458459105893,0.0498487949837,0.999999959108,0.00011461402862,-0.000260149149717,-3.11374099919e-05,1793247800522867968
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715.825912526,679,663,634,877,786,810,653,629,652,0.400987668735,0.00458479738749,0.049849270262,0.999999959103,0.000115306395339,-0.000259864009246,-3.11357342438e-05,1793247800539534336
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715.248349953,679,663,634,877,786,810,653,629,652,0.400988442187,0.00458405518923,0.0498492336818,0.999999959409,0.000113785979975,-0.000259353467727,-3.11532986389e-05,1793247800556200960
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.327337387,745,715.327337387,679,663,634,877,786,810,653,629,652.327337387,0.400988443072,0.00458303960516,0.0498489027506,0.999999959612,0.000112139685927,-0.000259307900444,-3.09780691847e-05,1793247800572867584
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.90161007,745,715.90161007,679,663,634,877,786,810,653,629,652.90161007,0.400987861153,0.00458181778558,0.0498483497681,0.999999959737,0.000110398432155,-0.000259613098343,-3.06574007782e-05,1793247800589534208
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.511189917,679,663,634,877,786,809.511189917,653,629,653,0.400988580998,0.00458255291657,0.0498490146961,0.999999959698,0.000111419932752,-0.000259325974936,-3.06422632213e-05,1793247800606200320
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.922783822,663,634,877,786,809.077216178,653,629,652.922783822,0.400988960476,0.00458348569556,0.049849572422,0.999999959519,0.000112868873597,-0.000259385962724,-3.06956294239e-05,1793247800622867200
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.343906766,663,634,877,786,809.656093234,653,629,652.343906766,0.400985380072,0.00458307391246,0.0498477977304,0.999999958646,0.000113383789414,-0.000262496703229,-3.07836530072e-05,1793247800639534336
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.76612747,745,715,678.23387253,663,634,877,786,809.76612747,653,629,652,0.400983569048,0.00458316215008,0.0498472202381,0.999999958334,0.000113566379608,-0.000263579370657,-3.10031353959e-05,1793247800656201216
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.189954794,745,715,678.810045206,663,634,877,786,809.189954794,653,629,652,0.400984347723,0.00458398222721,0.0498483949884,0.999999958851,0.000113262571968,-0.000261693713389,-3.14150233298e-05,1793247800672868096
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.60778502,663,634,876.60778502,786,809.39221498,653,629,652.39221498,0.400983989652,0.0045835676502,0.0498482254589,0.999999958893,0.000112953438298,-0.000261681611005,-3.12902045329e-05,1793247800689534976
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.022665709,663,634,876.022665709,786,809.977334291,653,629,652.977334291,0.400983072491,0.0045825458293,0.049847394768,0.999999958701,0.000112641685131,-0.00026259098514,-3.09014155475e-05,1793247800706201088
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.557738022,745,715,678.557738022,663,634,876.557738022,785.442261978,809.442261978,653,629,653,0.400983556292,0.00458233660257,0.0498476288608,0.999999958851,0.000111799433145,-0.000262396919132,-3.07691918964e-05,1793247800722867712
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.862450944,745,715,679,663,634,877,785.137549056,809.137549056,653,629,652.862450944,0.400984386383,0.00458232172698,0.0498482275441,0.999999959178,0.000110753198855,-0.000261597561827,-3.07161692887e-05,1793247800739534080
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.283930864,745,715,679,663,634,877,785.716069136,809.716069136,653,629,652.283930864,0.400986145658,0.00458282494471,0.0498498575132,0.999999960029,0.00010912155013,-0.000259000245583,-3.08839126108e-05,1793247800756200448
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_10/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..20b4837e586e721531805ef52d565c002712b13f
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_10/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,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+1,0.016666667,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+2,0.033333333,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+3,0.050000000,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+4,0.066666667,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
+5,0.083333333,pose1_baseline,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
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+369,6.150000000,pose2_to_pose3_retreat,0.584153758311,0.00992781289645,1.04004239589,0.554725550109,0.0186022722915,1.03966577871
+370,6.166666667,pose2_to_pose3_retreat,0.584016203259,0.00992776328099,1.0400425394,0.554587995597,0.0186022243885,1.03966591948
+371,6.183333333,pose2_to_pose3_retreat,0.583896691623,0.00992779709489,1.04004254503,0.554468483612,0.0186022569882,1.03966592452
+372,6.200000000,pose2_to_pose3_retreat,0.583791162386,0.00992783505198,1.04004235222,0.554362954184,0.0186022945682,1.03966573794
+373,6.216666667,pose2_to_pose3_retreat,0.583697797477,0.00992786357092,1.04004223106,0.55426958944,0.0186023243063,1.03966563207
+374,6.233333333,pose2_to_pose3_retreat,0.583615397034,0.00992778681843,1.04004243236,0.554187189754,0.0186022500837,1.03966583283
+375,6.250000000,pose2_to_pose3_retreat,0.583543131099,0.00992790973791,1.04004237988,0.554114922789,0.0186023690853,1.0396657706
+376,6.266666667,pose2_to_pose3_retreat,0.583481645394,0.00992790211343,1.04004238534,0.554053436268,0.0186023585119,1.03966577179
+377,6.283333333,pose2_to_pose3_retreat,0.583429442612,0.00992779371591,1.04004252374,0.554001235174,0.018602255854,1.03966591041
+378,6.300000000,pose2_to_pose3_retreat,0.583386483403,0.00992779225117,1.04004252617,0.553958275697,0.0186022532721,1.03966590806
+379,6.316666667,pose2_to_pose3_retreat,0.583352767106,0.00992783274783,1.04004250692,0.553924558897,0.0186022918915,1.03966588485
+380,6.333333333,pose2_to_pose3_retreat,0.583326139373,0.00992779442675,1.04004262807,0.55389793312,0.0186022604031,1.03966601055
+381,6.350000000,pose2_to_pose3_retreat,0.583304943866,0.00992783734368,1.0400425057,0.553876736079,0.0186022984114,1.03966589502
+382,6.366666667,pose2_to_pose3_retreat,0.583288134729,0.00992790232612,1.0400423908,0.553859925679,0.0186023592735,1.03966578395
+383,6.383333333,pose2_to_pose3_retreat,0.583275427614,0.00992793335956,1.04004238781,0.55384721801,0.0186023880784,1.03966577294
+384,6.400000000,pose2_to_pose3_retreat,0.583265638136,0.00992791242356,1.04004246547,0.553837428867,0.018602367759,1.03966583862
+385,6.416666667,pose2_to_pose3_retreat,0.583258527289,0.00992781598426,1.04004254979,0.553830319639,0.0186022768315,1.03966592341
+386,6.433333333,pose2_to_pose3_retreat,0.583254170437,0.00992779420414,1.04004247106,0.55382596285,0.0186022554266,1.03966584848
+387,6.450000000,pose2_to_pose3_retreat,0.583251575977,0.00992778691729,1.04004240462,0.553823368285,0.0186022479038,1.03966578481
+388,6.466666667,pose2_to_pose3_retreat,0.583250491839,0.00992777543321,1.0400424539,0.553822284252,0.0186022366587,1.0396658314
+389,6.483333333,pose2_to_pose3_retreat,0.583250113742,0.00992777142808,1.04004247109,0.55382190619,0.0186022327369,1.03966584765
+390,6.500000000,pose2_to_pose3_retreat,0.583249940313,0.00992776959098,1.04004247898,0.553821732778,0.0186022309381,1.0396658551
+391,6.516666667,pose2_to_pose3_retreat,0.583249776166,0.0099277678522,1.04004248644,0.553821568647,0.0186022292355,1.03966586216
+392,6.533333333,pose2_to_pose3_retreat,0.583249682782,0.009927766863,1.04004249068,0.553821475272,0.0186022282669,1.03966586617
+393,6.550000000,pose2_to_pose3_retreat,0.583249624682,0.00992776624756,1.04004249332,0.553821417178,0.0186022276642,1.03966586867
+394,6.566666667,pose2_to_pose3_retreat,0.583249560312,0.0099277655657,1.04004249625,0.553821352814,0.0186022269966,1.03966587143
+395,6.583333333,pose2_to_pose3_retreat,0.583249308733,0.00992776290077,1.04004250769,0.553821101259,0.0186022243871,1.03966588225
+396,6.600000000,pose2_to_pose3_retreat,0.58324927728,0.00992776256759,1.04004250912,0.553821069808,0.0186022240608,1.0396658836
+397,6.616666667,pose2_to_pose3_retreat,0.583249097675,0.00992776066507,1.04004251728,0.553820890222,0.0186022221979,1.03966589132
+398,6.633333333,pose2_to_pose3_retreat,0.583248671918,0.0099277561551,1.04004253664,0.553820464505,0.0186022177818,1.03966590961
+399,6.650000000,pose2_to_pose3_retreat,0.583248004405,0.00992776160228,1.0400425394,0.553819796862,0.0186022228088,1.03966591287
+400,6.666666667,pose2_to_pose3_retreat,0.583247541859,0.00992778865069,1.04004249002,0.553819333864,0.0186022485112,1.03966586784
+401,6.683333333,pose2_to_pose3_retreat,0.583246937405,0.00992782399752,1.04004242549,0.55381872882,0.0186022820991,1.039665809
+402,6.700000000,pose2_to_pose3_retreat,0.583246214473,0.00992785250549,1.0400423748,0.553818005368,0.0186023089815,1.03966576153
+403,6.716666667,pose2_to_pose3_retreat,0.583246035169,0.00992784696361,1.04004238648,0.553817826106,0.0186023034744,1.03966577075
+404,6.733333333,pose2_to_pose3_retreat,0.583245954813,0.00992784447999,1.04004239172,0.553817745769,0.0186023010064,1.03966577488
+405,6.750000000,pose2_to_pose3_retreat,0.58324577805,0.00992783901664,1.04004240324,0.553817569047,0.0186022955775,1.03966578396
+406,6.766666667,pose2_to_pose3_retreat,0.583245613752,0.00992788641417,1.04004240687,0.553817404013,0.0186023404787,1.0396657876
+407,6.783333333,pose2_to_pose3_retreat,0.583245388115,0.00992803065484,1.04004239337,0.553817177287,0.0186024812392,1.03966577906
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8366e5a55826ae72acff22b694fd2dc65ae801f6
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:363966c9bed0724948d4c12dfde559611f09dd5758115989be7213ec2dddc732
+size 25822636
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..568136d9d17546d61f31dbe0134ed65ef3d56ebe
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+35,0.583333333,BASELINE,765,745,715,678.601615833,658,634,877,784,810.300807916,652,629,653,0.401016079969,0.00448474929968,0.0698429941933,0.999999985977,1.84499795139e-05,-0.00016546325676,1.8119058456e-05,1793247802898921984
+36,0.600000000,BASELINE,765,745,715,679.779937657,658,634,877,784,810.889968829,652,629,653,0.401015240592,0.0044849859331,0.0698423156746,0.999999985856,1.7635012264e-05,-0.000166324994901,1.77007223522e-05,1793247802915588352
+37,0.616666667,BASELINE,765,745,715,679.528309146,658,633.528309146,876.528309146,784,810.528309146,652,629,652.528309146,0.401013784194,0.00448581375634,0.0698415874999,0.99999998561,1.81930250571e-05,-0.000167767247515,1.74273229245e-05,1793247802932254976
+38,0.633333333,BASELINE,765,745,715.051282743,679,658,633.051282743,876,784,810,652.051282743,629,652,0.401012450487,0.00448669742873,0.0698410053377,0.999999985379,1.92063028038e-05,-0.000169045371641,1.7242143506e-05,1793247802948921600
+39,0.650000000,BASELINE,765,745,715.626565006,679,658,633.626565006,876,784,810,652.626565006,629,652,0.401013818258,0.00448676452784,0.0698420316262,0.999999985618,2.1649701232e-05,-0.000167284273528,1.76182877696e-05,1793247802965588224
+40,0.666666667,BASELINE,765,745,715.798453005,679.201546995,658.201546995,634,876,784.201546995,810,652.798453005,628.798453005,652,0.401015104721,0.00448625626047,0.0698429319815,0.999999985849,2.25472967009e-05,-0.000165744699333,1.79283809275e-05,1793247802982255104
+41,0.683333333,BASELINE,765,745,715.224026588,679.775973412,658.775973412,634,876,784.775973412,810,652.224026588,628.224026588,652,0.401016240759,0.00448468351522,0.0698435993494,0.999999986075,2.05850224622e-05,-0.000164614963712,1.81162737879e-05,1793247802998921728
+42,0.700000000,BASELINE,765,745,715,679.639830015,658.639830015,633.639830015,876.360169985,784.639830015,810,652,628.360169985,652,0.401016048129,0.00448473320077,0.0698435700829,0.999999986078,2.03362015634e-05,-0.000164646517177,1.79470136828e-05,1793247803015588352
+43,0.716666667,BASELINE,765,745,715,679.049386959,658.049386959,633.049386959,876.950613041,784.049386959,810,652,628.950613041,652,0.401015006021,0.00448582018028,0.0698430954262,0.99999998594,2.11828694759e-05,-0.000165420535673,1.75494094181e-05,1793247803032255232
+44,0.733333333,BASELINE,765,745,715.529881364,679.529881364,658,633.529881364,877.529881364,784,810,652,629,652.529881364,0.401014009222,0.00448457017759,0.0698430228634,0.999999985905,1.97149440156e-05,-0.000165792238776,1.77262619554e-05,1793247803048921856
+45,0.750000000,BASELINE,765,745,715.892395718,679.892395718,658,634,877.892395718,784,810,652,628.892395718,652.892395718,0.401013081244,0.00448343505316,0.0698428268668,0.999999985833,1.8342672827e-05,-0.000166362293856,1.79222115523e-05,1793247803065587968
+46,0.766666667,BASELINE,765,745,715.316957217,679.316957217,658,634,877.316957217,784,810,652,628.316957217,652.316957217,0.401012434498,0.00448372683297,0.0698419346403,0.999999985567,1.83048400876e-05,-0.000167954390511,1.79732135664e-05,1793247803082254592
+47,0.783333333,BASELINE,765,745,715,679,658,634,877,784,810,652.264060343,628.264060343,652,0.401012700967,0.00448427129575,0.0698419678373,0.999999985526,1.89715424576e-05,-0.000168116954171,1.80209861458e-05,1793247803098921472
+48,0.800000000,BASELINE,765,745,715,679,658,634,877,784,810,652.851919184,628.851919184,652,0.401014087247,0.0044851256058,0.0698431358154,0.999999985761,2.05021663334e-05,-0.00016652658297,1.80647987048e-05,1793247803115588096
+49,0.816666667,BASELINE,765,745,715,679,658,634,876.565263869,784,810,652.565263869,629,652,0.401014080816,0.00448520491847,0.0698430121644,0.999999985773,1.97695703572e-05,-0.000166569982603,1.78330541128e-05,1793247803132255488
+50,0.833333333,BASELINE,765,745,715,679.015715953,658,634,876.015715953,784,810,652,629,652,0.401013620336,0.00448500211567,0.0698424711862,0.999999985706,1.83081917243e-05,-0.000167167592341,1.75228940881e-05,1793247803148923136
+51,0.850000000,BASELINE,765,745,715,679.591726121,658,634,876.591726121,784,810,652,629,652,0.40101369112,0.00448404491133,0.0698425571923,0.999999985583,1.80333688842e-05,-0.000167911067117,1.77250209644e-05,1793247803165589248
+52,0.866666667,BASELINE,764.834653285,745,715,680,658.165346715,634,877,784,810,652,629,652,0.401013695521,0.00448354951453,0.0698424229762,0.999999985507,1.78236558448e-05,-0.000168370545635,1.78812759774e-05,1793247803182255616
+53,0.883333333,BASELINE,764.266849002,745,715,680,658.733150998,634,877,784,810,652,629,652,0.401013538346,0.0044841781676,0.0698417527341,0.999999985546,1.77724215198e-05,-0.000168138770927,1.79258778463e-05,1793247803198922752
+54,0.900000000,BASELINE,764.317542945,745,715,680,659,634,877,784.317542945,810.317542945,652,629,652,0.401014359582,0.00448489867947,0.0698423927805,0.999999985788,1.86216034599e-05,-0.000166606980148,1.78857550841e-05,1793247803215589376
+55,0.916666667,BASELINE,764.9166427,745,715,680,659,634,877,784.9166427,810.9166427,652,629,652,0.401016048349,0.00448570064002,0.0698441946246,0.999999986201,2.02691603442e-05,-0.000163922500013,1.77705092623e-05,1793247803232255744
+56,0.933333333,BASELINE,765,745,715,680,658.507061858,634,876.507061858,785,810.507061858,652,629,652,0.401014638978,0.00448477895611,0.0698429582886,0.999999985979,1.77376156884e-05,-0.000165585368361,1.75888846506e-05,1793247803248922112
+57,0.950000000,BASELINE,765,745,715,680,658,634,876.066306218,784.933693782,810,652.066306218,629,652,0.401013087348,0.00448368913656,0.0698414963315,0.9999999857,1.48005567569e-05,-0.00016756323262,1.73970418451e-05,1793247803265588736
+58,0.966666667,BASELINE,765,745,715,680,658,634,876.645540778,784.354459222,810,652.645540778,629,652,0.401014308835,0.00448345372987,0.0698420876553,0.999999985886,1.39516606133e-05,-0.000166542348451,1.72091469544e-05,1793247803282255104
+59,0.983333333,BASELINE,765,745,715,679.771375944,658,634,876.771375944,784.228624056,810,652.771375944,629,652,0.401014972133,0.00448374686876,0.0698426551057,0.999999985996,1.46947688861e-05,-0.000165814367349,1.7246551059e-05,1793247803298921728
+60,1.000000000,BASELINE,765,745,715,679.182223341,658,634,876.182223341,784.817776659,810,652.182223341,629,652,0.401014755194,0.00448487349721,0.0698431849092,0.99999998598,1.79483872815e-05,-0.000165548279375,1.76392402281e-05,1793247803315588352
+61,1.016666667,BASELINE,765,745,715,679.398943625,658,634,876.398943625,784.601056375,810.398943625,652,629,652.398943625,0.401013726911,0.00448460596979,0.0698428897935,0.999999985806,1.8834245131e-05,-0.000166477740813,1.78216262587e-05,1793247803332255744
+62,1.033333333,BASELINE,765,745,715,679.976534581,658,634,876.976534581,784.023465419,810.976534581,652,629,652.976534581,0.401012335307,0.00448371413798,0.0698422252783,0.999999985563,1.86598173885e-05,-0.000167942570418,1.79098383226e-05,1793247803348923136
+63,1.050000000,BASELINE,765,745,715.555340564,679.444659436,657.444659436,634,877,784,810.444659436,652,629,652.444659436,0.401012819491,0.00448480974453,0.0698424707987,0.999999985641,1.7610241227e-05,-0.000167633828018,1.74953954067e-05,1793247803365589760
+64,1.066666667,BASELINE,765,745,715.864608377,679,657.135391623,633.864608377,876.864608377,784.135391623,810.135391623,652.135391623,629,652,0.401013302283,0.00448573312367,0.0698426971286,0.999999985706,1.73570546672e-05,-0.000167305445098,1.71905240442e-05,1793247803382256384
+65,1.083333333,BASELINE,765,745,715.280602327,679,657.719397673,633.280602327,876.280602327,784.719397673,810.719397673,652.719397673,629,652,0.401013517265,0.00448580696874,0.0698427321802,0.999999985681,1.98654672273e-05,-0.000167160841484,1.73192430468e-05,1793247803398922240
+66,1.100000000,BASELINE,765,745,715,679,658,633.300961101,876,785,810.699038899,652.699038899,629,652.300961101,0.401014251433,0.00448642516855,0.0698433469333,0.999999985734,2.21468440651e-05,-0.00016653176188,1.75467164351e-05,1793247803415588608
+67,1.116666667,BASELINE,765,745,715,679,658,633.880265442,876,785,810.119734558,652.119734558,629,652.880265442,0.401015465768,0.00448754681368,0.0698444978219,0.99999998586,2.42182472534e-05,-0.000165454615685,1.7865522602e-05,1793247803432255488
+68,1.133333333,BASELINE,765,745,715.460150812,679,658,634,876,785,810,652,628.539849188,652.539849188,0.401015315916,0.00448734837011,0.06984436269,0.999999985936,2.26023942645e-05,-0.00016525667614,1.75507677158e-05,1793247803448921856
+69,1.150000000,BASELINE,765,745,715.960155065,679,658,634,876.039844935,784.960155065,810,652,628.039844935,652,0.401014781342,0.00448691285483,0.069843875443,0.999999985977,2.041573718e-05,-0.000165336637856,1.71324162425e-05,1793247803465588736
+70,1.166666667,BASELINE,765,745,715.385064099,679,658,634,876.614935901,784.385064099,810,652,628.614935901,652,0.401013853147,0.00448791280327,0.0698431590239,0.999999985781,2.34661544335e-05,-0.000166072626114,1.75397921442e-05,1793247803482258176
+71,1.183333333,BASELINE,765,745,715,679,658,634,877,784,810,652,629,652,0.401013020003,0.00448779912303,0.0698423864657,0.999999985566,2.40046004146e-05,-0.000167267444527,1.76951287988e-05,1793247803498926080
+72,1.200000000,BASELINE,765,745,715,679,658,634,877,784,810,652,629,652,0.401012379466,0.00448542882239,0.0698415001492,0.999999985314,1.94528708494e-05,-0.000169392021433,1.73397414731e-05,1793247803515590144
+73,1.216666667,BASELINE,765,745,715,679.362750246,658.362750246,633.637249754,877,784.362750246,810,652,629,652,0.401012765119,0.0044846911694,0.0698422040317,0.999999985429,1.84443060619e-05,-0.000168819652318,1.73670421902e-05,1793247803532255744
+74,1.233333333,BASELINE,765,745,715,679.942199042,658.942199042,633.057800958,877,784.942199042,810,652,629,652,0.401013763792,0.00448492882224,0.0698438578622,0.99999998577,1.95523456694e-05,-0.000166636190332,1.76229518532e-05,1793247803548922112
+75,1.250000000,BASELINE,765,745,715,679.479846024,658.479846024,633.520153976,876.479846024,784.479846024,810,652,629,652.520153976,0.401013208763,0.00448593935626,0.0698437181103,0.999999985673,2.07439338682e-05,-0.000167058871951,1.7723527051e-05,1793247803565588736
+76,1.266666667,BASELINE,765,745,715,679.097255035,658,634,876,784.097255035,810.097255035,652.097255035,629,652.902744965,0.401012683168,0.00448645251131,0.0698434176324,0.999999985573,2.10253444281e-05,-0.000167616876711,1.77646440512e-05,1793247803582255616
+77,1.283333333,BASELINE,765,745,715,679.670983711,658,634,876,784.670983711,810.670983711,652.670983711,629,652.329016289,0.40101314522,0.00448410933524,0.0698433033794,0.999999985689,1.68022412499e-05,-0.000167423099107,1.75987865658e-05,1793247803598922240
+78,1.300000000,BASELINE,765,745,715.251595657,679.748404343,658,633.748404343,876,784.748404343,810.748404343,652.748404343,629,652,0.401014071103,0.00448305565676,0.0698437538279,0.999999985843,1.5470006013e-05,-0.000166627683267,1.76233228881e-05,1793247803615588864
+79,1.316666667,BASELINE,765,745,715.841462124,679.158537876,658,633.158537876,876,784.158537876,810.158537876,652.158537876,629,652,0.401015620609,0.00448373571029,0.0698449635188,0.999999986061,1.8024548237e-05,-0.00016502336376,1.79038440395e-05,1793247803632255744
+80,1.333333333,BASELINE,765,745,715.577051562,679,658,633.422948438,876.422948438,784,810,652,629,652,0.401015383021,0.00448461614671,0.0698444065285,0.999999985999,2.03484985223e-05,-0.000165142837062,1.77958822569e-05,1793247803648922624
+81,1.350000000,BASELINE,765,745,715,679,658,634,877,784,810,652,628.998653482,652,0.401014490742,0.00448556573893,0.0698432032676,0.99999998583,2.25809277267e-05,-0.000165895225773,1.75468758104e-05,1793247803665589504
+82,1.366666667,BASELINE,765,745,715,679,658,634,877,784,810,652,628.423705039,652,0.40101452228,0.0044845999083,0.0698433145021,0.999999985759,2.19312995841e-05,-0.000166359262856,1.8041224092e-05,1793247803682255872
+83,1.383333333,BASELINE,765,745,715,679,658,634,877,784,810,652.151456949,628.151456949,652,0.401014552764,0.00448411209476,0.069843517705,0.999999985727,2.13075805685e-05,-0.00016660849071,1.82728901964e-05,1793247803698922240
+84,1.400000000,BASELINE,765,745,715,679,658,634,877,784,810,652.72721731,628.72721731,652,0.401014580296,0.00448496343571,0.0698439785557,0.999999985806,2.07564452706e-05,-0.000166255935197,1.77686579014e-05,1793247803715588608
+85,1.416666667,BASELINE,765,745,715,679,658,634,877,784.311185718,810.311185718,652.688814282,629,652,0.401014231488,0.0044857924107,0.069843595352,0.999999985712,2.16124699606e-05,-0.000166736950817,1.75555012685e-05,1793247803732255232
+86,1.433333333,BASELINE,765,745,715,679,658,634,877,784.90254412,810.90254412,652.09745588,629,652,0.401013543844,0.0044866012487,0.0698424522132,0.999999985457,2.37354158999e-05,-0.000167968463176,1.76044114776e-05,1793247803748921856
+87,1.450000000,BASELINE,765,745,715,679.483479049,658.483479049,634,877,784.516520951,810.516520951,652,629,652,0.401013289659,0.0044866303348,0.0698429418969,0.999999985607,2.21501311811e-05,-0.000167305974956,1.74372788465e-05,1793247803765588736
+88,1.466666667,BASELINE,765,745,715,679.938231304,658.938231304,634,877,784,810,652,628.938231304,652.061768696,0.401013216779,0.00448635827705,0.0698437407847,0.999999985816,2.00111849001e-05,-0.000166344032328,1.72671700284e-05,1793247803782255360
+89,1.483333333,BASELINE,765,745,715,679.364816676,658.364816676,634,877,784,810,652,628.364816676,652.635183324,0.401013937228,0.00448486622213,0.0698444321462,0.999999985883,1.93469833567e-05,-0.000165997254655,1.74255168582e-05,1793247803798922240
+90,1.500000000,BASELINE,764.785626569,745,715.214373431,679.214373431,658,634,877,784,810,652,628.214373431,652.785626569,0.401013931944,0.00448442341595,0.0698444132379,0.999999985838,1.89340463651e-05,-0.000166309410018,1.7533986999e-05,1793247803815588864
+91,1.516666667,BASELINE,764.196335795,745,715.803664205,679.803664205,658,634,877,784,810,652,628.803664205,652.196335795,0.40101265743,0.00448581563935,0.0698431521398,0.999999985592,1.89605456073e-05,-0.000167773972321,1.75552278634e-05,1793247803832255488
+92,1.533333333,BASELINE,764.38633218,745,715.61366782,679.61366782,658,633.61366782,876.61366782,784.38633218,810,652,629,652,0.401012822147,0.00448566274791,0.0698427270165,0.999999985571,1.86958517796e-05,-0.000167937203239,1.75004855576e-05,1793247803848922112
+93,1.550000000,BASELINE,764.965691194,745,715.034308806,679.034308806,658,633.034308806,876.034308806,784.965691194,810,652,629,652,0.40101370596,0.00448473785611,0.0698427195793,0.999999985662,1.82856663806e-05,-0.000167450237663,1.7407779057e-05,1793247803865588736
+94,1.566666667,BASELINE,765,745,715.542926153,679.542926153,658,633.542926153,876.542926153,784.457073847,810,652,629,652.542926153,0.401014240131,0.00448562847094,0.0698436738697,0.999999985735,2.08706937818e-05,-0.000166654599117,1.78820619644e-05,1793247803882255360
+95,1.583333333,BASELINE,765,745,715.880996583,680,658,634,876.880996583,784,810,652,628.880996583,652.880996583,0.401014546183,0.00448602637892,0.0698444223001,0.999999985787,2.25786520652e-05,-0.000166080795192,1.824924462e-05,1793247803898922240
+96,1.600000000,BASELINE,765,745,715.308818597,680,658,634,876.308818597,784,810,652,628.308818597,652.308818597,0.40101406735,0.00448411283581,0.0698441562695,0.999999985783,2.02286971976e-05,-0.000166425745221,1.80726714659e-05,1793247803915589120
+97,1.616666667,BASELINE,764.727486907,745,715,679.727486907,658,634,876.272513093,784,810,652.272513093,628.272513093,652,0.401013827797,0.00448284400249,0.0698440759814,0.999999985801,1.83900878805e-05,-0.000166550187327,1.79021414113e-05,1793247803932255744
+98,1.633333333,BASELINE,764.135421503,745,715,679.135421503,658,634,876.864578497,784,810,652.864578497,628.864578497,652,0.401013868826,0.00448233116416,0.0698442134972,0.999999985848,1.71510889889e-05,-0.000166416059019,1.77386975827e-05,1793247803948922368
+99,1.650000000,BASELINE,764.446923997,745,715,679.446923997,658.446923997,634,876.553076003,784,810,652.553076003,629,652,0.401014166797,0.00448263851175,0.0698444176858,0.999999985823,1.7212786996e-05,-0.000166532799393,1.80091692172e-05,1793247803965589248
+100,1.666666667,BASELINE,765,745,715,680,658.973790834,634,876.026209166,784,810,652,629,652,0.401014530847,0.0044832664148,0.0698446286449,0.999999985782,1.77413578534e-05,-0.000166688037149,1.83630344193e-05,1793247803982255616
+101,1.683333333,BASELINE,765,745,715,680,658.398232499,634,876.601767501,784,810,652,629,652,0.401014682796,0.00448551501437,0.0698445670831,0.99999998585,1.99706491636e-05,-0.000166090808553,1.77676623074e-05,1793247803998921984
+102,1.700000000,BASELINE,765,745,715,680,658,634,877,784,810,652,629,652,0.401014464962,0.0044866698219,0.0698442394887,0.99999998582,2.13063639088e-05,-0.000166134245161,1.74719430863e-05,1793247804015588608
+103,1.716666667,BASELINE,765,745,715,680,658,634,877,784,810,652,629,652,0.401013416683,0.0044853682276,0.0698433144468,0.99999998558,2.06353140265e-05,-0.000167616466312,1.78491743737e-05,1793247804032255232
+104,1.733333333,BASELINE,765,745,715,679.674884312,658,634,877,784,810,652,629,652,0.401013427102,0.00448451793677,0.069843205031,0.999999985521,2.08015277618e-05,-0.000167921294077,1.81190706956e-05,1793247804048921856
+105,1.750000000,BASELINE,765,745,715,679.075478838,658,634,877,784,810,652,629,652,0.40101433071,0.0044840483962,0.0698437837329,0.999999985614,2.16741141585e-05,-0.000167232792581,1.82984119563e-05,1793247804065588480
+106,1.766666667,BASELINE,765,745,715,679,658,634,877,784,810,652,629,652,0.401014352709,0.00448414787826,0.0698439629438,0.999999985681,2.0225609336e-05,-0.000167015516259,1.82969904846e-05,1793247804082255360
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,680,658,634,878,785,810,652,629,652,0.401015793503,0.00448553654423,0.0698462283497,0.999999986193,2.28545631272e-05,-0.000163593528891,1.81469673111e-05,1793247804125562880
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,716,679.411436019,658,634,877.411436019,784.411436019,810,652,629,652,0.401014193909,0.00448507192089,0.0698443901369,0.999999985815,2.05265463199e-05,-0.000166210531988,1.79712476839e-05,1793247804142229504
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,716,679,658,634,877,784.175344414,810,652,629,652,0.401013666275,0.00448460426324,0.0698433991057,0.99999998564,1.85050661694e-05,-0.000167508059507,1.78294309937e-05,1793247804158895872
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,716,679,658,634,877,784.757982107,810,652,629,652,0.40101562861,0.00448412955739,0.0698443759229,0.999999985959,1.71956146253e-05,-0.000165740685042,1.77663646447e-05,1793247804175562752
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.663980207,679,658,634,876.663980207,784.663980207,810,652,629,652.336019793,0.401015680632,0.00448445963151,0.0698442370907,0.999999985958,1.73559467109e-05,-0.000165754887614,1.75721480498e-05,1793247804192229376
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.089210961,679,658,634,876.089210961,784.089210961,810,652,629,652.910789039,0.401014375334,0.00448536151951,0.0698433055648,0.999999985728,1.85605924632e-05,-0.000167034939953,1.72847463252e-05,1793247804208896000
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,876,784,810.485737071,652,628.514262929,653,0.401014418137,0.00448606754622,0.0698437757354,0.999999985754,2.06957770437e-05,-0.00016659929692,1.75420360526e-05,1793247804225562368
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.062534987,634,876,784.062534987,810.937465013,652.062534987,628.062534987,653,0.401014299325,0.00448673835004,0.0698441789503,0.9999999857,2.27985536674e-05,-0.00016661727822,1.78311995829e-05,1793247804242228992
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.654722679,634,876,784.654722679,810.345277321,652.654722679,628.654722679,653,0.401010713885,0.0044874156115,0.0698418338528,0.999999984588,2.31788082321e-05,-0.000173147161926,1.75427157741e-05,1793247804258895360
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.759560503,633.759560503,876,784.759560503,810.240439497,652.759560503,629,652.759560503,0.401013344758,0.0044867714796,0.0698429577142,0.999999984126,2.21979148874e-05,-0.000175912583934,1.75993463318e-05,1793247804275561984
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.182892546,633.182892546,876,784.182892546,810.817107454,652.182892546,629,652.182892546,0.40102466847,0.0044842795229,0.0698489325375,0.999999984613,1.93136043477e-05,-0.00017341381555,1.81385817833e-05,1793247804292228352
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.393155384,876.393155384,784,810.606844616,652,629,652,0.401051893015,0.00448302744619,0.0698613365924,0.999999986391,1.75150748427e-05,-0.000162948336828,1.89331148386e-05,1793247804308894976
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.968915386,876.968915386,784,810.031084614,652,629,652,0.401086502848,0.00448235124288,0.0698767267634,0.999999988603,1.62208460272e-05,-0.000148782646282,1.98462232485e-05,1793247804325561856
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.541299639,745,715,679,658,634,877,784,810,652,629,652,0.401141200849,0.00448286851899,0.0698919753154,0.999999991228,1.63926519455e-05,-0.000129941696994,1.97517653084e-05,1793247804342228480
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.763653897,745,715,679,658,633.881826948,877,784,810,652,629,652,0.401200331072,0.00448322211189,0.0699063477003,0.999999993437,1.62078252638e-05,-0.000111733593603,1.94708519835e-05,1793247804358895104
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.572061501,745,715,679,658,633.286030751,877,784,810,652,629,652,0.401272741576,0.00448263885281,0.0699172115279,0.999999995004,1.42434298649e-05,-9.71616755938e-05,1.86687434909e-05,1793247804375561984
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.299595887,745,715,679,658,633,876.700404113,784,810,652,629,652,0.401352501491,0.00448272828832,0.0699239853349,0.999999995847,1.21664278199e-05,-8.86358098582e-05,1.73680897183e-05,1793247804392228608
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.875832136,745,715,679,658,633,876.124167864,784,810,652,629,652,0.401439047689,0.0044834388755,0.0699269825045,0.999999996157,9.98544735293e-06,-8.56927389186e-05,1.5607090067e-05,1793247804408895232
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,657.54795554,633.45204446,876.45204446,784,810,652,629,652,0.401541916426,0.00448402150792,0.0699246128661,0.999999995685,8.00501502009e-06,-9.156192562e-05,1.35167109903e-05,1793247804425561856
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,657.028872416,633.971127584,877,784,810.028872416,652,629,652,0.401650426474,0.00448453736391,0.0699209219825,0.999999994947,6.02138591694e-06,-9.97066966188e-05,1.13142966384e-05,1793247804442228736
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,657.617769101,633.382230899,877,784,810.617769101,652,629,652,0.401781398927,0.00448443967757,0.0699201955689,0.999999994441,2.90731680066e-06,-0.000105041996614,8.69357822842e-06,1793247804458895360
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633,876.796960973,784,811,652,629,652,0.40192612457,0.00448416659604,0.0699209983495,0.999999994194,-7.7977591523e-07,-0.000107589860199,5.95200228794e-06,1793247804475561984
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633,876.218398845,784,811,652,629,652,0.402096286886,0.00448356911901,0.0699246293931,0.99999999447,-5.52668226408e-06,-0.000104982326326,2.9868991954e-06,1793247804492228608
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.357770992,633,876.357770992,784,810.642229008,652,629,652.357770992,0.402291034015,0.00448362272308,0.0699297471334,0.99999999515,-1.07693046643e-05,-9.78916403962e-05,-1.02115439917e-06,1793247804508895232
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.932490227,633,876.932490227,784,810.067509773,652,629,652.932490227,0.402500689111,0.00448407113524,0.0699357663899,0.999999995972,-1.63125240709e-05,-8.80824220177e-05,-5.66164154828e-06,1793247804525562112
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.518927974,658.481072026,633,876.481072026,784,810,652,629,652.481072026,0.402733244034,0.00448359089275,0.069936222457,0.999999995651,-2.11766596103e-05,-9.02813568938e-05,-9.95972006825e-06,1793247804542228736
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.894692281,715,680,658,633.105307719,876.105307719,784,810,652,629,652,0.402976401692,0.0044834651373,0.0699360933479,0.999999995198,-2.61231491729e-05,-9.33436782112e-05,-1.44436753203e-05,1793247804558895360
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.315590775,715,680,658,633.684409225,876.684409225,784,810,652,629,652,0.403253549322,0.00448549037972,0.0699366628931,0.99999999496,-3.18468226805e-05,-9.30995704635e-05,-1.99689636169e-05,1793247804575561984
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.261547106,715,679.738452894,658,634,877,784.261547106,810,652,629,652,0.403554671944,0.00448673363861,0.0699423924521,0.999999995644,-3.44090626987e-05,-8.32416276934e-05,-2.44678777641e-05,1793247804592228864
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.83633324,715,679.16366676,658,634,877,784.83633324,810,652,629,652,0.403884507934,0.00448704036338,0.0699543018451,0.999999997151,-3.31850461628e-05,-6.18697806704e-05,-2.77375658116e-05,1793247804608896000
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.413166053,658,633.586833947,877.413166053,784.586833947,810,652.413166053,628.586833947,652.413166053,0.404234284222,0.00448863156392,0.069959332942,0.999999997871,-1.99889320928e-05,-5.58060018216e-05,-2.72798633223e-05,1793247804625562624
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.990813636,658,633.009186364,877.990813636,784.009186364,810,652.990813636,628.009186364,652.990813636,0.404591998741,0.00449073411465,0.0699616257867,0.999999998118,-2.02672242431e-06,-5.5836370014e-05,-2.53382854581e-05,1793247804642228992
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.579569412,877.420430588,784,810.579569412,653,628.579569412,652.420430588,0.405004433558,0.00449059244513,0.0699698722118,0.999999998854,4.2736714207e-06,-3.95758346706e-05,-2.66125896901e-05,1793247804658896128
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.83421176,745,715,680,658.16578824,634,877,784,811,652.83421176,629,652,0.405423667486,0.00448990200103,0.069974987645,0.999999999184,1.82569337131e-06,-2.93255284291e-05,-2.77383101043e-05,1793247804675562752
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.254770766,745,715,680,658.745229234,634,877,784,811,652.254770766,629,652,0.405857659247,0.00448793281553,0.0699720509916,0.999999998753,-2.19798496849e-05,-3.4728004558e-05,-2.836363805e-05,1793247804692229376
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.322224462,745,715.322224462,680,659,634,877,784,810.677775538,652,629,652,0.406301424656,0.0044905217702,0.0699615012752,0.999999997776,-2.61856687167e-05,-5.40151860831e-05,-2.90658134423e-05,1793247804708895744
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.897300546,745,715.897300546,680,659,634,877,784,810.102699454,652,629,652,0.406752859557,0.00449668752674,0.0699449775385,0.999999995898,-1.50114599893e-05,-8.41977863482e-05,-2.98282915763e-05,1793247804725562112
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.528174209,680,659,634,877.471825791,784,810.471825791,652.471825791,629,652,0.407267859528,0.00450378072179,0.0699352102703,0.999999995039,2.41651760069e-06,-9.43995615172e-05,-3.1697683104e-05,1793247804742228480
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679.952362831,659,634,877.952362831,784,811,652.952362831,629,652,0.407802887415,0.00451095265938,0.0699286808056,0.999999994469,2.03585711345e-05,-9.74945871645e-05,-3.37935168154e-05,1793247804758895360
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.36048925,659,634,877.36048925,784,811,652.36048925,629,652,0.408408842327,0.0045167206087,0.0699423600979,0.999999996569,2.86404781191e-05,-6.90266432539e-05,-3.57269857644e-05,1793247804775561728
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.225834179,659,634,877.225834179,784,811,652.225834179,629,652.225834179,0.409023321798,0.00452323791407,0.0699545962574,0.999999997906,3.16524391959e-05,-4.21239064821e-05,-3.75595105632e-05,1793247804792228608
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.803510618,659,634,877.803510618,784,811,652.803510618,629,652.803510618,0.409651082216,0.00453092269129,0.0699645840624,0.999999998724,2.64539965262e-05,-1.76597129715e-05,-3.92347675867e-05,1793247804808895232
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.619358185,877.619358185,784,811,652.619358185,629,652.619358185,0.410276907326,0.0045378512369,0.0699608577463,0.999999998448,3.18354929887e-05,-2.20578912057e-05,-4.00453076506e-05,1793247804825562112
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.042508062,877.042508062,784,811,652.042508062,629,652.042508062,0.410901734829,0.00454438996979,0.0699500622525,0.999999997419,4.26705994929e-05,-4.13336714668e-05,-4.04101145651e-05,1793247804842228736
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.543610342,745,715,680,659,633.543610342,877.543610342,784,811,652,629,652.543610342,0.411604227303,0.00455189008958,0.0699569973055,0.999999996763,6.10776788819e-05,-3.18295519937e-05,-4.15886708521e-05,1793247804858895104
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.742510632,745,715,680,659,634.128744684,878,784,811.128744684,652,629,653,0.412326795325,0.00455903739735,0.0699712233295,0.999999996172,7.57997719794e-05,-9.99156858685e-06,-4.25408975398e-05,1793247804875561984
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.584285447,745,715,680,659,634.707857277,878,784,811.707857277,652,629,653,0.413097977404,0.00456468297508,0.0700060200967,0.999999995142,7.55240668823e-05,4.69830694591e-05,-4.2474935185e-05,1793247804892228608
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.286295372,744.713704628,715,680,659,634.713704628,878,784,811.713704628,652,629,653,0.413863059938,0.00457093910493,0.0700261978172,0.999999992796,8.0913627887e-05,7.77187943553e-05,-4.26786094742e-05,1793247804908895232
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.86404688,744.13595312,715,680,659,634.13595312,878,784,811.13595312,652,629,653,0.41462193307,0.00457781679338,0.070031492972,0.999999991489,9.20705773225e-05,8.17426300446e-05,-4.31567809752e-05,1793247804925562112
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.43952794,715,680,659,634,878,784,811,652,629.43952794,653,0.415343515728,0.00458331263255,0.0699877519751,0.999999993734,0.000102949789725,3.6412385437e-06,-4.38089866569e-05,1793247804942228480
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.014659812,745,715,680,659,634,878,784.014659812,811,652,629.985340188,653,0.416057093126,0.00458841426757,0.0699302495395,0.999999987855,0.000113266444864,-9.73249355298e-05,-4.45891018056e-05,1793247804958895104
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.603481092,745,715,680,659,634,878,784.603481092,811,652,629.396518908,653,0.416906577598,0.00459473113295,0.0699247703378,0.999999987924,0.000104897603915,-0.000104006452402,-4.82813797409e-05,1793247804975561728
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.810746674,745,715,680,659.189253326,633.810746674,878,784.810746674,811.189253326,652,629,652.810746674,0.417763705301,0.00459842948268,0.0699317292968,0.999999989278,0.000102597113059,-9.16070276426e-05,-5.02636581543e-05,1793247804992228608
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.231261473,745,715,680,659.768738527,633.231261473,878,784.231261473,811.768738527,652,629,652.231261473,0.418636592949,0.00459672857012,0.0699643351861,0.999999991656,0.00011280928842,-3.98635559625e-05,-4.87199938998e-05,1793247805008895232
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.654420749,633.345579251,878,784,811.654420749,652,629,652.345579251,0.419529814805,0.00459310362135,0.0699953857103,0.99999999268,0.000110623008956,8.26169604222e-06,-4.83222926339e-05,1793247805025561856
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.079336292,633.920663708,878,784,811.079336292,652,629,652.920663708,0.420436540927,0.00458820088665,0.0700254032881,0.999999992337,0.000100202698978,5.39840231694e-05,-4.86856454114e-05,1793247805042228480
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.494087009,634,878.494087009,784,811.494087009,652,629,652.505912991,0.421332340455,0.00458065863526,0.0700382945031,0.99999999216,9.03893728588e-05,7.1282794783e-05,-4.92823998084e-05,1793247805058895104
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.069614813,745,715,680,659.930385187,633.930385187,879,784,811.930385187,652,629.069614813,652,0.422219604813,0.00457421478082,0.0700396319101,0.999999992825,8.3077922854e-05,7.03502255849e-05,-4.99936332842e-05,1793247805075561728
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.662975548,745,715,680,659.337024452,633.337024452,879,784,811.337024452,652,629.662975548,652,0.423055810215,0.00457921270444,0.0699746647193,0.999999993718,9.38584880469e-05,-3.35233297863e-05,-5.12851299622e-05,1793247805092228352
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.749981805,745,715,680,659.250018195,633,878.749981805,784,811,652,630,652,0.423899954227,0.00458505304146,0.069909046014,0.999999985379,9.37237387572e-05,-0.000132387229313,-5.41371579235e-05,1793247805108895232
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.171245937,745,715,680,659.828754063,633,878.171245937,784,811,652,630,652,0.424754535841,0.00459200096322,0.0698425707048,0.999999969881,7.92378088704e-05,-0.000224664572879,-5.90409338233e-05,1793247805125561856
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.596644775,745,715,680.403355225,660,633,878,784,811.403355225,652,629.596644775,652.403355225,0.425698482994,0.00459387656881,0.0698652577909,0.99999997759,8.36343076933e-05,-0.000185486960006,-5.84753113459e-05,1793247805142228480
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.023781239,745,715,680.976218761,660,633,878,784,811.976218761,652,629.023781239,652.976218761,0.426679985583,0.00459362055477,0.0699254149966,0.999999989702,9.59660669284e-05,-9.1065956808e-05,-5.56111969604e-05,1793247805158895104
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.555953013,745,715,681,660.555953013,633,878.555953013,784,812,652,629.555953013,652.444046987,0.427656109141,0.00459738321366,0.0699815044273,0.999999992739,0.000105261871973,-2.08031434862e-05,-5.48479795408e-05,1793247805175561984
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.861960287,660.861960287,633,879,784,812,652,630,652,0.428633671904,0.00459998429668,0.0700301422169,0.999999991379,0.000110728668256,4.46240452252e-05,-5.46734902349e-05,1793247805192228352
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.27316361,660.27316361,633,879,784,812,652,630,652,0.429616694962,0.00459822399919,0.0700550225996,0.999999988234,0.000104121531081,9.76775530975e-05,-5.61243175912e-05,1793247805208894976
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.308821509,633.308821509,879,784,812,652,630,652.308821509,0.430523336306,0.00459783461932,0.07003803854,0.999999990569,0.000102080086383,7.21155320682e-05,-5.69235430683e-05,1793247805225561856
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.884911556,633.884911556,879,784,812,652,630,652.884911556,0.4313638733,0.00459863169558,0.0699848230382,0.999999992729,0.000103990004756,-2.14840376405e-05,-5.71588415312e-05,1793247805242228480
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.538561695,745,715,680.461438305,660.538561695,633.538561695,879,784,812.461438305,652,630,653,0.432195147056,0.00459814069108,0.069920603357,0.999999984972,0.000101908256755,-0.000127643567849,-5.81204456745e-05,1793247805258895104
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.038807439,745,715,681,660.038807439,633,879,784,813,652,630,653,0.433032847465,0.00459712074279,0.0698620506584,0.999999968698,9.87303378407e-05,-0.000222139987393,-5.92486325906e-05,1793247805275561984
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.626549422,745,715,681,660.626549422,633,879,784,813,652,630,653,0.433994163838,0.00459316744231,0.0699225170652,0.999999988001,9.4142782631e-05,-0.000107307592368,-6.01683481932e-05,1793247805292228864
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.211302079,633,879,784,813,652,630,652.788697921,0.43495246463,0.00459024893593,0.0699785429727,0.999999994025,9.08750970961e-05,-8.47777141466e-06,-6.01631114326e-05,1793247805308895744
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.790845267,633,879,784,813,652,630,652.209154733,0.435905510255,0.00458913378893,0.0700268303273,0.999999992294,8.99075802118e-05,6.24640041262e-05,-5.85459394907e-05,1793247805325562368
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.265330409,633,879,783.632665204,813.367334796,652,630,652.367334796,0.436799509518,0.00458826626318,0.0700388059453,0.999999990617,8.94277814307e-05,8.55474127742e-05,-5.87454229468e-05,1793247805342229248
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.115800164,633,879,783.057900082,813.942099918,652,630,652.942099918,0.437660165826,0.00458753856676,0.0700302766818,0.999999990892,8.92233924702e-05,8.16056707512e-05,-5.99707539522e-05,1793247805358895616
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.516374955,715,681,660.516374955,633,879,783.516374955,814,652,630,653,0.438448518729,0.00458756664659,0.0699855545671,0.999999994306,8.430929001e-05,2.3060043411e-05,-6.12162896162e-05,1793247805375562496
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.906524392,715,681,660.906524392,633.093475608,879,784,814,652,630,653,0.439216800112,0.004587877773,0.0699350838034,0.999999993627,8.08769293886e-05,-4.85297121493e-05,-6.20415963201e-05,1793247805392229632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.314046654,715,681,660.314046654,633.685953346,879,784,814,652,630,653,0.439921171337,0.0045892479315,0.0698755685196,0.999999981936,8.8171013713e-05,-0.000157099621336,-6.06115071578e-05,1793247805408896256
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.271925138,660.271925138,633.728074862,879,784,814,652,630,653,0.440696166578,0.00459114864729,0.069858503535,0.999999976633,9.12789281667e-05,-0.00018629254833,-6.08086766251e-05,1793247805425562880
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.850558734,660.850558734,633.149441266,879,784,814,652,630,653,0.441550819662,0.00459364778655,0.0698893188861,0.999999986073,8.96651987634e-05,-0.000125954975791,-6.28412561554e-05,1793247805442229504
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.426289806,745,714.573710194,681.573710194,661.426289806,633,879,783.573710194,814,652,630.426289806,653,0.442375533606,0.00459407778816,0.0699539942722,0.999999993798,8.8375126798e-05,-2.84825629093e-05,-6.15006542642e-05,1793247805458895872
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998984349,745.001015651,714.001015651,681.001015651,661.997968697,633,879.001015651,783,814,652,631,652.998984349,0.443189641018,0.00459378287799,0.0700303329989,0.999999991119,8.71942705963e-05,8.17235109214e-05,-5.89908314411e-05,1793247805475562240
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.421213733,745.578786267,714.578786267,681.578786267,660.842427466,633,879.578786267,783,814,652,631,652.421213733,0.443900377759,0.00459095816206,0.070034863035,0.999999991467,8.40382866306e-05,8.04025106876e-05,-5.94873569595e-05,1793247805492228864
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.839669226,715,682,660.160330774,633,879.839669226,783,814.160330774,652,630.839669226,652.160330774,0.44459084599,0.0045889418502,0.0700287122694,0.999999992781,8.20581595107e-05,6.42831940511e-05,-5.97661722633e-05,1793247805508895744
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.247970996,715,682,660.752029004,633,879.247970996,783,814.752029004,652,630.247970996,652.752029004,0.445226782266,0.0045891005363,0.0699938249736,0.999999994733,8.3241656106e-05,8.3492365987e-06,-5.94592416098e-05,1793247805525563136
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879,783.332460376,815,652,630,652.667539624,0.445854272655,0.00458916091323,0.0699648493262,0.999999994235,8.47225277138e-05,-3.01208624623e-05,-5.8698126104e-05,1793247805542230272
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879,783.9047636,815,652,630,652.0952364,0.446475669993,0.00458915036816,0.0699401384493,0.999999993039,8.64179309799e-05,-5.59922190995e-05,-5.76093536236e-05,1793247805558896640
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.479089782,745,715,681.520910218,661,633,879,784,815,652,630,652,0.447042162198,0.00458840157184,0.0699274711745,0.999999991324,8.3632071224e-05,-8.38095613967e-05,-5.77416935236e-05,1793247805575563264
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.944565269,745,715,681.055434731,661,633,879,783.944565269,814.944565269,652,630.055434731,652.055434731,0.447594774928,0.00458788386288,0.0699172827845,0.999999988888,8.07560053854e-05,-0.000111028189717,-5.80904942518e-05,1793247805592229376
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.352589764,745,715,681.647410236,661,633,879,783.352589764,814.352589764,652,630.647410236,652.647410236,0.448119137093,0.00459102922274,0.0699078167405,0.999999986358,8.56654006994e-05,-0.00012869202886,-5.81749805054e-05,1793247805608895744
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.766436271,633,879.233563729,783.233563729,814.233563729,652,631,653,0.448644824207,0.00459145538466,0.0699083893346,0.999999986097,8.81959672727e-05,-0.000129096577542,-5.79709824916e-05,1793247805625562624
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.188858031,633,879.811141969,783.811141969,814.811141969,652,631,653,0.449172462781,0.00458787645717,0.0699237477749,0.999999989136,8.7222771896e-05,-0.000104080027043,-5.73420778509e-05,1793247805642229504
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.38799041,633,880,784,815,652,631,653,0.449672123616,0.0045870711126,0.0699368624696,0.999999990828,8.85612411928e-05,-8.56734849173e-05,-5.62275626158e-05,1793247805658896384
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.964484332,633,880,784,815,652,631,653,0.450158191631,0.00458761330133,0.0699488870513,0.999999991868,9.10228229834e-05,-7.04783853925e-05,-5.48771154555e-05,1793247805675563264
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.538996002,745,715,682,660.461003998,632.461003998,880,784,815,652,631,653,0.450543664091,0.00458880996658,0.0699298499394,0.999999989318,9.03066549844e-05,-0.000100809964152,-5.51848399527e-05,1793247805692230656
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659.882543059,632,879.882543059,783.882543059,815,652,631,653,0.450911090668,0.00458968096953,0.0699052105579,0.999999984789,8.96933768538e-05,-0.000138937464983,-5.54404481639e-05,1793247805708897024
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659.287494687,632,879.287494687,783.287494687,815,652,631,653,0.45123199428,0.00458905309031,0.0698660834847,0.999999975076,9.03467359634e-05,-0.000196610945425,-5.50415098863e-05,1793247805725563136
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632,879,783.297499053,814.702500947,652,630.702500947,653,0.451551461351,0.00458952758916,0.0698379886325,0.999999966254,9.22429380684e-05,-0.000236609451939,-5.47706273256e-05,1793247805742229504
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632,879,783.873093902,814.126906098,652,630.126906098,653,0.451869585557,0.00459103256765,0.0698202064686,0.999999960145,9.53009235382e-05,-0.000260085765159,-5.46194486566e-05,1793247805758896128
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632,879.448608222,783.551391778,814.448608222,651.551391778,630.448608222,653,0.452175573531,0.00459209447088,0.069814546241,0.999999958827,9.45593260468e-05,-0.000265203154425,-5.54323452816e-05,1793247805775562752
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.975421512,745,714.975421512,682,658.975421512,632,879.975421512,783,815,651.024578488,631,653,0.452475848412,0.0045929831853,0.0698123796507,0.999999958957,9.28309456122e-05,-0.000265101035536,-5.64854753651e-05,1793247805792229120
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.38849807,745,714.38849807,682,658.38849807,632,879.38849807,783,815,651.61150193,631,653,0.452723946351,0.00459277664602,0.069811702441,0.999999959103,9.31132747889e-05,-0.000264383177647,-5.67963152872e-05,1793247805808896000
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.197017344,745,714.197017344,682,658,632,879.197017344,783,815,652,631,653,0.452957554479,0.00459305809615,0.0698077267737,0.999999957464,9.38398068181e-05,-0.000270205969634,-5.70473567962e-05,1793247805825562880
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.779775905,745,714.779775905,682,658,632,879.779775905,783,815,652,631,653,0.453162792908,0.00459429498317,0.0697972930399,0.999999952098,9.54360457218e-05,-0.000288834731914,-5.71813186509e-05,1793247805842230016
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.642887534,745,715,682,657.642887534,631.642887534,880,783.357112466,815,652,630.642887534,653,0.45335429555,0.00459499140148,0.0697911512787,0.999999949262,9.65132421975e-05,-0.000298139114652,-5.72245090222e-05,1793247805858896640
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.068844549,745,715,682,657.068844549,631.068844549,880,783.931155451,815,652,630.068844549,653,0.453537454309,0.00459535950833,0.0697876167058,0.999999948097,9.72751428107e-05,-0.000301779338286,-5.72125596285e-05,1793247805875563264
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.493653742,682.506346258,657,631.506346258,880,783.493653742,815,652,630.506346258,653,0.45369787399,0.00459509888012,0.0697878496955,0.999999947973,9.45360789334e-05,-0.000302979301532,-5.76275583646e-05,1793247805892229888
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.083608821,745,714,682.916391179,657,632,879.916391179,783,815,652,630.916391179,652.916391179,0.453850436926,0.00459452085975,0.0697888904998,0.999999948214,9.15563353731e-05,-0.000303049968761,-5.78831792701e-05,1793247805908895744
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.672445557,745,714,682.327554443,657,632,879.327554443,783,815,652,630.327554443,652.327554443,0.453974248251,0.00459254265355,0.0697917102942,0.999999949842,9.00051274288e-05,-0.000298306031385,-5.68241436809e-05,1793247805925562368
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714.258372901,682.258372901,657,632,879.258372901,783,815,651.741627099,630,652.258372901,0.454086082662,0.0045925723563,0.0697937322548,0.999999950343,9.08992277199e-05,-0.000296477342874,-5.61553616263e-05,1793247805942228992
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714.840652872,682.840652872,657,632,879.840652872,783,815,651.159347128,630,652.840652872,0.454182902307,0.00459511925779,0.0697947540175,0.999999949442,9.48588687383e-05,-0.000298303332506,-5.59758177824e-05,1793247805958895616
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.58417128,745,715,683,657,632,880,783,815,651.41582872,630.41582872,653,0.454263607125,0.00459498582563,0.0697946714555,0.999999949469,9.41541652844e-05,-0.000298519735492,-5.55331379797e-05,1793247805975562752
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.011672045,745,715,683,657,632,880,783,815,651.988327955,630.988327955,653,0.454338240406,0.00459384253229,0.0697941728203,0.999999949844,9.16920909348e-05,-0.000298129699397,-5.49913172503e-05,1793247805992230144
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.564201556,745,715,683,657,631.435798444,880,783.564201556,814.435798444,652,630.435798444,653,0.454384616182,0.00459412426394,0.0697878129425,0.999999945731,9.46443072684e-05,-0.000310905712949,-5.40277855437e-05,1793247806008896512
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,683,657,631,880,783.856142411,814.143857589,652,630,653,0.454428187976,0.00459398900047,0.0697825511713,0.999999942304,9.64245877473e-05,-0.000321332839224,-5.32781570904e-05,1793247806025562880
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,683,657,631,880,783.264942956,814.735057044,652,630,653,0.454464869221,0.00459246481754,0.0697810834189,0.999999941786,9.42101954323e-05,-0.00032360374603,-5.32209780997e-05,1793247806042228992
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,683,656.680302727,631.319697273,880,783,815,652,630,653,0.454492824295,0.00459120694442,0.0697775345103,0.999999939952,9.4388906732e-05,-0.000329241283809,-5.27965439431e-05,1793247806058895360
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,683,656.100988982,631.899011018,880,783,815,652,630,653,0.454513693114,0.00459016533326,0.0697722955575,0.999999936996,9.65109847456e-05,-0.000337612760855,-5.20738729812e-05,1793247806075561984
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,683,656,631.525623114,879.525623114,783,815,652,630.474376886,653,0.454531565362,0.00458989070133,0.0697707811039,0.999999936531,9.62710504009e-05,-0.000339132599734,-5.15591471355e-05,1793247806092228608
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.951309233,745,714.951309233,683,656,631.048690767,879.097381534,783,815,652,631,653,0.454548126868,0.00458987742908,0.0697701540161,0.999999936584,9.56973491354e-05,-0.000339200536071,-5.11573925645e-05,1793247806108895232
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.379342825,745,714.379342825,683,656,631.620657175,880.24131435,783,815,652,631,653,0.454557401198,0.00459093268949,0.0697706124768,0.999999936447,9.68960945565e-05,-0.000339211382324,-5.14979025353e-05,1793247806125562368
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.201272286,683,656.201272286,632,880.798727714,783.201272286,815,652,630.798727714,653,0.45456473029,0.00459129770344,0.0697706038018,0.999999936254,9.7088054345e-05,-0.000339720098921,-5.15395656508e-05,1793247806142229504
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.798919666,683,656.798919666,632,880.201080334,783.798919666,815,652,630.201080334,653,0.454568228531,0.00459030338209,0.0697696751742,0.999999935947,9.52973031906e-05,-0.000341209295284,-5.09926954085e-05,1793247806158896384
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.381632609,745,715,682.618367391,656.618367391,631.618367391,880,783.618367391,815,652,630,652.618367391,0.454570216842,0.00458937963087,0.0697684478316,0.999999935415,9.4495016072e-05,-0.000343034399646,-5.06842787095e-05,1793247806175563008
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.95677299,745,715,682.04322701,656.04322701,631.04322701,880,783.04322701,815,652,630,652.04322701,0.454571439539,0.00458849166245,0.0697670690247,0.999999934766,9.41939321766e-05,-0.000345029826955,-5.04967704945e-05,1793247806192229120
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714.469595195,682,656,631,880,783,815,651.469595195,630.530404805,652.530404805,0.454572835316,0.00458784296948,0.0697663738305,0.999999934451,9.42626400706e-05,-0.000345945119196,-5.03374897213e-05,1793247806208895488
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,714.107441204,682.107441204,656,631,880,783,815,651.107441204,630.892558796,653,0.454574414513,0.00458765999525,0.0697659520196,0.999999934283,9.45868710756e-05,-0.000346348906629,-5.02905363559e-05,1793247806225562112
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,714.700417023,682.700417023,656,631,880,783,815,651.700417023,630.299582977,653,0.454576759034,0.00458949376382,0.0697665145902,0.999999934655,9.59300229798e-05,-0.000344837847636,-5.07408321932e-05,1793247806242228736
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.7139967,745,715,683,656,631,879.7139967,783,815,652,630.2860033,653,0.454576967397,0.00459021650068,0.0697663925518,0.999999934561,9.6220218196e-05,-0.00034501703984,-5.08282087915e-05,1793247806258895616
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.135955805,745,715,683,656,631,879.135955805,783,815,652,630.864044195,653,0.454574994529,0.00458980476474,0.0697655714603,0.999999933991,9.54352408769e-05,-0.000346922145152,-5.05450090838e-05,1793247806275562752
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.439810973,745,715,683,656,631,879.439810973,783.439810973,815,652,630.560189027,653,0.454574862073,0.00458950775835,0.0697644275173,0.999999933347,9.60201182002e-05,-0.000348677190186,-5.01066330237e-05,1793247806292229632
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,683,656.015133378,631.015133378,880,783.984866622,815,652,630,653,0.454575295872,0.00458922113647,0.0697632190699,0.999999932704,9.69575770908e-05,-0.000350322934136,-4.9640994657e-05,1793247806308896256
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,683,656.600057908,631.600057908,880,783.399942092,815,652,630,653,0.454575739786,0.00458799704849,0.0697633202438,0.999999933104,9.53086170322e-05,-0.000349590906093,-4.99456839555e-05,1793247806325562880
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.815745207,745,714.815745207,683,656.815745207,631.815745207,880,783.184254793,815.184254793,652,630,653,0.454576702062,0.00458721926939,0.0697638557587,0.999999933601,9.42215371161e-05,-0.000348436495589,-5.01193173368e-05,1793247806342229504
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.233121561,745,714.233121561,683,656.233121561,631.233121561,880,783.766878439,815.766878439,652,630,653,0.454578785064,0.00458740643434,0.069765330342,0.999999934313,9.4349272627e-05,-0.000346368871351,-5.00096007029e-05,1793247806358895616
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.345049215,745,714.345049215,682.654950785,656,631,880,783.654950785,815.654950785,652,630,653,0.454579665276,0.0045868176081,0.0697656168348,0.999999934615,9.34280207141e-05,-0.000345778251557,-4.9789394705e-05,1793247806375561984
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.920249859,745,714.920249859,682.079750141,656,631,880,783.079750141,815.079750141,652,630,653,0.454579743213,0.00458571118762,0.0697651108588,0.999999934643,9.18070832352e-05,-0.000346172809222,-4.94954911524e-05,1793247806392228608
+244,4.066666667,HOLD_POSE2,766,745,715,683,656,632,880,783,815,652,630,653,0.454577935301,0.00458676246034,0.0697639100504,0.999999933103,9.50259741255e-05,-0.000349807131824,-4.89877005656e-05,1793247806423491072
+245,4.083333333,HOLD_POSE2,766,745,714.427692379,683,656,631.427692379,879.427692379,783,815,652,630.572307621,652.427692379,0.454577217952,0.00458709357911,0.0697624666506,0.999999932548,9.60267642719e-05,-0.000351115872017,-4.89853322396e-05,1793247806440157696
+246,4.100000000,HOLD_POSE2,766,745,714.151090521,682.848909479,656,631.151090521,879.151090521,783,815,652,630.848909479,652.151090521,0.454576527676,0.00458722718508,0.0697614817209,0.999999932121,9.66787380233e-05,-0.000352154854193,-4.89641990124e-05,1793247806456824576
+247,4.116666667,HOLD_POSE2,766,745,714.749023877,682.250976123,656,631.749023877,879.749023877,783,815,652,630.250976123,652.749023877,0.454575917468,0.00458677665666,0.069761852694,0.999999932077,9.62991045646e-05,-0.000352396040524,-4.88875695061e-05,1793247806473490944
+248,4.133333333,HOLD_POSE2,766,745,714.667466074,682,656,631.667466074,880,783,815,652,630.332533926,653,0.45457617722,0.00458658733084,0.0697620924467,0.999999932306,9.51269850188e-05,-0.000352028662561,-4.91464030304e-05,1793247806490157312
+249,4.150000000,HOLD_POSE2,766,745,714.094389351,682,656,631.094389351,880,783,815,652,630.905610649,653,0.454577066268,0.00458658694939,0.0697622372792,0.999999932729,9.3381610239e-05,-0.000351221071579,-4.96478981643e-05,1793247806506823936
+250,4.166666667,HOLD_POSE2,766,745,714,682,656.482109193,631,879.517890807,783,815,652,630.517890807,653,0.454576854271,0.0045871335432,0.0697619581971,0.999999932305,9.56457166281e-05,-0.000351878795065,-4.92229771493e-05,1793247806523490816
+251,4.183333333,HOLD_POSE2,766,745,714.060637513,682.121275026,656.939362487,631,879,783,814.939362487,652,630,653,0.454576467607,0.00458752733281,0.069761638115,0.999999931805,9.80872345722e-05,-0.00035269943047,-4.86930418145e-05,1793247806540157440
+252,4.200000000,HOLD_POSE2,766,745,714.651003547,683.302007093,656.348996453,631,879,783,814.348996453,652,630,653,0.454576451717,0.00458564401047,0.0697616900901,0.999999932179,9.51719083574e-05,-0.000352419120003,-4.88415418908e-05,1793247806556824064
+253,4.216666667,HOLD_POSE2,766,745,715,683.764622779,656,631,879.235377221,783,814.235377221,652,630,653,0.454576705577,0.0045848505392,0.0697616658176,0.999999932506,9.36324141521e-05,-0.000351884804869,-4.89650345531e-05,1793247806573490688
+254,4.233333333,HOLD_POSE2,766,745,715,683.188913512,656,631,879.811086488,783,814.811086488,652,630,653,0.454577349468,0.0045856328843,0.0697615312988,0.999999932777,9.40822364203e-05,-0.000350983224283,-4.905236897e-05,1793247806590157312
+255,4.250000000,HOLD_POSE2,766,745,715,682.608044511,656,631,879.608044511,783,815,652,630,653,0.454577645122,0.00458552970613,0.0697610705254,0.999999932669,9.31408133907e-05,-0.00035153380046,-4.90966239494e-05,1793247806606823936
+256,4.266666667,HOLD_POSE2,766,745,715,682.024655411,656,631,879.024655411,783,815,652,630,653,0.454577770696,0.00458499403272,0.0697604504072,0.999999932374,9.15198971482e-05,-0.000352793619364,-4.9119838659e-05,1793247806623490816
+257,4.283333333,HOLD_POSE2,766,745,715,682,656,631,879.554759453,783,815,652,630,652.445240547,0.454577958655,0.00458725196378,0.0697614848958,0.999999932319,9.53123491141e-05,-0.000351990960732,-4.87907789212e-05,1793247806640157440
+258,4.300000000,HOLD_POSE2,765.865283882,745,714.865283882,682,656,631,880,783,814.865283882,651.865283882,630,652.134716118,0.454578071693,0.00458877449642,0.0697623261599,0.999999932265,9.80199827557e-05,-0.000351421984762,-4.86324176606e-05,1793247806656824064
+259,4.316666667,HOLD_POSE2,765.282944102,745,714.282944102,682,656,631,880,783,814.282944102,651.282944102,630,652.717055898,0.454577926647,0.00458744390266,0.069762282791,0.999999932227,9.63293500896e-05,-0.000351931875932,-4.90928905971e-05,1793247806673490688
+260,4.333333333,HOLD_POSE2,765,745,714,682.295439324,656,631,879.704560676,783.295439324,814.295439324,651.295439324,630,653,0.454577654133,0.00458711114374,0.069762122429,0.999999932198,9.54749558702e-05,-0.000352228439315,-4.92323887975e-05,1793247806690157568
+261,4.350000000,HOLD_POSE2,765,745,714,682.87008376,656,631,879.12991624,783.87008376,814.87008376,651.87008376,630,653,0.454577261157,0.00458772138931,0.0697618515028,0.999999932179,9.54108494036e-05,-0.000352323397111,-4.90685496011e-05,1793247806706824192
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,656,631,880,783,815,651,630,653,0.454578015021,0.0045842254034,0.0697602125851,0.999999931963,9.48487558921e-05,-0.000353267454269,-4.77572371904e-05,1793247806739684352
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.593390839,745,715,682.593390839,656,631.593390839,879.406609161,783.593390839,815,651.593390839,630.593390839,653,0.454578653693,0.00458430620442,0.0697612432855,0.999999932636,9.20072745736e-05,-0.000352046240192,-4.82394997972e-05,1793247806756350720
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.817545264,683,656,632,879,783.817545264,815,652,630.817545264,652.817545264,0.454578931003,0.00458475645782,0.0697618348895,0.999999932872,9.06391087757e-05,-0.000351664242958,-4.87048199195e-05,1793247806773017088
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.179874391,745,715,683,656.179874391,631,879.179874391,783,815,652,630,653,0.454562441301,0.00458610429069,0.0697543109828,0.99999992848,9.77330144051e-05,-0.000362158924387,-4.82701102356e-05,1793247806906350336
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.396835815,745,715,682.603164185,656,631,879.396835815,783,815,652,630.396835815,653,0.454535399866,0.00458659479023,0.0697450555917,0.999999922182,9.69679881684e-05,-0.000379363346357,-4.81340274503e-05,1793247806923016960
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.973012496,745,715,682.026987504,656,631,879.973012496,783,815,652,630.973012496,653,0.454500604806,0.00458695125938,0.0697335508435,0.999999913603,9.55181474655e-05,-0.000401727744287,-4.78128687843e-05,1793247806939683072
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.440026979,682.559973021,656,631,880,783,815,652,630.440026979,653,0.454445472371,0.00458578831663,0.0697191440708,0.999999904763,9.58743061785e-05,-0.000423127952583,-4.73854868697e-05,1793247806956349184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.855150413,745,714.144849587,682.855150413,656.144849587,631.144849587,880,783,815,652,630,653,0.454385779195,0.00458497843934,0.0697061110144,0.999999896815,9.66825657596e-05,-0.000441383929651,-4.69308839081e-05,1793247806973015808
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.278073474,745,714.721926526,682.278073474,656.721926526,631.721926526,880,783,815,652,630,653,0.454315459035,0.00458544489776,0.0696976026241,0.999999892635,9.85750610695e-05,-0.000450398992408,-4.64106299842e-05,1793247806989682432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.299643398,745,715,682.299643398,656.700356602,631.700356602,879.700356602,783,815,652,630,653,0.45423709556,0.00458605524642,0.0696942977356,0.999999891175,0.000101586015486,-0.00045307493494,-4.53133175103e-05,1793247807006349568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.877955372,745,715,682.877955372,656.122044628,631.122044628,879.122044628,783,815,652,630,653,0.4541512518,0.00458679941307,0.0696958321081,0.999999892281,0.000105637137568,-0.000449855490547,-4.36793401998e-05,1793247807023016960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.546781454,683,656,631.453218546,879,783,815,652,630.453218546,653,0.454049561903,0.00458575039506,0.0696986946646,0.999999893442,0.000106675919589,-0.000447185912984,-4.19700991111e-05,1793247807039683584
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,682.971551724,656,632,879,783,815,652,631,653,0.453942114954,0.00458433622658,0.0697016545825,0.999999894448,0.000107000955913,-0.000445014363494,-4.02110561734e-05,1793247807056349952
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,682.380865523,656,632,879,783,815,652,631,653,0.453804658109,0.00458518496763,0.0696995173354,0.999999892176,0.000109144429305,-0.000449778759664,-3.78656307872e-05,1793247807073016320
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.20563502,682,656,632,879,783.20563502,815,652,631,653,0.453654502104,0.00458578862553,0.0696963089165,0.999999889377,0.000112309019531,-0.000455386050456,-3.54404378969e-05,1793247807089682944
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.784537713,682,656,632,879,783.784537713,815,652,631,653,0.453481294665,0.0045859474096,0.0696911561119,0.999999885613,0.00011732713575,-0.000462523358878,-3.2870451682e-05,1793247807106349824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.639468962,745,715,682,656.360531038,632,879,783.639468962,814.639468962,652,630.639468962,653,0.453284871695,0.00458492816385,0.0696877307904,0.999999882697,0.000120986017904,-0.000468064615114,-2.97208035717e-05,1793247807123016448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.065200375,745,715,682,656.934799625,632,879,783.065200375,814.065200375,652,630.065200375,653,0.453074685591,0.00458321053385,0.069685329591,0.999999880284,0.000123839090972,-0.000472659666995,-2.62275079285e-05,1793247807139682816
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.508136904,657,632,879.508136904,783.508136904,814,652,630,653,0.452835240501,0.00458228331274,0.0696817232642,0.999999876126,0.000129057443849,-0.000480199437956,-2.23558051315e-05,1793247807156349952
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.084215022,745,715,683,657.084215022,632,880,784,814,652,630.084215022,653,0.452588547778,0.00458138217017,0.0696782812418,0.99999987216,0.000134274256973,-0.000487147748736,-1.83445014045e-05,1793247807173016832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.677585369,745,715,683,657.677585369,632,880,784,814,652,630.677585369,653,0.452320693077,0.00458002664571,0.0696767657698,0.999999871242,0.000137650219281,-0.000488239925684,-1.37822011486e-05,1793247807189683200
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.736279804,745,714.736279804,683,657.736279804,632,880,784,814,652,631,652.736279804,0.452028921143,0.00457945914083,0.0696768871605,0.999999870302,0.000142257753221,-0.000488955795899,-9.03843603207e-06,1793247807206349824
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.158754676,745,714.158754676,683,657.158754676,632,880,784,814,652,631,652.158754676,0.451708689721,0.00457982931332,0.0696789562807,0.999999869321,0.00014833075399,-0.000489223892563,-4.07874321218e-06,1793247807223016448
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.416869907,683,657.416869907,632,880,783.583130093,814,652,631,652.416869907,0.451360140839,0.00457844892699,0.0696867180275,0.999999871436,0.000153892551288,-0.000483159435993,1.56661187493e-06,1793247807239683072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.991773985,683,657.991773985,632,880,783.008226015,814,652,631,652.991773985,0.451000856896,0.00457640490889,0.0696966378325,0.999999874623,0.000159260552681,-0.000474694326818,7.47189942433e-06,1793247807256349696
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.580055585,745,715,683,658,632,880,783.580055585,814,652,630.419944415,653,0.450620248131,0.00457737575556,0.0697076266013,0.999999879209,0.000168478090175,-0.000461563012191,1.25438974889e-05,1793247807273016576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.833988813,658,632.166011187,879.833988813,784,814,652,630.166011187,653,0.450228191618,0.00458228511861,0.0697191638851,0.999999883767,0.000180097402902,-0.000446955841104,1.61562896789e-05,1793247807289682944
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.254313074,658,632.745686926,879.254313074,784,814,652,630.745686926,653,0.449808381159,0.00459689937468,0.0697320292841,0.999999888402,0.00019756218437,-0.000428839934545,1.61617950084e-05,1793247807306349568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.677667986,745,715,682.322332014,658.644664029,633,879,784,813.677667986,651.677667986,630.677667986,653,0.449369587087,0.00460893952519,0.0697520280557,0.999999899371,0.00021037433964,-0.000395899539255,1.62627264023e-05,1793247807323016704
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.103391682,745,715,682.896608318,659.793216637,633,879,784,813.103391682,651.103391682,630.103391682,653,0.448915954814,0.00461896767979,0.0697776024849,0.999999914033,0.000219549865489,-0.000351371880189,1.64382456266e-05,1793247807339684096
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.471971757,745,715,682.528028243,660.471971757,633,879,784,813,651,630.471971757,653,0.448394916115,0.00461315540798,0.0697899328808,0.999999926432,0.000188541602224,-0.0003338207803,1.22915474464e-05,1793247807356350464
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.951146662,745,714.951146662,682.048853338,660.902293324,633,879,784,813,651.048853338,630.951146662,652.951146662,0.44785462753,0.00460453904343,0.069797025397,0.999999935388,0.000152321649294,-0.000325508928061,8.08537544129e-06,1793247807373016832
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.360063972,745,714.360063972,682.639936028,659.720127943,633,879,784,813,651.639936028,630.360063972,652.360063972,0.447264952729,0.00460340319855,0.0697782580655,0.99999992505,0.000156185342814,-0.00035400211348,1.37524415264e-05,1793247807389683968
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.225423598,682.774576402,659.225423598,633,879,784,813,651.774576402,630.225423598,652.225423598,0.446661633822,0.00460240840033,0.0697590129222,0.999999914888,0.000155537595915,-0.000381735044103,1.76370242253e-05,1793247807406350592
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.802190624,682.197809376,659.802190624,633,879,784,813,651.197809376,630.802190624,652.802190624,0.446037049355,0.00460163343635,0.0697390230664,0.999999905546,0.000147858353733,-0.00040828304613,1.87434421703e-05,1793247807423016448
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.62227589,682.37772411,660,633,879,784,812.62227589,651.37772411,631,653,0.445411682046,0.00460032244432,0.0697436428553,0.999999912515,0.000133686113357,-0.000395932205575,1.83399513349e-05,1793247807439682560
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.047386308,682.952613692,660,633,879,784,812.047386308,651.952613692,631,653,0.444785906127,0.00459873165491,0.069761108455,0.999999927125,0.000116124640006,-0.00036327683873,1.71483141002e-05,1793247807456348928
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.477742524,745,714.522257476,683,660.522257476,633,879,784,812,651.477742524,630.477742524,653,0.444101386368,0.00459702616602,0.0697828434666,0.999999942408,0.000103784320103,-0.000322575781657,1.89230333807e-05,1793247807473015808
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.096540257,745,715,682.903459743,660.903459743,632.903459743,879.096540257,784,812,651,630.096540257,652.903459743,0.443405004104,0.0045949091502,0.0698036540063,0.999999954258,9.38990069503e-05,-0.000286752667025,2.09665806759e-05,1793247807489682688
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.697524959,745,715,682.302475041,660.302475041,632.302475041,879.697524959,784,812,651,630.697524959,652.302475041,0.442674211522,0.00459069565325,0.069817629952,0.999999956026,9.43909079706e-05,-0.000280194465612,2.30224398167e-05,1793247807506349056
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+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.858814523,632.858814523,879.141185477,784,812,651.858814523,630.141185477,652,0.44118525164,0.00458380181869,0.0698228721171,0.999999941944,0.000202265056529,-0.000272983442992,2.60888130071e-05,1793247807539682560
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,633,879,784,812,652,630,652.43534696,0.44040127501,0.00458181755517,0.0698252008146,0.99999994461,0.000202035300522,-0.000263201392852,2.62112695466e-05,1793247807556349184
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.986887418,633,879,784,812,651.986887418,630,652.986887418,0.439603281553,0.00458018687462,0.0698272479539,0.999999951619,0.000178208655018,-0.000253635858369,2.59178652513e-05,1793247807573015808
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.393948537,633,879,784,812,651.393948537,630,652.393948537,0.438689026452,0.00457680387666,0.069765962346,0.999999924375,0.000151979715947,-0.000357105999204,2.50572071693e-05,1793247807589682432
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,744.807045997,715,682.192954003,659.807045997,633,879,784,812,651.192954003,630,652.192954003,0.437797508139,0.00457318957234,0.0697187552889,0.999999897777,0.000130730106503,-0.000432152630474,2.45035472364e-05,1793247807606349056
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,744.23209386,715,682.76790614,659.23209386,633,879,784,812,651.76790614,630,652.76790614,0.436951002735,0.00456911734254,0.0696994200602,0.99999989091,0.000119338263414,-0.000450928194963,2.45576633439e-05,1793247807623015936
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.343410593,715,682.656589407,659.686821186,633,879,784,812,652,630,652.656589407,0.436120684166,0.00456566027462,0.0697223883594,0.999999907192,0.000120358218081,-0.00041288831103,2.55648606305e-05,1793247807639682560
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.919288905,715,682.080711095,660.838577811,633,879,784,812,652,630,652.080711095,0.435301323116,0.00456261963338,0.0697739935298,0.99999993463,0.000129780191633,-0.000336387881951,2.72172347761e-05,1793247807656349440
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.49310333,660.50689667,633,879,784.49310333,812,651.50689667,630.49310333,652.49310333,0.434448127281,0.00455697744972,0.0698119431392,0.999999949922,0.000122451202772,-0.000290323748552,2.95686812022e-05,1793247807673016064
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.93083267,660,633,879,784.93083267,811.93083267,651.06916733,630.93083267,652.93083267,0.433584938132,0.00455081568469,0.0698443326075,0.99999996144,0.000112467186193,-0.00025192218157,3.1730229784e-05,1793247807689682432
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.335081387,660,633,879,784.335081387,811.335081387,651.664918613,630.335081387,652.335081387,0.432687655129,0.0045439265888,0.069851337275,0.999999966792,0.000103056752326,-0.000234087833282,3.1578548002e-05,1793247807706349056
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.251780015,633.251780015,879,784.251780015,811,652,630,652,0.431751354361,0.00453920409449,0.0698356281143,0.999999961043,0.000100628647734,-0.000258367336561,3.2163769427e-05,1793247807723015936
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.827213888,633.827213888,879,784.827213888,811,652,630,652,0.430764897585,0.00453726668509,0.0697907211724,0.999999936978,0.000107176066356,-0.000336782628194,3.36962524011e-05,1793247807739682560
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+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.061582665,633.030791332,878.030791332,784.030791332,811,652,630,652,0.428852312075,0.00452464570931,0.069687991576,0.999999877473,8.6619324505e-05,-0.000486459489472,3.01527050847e-05,1793247807773016064
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+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,634,878.844773766,784.155226234,811,651.155226234,630,652.844773766,0.427097516467,0.00451137601599,0.0698154320829,0.999999954353,7.22212052341e-05,-0.000291350015594,3.4534225364e-05,1793247807806349312
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,634,878.27018805,784.72981195,811,651.72981195,630,652.27018805,0.426220801979,0.00450660485725,0.0698562412421,0.999999969944,7.25559886179e-05,-0.000231353654447,3.63709207881e-05,1793247807823015680
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,744.695677765,715,681.695677765,660.087033294,633.695677765,878.304322235,784.695677765,811,652,630,652,0.425316443375,0.00449826187901,0.0698627546681,0.999999972556,6.20024598003e-05,-0.000222941257904,3.6623695333e-05,1793247807839682304
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,744.121234464,715,681.121234464,658.363703392,633.121234464,878.878765536,784.121234464,811,652,630,652,0.424387547479,0.00448674849946,0.0698388266751,0.999999964616,4.17842987918e-05,-0.000260315579804,3.54705574454e-05,1793247807856349184
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,744.453661391,714.546338609,681,658.907322782,633,878.546338609,784,810.546338609,652,629.546338609,652,0.42342283468,0.00448267759206,0.0697909050188,0.999999940055,3.88839526469e-05,-0.000342243307042,3.53130585183e-05,1793247807873015808
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.970243056,714,681,659.970243056,633.029756944,878,784,810.029756944,652,629.029756944,652,0.422448198865,0.00448015132757,0.069736782623,0.999999903728,4.00393048382e-05,-0.000435524379408,3.54777402745e-05,1793247807889682432
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.373599662,714,681,659.373599662,633.626400338,878,784,810.626400338,652,629.626400338,652,0.421467050953,0.00446912401196,0.0696868061614,0.999999864685,3.02051695816e-05,-0.000518045626638,3.67063022655e-05,1793247807906349056
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.214266252,714.214266252,681,659,633.785733748,878.214266252,784,811,652,629.785733748,652.214266252,0.42056327845,0.00445971123551,0.0696830531097,0.999999862716,1.44125184714e-05,-0.000522560880526,3.59093740632e-05,1793247807923015680
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.787429923,714.787429923,681,659,633.212570077,878.787429923,784,811,652,629.212570077,652.787429923,0.419789110121,0.00445300282125,0.0697567245735,0.99999992086,-1.13606884797e-05,-0.000396415580769,3.17197362331e-05,1793247807939682304
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.726584023,633,878.636707988,784,810.636707988,652,629.363292012,652.636707988,0.419004734672,0.00444798327184,0.0698231006262,0.999999957495,-1.73754464921e-05,-0.000289141609944,3.32338533224e-05,1793247807956348928
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.88148957,633,878.059255215,784,810.059255215,652,629.940744785,652.059255215,0.41821434217,0.00444395930923,0.0698851760272,0.999999980582,-1.17425907419e-05,-0.000192992301447,3.81103360395e-05,1793247807973015808
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.408828802,633.530390399,878,784,810.530390399,652,630,652,0.417370448631,0.00444000499189,0.0698650230343,0.999999972955,-5.88206501721e-06,-0.000229290310119,3.84961593265e-05,1793247807989682432
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.881041485,658.237917029,634,877.881041485,784.118958515,810.881041485,652,629.881041485,652,0.416519081283,0.00443895706322,0.0698346144294,0.999999960938,-1.29115789006e-07,-0.000276916439767,3.79715122852e-05,1793247808006349056
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.302032378,659.395935245,634,877.302032378,784.697967622,810.302032378,652,629.302032378,652,0.415662469744,0.00444911826982,0.0698009073792,0.99999995136,5.10711963156e-06,-0.000309780790122,3.59116583887e-05,1793247808023015680
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.275713246,660,634,877,784.724286754,810,652,629,652,0.414812612551,0.0044628737507,0.0697681680511,0.999999933819,1.93709497979e-05,-0.000361593288571,3.51813087948e-05,1793247808039682816
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.85208105,660,634,877,784.14791895,810,652,629,652,0.413970120764,0.00448054864707,0.0697364839883,0.999999904203,4.34790201363e-05,-0.000434068001403,3.59007318929e-05,1793247808056349440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.572542161,659.572542161,634,877,784,810,652,629,652,0.413238151531,0.00447963361778,0.0697459581692,0.99999991217,4.27814116332e-05,-0.000415407432447,3.55893798652e-05,1793247808073016064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.002555864,659.002555864,634,877,784,810,652,629,652,0.41254467691,0.00447229024487,0.0697698007122,0.999999932194,3.34752130273e-05,-0.000365064606761,3.49266850441e-05,1793247808089682688
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.592201102,659.592201102,634,877,784,810,652,629,652,0.411928735051,0.00446258044441,0.0698301123182,0.999999964288,1.39234839758e-05,-0.000264545912964,3.53034294155e-05,1793247808106349568
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.821260909,715,680.821260909,659.821260909,634,877,784,810,652,629,652,0.411287218378,0.00445581488527,0.069870692743,0.999999979696,1.81175806971e-06,-0.00019834184815,3.55776672463e-05,1793247808123016192
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.241690958,715,680.241690958,659.241690958,634,877,784,810,652,629,652,0.41058834886,0.00445565192456,0.0698670250732,0.999999977486,6.38458733811e-06,-0.000209089946374,3.56220300867e-05,1793247808139682560
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.335251004,714.664748996,680,658.664748996,633.664748996,877,784,810.335251004,652,629,652,0.409905493471,0.00445503052671,0.0698409866385,0.999999966564,9.74738284982e-06,-0.000256030058191,3.50066689079e-05,1793247808156349440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.910313084,714.089686916,680,658.089686916,633.089686916,877,784,810.910313084,652,629,652,0.409234093319,0.00445408120053,0.0697989459936,0.999999945276,1.22446191304e-05,-0.000328858966863,3.39193951199e-05,1793247808173016064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.482962799,680,658,633.482962799,877,784,810.517037201,652,629,652,0.408623587884,0.00445796234808,0.0697748824265,0.999999933045,8.96011121808e-06,-0.000364412292677,3.21591923214e-05,1793247808189682432
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.057296766,634,877,784.057296766,810,652,629,652,0.408031877115,0.00446268799209,0.0697579459823,0.999999924577,6.22241983773e-06,-0.000387139030175,3.05132736111e-05,1793247808206349312
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.651593726,634,877,784.651593726,810,652,629,652,0.407510857782,0.0044669630984,0.0697766742167,0.999999936612,1.86224164811e-05,-0.000354205225065,3.11038284796e-05,1793247808223016192
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.761034101,634,877,784.761034101,810,652,629,652,0.406990537612,0.00447063195931,0.0697913363653,0.999999943596,2.61055675094e-05,-0.000333351288967,3.16796628976e-05,1793247808239683072
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.183473815,634,877,784.183473815,810,652,629,652,0.40647120814,0.00447344182157,0.069800237214,0.999999944804,2.66219647675e-05,-0.000329613504831,3.22346396796e-05,1793247808256349952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.392024765,633.607975235,877,784,810,652,629,652,0.405987917331,0.00447520789405,0.0697977887658,0.999999941992,2.16149613894e-05,-0.000338413902997,3.20116152067e-05,1793247808273016576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.966563534,633.033436466,877,784,810,652,629,652,0.405521404908,0.00447648801214,0.0697900564541,0.999999937085,1.40364420489e-05,-0.000353051671348,3.14263786512e-05,1793247808289682944
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.445136523,633,877,784,810,652,629,652,0.405132071676,0.00447689135184,0.0697977944719,0.999999942448,2.33417934114e-05,-0.000337052834818,3.09017762231e-05,1793247808306349824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.141508148,633.141508148,877,784,810,652,629,652,0.404756081681,0.00447587519943,0.0698087847116,0.999999949278,3.0807162169e-05,-0.000315535643612,3.05439266335e-05,1793247808323016704
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.720408268,633.720408268,877,784,810,652,629,652,0.404406593499,0.00447063895799,0.0698268725355,0.999999959106,2.93604766598e-05,-0.000282813143669,3.06899174654e-05,1793247808339683072
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.701726817,633.701726817,877,784.298273183,809.701726817,652,628.701726817,652.298273183,0.404062910706,0.00446808948406,0.0698373498993,0.999999964631,2.36956932307e-05,-0.000263181573549,3.01824563561e-05,1793247808356349696
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.124828947,633.124828947,877,784.875171053,809.124828947,652,628.124828947,652.875171053,0.403724650897,0.00446804978937,0.0698407181346,0.999999966767,1.40906756547e-05,-0.000255778581351,2.90645889154e-05,1793247808373016832
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.446322687,877,785,809.446322687,652,628.446322687,652.553677313,0.403412406112,0.00446784278895,0.0698309936062,0.999999962556,8.18843382459e-06,-0.000272065841048,2.82865785827e-05,1793247808389682944
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.983382321,809.983382321,652,629,652,0.403108459094,0.00446757587332,0.0698177981793,0.999999956182,3.24984363342e-06,-0.000294726070635,2.76083269487e-05,1793247808406349056
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.387644916,809.387644916,652,629,652,0.402843344411,0.00446683091157,0.0698096343959,0.999999951105,-3.73751984799e-06,-0.000311511538989,2.71361966235e-05,1793247808423015680
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.797484113,877,784,809,652,629,652,0.402590410906,0.00446691343022,0.0698012796354,0.999999946293,-7.14880393357e-06,-0.000326570177353,2.67239968557e-05,1793247808439682048
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.217711744,877,784,809,652,629,652,0.402360169126,0.00446853741984,0.0697925691142,0.999999942382,-3.89839196599e-06,-0.000338411990763,2.64234387197e-05,1793247808456348672
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.640765409,658,633.359234591,877,784,809.359234591,652,629,652,0.402155917412,0.00447451690076,0.069789671858,0.99999994076,1.06517665874e-05,-0.000343026713855,2.6435643064e-05,1793247808473015296
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.065518349,658,633.934481651,877,784,809.934481651,652,629,652,0.401967293843,0.00448311539585,0.0697902701935,0.999999940207,3.19966111973e-05,-0.000343295693834,2.66359155506e-05,1793247808489681920
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.520068728,657.479931272,634,877,784,809.479931272,652,629,652,0.401819029973,0.00449081484385,0.0697934246459,0.99999994129,5.51927221564e-05,-0.000337142470286,2.66273249752e-05,1793247808506348544
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.894421861,715,679.894421861,657.105578139,634,877,784.105578139,809,652,629,652,0.401679634787,0.00449696682961,0.0697959377015,0.999999942018,7.26727131499e-05,-0.00033163612641,2.64588500941e-05,1793247808523015424
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.31522281,715,679.31522281,657.68477719,634,877,784.68477719,809,652,629,652,0.401556752522,0.00449669533846,0.0697940995909,0.999999942301,6.34428843568e-05,-0.000332734761527,2.56935703534e-05,1793247808539682048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.263683174,715,679.263683174,657.736316826,634,877,785,809.263683174,652,629,652,0.401444168613,0.00449514218274,0.0697917479511,0.999999941968,5.44637668401e-05,-0.000335377898994,2.48861724333e-05,1793247808556348672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.842239162,715,679.842239162,657.157760838,634,877,785,809.842239162,652,629,652,0.401343882319,0.00449205854892,0.0697887830891,0.999999940909,4.57840325203e-05,-0.000339865377831,2.40284798458e-05,1793247808573015296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.583127754,657.416872246,634,877,784.583127754,810,652,629,652,0.401261905449,0.00449155033722,0.0697877762835,0.999999940576,3.92169380216e-05,-0.000341734131405,2.29822637133e-05,1793247808589682176
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.009965424,657.990034576,634,877,784.009965424,810,652,629,652,0.40118679299,0.00449200768025,0.0697875035752,0.999999940507,3.34418961021e-05,-0.000342621095376,2.18653680069e-05,1793247808606348800
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.579885692,658,634,877,784.579885692,809.420114308,652,629,652,0.401137112672,0.00449293771501,0.0697900735025,0.999999942742,3.47235377188e-05,-0.000335914412519,2.17406312995e-05,1793247808623015424
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.833088764,745,715,680,658,634,877,784.833088764,809.166911236,652.166911236,629,652,0.401092437562,0.00449338208498,0.069792583855,0.999999944782,3.53759802903e-05,-0.000329718945721,2.16860893748e-05,1793247808639682048
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.253774335,745,715,680,658,634,877,784.253774335,809.746225665,652.746225665,629,652,0.401059017421,0.00449260581169,0.0697948227322,0.999999946329,3.4165289357e-05,-0.000325118577285,2.17616079045e-05,1793247808656348672
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.323715539,744.676284461,715,679.676284461,658,634,877,784,809.676284461,653,628.676284461,652,0.401031899577,0.0044913329835,0.0697981716568,0.999999947962,3.23971392196e-05,-0.000320221245522,2.20186457662e-05,1793247808673015552
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764.899783145,744.100216855,715,679.100216855,658,634,877,784,809.100216855,653,628.100216855,652,0.401009694678,0.00448967306644,0.0698023859178,0.999999949651,3.01944222875e-05,-0.000315092415852,2.24171868169e-05,1793247808689682176
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.483744749,715.483744749,679.483744749,658,633.516255251,877,784,809,652.516255251,628.483744749,652,0.400995462311,0.00449117705072,0.0698055870626,0.99999995094,3.17954005017e-05,-0.000310804018937,2.25901814478e-05,1793247808706348800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715.931358673,680,658,633.068641327,877.068641327,784.068641327,809.068641327,652,629,652.068641327,0.400983560065,0.00449311314749,0.0698083696916,0.99999995209,3.3843081652e-05,-0.000306857878126,2.2647667995e-05,1793247808723015424
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715.351876339,680,658,633.648123661,877.648123661,784.648123661,809.648123661,652,629,652.648123661,0.400976503115,0.00449330611594,0.0698096255757,0.99999995295,3.32534290801e-05,-0.000304141601556,2.21990363518e-05,1793247808739682048
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.77263851,784.77263851,810,652,629,652.77263851,0.400971545302,0.00449343657918,0.0698111329165,0.999999953844,3.26233329027e-05,-0.000301282126537,2.18543767092e-05,1793247808756348672
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.193778718,784.193778718,810,652,629,652.193778718,0.400969832731,0.00449347041004,0.0698130290063,0.999999954793,3.19307114028e-05,-0.000298201268492,2.16704566345e-05,1793247808773015296
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715.381828603,680,658,633.618171397,877,784,809.618171397,652,629,652,0.400968231995,0.00449406921164,0.0698140408517,0.999999955447,3.23416842848e-05,-0.000295970262254,2.14910787137e-05,1793247808789682176
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715.955799213,680,658,633.044200787,877,784,809.044200787,652,629,652,0.400966687537,0.00449495231518,0.0698146077316,0.999999955951,3.33080028017e-05,-0.000294166914567,2.13139864798e-05,1793247808806348800
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715.457074595,680,658.542925405,633.542925405,877,784.542925405,809,652,629.542925405,652,0.400966564069,0.00449394034662,0.0698160179863,0.999999956501,3.37095619235e-05,-0.000292214446539,2.17131258389e-05,1793247808823015424
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.870882718,633.870882718,877,785,809,652,629.870882718,652,0.400966175061,0.00449325417994,0.0698170132938,0.999999956846,3.39443080702e-05,-0.000290984421061,2.19835631319e-05,1793247808839682048
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.29177258,633.29177258,877,785,809,652,629.29177258,652,0.400964447408,0.00449425452978,0.0698163172122,0.999999956472,3.37619067526e-05,-0.000292315576509,2.1637898127e-05,1793247808856348672
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.286410424,745,715,679.713589576,658,633,877,784.713589576,809,652,629,652,0.400963584541,0.00449476557259,0.0698161415439,0.99999995631,3.43565726804e-05,-0.000292810949657,2.14578302795e-05,1793247808873015296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.863652055,745,715,679.136347945,658,633,877,784.136347945,809,652,629,652,0.40096359981,0.00449477975595,0.0698164943213,0.999999956366,3.57402999648e-05,-0.00029245764026,2.14459155611e-05,1793247808889682176
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.561155904,744.561155904,715,679,658.438844096,633.438844096,877,784.438844096,809,652,629,652,0.400963993741,0.00449516175346,0.0698172733917,0.999999956653,3.5860751735e-05,-0.000291473510327,2.12457655523e-05,1793247808906348800
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.013745266,715,679,658.986254734,634,877,784.986254734,809,652,629,652.013745266,0.400964500685,0.00449563293635,0.0698181741343,0.999999957006,3.56163942114e-05,-0.000290306731823,2.09934424145e-05,1793247808923015424
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.603008268,715,679,658.396991732,634,877,784.396991732,809,652,629,652.603008268,0.400964836365,0.00449507568386,0.069818649462,0.999999957164,3.64549332452e-05,-0.000289660603954,2.09939858732e-05,1793247808939682048
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.189719341,658,634,877.189719341,784,809.189719341,652,629,652.810280659,0.400965060871,0.00449503966881,0.0698188279134,0.99999995733,3.71032433264e-05,-0.000288997204707,2.10547554085e-05,1793247808956348928
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.77116129,658,634,877.77116129,784,809.77116129,652,629,652.22883871,0.400965055832,0.00449607987772,0.06981839339,0.999999957519,3.73587785296e-05,-0.000288298144458,2.12398766083e-05,1793247808973015808
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715.347578188,680,658,634,878,784,809.652421812,652.347578188,629,652.347578188,0.400964573503,0.00449576849792,0.0698184478632,0.999999957583,3.67919642581e-05,-0.000288145482064,2.12614701769e-05,1793247808989682944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715.920733816,680,658,634,878,784,809.079266184,652.920733816,629,652.920733816,0.400963781413,0.00449457994013,0.0698188196942,0.999999957567,3.56914470674e-05,-0.000288347430644,2.11769346832e-05,1793247809006350336
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715.507614866,680,658.492385134,634,878,784,809.492385134,652.507614866,629,653,0.400963174185,0.00449472720652,0.069818932822,0.999999957499,3.59866574081e-05,-0.000288531005691,2.13598567236e-05,1793247809023016960
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.933224495,634,878,784,809.933224495,652,629,652.933224495,0.400962761898,0.00449492381067,0.0698190430433,0.999999957455,3.6421200205e-05,-0.000288617312154,2.1540471991e-05,1793247809039683328
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.335118834,634,878,784,809.335118834,652,629,652.335118834,0.400963664673,0.00449380708837,0.0698194605134,0.999999957659,3.61820018316e-05,-0.000287953119861,2.13611774821e-05,1793247809056349696
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.74660714,784.25339286,809.25339286,652,629,652,0.400963642574,0.00449345972481,0.0698194452002,0.999999957659,3.64413288927e-05,-0.000287927920387,2.1253568071e-05,1793247809073016320
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.170320766,784.829679234,809.829679234,652,629,652,0.400962441927,0.00449409273973,0.0698188783997,0.999999957399,3.73359170307e-05,-0.000288716976745,2.1237305539e-05,1793247809089683200
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.403865232,634,877,784.596134768,809.596134768,652,629,652,0.400963011065,0.00449390435164,0.0698191440277,0.999999957606,3.63047142711e-05,-0.000288131243465,2.12298254221e-05,1793247809106350080
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.977169994,634,877,784.022830006,809.022830006,652,629,652,0.400964322707,0.00449337134821,0.0698197588967,0.999999958005,3.44655560359e-05,-0.00028696872439,2.12260299221e-05,1793247809123017216
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..828930304eacbdc691bb95dbfc9cf40c2ee0bdfc
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+33,0.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+34,0.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+35,0.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+36,0.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+37,0.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+38,0.633333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+39,0.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+40,0.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+41,0.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+42,0.700000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+43,0.716666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+44,0.733333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+45,0.750000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+46,0.766666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+47,0.783333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+48,0.800000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+49,0.816666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+50,0.833333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+51,0.850000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+52,0.866666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+53,0.883333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+54,0.900000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+55,0.916666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+56,0.933333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+57,0.950000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+58,0.966666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+59,0.983333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+60,1.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+61,1.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+62,1.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+63,1.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+64,1.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+65,1.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+66,1.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+67,1.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+68,1.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+69,1.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+70,1.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+71,1.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+72,1.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+73,1.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+74,1.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6b8978e16837a742b337896586e3624c6542be3
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b550c5ac3c8a386633e8f2b6282c95deadd6ee3a56a5aec59414568938117c7
+size 25821659
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8883ae8585e41b65125e3c84f5aee0bb1a91a0f8
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+7,0.116666667,BASELINE,765.940744216,744.059255784,715,680,658,633.940744216,877,784.059255784,809.059255784,652,629,652,0.400962794908,0.00449446029424,0.0698212146255,0.999999958418,3.55562046714e-05,-0.000285414875898,2.09337415354e-05,1793247809383481600
+8,0.133333333,BASELINE,765.3644992,744.6355008,715,680,658,633.3644992,877,784.6355008,809.6355008,652,629,652,0.400964322514,0.00449456750005,0.0698216725867,0.999999958684,3.47722027269e-05,-0.000284583635372,2.08628447687e-05,1793247809400147968
+9,0.150000000,BASELINE,765,745,715,680,658,633.210753389,877.210753389,785,809.789246611,652,629,652,0.400965569543,0.00449442868147,0.0698223068353,0.999999959011,3.45798271216e-05,-0.000283450053939,2.09206291146e-05,1793247809416814848
+10,0.166666667,BASELINE,765,745,715,680,658,633.784297556,877.784297556,785,809.215702444,652,629,652,0.400966333588,0.00449386635663,0.0698232445449,0.999999959444,3.5405876886e-05,-0.000281796023106,2.11999250716e-05,1793247809433482240
+11,0.183333333,BASELINE,765,745,715,679.631298542,658,633.631298542,877.631298542,784.631298542,809.368701458,652,629,652,0.400965454898,0.00449419556313,0.0698225057532,0.999999959105,3.50437450477e-05,-0.000283056406803,2.0981145132e-05,1793247809450149120
+12,0.200000000,BASELINE,765,745,715,679.040348474,658,633.040348474,877.040348474,784.040348474,809.959651526,652,629,652,0.400963585988,0.00449506217349,0.0698207563879,0.999999958295,3.39653923347e-05,-0.00028607356283,2.04621313214e-05,1793247809466815488
+13,0.216666667,BASELINE,765,745,715,679,658,633,877,784,810,652,629,652,0.40096331608,0.00449595743826,0.0698211336107,0.999999958512,3.55688002747e-05,-0.000285115631664,2.04949863385e-05,1793247809483482112
+14,0.233333333,BASELINE,765,745,715,679.118521331,658,633.118521331,877,784,809.881478669,652,629,652,0.40096304002,0.00449638556002,0.0698214700561,0.999999958709,3.63689346831e-05,-0.000284320653429,2.05284576027e-05,1793247809500148736
+15,0.250000000,BASELINE,765,745,715,679.694179693,658,633.694179693,877,784,809.305820307,652,629,652,0.40096228828,0.00449500381142,0.0698210481558,0.999999958545,3.33128586988e-05,-0.000285277718582,2.04083234252e-05,1793247809516815616
+16,0.266666667,BASELINE,765,744.731055593,715,679.731055593,658,633.731055593,877.268944407,784,809,652,629,652,0.400961894684,0.00449425556307,0.0698207266604,0.999999958385,3.2199089756e-05,-0.000285964826295,2.04384009169e-05,1793247809533481728
+17,0.283333333,BASELINE,765,744.15730373,715,679.15730373,658,633.15730373,877.84269627,784,809,652,629,652,0.40096190699,0.00449422529069,0.0698205189586,0.999999958236,3.32866297245e-05,-0.000286345978376,2.06387204276e-05,1793247809550147840
+18,0.300000000,BASELINE,765,744.429651761,715,679,658,633.429651761,877.570348239,784,809,652,629,652,0.400962463401,0.00449386567625,0.0698208571131,0.999999958479,3.35479396e-05,-0.00028546461864,2.0666175708e-05,1793247809566814464
+19,0.316666667,BASELINE,765,744.978857082,715,679.021142918,658,634,877,784,809,652,629,652,0.400963203748,0.00449339246074,0.0698213762078,0.999999958841,3.34930313574e-05,-0.000284200336817,2.06386852465e-05,1793247809583481088
+20,0.333333333,BASELINE,765,744.399295812,715,679.600704188,658,634,877,784,809,652,629,652,0.400963373971,0.00449320449949,0.0698212285544,0.999999958495,3.33290787767e-05,-0.000285417762332,2.08845484172e-05,1793247809600148736
+21,0.350000000,BASELINE,765,744.178431404,715,679.821568596,657.821568596,634,877,784,809,652,628.821568596,652,0.400963896425,0.00449338074376,0.0698215346341,0.999999958473,3.38370047523e-05,-0.000285422511461,2.10343838256e-05,1793247809616816128
+22,0.366666667,BASELINE,765,744.752096033,715,679.247903967,657.247903967,634,877,784,809,652,628.247903967,652,0.400965199086,0.00449436371892,0.0698228457522,0.999999959167,3.58331706201e-05,-0.000282741130124,2.09715135815e-05,1793247809633482496
+23,0.383333333,BASELINE,765,745,715,679,657.333649745,634,877,784,809,652,628.333649745,652,0.400964377135,0.00449491102503,0.0698223458042,0.999999959058,3.60166914327e-05,-0.00028312434484,2.0671571628e-05,1793247809650149120
+24,0.400000000,BASELINE,765,745,715,679,657.921207113,634,877,784,809,652,628.921207113,652,0.400961938354,0.00449512678689,0.0698204676342,0.999999958338,3.4820788657e-05,-0.000285839718412,2.01912179776e-05,1793247809666815744
+25,0.416666667,BASELINE,765,745,715,679.503207157,658,634,877,784.503207157,809,652.503207157,628.496792843,652.503207157,0.400962781601,0.00449522392546,0.0698213116261,0.999999958695,3.32367950588e-05,-0.000284788252349,2.00367267221e-05,1793247809683482880
+26,0.433333333,BASELINE,765,745,715,679.916316816,658.083683184,634,877,784.916316816,809.083683184,652.916316816,628,652.916316816,0.400963866828,0.00449520511679,0.069822410769,0.999999959125,3.220926355e-05,-0.000283394862441,2.00054181403e-05,1793247809700149760
+27,0.450000000,BASELINE,765,745,715,679.339747608,658.660252392,634,877,784.339747608,809.660252392,652.339747608,628,652.339747608,0.400963383515,0.00449461159513,0.0698225296381,0.999999959021,3.48132473876e-05,-0.000283423592688,2.04024000071e-05,1793247809716816128
+28,0.466666667,BASELINE,765,745,715,679,658.764134083,633.764134083,877,784,810,652,628,652,0.400963141127,0.00449444979048,0.0698224038869,0.99999995894,3.5831656762e-05,-0.000283566978674,2.06225438098e-05,1793247809733482240
+29,0.483333333,BASELINE,765,745,715,679,658.189891628,633.189891628,877,784,810,652,628,652,0.400963244373,0.00449490733312,0.0698219271998,0.999999958898,3.45753787211e-05,-0.000283874851383,2.05889932334e-05,1793247809750148608
+30,0.500000000,BASELINE,765.396450973,745,715,679.396450973,658,633.396450973,877,784,810,652,628.396450973,652,0.400963861386,0.00449474074883,0.0698221742886,0.999999958916,3.50879675592e-05,-0.0002837380524,2.07457400173e-05,1793247809766814976
+31,0.516666667,BASELINE,765.988771731,745,715,679.988771731,658,633.988771731,877,784,810,652,628.988771731,652,0.40096473223,0.0044942658096,0.0698227789646,0.999999958962,3.64744793143e-05,-0.000283381559791,2.09965047404e-05,1793247809783481856
+32,0.533333333,BASELINE,765.433649494,745,714.433649494,680,658,634,877,784,810,652,628.433649494,652,0.400964077462,0.00449466502699,0.069822330974,0.99999995906,3.38636569514e-05,-0.000283407487711,2.03114995667e-05,1793247809800148480
+33,0.550000000,BASELINE,765,745,714.143172236,679.856827764,658,634,877,784,810,652,628.143172236,652,0.400963375372,0.00449499527873,0.0698220269767,0.999999959101,3.25369267694e-05,-0.000283450812958,1.98896822952e-05,1793247809816815360
+34,0.566666667,BASELINE,765,745,714.718568363,679.281431637,658,634,877,784,810,652,628.718568363,652,0.400962619416,0.00449506633686,0.0698222190877,0.999999958977,3.53199321702e-05,-0.000283524351237,2.03169920328e-05,1793247809833481984
+35,0.583333333,BASELINE,765,745,715,679.300665827,658,634,877,784,809.699334173,652,629,652,0.400962408206,0.00449545216656,0.0698222667,0.999999958939,3.6778454138e-05,-0.000283463756048,2.04363194759e-05,1793247809850148608
+36,0.600000000,BASELINE,765,745,715,679.889178994,658,634,877,784,809.110821006,652,629,652,0.400962718518,0.00449613934797,0.069822175974,0.999999958989,3.69689605883e-05,-0.000283274746005,2.02607950903e-05,1793247809866814720
+37,0.616666667,BASELINE,765,745,715,679.529608256,658,633.529608256,877,784,809,652,629,652,0.400962792673,0.00449672029139,0.0698219203253,0.999999958842,3.74616976821e-05,-0.000283733710037,2.02160577306e-05,1793247809883481600
+38,0.633333333,BASELINE,765,745,715,679.049610743,658,633.049610743,877,784,809,652,629,652,0.400962829202,0.0044971193165,0.0698216641836,0.999999958673,3.7791525754e-05,-0.000284284073588,2.02276570273e-05,1793247809900147968
+39,0.650000000,BASELINE,765,745,715,679.625645676,658,633.625645676,877,784,809,652,629,652,0.400963047824,0.00449584951543,0.0698218087991,0.999999958767,3.56487120955e-05,-0.000284209172397,2.05150921532e-05,1793247809916814592
+40,0.666666667,BASELINE,765,745,715,679.798778098,658,634,877,784.201221902,809,652,629,652,0.400963483396,0.00449494608616,0.069822221905,0.999999958982,3.47297750332e-05,-0.000283554507016,2.06378312647e-05,1793247809933481216
+41,0.683333333,BASELINE,765,745,715,679.224053349,658,634,877,784.775946651,809,652,629,652,0.400964321661,0.00449472270676,0.0698231333754,0.999999959428,3.60825659298e-05,-0.000281823698468,2.0454865911e-05,1793247809950147840
+42,0.700000000,BASELINE,765,745,715,679,658,634,877,784.640061938,809,652,629,652,0.400964724018,0.00449452788765,0.069823339663,0.999999959492,3.7029121215e-05,-0.000281466972724,2.05231093232e-05,1793247809966814976
+43,0.716666667,BASELINE,765,745,715,679,658,634,877,784.050149831,809,652,629,652,0.400964847861,0.0044943513165,0.0698230953905,0.999999959315,3.77161216624e-05,-0.000281988185263,2.07518567346e-05,1793247809983482368
+44,0.733333333,BASELINE,765,745,715,679.530110954,658,634,877.530110954,784,809,652,629,652,0.400964995661,0.00449515289505,0.0698234251781,0.999999959545,3.61380998074e-05,-0.000281398338746,2.04730813377e-05,1793247810000149248
+45,0.750000000,BASELINE,765,745,715,680,658,634,877.891446606,784,809,652,629,652,0.400964749399,0.00449572731328,0.0698235689897,0.999999959656,3.46323002885e-05,-0.000281208436217,2.02607594825e-05,1793247810016815872
+46,0.766666667,BASELINE,765,745,715,680,658,634,877.31696016,784,809,652,629,652,0.400962802197,0.00449493663454,0.0698226856243,0.999999959105,3.43397681687e-05,-0.000283178256208,2.05360660421e-05,1793247810033482240
+47,0.783333333,BASELINE,765,745,715,679.736411714,658,634,877,784,809,652,629,652,0.400961561874,0.00449570784481,0.069821861062,0.999999958628,3.59929708566e-05,-0.00028465017068,2.05682815759e-05,1793247810050148864
+48,0.800000000,BASELINE,765,745,715,679.148402155,658,634,877,784,809,652,629,652,0.400961191572,0.00449840140907,0.0698211088735,0.999999958235,4.00409603576e-05,-0.000285509269328,2.03013036538e-05,1793247810066814976
+49,0.816666667,BASELINE,765,745,715,679.43299794,658,634,877.43299794,784,809,652,629,652,0.400962041859,0.00449673244428,0.0698220140596,0.999999958687,3.75801603752e-05,-0.000284246576146,2.04112744069e-05,1793247810083481600
+50,0.833333333,BASELINE,765,745,715,679.987837665,658,634,877.987837665,784.012162335,809.012162335,652,629,652,0.40096330078,0.00449367862322,0.0698234525636,0.999999959398,3.30333429325e-05,-0.000282289921094,2.06384957981e-05,1793247810100148224
+51,0.850000000,BASELINE,765,745,715,679.408880656,658,634,877.408880656,784.591119344,809.591119344,652,629,652,0.400964400695,0.00449471840947,0.0698236711808,0.99999995964,3.36692697584e-05,-0.00028137296821,2.03997279726e-05,1793247810116815104
+52,0.866666667,BASELINE,765,745,715,679.168227928,658,634,877,784.831772072,809.831772072,652,629,652,0.400965089786,0.00449576955085,0.0698238571028,0.999999959789,3.48143403246e-05,-0.000280722163552,2.01313215859e-05,1793247810133481984
+53,0.883333333,BASELINE,765,745,715,679.74089268,658,634,877,784.25910732,809.25910732,652,629,652,0.400964791217,0.00449684799103,0.0698239644221,0.999999959713,3.71834435029e-05,-0.000280711205994,1.97916611378e-05,1793247810150148864
+54,0.900000000,BASELINE,765,745,715,679.677114334,658,634,877,784.322885666,809.322885666,652,629,652,0.400963453185,0.00449620363256,0.0698231095977,0.999999959233,3.74371718495e-05,-0.000282375498952,1.99330581557e-05,1793247810166815744
+55,0.916666667,BASELINE,765,745,715,679.087413017,658,634,877,784.912586983,809.912586983,652,629,652,0.400961256196,0.00449413564425,0.0698214597086,0.999999958411,3.59428661073e-05,-0.000285424130408,2.04719756579e-05,1793247810183482368
+56,0.933333333,BASELINE,765,745,715,679,658,634,877.493004165,784.506995835,809.506995835,652,629,652,0.400961956098,0.00449403694238,0.0698220019801,0.999999958742,3.55070674174e-05,-0.000284302627689,2.06833092847e-05,1793247810200148992
+57,0.950000000,BASELINE,765,745,715,679.071435299,658,633.928564701,877.928564701,784,809,652,628.928564701,652,0.400963133516,0.00449433568019,0.0698229096236,0.999999959232,3.53426852605e-05,-0.000282585943096,2.07942664148e-05,1793247810216815616
+58,0.966666667,BASELINE,765,745,715,679.647251336,658,633.352748664,877.352748664,784,809,652,628.352748664,652,0.400964122917,0.00449502081706,0.0698237033875,0.999999959444,3.57940285996e-05,-0.000281790992452,2.05990220683e-05,1793247810233481984
+59,0.983333333,BASELINE,765.223107576,745,715,680,658,633.223107576,877.223107576,784.223107576,809.223107576,652,628.223107576,652.223107576,0.40096456531,0.00449514523399,0.0698240232458,0.99999995962,3.62296959531e-05,-0.000281110255171,2.05927789431e-05,1793247810250148608
+60,1.000000000,BASELINE,765.799027479,745,715,680,658,633.799027479,877.799027479,784.799027479,809.799027479,652,628.799027479,652.799027479,0.40096414269,0.00449438295366,0.0698235936912,0.99999995974,3.66405740756e-05,-0.000280610129665,2.08854138518e-05,1793247810266815488
+61,1.016666667,BASELINE,765.615786284,745,715,680,658,634,878,785,809.615786284,652,629,652.615786284,0.400964197171,0.00449450440968,0.06982357063,0.999999959754,3.61940559515e-05,-0.000280626555469,2.07485568879e-05,1793247810283482368
+62,1.033333333,BASELINE,765.025633307,745,715,680,658,634,878,785,809.025633307,652,629,652.025633307,0.40096450738,0.00449509955005,0.0698237654502,0.999999959712,3.52879718356e-05,-0.000280919853756,2.03814914718e-05,1793247810300149248
+63,1.050000000,BASELINE,765.554468431,745,715.554468431,680,658,634,877.445531569,784.445531569,809.554468431,652,629,652,0.400964927366,0.00449471461218,0.0698236735026,0.999999960005,3.43432554395e-05,-0.000280001577754,2.02219813044e-05,1793247810316815872
+64,1.066666667,BASELINE,765.86729031,745,715.86729031,680,658,634,877.13270969,784,810,652,629,652.13270969,0.400965042706,0.0044949258508,0.0698235629879,0.999999960104,3.46313751729e-05,-0.000279620662008,2.01224022281e-05,1793247810333482240
+65,1.083333333,BASELINE,765.29371349,745,715.29371349,680,658,634,877.70628651,784,810,652,629,652.70628651,0.400964129436,0.00449726545244,0.0698234340499,0.999999959496,3.90208555175e-05,-0.00028120763932,2.01906080925e-05,1793247810350148608
+66,1.100000000,BASELINE,765,745,715,680,658,634,877.712675179,784,810,652,629,652.712675179,0.400963681492,0.00449677630077,0.0698233562692,0.999999959338,3.91468620423e-05,-0.000281731884903,2.04477132383e-05,1793247810366814976
+67,1.116666667,BASELINE,765,745,715,680,658,634,877.123806153,784,810,652,629,652.123806153,0.400963721905,0.00449331840377,0.0698233321775,0.999999959656,3.47983999093e-05,-0.000281140805254,2.09030660757e-05,1793247810383481344
+68,1.133333333,BASELINE,765,745,715,680,658,634,877,784.457597567,810,652,629,652.457597567,0.400962379932,0.00449475604558,0.0698227259025,0.999999959202,3.69502936736e-05,-0.000282492390649,2.07128987476e-05,1793247810400147968
+69,1.150000000,BASELINE,765,745,715,679.963163523,658,634,876.963163523,784.963163523,809.963163523,652,629,652.963163523,0.400960819893,0.00449725463614,0.0698220373306,0.999999958581,4.0485452346e-05,-0.000284223639149,2.03788452745e-05,1793247810416814848
+70,1.166666667,BASELINE,765,745,715,679.386525513,658,634,876.386525513,784.386525513,809.386525513,652,629,652.386525513,0.40096145713,0.00449620239621,0.0698224139342,0.999999958722,3.89324537606e-05,-0.000283939944756,2.04545212608e-05,1793247810433482496
+71,1.183333333,BASELINE,765,745,715,679.1929401,658.1929401,634,876.1929401,784.1929401,809,652.1929401,629,652,0.400962411239,0.00449560663843,0.0698230007182,0.999999958987,3.75459172246e-05,-0.000283197561495,2.03920191458e-05,1793247810450149632
+72,1.200000000,BASELINE,765,745,715,679.778154734,658.778154734,634,876.778154734,784.778154734,809,652.778154734,629,652,0.400964009595,0.0044959389733,0.0698240148288,0.999999959505,3.64978213166e-05,-0.000281522598785,2.00485814042e-05,1793247810466816000
+73,1.216666667,BASELINE,765,745,715,680,658.640452646,634,877,784.640452646,809,652.640452646,629,652,0.400964007763,0.00449643942673,0.0698241115113,0.999999959508,3.68241784835e-05,-0.000281471079193,2.00401084565e-05,1793247810483482112
+74,1.233333333,BASELINE,765,745,715,680,658.061393487,634,877,784.061393487,809,652.061393487,629,652,0.40096302898,0.00449704252033,0.069823648083,0.999999959196,3.79896704508e-05,-0.000282410708503,2.0236139124e-05,1793247810500148480
+75,1.250000000,BASELINE,765,745,715,680,658,634,877,784,809,652,629,652,0.400963387913,0.00449609538559,0.0698238592323,0.999999959399,3.69635029546e-05,-0.00028181291773,2.04144607296e-05,1793247810516815104
+76,1.266666667,BASELINE,765,745,715,679.904226902,658,633.904226902,877,784,809,652,629,652,0.400964211078,0.00449523391637,0.0698242739991,0.999999959746,3.59867237396e-05,-0.000280698586609,2.05430770902e-05,1793247810533481728
+77,1.283333333,BASELINE,765,745,715,679.329000683,658,633.329000683,877,784,809,652,629,652,0.400966564038,0.00449572168902,0.0698253075981,0.999999960506,3.65584026819e-05,-0.000277911168651,2.04333763249e-05,1793247810550148352
+78,1.300000000,BASELINE,765,744.748804755,715.251195245,679,658.251195245,633.251195245,877,784.251195245,809,652,629,652,0.400967140701,0.00449538414779,0.0698255440335,0.999999960714,3.51468805863e-05,-0.000277356627548,2.0261030863e-05,1793247810566815232
+79,1.316666667,BASELINE,765,744.161968467,715.838031533,679,658.838031533,633.838031533,877,784.838031533,809,652,629,652,0.400965343916,0.00449394384196,0.0698247153181,0.999999960177,3.10854529227e-05,-0.000279785603012,2.00049810733e-05,1793247810583482112
+80,1.333333333,BASELINE,765,744.419479152,715.580520848,679.419479152,658.580520848,634,877,785,809,652,629,652,0.400964687251,0.004494995005,0.0698239751375,0.999999959905,3.27210839344e-05,-0.000280586335537,1.97679328077e-05,1793247810600149248
+81,1.350000000,BASELINE,765,744.998872547,715.001127453,679.998872547,658.001127453,634,877,785,809,652,629,652,0.400964465223,0.00449699596805,0.0698232687083,0.999999959727,3.65285527491e-05,-0.000280766347936,1.95381282999e-05,1793247810616816384
+82,1.366666667,BASELINE,765,745,715,680,658,634,877,784.423297402,809,652,628.423297402,652,0.400963701944,0.00449548743844,0.0698235261136,0.999999959476,3.68092344398e-05,-0.000281580990573,2.01346976009e-05,1793247810633482496
+83,1.383333333,BASELINE,765,745,715,680,658,634,877,784,809,652,628.153919092,652,0.400963251902,0.00449434124916,0.0698239150387,0.999999959401,3.68542600444e-05,-0.000281811028729,2.0545650154e-05,1793247810650148864
+84,1.400000000,BASELINE,765,745,715,680,658,634,877,784,809,652,628.729463369,652,0.400963662789,0.00449420634916,0.0698246590834,0.999999959811,3.6272597043e-05,-0.000280436291042,2.04437358943e-05,1793247810666815744
+85,1.416666667,BASELINE,765,745,715,680,658,634,877,784.311808886,809,652,628.688191114,652,0.400964504151,0.00449426984381,0.0698255680314,0.999999960173,3.61609643446e-05,-0.000279155254069,2.04732155008e-05,1793247810683482368
+86,1.433333333,BASELINE,765,745,715,680,658,634,877,784.900186952,809,652,628.099813048,652,0.400965727336,0.00449450931117,0.0698266232458,0.999999960492,3.64662405683e-05,-0.000277957328121,2.06192392389e-05,1793247810700148480
+87,1.450000000,BASELINE,765,745,715,680,658,633.519008562,877,785,809,652,628.480991438,652,0.400965034209,0.00449526069384,0.0698257326208,0.999999960223,3.68876223399e-05,-0.000278894354188,2.02834997191e-05,1793247810716815104
+88,1.466666667,BASELINE,765.059854036,745,715,680,658,633.059854036,877.059854036,784.940145964,809.059854036,652,629,652.059854036,0.400963972792,0.00449603921834,0.0698245744479,0.999999959866,3.72695316064e-05,-0.000280148127248,1.99137555526e-05,1793247810733482240
+89,1.483333333,BASELINE,765.635317259,745,715,680,658,633.635317259,877.635317259,784.364682741,809.635317259,652,629,652.635317259,0.400963111311,0.00449615062617,0.0698245360136,0.999999959805,3.71070711322e-05,-0.000280373161261,2.00989435591e-05,1793247810750149120
+90,1.500000000,BASELINE,765.789327278,745,715,679.789327278,658.210672722,634,877.789327278,784.210672722,810,652,629,652.789327278,0.400962414585,0.00449607578901,0.06982420656,0.999999959664,3.73788991331e-05,-0.000280827808366,2.02430864189e-05,1793247810766816000
+91,1.516666667,BASELINE,765.214158315,745,715,679.214158315,658.785841685,634,877.214158315,784.785841685,810,652,629,652.214158315,0.400962002912,0.00449567871933,0.0698233735984,0.999999959385,3.84021130658e-05,-0.000281679721441,2.03162148373e-05,1793247810783481856
+92,1.533333333,BASELINE,765,745,715,679,658.629128716,633.629128716,877,784.629128716,810,652,629,652,0.400963127986,0.00449600763582,0.0698238372462,0.999999959659,3.86216871072e-05,-0.000280684016952,2.01647516087e-05,1793247810800148224
+93,1.550000000,BASELINE,765,745,715,679,658.038249546,633.038249546,877,784.038249546,810,652,629,652,0.400965164688,0.00449676722105,0.0698250700671,0.99999996026,3.83645268047e-05,-0.000278592270725,1.9880056358e-05,1793247810816814848
+94,1.566666667,BASELINE,765,745,715,679,658,634.082281199,877,784.541140599,810,652,629,652,0.400962331835,0.00449685434137,0.0698231222366,0.999999959157,3.89179538812e-05,-0.000282450112774,1.98506362279e-05,1793247810833481728
+95,1.583333333,BASELINE,765,745,715,679,658,634.881020654,877.118979346,784.881020654,809.881020654,652,629,652.118979346,0.400960292155,0.00449697133288,0.0698218113041,0.999999958379,3.95077219903e-05,-0.000285107684384,1.9867813028e-05,1793247810850148352
+96,1.600000000,BASELINE,765,745,715,679,658,634.306079707,877.693920293,784.306079707,809.306079707,652,629,652.693920293,0.400962583761,0.00449738116763,0.0698237847949,0.999999959353,4.00217540721e-05,-0.000281587386214,1.99958513862e-05,1793247810866815488
+97,1.616666667,BASELINE,765,745,715,679.274635102,658.274635102,634,877.725364898,784.274635102,809.274635102,652.274635102,629,652.725364898,0.400962629236,0.00449724946606,0.0698239790648,0.999999959479,3.9071141102e-05,-0.000281273866377,2.00198832388e-05,1793247810883482368
+98,1.633333333,BASELINE,765,745,715,679.861923015,658.861923015,634,877.138076985,784.861923015,809.861923015,652.861923015,629,652.138076985,0.400960117647,0.00449650126332,0.0698221478163,0.999999958635,3.64531323864e-05,-0.000284611039076,1.9925510968e-05,1793247810900148992
+99,1.650000000,BASELINE,765,745,715,680,659,633.556849566,877,785,810,652.556849566,629,652,0.400960709102,0.00449693145276,0.0698225099553,0.999999958919,3.77298542414e-05,-0.000283447953361,1.99031276791e-05,1793247810916815360
+100,1.666666667,BASELINE,765,745,715,679.977561663,658.977561663,633.022438337,877,784.977561663,810,652.022438337,629,652,0.400962264486,0.00449768937701,0.0698235531051,0.999999959534,4.00795708715e-05,-0.000280944551816,1.9905636635e-05,1793247810933481728
+101,1.683333333,BASELINE,765,745,715,679.400169525,658.400169525,633.599830475,877,784.400169525,810,652.599830475,629,652,0.400964070338,0.00449759463919,0.0698247647948,0.999999959965,3.93586439849e-05,-0.000279503625074,1.99765184728e-05,1793247810950148352
+102,1.700000000,BASELINE,765,745.176239537,715,679.176239537,658,634,877,784,810,652.823760463,629,652,0.400965247898,0.00449713086935,0.0698256100086,0.999999960284,3.85176558077e-05,-0.000278469380002,2.00955884916e-05,1793247810966814976
+103,1.716666667,BASELINE,765,745.75042873,715,679.75042873,658,634,877,784,810,652.24957127,629,652,0.400965006771,0.00449583382359,0.0698256277177,0.999999960354,3.74055688023e-05,-0.00027835342414,2.03234676271e-05,1793247810983481600
+104,1.733333333,BASELINE,765,745.666352323,715,679.666352323,658,634,877,784,810,652,629,652,0.400963797426,0.00449632966141,0.0698250407495,0.999999959932,3.82169860018e-05,-0.000279763032868,2.02235102102e-05,1793247811000148480
+105,1.750000000,BASELINE,765,745.076191099,715,679.076191099,658,634,877,784,810,652,629,652,0.400961843699,0.004498203896,0.0698239888961,0.999999959123,4.05072231712e-05,-0.000282345519475,1.98715069534e-05,1793247811016815616
+106,1.766666667,BASELINE,765,745,715,679.504400615,658,634,877,784.504400615,810,652,629,652,0.400962670739,0.00449697849802,0.0698243202757,0.999999959643,3.76507976473e-05,-0.000280888712585,1.99404531851e-05,1793247811033482752
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652,629,653,0.400963771354,0.00449766953596,0.0698247788171,0.999999960072,4.03617653977e-05,-0.000278974126983,2.00185563788e-05,1793247811076709120
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.57347703,745,715,680,658,633.42652297,877,784,809.42652297,652,629,652.42652297,0.40096327875,0.00449713641401,0.0698245797821,0.999999959879,3.92828627856e-05,-0.000279820225297,1.99973776141e-05,1793247811093375744
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.850232929,745,715,679.850232929,658,633.149767071,877,784,809.149767071,652,629,652,0.400962647694,0.00449663494409,0.0698243052817,0.999999959659,3.85563259336e-05,-0.000280697926882,2.00776969139e-05,1793247811110042368
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.2657782,745,715,679.2657782,658,633.7342218,877,784,809.7342218,652,629,652,0.400961614794,0.00449622534164,0.0698238117484,0.999999959368,3.88525039456e-05,-0.000281667354778,2.04526067072e-05,1793247811126708736
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745.319901184,715.319901184,679.319901184,658,634,877,784.319901184,810,652,629,652,0.400962000475,0.00449682005447,0.0698240659848,0.999999959482,3.96542254622e-05,-0.000281160908302,2.02945296517e-05,1793247811143375104
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745.906601901,715.906601901,679.906601901,658,634,877,784.906601901,810,652,629,652,0.400963569262,0.00449825237236,0.0698249438659,0.999999959932,4.08775733189e-05,-0.000279423573562,1.96919382993e-05,1793247811160041728
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.517492427,715.517492427,679.517492427,658,634,877.482507573,785,809.517492427,652,628.517492427,652,0.400962914919,0.00449761787566,0.0698245776332,0.999999959636,3.93038530843e-05,-0.00028069467188,1.9833971514e-05,1793247811176708608
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.942119901,877.942119901,784.942119901,809.057880099,652,628.057880099,652,0.400962166768,0.00449658792825,0.0698241605497,0.999999959278,3.7403262017e-05,-0.000282205995152,2.01133581459e-05,1793247811193375232
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.352878518,877.352878518,784.352878518,809.647121482,652,628.647121482,652,0.400964421547,0.00449552001046,0.0698254390821,0.9999999597,3.73635741186e-05,-0.000280693590851,2.03594380515e-05,1793247811210041856
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.232431106,658,633.232431106,877,784,810,652,629,652,0.400973059801,0.00449457664762,0.0698293135399,0.999999961506,3.65370646135e-05,-0.0002742924502,2.04005263464e-05,1793247811226708224
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.81187075,658,633.81187075,877,784,810,652,629,652,0.400991228278,0.00449381923944,0.0698370635901,0.999999965247,3.45358680385e-05,-0.000260592659838,2.01355719352e-05,1793247811243374592
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.610467666,658,633.610467666,877,784,809.610467666,652,629,652,0.401027620191,0.00449419232674,0.069852087244,0.999999971735,3.4017477163e-05,-0.000234465472308,1.99748169886e-05,1793247811260041216
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.033660864,658,633.033660864,877,784,809.033660864,652,629,652,0.40107277334,0.00449510891941,0.0698706078103,0.999999978742,3.42119708006e-05,-0.000202363595298,1.98641577137e-05,1793247811276708352
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.541401538,877,784,809,652,629,652,0.401136319756,0.00449533880574,0.0698887363449,0.999999983626,3.34636643202e-05,-0.000176770466765,1.95141393499e-05,1793247811293374976
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.119119286,658.119119286,634,877,784,809,652,629,652,0.401202479867,0.004495476172,0.0699046130804,0.999999987363,3.28871665346e-05,-0.000154368430612,1.90558545853e-05,1793247811310041600
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.707728934,658.707728934,634,877,784,809,652,629,652,0.401274448725,0.00449541661989,0.0699117104595,0.999999989064,3.32181150101e-05,-0.000142953757097,1.82293203509e-05,1793247811326708480
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.708017015,715,680,658.708017015,634,877,784,809.291982985,652,629,652,0.40135548847,0.00449535543907,0.0699152688181,0.999999990034,3.14145250873e-05,-0.000136625344843,1.67053699683e-05,1793247811343375104
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.128058813,715,680,658.128058813,634,877,784,809.871941187,652,629,652,0.401445474588,0.0044952926519,0.0699153367324,0.999999990362,2.75056954822e-05,-0.000135313380379,1.44935762419e-05,1793247811360041728
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.447896045,715,680,658,634,877,784,810,652,629,652,0.401548503428,0.00449758559207,0.0699126868643,0.999999989677,2.81940471602e-05,-0.000140378404693,1.20354702855e-05,1793247811376708352
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.023201219,809.976798781,652,629,652,0.401656684007,0.00450041011223,0.0699095088766,0.999999988727,2.9878676047e-05,-0.000146842967556,9.49367051024e-06,1793247811393374976
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.610288754,809.389711246,652,629,652,0.401800244321,0.00449992966149,0.069912213546,0.999999989405,2.41148660857e-05,-0.000143401971539,6.61418539168e-06,1793247811410041856
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.805232328,658,633.805232328,877,784.805232328,809.194767672,652,629,652,0.401955092096,0.00450027170525,0.0699151072788,0.999999990062,2.01515000937e-05,-0.000139495179056,3.36016932604e-06,1793247811426708480
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.225904085,658,633.225904085,877,784.225904085,809.774095915,652,629,652,0.402132226474,0.00450223772983,0.0699183743091,0.999999990737,1.97430356299e-05,-0.000134668691466,-6.33341990546e-07,1793247811443375104
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.352758762,658,633.352758762,877,784.352758762,810,652,629,652,0.402328282507,0.00450301303475,0.0699220953566,0.999999991585,1.59458006148e-05,-0.000128659784627,-4.81488040709e-06,1793247811460042240
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.930996354,658,633.930996354,877,784.930996354,810,652,629,652,0.402536433034,0.00450302724728,0.0699261066062,0.999999992479,9.98250733854e-06,-0.000121895090247,-9.1166037017e-06,1793247811476709376
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.505575353,715,680,658.505575353,634,877,784.494424647,809.494424647,652,628.494424647,652,0.402778859232,0.00450592641779,0.0699290541518,0.999999993089,6.25997138924e-06,-0.000116498796026,-1.45092491309e-05,1793247811493375488
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.08174948,745.91825052,715,679.91825052,658.91825052,634,877,784,809,652,628.08174948,652,0.403032311299,0.0045088218693,0.0699322784124,0.999999993711,2.24747537243e-06,-0.000110330617044,-2.00088462144e-05,1793247811510041600
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.670901562,745.329098438,715,679.329098438,658.329098438,634,877,784,809,652,628.670901562,652,0.403325371231,0.00450926784216,0.0699381148178,0.999999994843,-5.44933741737e-06,-9.82206077379e-05,-2.5254751868e-05,1793247811526708224
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.744299908,745,715,679.255700092,658,634,877,784,809.255700092,652,629,652,0.403637286838,0.00451100535108,0.069946445099,0.999999996048,-1.01615430144e-05,-8.29361452546e-05,-3.0384461795e-05,1793247811543374848
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.165010844,745,715,679.834989156,658,634,877,784,809.834989156,652,629,652,0.403973064319,0.00451437730141,0.0699579313848,0.999999997288,-1.10967218331e-05,-6.36344067095e-05,-3.53671254828e-05,1793247811560041472
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652.412708262,629,652,0.404324998637,0.00451761590089,0.0699606422685,0.999999997464,1.01022906845e-05,-6.17693758224e-05,-3.39663258215e-05,1793247811576707840
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652.989802026,629,652,0.404683368364,0.00452080138542,0.0699598578285,0.99999999651,4.01175554646e-05,-6.68495465921e-05,-3.00229337784e-05,1793247811593374464
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652.439711093,629,652,0.4050888387,0.00452595509699,0.0699649266492,0.999999996041,5.93123254615e-05,-5.86878128075e-05,-3.09294513209e-05,1793247811610041856
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.863965542,877,784,810,652,629,652,0.405505531269,0.00452719762563,0.0699689480539,0.99999999553,7.30399551649e-05,-5.10815224946e-05,-3.15646638179e-05,1793247811626709248
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.270122668,877,784,810,652,629,652,0.405957139403,0.00451515835699,0.06996909014,0.999999996073,6.90236229285e-05,-4.61461860579e-05,-3.09932144321e-05,1793247811643375616
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.315872645,877,784,810,652,629,652.315872645,0.406413537008,0.00450103416663,0.0699586484618,0.999999996721,4.05281369712e-05,-6.3658357907e-05,-2.93619546669e-05,1793247811660041984
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.895319763,877,784,810,652,629,652.895319763,0.406873931154,0.00448517024803,0.0699393753444,0.999999994614,-8.39355656667e-06,-9.9901464608e-05,-2.68463542892e-05,1793247811676708352
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.528005122,658,634,877.471994878,784,810,652,629,653,0.407392772186,0.00449411986677,0.0699301050624,0.999999993294,-2.48441923851e-05,-0.000109338110887,-2.89856511869e-05,1793247811693374720
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679.048887395,658.09777479,634,878,784,810,651.951112605,629,652.951112605,0.40793122137,0.00450772279048,0.0699248500908,0.999999992939,-3.12122229227e-05,-0.000110096727284,-3.20278211541e-05,1793247811710041344
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.634883815,659.269767631,634,878,784,810,651.365116185,629,652.365116185,0.408543515941,0.00451234112517,0.0699394788617,0.999999996181,-5.46474800391e-06,-8.04493751238e-05,-3.37134232505e-05,1793247811726707968
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.781597382,634,877.781597382,784,810,651.218402618,629,652.218402618,0.409160100854,0.00451747381069,0.0699502068481,0.999999997682,1.37287604976e-05,-5.65193999217e-05,-3.54034016078e-05,1793247811743374592
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.202174131,634,877.202174131,784,810,651.797825869,629,652.797825869,0.40978377769,0.00452345672049,0.069954486817,0.999999998184,2.20885277316e-05,-4.20402797436e-05,-3.71006139088e-05,1793247811760041216
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.624383127,745,715,680,659,633.624383127,877.375616873,784,810,652,629,652.624383127,0.410418387055,0.00453324420405,0.0699513661973,0.99999999768,3.35113029905e-05,-4.53253865125e-05,-3.82527898575e-05,1793247811776707840
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.04746689,745,715,680,659,633.04746689,877.95253311,784,810,652,629,652.04746689,0.411058855324,0.00454507062212,0.0699442794784,0.999999996461,4.65755951902e-05,-5.81306399883e-05,-3.91128716503e-05,1793247811793374464
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.527339496,745,715,680,659,633,878,784,810,651.472660504,629,652,0.411761147346,0.00454863876837,0.069955845811,0.999999996715,5.73937569802e-05,-4.0766004274e-05,-4.01703845347e-05,1793247811810041344
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.10469128,745,715,680,659.10469128,633,878,784,810.10469128,651.10469128,629,652,0.41248320292,0.00455263318967,0.0699734059007,0.999999996876,6.60716488256e-05,-1.38932683323e-05,-4.11145577545e-05,1793247811826707968
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.694719982,745,715,680,659.694719982,633,878,784,810.694719982,651.694719982,629,652,0.413271184589,0.00456203610313,0.0700109997558,0.999999995988,6.57610216795e-05,4.45186814851e-05,-4.14512433405e-05,1793247811843374336
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.720508264,745,715,680,659.720508264,633.279491736,878,784,810.720508264,652,629,652,0.414038915777,0.00457011658048,0.0700266999441,0.999999994213,7.42433942796e-05,6.57644888925e-05,-4.16870696339e-05,1793247811860040960
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.141372429,745,715,680,659.141372429,633.858627571,878,784,810.141372429,652,629,652,0.414784936449,0.00457677927046,0.070018927858,0.999999993767,9.2152773755e-05,4.71643482509e-05,-4.18147644522e-05,1793247811876707584
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.565123804,715,679.565123804,659,634,878,784,810.434876196,652,629.434876196,652.434876196,0.415516366585,0.00458441917328,0.0699690597062,0.999999992945,0.000104506252637,-3.58186555496e-05,-4.36544129243e-05,1793247811893374464
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.010203357,715,679.010203357,659.010203357,633.989796643,878,784,811,652,629.989796643,652.989796643,0.416245212124,0.00459234307529,0.0699068770269,0.9999999829,0.000114784831066,-0.000137494279649,-4.6030866302e-05,1793247811910040832
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,744.586139041,715,679.586139041,659.586139041,633.413860959,878,784,811,652,629.413860959,652.413860959,0.417092010238,0.00459851578346,0.0699156692485,0.999999985339,0.000109501898454,-0.000122770585227,-4.75170162038e-05,1793247811926707712
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878,784,811,652,629,652.16624244,0.417951195275,0.00460415734069,0.069931570181,0.999999987985,0.000110475801918,-9.74087524294e-05,-4.83441185821e-05,1793247811943374336
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878,784,811,652,629,652.756988144,0.418842010511,0.00460844259343,0.0699656233425,0.999999989746,0.0001274266566,-4.48822297591e-05,-4.74883302972e-05,1793247811960040960
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878,784,811,652,629,653,0.419745200184,0.00461076660684,0.0699957680957,0.999999990377,0.000130282585727,1.40968944493e-06,-4.7646581295e-05,1793247811976707584
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878,784,811,652,629,653,0.420657037623,0.00461172001905,0.0700231814782,0.999999990284,0.000123288355197,4.33445890582e-05,-4.85134879456e-05,1793247811993374208
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680.493260599,660.493260599,633,878,784,811,651.506739401,629.493260599,653,0.421554051671,0.0045926539205,0.0700294647529,0.999999992426,0.000101140179453,4.99992802393e-05,-4.9186043867e-05,1793247812010040832
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.861416798,633,878.069291601,784,811,651,629.930708399,653,0.422437362726,0.00457197791044,0.0700236490125,0.999999994967,7.87453491475e-05,3.7296949633e-05,-4.97398651401e-05,1793247812026707456
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.68420324,633,878.65789838,784,811,651,629.34210162,653,0.423236238652,0.00456390271675,0.0699531904761,0.999999993125,7.31734718992e-05,-7.70096126827e-05,-4.96432771578e-05,1793247812043374080
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.757536195,659.242463805,633,879,784,811,651.242463805,629,653,0.424082797764,0.00456537180017,0.0698923211217,0.999999982379,6.74780409647e-05,-0.000167197029038,-5.22813031714e-05,1793247812060040704
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.178579307,659.821420693,633,879,784,811,651.821420693,629,653,0.424995532076,0.00458008650162,0.0698447596954,0.99999997131,6.16111413818e-05,-0.000223911731479,-5.87144475331e-05,1793247812076707328
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.400525062,661.201575185,633,878.599474938,784,811,652,629.400525062,653,0.425962188778,0.00458591212945,0.0698761891298,0.999999980469,7.41463655296e-05,-0.000174140425862,-5.6909293403e-05,1793247812093373952
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.979695175,662.939085526,633,878.020304825,784,811,652,629.979695175,653,0.426952896277,0.00458777298822,0.0699428506355,0.999999991221,9.48894362745e-05,-7.68734648853e-05,-5.14296336684e-05,1793247812110040832
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.892383461,633,878.55380827,784,811.55380827,652,630,653,0.427931768397,0.00459174841212,0.0699937384457,0.999999993584,9.98105451282e-05,-9.84491684013e-06,-5.26563841373e-05,1793247812126707712
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.86910307,633,879,784,812,652,630,653,0.42890267682,0.00459504431764,0.0700369650467,0.999999992059,0.000101942526386,5.05672856424e-05,-5.41611241084e-05,1793247812143374080
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.280978906,633,879,784,812,652,630,653,0.42984726976,0.00459569828436,0.070055432627,0.999999989598,9.63399552301e-05,9.17059214964e-05,-5.57857826394e-05,1793247812160040704
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.697312242,660.605375515,633,879,784,812,652,630,653,0.430743667599,0.00459742031419,0.0700276587029,0.999999992519,9.83179063705e-05,4.66850275403e-05,-5.5818280405e-05,1793247812176707584
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.117723366,661.764553268,633,879,784,812,652,630,653,0.431595976132,0.00460011941643,0.0699575826893,0.999999989795,0.000107230577649,-7.71552784907e-05,-5.43942564167e-05,1793247812193374208
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.459865057,661.080269886,633,879,784,812.459865057,652,630,653,0.432454399853,0.00460054748159,0.0699045022108,0.999999979715,0.000107519164033,-0.000160936354845,-5.57613456167e-05,1793247812210040576
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.036636015,745,715,681,660.036636015,633,879,784,813,652,630,653,0.433321900429,0.0045998941981,0.0698631575095,0.999999968167,0.000105110944206,-0.00022199918985,-5.77400978479e-05,1793247812226707456
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.608909404,745,715,681,660.608909404,633,879,784,813,652,630,653,0.434299319627,0.00459189423017,0.0699300608362,0.999999988732,9.5412328798e-05,-0.000100193272471,-5.82603866196e-05,1793247812243374336
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.812538191,745,715,681,661.187461809,633,879,784,813,651.812538191,630,653,0.435255097481,0.00458359246257,0.0699868544744,0.999999994673,8.5379815639e-05,-5.32027909402e-07,-5.80071005419e-05,1793247812260040960
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.220432155,745,715,681,661.779567845,633,879,784,813,651.220432155,630,653,0.436164161767,0.00457463924614,0.0700218259361,0.999999994325,7.4626570662e-05,5.13290264518e-05,-5.60840220769e-05,1793247812276707584
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.363317545,745,715,681,661.27336491,633,879,784,813,651.363317545,630,653,0.437067014582,0.00457135718412,0.0700300800494,0.999999993492,6.90315933045e-05,7.09018634861e-05,-5.67831228271e-05,1793247812293374464
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.94211124,745,715,681,660.11577752,633,879,784,813,651.94211124,630,653,0.437966183447,0.00457143856746,0.0700224886518,0.999999993503,6.64958789133e-05,7.13252210816e-05,-5.90373842186e-05,1793247812310041088
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,681.517068729,661.034137457,633,879,784,813,652,630,653,0.438741101051,0.00457916005078,0.0699667559412,0.999999995369,7.44534126068e-05,-9.43821652325e-06,-6.02456979092e-05,1793247812326707712
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.906266387,745,715,681.906266387,661.812532775,633,879,784,813.093733613,652,630,653,0.439495093185,0.00458654770564,0.0699076152142,0.999999989874,8.2206094546e-05,-9.88729021523e-05,-6.09828511214e-05,1793247812343374336
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.318352173,745,715,681.318352173,660.636704347,633,879,784,813.681647827,652,630,653,0.440211561684,0.00458769899465,0.0698587129732,0.999999977404,8.27307320308e-05,-0.000186456347942,-5.98487872574e-05,1793247812360040960
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.265709205,745,715,681.265709205,660.265709205,633,879,784,814,651.734290795,630,653,0.440999212286,0.00458797871809,0.0698580065759,0.999999976709,8.29415443866e-05,-0.000190201532128,-5.93884984731e-05,1793247812376707840
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.845220353,745,715,681.845220353,660.845220353,633,879,784,814,651.154779647,630,653,0.441870928733,0.00458722912457,0.0699142193596,0.999999990284,8.27817300005e-05,-9.49339217376e-05,-5.97239365665e-05,1793247812393374464
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.576000438,745.423999562,715,682,661.423999562,633,879,784,814,651.423999562,630,653,0.442711172111,0.00458778858063,0.0699762644447,0.999999994641,8.50635253952e-05,-3.73170424958e-06,-5.8886387641e-05,1793247812410041088
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.002489647,745.997510353,715,681.997510353,661.997510353,633,879,784,814,652,630,653,0.443539378224,0.00458882403875,0.0700401158597,0.999999990797,8.81857301249e-05,8.54926676947e-05,-5.76268144119e-05,1793247812426707712
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.575834459,745.424165541,715,681.424165541,661.424165541,633,879,784,814,652,630,653,0.444237348424,0.0045896213158,0.070030807445,0.999999993286,7.99909799523e-05,6.09076830952e-05,-5.76130368471e-05,1793247812443374336
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.152917003,661,633,879,784,814,652,630.152917003,653,0.444918102912,0.00459003968266,0.0700145977313,0.999999995147,7.4402640593e-05,2.93141567398e-05,-5.75466911643e-05,1793247812460040960
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.740627276,661,633,879,784,814,652,630.740627276,653,0.445549907636,0.00458938068355,0.0699787653551,0.999999995205,7.62251814639e-05,-2.22069616863e-05,-5.73308770507e-05,1793247812476707584
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,682,661,633,879,784,814,652,630.674872675,652.674872675,0.446175972955,0.00459017986946,0.0699514702449,0.999999993263,8.25508511185e-05,-5.86826349727e-05,-5.66986414372e-05,1793247812493374208
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,682,661,633,879,784,814,652,630.092908601,652.092908601,0.446797504351,0.00459213095951,0.0699309192137,0.999999990707,9.24338008045e-05,-8.32730439216e-05,-5.57374506318e-05,1793247812510041088
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.517036644,745,715,682,661,633,879,784,814,652,630.482963356,652.482963356,0.447377955806,0.00459401911624,0.0699150670681,0.999999986918,9.63575151521e-05,-0.000117250891887,-5.59630815991e-05,1793247812526707456
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660.941140731,633,879,784,814,652,630.941140731,653,0.44794773252,0.00459575254955,0.0699017501391,0.999999982386,9.91951077426e-05,-0.000149039814031,-5.63527142841e-05,1793247812543374336
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660.354655305,633,879,784,814,652,630.354655305,653,0.448491777032,0.00459620618561,0.0699031572899,0.999999982629,0.000102444942244,-0.000145220163889,-5.61913590643e-05,1793247812560041216
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681.771004564,660.228995436,632.771004564,879,784,814,652,630.228995436,653,0.449031233911,0.00459752599304,0.0699117460648,0.999999983963,0.00010872150421,-0.000131039977677,-5.55150224943e-05,1793247812576708096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681.191690397,660.808309603,632.191690397,879,784,814,652,630.808309603,653,0.449563672548,0.00460017087514,0.0699313213356,0.999999986282,0.000119628373491,-0.00010101017515,-5.40508640267e-05,1793247812593374464
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.383768887,745,715,681.383768887,660.616231113,632.383768887,879.383768887,784,814,652,631,653,0.450054314356,0.00460187632719,0.0699406739142,0.999999986857,0.000126477694522,-8.58240120005e-05,-5.40680960863e-05,1793247812610041344
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.957321877,745,715,681.957321877,660.042678123,632.957321877,879.957321877,784,814,652,631,653,0.450524286549,0.0046031172059,0.0699449710965,0.999999986835,0.00013132044911,-7.79784277e-05,-5.48179157482e-05,1793247812626707968
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.469330069,745,715,682,659.469330069,632.469330069,880,784,814.530669931,652,630.469330069,653,0.450901952384,0.00460342877779,0.0699074037209,0.999999979232,0.000137599140677,-0.000140169039661,-5.43539679637e-05,1793247812643374592
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.107980588,745,715,682,658.892019412,632,880,784,814.892019412,652,630,653,0.451267601275,0.00460409217028,0.0698683722939,0.999999967464,0.00014498192765,-0.000202902824532,-5.36824253704e-05,1793247812660041216
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.703247927,745,715,682,658.296752073,632,880,784,814.296752073,652,630,653,0.451612508695,0.00460668037338,0.0698379219206,0.999999956877,0.000156826258891,-0.000242679582823,-5.25144045465e-05,1793247812676707584
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,714.708840156,682.291159844,658,632,879.708840156,783.708840156,814,652,630.291159844,653,0.451952347903,0.00460918599438,0.0698178561821,0.999999950325,0.00016026200052,-0.00026616870255,-5.31117055175e-05,1793247812693374464
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,714.128240253,682.871759747,658,632,879.128240253,783.128240253,814,652,630.871759747,653,0.452287148815,0.00461160952092,0.0698081137415,0.999999949005,0.000155338818738,-0.000273466387241,-5.5463901254e-05,1793247812710041088
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,714,682.553756518,657.553756518,632,879,783,814.446243482,652,630.553756518,652.553756518,0.452594121436,0.00461199134265,0.0698056389647,0.999999955059,0.000105517186383,-0.000274641951903,-5.7610829451e-05,1793247812726707968
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714.019120759,682.019120759,657,632,879,783,814.980879241,652,630,652.019120759,0.452891669781,0.00461181012386,0.0698050434951,0.999999959502,4.53213101614e-05,-0.000274563579255,-5.96351725399e-05,1793247812743375104
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714.59571343,682.59571343,657,632,879,783,814.40428657,652,630,652.59571343,0.453144459488,0.00461208856936,0.0697991704485,0.999999955144,5.3759927712e-05,-0.000288527414648,-5.97821106256e-05,1793247812760041472
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.823515448,745,715,682.823515448,657,632,879,783.176484552,814,652,630.176484552,653,0.453388396716,0.00461183970856,0.0697957040033,0.999999952123,6.23466687617e-05,-0.000297259321392,-5.9192201135e-05,1793247812776708096
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.232940395,745,715,682.232940395,657,632,879,783.767059605,814,652,630.767059605,653,0.453611563096,0.00461035361463,0.0697978842336,0.999999952708,7.1280954842e-05,-0.000293715409861,-5.68734061496e-05,1793247812793375232
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.350940154,745,715,682,657,632,879.350940154,783.649059846,814.350940154,652,630.649059846,653,0.453814956142,0.00461100260255,0.0697992346825,0.999999952467,8.89387819522e-05,-0.000290486957334,-5.26570379974e-05,1793247812810042112
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.93046039,745,715,682,657,632,879.93046039,783.06953961,814.93046039,652,630.06953961,653,0.454005470117,0.00461304224675,0.0698000446647,0.999999951265,0.000112278569318,-0.000287463974251,-4.72047112054e-05,1793247812826708736
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.498697932,745,715,681.498697932,656.498697932,631.498697932,879.498697932,783,815,652,630,653,0.45416441252,0.00461409998892,0.0698021049439,0.999999950999,0.000115518926991,-0.000287056180999,-4.75072960916e-05,1793247812843375104
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.926108746,681.073891254,656.073891254,631,879.073891254,783,814.926108746,652,630,653,0.454314419498,0.00461460508418,0.0698034138163,0.999999950566,0.000115742328302,-0.000288298869303,-4.85388345477e-05,1793247812860041472
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714.332921436,681.667078564,656.667078564,631,879.667078564,783,814.332921436,652,630,653,0.454431884774,0.0046121672195,0.0697982437642,0.999999947699,0.000114024279701,-0.00029863474998,-4.91784238835e-05,1793247812876707840
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,682.254105555,656.745894445,631,879.745894445,783,814.254105555,652,630.254105555,653,0.45453979235,0.00461083416131,0.0697932658316,0.999999944842,0.000113136276264,-0.000308260048144,-4.99251886188e-05,1793247812893374464
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,682.833252484,656.166747516,631,879.166747516,783,814.833252484,652,630.833252484,653,0.454635474102,0.00461091432627,0.069788533651,0.999999942053,0.000113310032564,-0.000316976397779,-5.08090476805e-05,1793247812910041344
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.410081695,745,714.410081695,682.589918305,656.410081695,631.410081695,879,783,814.589918305,652,631,653,0.454714307311,0.00460970660454,0.0697843494773,0.999999939796,0.000110886017519,-0.00032478428397,-5.12520019202e-05,1793247812926708224
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.985973757,745,714.985973757,682.014026243,656.985973757,631.985973757,879,783,814.014026243,652,631,653,0.454786328064,0.0046079781452,0.0697803868822,0.999999937718,0.000107411632686,-0.000332224846402,-5.15166829017e-05,1793247812943375360
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,682,656.441543717,631.441543717,879,783.558456283,814.558456283,652,631,653,0.454839296628,0.00460335329112,0.0697761626067,0.999999935404,0.000104364898828,-0.000340059094419,-5.15778114413e-05,1793247812960041984
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714.864303527,682,656,631,879,783.864303527,814.864303527,652,631,653,0.454889284235,0.0045973775042,0.0697727404205,0.999999933709,9.96445377614e-05,-0.000346415793653,-5.14694185164e-05,1793247812976708608
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,714.270722317,682,656,631,879,783.270722317,814.270722317,652,631,653,0.454930817968,0.00458708720435,0.0697720467923,0.999999934261,8.9240782624e-05,-0.000347753591085,-5.08061505375e-05,1793247812993375232
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,714,682,656,631,879,783,814.314753294,651.685246706,630.685246706,653,0.454965124183,0.00457626172838,0.069772163383,0.999999935003,7.77672530518e-05,-0.000348470154105,-5.01384148561e-05,1793247813010041600
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,714,682,656,631,879,783,814.893432294,651.106567706,630.106567706,653,0.454993370014,0.00456498749748,0.0697729593553,0.999999935854,6.53966992302e-05,-0.00034866580219,-4.94669328583e-05,1793247813026707968
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.53003305,745,714,682.46996695,656,631.46996695,879,783.46996695,815,651,630,653,0.455012580177,0.00456555745622,0.0697724466852,0.999999935702,6.68169205755e-05,-0.000348796641176,-4.97158404544e-05,1793247813043374592
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.046836907,714.046836907,682.953163093,656,632,879,783.953163093,814.953163093,651.046836907,630,652.953163093,0.455029122602,0.00456861929106,0.0697716618295,0.999999935314,7.11471757851e-05,-0.000349004995574,-5.00621507084e-05,1793247813060041216
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.63314444,714.63314444,682.36685556,656,632,879,783.36685556,814.36685556,651.63314444,630,652.36685556,0.455038429913,0.0045695887192,0.0697711442923,0.999999934772,7.31404178985e-05,-0.000350274676575,-4.91374077065e-05,1793247813076707840
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.216849361,745.783150639,714.783150639,682.216849361,656,631.783150639,879.216849361,783,814,652,630.216849361,652.216849361,0.455045876663,0.00456919944993,0.0697702149518,0.999999934155,7.3841234469e-05,-0.000352008044999,-4.8257643564e-05,1793247813093374464
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.796203488,745.203796512,714.203796512,682.796203488,656,631.203796512,879.796203488,783,814,652,630.796203488,652.796203488,0.455050213131,0.00456653886063,0.069768597204,0.999999933414,7.23815169225e-05,-0.000354516554666,-4.74530701562e-05,1793247813110041088
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,714.952048945,682.047951055,656,631,880,783,814.952048945,652,631,653,0.455053329996,0.00456809244821,0.0697654317247,0.999999931493,7.44925870692e-05,-0.000359504432193,-4.7130548149e-05,1793247813143373824
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714.471677999,682.528322001,656,631,880,783,815,652,630.471677999,653,0.45505731821,0.0045676049627,0.0697671366559,0.999999932558,7.50080695786e-05,-0.000356487301094,-4.66294259509e-05,1793247813160040704
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.893502299,745,714.106497701,683,656,631,879.893502299,783,814.893502299,652,630,652.893502299,0.455060303207,0.00456710014662,0.0697682898255,0.9999999333,7.52057583664e-05,-0.000354415041766,-4.62065861701e-05,1793247813176707584
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.306187281,745,714.693812719,683,656,631,879.306187281,783,814.306187281,652,630,652.306187281,0.455057523417,0.00456733367975,0.0697656111803,0.999999931768,7.44088100062e-05,-0.000358859968664,-4.63322049314e-05,1793247813193374464
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.722666665,682.722666665,656,631,879.277333335,783,814.277333335,652,630,652.277333335,0.455057133645,0.00456741616237,0.0697647889841,0.999999931367,7.34910274525e-05,-0.000360154385811,-4.64125555413e-05,1793247813210041088
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.143278608,682.143278608,656,631,879.856721392,783,814.856721392,652,630,652.856721392,0.455059346938,0.00456733412992,0.0697659887198,0.999999932209,7.24416394927e-05,-0.000358017458539,-4.64436028305e-05,1793247813226707712
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.429939103,745,714.429939103,682,656,631,880,783.429939103,815,652,630,653,0.45506065606,0.0045677768419,0.0697666675073,0.999999932366,7.23677428915e-05,-0.000357640763455,-4.60814248183e-05,1793247813243374080
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715,682.001143673,656,631,880,784,815,652,630.001143673,653,0.455061664365,0.00456839255258,0.0697671701064,0.999999932297,7.26161750974e-05,-0.000357845523885,-4.55915469245e-05,1793247813260040960
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+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714.24672358,682.24672358,655.24672358,631,880,784,814.24672358,652,630.24672358,653,0.455061238148,0.00456975121334,0.0697641925697,0.99999993109,7.52713364566e-05,-0.000360622998877,-4.58926122601e-05,1793247813310040832
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+246,4.100000000,HOLD_POSE2,765.419852584,745,714.419852584,682.580147416,656,631,879.580147416,783.419852584,814,652,630,653,0.455059713281,0.00456855239267,0.0697622885496,0.999999930213,7.49599240834e-05,-0.000363267640933,-4.46324146409e-05,1793247813419844864
+247,4.116666667,HOLD_POSE2,765,745,714.159658411,682.840341589,656,631,880,783.159658411,814,652,630,653,0.455059525505,0.00457001770827,0.0697617823647,0.999999929757,7.62718796074e-05,-0.00036423351926,-4.47412586585e-05,1793247813436510976
+248,4.133333333,HOLD_POSE2,765,745,714.737502583,682.262497417,656,631,880,783.737502583,814,652,630,653,0.455059222107,0.00456904282097,0.0697620379779,0.999999929431,7.58562168386e-05,-0.000365273933094,-4.42534940761e-05,1793247813453177600
+249,4.150000000,HOLD_POSE2,765,745,714.687670147,682.312329853,656,631,880,783.687670147,814,652,630,653,0.455060051114,0.00456828327983,0.0697629406559,0.999999929837,7.5162619799e-05,-0.000364318094156,-4.41571509943e-05,1793247813469844224
+250,4.166666667,HOLD_POSE2,765,745,714.115354208,682.884645792,656,631,880,783.115354208,814,652,630,653,0.455061822747,0.00456770299477,0.0697643819563,0.999999930846,7.42376678789e-05,-0.00036170055698,-4.4386630604e-05,1793247813486510592
+251,4.183333333,HOLD_POSE2,765,745,714,682.528673391,656,631,879.528673391,783,814.471326609,652,630,653,0.455063234696,0.00456700642679,0.0697646211232,0.999999931338,7.16415567268e-05,-0.000360842103748,-4.45565774846e-05,1793247813503177216
+252,4.200000000,HOLD_POSE2,765.060543604,745,714,682.060543604,655.939456396,631,879.060543604,783,815,651.939456396,630,653,0.455064209042,0.00456635465522,0.0697644559803,0.999999931574,6.90593644509e-05,-0.000360673600106,-4.47021032371e-05,1793247813519843840
+253,4.216666667,HOLD_POSE2,765.640410501,745,714,682.640410501,655.359589499,631,879.640410501,783,815,651.359589499,630,653,0.4550622086,0.00456633892284,0.0697634258092,0.999999930788,7.02151668913e-05,-0.000362614270162,-4.47670602521e-05,1793247813536510720
+254,4.233333333,HOLD_POSE2,765.781020472,745,714,682.781020472,655,631,880,783,815,651.218979528,630.218979528,653,0.455060463798,0.00456631863156,0.0697621136004,0.999999930031,7.08020360041e-05,-0.000364605631197,-4.45810934758e-05,1793247813553177600
+255,4.250000000,HOLD_POSE2,765.204570197,745,714,682.204570197,655,631,880,783,815,651.795429803,630.795429803,653,0.455059136315,0.00456629089814,0.069760340982,0.999999929323,7.0460155986e-05,-0.000366679741979,-4.39855088816e-05,1793247813569844224
+256,4.266666667,HOLD_POSE2,765.371649901,745,714,682,655,631,880,783,814.628350099,652,630.628350099,653,0.455059736535,0.00456676525027,0.0697607286934,0.999999929466,7.1158345761e-05,-0.00036613548045,-4.41433320445e-05,1793247813586510592
+257,4.283333333,HOLD_POSE2,765.947743432,745,714,682,655,631,880,783,814.052256568,652,630.052256568,653,0.45506139718,0.00456751579833,0.0697623047964,0.999999930074,7.24286751544e-05,-0.000364150859407,-4.47156027726e-05,1793247813603176960
+258,4.300000000,HOLD_POSE2,766,745,714,682.535643151,655,631,880,783.535643151,814.535643151,652,630,653,0.455060771138,0.00456741157419,0.0697620625474,0.999999929731,7.30148739194e-05,-0.00036503066251,-4.42594683496e-05,1793247813619843584
+259,4.316666667,HOLD_POSE2,765.877514232,745,714,682.877514232,655,631,879.877514232,784,815,652,630.122485768,652.877514232,0.455060121194,0.00456712080223,0.0697616739152,0.999999929374,7.33072947738e-05,-0.000366004316071,-4.38143389214e-05,1793247813636510464
+260,4.333333333,HOLD_POSE2,765.298992209,745,714,682.298992209,655,631,879.298992209,784,815,652,630.701007791,652.298992209,0.455060231567,0.00456645295403,0.0697614156339,0.99999992932,7.27600242851e-05,-0.000366263504133,-4.37921471399e-05,1793247813653177344
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,631,880,783,814,651,630,653,0.455063131744,0.00456622324302,0.0697637789061,0.999999930952,7.08672345353e-05,-0.000362071265664,-4.44684393909e-05,1793247813692209152
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.617239933,745,714.617239933,681.765520134,656,631,880,783,814,651,630,653,0.455061452947,0.00456757478211,0.0697621044007,0.999999929936,7.10432319632e-05,-0.000364824442044,-4.45480065523e-05,1793247813708875776
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.779217882,681.441564236,655.779217882,631,880,783,814,651.220782118,630.220782118,653,0.455060709677,0.00456749688502,0.0697611687413,0.999999929456,7.11681214887e-05,-0.000366136411919,-4.43449936989e-05,1793247813725542400
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.198035525,682.603928951,655.198035525,631,880,783,814,651.801964475,630.801964475,653,0.455061493541,0.00456508560561,0.069761439159,0.999999929863,7.1209583542e-05,-0.000365095786045,-4.36807029902e-05,1793247813742208768
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.381183795,682.618816205,655,631,880,783,814.381183795,652,631,653,0.455061009048,0.00456467958371,0.0697610788958,0.999999929615,7.11663957536e-05,-0.000365814605652,-4.34217788489e-05,1793247813758875136
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.959388453,682.040611547,655,631,880,783,814.959388453,652,631,653,0.455059868984,0.00456531001096,0.0697603926552,0.999999929026,7.10794553554e-05,-0.000367442822494,-4.33723748581e-05,1793247813775540992
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.46657345,745,714.46657345,682,655,631,879.46657345,783,814.46657345,652,630.46657345,653,0.455060768609,0.00456716931316,0.069760571502,0.999999929381,7.2578077367e-05,-0.000366127070951,-4.38262898743e-05,1793247813792207616
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.109658338,655.109658338,631,879,783,814.109658338,652,630,653,0.455061427829,0.00456853315026,0.0697607473208,0.999999929721,7.36480271798e-05,-0.000364939035759,-4.42031358468e-05,1793247813808874240
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.696812885,655.696812885,631,879,783,814.696812885,652,630,653,0.455060369284,0.00456733530128,0.0697606253875,0.9999999297,7.23298031223e-05,-0.000365275534155,-4.40788278142e-05,1793247813825541632
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.281503783,745,714,683,655.718496217,631,879.281503783,783,815,652,630,653,0.455054675436,0.00456644865431,0.0697582277697,0.999999928297,7.1988257836e-05,-0.000369206830294,-4.3698965254e-05,1793247813842208512
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.86356425,745,714,683,655.13643575,631,879.86356425,783,815,652,630,653,0.455044032555,0.00456589427238,0.0697534004431,0.999999925376,7.26894955304e-05,-0.000376976229284,-4.30462515854e-05,1793247813858875136
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,744.559341294,714.440658706,683,655.440658706,631,880,783,815,652,630,652.559341294,0.455013182026,0.00456684463991,0.0697392443656,0.999999916529,7.37165700313e-05,-0.000399542034294,-4.32891304685e-05,1793247813875541248
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,744.016512001,714.983487999,683,656,631,879.983487999,783,814.983487999,652,630,652.016512001,0.454975617317,0.00456823022317,0.0697221946315,0.999999905213,7.48782259961e-05,-0.00042667363741,-4.37754097278e-05,1793247813892207616
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,744.60198667,714.39801333,683,656,631,879.39801333,783,814.39801333,652,630,652.60198667,0.454919884712,0.00456873749862,0.0697038528741,0.999999892557,7.7239721189e-05,-0.000455032596925,-4.32003676269e-05,1793247813908874240
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.186491581,682.813508419,656,631,879,783,814,652,630.186491581,653,0.454860723866,0.00456889511175,0.0696874649371,0.999999881725,7.79551277987e-05,-0.000478153522961,-4.29127384069e-05,1793247813925540864
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.768937633,682.231062367,656,631,879,783,814,652,630.768937633,653,0.454794284249,0.00456831033029,0.0696752253019,0.999999876115,7.51755989705e-05,-0.000490153187285,-4.32353373048e-05,1793247813942207744
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.653305512,682.346694488,656,631,879.346694488,783,814.346694488,652,630.653305512,653,0.454717399613,0.00456872629607,0.0696682558897,0.999999872202,7.67401214861e-05,-0.000497906654755,-4.23696503185e-05,1793247813958874880
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.078632207,682.921367793,656,631,879.921367793,783,814.921367793,652,630.078632207,653,0.45463364656,0.0045698003317,0.0696647520633,0.999999869439,8.11611986292e-05,-0.000502867914065,-4.07225721492e-05,1793247813975542016
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.496737837,682.503262163,655.503262163,631,879.503262163,783,814.503262163,652,630,653,0.454533128643,0.00456929492424,0.0696668938728,0.999999870903,8.30934539425e-05,-0.00049976274968,-3.90798230058e-05,1793247813992208640
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.926237857,682,655,631.073762143,879,783.073762143,814,651.926237857,630.073762143,653,0.454427786833,0.00456840922884,0.069670430412,0.999999873352,8.46151926701e-05,-0.000494714400231,-3.73239801379e-05,1793247814008875264
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.338455283,682,655,631.661544717,879,783.661544717,814,651.338455283,630.661544717,653,0.45430734867,0.00456661820259,0.06967744977,0.999999878065,8.60255052887e-05,-0.000485035406965,-3.4775247827e-05,1793247814025541632
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,682.246505667,655.246505667,631.753494333,879.246505667,783.753494333,814,651,631,652.753494333,0.454173809542,0.00456626063955,0.0696837752877,0.999999882128,8.84145596297e-05,-0.000476320766216,-3.23314859729e-05,1793247814042208256
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,682.827636289,655.827636289,631.172363711,879.827636289,783.172363711,814,651,631,652.172363711,0.454022486208,0.00456784896524,0.0696891589349,0.999999885364,9.21322299829e-05,-0.000468915209438,-3.00302189597e-05,1793247814058874624
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.404029988,682.595970012,656,631,879.595970012,783,814,651,630.595970012,652.404029988,0.453843988579,0.00456767975984,0.0696905272849,0.999999886162,9.70581447142e-05,-0.000466407183839,-2.68343870939e-05,1793247814075541504
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.978426329,682.021573671,656,631,879.021573671,783,814,651,630.021573671,652.978426329,0.453654032416,0.00456676946067,0.0696902025145,0.999999885916,0.000102493537263,-0.000465964287799,-2.32613460208e-05,1793247814092208384
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.448741795,745,714.448741795,682,656.551258205,631.551258205,879,783,814,651.551258205,630,653,0.45341849967,0.00456602544172,0.0696851710065,0.999999881845,0.0001061418941,-0.000473998081118,-1.92170577295e-05,1793247814108874752
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.128926564,682.128926564,656.871073436,632,879,783.128926564,814,651.871073436,630,653,0.453173693033,0.00456560157657,0.0696801586231,0.999999877635,0.000110175713577,-0.000482035188502,-1.52439898525e-05,1793247814125541888
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.72431456,682.72431456,656.27568544,632,879,783.72431456,814,651.27568544,630,653,0.452901768092,0.0045663125629,0.0696758799877,0.999999873716,0.000115856469209,-0.000488887444007,-1.15951357024e-05,1793247814142208512
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.689927669,656.310072331,632,879.310072331,783.689927669,814,651.310072331,630,653,0.452611138026,0.00456500917312,0.069671091496,0.999999869398,0.000121073369051,-0.000496484617354,-6.96898402695e-06,1793247814158875136
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.112474255,656.887525745,632,879.887525745,783.112474255,814,651.887525745,630,653,0.452304378201,0.00456196874967,0.0696658633463,0.999999864701,0.000125890277156,-0.000504724146649,-1.50009091113e-06,1793247814175541760
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.462811756,745,714.537188244,682.462811756,657,632,880,783.462811756,814,652,630,653,0.451967604516,0.00456005942836,0.0696692362554,0.999999865851,0.000132799434884,-0.000500639858859,4.5878067274e-06,1793247814192208384
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,714,682.961645269,657.038354731,632,879.961645269,784,813.961645269,652,630.038354731,652.961645269,0.451620841497,0.00455847134251,0.0696748799031,0.999999868314,0.00014005230543,-0.000493601004179,1.07862741822e-05,1793247814208874752
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,714,682.374932842,657.625067158,632,879.374932842,784,813.374932842,652,630.625067158,652.374932842,0.45123505831,0.00455756425245,0.0696832431295,0.9999998708,0.000144983580531,-0.00048694034877,1.64248464441e-05,1793247814225541120
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.789927119,745,714.210072881,682,658,632,879,783.789927119,813,652,630.789927119,652.210072881,0.450837655375,0.0045565726597,0.0696943343818,0.999999875641,0.000149186078266,-0.000475379077453,2.18073925929e-05,1793247814242207744
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.207942994,745,714.792057006,682,658,632,879,783.207942994,813,652,630.207942994,652.792057006,0.450419680975,0.00455543146418,0.0697102553072,0.999999884499,0.000152098354189,-0.000455141797979,2.67366716825e-05,1793247814258874624
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.369227545,745,715,682.369227545,658.369227545,632.369227545,879,783.369227545,813,652,630.369227545,653,0.449983541281,0.00455283420593,0.0697257652175,0.999999893253,0.000153337884314,-0.000434725497093,3.15444673465e-05,1793247814275541760
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+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.572041949,745,714,682,659,633,879,784,812,651,630,653,0.446105845458,0.00453816190876,0.0697399763226,0.999999915237,6.59983090446e-05,-0.000405047806097,3.32785155773e-05,1793247814392207872
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.002050729,659.004101458,633,879.002050729,784,812,651,630,653,0.445469963981,0.00454044105337,0.0697268017691,0.999999911225,4.83246605713e-05,-0.000417577439562,2.90578179672e-05,1793247814408875008
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.573459425,660.14691885,633,879.573459425,784,812,651,630,653,0.444820098211,0.00455484706278,0.0697545575039,0.999999928921,5.12438219577e-05,-0.000372659705565,2.56212598966e-05,1793247814425542144
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.151614117,683,660.848385883,633,879.848385883,784,812,651.151614117,630,653,0.444150102364,0.00457010560281,0.0697807807324,0.999999943716,5.60843425539e-05,-0.000330016560864,2.26368729224e-05,1793247814442209024
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.749631188,683,660.250368812,633,879.250368812,784,812,651.749631188,630,653,0.443420836911,0.00458787427719,0.0698024917421,0.999999954325,6.65819906071e-05,-0.000294070581678,2.09838304617e-05,1793247814458875392
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.664736628,683,660,633,879,784,812,651.664736628,630.335263372,653,0.44267494034,0.00458555136176,0.0698147924659,0.999999959392,5.29692705258e-05,-0.000279165011687,2.1825447375e-05,1793247814475541760
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.088023713,683,660,633,879,784,812,651.088023713,630.911976287,653,0.441917066316,0.00456875891301,0.0698203161043,0.999999960423,2.19927777779e-05,-0.000279412292671,2.44636646794e-05,1793247814492208384
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.48682001,683,660,633,879,784.48682001,811.51317999,651.48682001,630.51317999,652.51317999,0.441159104544,0.00456747822678,0.0698288421044,0.999999958632,0.000128738870162,-0.000255953155963,2.55101907942e-05,1793247814508875008
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.937390538,660.062609462,633,879,784.937390538,811.062609462,652,630,652,0.440389979363,0.00456893721376,0.0698345681964,0.999999942282,0.000243551051796,-0.000235452124831,2.60823948705e-05,1793247814525541632
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.350869639,660.649130361,633,879,784.350869639,811.649130361,652,630,652,0.439527571402,0.00456994150799,0.0698123395609,0.99999993793,0.000218277619461,-0.000275435785486,2.50845843832e-05,1793247814542208000
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.233913275,660.532173449,632.766086725,879,784,811.766086725,651.766086725,630,652,0.438645510613,0.00456661161233,0.069773712128,0.999999924698,0.000188476016203,-0.00033835620832,2.43905219641e-05,1793247814558875136
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.816108408,659.367783183,632.183891592,879,784,811.183891592,651.183891592,630,652,0.437734188075,0.00455682838595,0.0697106679393,0.999999893368,0.000151932257581,-0.000435427994293,2.414872087e-05,1793247814575542272
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.607441013,659.392558987,632.392558987,879,784,811,651,630,652.392558987,0.436872140957,0.00455251816461,0.0697041440601,0.999999893014,0.000128981590213,-0.000443499811957,2.53893815517e-05,1793247814592209152
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.033642636,659.966357364,632.966357364,879,784,811,651,630,652.966357364,0.436032843688,0.00455073475893,0.0697237148759,0.999999909073,0.000112306677957,-0.000410481497759,2.73144756499e-05,1793247814608875776
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.541233489,633,879,784,811,651.541233489,630,653,0.435207643378,0.00454599784322,0.0697827892838,0.999999939613,0.000103325488766,-0.000330510890842,2.93451934591e-05,1793247814625541888
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.760269052,633,878.880134526,784,811,652,630,652.880134526,0.434367078114,0.00454068087048,0.0698343664151,0.999999960721,9.67658015213e-05,-0.000261190272982,3.12197856179e-05,1793247814642208256
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.573872727,633,878.286936364,784,811,652,630,652.286936364,0.433462371793,0.00453379974161,0.0698466219581,0.999999964555,9.78760491238e-05,-0.000245472888371,3.24518807439e-05,1793247814658874880
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.596169022,633,878.298084511,784,811,652,630,652.298084511,0.432551165922,0.00452864116796,0.0698510188621,0.999999967119,9.32245801475e-05,-0.000236641875443,3.27452365739e-05,1793247814675541248
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.750888323,633,878.875444161,784,811,652,630,652.875444161,0.431633870525,0.00452509645412,0.0698480530151,0.999999968584,8.31749636812e-05,-0.000234262696805,3.21590884591e-05,1793247814692207872
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.550218772,633,879,784,811,652,630,653,0.430633277427,0.00451936860386,0.0697852705586,0.999999938853,8.14507621076e-05,-0.000338480277628,3.30285186243e-05,1793247814708874752
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.976047741,633,879,784.023952259,811,652,630,652.976047741,0.429615353484,0.00451307694937,0.0697094967436,0.99999988765,8.14681021415e-05,-0.000465721394318,3.41665699098e-05,1793247814725541888
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.386153674,633,879,784.613846326,811,652,630,652.386153674,0.428729328982,0.00450765304458,0.0697155416546,0.999999898506,6.85235049921e-05,-0.000444136224277,3.2191073419e-05,1793247814742208512
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.800011777,682,659.399976445,633,879,784.800011777,811,652,630,652,0.427844437721,0.00450226342301,0.0697471331905,0.999999922222,5.88153939064e-05,-0.000388709504904,3.16428695709e-05,1793247814758875392
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.220981488,682,660.558037025,633,879,784.220981488,811,652,630,652,0.426961694372,0.0044969387795,0.0698271438045,0.999999961684,5.52414661539e-05,-0.000269142151916,3.37998446468e-05,1793247814775541760
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.356240145,682,660.643759855,633,879,784,811,652,630,652.356240145,0.426058442052,0.00448988822675,0.0698596376507,0.999999972614,4.92083276412e-05,-0.000225996090147,3.57140452339e-05,1793247814792208640
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.932345486,682,660.067654514,633,879,784,811,652,630,652.932345486,0.425142531987,0.00448177247316,0.0698628049749,0.999999971976,4.1657407664e-05,-0.000230015920174,3.74784097758e-05,1793247814808875264
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.495799756,660,633,879,784,811,652,630,653,0.42420774488,0.00447396120779,0.0698318536975,0.999999961156,3.13340266085e-05,-0.000274589366226,3.61485673193e-05,1793247814825541376
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.078480107,660,633.078480107,878.921519893,784.078480107,810.921519893,652,630,653,0.423261510175,0.00446672873014,0.0697912173394,0.999999942723,2.19411262763e-05,-0.000335943925395,3.48332659946e-05,1793247814842207744
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.672401956,660,633.672401956,878.327598044,784.672401956,810.327598044,652,630,653,0.422256587223,0.00446303152271,0.0697167879759,0.999999887692,2.10823310633e-05,-0.000472073177163,3.63175342798e-05,1793247814858875392
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.740492745,659.740492745,633.740492745,878,784.740492745,810.259507255,652,630,652.740492745,0.421309550779,0.00445624994875,0.0696852095424,0.999999861429,1.28610395262e-05,-0.000525003780546,3.66964993467e-05,1793247814875542272
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.161772231,659.161772231,633.161772231,878,784.161772231,810.838227769,652,630,652.161772231,0.420433718917,0.00444567437366,0.0697063409356,0.999999886258,-4.41667083088e-06,-0.000475593873289,3.57158598726e-05,1793247814892208640
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.414903341,745,715,681,659.829806683,633.414903341,878,784,810.585096659,652,629.585096659,652,0.419632725609,0.00443978071022,0.0697714341272,0.999999931407,-1.92895097417e-05,-0.000368179073166,3.54665557955e-05,1793247814908875008
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.99078546,745,715,681,660.981570919,633.99078546,878,784,810.00921454,652,629.00921454,652,0.418860769042,0.00443570358716,0.0698535841013,0.999999970434,-3.32292787838e-05,-0.00023825889249,3.55010028574e-05,1793247814925541632
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745.576903652,715,681,661,634,878,784,810.576903652,652,629.576903652,652,0.418055444037,0.00443283940032,0.0698714123632,0.999999974873,-2.3316047717e-05,-0.000219617420111,3.84402323335e-05,1793247814942208000
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.838678832,745.838678832,715,680.838678832,660.516036497,633.838678832,878,784,810.838678832,652,629.838678832,652,0.417235380654,0.00443369294996,0.0698725480518,0.999999974973,-1.2319475235e-05,-0.0002197866651,3.99453473941e-05,1793247814958874368
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.259102225,745.259102225,715,680.259102225,658.777306675,633.259102225,878,784,810.259102225,652,629.259102225,652,0.416378512103,0.00444413429332,0.0698331168785,0.999999964435,4.80232057551e-07,-0.000264034774463,3.7609786949e-05,1793247814975540992
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.639101335,633.319550667,878,784,810,652,629,652.319550667,0.415514422774,0.00446089758344,0.0697977714115,0.999999949329,1.82162116141e-05,-0.00031579354892,3.5846141614e-05,1793247814992207616
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.794913424,633.897456712,878,784,810,652,629,652.897456712,0.414644495516,0.00448277214052,0.0697657292227,0.999999928808,3.99431459746e-05,-0.000373624661956,3.45448873041e-05,1793247815008874496
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.058200858,634,878,784,810,652,629,652.529100429,0.413845411772,0.00447972980912,0.0697468071469,0.999999913128,4.11854323518e-05,-0.000413250265263,3.56677585713e-05,1793247815025541376
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.044765894,658.044765894,633.955234106,877.955234106,784,810,652,629,652,0.413074061448,0.00447128016331,0.0697361624645,0.999999902744,3.67682344835e-05,-0.0004379365174,3.70352153913e-05,1793247815042207744
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.635539671,658.635539671,633.364460329,877.364460329,784,810,652,629,652,0.412454580453,0.00446243599887,0.0697919568016,0.999999945346,1.72192366603e-05,-0.000328308164817,3.5007807639e-05,1793247815058874368
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.778069834,659.221930166,633.221930166,877,784,810,652,629,652,0.411821868565,0.00445674406564,0.0698405507451,0.99999997088,4.49601244321e-06,-0.000238835240474,3.43291000725e-05,1793247815075540736
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.198738188,659.801261812,633.801261812,877,784,810,652,629,652,0.41116784924,0.00445612855717,0.0698775490164,0.999999982825,2.76516936821e-06,-0.000181821072165,3.58223707025e-05,1793247815092207360
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.243570534,634,877,784.378214733,810,652,629,652,0.410478438649,0.00445427627955,0.069869316251,0.999999978996,8.44140448223e-06,-0.000201594912925,3.60026122754e-05,1793247815108873728
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.092149006,634,877,784.953925497,810,652,629,652,0.409770547499,0.00445177818631,0.0698374647573,0.999999965026,1.79854650619e-05,-0.000261465891211,3.54972166572e-05,1793247815125540608
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.520817414,784.479182586,810,652,629,652,0.409127844584,0.00445469256056,0.0697977646466,0.999999944948,1.12209281835e-05,-0.000329883791623,3.39796251479e-05,1793247815142207232
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.907998998,784,810,652,629,652,0.408504146745,0.00445828587078,0.069764251864,0.999999925046,5.0470276031e-06,-0.000385780364333,3.25020528614e-05,1793247815158873856
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.30893354,784,810,652,629,652,0.407953940353,0.00446302607469,0.0697686037125,0.999999931526,9.94776675662e-06,-0.000368567599399,3.17303564952e-05,1793247815175540736
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,810,652,629,652,0.40741854555,0.00446752364018,0.069780502858,0.999999938824,1.8537149378e-05,-0.000347864440628,3.16056531114e-05,1793247815192207616
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,810,652,629,652,0.406898922214,0.00447176284309,0.0698004383921,0.999999946692,3.10542124122e-05,-0.000323444699037,3.21698702046e-05,1793247815208874240
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.437472804,658,634,877,784,810,652.437472804,629,652,0.406391567138,0.00447409044065,0.0698042384536,0.999999946441,2.84887968909e-05,-0.000324408599792,3.26495861115e-05,1793247815225540864
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.986568712,658,634,877,784.013431288,810,652.986568712,629,652,0.405889904428,0.00447580304932,0.0698028849324,0.999999943674,2.13996482554e-05,-0.000333317362277,3.3062144845e-05,1793247815242207744
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.400102341,658,634,877,784.599897659,810,652.400102341,629,652,0.405465706814,0.00447704930617,0.0697991913035,0.999999941741,2.46463061567e-05,-0.000338972973081,3.17487135593e-05,1793247815258874112
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.184041183,745,715,680,658.184041183,634,877.184041183,784.815958817,810,652,629,652,0.405060900934,0.00447689166264,0.0698024888874,0.99999994417,2.75664165784e-05,-0.00033158959935,3.08052078913e-05,1793247815275540736
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.763197928,745,715,680,658.763197928,634,877.763197928,784.236802072,810,652,629,652,0.404697726825,0.00447372000434,0.0698207958121,0.999999955215,2.97854671652e-05,-0.000296213004486,3.06558903257e-05,1793247815292207360
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.65817206,745,715,680,658.65817206,634,877.65817206,784,810,652,628.65817206,652,0.404345635922,0.0044706986668,0.0698346710553,0.999999962432,2.48777233664e-05,-0.000271260961355,3.05665503595e-05,1793247815308874240
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.079906415,745,715,680,658.079906415,634,877.079906415,784,810,652,628.079906415,652,0.404001211142,0.00446778130427,0.069845480964,0.999999967285,1.50404733903e-05,-0.000253519440072,3.05186960951e-05,1793247815325540864
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.506297911,715,680,658,634,877,784.493702089,809.506297911,652,628.493702089,652.493702089,0.403669821746,0.00446777733038,0.0698379926204,0.999999964622,5.36407370494e-06,-0.000264325402821,2.93001168858e-05,1793247815342207232
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.068556587,715,680,658.068556587,634,877,785,809,652,629,652.931443413,0.403345960677,0.00446775566495,0.0698277103962,0.999999960443,-4.5098533747e-06,-0.000279846048572,2.79322147062e-05,1793247815358873856
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.658568063,715,680,658.658568063,634,877,785,809,652,629,652.341431937,0.403063463975,0.00446404635307,0.0698184933639,0.99999995558,-1.60823809754e-05,-0.000296411849168,2.68563135751e-05,1793247815375540480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.755534661,634,877,785,809,652,629,652,0.402796138577,0.00446159697119,0.0698100013749,0.999999950984,-2.59389947837e-05,-0.000310922789647,2.61835224331e-05,1793247815392207360
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.175288418,634,877,785,809,652,629,652,0.402549651471,0.00446087814348,0.0698025052565,0.999999947062,-3.34387455671e-05,-0.000322611313235,2.60644157573e-05,1793247815408873984
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.402347927,634,877,784.597652073,809,652,629,652,0.402332149159,0.00446297460165,0.0697987356203,0.999999945004,-3.21349017108e-05,-0.000328992456316,2.68847711578e-05,1793247815425540608
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.978854612,634,877,784.021145388,809,652,629,652,0.402127193071,0.00446628967343,0.0697965790142,0.99999994377,-2.70203688032e-05,-0.000333076268348,2.81117784447e-05,1793247815442207488
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.448268654,658.448268654,634,877,784.551731346,809.551731346,652,629,652,0.401954954104,0.00447141361746,0.0697964983146,0.999999943767,-2.80566688429e-06,-0.000334044234866,2.95434874911e-05,1793247815458874112
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877.129146987,784.870853013,809.870853013,652,628.870853013,652,0.401791232263,0.00447958441124,0.0697957237574,0.999999942918,2.98080777125e-05,-0.000335189986992,3.03947704063e-05,1793247815475540736
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,877.72340707,784.27659293,809.27659293,652,628.27659293,652,0.401653697843,0.00449848016482,0.0697921656673,0.999999938601,9.00512484941e-05,-0.000337403278728,2.91276233727e-05,1793247815492207360
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.309127087,658,634,877.690872913,784,809,652,628.309127087,652,0.401532031557,0.00450700580787,0.0697908237846,0.999999937477,0.000101550211136,-0.000337811501707,2.48284323004e-05,1793247815508873984
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.88741123,658,634,877.11258877,784,809,652,628.88741123,652,0.401424181669,0.00450650219112,0.0697914115544,0.999999940681,7.06075721695e-05,-0.000336648051113,1.78892396033e-05,1793247815525540608
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.461501321,745,715,680,657.538498679,634,877,784,809.461501321,652,629,652,0.401336892213,0.00450143909251,0.0697925780726,0.999999942284,5.61763639737e-05,-0.00033461533706,1.75761373544e-05,1793247815542207232
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,657.035580675,634,877,784,809.964419325,652,629,652,0.401255638418,0.00449593048328,0.0697938610857,0.999999943469,4.68675831917e-05,-0.000332431460116,1.88137000366e-05,1793247815558874112
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,657.625284252,634,877,784,809.374715748,652,629,652,0.401190968598,0.00450065086584,0.069794779267,0.999999943457,5.51655570206e-05,-0.000331166344702,1.92524752078e-05,1793247815575540736
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.788872629,745,715,679.788872629,658,633.788872629,877,784.211127371,809,652,629,652,0.401133677977,0.00450226244653,0.0697956998784,0.999999943822,5.8350349344e-05,-0.000329477409172,1.98743145279e-05,1793247815592207360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.209758205,745,715,679.209758205,658,633.209758205,877,784.790241795,809,652,629,652,0.401089249032,0.00449845550222,0.0697966247255,0.999999944918,5.26230580691e-05,-0.000327049771303,2.08152277185e-05,1793247815608873984
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.368421802,658,633.368421802,877,785,809.368421802,652,629.368421802,652,0.401055883754,0.00449811226023,0.0697988796561,0.999999946264,4.98939947651e-05,-0.000323323545249,2.11040304223e-05,1793247815625540608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.946071207,658,633.946071207,877,785,809.946071207,652,629.946071207,652,0.401028801554,0.00449973606252,0.0698018899443,0.999999947749,4.88676315932e-05,-0.000318859847698,2.10224981454e-05,1793247815642207232
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.480123233,877.519876767,784.480123233,809.480123233,652,629.480123233,652,0.401010677075,0.0044988509176,0.0698051763953,0.999999949709,4.87829722654e-05,-0.000312614937899,2.17742578594e-05,1793247815658874112
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.096007672,878,784,809.096007672,652,629,652,0.40099473924,0.00449767697727,0.0698082629482,0.999999951565,4.82970182462e-05,-0.000306653140473,2.24060742072e-05,1793247815675540736
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.686143924,878,784,809.686143924,652,629,652,0.400985308166,0.00449634635372,0.069810174315,0.999999952802,4.52466170675e-05,-0.000303092449851,2.19789473738e-05,1793247815692207616
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.728838024,784,810,652,629,652,0.400977645796,0.00449673811748,0.0698112123601,0.999999953536,4.46515010356e-05,-0.000300780962352,2.15718593503e-05,1793247815708873984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.149634318,784,810,652,629,652,0.400971992687,0.00449908652427,0.0698112583059,0.999999953712,4.68456047445e-05,-0.000299888577772,2.11875355686e-05,1793247815725540608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.427421601,745,715,680,658,634,877,784.427421601,809.572578399,652,629,652,0.400969437938,0.00449947194994,0.0698136400584,0.999999954689,4.73191086757e-05,-0.000296540907375,2.11215791021e-05,1793247815742207488
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.996212255,658,634,877,784.996212255,809,652,629,652.003787745,0.400967953409,0.00449916593264,0.0698168109472,0.999999955921,4.71837677578e-05,-0.00029237695348,2.11666534631e-05,1793247815758874368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.410881533,658,634,877,784.410881533,809,652,629,652.589118467,0.400965079322,0.00449768281846,0.0698162189976,0.999999955459,4.55900706101e-05,-0.000294197693845,2.12320177102e-05,1793247815775540992
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.827435907,745,715,679.172564093,658,634,877,784.172564093,809.172564093,652,629,652.827435907,0.400963874873,0.00449665847925,0.0698163961059,0.999999955527,4.47362610017e-05,-0.000294096885891,2.1272067014e-05,1793247815792207360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.248430345,745,715,679.751569655,658,634,877,784.751569655,809.751569655,652,629,652.248430345,0.400966602933,0.0044967146963,0.0698183845821,0.999999956837,4.56251141467e-05,-0.00028947024088,2.12524918377e-05,1793247815808873984
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.669867437,658,634,877.330132563,784.669867437,810,652,629,652,0.40096626248,0.00449750953599,0.0698185355966,0.999999956897,4.73595051121e-05,-0.000288983130164,2.12414692231e-05,1793247815825540608
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.091637128,658,634,877.908362872,784.091637128,810,652,629,652,0.40096361601,0.00449885945757,0.0698173057416,0.999999956021,4.97293258489e-05,-0.000291606918177,2.12368739375e-05,1793247815842207232
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.485874523,658,634,877.514125477,784,810,652,629,652,0.400964485413,0.00449845996022,0.0698182787969,0.999999956478,4.79037174623e-05,-0.000290350114622,2.11010292965e-05,1793247815858873856
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.93588484,877.06411516,784.06411516,810,652,629,652,0.400965841674,0.00449792029767,0.0698195497063,0.99999995711,4.57056844344e-05,-0.000288535307708,2.09355073738e-05,1793247815875540480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.350618336,877.649381664,784.649381664,810,652,629,652,0.400965773318,0.00449891927064,0.0698198695449,0.999999957177,4.69026639484e-05,-0.000288125119982,2.07296695695e-05,1793247815892207360
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.233569094,877.766430906,784.766430906,810,652,629,652,0.400966412718,0.00449930071062,0.0698206767723,0.999999957543,4.7223709931e-05,-0.000286808481245,2.061563165e-05,1793247815908874240
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.816144107,877.183855893,784.183855893,810,652,629,652,0.400968109665,0.0044987594143,0.0698222122704,0.999999958351,4.62359097918e-05,-0.000284137396351,2.06387638727e-05,1793247815925540608
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.392468413,745,715,679.607531587,658.392468413,634,877,784.392468413,810,652,629,652,0.400968721835,0.00449777209287,0.0698226325338,0.999999958695,4.57702660889e-05,-0.000282979132093,2.09257588076e-05,1793247815942207232
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.9659104,745,715,679.0340896,658.9659104,634,877,784.9659104,810,652,629,652,0.400968833796,0.00449657910203,0.0698225385442,0.999999958827,4.55453972454e-05,-0.000282518454127,2.13344251337e-05,1793247815958873856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.459798302,745,715,679.540201698,658.459798302,633.459798302,877,784.459798302,810,652,629,652,0.400967770338,0.00449721503945,0.0698226617682,0.99999995862,4.60995674931e-05,-0.000283163627943,2.12751261927e-05,1793247815975541504
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.118321245,877,784,809.881678755,652,629,652,0.400967101644,0.00449796218078,0.0698230054698,0.999999958523,4.67396861067e-05,-0.000283407023097,2.11863611696e-05,1793247815992209152
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.711592024,877,784,809.288407976,652,629,652,0.400968315768,0.00449869168836,0.0698241790749,0.999999958954,4.75271587656e-05,-0.000281757087806,2.10980438064e-05,1793247816008874752
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715.296254428,680,658,634,877,784.296254428,809,652,629,652,0.400968859307,0.00449893294535,0.0698245860671,0.999999959188,4.72271347482e-05,-0.000280983079654,2.10070919957e-05,1793247816025541120
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715.872773158,680,658,634,877,784.872773158,809,652,629,652,0.400968768456,0.00449871230484,0.0698242678241,0.999999959237,4.58983110247e-05,-0.000281037720892,2.09136479199e-05,1793247816042208000
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.551945283,680,658,633.551945283,877.448054717,784.551945283,809.448054717,652,629,652,0.400967507077,0.00449878728922,0.0698233768067,0.999999958784,4.68944356404e-05,-0.000282494693034,2.0748489181e-05,1793247816058874880
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.023573734,877.976426266,784,809.976426266,652,629,652.023573734,0.400965968525,0.00449888377363,0.0698223710612,0.999999958206,4.83732876526e-05,-0.000284297681759,2.05765730343e-05,1793247816075541760
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.613207791,877.386792209,784,809.386792209,652,629,652.613207791,0.400965733528,0.00449748638749,0.0698225050729,0.999999958167,4.5634792262e-05,-0.000284874023964,2.07300277974e-05,1793247816092208384
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e7a2ed4e48cc1e5b0389e8c954280c16940721b
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+381,6.350000000,pose2_to_pose3_retreat,0.583265959938,0.00992785925934,1.06004243081,0.553837751467,0.01860231799,1.05966581984
+382,6.366666667,pose2_to_pose3_retreat,0.583259470348,0.00992788587625,1.06004242993,0.553831261371,0.0186023429306,1.05966581993
+383,6.383333333,pose2_to_pose3_retreat,0.583255339476,0.00992787938758,1.06004236962,0.553827130077,0.0186023348536,1.05966575601
+384,6.400000000,pose2_to_pose3_retreat,0.583252324675,0.00992792313374,1.06004235751,0.553824115322,0.0186023787123,1.05966574293
+385,6.416666667,pose2_to_pose3_retreat,0.583250322091,0.00992797599995,1.06004236513,0.553822112943,0.0186024322779,1.05966575072
+386,6.433333333,pose2_to_pose3_retreat,0.583249538307,0.00992799669108,1.06004236811,0.553821329239,0.0186024532427,1.05966575377
+387,6.450000000,pose2_to_pose3_retreat,0.583249112063,0.00992798144649,1.06004236834,0.553820903097,0.0186024383507,1.05966575412
+388,6.466666667,pose2_to_pose3_retreat,0.583248543216,0.00992795030574,1.06004236807,0.553820334411,0.0186024077636,1.05966575404
+389,6.483333333,pose2_to_pose3_retreat,0.583248465325,0.00992794604171,1.06004236804,0.553820256542,0.0186024035754,1.05966575403
+390,6.500000000,pose2_to_pose3_retreat,0.58324820738,0.00992793192088,1.06004236792,0.55381999867,0.0186023897056,1.059665754
+391,6.516666667,pose2_to_pose3_retreat,0.583248098577,0.00992792596458,1.06004236786,0.553819889897,0.0186023838552,1.05966575398
+392,6.533333333,pose2_to_pose3_retreat,0.583248078873,0.00992792488594,1.06004236786,0.553819870199,0.0186023827957,1.05966575398
+393,6.550000000,pose2_to_pose3_retreat,0.583247489533,0.00992789262332,1.06004236758,0.553819281025,0.0186023511066,1.0596657539
+394,6.566666667,pose2_to_pose3_retreat,0.583246939994,0.00992786273249,1.06004237163,0.553818731689,0.0186023219169,1.05966575827
+395,6.583333333,pose2_to_pose3_retreat,0.583246587283,0.00992784468686,1.06004239965,0.553818379387,0.0186023053029,1.05966578728
+396,6.600000000,pose2_to_pose3_retreat,0.583246351875,0.00992783264274,1.06004241836,0.553818144252,0.0186022942142,1.05966580664
+397,6.616666667,pose2_to_pose3_retreat,0.583246270664,0.00992782848779,1.06004242481,0.553818063136,0.0186022903889,1.05966581332
+398,6.633333333,pose2_to_pose3_retreat,0.583246246369,0.00992782724477,1.06004242674,0.553818038868,0.0186022892445,1.05966581532
+399,6.650000000,pose2_to_pose3_retreat,0.583246230164,0.00992782641567,1.06004242803,0.553818022682,0.0186022884812,1.05966581666
+400,6.666666667,pose2_to_pose3_retreat,0.583246222461,0.00992782602161,1.06004242864,0.553818014989,0.0186022881184,1.05966581729
+401,6.683333333,pose2_to_pose3_retreat,0.583246191428,0.00992782443387,1.06004243111,0.553817983991,0.0186022866566,1.05966581984
+402,6.700000000,pose2_to_pose3_retreat,0.583246057856,0.00992781759997,1.06004244172,0.553817850575,0.0186022803649,1.05966583083
+403,6.716666667,pose2_to_pose3_retreat,0.583245775098,0.00992782151168,1.06004244689,0.553817567925,0.0186022846504,1.05966583615
+404,6.733333333,pose2_to_pose3_retreat,0.583245512157,0.00992789769463,1.06004238343,0.553817304216,0.0186023581262,1.0596657703
+405,6.750000000,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..703f0ad5cd0784fa0294ef6d4bd0421d90c18336
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87aab2255e9240580dd392339a39c9191ca3aae91356b661c1476ed2a1c9a931
+size 25879256
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d2e3eaf781e3d92733f6ba531bf0cac7b28149f
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+1,0.016666667,BASELINE,765.42315361,745,715,679.42315361,658,634,877.42315361,784.57684639,809.42315361,652,629,652,0.400966228729,0.00449839800869,0.0698241693789,0.999999959021,4.43255026983e-05,-0.000282103997069,2.02849470214e-05,1793247816263609856
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+21,0.350000000,BASELINE,765,744.170314753,715,679.170314753,658,634,877.829685247,784,809.829685247,652,629,652,0.400967016035,0.00449850926374,0.069825753,0.999999959405,4.81452448971e-05,-0.00028007005699,2.08262173764e-05,1793247816596942592
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+29,0.483333333,BASELINE,765,745,715.827531525,680,658.172468475,634,877.827531525,784.827531525,810,652.827531525,629,652,0.400967156077,0.0044986408214,0.0698260046804,0.999999959554,4.7388592623e-05,-0.000279711426557,2.02062943632e-05,1793247816730276864
+30,0.500000000,BASELINE,765,745,716,679.591659008,658,634,878,784.591659008,809.591659008,652.591659008,629,652.408340992,0.400967202268,0.00449924637706,0.0698261327082,0.999999959691,4.77101795489e-05,-0.0002791739852,2.00759684423e-05,1793247816746942976
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+43,0.716666667,BASELINE,765,745,715,679.048888956,658.048888956,634,877,784.048888956,809.048888956,652.951111044,629,652.951111044,0.400966872459,0.00449873688909,0.0698259290844,0.999999959623,4.60914637921e-05,-0.000279658023329,2.04964391422e-05,1793247816963609600
+44,0.733333333,BASELINE,765,745,715,679.529277012,658.529277012,634,877.529277012,784,809.529277012,652.470722988,629,652.470722988,0.400968707763,0.00449927599747,0.0698273630815,0.99999996048,4.63740056503e-05,-0.000276558034956,2.01086925112e-05,1793247816980276224
+45,0.750000000,BASELINE,765,745,715,680,658.894780607,634,877.894780607,784.105219393,809.894780607,652,629,652,0.400970024844,0.00449986459619,0.069828495019,0.999999961147,4.64910801076e-05,-0.000274146350235,1.97319957818e-05,1793247816996943104
+46,0.766666667,BASELINE,765,745,715,680,658.322213952,634,877.322213952,784.677786048,809.322213952,652,629,652,0.400968519754,0.00450014142831,0.0698279466026,0.999999960709,4.53271935373e-05,-0.000275942562144,1.95814475575e-05,1793247817013609728
+47,0.783333333,BASELINE,765,745,715,679.740850331,658,634,877,784.740850331,809.259149669,651.740850331,629,652.259149669,0.40096764647,0.00449991607198,0.0698274475229,0.999999960449,4.48875253442e-05,-0.000276944774128,1.97348331555e-05,1793247817030276096
+48,0.800000000,BASELINE,765,745,715,679.148164583,658,634,877,784.148164583,809.851835417,651.148164583,629,652.851835417,0.400967586345,0.00449904437888,0.0698270119414,0.999999960421,4.53799552609e-05,-0.000276925076423,2.02793938245e-05,1793247817046942720
+49,0.816666667,BASELINE,765,745,715,679.434443746,658,634,877,784,810,651.434443746,629,652.565556254,0.4009678046,0.00449814405552,0.0698269583126,0.999999960388,4.55834632768e-05,-0.000276999941055,2.04187931304e-05,1793247817063609344
+50,0.833333333,BASELINE,765,745,715,680,658.013613186,633.986386814,877,784,810,652,629,652.013613186,0.400968094368,0.00449727019236,0.0698270235714,0.999999960349,4.57399766925e-05,-0.000277115959831,2.04268881819e-05,1793247817080275968
+51,0.850000000,BASELINE,765,745,715,680,658.589481709,633.410518291,877,784,810,652,629,652.589481709,0.400967505407,0.00449788333364,0.0698267409781,0.9999999601,4.79329709479e-05,-0.000277629938833,2.05895033982e-05,1793247817096942848
+52,0.866666667,BASELINE,765,745,715,680,659,633.159046701,877,784,810,652,629,652.840953299,0.400966918668,0.00449840133754,0.0698262832134,0.99999995987,4.94160793545e-05,-0.000278192473433,2.06523489263e-05,1793247817113609472
+53,0.883333333,BASELINE,765,745,715,680,659,633.712961759,877,784,810,652,629,652.287038241,0.400966337447,0.00449868314199,0.0698253905471,0.999999959698,4.9136740134e-05,-0.000278875557935,2.04674942863e-05,1793247817130276352
+54,0.900000000,BASELINE,765,745,715,679.703962005,658.703962005,634,877,784,810,652,629,652,0.400965967625,0.00449875146599,0.069824758167,0.999999959577,4.77497931279e-05,-0.000279558695732,2.03270296146e-05,1793247817146943232
+55,0.916666667,BASELINE,765,745,715,679.089521626,658.089521626,634,877,784,810,652,629,652,0.400965825172,0.00449859018198,0.0698244057368,0.999999959507,4.51715633839e-05,-0.000280241890802,2.02343083928e-05,1793247817163609856
+56,0.933333333,BASELINE,765,744.507807267,715,679,658,634,877,784,809.507807267,652,629,652,0.400966389066,0.00449851734334,0.0698254418919,0.999999959841,4.42226230869e-05,-0.000279215924037,2.00337006903e-05,1793247817180276224
+57,0.950000000,BASELINE,765,744.068092488,715,679,658.068092488,634,877,784,809,651.931907512,629,652,0.400967101337,0.00449853120578,0.0698266483652,0.999999960209,4.41113242883e-05,-0.000277923862161,1.98749895007e-05,1793247817196942848
+58,0.966666667,BASELINE,765,744.64225739,715,679,658.64225739,634,877,784,809,651.35774261,629,652,0.400968021077,0.00449907733738,0.0698273606283,0.999999960322,4.81603578088e-05,-0.000276820516216,2.01644054176e-05,1793247817213609472
+59,0.983333333,BASELINE,765,745,715,679.222905821,659,634,877,784,809.222905821,651.222905821,629,652,0.400968563193,0.00449953758227,0.0698277031971,0.999999960412,4.99242132267e-05,-0.000276182698491,2.01642257783e-05,1793247817230276096
+60,1.000000000,BASELINE,765,745,715,679.814271518,659,634,877,784,809.814271518,651.814271518,629,652,0.400968481104,0.00449985585784,0.0698274346673,0.999999960484,4.79107052249e-05,-0.000276314391542,1.96853492092e-05,1793247817246942976
+61,1.016666667,BASELINE,765,745,715,680,659,634,877,784,810,652,629,652.397256397,0.40096725078,0.00449999295514,0.0698267306449,0.999999960096,4.6913872134e-05,-0.000277891904244,1.95529089736e-05,1793247817263609600
+62,1.033333333,BASELINE,765,745,715,680,659,634,877,784,810,652,629,652.97640393,0.400965494715,0.00450004709664,0.0698258272243,0.999999959496,4.63825424386e-05,-0.000280131412012,1.95790910027e-05,1793247817280276480
+63,1.050000000,BASELINE,765,745,715,680,658.449563322,634,877.550436678,784,810,652,629,652.449563322,0.400966355972,0.00450004766914,0.0698262115464,0.999999959806,4.49056161298e-05,-0.000279271133835,1.94877031858e-05,1793247817296943360
+64,1.066666667,BASELINE,765,745,715,679.872491186,658,633.872491186,877.872491186,784,809.872491186,652,629,652,0.400967180144,0.00449984726695,0.0698266055312,0.999999960108,4.4266455601e-05,-0.000278286109838,1.95473395813e-05,1793247817313609728
+65,1.083333333,BASELINE,765,745,715,679.283636093,658,633.283636093,877.283636093,784,809.283636093,652,629,652,0.400967467917,0.00449892793994,0.0698268365835,0.999999960246,4.68037733418e-05,-0.000277326095027,2.01714720483e-05,1793247817330276608
+66,1.100000000,BASELINE,765,745,715,679.299964489,658,633.299964489,877,784.299964489,809.299964489,652,629,652,0.400966536319,0.00449919529376,0.0698264510369,0.999999960012,4.83140910071e-05,-0.000277901714503,2.03179915006e-05,1793247817346943232
+67,1.116666667,BASELINE,765,745,715,679.878682089,658,633.878682089,877,784.878682089,809.878682089,652,629,652,0.400964471577,0.00450056541474,0.0698254924929,0.999999959432,4.88700306709e-05,-0.000279904379075,2.00206713332e-05,1793247817363609856
+68,1.133333333,BASELINE,765,745,715,680,658,634,877.455576656,785,809.544423344,652,629,652,0.400964386917,0.00450131824912,0.0698252239742,0.999999959359,4.88606146398e-05,-0.000280176612485,1.98998763887e-05,1793247817380276736
+69,1.150000000,BASELINE,765,744.968056827,715,680,658.031943173,634,877.968056827,785,809.031943173,652,629,652,0.40096492197,0.00450185205518,0.0698252410643,0.999999959465,4.867835424e-05,-0.000279832364977,1.98357398075e-05,1793247817396943104
+70,1.166666667,BASELINE,765,744.392448764,715,680,658.607551236,634,877.392448764,785,809.607551236,652,629,652,0.400967065855,0.00450144461776,0.0698270042219,0.999999960333,4.81064631761e-05,-0.000276807304427,1.99390417204e-05,1793247817413609728
+71,1.183333333,BASELINE,765,744.187598363,715,679.812401637,658.812401637,634,877,785,810,652,629,652,0.400967943569,0.004500407594,0.069827642284,0.999999960689,4.67637716205e-05,-0.000275741433363,2.00600530888e-05,1793247817430276352
+72,1.200000000,BASELINE,765,744.77715702,715,679.22284298,658.22284298,634,877,785,810,652,629,652,0.400966108301,0.00449802157805,0.0698258696448,0.999999959953,4.37695133443e-05,-0.000278873446884,2.02190098932e-05,1793247817446942976
+73,1.216666667,BASELINE,765,745,715,679,658,634,877,785,810,652,629,652,0.400966240953,0.0044981858043,0.0698259794075,0.999999959959,4.41521241447e-05,-0.000278795688051,2.01486104961e-05,1793247817463609856
+74,1.233333333,BASELINE,765,745,715,679,658,634,877,785,810,652,629,652,0.400967569456,0.00449989974213,0.0698272330538,0.999999960416,4.65867647964e-05,-0.0002767674394,1.99388376875e-05,1793247817480276736
+75,1.250000000,BASELINE,765,745,715,679.513277737,658,634,877,785,810,652,629,652,0.40096870397,0.00449908321816,0.0698282072826,0.999999960833,4.65413234076e-05,-0.000275247290444,2.01623308558e-05,1793247817496943360
+76,1.266666667,BASELINE,765.087268823,745,715,679.912731177,658,634,877,784.912731177,810,652,629,652,0.400969695552,0.00449825745301,0.0698289912972,0.999999961184,4.61640287496e-05,-0.000274022571922,2.03345052204e-05,1793247817513609984
+77,1.283333333,BASELINE,765.6645927,745,715,679.3354073,658,634,877,784.3354073,810,652,629,652,0.400970012091,0.00449904416848,0.0698288909536,0.999999961192,4.55544611485e-05,-0.000274122637686,1.99335262748e-05,1793247817530276352
+78,1.300000000,BASELINE,765.7522861,744.7522861,715,679.2477139,658,633.7522861,877,784,810,652,628.7522861,652,0.400970064567,0.00450013452551,0.0698286376366,0.999999961045,4.70765725902e-05,-0.000274418610184,1.97031493427e-05,1793247817546942976
+79,1.316666667,BASELINE,765.1611272,744.1611272,715,679.8388728,658,633.1611272,877,784,810,652,628.1611272,652,0.40096975093,0.00450164586885,0.069828172228,0.999999960668,5.1554168245e-05,-0.000274986199196,1.97093050262e-05,1793247817563609600
+80,1.333333333,BASELINE,765,744.421452926,715,680,658,633.421452926,877,784.421452926,809.578547074,652,628.421452926,652,0.40096740402,0.0045008865053,0.0698269618218,0.999999960109,5.05329526888e-05,-0.000277184502158,1.99339240413e-05,1793247817580276224
+81,1.350000000,BASELINE,765,745.000807756,715.000807756,680,658,634,877.000807756,784.999192244,809,652,629,652,0.40096430284,0.00449927880831,0.0698254763731,0.999999959473,4.74561334413e-05,-0.000279986211141,2.02397036929e-05,1793247817596942592
+82,1.366666667,BASELINE,765,745.572395247,715.572395247,680,658,634,877.572395247,784.427604753,809,652,629,652,0.400966551296,0.00449941688878,0.0698268870342,0.99999996018,4.77206067562e-05,-0.00027741673215,2.00545811042e-05,1793247817613609216
+83,1.383333333,BASELINE,764.852301893,745.852301893,715.852301893,679.852301893,658.147698107,634,878,784.147698107,809.147698107,652,629,652,0.400967957441,0.00449948751217,0.0698277213028,0.999999960615,4.75761987481e-05,-0.000275881191265,1.98977499751e-05,1793247817630275840
+84,1.400000000,BASELINE,764.265964863,745.265964863,715.265964863,679.265964863,658.734035137,634,878,784.734035137,809.734035137,652,629,652,0.400966862061,0.00449935779924,0.0698268437817,0.999999960256,4.62174809763e-05,-0.000277416274749,1.98249397533e-05,1793247817646942464
+85,1.416666667,BASELINE,764.317966577,745,715,679.317966577,658.682033423,634,877.682033423,784.682033423,810,652,629,652,0.40096715774,0.00449932812556,0.0698270040881,0.99999996028,4.62158999682e-05,-0.000277330673212,1.97953616498e-05,1793247817663609088
+86,1.433333333,BASELINE,764.899900922,745,715,679.899900922,658.100099078,634,877.100099078,784.100099078,810,652,629,652,0.400968608242,0.00449938150194,0.0698280259727,0.999999960623,4.73409794843e-05,-0.000275899620075,1.98016737561e-05,1793247817680275712
+87,1.450000000,BASELINE,765,745,715,679.519938153,658,634,877,784,809.519938153,652,629,652,0.400968601456,0.00449904019468,0.0698278051697,0.999999960553,4.73483621968e-05,-0.000276147887169,1.98376179173e-05,1793247817696942592
+88,1.466666667,BASELINE,765.059354838,745,715,679.059354838,658,634,877,784,809,652,628.940645162,652,0.400968252013,0.00449890735292,0.0698273772839,0.9999999604,4.72847464325e-05,-0.000276711290118,1.98760102576e-05,1793247817713609216
+89,1.483333333,BASELINE,765.634308721,745,715,679.634308721,658,634,877,784,809,652,628.365691279,652,0.400967555875,0.00450129764998,0.0698273931158,0.999999960261,4.86214124855e-05,-0.000276981644217,1.98821944459e-05,1793247817730275840
+90,1.500000000,BASELINE,765.786263889,745,715,680,658,633.786263889,877,784,809.213736111,652,628.213736111,652,0.400967554555,0.00450256208933,0.0698274844682,0.999999960311,4.9743535723e-05,-0.000276606982315,1.98082352739e-05,1793247817746942464
+91,1.516666667,BASELINE,765.199019003,745,715,680,658,633.199019003,877,784,809.800980997,652,628.800980997,652,0.400968767447,0.00450185906616,0.0698277077946,0.999999960692,5.04907403103e-05,-0.000275105140066,1.95942237339e-05,1793247817763609088
+92,1.533333333,BASELINE,765,745,715,680,658.385032026,633.385032026,877.385032026,784,810,652,629,652,0.400968270552,0.00450109855667,0.06982708308,0.999999960451,4.9993972503e-05,-0.000276056344171,1.97794896997e-05,1793247817780275712
+93,1.550000000,BASELINE,765,745,715,680,658.967445819,633.967445819,877.967445819,784,810,652,629,652,0.400966897158,0.00450030857747,0.0698260236279,0.999999959887,4.88594981543e-05,-0.000278265071118,2.01694401754e-05,1793247817796942592
+94,1.566666667,BASELINE,765,745,715,680,658.458231344,633.458231344,878,784,810,652,629,652,0.400967030282,0.00449974418733,0.0698264193001,0.999999960281,4.71515935824e-05,-0.000277147632824,2.01169092186e-05,1793247817813609216
+95,1.583333333,BASELINE,765.114953172,745,715,679.885046828,658,633.114953172,877.885046828,784,809.885046828,652,629,652,0.400967271543,0.00449943823439,0.0698269061838,0.999999960604,4.60407842414e-05,-0.000276171155817,2.00502210581e-05,1793247817830275840
+96,1.600000000,BASELINE,765.685524718,745,715,679.314475282,658,633.685524718,877.314475282,784,809.314475282,652,629,652,0.400967587896,0.00450010366419,0.0698274131299,0.999999960439,4.74311289307e-05,-0.000276533891313,2.00312523904e-05,1793247817846942464
+97,1.616666667,BASELINE,765.731916623,745,715,679,658,634,877,784,809.536166755,652,628.731916623,652,0.400968603434,0.00450080471259,0.0698282459827,0.999999960642,4.82614293879e-05,-0.000275658760788,1.99756340805e-05,1793247817863609088
+98,1.633333333,BASELINE,765.134638334,745,715,679,658,634,877,784,810.730723332,652,628.134638334,652,0.400970477541,0.00450154949908,0.0698294790351,0.999999961295,4.84040194186e-05,-0.000273263583754,1.98750115797e-05,1793247817880275712
+99,1.650000000,BASELINE,765,745,715,679,658,634,877.448020692,784,810.551979308,652,628.448020692,652,0.400969570809,0.00450012741125,0.0698288548108,0.999999960996,4.82643819009e-05,-0.000274357060969,2.01606944177e-05,1793247817896942336
+100,1.666666667,BASELINE,765,745,715,679,658,634,877.973697059,784.026302941,809.973697059,652,629,652,0.400967941971,0.00449818802681,0.0698277602337,0.999999960452,4.80050767838e-05,-0.000276352590054,2.05288741963e-05,1793247817913608960
+101,1.683333333,BASELINE,765,745,715,679,658,634,877.397968297,784.602031703,809.397968297,652,629,652,0.400968134157,0.00449861552823,0.0698281310853,0.999999960608,4.69617635109e-05,-0.000275983080399,2.02719410864e-05,1793247817930275584
+102,1.700000000,BASELINE,765,745,715,679,658,633.819810181,877,784.819810181,809,652,628.819810181,652,0.400968235299,0.00449919172054,0.0698283975911,0.999999960708,4.61641809348e-05,-0.000275777221128,2.00129002617e-05,1793247817946941952
+103,1.716666667,BASELINE,765,745,715,679,658,633.23621333,877,784.23621333,809,652,628.23621333,652,0.400968132611,0.00450010080036,0.0698284304885,0.99999996068,4.59167377431e-05,-0.000275937740627,1.97491407428e-05,1793247817963608832
+104,1.733333333,BASELINE,765,745,715,679,658,633.346988814,877,784.346988814,809,652,628.346988814,652,0.400967755194,0.00450008955913,0.0698280639675,0.99999996056,4.70979095108e-05,-0.000276167846528,1.98444121085e-05,1793247817980275456
+105,1.750000000,BASELINE,765,745,715,679,658,633.929922625,877,784.929922625,809,652,628.929922625,652,0.400967190967,0.00449945251931,0.0698274258505,0.999999960373,4.92505089723e-05,-0.000276445269714,2.01838167957e-05,1793247817996942336
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,810,652,629,652,0.400967189206,0.00449817267779,0.0698273977985,0.999999960495,4.2525892636e-05,-0.000277157784549,1.96157705605e-05,1793247818028055808
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,785,810,652,629,652,0.400966976885,0.0044992631635,0.0698270800975,0.999999960377,4.60228762619e-05,-0.000277007438656,1.98786975045e-05,1793247818044722176
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.844761685,658.155238315,634,877,784.844761685,809.844761685,652,629,652,0.400967663615,0.00450021568937,0.0698274667984,0.999999960516,4.8610355586e-05,-0.000276050907356,2.003687633e-05,1793247818061388544
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.254999833,658.745000167,634,877,784.254999833,809.254999833,652,629,652,0.400970866854,0.00450078205564,0.0698298251722,0.999999961398,4.86520658243e-05,-0.000272837803379,1.9901857476e-05,1793247818078054912
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.669350542,634,877,784,809.330649458,652,629,652,0.400969939358,0.0045009449453,0.0698287870206,0.999999961002,4.80796520374e-05,-0.000274404356031,1.96698146576e-05,1793247818094721280
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.086833967,634,877,784,809.913166033,652,629,652,0.400965865338,0.00450080049283,0.0698251616183,0.999999959615,4.70394387573e-05,-0.000279611738476,1.9363865341e-05,1793247818111387648
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.488680158,658.488680158,634,877,784,809.511319842,652,628.511319842,652,0.400966454379,0.00449904553638,0.0698260964446,0.999999959823,4.7439428738e-05,-0.000278745499877,2.00929651588e-05,1793247818128054784
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.063100838,634,877,784,809,652,628,652,0.400967560556,0.00449744998133,0.0698275962647,0.999999960212,4.8090237088e-05,-0.000277179843577,2.08387028049e-05,1793247818144721920
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.638603564,634,877,784,809,652,628,652,0.400966232727,0.00449943981469,0.0698271969766,0.999999959806,4.87290494566e-05,-0.0002785745702,2.02471568678e-05,1793247818161388544
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.219992406,745,715,679.780007594,659.560015188,634,877,784,809,652,628.219992406,652,0.400968022281,0.004500923476,0.0698282391748,0.999999960112,4.9563290975e-05,-0.000277353450646,1.9845827963e-05,1793247818178054656
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.811316539,745,715,679.188683461,658.377366923,634,877,784,809,652,628.811316539,652,0.400975073759,0.00450155275424,0.0698317145008,0.999999961603,5.07274031045e-05,-0.000271716966364,1.97655721051e-05,1793247818194721024
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.605305479,745,715,679.394694521,658,634,877,784,809,652,629,652,0.400994750849,0.00450095122901,0.0698403390395,0.999999965482,5.00116496749e-05,-0.000257170003094,1.9984040073e-05,1793247818211387648
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.02565113,745,715,679.97434887,658,634,877,784,809,652,629,652,0.401020344492,0.0044997729307,0.0698513765775,0.999999970192,4.8414962877e-05,-0.00023844745392,2.03424945346e-05,1793247818228054272
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.451297274,745,715,679.451297274,658,634,877,784.548702726,809.548702726,652,629,652,0.401076246858,0.00449984063653,0.0698705375684,0.999999978057,4.87508602319e-05,-0.000202773303345,1.97994115114e-05,1793247818244721152
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.125597339,745,715,679.125597339,658,634,877,785,809.874402661,652,629,652,0.401134881394,0.00449995524797,0.0698885935156,0.999999983863,4.8519311723e-05,-0.000171897225559,1.92815719236e-05,1793247818261388032
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.712730554,745,715,679.712730554,658,634,877,785,809.287269446,652,629,652,0.401198399041,0.00450003022339,0.0699012065697,0.99999998572,4.58737355806e-05,-0.000161536974449,1.90098870916e-05,1793247818278054656
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.70392586,658,634,877,784.70392586,809.29607414,652.29607414,629,652,0.401272004134,0.00449983789292,0.0699100335625,0.999999987696,4.34039022381e-05,-0.000149655082796,1.81223676338e-05,1793247818294721024
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679.124212774,658,634,877,784.124212774,809.875787226,652.875787226,629,652,0.401355272993,0.00449938948347,0.069915233509,0.999999989726,4.11024306069e-05,-0.000136315460529,1.66448787865e-05,1793247818311387392
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.453400264,745,715,679.453400264,658,634,877.453400264,784,809.546599736,652.546599736,629,652,0.401447941734,0.0044998740505,0.0699151064172,0.999999989838,3.89248981324e-05,-0.00013637805209,1.44654480724e-05,1793247818328054016
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.969286559,745,715,679.969286559,658,634,877.969286559,784,809.030713441,652,629,652,0.401544486996,0.00450067323704,0.0699135035051,0.999999989425,3.67805471085e-05,-0.000140181769736,1.2080776295e-05,1793247818344720640
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.387074586,745,715,679.387074586,658,634,877.387074586,784,809.612925414,652,629,652,0.401664612747,0.00450255341275,0.0699114846861,0.999999988765,3.46251314765e-05,-0.00014553701595,9.44786142983e-06,1793247818361387520
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.195086896,745.195086896,715,679,658,634,877.195086896,784.195086896,810,652,629,652,0.401797297281,0.00450449949916,0.0699110157375,0.999999988548,3.25946967617e-05,-0.000147655839344,6.31820719377e-06,1793247818378054144
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.777148154,745.777148154,715,679,658,634,877.777148154,784.777148154,810,652,629,652,0.401954893401,0.0045065763258,0.0699136211119,0.999999989248,3.081217445e-05,-0.000143354893847,2.20322106195e-06,1793247818394720512
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.646706434,745.646706434,715,679,658,634,877.646706434,784.646706434,809.646706434,652,628.646706434,652,0.402131011626,0.00450754008825,0.0699166068109,0.999999989989,2.80206688865e-05,-0.000138683825836,-1.62516955825e-06,1793247818411387392
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.074231131,745.074231131,715,679,658,634,877.074231131,784.074231131,809.074231131,652,628.074231131,652,0.402318620895,0.0045078133109,0.0699198284619,0.999999990734,2.46031944835e-05,-0.000133783135063,-5.27575801376e-06,1793247818428054016
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.496527858,679,658,634,877,784,809.503472142,652,628,652,0.402536843802,0.00450930044165,0.0699221877533,0.999999991476,1.86158915737e-05,-0.000128837740266,-1.01131496594e-05,1793247818444720896
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.083631413,679.083631413,658,634,877,784,810,652,628.083631413,652.083631413,0.402766530076,0.00451102138715,0.0699249701866,0.999999992261,1.26248440548e-05,-0.000122829865156,-1.52455398705e-05,1793247818461387776
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714.673951834,679.673951834,658,634,877,784,810,652,628.673951834,652.673951834,0.403038035176,0.00451306319733,0.06993109467,0.999999993641,8.93074384505e-06,-0.000110425199933,-2.10939502739e-05,1793247818478054656
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.740473841,658,634,877,784.259526159,809.740473841,652,629,652.740473841,0.403328595398,0.00451490535495,0.0699393567766,0.999999995127,4.9604389724e-06,-9.49250573042e-05,-2.66425318169e-05,1793247818494721536
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.160755089,658,634,877,784.839244911,809.160755089,652,629,652.160755089,0.40364266502,0.00451650118941,0.0699502561934,0.999999996635,6.49364483398e-07,-7.56058439935e-05,-3.18211966144e-05,1793247818511387904
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.417260018,658.417260018,634,877,784.582739982,809,652,629,652,0.403976111629,0.00451948673447,0.0699552156831,0.999999997011,-1.91252956592e-06,-6.78031853143e-05,-3.71054125646e-05,1793247818528054272
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.994621428,658.994621428,634,877,784.005378572,809,652,629,652,0.404316993121,0.00452300550721,0.0699578960406,0.999999997018,-3.80326833416e-06,-6.44193938533e-05,-4.2430128052e-05,1793247818544720896
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.431894321,634,877,784,809.568105679,652,629,652,0.404691938322,0.00452411621084,0.0699603369257,0.99999999692,2.51087682365e-05,-6.3995028036e-05,-3.78726239859e-05,1793247818561388032
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.145882141,634,877,784,810,652,629,652,0.405081239822,0.00452666880815,0.0699634249584,0.999999996036,5.51854603677e-05,-6.1083659826e-05,-3.39228189806e-05,1793247818578055168
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.736865715,634,877,784,810,652,629,652,0.405513366486,0.00453368986046,0.069968494375,0.999999994343,8.7931878608e-05,-5.04992834916e-05,-3.21106948947e-05,1793247818594721792
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.678936645,634,877,784,810,652,629,652,0.405955653078,0.00453178601883,0.0699658499333,0.999999993173,9.96856762626e-05,-5.21253216427e-05,-3.16260953173e-05,1793247818611388416
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.100185383,634,877,784,810,652,629,652,0.406406094151,0.0045227189898,0.0699570142904,0.999999992988,9.45906395917e-05,-6.35515307779e-05,-3.2206976891e-05,1793247818628054784
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652,629,652.470427885,0.406880191108,0.00450659552743,0.0699402199424,0.999999994561,4.50258508396e-05,-8.89340876655e-05,-3.06972536091e-05,1793247818644721152
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652,629,652.959984225,0.407365352557,0.00449121801708,0.0699232842223,0.999999992968,-1.12451314776e-05,-0.000114415232592,-2.90856191615e-05,1793247818661387520
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,810,652,629,652.381264775,0.407932799277,0.00450576958474,0.0699268750089,0.99999999377,-3.24694313855e-05,-0.000101890984784,-3.19938994605e-05,1793247818678053888
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.797634405,658.40473119,633.797634405,877,784,810,652,629,652.202365595,0.408524459863,0.00451741369171,0.0699357149587,0.999999995462,-3.60592653923e-05,-8.11728853505e-05,-3.44445483495e-05,1793247818694720768
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.204521584,659.590956832,633.204521584,877,784,810,652,629,652.795478416,0.409162874909,0.00452344378919,0.0699546905044,0.99999999834,-5.59875156217e-06,-4.46332988192e-05,-3.60115576884e-05,1793247818711387648
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659.245746622,633.377126689,877,784,810,652,629,652.622873311,0.409783340763,0.004528092174,0.0699558145733,0.999999998401,1.49303324372e-05,-3.97948163098e-05,-3.73118034908e-05,1793247818728054272
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.094518051,633.952740974,877,784,810,652,629,652.047259026,0.41039435966,0.00453201334192,0.0699475431337,0.99999999747,3.02323506844e-05,-5.16411152516e-05,-3.84716474955e-05,1793247818744720896
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679.525249992,658.525249992,634,877.525249992,784,810,652,629,652.525249992,0.411053492647,0.00454375379535,0.0699464997442,0.999999996293,5.2818000805e-05,-5.55698203654e-05,-3.91828768083e-05,1793247818761387776
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.101339442,745,715,680,659.101339442,633.898660558,877.898660558,784,810.101339442,652,629,653,0.411730605733,0.00455472799007,0.0699508886521,0.999999995347,7.21814489118e-05,-5.00340538668e-05,-3.99168696166e-05,1793247818778054400
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.696218709,745,715,680,659.696218709,633.303781291,877.303781291,784,810.696218709,652,629,653,0.412474325465,0.00455856417937,0.0699785851022,0.999999996518,7.26793771361e-05,-1.85376536967e-06,-4.09571473381e-05,1793247818794721024
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.717068183,745,715,680.282931817,660.282931817,633.282931817,877.282931817,784,810.717068183,652,629,652.717068183,0.413241828172,0.00456489095532,0.0700041575497,0.999999995698,7.32410897294e-05,3.8780568188e-05,-4.16675116284e-05,1793247818811387648
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.13887697,745,715,680.86112303,660.86112303,633.86112303,877.86112303,784,810.13887697,652,629,652.13887697,0.414034150189,0.00457381683536,0.0700275134534,0.999999993829,7.38693659666e-05,7.15401690251e-05,-4.20335880484e-05,1793247818828054272
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680.566111039,660.566111039,633.566111039,878,784,810.433888961,652,629,652.433888961,0.414765346934,0.00458177967527,0.070005628591,0.999999994256,9.4326187846e-05,2.80152659034e-05,-4.24868104836e-05,1793247818844720896
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.994998824,633,878,784,811,652,629,653,0.415477860629,0.00458942226756,0.0699693940744,0.99999999101,0.00012068968582,-3.9577203902e-05,-4.29898743647e-05,1793247818861387520
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.416853621,633,878,784,811,652,629,653,0.416263724836,0.00459525314057,0.0699276532387,0.99999998819,0.000105617197716,-0.000101708660288,-4.6047743208e-05,1793247818878054400
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.330908358,633,878,784.165454179,811,652,629,653,0.417070128963,0.00460105766002,0.0699051734833,0.999999984778,9.96402553767e-05,-0.00013495165575,-4.79961715464e-05,1793247818894721280
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.517040124,633,878,784.758520062,811,652,629,653,0.417929617895,0.00460679406905,0.0699324734546,0.999999987653,0.00011717049874,-9.35332279229e-05,-4.70772820643e-05,1793247818911387648
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680.34221308,660.65778692,633.34221308,878,784.65778692,811,652,629,653,0.418821653398,0.00461348607367,0.0699625400863,0.999999988655,0.000134080502063,-4.96956489009e-05,-4.73493206716e-05,1793247818928054272
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.919468506,660.080531494,633.919468506,878,784.080531494,811,652,629,653,0.41973604284,0.00462083441014,0.0699945069433,0.999999987483,0.000150564504825,-4.19652498836e-06,-4.84393248853e-05,1793247818944720896
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.49216669,633.50783331,878.49216669,784,811,651.50783331,629.49216669,653,0.420648964018,0.00462223038742,0.0700208835972,0.999999988356,0.0001395959071,3.81039625239e-05,-4.84668644617e-05,1793247818961387520
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680.933639885,661,633.066360115,879,784.066360115,811,651.066360115,629.933639885,653,0.421555325424,0.00462013720585,0.0700411897384,0.999999988563,0.000124497405839,7.08812982752e-05,-4.84819040535e-05,1793247818978054144
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.341754407,661,633.658245593,879,784.658245593,811,651.658245593,629.341754407,653,0.422411622679,0.004598054684,0.0700205990421,0.999999991973,0.000111939870742,3.23487443414e-05,-4.97620704645e-05,1793247818994721280
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.510326328,633.755163164,879,784.755163164,811.244836836,651.755163164,629.244836836,653,0.42325069897,0.00457900946617,0.069969424396,0.99999999318,9.24401166837e-05,-4.9638347222e-05,-5.12929840936e-05,1793247819011387904
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.351610716,633.175805358,879,784.175805358,811.824194642,651.175805358,629.824194642,653,0.42406624635,0.00456411411867,0.069876462846,0.999999978333,6.34551943794e-05,-0.000190997450178,-5.31664935769e-05,1793247819028054528
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.401150647,659.401150647,633,879,784,811.598849353,651,630,653,0.424997025969,0.00456729205239,0.0698580916526,0.999999974713,5.42288213176e-05,-0.000211108464915,-5.53754460924e-05,1793247819044721152
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680.977060286,659.977060286,633,879,784,811.022939714,651,630,653,0.425978005807,0.00457834350892,0.0698722153285,0.999999980984,5.36101495756e-05,-0.000178398434104,-5.77305326083e-05,1793247819061387776
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.446377414,661.107245172,633,879,784,811.553622586,651.553622586,630,652.446377414,0.42696357693,0.00458357716869,0.069938399459,0.999999991548,8.08584705725e-05,-8.6277651454e-05,-5.40581416574e-05,1793247819078054400
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.733848111,633,878.866924056,784,812,652,630,652.133075944,0.427944411308,0.00458802706044,0.0699998519428,0.999999993474,0.000102088756614,6.38261207362e-07,-5.12711057499e-05,1793247819094720768
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.555305512,633,878.277652756,784,812,652,630,652.722347244,0.428908354746,0.00459061749372,0.0700376802982,0.999999991878,9.87256862769e-05,6.12624892819e-05,-5.23763245748e-05,1793247819111387392
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.30511367,660.30511367,633,878.30511367,784,812,652,630,653,0.429855831925,0.00459250346793,0.0700495688246,0.999999990627,9.58825746552e-05,8.16897499903e-05,-5.36626968879e-05,1793247819128054016
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.88208421,660.88208421,633,878.88208421,784,812,652,630,653,0.430788637583,0.00459376176761,0.0700383449111,0.999999991912,9.35027476522e-05,6.63014320302e-05,-5.51104773673e-05,1793247819144720896
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.458221442,745,715,681,661,633,879,784,812,651.541778558,630,653,0.43162965444,0.00459293770911,0.0699630458312,0.999999991634,9.81483694751e-05,-6.42341253499e-05,-5.45238745747e-05,1793247819161387776
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.965784019,745,714.965784019,681,660.965784019,633,879,784,812.034215981,651.034215981,630,653,0.432455379443,0.00459130965977,0.0698779493962,0.999999970773,0.000103495827487,-0.000211824943446,-5.3597978755e-05,1793247819178054656
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.388657942,745,714.388657942,681,660.388657942,633,879,784,812.611342058,651.611342058,630,653,0.43341257254,0.00458541171811,0.0698985506481,0.999999981367,9.13455539022e-05,-0.000160723833597,-5.5580106112e-05,1793247819194721280
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.187408933,681,660.5622268,633,879,784,812.812591067,652,630,653,0.434368913306,0.00458095812827,0.0699312817392,0.999999990362,8.25588368815e-05,-9.61028178462e-05,-5.67842020885e-05,1793247819211387904
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.761291635,681,662.283874906,633,879,784,812.238708365,652,630,653,0.435323496575,0.00457948307247,0.0699890269281,0.999999995147,8.07084271729e-05,-3.60111011429e-06,-5.63838459352e-05,1793247819228054528
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662.304306812,633,879,784,812.347846594,652,630,652.652153406,0.436247269914,0.00457797620518,0.0700209640819,0.999999994026,8.03944674188e-05,4.89103473769e-05,-5.560623529e-05,1793247819244721152
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661.113146816,633,879,784,812.943426592,652,630,652.056573408,0.437149100622,0.0045764466821,0.070034520968,0.999999992557,8.1174754755e-05,7.29410812117e-05,-5.45599474257e-05,1793247819261387776
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784,813,651.480450825,630,652.519549175,0.438011817606,0.00457707739288,0.0700091801304,0.999999994271,7.57397036584e-05,4.9842999367e-05,-5.68904545998e-05,1793247819278054400
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.096170773,745,715,681,661,633,879,784,813,651.096170773,630,653,0.438846435666,0.00457887151567,0.0699723617448,0.999999995647,7.2011660689e-05,4.85494947904e-06,-5.91256720134e-05,1793247819294721024
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.685832477,745,715,681,661,633,879,784,813,651.685832477,630,653,0.439557932885,0.00458547210382,0.0698975971776,0.999999986951,8.03904516091e-05,-0.000127076455579,-5.90532273712e-05,1793247819311387904
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.729951507,745,715,681,660.729951507,632.729951507,879,784,813.270048493,652,630,653,0.440319021811,0.00458881264754,0.0698583198555,0.999999976147,8.71497117906e-05,-0.00019144139618,-5.8832753865e-05,1793247819328054272
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.151945673,745,715,681,660.151945673,632.151945673,879,784,813.848054327,652,630,653,0.441136663974,0.0045884355081,0.0698595114094,0.999999978078,9.20620955334e-05,-0.000178755025476,-5.84434724089e-05,1793247819344720896
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.424383052,660.848766104,632.424383052,879,784,814,652,630,653,0.441996396547,0.00458627661064,0.069919923888,0.999999991122,8.69072838734e-05,-8.27019128358e-05,-5.79932661355e-05,1793247819361387776
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.000113284,715,681.999886716,662,633,879.000113284,784,814,652,630.000113284,653,0.442871120046,0.00458348299633,0.0700014450031,0.999999994364,7.81623144908e-05,4.30618488228e-05,-5.75213151693e-05,1793247819378054400
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.57364557,715,681.42635443,662,633,879.57364557,784,814,652,630.57364557,653,0.44364545241,0.00458428858204,0.0700257376418,0.999999993786,6.99451138599e-05,6.55049450544e-05,-5.6967051306e-05,1793247819394720768
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.152441627,745.847558373,715,681,661.695116747,633,880,783.847558373,814,652,631,653,0.444395574109,0.00458510820654,0.0700363038717,0.999999993818,6.60721101533e-05,6.92390341307e-05,-5.66097373247e-05,1793247819411387392
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.746486256,745.253513744,715,681,660.507027488,633,880,783.253513744,814,652,631,653,0.445075560926,0.00458596849976,0.0700071065366,0.999999995413,7.47836619404e-05,1.87756371583e-05,-5.6822960667e-05,1793247819428054016
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.66095983,660.66095983,633,879.669520085,783.330479915,814,652,631,653,0.445732997228,0.00458471299218,0.0699771815374,0.999999994889,8.08300246059e-05,-2.28481760156e-05,-5.62793905562e-05,1793247819444720896
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,682.813981864,661.813981864,633,879.093009068,783.906990932,814,652,631,653,0.446373645394,0.00458188234252,0.0699467148186,0.999999993199,8.48922437576e-05,-5.78912154325e-05,-5.51724133662e-05,1793247819461387776
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.482529848,715,682.517470152,661.517470152,633,879.482529848,784,814,652,630.517470152,653,0.446980219281,0.00458146433016,0.0699298299261,0.999999991089,8.27855867234e-05,-8.87184344098e-05,-5.56526279799e-05,1793247819478054656
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.884889341,715,682,661,633,879.942444671,784,814,652,630,653,0.447578581808,0.00458170590196,0.0699159306859,0.999999988232,8.07817876941e-05,-0.000117672464382,-5.62423981398e-05,1793247819494721536
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,744.740675088,715,682,661,633,879.370337544,784,814,652,630,653,0.448162133745,0.00458369505461,0.0699053659167,0.999999985003,9.0306606641e-05,-0.000137130199365,-5.50820024218e-05,1793247819511387904
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.789306292,744.210693708,715,682,660.789306292,632.789306292,879.210693708,784,814,651.789306292,630.210693708,653,0.448738177972,0.00458431636855,0.0699044881494,0.999999983878,9.78402458176e-05,-0.000140568131954,-5.39631276059e-05,1793247819528054784
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.191895337,744.808104663,715,682,660.191895337,632.191895337,879.808104663,784,814,651.191895337,630.808104663,653,0.449300442128,0.00458242708607,0.0699213903668,0.999999986859,0.000101719177978,-0.000114602555728,-5.29204623689e-05,1793247819544721408
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.387248876,745,715,682,660,632.387248876,880,784,814.387248876,651.387248876,631,653,0.449830867889,0.00458372853042,0.0699385741939,0.999999988883,0.000107218122117,-8.90413836017e-05,-5.30128249484e-05,1793247819561388032
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.957749076,745,715,682,660,632.957749076,880,784,814.957749076,651.957749076,631,653,0.450346227347,0.00458653986903,0.0699558912841,0.999999990095,0.000113483677798,-6.3671578555e-05,-5.36422976917e-05,1793247819578054656
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659.464730098,633,879.464730098,784,814.464730098,652,631,653,0.450765086666,0.00458957151075,0.0699263104886,0.999999984913,0.000120508345267,-0.000112850449728,-5.4005340288e-05,1793247819594721280
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632.884322719,879.115677281,784,814,651.884322719,630.884322719,653,0.451168353445,0.00459236423201,0.0698911277814,0.999999975982,0.000128846304205,-0.000168954505023,-5.37403795618e-05,1793247819611387904
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632.294382862,879.705617138,784,814,651.294382862,630.294382862,653,0.451539337199,0.00459410516792,0.0698483566787,0.999999962351,0.000142319671249,-0.000229004966058,-5.09880510889e-05,1793247819628054272
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.708148296,745,715,682,659,632,879.708148296,784,814.291851704,651.291851704,630.291851704,653,0.451910184127,0.00459708814327,0.0698205678978,0.999999952911,0.000148008219466,-0.00026395363084,-5.09928176008e-05,1793247819644720640
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.125604335,745,715,682,659,632,879.125604335,784,814.874395665,651.874395665,630.874395665,653,0.452280894749,0.00460130822367,0.0698077019207,0.999999950395,0.000145942875455,-0.000273900219163,-5.37437261985e-05,1793247819661387520
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,682,658.548418071,632,879,784,814.548418071,652,631,652.548418071,0.452617780265,0.00460208355062,0.0698030504576,0.999999955354,9.08249746824e-05,-0.00027903009614,-5.64305068863e-05,1793247819678054144
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.027184502,745,715,682,657.972815498,632,879.027184502,783.972815498,814,651.972815498,630.972815498,652.027184502,0.452943456374,0.00460206302208,0.0698007124427,0.999999957905,2.48375003468e-05,-0.000282993939241,-5.90598116911e-05,1793247819694720768
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.600557821,745,715,682,657.399442179,632,879.600557821,783.399442179,814,651.399442179,630.399442179,652.600557821,0.453230726789,0.00460507726066,0.0697994880947,0.999999955498,3.34634233406e-05,-0.000290132166939,-6.0888493273e-05,1793247819711387648
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,682,657,632,879.820134823,783,814.179865177,651.179865177,630.179865177,653,0.453510698241,0.00460777744201,0.0697995165349,0.999999954247,4.28227162184e-05,-0.000292961216801,-6.20212693869e-05,1793247819728054528
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,682,657,632,879.227199719,783,814.772800281,651.772800281,630.772800281,653,0.453773907199,0.00460975637383,0.0698024220698,0.999999955787,5.38662307904e-05,-0.000285894010015,-6.15558613983e-05,1793247819744721152
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,714.642878978,682,657,631.642878978,879.357121022,783.357121022,814.642878978,652,631,653,0.454004930977,0.00461069953997,0.0698009697115,0.999999953947,7.91343127566e-05,-0.000287837862461,-5.47104933034e-05,1793247819761388032
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714.06390954,682,657,631.06390954,879.93609046,783.93609046,814.06390954,652,631,653,0.454215960912,0.00461099927465,0.0697968101712,0.999999949,0.000113238889677,-0.000295379505994,-4.3901807464e-05,1793247819778054912
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.490418004,745,714.509581996,682,657,631,880,783.490418004,814.509581996,652,630.490418004,653,0.454399056649,0.00461282619172,0.06979753596,0.9999999482,0.000118224321889,-0.000296000974708,-4.48013354479e-05,1793247819794721536
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.916955105,682.083044895,656.916955105,631,879.916955105,783,815,652,630.083044895,653,0.454573175441,0.00461469033694,0.0697981370539,0.999999947493,0.000119419362279,-0.00029757834368,-4.69095610019e-05,1793247819811388160
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.339616715,682.660383285,656.339616715,631,879.339616715,783,815,652,630.660383285,653,0.454714493219,0.00461564816892,0.0697943878892,0.999999943685,0.000119559466526,-0.000309956244228,-4.75650036059e-05,1793247819828054528
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.243306106,745.243306106,714.243306106,682.756693894,656,631,879,783,815,652,631,653,0.454842818189,0.00461568948378,0.0697874437819,0.999999939172,0.000119202079944,-0.000324227567711,-4.81919642639e-05,1793247819844721152
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.834206986,745.834206986,714.834206986,682.165793014,656,631,879,783,815,652,631,653,0.454952581215,0.00461442143334,0.0697759352793,0.999999933622,0.00011813396227,-0.000341203894136,-4.87782346754e-05,1793247819861387776
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.585212306,745.585212306,715,682,656,631,879,783,815,652,631,653,0.455049064916,0.00461544785458,0.0697702285527,0.999999929976,0.000120168369652,-0.000350955936445,-4.93653641486e-05,1793247819878054400
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.008656501,745.008656501,715,682,656,631,879,783,815,652,631,653,0.455140369649,0.00461736912485,0.0697667845316,0.999999927094,0.000123412768634,-0.000357890491718,-4.99528286452e-05,1793247819894721024
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.5663448,745,715,682.5663448,656,631,879,783,814.4336552,652,631,653,0.455217479276,0.00461691606474,0.069768846679,0.999999928136,0.000121543608401,-0.000355606970311,-4.99973299999e-05,1793247819911388416
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.855589242,745,714.855589242,683,656,631,879.144410758,783.144410758,814.144410758,652,630.855589242,653,0.455289183854,0.00461691062432,0.0697706356954,0.999999928707,0.000121365049594,-0.000354073866045,-4.98895641113e-05,1793247819928055552
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.268046621,745,714.268046621,683,656,631,879.731953379,783.731953379,814.731953379,652,630.268046621,653,0.455344966709,0.00461838978503,0.0697713290496,0.999999927657,0.00012661337045,-0.000355274622231,-4.93399548796e-05,1793247819944721920
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.973166931,714.026833069,682.973166931,656,631,879,783.026833069,814,651.026833069,630.973166931,653,0.454892757425,0.00461947809121,0.0696630155588,0.999999855671,0.000148256311734,-0.000515045551022,-3.74866452074e-05,1793247820987729152
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.383088087,714.616911913,682.383088087,656,631,879,783.616911913,814,651.616911913,630.383088087,653,0.454771078478,0.00461741619631,0.0696673616316,0.999999859427,0.000148827510758,-0.000507684532497,-3.54084584495e-05,1793247821004395776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.796222351,682,655.796222351,631,879,784,814,652,630,653,0.454636803718,0.00461575806869,0.0696702959569,0.999999862292,0.000150146653541,-0.000501771136067,-3.31241440352e-05,1793247821021062656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.215303337,682,655.215303337,631,879,784,814,652,630,653,0.454479217277,0.00461484721336,0.0696706174905,0.999999863585,0.000152850052751,-0.000498536926238,-3.04583392145e-05,1793247821037729280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.361349887,682.361349887,655.361349887,631,879,784,814,652,630,653,0.454303162628,0.00461353599826,0.06967463836,0.999999866668,0.000155169872534,-0.000491775131696,-2.72542234492e-05,1793247821054395904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,714.935491133,682.935491133,655.935491133,631,879,784,814,652,630,653,0.454116232424,0.00461198901961,0.0696808376907,0.999999870739,0.000157263810695,-0.000482936016264,-2.37331074185e-05,1793247821071062528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,656.51059072,631,879.51059072,783.48940928,814,652,630.51059072,653,0.453895608664,0.00461216758198,0.0696889279077,0.999999875009,0.000162520739937,-0.000472408118332,-2.00093586745e-05,1793247821087729152
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.911485856,745,715,683,656.911485856,631,879.911485856,783,813.911485856,652,631,653,0.453663927863,0.00461179957361,0.0696949928775,0.999999877867,0.000167684931236,-0.000464637679038,-1.61032361312e-05,1793247821104396032
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.318148843,745,715,683,656.318148843,631,879.318148843,783,813.318148843,652,631,653,0.453393509367,0.00460706860601,0.0696881421871,0.99999987323,0.000170036787644,-0.000473813019197,-1.13032637955e-05,1793247821121062656
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.266514731,745,715,682.733485269,656,631.266514731,879,783.266514731,813.266514731,652,631,653,0.453104214266,0.0045983843303,0.0696823378855,0.999999870254,0.000167798305777,-0.000480919757865,-7.14816173159e-06,1793247821137729280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.841150786,745,715,682.158849214,656,631.841150786,879,783.841150786,813.841150786,652,631,653,0.452793095681,0.0045851295813,0.0696777433289,0.999999869232,0.000160252870916,-0.000485634957526,-3.73860329655e-06,1793247821154395904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.416000428,715,682,656,632,879,784,813.583999572,652,631,653,0.45245254446,0.00458166080651,0.0696739725032,0.999999866035,0.000160037994045,-0.00049225455215,-1.90959523254e-06,1793247821171063296
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.990931656,715,682,656,632,879,784,813.009068344,652,631,653,0.452100748662,0.00458193071259,0.0696705163797,0.999999861976,0.000162623718907,-0.000499601710843,-6.84428297764e-07,1793247821187730688
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.417425741,714.417425741,682.582574259,657.165148517,632,879,783.417425741,813,652,631,653,0.451707707604,0.00460131851639,0.0696750555158,0.999999859934,0.000189903357577,-0.000494033718658,1.62133601147e-07,1793247821204396800
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.829924128,745,714.170075872,683,658,632,879.170075872,783,813,652,631,652.829924128,0.451304947824,0.0046118049844,0.0696821181439,0.99999986034,0.000207449798273,-0.000486080633571,3.07110667897e-06,1793247821221063168
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.252969927,745,714.747030073,683,658,632,879.747030073,783,813,652,631,652.252969927,0.450880518963,0.00460026352172,0.0696949112791,0.999999867962,0.000200764437191,-0.000472916762163,1.09285717691e-05,1793247821237730304
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.322644411,745,715,683,658,632,880,783.322644411,813,652,631,652.322644411,0.450439839635,0.00459484907861,0.0697093622266,0.999999875618,0.000198532708608,-0.000457243554345,1.6638948216e-05,1793247821254396672
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.897212632,745,715,683,658,632,880,783.897212632,813,652,631,652.897212632,0.449986471743,0.00459421866912,0.0697251076108,0.999999883202,0.000199778417692,-0.000439611031462,2.0672858369e-05,1793247821271062784
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.515470865,745,715,682.515470865,658,632,880,784,813,652,631,653,0.449500379116,0.00459522800141,0.069746814991,0.999999905318,0.00016129811547,-0.000404038483867,9.98111797257e-06,1793247821287729408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.146411731,632.073205866,880,784,812.926794134,652,631,652.926794134,0.449001433715,0.00459510688767,0.0697698541943,0.999999926349,0.000119224144333,-0.000364809554995,-1.19224840663e-06,1793247821304396032
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.304185951,632.652092976,880,784,812.347907024,652,631,652.347907024,0.448462955512,0.00458470926088,0.0697931205115,0.999999940124,0.000112113118187,-0.000327322934993,6.46926310035e-06,1793247821321062400
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.229684422,745,715,682,660,632.770315578,879.770315578,784,812,651.770315578,631,652.229684422,0.447888679562,0.00458089992936,0.0698018193922,0.999999944535,0.0001121967525,-0.000313334550175,1.28053210952e-05,1793247821337729024
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.80532428,745,715,682,660,632.19467572,879.19467572,784,812,651.19467572,631,652.80532428,0.447260484334,0.00458701402528,0.0697885764967,0.999999936249,0.000123117134021,-0.000334739696686,1.71449531015e-05,1793247821354395904
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.622725686,745,714.622725686,682,660,632.377274314,879,784,812,651,630.622725686,653,0.446609819932,0.00458640626678,0.069764534066,0.999999924476,0.00011849139215,-0.00036961337922,1.98510965633e-05,1793247821371062784
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.052661199,745,714.052661199,682,660,632.947338801,879,784,812,651,630.052661199,653,0.445947673623,0.00458236358704,0.0697349729875,0.999999909542,0.000105921457142,-0.000411369589567,2.1722514233e-05,1793247821387729664
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.540899932,660,633,879,784,812,651.540899932,630.540899932,652.459100068,0.445269542846,0.00457689550084,0.0697425805477,0.999999918999,7.81114970538e-05,-0.000394355132379,1.96210021528e-05,1793247821404395776
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.132978601,745,714.132978601,682.867021399,660.132978601,633,879,784,812,651.867021399,630.867021399,652,0.444584889841,0.00457325101888,0.0697583087828,0.999999932143,5.47649389648e-05,-0.000363834456037,1.84182488531e-05,1793247821421062400
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.712061193,745,714.712061193,682.287938807,660.712061193,633,879,784,812,651.287938807,630.287938807,652,0.443883814593,0.00457621088507,0.0697885885807,0.999999950982,5.15953572686e-05,-0.000308071129907,2.15870886659e-05,1793247821437729280
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.710529229,745,715,682.289470771,660.710529229,633,879,784,812,651.289470771,630,652.289470771,0.443154926874,0.0045750730125,0.0698119370259,0.999999961319,3.8499054579e-05,-0.000274443080029,2.3688870044e-05,1793247821454395904
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.134774179,745,715,682.865225821,660.134774179,633,879,784,812,651.865225821,630,652.865225821,0.442398532759,0.00456988250942,0.0698284304224,0.999999965065,1.55853039229e-05,-0.000262706635252,2.4735339581e-05,1793247821471062784
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.440519495,745,714.559480505,682.559480505,659.559480505,633,879,784,812,652,630.440519495,653,0.441626593289,0.00456569543369,0.0698317395846,0.999999959915,0.000117239335038,-0.000256384663958,2.62946395864e-05,1793247821487729152
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.983924346,745,714.016075654,682.016075654,659.032151307,633,879,784,811.983924346,652,631,653,0.44084815558,0.0045619881207,0.0698309109227,0.999999935885,0.000252893026452,-0.000251978401315,2.79533313254e-05,1793247821504396032
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.393962646,745,714.606037354,682.606037354,660.212074708,633,879,784,811.393962646,652,631,653,0.440007342359,0.0045644600112,0.0698262121052,0.999999937049,0.000243209054532,-0.000256886799543,2.75650081442e-05,1793247821521062656
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,661,633,879,784,811,651.807562385,630.807562385,653,0.439138323918,0.00456415943899,0.0698017283826,0.999999930536,0.000226189161829,-0.000295000198261,2.72348081603e-05,1793247821537729280
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,661,633,879,784,811,651.228320733,630.228320733,653,0.438212612386,0.00455828615276,0.0697374765457,0.999999900792,0.000194423898231,-0.000399856409935,2.70214369516e-05,1793247821554395904
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,744.652031991,714.652031991,682.652031991,660.304063982,633,879,784,811,651,630,652.652031991,0.437328149805,0.0045531252482,0.0697091944163,0.99999988894,0.000163774180093,-0.000441100806358,2.69972821572e-05,1793247821571062784
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.077664531,714.077664531,682.077664531,659.155329061,633,879,784,811,651,630,652.077664531,0.436470525187,0.00454842784285,0.0697043153661,0.999999893453,0.000133850274706,-0.000440957257933,2.70962379319e-05,1793247821587729408
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,744,714.496862772,682,659.993725544,633,879,784,811,651,630,652.496862772,0.435636740957,0.00454561320176,0.0697553649038,0.999999925766,0.000114161526657,-0.00036684501418,2.93278675574e-05,1793247821604396032
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.926346376,744.073653624,715,682.073653624,660.852692752,633,879,784,811,651,630,652.926346376,0.434797948635,0.00454254021737,0.0698110034195,0.999999953167,9.78656821069e-05,-0.000288239503066,3.17304027739e-05,1793247821621062656
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.333784617,744.666215383,715,682.666215383,659.667569233,633,879,784,811,651,630,652.333784617,0.433897610978,0.00453557309555,0.0698373616895,0.999999961359,9.41986937282e-05,-0.000259461483056,3.29876655308e-05,1793247821637729280
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.251658004,745,715,682.748341996,659.251658004,633,879,784,811,651,630,652.251658004,0.432996890466,0.00452938698529,0.0698534168349,0.999999967318,9.16956976699e-05,-0.000236267808504,3.36706686366e-05,1793247821654396416
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.827918056,745,715,682.172081944,659.827918056,633,879,784,811,651,630,652.827918056,0.432095676002,0.00452420826488,0.0698561824588,0.999999971061,9.0694081162e-05,-0.000220277119737,3.3612960907e-05,1793247821671063808
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879,784,811,651.402581154,630,652.597418846,0.431107117761,0.00451968330384,0.0698102543371,0.999999950565,8.71748058564e-05,-0.000300091718788,3.48733023768e-05,1793247821687730176
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879,784,811,651.976564302,630,652.023435698,0.430081372297,0.00451543668614,0.0697435944822,0.999999907424,8.25836171208e-05,-0.000420696146326,3.66948129092e-05,1793247821704396032
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.433424318,633,879,784,811,652,630,652,0.429154441023,0.00450798669719,0.0697189857767,0.999999897302,7.23380055558e-05,-0.000446089482827,3.41649929251e-05,1793247821721062656
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.154182784,744.845817216,715,682,659.308365568,633.154182784,878.845817216,784,811,651.845817216,630,652.154182784,0.428241964913,0.00450112731624,0.0697227258898,0.999999904706,6.25674977665e-05,-0.00043082106042,3.26577498712e-05,1793247821737729280
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.73328347,744.26671653,715,682,660.466566941,633.73328347,878.26671653,784,811,651.26671653,630,652.73328347,0.427357734002,0.00449627141604,0.0697996603204,0.9999999484,5.47696923385e-05,-0.000314661080207,3.44791382493e-05,1793247821754395648
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.688236935,744.311763065,715,682,661,633.688236935,878.311763065,784,810.688236935,651.311763065,630,652.688236935,0.42646018471,0.00449025745654,0.0698456853315,0.999999967244,5.02039088984e-05,-0.000248283483735,3.66975110868e-05,1793247821771063040
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.110287664,744.889712336,715,682,661,633.110287664,878.889712336,784,810.110287664,651.889712336,630,652.110287664,0.425551264105,0.00448325473548,0.0698653195887,0.999999972878,4.83976567295e-05,-0.000224410557988,3.92548331359e-05,1793247821787730688
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.970384329,659.029615671,633.970384329,878.970384329,784.970384329,810.029615671,651,630,652.029615671,0.423699242241,0.00446528085333,0.0698170038761,0.999999956354,1.67727296265e-05,-0.000292903216368,3.49138865113e-05,1793247821821063680
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.375403232,659.624596768,633.375403232,878.375403232,784.375403232,810.624596768,651,630,652.624596768,0.422693142291,0.0044640633701,0.0697466549602,0.999999909537,2.2113050577e-05,-0.000423184722573,3.67572270737e-05,1793247821837730304
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.786109329,659.786109329,633,878,784,811,651,630,652.786109329,0.421716583451,0.00445931453158,0.0696974169932,0.999999869381,2.25822088696e-05,-0.000509208060094,3.78821444401e-05,1793247821854397184
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.206538491,659.206538491,633,878,784,811,651,630,652.206538491,0.420790529684,0.0044485282786,0.0696842715443,0.999999864204,1.47233402242e-05,-0.000519565041107,3.77788041074e-05,1793247821871064064
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.369156709,680.369156709,659.738313419,633.369156709,878,784,811,651.369156709,630,652,0.419966473593,0.0044394547558,0.0697351738533,0.999999905854,-7.87995774594e-06,-0.000432309046883,3.65875149207e-05,1793247821887730688
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.942706034,680.942706034,660.885412067,633.942706034,878,784,811,651.942706034,630,652,0.419198891061,0.00443132952848,0.0698215377664,0.999999956305,-3.8646868033e-05,-0.000291007240147,3.47938556956e-05,1793247821904396800
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.483413488,633.483413488,877.483413488,784,810.483413488,652,629.483413488,652,0.41839128306,0.0044245745673,0.0698622113134,0.999999971394,-3.78165805172e-05,-0.000233000547881,3.86244497667e-05,1793247821921063680
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.812290393,633.093854803,877,784,810,652,629.093854803,652,0.417572862641,0.00441824734828,0.0698859476374,0.999999978481,-3.31100727644e-05,-0.000200462222487,4.19076885886e-05,1793247821937730304
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.621955348,633.689022326,877,784,810,652,629.689022326,652,0.416720415634,0.00441339258422,0.069846300601,0.999999966486,-2.64295757865e-05,-0.000254583712699,3.89333356551e-05,1793247821954396416
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,744.726036263,714.726036263,680.726036263,658.273963737,633.726036263,877.273963737,784,810,652,629.726036263,652,0.415867665775,0.00441849696213,0.069811174616,0.999999953226,-2.19674017831e-05,-0.000302794706169,3.71521781978e-05,1793247821971062784
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,744.152284918,714.152284918,680.152284918,658.847715082,633.152284918,877.847715082,784,810,652,629.152284918,652,0.415014584572,0.00443449923284,0.0697809958402,0.999999939776,-1.99326507441e-05,-0.000344538075153,3.66766872765e-05,1793247821987729920
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,744.422190415,714.422190415,680.422190415,659,633.422190415,877.577809585,784.422190415,810,652,629,652,0.414187295028,0.00446082657213,0.0697538110966,0.999999919423,1.54865818993e-05,-0.000399460345778,3.66905551466e-05,1793247822004396800
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.996927387,714.996927387,680.996927387,659,633.996927387,877.003072613,784.996927387,810,652,629,652,0.413369324501,0.00449088458405,0.0697277081594,0.999999891931,6.29683522212e-05,-0.000459144441071,3.68812387569e-05,1793247822021063424
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.408708563,633.408708563,877,784.408708563,810,652,629,652,0.4127275052,0.00448258980537,0.069774038239,0.999999931479,4.86304148862e-05,-0.00036531701716,3.49490226804e-05,1793247822037729536
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.819025637,658.361948726,633,877,784,809.819025637,652,628.819025637,652,0.412086727225,0.00447314216824,0.0698219838091,0.999999961222,3.02558207594e-05,-0.000274731833555,3.40936293758e-05,1793247822054396160
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.239874044,659.520251911,633,877,784,809.239874044,652,628.239874044,652,0.411446157131,0.0044616115744,0.0698726271983,0.999999980715,3.73088937321e-06,-0.000193095545547,3.56325510604e-05,1793247822071063296
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.328998856,633.335500572,877.335500572,784,809.335500572,652,628.335500572,652.335500572,0.410768412624,0.00445721772771,0.0698798330361,0.999999981892,6.49881610592e-06,-0.000186758645071,3.59929943645e-05,1793247822087729920
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.183590443,633.908204778,877.908204778,784,809.908204778,652,628.908204778,652.908204778,0.410064385322,0.00445786966255,0.0698563279095,0.999999971621,2.99772080478e-05,-0.000233659478221,3.55202368024e-05,1793247822104396288
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,810,652,629,652.516152486,0.409393560257,0.00445473146268,0.0698139086337,0.999999951883,1.70253436907e-05,-0.000307797997557,3.47176647735e-05,1793247822121063936
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.061690265,633.938309735,877.938309735,784,810,652,629,652,0.408739586331,0.00445189928001,0.0697719287123,0.999999927594,-1.04125587029e-06,-0.000379039734718,3.37543265525e-05,1793247822137731072
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.653621554,633.346378446,877.346378446,784,810,652,629,652,0.408175978538,0.00445791563553,0.0697647564855,0.99999992702,-3.30108335202e-06,-0.000380695729708,3.19502776469e-05,1793247822154397440
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.239635272,877,784.239635272,810,652,629,652,0.407630791851,0.00446508315226,0.0697699168419,0.999999931588,7.77575176888e-06,-0.000368491822143,3.12626017198e-05,1793247822171064064
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.817301574,877,784.817301574,810,652,629,652,0.407111590142,0.00447387450378,0.0697924736189,0.999999942078,3.76653677737e-05,-0.000336737047654,3.21496886944e-05,1793247822187730432
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.391771127,658.608228873,633.608228873,877,784.608228873,810,652,629,652,0.406600155909,0.00447613302401,0.0698010277201,0.999999944185,4.09402730761e-05,-0.000329960408411,3.28713172482e-05,1793247822204397312
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.964762023,658.035237977,633.035237977,877,784.035237977,810,652,629,652,0.406092314598,0.00447536968327,0.0698031046699,0.999999942905,3.19041365868e-05,-0.000334737787791,3.35164105543e-05,1793247822221064192
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.445450412,658,633.554549588,877,784,810,652,629,652,0.405643088929,0.00447714905825,0.0697951752194,0.999999937954,3.0047585764e-05,-0.000349453617253,3.27439618646e-05,1793247822237730816
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.142532059,634,877,784,810,652.142532059,629,652,0.405216673647,0.00447871844332,0.0697933045368,0.99999993719,2.92445919423e-05,-0.000351786173436,3.18032161649e-05,1793247822254397440
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.721614872,634,877,784,810,652.721614872,629,652,0.404848358237,0.00447913433992,0.0698119990966,0.999999949714,3.02275057067e-05,-0.000314196273487,3.06315085978e-05,1793247822271063808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.299179302,784.299179302,810,652.700820698,629,652,0.404493520232,0.00447629011585,0.0698293597194,0.999999959615,2.6692722791e-05,-0.000281299622506,3.04696404938e-05,1793247822287730432
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877.875337982,784.875337982,810,652.124662018,629,652,0.404151159594,0.00447042768098,0.069845485386,0.999999967391,1.89754686327e-05,-0.000252747970905,3.12426790743e-05,1793247822304397312
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.550228274,634,877.100456548,784.550228274,810,652,629,652,0.403813131711,0.00446848095313,0.0698421614569,0.999999966199,8.8713362722e-06,-0.000258078046765,3.03192027743e-05,1793247822321063680
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,876.024429422,784,809.975570578,652.024429422,629,652,0.403478254092,0.00446759028087,0.0698334702574,0.999999962378,-2.03985759345e-06,-0.000272772566098,2.89030010098e-05,1793247822337730304
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,876.615323891,784,809.384676109,652.615323891,629,652,0.403188684324,0.00446611750148,0.0698248469095,0.999999958122,-1.63834180949e-05,-0.000287685383966,2.69232544915e-05,1793247822354396928
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.197097016,784,809,652.802902984,629,652,0.4029129361,0.00446341682504,0.0698162878196,0.999999953453,-2.88335959558e-05,-0.000302635795959,2.59489743845e-05,1793247822371063552
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.761855281,784,809,652.238144719,629,652,0.402662970367,0.00445842565158,0.0698078485964,0.999999948474,-3.77518901013e-05,-0.000317656333822,2.68502735735e-05,1793247822387730176
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.661010095,715,680,658.338989905,634,877.661010095,784.338989905,809,652,629,652,0.402430591073,0.00445582212718,0.0698005238983,0.999999944437,-4.14382252167e-05,-0.000329577549104,2.80655640376e-05,1793247822404396544
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.074851397,715,680,658.925148603,634,877.074851397,784.925148603,809,652,629,652,0.402211034609,0.00445495951644,0.0697940118364,0.99999994117,-4.13097662683e-05,-0.000339238947003,2.95097960583e-05,1793247822421062912
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.515246017,715.515246017,680,658.484753983,634,877.515246017,785,809,652,629,652,0.402029470493,0.00445680773696,0.0697940603007,0.999999941075,-3.64407445428e-05,-0.000339972371807,3.06871682387e-05,1793247822437729536
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.896062664,715.896062664,680,658,634,878,784.896062664,809,652,628.896062664,652,0.401859342615,0.00445989092273,0.0697949126287,0.999999941821,-1.77663783055e-05,-0.000339149886228,3.19306519802e-05,1793247822454396416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.316445146,715.316445146,680,658,634,878,784.316445146,809,652,628.316445146,652,0.40171609974,0.00446680985714,0.0697950485068,0.99999994073,6.09135265263e-05,-0.000337188168563,3.36554931006e-05,1793247822471063040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.260547525,715,680,658,633.739452475,877.739452475,784,809.260547525,652,628.260547525,652,0.401587268793,0.00448048359383,0.069794584876,0.999999937633,0.000105950530942,-0.000335379128573,3.20783405456e-05,1793247822487729920
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.834383976,715,680,658,633.165616024,877.165616024,784,809.834383976,652,628.834383976,652,0.40147576712,0.00450227947505,0.0697934003804,0.999999937843,0.000110534457556,-0.000333753674118,2.65307874555e-05,1793247822504396288
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.591573977,658.408426023,633.408426023,877,784,809.591573977,652,629,652,0.401379254297,0.00450589892182,0.0697934137832,0.999999939899,9.10447620294e-05,-0.00033384621921,2.14142631357e-05,1793247822521062912
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.017448533,658.982551467,633.982551467,877,784,809.017448533,652,629,652,0.401288822488,0.00450214414487,0.0697939131762,0.999999941965,6.17883398988e-05,-0.000334635760645,1.64726083443e-05,1793247822537729536
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.575403127,657.849193747,633.424596873,877.575403127,784,809,652,629,652,0.401218188674,0.0044988751352,0.069793699471,0.999999941771,6.01094545663e-05,-0.000335428827948,1.82261300876e-05,1793247822554396160
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.327682007,633.163841003,877.836158997,784,809.163841003,652,629,652,0.401154931133,0.00449755408688,0.0697942042816,0.999999942055,6.01084576302e-05,-0.000334504113963,1.96067527845e-05,1793247822571062784
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.479406238,633.739703119,877.260296881,784,809.739703119,652,629,652,0.401108662637,0.00450109340843,0.069796572197,0.999999943672,6.21532083224e-05,-0.000329259310996,1.95218894205e-05,1793247822587729664
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.315483185,745,715,679.684516815,659,634,877,784.315483185,809.684516815,652,629,652,0.401071778356,0.00449977821726,0.0697991352051,0.999999945658,5.97562532541e-05,-0.000323585678036,2.01247201863e-05,1793247822604396544
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.891195634,745,715,679.108804366,659,634,877,784.891195634,809.108804366,652,629,652,0.401042634727,0.00449445873613,0.0698018591376,0.99999994791,5.36955157478e-05,-0.000317558320051,2.12948018954e-05,1793247822621063424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.536248621,745,715,679.463751379,658.536248621,634,877,785,809,652,629,652,0.401021039678,0.00449809892376,0.0698055242799,0.999999949168,5.78949657323e-05,-0.000312809585296,2.15159191427e-05,1793247822637729792
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.962624374,658,634,877.037375626,785,809.037375626,652,629,652,0.401001714303,0.00450329019461,0.0698092333184,0.99999995017,6.38506957597e-05,-0.000308415487096,2.15126166183e-05,1793247822654396416
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.361802118,658,634,877.638197882,785,809.638197882,652,629,652,0.400990086549,0.00450038903172,0.0698102976311,0.999999951481,6.02386508138e-05,-0.000304875802279,2.1459852118e-05,1793247822671063040
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784.771651657,810,652,628.771651657,652,0.400980651987,0.00449852334385,0.0698113952214,0.999999952548,5.73378436242e-05,-0.000301920479563,2.14396021751e-05,1793247822687729920
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,634,878,784.197655008,810,652,628.197655008,652,0.400974537236,0.00449822504298,0.0698125431834,0.999999953274,5.55136292035e-05,-0.000299849699375,2.14685691536e-05,1793247822704396544
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.375505677,658.375505677,633.624494323,877.624494323,784,810,652,628.375505677,652,0.400970899884,0.00449831159195,0.0698138434678,0.999999953835,5.41879020687e-05,-0.000298220211245,2.14186333143e-05,1793247822721063168
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.948227295,658.948227295,633.051772705,877.051772705,784,810,652,628.948227295,652,0.400968563664,0.00449860026443,0.0698152237521,0.99999995431,5.31239809905e-05,-0.000296822490191,2.13272576387e-05,1793247822737730048
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.466384978,633.533615022,877,784,809.466384978,652,629,652,0.400967653507,0.0044978195361,0.0698166199699,0.999999954803,5.41559134877e-05,-0.000294960235807,2.14408678036e-05,1793247822754396672
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.880036776,715,679.880036776,658,634,877.119963224,784,809.119963224,652,629,652,0.400967110835,0.0044973593362,0.0698180947289,0.999999955347,5.52939974389e-05,-0.000292889331199,2.15339693156e-05,1793247822771063296
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.294845566,715,679.294845566,658,634,877.705154434,784,809.705154434,652,629,652,0.400967443685,0.00449855433229,0.0698198679368,0.999999956095,5.603598205e-05,-0.000290188299048,2.14685327525e-05,1793247822787729920
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.286165003,715,679.286165003,658,634,877.713834997,784.286165003,809.713834997,652,629,652,0.400967013317,0.00449861431308,0.069820430256,0.999999956371,5.48793745237e-05,-0.000289460533904,2.13986667985e-05,1793247822804396544
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.862930206,715,679.862930206,658,634,877.137069794,784.862930206,809.137069794,652,629,652,0.400965807901,0.00449752168741,0.0698197629193,0.999999956167,5.17947491606e-05,-0.000290736618592,2.13243027957e-05,1793247822821063424
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745.430009801,715,679.569990199,658,634,877,784.569990199,809,652,629,652,0.400966034664,0.00449774672897,0.0698203056047,0.99999995645,5.26697848603e-05,-0.000289604178881,2.13453729712e-05,1793247822837730048
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745.99406999,715,679.00593001,658,634,877,784.00593001,809,652,629,652,0.400966707892,0.00449838253751,0.0698212255,0.999999956879,5.47791974869e-05,-0.00028772091056,2.13961936091e-05,1793247822854396928
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745.403142503,715,679,658,634,877,784,809,652,629,652,0.400966459336,0.00449689686506,0.0698214897636,0.999999957015,5.1785964402e-05,-0.000287793468205,2.14990879927e-05,1793247822871063552
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.808785912,877,784,809,652,629,652.191214088,0.400966043851,0.00449591002944,0.0698214548228,0.999999957061,4.97416038736e-05,-0.000287994036347,2.15121216845e-05,1793247822887730432
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.232248032,877,784,809,652,629,652.767751968,0.400965311717,0.00449597384348,0.0698208309794,0.999999956946,4.97186076742e-05,-0.000288410688864,2.13429582753e-05,1793247822904397312
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.34351388,877,784,809,652,629,652.65648612,0.400964995077,0.00449556785439,0.0698209515095,0.999999957094,4.94963314816e-05,-0.000287935319119,2.13335821657e-05,1793247822921063680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.918752323,877,784,809,652,629,652.081247677,0.400964958717,0.00449484494965,0.0698215741726,0.999999957419,4.913962675e-05,-0.00028685821685,2.14319939699e-05,1793247822937730048
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.506315574,658,634,877,784.506315574,809.506315574,652,629,652,0.400965386372,0.00449545436601,0.0698225020485,0.999999957573,5.11771358109e-05,-0.000285950511538,2.16169637311e-05,1793247822954396416
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.905919595,745,715,680,658,634,876.905919595,784.905919595,809.905919595,652,629,652,0.400965852775,0.00449626689896,0.0698233533971,0.99999995772,5.29225400143e-05,-0.000285112025078,2.16769448394e-05,1793247822971063040
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.327551936,745,715,680,658,634,876.327551936,784.327551936,809.327551936,652,629,652,0.400966125779,0.00449699700325,0.0698235524108,0.999999958005,5.11372834994e-05,-0.000284486431826,2.10202527071e-05,1793247822987729664
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.248641769,744.751358231,715,680,658,634,876.248641769,784.248641769,809,652,629,652.248641769,0.400966117899,0.00449699142239,0.0698234852721,0.999999958161,5.05620572905e-05,-0.000284050837483,2.09082039729e-05,1793247823004396288
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.821996483,744.178003517,715,680,658,634,876.821996483,784.821996483,809,652,629,652.821996483,0.400965743199,0.0044960250759,0.0698230705524,0.99999995815,5.15670661549e-05,-0.000283863371545,2.15074305021e-05,1793247823021063168
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.381474907,715,679.618525093,658,633.618525093,877,785,809,652,628.618525093,652.618525093,0.400966210731,0.00449628552871,0.0698236565519,0.999999958301,5.19497037878e-05,-0.000283262024266,2.14900694976e-05,1793247823037730048
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.934705618,715,679.065294382,658,633.065294382,877,785,809,652,628.065294382,652.065294382,0.400967057471,0.00449709833743,0.0698246931166,0.999999958525,5.2052124055e-05,-0.000282474330479,2.11950952119e-05,1793247823054396928
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.545324919,658,633.545324919,877,784.454675081,809,652,628.545324919,652,0.400967070086,0.00449788775668,0.0698255160825,0.999999958647,5.19841299059e-05,-0.000282061942017,2.1076396202e-05,1793247823071063808
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a90f332a2ab44878463d873228ef940a2de515ba
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+33,0.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+34,0.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+35,0.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+36,0.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+37,0.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+38,0.633333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+39,0.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+40,0.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+41,0.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+42,0.700000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+43,0.716666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+44,0.733333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+45,0.750000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+47,0.783333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+48,0.800000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+49,0.816666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+50,0.833333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+51,0.850000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+52,0.866666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+53,0.883333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+54,0.900000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+55,0.916666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+56,0.933333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+57,0.950000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+58,0.966666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+59,0.983333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+60,1.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+61,1.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+62,1.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+63,1.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+64,1.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+65,1.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+66,1.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+68,1.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+69,1.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+70,1.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+71,1.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+72,1.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+74,1.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+75,1.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+76,1.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+77,1.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+78,1.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+79,1.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+80,1.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+81,1.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+82,1.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+83,1.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+84,1.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+85,1.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+86,1.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+87,1.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+347,5.783333333,pose2_to_pose3_retreat,0.591883532973,0.00992798839972,1.0600425773,0.562455324174,0.0186024462467,1.05966597039
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+379,6.316666667,pose2_to_pose3_retreat,0.583313462283,0.0099279321335,1.06004240879,0.55388525238,0.018602386087,1.05966579959
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+381,6.350000000,pose2_to_pose3_retreat,0.583278405433,0.00992796613895,1.06004244598,0.553850194953,0.0186024179489,1.05966583251
+382,6.366666667,pose2_to_pose3_retreat,0.583267250831,0.00992801418391,1.06004248766,0.553839040205,0.0186024654577,1.05966587334
+383,6.383333333,pose2_to_pose3_retreat,0.583259233111,0.00992802240263,1.06004236557,0.553831022188,0.0186024727525,1.0596657532
+384,6.400000000,pose2_to_pose3_retreat,0.583254102632,0.00992800683964,1.0600423138,0.55382589186,0.0186024576829,1.05966570099
+385,6.416666667,pose2_to_pose3_retreat,0.583250811515,0.00992797525298,1.06004258383,0.55382260233,0.0186024310995,1.05966596207
+386,6.433333333,pose2_to_pose3_retreat,0.583248850545,0.009927977312,1.06004266137,0.553820641633,0.0186024343212,1.05966604515
+387,6.450000000,pose2_to_pose3_retreat,0.583247830869,0.00992798463803,1.0600426767,0.553819621897,0.0186024417069,1.05966606663
+388,6.466666667,pose2_to_pose3_retreat,0.583247272186,0.00992798865197,1.06004268511,0.553819063182,0.0186024457536,1.0596660784
+389,6.483333333,pose2_to_pose3_retreat,0.583246935238,0.00992798710209,1.06004267213,0.55381872648,0.0186024449529,1.05966606349
+390,6.500000000,pose2_to_pose3_retreat,0.583246744731,0.0099279856398,1.06004266212,0.55381853615,0.0186024440219,1.05966605181
+391,6.516666667,pose2_to_pose3_retreat,0.583246697312,0.00992798527583,1.06004265963,0.553818488776,0.0186024437901,1.05966604891
+392,6.533333333,pose2_to_pose3_retreat,0.583246581473,0.00992798438667,1.06004265355,0.553818373045,0.018602443224,1.05966604181
+393,6.550000000,pose2_to_pose3_retreat,0.583246467385,0.00992798351096,1.06004264756,0.553818259064,0.0186024426664,1.05966603481
+394,6.566666667,pose2_to_pose3_retreat,0.583246408994,0.00992798306276,1.0600426445,0.553818200727,0.018602442381,1.05966603123
+395,6.583333333,pose2_to_pose3_retreat,0.583246286654,0.00992798212371,1.06004263807,0.553818078501,0.0186024417831,1.05966602373
+396,6.600000000,pose2_to_pose3_retreat,0.583246080809,0.00992798054369,1.06004262726,0.553817872849,0.0186024407771,1.05966601111
+397,6.616666667,pose2_to_pose3_retreat,0.583245954542,0.00992797957449,1.06004262063,0.553817746699,0.01860244016,1.05966600337
+398,6.633333333,pose2_to_pose3_retreat,0.583245932056,0.0099279794019,1.06004261945,0.553817724234,0.0186024400501,1.05966600199
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+400,6.666666667,pose2_to_pose3_retreat,0.583245783086,0.00992795520578,1.06004251333,0.553817575121,0.0186024155588,1.05966590027
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+402,6.700000000,pose2_to_pose3_retreat,0.583245662862,0.00992793410863,1.06004242099,0.553817454762,0.0186023941751,1.05966581187
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+404,6.733333333,pose2_to_pose3_retreat,0.583245503884,0.00992793110391,1.06004235327,0.5538172954,0.0186023899758,1.05966574665
+405,6.750000000,pose2_to_pose3_retreat,0.583245436552,0.00992797832738,1.06004243054,0.553817227505,0.0186024351043,1.05966581971
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46f7fd7fd67603192578603ad1fb5218d80783ae
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b13dce139f43fab163bc146a05ff119d31a871d887590c417937d5ad803cb4d1
+size 26016922
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39932714c6006e264f818cb12289f79b025e1255
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,410 @@
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+11,0.183333333,BASELINE,765,745,715,680,658,634,877,784.610686127,809,652,629,652,0.400966827464,0.00449584106517,0.0698259855293,0.99999995915,5.02914827938e-05,-0.000280581929303,2.10734546614e-05,1793247823410455552
+12,0.200000000,BASELINE,765,745,715,680,658,634,877,784.031575848,809,652,629,652,0.400966553297,0.0044963973756,0.0698257051676,0.999999959081,5.04348390032e-05,-0.000280812728545,2.09509612287e-05,1793247823427122176
+13,0.216666667,BASELINE,765,745,715,680,658,634,877,784,809,652,629,652,0.400966360601,0.00449586674941,0.0698258942269,0.999999959173,4.9765701749e-05,-0.00028059596106,2.10531439482e-05,1793247823443789056
+14,0.233333333,BASELINE,765.120102138,745,715,679.879897862,658,634,877,784,809.120102138,652,628.879897862,652.120102138,0.400966112499,0.00449529247919,0.0698260334302,0.999999959227,4.8961997724e-05,-0.000280534811061,2.11726045258e-05,1793247823460455936
+15,0.250000000,BASELINE,765.707474552,745,715,679.292525448,658,634,877,784,809.707474552,652,628.292525448,652.707474552,0.400965630553,0.0044947922809,0.0698258733407,0.999999959099,4.78170445766e-05,-0.00028117952721,2.1308876351e-05,1793247823477122816
+16,0.266666667,BASELINE,765.708923979,745,715,679,658,634,877,784.291076021,810,652,628.582152042,652.708923979,0.400965841654,0.00449562847156,0.0698259778354,0.999999959161,4.86914418394e-05,-0.000280831666958,2.0986625506e-05,1793247823493789696
+17,0.283333333,BASELINE,765.129063799,745,715,679,658,634,877,784.870936201,810,652,629.741872401,652.129063799,0.400966740347,0.00449779052879,0.0698263448311,0.999999959406,5.15692897006e-05,-0.00027949904557,2.02094622799e-05,1793247823510456064
+18,0.300000000,BASELINE,765,745,715,679.447320929,658,633.552679071,877,784.552679071,810,652,629.552679071,652,0.400967037962,0.00449774436599,0.0698262301198,0.99999995942,5.05339446847e-05,-0.000279646834344,2.01213812454e-05,1793247823527122944
+19,0.316666667,BASELINE,765,744.97745596,715,679.97745596,658.02254404,633,877.02254404,784,809.97745596,652,629,652,0.400967127232,0.00449711428698,0.069825974208,0.999999959357,4.85314424068e-05,-0.000280218210432,2.02275011369e-05,1793247823543790080
+20,0.333333333,BASELINE,765,744.406286696,715,679.406286696,658.593713304,633,877.593713304,784,809.406286696,652,629,652,0.400966334204,0.00449765964895,0.0698256383063,0.999999959112,5.02570914437e-05,-0.000280783339025,2.02585570387e-05,1793247823560456448
+21,0.350000000,BASELINE,765,744.171855162,715,679,658.828144838,633,877.828144838,784,809,652,629,652,0.400966263632,0.00449766931011,0.0698259306888,0.999999959139,5.12024416883e-05,-0.000280510573018,2.03435380673e-05,1793247823577123072
+22,0.366666667,BASELINE,765,744.767178081,715,679,658.232821919,633,877.232821919,784,809,652,629,652,0.400967973258,0.0044963589525,0.0698277712244,0.999999959837,5.02250599056e-05,-0.000278173153507,2.0561395825e-05,1793247823593789696
+23,0.383333333,BASELINE,765,745,715,679.352563308,658.352563308,633.352563308,877,784,809,652,629,652,0.400968509345,0.00449689312636,0.0698280746504,0.999999960011,5.06827453768e-05,-0.00027744540091,2.07973211633e-05,1793247823610456320
+24,0.400000000,BASELINE,765,745,715,679.931565953,658.931565953,633.931565953,877,784,809,652,629,652,0.400968291707,0.00449861197949,0.0698273908437,0.99999995985,5.20621252995e-05,-0.000277751482014,2.10448507114e-05,1793247823627122944
+25,0.416666667,BASELINE,765,744.493407444,715,680,658.493407444,633.493407444,876.493407444,784,809,652,629,652,0.400968430736,0.00449876789906,0.0698273057673,0.999999959736,5.24023924523e-05,-0.000278098723902,2.10568147717e-05,1793247823643789568
+26,0.433333333,BASELINE,765,744.082923483,715,679.917076517,658,633.082923483,876.082923483,784,809,652,628.917076517,652,0.40096852138,0.00449849831068,0.0698273000148,0.999999959646,5.24229628795e-05,-0.000278417513027,2.10426751838e-05,1793247823660456192
+27,0.450000000,BASELINE,765,744.670434291,715,679.329565709,658,633.670434291,876.670434291,784,809,652,628.329565709,652,0.400968026701,0.00449691424477,0.0698272886224,0.999999959671,5.13456865924e-05,-0.000278529597242,2.10618226215e-05,1793247823677122816
+28,0.466666667,BASELINE,765,745,715,679,658,633.745636347,877,784,809,652,628.254363653,652,0.400967420029,0.00449596149268,0.0698268933591,0.999999959523,5.01106013104e-05,-0.000279293032451,2.09418368277e-05,1793247823693789184
+29,0.483333333,BASELINE,765,745,715,679,658,633.166282886,877,784,809,652,628.833717114,652,0.400966670269,0.00449581534396,0.0698260076399,0.999999959153,4.86738901352e-05,-0.000280888671602,2.06440863175e-05,1793247823710455808
+30,0.500000000,BASELINE,765,745,715,679,658,633,877,784,809.412005627,652,628.587994373,652,0.40096774617,0.00449574929301,0.0698268546297,0.999999959597,4.84901093854e-05,-0.000279332550649,2.06654745245e-05,1793247823727122176
+31,0.516666667,BASELINE,765,745,715,679,658,633,877,784,809.989865426,652,628.010134574,652,0.400969556997,0.00449571548567,0.0698283991271,0.999999960364,4.88106997897e-05,-0.000276507678622,2.0815333042e-05,1793247823743788544
+32,0.533333333,BASELINE,765,745,715,679,658.565316397,633.565316397,877,784,809.434683603,652,628.565316397,652,0.400969588818,0.00449534834755,0.0698280165393,0.99999996041,4.89003286658e-05,-0.000276304188191,2.11048199107e-05,1793247823760455424
+33,0.550000000,BASELINE,765,745,715,679.143697054,658.856302946,634,877,784,809.143697054,652,628.856302946,652,0.400969242905,0.00449548493968,0.0698276496036,0.999999960382,4.93494264196e-05,-0.000276318026595,2.11881441333e-05,1793247823777122304
+34,0.566666667,BASELINE,765,745,715,679.731259932,658.268740068,634,877,784,809.731259932,652,628.268740068,652,0.400967828303,0.00449719588423,0.0698274372759,0.999999960165,5.0921622907e-05,-0.000276858627613,2.06269533259e-05,1793247823793788672
+35,0.583333333,BASELINE,765,745,715,679.684811337,658,634,877,784,809.684811337,652,628.315188663,652,0.400967718381,0.00449685569227,0.0698277640646,0.999999960151,5.00689933468e-05,-0.000277064915688,2.06290137204e-05,1793247823810455040
+36,0.600000000,BASELINE,765,745,715,679.103945814,658,634,877,784,809.103945814,652,628.896054186,652,0.400968708193,0.0044947865693,0.0698285452819,0.999999960303,4.71724447257e-05,-0.000276989406846,2.11058462397e-05,1793247823827121408
+37,0.616666667,BASELINE,765,745,715,679,658,634,877,784.472309424,809.472309424,652,629,652,0.400967534059,0.00449517910313,0.0698278187069,0.999999960016,4.70679802624e-05,-0.000278058266471,2.08918702079e-05,1793247823843788288
+38,0.633333333,BASELINE,765,745,715,679,658,634,877,784.952404958,809.952404958,652,629,652,0.40096597097,0.00449603691903,0.0698268007855,0.999999959628,4.76138034809e-05,-0.000279382360949,2.056730594e-05,1793247823860455168
+39,0.650000000,BASELINE,765,745,715,679,658,634,877,784.376728342,809.376728342,652,629,652,0.400965325261,0.00449610428343,0.0698261965014,0.999999959188,4.86228131861e-05,-0.000280770997283,2.0686278191e-05,1793247823877121536
+40,0.666666667,BASELINE,765,745,715,679.203275258,658,634,877,784,809.203275258,652,629,652,0.400965625201,0.00449650468839,0.0698263516183,0.999999959132,4.97866674678e-05,-0.000280763095551,2.0745359385e-05,1793247823893788160
+41,0.683333333,BASELINE,765,745,715,679.7914724,658,634,877,784,809.7914724,652,629,652,0.40096771582,0.00449753573871,0.0698279447363,0.9999999598,5.12437352681e-05,-0.000278110710256,2.06910309091e-05,1793247823910455040
+42,0.700000000,BASELINE,765,745,715,679.62588626,658,634,877.37411374,784,809.62588626,652,629,652,0.400967358681,0.00449780381484,0.0698272027995,0.999999959632,5.10183325291e-05,-0.000278762085185,2.05889211001e-05,1793247823927121920
+43,0.716666667,BASELINE,765,745,715,679.046296376,658,634,877.953703624,784,809.046296376,652,629,652,0.400965657149,0.00449765283924,0.0698251783701,0.999999959003,4.98688590097e-05,-0.000281227999032,2.04605681399e-05,1793247823943788544
+44,0.733333333,BASELINE,765,745,715,679,658.529937994,634,877.470062006,784,809,652,628.470062006,652,0.400966345071,0.00449697680837,0.0698259520542,0.999999959402,5.00615805313e-05,-0.000279750850063,2.07432814213e-05,1793247823960455168
+45,0.750000000,BASELINE,765,744.894539021,715,679.105460979,658.894539021,633.894539021,877,784,809,652,628,652,0.400967242688,0.00449656082602,0.0698270527525,0.999999959891,5.02599130361e-05,-0.000277952126078,2.08638617043e-05,1793247823977121792
+46,0.766666667,BASELINE,765,744.320881184,715,679.679118816,658.320881184,633.320881184,877,784,809,652,628,652,0.400968150339,0.00449750169525,0.0698285268323,0.999999960394,4.99658668293e-05,-0.000276245437962,2.01062210813e-05,1793247823993788416
+47,0.783333333,BASELINE,765,744.261856632,715,680,658,633,877,784.261856632,809,652,628.261856632,652,0.4009681677,0.00449788769906,0.0698286468476,0.99999996038,5.02730193698e-05,-0.000276250622327,1.99587168865e-05,1793247824010454784
+48,0.800000000,BASELINE,765,744.856120889,715,680,658,633,877,784.856120889,809,652,628.856120889,652,0.400967054903,0.00449756934239,0.0698270479784,0.999999959709,5.13433492065e-05,-0.000278428901941,2.05857356497e-05,1793247824027121664
+49,0.816666667,BASELINE,765,745,715,679.561734844,658,633.438265156,877,785,809,652,629,652,0.400967362652,0.00449728876368,0.0698273954314,0.999999959687,5.17410893563e-05,-0.000278414333937,2.08504008627e-05,1793247824043788544
+50,0.833333333,BASELINE,765,745,715,679.016384771,658.016384771,634,877,784.983615229,809,652,629,652,0.400968106113,0.00449699504336,0.0698283372648,0.999999959884,5.18100771512e-05,-0.000277684064038,2.09765726251e-05,1793247824060455168
+51,0.850000000,BASELINE,765,745,715,679.589314548,658.589314548,634,877,784.410685452,809,652,629,652,0.400968235032,0.00449584500642,0.0698283488163,0.999999960432,4.80105993824e-05,-0.000276438193713,2.03304413076e-05,1793247824077121536
+52,0.866666667,BASELINE,765,744.832873443,715,679.832873443,658.832873443,634,877.167126557,784.167126557,809,652,629,652,0.400968034201,0.00449626975773,0.0698279632686,0.999999960578,4.69080263579e-05,-0.000276132039065,1.98504929909e-05,1793247824093787904
+53,0.883333333,BASELINE,765,744.242703185,715,679.242703185,658.242703185,634,877.757296815,784.757296815,809,652,629,652,0.400966998685,0.00450068073526,0.0698265725528,0.99999995972,5.26320679968e-05,-0.000278204565689,1.97912000124e-05,1793247824110454784
+54,0.900000000,BASELINE,764.658935884,744.341064116,715,679,658,633.658935884,877.317871769,784.658935884,809,652,629,652.341064116,0.400966526947,0.00450062895527,0.0698263810111,0.999999959481,5.29536259637e-05,-0.000278984916913,2.00087615446e-05,1793247824127121408
+55,0.916666667,BASELINE,764.079641027,744.920358973,715,679,658,633.079641027,876.159282053,784.079641027,809,652,629,652.920358973,0.400966449004,0.00449745997225,0.0698270270835,0.999999959684,4.95015891287e-05,-0.000278862693168,2.04197038907e-05,1793247824143788032
+56,0.933333333,BASELINE,764.496643187,745,715,679.496643187,658,633,876.496643187,784.496643187,809,652,628.503356813,652.503356813,0.400966901904,0.00449721472877,0.069827297729,0.999999959841,4.94838938942e-05,-0.00027829822666,2.04889040519e-05,1793247824160454912
+57,0.950000000,BASELINE,765,745,715,680,658,633.073764886,877,785,809,652.073764886,628.073764886,652,0.400967254044,0.00449738597279,0.0698273846771,0.999999959936,4.99485698117e-05,-0.000277872522777,2.0503774871e-05,1793247824177121280
+58,0.966666667,BASELINE,765,745,715,680,658,633.660039153,877,785,809,652.660039153,628.660039153,652,0.400966318237,0.00449721305791,0.0698266110802,0.999999959649,4.99613776088e-05,-0.000278900681731,2.05196306653e-05,1793247824193788160
+59,0.983333333,BASELINE,765,744.756635182,715,679.756635182,658,634,877,784.756635182,809,652.756635182,629,652,0.400964864613,0.00449779463735,0.0698257443295,0.999999959139,5.10982901518e-05,-0.00028051228848,2.05733588185e-05,1793247824210454784
+60,1.000000000,BASELINE,765,744.177379081,715,679.177379081,658,634,877,784.177379081,809,652.177379081,629,652,0.400962696296,0.00449941756722,0.069824749008,0.999999958315,5.37866881844e-05,-0.000282929168005,2.06793582728e-05,1793247824227121408
+61,1.016666667,BASELINE,765,744.400968071,715,679.400968071,658,633.599031929,877.400968071,784,809,652,629,652,0.400963679708,0.00449824121681,0.0698254024398,0.999999958931,5.14060877596e-05,-0.000281200768807,2.0546949445e-05,1793247824243788288
+62,1.033333333,BASELINE,765,744.978914,715,679.978914,658,633.021086,877.978914,784,809,652,629,652,0.400966054219,0.00449582932995,0.0698267835924,0.999999960156,4.67881506982e-05,-0.000277642741105,2.03093128123e-05,1793247824260454912
+63,1.050000000,BASELINE,765,745,715,679.444940251,658,633.555059749,878,784.555059749,809,652,629,652,0.400967421001,0.00449701167259,0.0698279114954,0.999999960344,4.9935568133e-05,-0.000276414580258,2.03357125671e-05,1793247824277121792
+64,1.066666667,BASELINE,765,745,715,679,658,634,877.866367535,785,809,652,629,652,0.400968482093,0.00449806238699,0.0698286123645,0.999999960429,5.22594715712e-05,-0.000275675586104,2.03501793638e-05,1793247824293788160
+65,1.083333333,BASELINE,765,745,715,679,658,634,877.279329029,785,809,652,629,652,0.400968635469,0.00449820472164,0.0698278968726,0.999999960334,5.07915815195e-05,-0.000276296968946,2.02902359686e-05,1793247824310454784
+66,1.100000000,BASELINE,765,745,715,679.303755304,658,634,877.303755304,784.696244696,809,652,629,652,0.400968544033,0.00449715479186,0.0698277788466,0.999999960381,4.89284717525e-05,-0.000276454125109,2.04369505381e-05,1793247824327121664
+67,1.116666667,BASELINE,765,745,715,679.88325013,658,634,877.88325013,784.11674987,809,652,629,652,0.400968230366,0.0044950225619,0.0698282031816,0.999999960553,4.67065940233e-05,-0.000276189870843,2.07712627192e-05,1793247824343788288
+68,1.133333333,BASELINE,765,745,715,679.539958685,658,634,877.539958685,784,809.460041315,652,629,652,0.400967605177,0.00449647606729,0.0698274037301,0.999999960059,4.77487610356e-05,-0.000277813386729,2.05509575957e-05,1793247824360454912
+69,1.150000000,BASELINE,765,745,715,679.036787432,658,633.963212568,877,784,809.963212568,652,629,652,0.400966962504,0.00449867481785,0.069826422097,0.999999959466,4.95708562744e-05,-0.000279646887965,2.02172064615e-05,1793247824377121536
+70,1.166666667,BASELINE,765,745,715,679.623048253,658,633.376951747,877,784,809.376951747,652,629,652,0.400967232628,0.00449849224024,0.0698273310883,0.999999960003,5.07419378595e-05,-0.000277502867691,2.02790193102e-05,1793247824393788416
+71,1.183333333,BASELINE,765,745,715,679.79328855,658,633.20671145,877,784.20671145,809,652,629,652,0.400967283423,0.00449819731909,0.0698279308457,0.999999960307,5.11089041048e-05,-0.000276334012842,2.03413386052e-05,1793247824410455040
+72,1.200000000,BASELINE,765,745,715,679.214303404,658,633.785696596,877,784.785696596,809,652,629,652,0.400966939219,0.0044977000746,0.0698279736935,0.999999960198,5.00277118199e-05,-0.000276921366291,2.04045699874e-05,1793247824427121664
+73,1.216666667,BASELINE,765,745,715,679.364860421,658,634,877.364860421,784.635139579,809,652,629,652,0.400967469832,0.0044971441855,0.0698280110853,0.999999960317,4.88772836134e-05,-0.000276697049342,2.03865950562e-05,1793247824443788288
+74,1.233333333,BASELINE,765,745,715,679.94412921,658,634,877.94412921,784.05587079,809,652,629,652,0.400968514527,0.00449655383423,0.069828045271,0.99999996057,4.76861693351e-05,-0.00027599575838,2.03208996446e-05,1793247824460454912
+75,1.250000000,BASELINE,765,745,715,679.479972378,658,633.479972378,877.479972378,784,809,652,628.479972378,652,0.400967006457,0.00449770456829,0.0698273106965,0.999999960088,4.98657030618e-05,-0.000277357659142,2.0268287245e-05,1793247824477121792
+76,1.266666667,BASELINE,765,745,715,679,658,633.097359816,877,784.097359816,809,652,628.097359816,652.097359816,0.400965591611,0.0044986673676,0.0698266630096,0.999999959629,5.16661643068e-05,-0.000278683940414,2.01786355386e-05,1793247824493788160
+77,1.283333333,BASELINE,765,745,715,679,658,633.683699966,877,784.683699966,809,652,628.683699966,652.683699966,0.400966013569,0.00449775284682,0.069826863858,0.99999995972,4.97556885437e-05,-0.000278725201743,1.9895943366e-05,1793247824510455040
+78,1.300000000,BASELINE,765,745,715,679.266871974,658.266871974,634,877,784.733128026,809,652,629,652.733128026,0.400966157902,0.0044976031903,0.0698267971276,0.999999959716,4.97097833281e-05,-0.000278753533657,1.98566370692e-05,1793247824527121664
+79,1.316666667,BASELINE,765,745,715,679.846333073,658.846333073,634,877,784.153666927,809,652,629,652.153666927,0.40096597705,0.00449834942501,0.0698264169802,0.999999959598,5.1847863571e-05,-0.000278766721247,2.01024104748e-05,1793247824543788288
+80,1.333333333,BASELINE,765,745,715,680,658.575203638,634,876.575203638,784,809,652,629,652,0.4009676748,0.00449728288416,0.0698275984448,0.999999960318,4.98987469128e-05,-0.000276531016343,2.01124146769e-05,1793247824560454912
+81,1.350000000,BASELINE,765.002878316,745,715,680,658.002878316,633.997121684,876.002878316,784,809,652,629,652,0.400970033501,0.00449557442253,0.0698293322585,0.999999961315,4.65062778709e-05,-0.000273505923337,2.00388587009e-05,1793247824577121792
+82,1.366666667,BASELINE,765.576739618,745,715,680,658.576739618,633.423260382,876.576739618,784,809,652,629,652,0.400969014453,0.00449630610734,0.0698288385583,0.999999960792,4.94015164445e-05,-0.000274889867121,2.02683628235e-05,1793247824593788160
+83,1.383333333,BASELINE,765.845522336,745,715,680,658.845522336,633,877,784,809,652,629,652,0.400968464952,0.00449674285697,0.0698286484825,0.999999960465,5.07930515044e-05,-0.000275818051462,2.03574475466e-05,1793247824610455040
+84,1.400000000,BASELINE,765.256888656,745,715,680,658.256888656,633,877,784,809,652,629,652,0.400969235098,0.00449635069806,0.0698293117365,0.999999960708,4.79584621934e-05,-0.000275465334418,2.00518867464e-05,1793247824627121664
+85,1.416666667,BASELINE,765,745,715,680,658.326585636,633.326585636,877,784,809.326585636,652,629,652,0.400968604394,0.00449606870402,0.0698288600625,0.999999960518,4.77905793533e-05,-0.000276177469575,2.01643936604e-05,1793247824643788288
+86,1.433333333,BASELINE,765,745,715,680,658.906064691,633.906064691,877,784,809.906064691,652,629,652,0.400966888932,0.00449587201678,0.0698275450377,0.999999959991,4.96876758083e-05,-0.000277714179033,2.06006336742e-05,1793247824660454912
+87,1.450000000,BASELINE,765,745,715,680,658.516262338,634,877,784,809.516262338,652,629,652,0.400968295958,0.00449739439202,0.0698286600879,0.999999960483,5.08895208323e-05,-0.000275713869186,2.06252238293e-05,1793247824677121792
+88,1.466666667,BASELINE,765,745,715.060563731,680,658.060563731,634,877.060563731,784.060563731,809,652.060563731,628.939436269,652,0.400969963652,0.00449896897402,0.0698299516592,0.999999961037,5.19227388927e-05,-0.000273506106815,2.0589664745e-05,1793247824693788416
+89,1.483333333,BASELINE,765,745,715.633183644,680,658.633183644,634,877.633183644,784.633183644,809,652.633183644,628.366816356,652,0.400968727772,0.00449817307315,0.0698287607972,0.999999960495,5.26674719045e-05,-0.000275329895013,2.07188924574e-05,1793247824710455040
+90,1.500000000,BASELINE,765,745,715.787552077,680,659,634,877.787552077,784.787552077,809,652.787552077,628.212447923,652,0.400967735707,0.00449777438558,0.0698277325137,0.999999960032,5.32508760996e-05,-0.000276896822286,2.06807448042e-05,1793247824727121664
+91,1.516666667,BASELINE,765,745,715.196445194,680,659,634,877.196445194,784.196445194,809,652.196445194,628.803554806,652,0.400967178205,0.00449808367573,0.0698269940038,0.999999959716,5.35467339743e-05,-0.000278005930389,2.03442737612e-05,1793247824743788288
+92,1.533333333,BASELINE,765,745,715,680,658.612905351,634,877,784,809,652,629,652,0.400967533926,0.00449791300989,0.0698279206895,0.999999960002,5.40725493968e-05,-0.000276868169381,2.039050942e-05,1793247824760454912
+93,1.550000000,BASELINE,765,745,715,680,658.033131994,634,877,784,809,652,629,652,0.400968344208,0.00449750344306,0.0698296762364,0.999999960585,5.47128276093e-05,-0.000274612015752,2.06272396292e-05,1793247824777121536
+94,1.566666667,BASELINE,765,745,715,680,658.538349354,633.461650646,877,784,809.538349354,652,629,652,0.40096737116,0.00449791398652,0.069828394019,0.999999960146,5.35524105601e-05,-0.000276451288047,2.03647490492e-05,1793247824793788160
+95,1.583333333,BASELINE,765,745,715,680,658.887016736,633.112983264,877.112983264,784.112983264,809.887016736,652,629,652,0.400966643152,0.00449802729433,0.0698272689899,0.999999959793,5.22466844798e-05,-0.000277990483308,2.01599173007e-05,1793247824810455040
+96,1.600000000,BASELINE,765,745,715,680,658.296948386,633.703051614,877.703051614,784.703051614,809.296948386,652,629,652,0.400967406273,0.00449667559641,0.0698275851708,0.99999996008,5.07882314706e-05,-0.000277214412858,2.0326323868e-05,1793247824827121664
+97,1.616666667,BASELINE,765,745,715,680,658,634,877.711634738,784.711634738,809,652,629,652,0.400967401927,0.00449652778449,0.0698277511869,0.999999960249,4.95528515185e-05,-0.000276821601377,2.04113490913e-05,1793247824843788288
+98,1.633333333,BASELINE,765,745,715,680,658,634,877.131137927,784.131137927,809,652,629,652,0.40096662009,0.00449759958239,0.0698277650768,0.9999999603,4.85434582281e-05,-0.00027681705459,2.04139300538e-05,1793247824860454912
+99,1.650000000,BASELINE,765.447688529,745,715,680,658,634,877,784,809,652,629,652,0.400967695052,0.00449820895964,0.0698286209999,0.999999960652,5.07569121579e-05,-0.000275145371613,2.03580656988e-05,1793247824877121536
+100,1.666666667,BASELINE,765.974153354,745,715,680,658,634,877,784,809,652,629,652.025846646,0.400969269171,0.00449862952263,0.0698296817788,0.999999961062,5.36266128752e-05,-0.000273107852272,2.02829937686e-05,1793247824893788160
+101,1.683333333,BASELINE,765.399833231,745,715,680,658,634,877,784,809,652,629,652.600166769,0.400969936801,0.00449790706576,0.0698298751213,0.999999961086,5.04636467453e-05,-0.000273631402217,2.01622710234e-05,1793247824910454784
+102,1.700000000,BASELINE,765.179519427,745,715,680,658,634,877,784.179519427,809,652,629,652.820480573,0.400969703449,0.00449725349668,0.06982948423,0.999999960921,4.8021808981e-05,-0.000274677011086,2.01180475489e-05,1793247824927121664
+103,1.716666667,BASELINE,765.77040396,745,715,680,658,634,877,784.77040396,809,652,629,652.22959604,0.400967405515,0.00449675778267,0.0698277545792,0.999999960337,4.72324225941e-05,-0.000276918907259,2.02491206097e-05,1793247824943788288
+104,1.733333333,BASELINE,765.646326782,745,715,680,658,634,877,784.646326782,809,652,629,652,0.400968157297,0.00449719005502,0.0698282350692,0.999999960554,4.87641450486e-05,-0.000275863403773,2.03448933854e-05,1793247824960454912
+105,1.750000000,BASELINE,765.067896918,745,715,680,658,634,877,784.067896918,809,652,629,652,0.400970847151,0.00449821205562,0.0698301200867,0.999999961265,5.17709144897e-05,-0.000272712428029,2.04182331102e-05,1793247824977121536
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,785,809,652,629,652,0.400968120283,0.00449750079288,0.0698281422331,0.999999960509,4.86486270896e-05,-0.000276050044559,2.02800540181e-05,1793247825008050944
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679.412086725,658,634,877.412086725,785,809,652,629,652,0.400968529277,0.00449810655694,0.0698282355341,0.999999960426,5.1087438258e-05,-0.000275923902145,2.01257247047e-05,1793247825024717568
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.827015075,745,715,679.172984925,658,634,877.172984925,784.827015075,809,652,629,652,0.400968771097,0.00449787527893,0.0698284015173,0.999999960443,5.16253420145e-05,-0.000275762011874,2.00953822388e-05,1793247825041384704
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.248603257,745,715,679.751396743,658,634,877.751396743,784.248603257,809,652,629,652,0.400968621107,0.00449568221527,0.0698287378463,0.9999999607,4.77080662103e-05,-0.000275516338889,2.03556292391e-05,1793247825058052608
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.329372671,745,715,680,658,633.670627329,877.670627329,784.329372671,809,652,629,652,0.400968202744,0.00449531477209,0.0698288753718,0.999999960684,4.67542925557e-05,-0.000275735838622,2.0383720447e-05,1793247825074719744
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.907019999,745,715,680,658,633.092980001,877.092980001,784.907019999,809,652,629,652,0.400967582087,0.00449632344592,0.069828863043,0.999999960469,4.80343489096e-05,-0.000276305976438,2.02368171583e-05,1793247825091386112
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.517988618,715,680,658,633.482011382,877,784.517988618,809,652,629,652,0.400967331059,0.00449766804325,0.0698286382629,0.999999960309,5.08888153668e-05,-0.000276356398556,2.0473634628e-05,1793247825108052736
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.058024288,715,680,658,634,877,784,809,652,629,652,0.400967219696,0.00449895284979,0.0698284296672,0.999999960166,5.36954183733e-05,-0.000276323854353,2.07151421469e-05,1793247825124719616
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.648075452,715,680,658,634,877,784,809,652,629,652,0.400967738755,0.00449909853808,0.0698287431707,0.999999960162,5.32937487249e-05,-0.000276444776589,2.03246823408e-05,1793247825141385472
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.766271895,877.233728105,784,809,652,629,652,0.400969640527,0.00449847004923,0.0698296168974,0.999999960514,5.20034315247e-05,-0.000275426378465,2.01839335195e-05,1793247825158051840
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.187119799,877.812880201,784,809,652,629,652,0.400973585794,0.00449669741318,0.0698313185711,0.999999961382,4.93997927e-05,-0.000272724192308,2.0412229631e-05,1793247825174718208
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.611315513,658,633,877.611315513,784,809,652,629,652,0.400993543267,0.00449689584833,0.0698404088077,0.99999996554,4.93159895988e-05,-0.000257039468671,2.04396109368e-05,1793247825191384576
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.03710911,658,633,877.03710911,784,809,652,629,652,0.401021143483,0.00449803508985,0.069853025659,0.999999970871,5.0434922061e-05,-0.000235158085667,2.03710941648e-05,1793247825208051200
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.537998536,658,633.537998536,877,784,809,652,629,652,0.401075811664,0.00449755883137,0.0698726618605,0.999999978791,5.04236882645e-05,-0.000198683943502,2.00067885477e-05,1793247825224717824
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,809,652,629,652,0.401133596884,0.00449720792578,0.0698912223366,0.999999984657,5.02981557036e-05,-0.000166644459345,1.96298791098e-05,1793247825241384960
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,809,652,629,652,0.401196472333,0.0044978244361,0.069903411354,0.999999986266,5.00247850953e-05,-0.000156825194034,1.92849465194e-05,1793247825258052096
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,809.294264761,652,628.705735239,652,0.40126776237,0.00449892486789,0.0699115864394,0.999999987799,5.00535782407e-05,-0.000146830075257,1.83723671481e-05,1793247825274718720
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,809.873346655,652,628.126653345,652,0.401347196836,0.00450049368439,0.0699158764629,0.99999998925,5.03748339227e-05,-0.00013666474953,1.69103658154e-05,1793247825291384832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.552515143,658.447484857,633.552515143,877,784,810,652,628.447484857,652,0.401437177293,0.00450059981515,0.069915136678,0.999999989379,4.77842366153e-05,-0.000136874818044,1.49737570596e-05,1793247825308051456
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.979748928,633.020251072,877,784,809.979748928,652,629,652,0.401531017921,0.00450035160336,0.0699130060988,0.999999989127,4.43936841929e-05,-0.000140033743839,1.28765852961e-05,1793247825324718080
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.406656104,633.593343896,877,784,809.406656104,652,629,652,0.401649644114,0.00450160822402,0.0699113465886,0.999999988666,4.14178684689e-05,-0.000144403616924,1.00231957249e-05,1793247825341384448
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.173037707,658,634,877.173037707,784.173037707,809,652,629,652,0.401779176182,0.00450264291438,0.0699107673506,0.999999988421,3.87413227658e-05,-0.000147000737046,6.98840203768e-06,1793247825358051328
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.768859678,658,634,877.768859678,784.768859678,809,652,629,652,0.401935354634,0.00450313536064,0.069912827549,0.999999988766,3.67959860745e-05,-0.000145266476597,3.51038280129e-06,1793247825374718208
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.647583963,658,634,878,784.647583963,809,652,628.647583963,652,0.402112363128,0.00450327089562,0.0699163297517,0.999999989723,3.14220172983e-05,-0.000139881778999,-2.45660418502e-07,1793247825391385088
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.071801664,658,634,878,784.071801664,809,652,628.071801664,652,0.402302574012,0.00450318021524,0.0699207459173,0.99999999097,2.38749328701e-05,-0.000132183382574,-4.17791950809e-06,1793247825408052224
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679.503241042,658.503241042,634,877.496758958,784,809.503241042,652,628,652.503241042,0.402518477503,0.00450530870677,0.0699243806437,0.999999991815,2.04569680974e-05,-0.000125986852971,-8.86142605619e-06,1793247825424718848
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.919607538,634,877.080392462,784,810,652,628.080392462,652.919607538,0.402744039038,0.00450764284728,0.069927822695,0.999999992579,1.69151244268e-05,-0.000119853817074,-1.37990049585e-05,1793247825441385216
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.328387196,634,877.671612804,784,810,652,628.671612804,652.328387196,0.403007710745,0.0045092747607,0.0699307478717,0.999999993409,8.84814754909e-06,-0.000112764628174,-1.96709219354e-05,1793247825458051584
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.742602891,658,634,878,784.257397109,809.742602891,652,628.742602891,652.257397109,0.40329248691,0.00451132878606,0.0699367847028,0.999999994685,3.38073811649e-06,-9.98600575272e-05,-2.54311089132e-05,1793247825474718208
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.163610478,658,634,878,784.836389522,809.163610478,652,628.163610478,652.836389522,0.403603631245,0.00451391020347,0.0699467092755,0.999999996342,1.16126262718e-06,-7.96896735121e-05,-3.10516986164e-05,1793247825491384832
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.41151255,658.41151255,634,877.58848745,784.58848745,809,652,628.41151255,652.58848745,0.403933057607,0.0045158595942,0.069953165029,0.999999996894,-3.74477425805e-06,-6.98155093959e-05,-3.63973403715e-05,1793247825508051200
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.985111494,658.985111494,634,877.014888506,784.014888506,809,652,628.985111494,652.014888506,0.404269684878,0.00451756004246,0.0699582544852,0.999999997038,-9.70899278187e-06,-6.39968165936e-05,-4.16346856104e-05,1793247825524718080
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.426606935,634,877.573393065,784,809,652,628.426606935,652.573393065,0.404635431894,0.00451970057746,0.0699590565601,0.999999996645,-1.03521805807e-05,-6.64544877763e-05,-4.67717019398e-05,1793247825541384704
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.159512603,634,877.840487397,784,809,652,628.159512603,653,0.405020942134,0.00452101048353,0.0699606113355,0.999999996762,8.13316621923e-06,-6.57123630084e-05,-4.57245915546e-05,1793247825558051584
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.738910993,634,877.261089007,784,809,652,628.738910993,653,0.405456432519,0.00452010305062,0.0699644481891,0.999999995097,7.6597399156e-05,-5.5966848816e-05,-2.84060115282e-05,1793247825574718976
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.683125558,877.316874442,784,809,652,629,652.683125558,0.405899740099,0.00451156783886,0.0699641662945,0.999999993861,9.41275114718e-05,-5.39159257062e-05,-2.25917931439e-05,1793247825591385344
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.106339037,877.893660963,784,809,652,629,652.106339037,0.406349459678,0.00449677604207,0.0699605060514,0.999999995523,6.98795912642e-05,-5.81763884547e-05,-2.62138737384e-05,1793247825608051712
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.530431406,715,679.530431406,658.530431406,633,877.530431406,784,809.469568594,651.530431406,629,652,0.406822248622,0.00449869991521,0.0699432624698,0.999999992628,8.15376843409e-05,-8.56330285962e-05,-2.76244745094e-05,1793247825624718336
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.046301208,715,679.046301208,658.046301208,633,877.046301208,784,810,651.046301208,629,652,0.407306069606,0.00450483057147,0.0699247339503,0.999999988731,9.22398592019e-05,-0.00011492082781,-2.86915104783e-05,1793247825641384960
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.635026375,715,679.635026375,658.635026375,633,877.635026375,784,810,651.635026375,629,652,0.407858043454,0.00451598005163,0.0699271217417,0.999999994063,-3.33798338676e-06,-0.000104235980043,-3.15897815796e-05,1793247825658051840
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.779802719,680,659.220197281,633,877.779802719,784,810,652,629,652.220197281,0.408443749208,0.00452278161505,0.0699352225098,0.99999999428,-5.61284566467e-05,-8.43474355561e-05,-3.42744907673e-05,1793247825674718464
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714.200429399,680,659.799570601,633,877.200429399,784,810,652,629,652.799570601,0.409084476921,0.00452249104889,0.0699526420322,0.999999997342,-3.91260653748e-05,-4.94462310485e-05,-3.66108474146e-05,1793247825691385088
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714.376095838,680,659.623904162,633,877,784,810,652,629,652.623904162,0.409706301558,0.00453159855504,0.0699549655643,0.999999998444,-5.14324471927e-06,-4.01141267283e-05,-3.8417230931e-05,1793247825708051968
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.951114661,680,659.048885339,633,877,784,810,652,629,652.048885339,0.410318128041,0.004545676849,0.0699493045899,0.999999997506,3.78207907188e-05,-4.43059214441e-05,-3.99433032362e-05,1793247825724718848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.536992989,877.536992989,783.463007011,810,652,629,652.536992989,0.410957554906,0.00454993379908,0.069947447719,0.999999996243,5.76153356267e-05,-5.09073807686e-05,-4.00305190677e-05,1793247825741385216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.877653159,680,659,633.877653159,877.877653159,783.122346841,810,652,629,652.877653159,0.411621931527,0.00455412831675,0.0699508841211,0.999999995331,7.36363198838e-05,-4.78658743439e-05,-4.03017860863e-05,1793247825758051328
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.298030883,680,659,633.298030883,877.298030883,783.701969117,810,652,629,652.298030883,0.412369973743,0.00456150015265,0.0699727832567,0.999999995602,8.35995688184e-05,-7.94665217496e-06,-4.17606229104e-05,1793247825774717696
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.28107386,680,659.28107386,633,877.28107386,784,810,652,629,652,0.413140935749,0.00456905534843,0.0699978062005,0.9999999951,8.39747165887e-05,3.07554125281e-05,-4.24530520594e-05,1793247825791384320
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.859630927,680,659.859630927,633,877.859630927,784,810,652,629,652,0.413936155713,0.00457680460972,0.0700261353259,0.999999994027,7.42020023772e-05,6.81692659117e-05,-4.2334330146e-05,1793247825808050944
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.434282313,878,784,810,651.565717687,629,652,0.414674033531,0.00458347340238,0.0700086787839,0.999999994427,9.11566692142e-05,3.18345648728e-05,-4.27043524339e-05,1793247825824718336
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.992110968,634,878,784,810.007889032,651.007889032,629,652.007889032,0.415393989887,0.00458980210757,0.0699763553437,0.999999991889,0.000116405716095,-2.82665445985e-05,-4.32683805514e-05,1793247825841385472
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.403297218,634,878,784,810.596702782,651.596702782,629,652.596702782,0.416146902905,0.00459657484854,0.0699293099094,0.999999986596,0.000121959578917,-9.88102397243e-05,-4.65895080748e-05,1793247825858052096
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.365189642,634,878.182594821,784,811,652,629,653,0.416939661581,0.00460281141936,0.0699053215917,0.999999982085,0.000123524393703,-0.000134931650924,-4.86365575821e-05,1793247825874718464
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.524270547,634,878.762135273,784,811,652,629,653,0.417819041291,0.00460788240144,0.06993145749,0.999999987446,0.000116417357536,-9.62219370962e-05,-4.79138698774e-05,1793247825891384576
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.660363235,878.660363235,784,811,651.660363235,629,652.660363235,0.418715589166,0.00461460415973,0.0699599507597,0.999999989152,0.000127948237336,-5.4896692983e-05,-4.80866391995e-05,1793247825908051200
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.084281233,878.084281233,784,811,651.084281233,629,652.084281233,0.419624088982,0.00462247514019,0.0699900851619,0.999999987115,0.000152454292282,-1.17505943194e-05,-4.88827996314e-05,1793247825924717568
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.490995094,680,660.509004906,633.490995094,878,784,811,651.490995094,629,652,0.420538404324,0.00462336317008,0.0700145873958,0.999999989125,0.000136213673759,2.7825689714e-05,-4.92181085666e-05,1793247825941384192
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.932158338,680,660.067841662,633.932158338,878.067841662,784,811,651.932158338,629,652.067841662,0.421447582924,0.00462038396359,0.0700336105327,0.999999990517,0.000114163557153,5.89621748545e-05,-4.95685787414e-05,1793247825958050816
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715.342163828,680,660.657836172,633.342163828,878.657836172,784,811,651.342163828,629,652.657836172,0.422309554733,0.00459685050175,0.0700178918167,0.999999993157,0.000101144460899,2.98491100191e-05,-5.06436003386e-05,1793247825974717952
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.756576227,745,715,679.756576227,660.513152454,633,879,784,811,651.243423773,629,653,0.423152438199,0.00457797294439,0.0699703228919,0.999999993748,8.744518938e-05,-4.67004402867e-05,-5.17268752916e-05,1793247825991385088
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.177072878,745,715,679.177072878,659.354145755,633,879,784,811,651.822927122,629,653,0.423968967736,0.00456552349209,0.0698787804265,0.999999978143,7.28068404565e-05,-0.000188742504931,-5.2821544589e-05,1793247826008051968
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.39919304,745,714.60080696,679.39919304,659.39919304,633,878.60080696,783.60080696,811.39919304,651.60080696,629,652.60080696,0.424900401472,0.00456755202235,0.0698583271133,0.999999974186,6.03022207208e-05,-0.000212126085295,-5.47126699375e-05,1793247826024718336
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.974034425,745,714.025965575,679.974034425,659.974034425,633,878.025965575,783.025965575,811.974034425,651.025965575,629,652.025965575,0.425882393986,0.00457595098927,0.0698691536394,0.999999980391,4.8736461261e-05,-0.000183298912421,-5.69542429489e-05,1793247826041384960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.548948852,680,661.097897705,633,878,783.548948852,811.451051148,651,629,652,0.426868362925,0.00458097049634,0.0699347224753,0.99999999159,7.62897073711e-05,-9.04801645398e-05,-5.30481198934e-05,1793247826058051328
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.872450191,680,661.744900383,633,878.127549809,784,811,651,629.127549809,652,0.42785089922,0.00458530809029,0.0699962562483,0.999999993766,9.97894935229e-05,-3.05793001551e-06,-5.00065210728e-05,1793247826074717952
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.280437637,680,660.560875274,633,878.719562363,784,811,651,629.719562363,652,0.428820250763,0.00458774471001,0.0700336665107,0.999999992069,0.00010179011749,5.3689856846e-05,-5.11720497603e-05,1793247826091384576
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,744.696413952,714.303586048,680,660.303586048,633,879,784,811.303586048,651,630,652,0.42977555554,0.00458902893898,0.0700481138916,0.999999990824,9.80313978114e-05,7.73376518017e-05,-5.25399518184e-05,1793247826108051712
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,744.119580798,714.880419202,680,660.880419202,633,879,784,811.880419202,651,630,652,0.430718217267,0.0045892759415,0.0700418931898,0.999999992034,8.90888959464e-05,7.11933073702e-05,-5.40900030591e-05,1793247826124719104
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,744.455691732,715,680.455691732,661,633,879,784,812,651,629.544308268,652,0.431564668668,0.004588435682,0.0699668422037,0.999999992581,9.22431803169e-05,-5.85971316957e-05,-5.38033988644e-05,1793247826141385728
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.968662037,633,879,784,812,651,629.031337963,652,0.432392122014,0.00458702831365,0.0698792975544,0.999999971725,9.75701220482e-05,-0.000210240873827,-5.3188323227e-05,1793247826158052096
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.37908947,633,879,784,812,651,629.62091053,652,0.433329356315,0.00458058390247,0.0698898486945,0.999999979499,8.52458555192e-05,-0.000175152826734,-5.52782540107e-05,1793247826174718464
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.413680124,633,879,784,812.206840062,651.206840062,629.793159938,652.206840062,0.434278440075,0.00457647766564,0.069919152093,0.999999988663,7.64523346582e-05,-0.000116753939527,-5.65398793719e-05,1793247826191384832
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.572416843,633,879,784,812.786208422,651.786208422,629.213791578,652.786208422,0.435248865403,0.00457658258537,0.0699822291578,0.999999995541,7.4017843845e-05,-1.63711694552e-05,-5.63096893202e-05,1793247826208051456
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.634230092,680.634230092,661.634230092,633,879,783.634230092,812.634230092,651.634230092,629.365769908,652.634230092,0.43618860249,0.00457582961405,0.0700175611334,0.99999999472,7.55340800424e-05,4.22183082542e-05,-5.54215570872e-05,1793247826224717824
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.054555698,680.054555698,661.054555698,633,879,783.054555698,812.054555698,651.054555698,629.945444302,652.054555698,0.437110392848,0.00457457494278,0.070036667607,0.999999992469,7.93607259957e-05,7.6366806275e-05,-5.41486564185e-05,1793247826241384448
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714.527458557,680.527458557,661,633,879,783.527458557,813.054917114,651,630,652.527458557,0.437973118008,0.00457376040458,0.070010197809,0.99999999445,7.10027175504e-05,5.34513626138e-05,-5.65866620693e-05,1793247826258051584
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.890896913,633,879,784,813.890896913,651,630,653,0.438808233334,0.00457405448252,0.0699707765092,0.999999996131,6.53098994044e-05,5.21643915932e-06,-5.86914759798e-05,1793247826274718720
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.311891788,633,879,784,813.311891788,651,630,653,0.43955086356,0.00457892637852,0.0698959671783,0.9999999874,7.65480640594e-05,-0.000126534577858,-5.7700770447e-05,1793247826291385344
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.733174348,681,660,633,879,783.733174348,813,651,630,652.733174348,0.440331832533,0.00458263528213,0.0698554595852,0.999999975902,8.43776779319e-05,-0.000194351107365,-5.74727735068e-05,1793247826308051712
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.154792859,681,660,633,879,783.154792859,813,651,630,652.154792859,0.441157567243,0.00458498623099,0.0698550040184,0.999999976837,8.82273379938e-05,-0.000187515277192,-5.81353452599e-05,1793247826324718080
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.421454866,745,714,681.421454866,661.264364597,633,879,783.421454866,813,651.421454866,630,652.421454866,0.442028067185,0.00458376264066,0.0699151710458,0.999999990909,7.9360581179e-05,-9.25686493996e-05,-5.75704332408e-05,1793247826341384960
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.996922892,745,714,681.996922892,662.990768676,633,879,783.996922892,813,651.996922892,630,652.996922892,0.442914925851,0.00458123279896,0.0699974915187,0.999999995635,6.58468358994e-05,3.45764991549e-05,-5.65569584182e-05,1793247826358051584
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.415113955,745,714.584886045,682,661.83022791,633,879,784,813,652,630,652.415113955,0.443692073597,0.00458105250644,0.0700243144375,0.999999994204,6.78473129532e-05,6.21665885764e-05,-5.58884206755e-05,1793247826374718208
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.829664147,681.829664147,660.829664147,633,879,784,813,651.829664147,630,652,0.444448852689,0.00458079418189,0.070035109872,0.999999993655,7.12826871125e-05,6.74811881846e-05,-5.527209277e-05,1793247826391384576
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.250409174,681.250409174,660.250409174,633,879,784,813,651.250409174,630,652,0.445158149541,0.0045803182061,0.0700081449449,0.999999995248,7.79625454609e-05,2.06046578423e-05,-5.4776651341e-05,1793247826408051200
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.326878547,745,714.326878547,681,660.653757093,633,879,784,813.326878547,651,630,652,0.445835461567,0.0045790647493,0.0699790500859,0.999999995047,8.10253118199e-05,-1.88769120933e-05,-5.46315601438e-05,1793247826424718336
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.902668212,745,714.902668212,681,661.805336423,633,879,784,813.902668212,651,630,652,0.446488417781,0.00457721925714,0.0699483333305,0.999999993803,8.13337385491e-05,-5.27273728303e-05,-5.47532533055e-05,1793247826441385472
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.521581657,745,714.521581657,681.478418343,661.521581657,633,879,784,814,651.478418343,630,652.478418343,0.447103633058,0.00457626667689,0.0699307156222,0.999999991487,7.72683991194e-05,-8.94822722453e-05,-5.52193459923e-05,1793247826458051840
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.055525525,681.944474475,660.944474475,633,879,784,813.944474475,652,630.055525525,653,0.447709607905,0.00457568186025,0.0699157774502,0.999999987884,7.37490958768e-05,-0.000125306748712,-5.56037027036e-05,1793247826474718208
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,681.231688445,660,633,879,784,813.231688445,651.768311555,631,653,0.448892468411,0.00457789898522,0.069901884075,0.999999983843,9.31603372397e-05,-0.00014413661023,-5.34726338256e-05,1793247826508051200
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681.811078576,660,633,879,784,813.811078576,651.188921424,631,653,0.449485924217,0.00457861133918,0.0699263438301,0.999999987908,0.000100456628105,-0.000106497288874,-5.24549395995e-05,1793247826524717824
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.612830184,682,659.612830184,632.612830184,879,784,814.387169816,651,630.612830184,652.612830184,0.450032896224,0.00457890291644,0.0699427257002,0.999999989937,0.000104187258934,-8.05033939974e-05,-5.28297892222e-05,1793247826541384704
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.038335005,682,659.038335005,632.038335005,879,784,814.961664995,651,630.038335005,652.038335005,0.450557377908,0.0045789909083,0.0699551992285,0.999999991101,0.000106192707997,-6.01439323042e-05,-5.38783968176e-05,1793247826558051584
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.707206477,745,715,682,658.292793523,632,879.292793523,784,814,651,630.707206477,653,0.451780713461,0.00459412411226,0.0698364140929,0.999999958869,0.000141779324659,-0.00024418927377,-5.03149905044e-05,1793247826608051456
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,682,658,632,879,784,814.291899457,651.291899457,631,652.708100543,0.452169325599,0.00459781108486,0.0698110018707,0.999999950858,0.000141494689397,-0.000275141291721,-5.05995465984e-05,1793247826624717824
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765.977628388,745,714,682,657.977628388,632,879.977628388,783,814.977628388,652,630,653,0.453245887371,0.00460251353018,0.0697972233132,0.999999956138,2.64873812898e-05,-0.000288805134516,-6.01110020393e-05,1793247826674719488
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.405038555,745,714,682,657.405038555,632,879.405038555,783,814.405038555,652,630,653,0.453552591758,0.00460377004212,0.0698007981893,0.999999956517,3.31450445987e-05,-0.000286654879482,-6.08045966449e-05,1793247826691385856
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.173926443,745,714.173926443,682,657,632,879.173926443,783.173926443,814.173926443,652,630.173926443,653,0.45384838851,0.00460634930463,0.0698031312877,0.999999956556,4.38109248989e-05,-0.00028503009522,-6.10451779604e-05,1793247826708052480
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.768302684,745,714.768302684,682,657,632,879.768302684,783.768302684,814.768302684,652,630.768302684,653,0.454117817098,0.00461212618428,0.0698024625119,0.99999995561,6.41662682822e-05,-0.00028467558431,-6.01906448039e-05,1793247826724719360
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.647782574,745,714.647782574,682.352217426,657,631.647782574,879.647782574,783.647782574,815,652,631,653,0.454360075303,0.00461487428655,0.069802298267,0.999999953513,9.11000590464e-05,-0.000285897823099,-5.41934265007e-05,1793247826741385472
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.0705511,745,714.0705511,682.9294489,657,631.0705511,879.0705511,783.0705511,815,652,631,653,0.454584975741,0.00461568745542,0.0698024563413,0.999999950012,0.000122236491847,-0.000288127367965,-4.49108044629e-05,1793247826758051072
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.50447679,745,714.50447679,682.49552321,657,631,879,783,814.49552321,652,631,653,0.454766351159,0.0046179435045,0.0697922119557,0.999999943434,0.000128092726269,-0.000307694131339,-4.52565500535e-05,1793247826774718208
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.346548917,745,715,682,656.346548917,631.653451083,879.653451083,783,814.653451083,652,631,652.346548917,0.455081409473,0.00461834953268,0.0697703269114,0.999999929983,0.000128221989934,-0.000348355110897,-4.73474918377e-05,1793247826808051712
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+249,4.150000000,HOLD_POSE2,765.259773539,745,714.259773539,682,655,631.740226461,879.259773539,784,814.740226461,652,630,653,0.456029228973,0.00463075555102,0.0697455169537,0.999999910532,0.000152128265524,-0.000391733283866,-4.83617373745e-05,1793247827413217536
+250,4.166666667,HOLD_POSE2,765.322559495,745,714.322559495,682.322559495,655,631.677440505,879.322559495,783.677440505,814.677440505,652,630.322559495,653,0.456029161541,0.00463061182436,0.0697457966952,0.999999910431,0.00015231456193,-0.000391918707298,-4.83593769428e-05,1793247827429884160
+251,4.183333333,HOLD_POSE2,765.901607588,745,714.901607588,682.901607588,655,631.098392412,879.901607588,783.098392412,814.098392412,652,630.901607588,653,0.456028263841,0.00463062851424,0.0697459733563,0.999999909775,0.000152784179374,-0.000393445238611,-4.80362338056e-05,1793247827446551040
+252,4.200000000,HOLD_POSE2,766,745,714.519802945,683,654.519802945,631,880,783,814,652,630.519802945,653,0.456027635951,0.00463060953906,0.0697456205327,0.999999909405,0.000153569585744,-0.000394099755031,-4.78720773615e-05,1793247827463217664
+253,4.216666667,HOLD_POSE2,766,745,714,683,654,631,879.94156462,783,814,652,630,653,0.456027263459,0.00463070075659,0.0697452833804,0.999999909158,0.000154402068163,-0.000394412406723,-4.77698539493e-05,1793247827479884288
+254,4.233333333,HOLD_POSE2,766,745,714,683,654,631,879.365604648,783,814,652,630,653,0.456028663723,0.00463183253866,0.0697460449402,0.999999909493,0.000155078967589,-0.000393278290167,-4.79278987595e-05,1793247827496550656
+255,4.250000000,HOLD_POSE2,766,745,714,683,654,631,879,783,814,652,630.214458772,653,0.456029574303,0.00463244880663,0.0697466472514,0.999999909945,0.000154623981624,-0.000392271773345,-4.82115468622e-05,1793247827513217024
+256,4.266666667,HOLD_POSE2,766,745,714,683,654,631,879,783,814,652,630.801654066,653,0.456029633796,0.00463216909373,0.0697469727828,0.9999999106,0.000152201740914,-0.000391487029247,-4.87134976728e-05,1793247827529883392
+257,4.283333333,HOLD_POSE2,766,745,714,682.616602833,654,631,879.383397167,783,814,652,630.616602833,653,0.456028681552,0.00463248198063,0.0697462183514,0.999999910082,0.000152417722271,-0.000392723300358,-4.87085815419e-05,1793247827546550016
+258,4.300000000,HOLD_POSE2,766,745,714,682.037640756,654,631,879.962359244,783,814,652,630.037640756,653,0.456027213237,0.00463309714342,0.0697449130477,0.999999908963,0.000153979419297,-0.000394990459703,-4.84451205424e-05,1793247827563216640
+259,4.316666667,HOLD_POSE2,766,745,714.539763951,682.539763951,654.539763951,631,880,783,814.539763951,652,630,652.460236049,0.456028355062,0.00463137066663,0.0697451463516,0.999999909477,0.000153622204858,-0.00039387426148,-4.80504951904e-05,1793247827579884032
+260,4.333333333,HOLD_POSE2,766,745,714.884056334,683,654.884056334,631,880,783,815,652,630,652.115943666,0.456029459597,0.0046299982386,0.0697455792368,0.999999910051,0.000153031581125,-0.000392686383628,-4.77181059636e-05,1793247827596551168
+261,4.350000000,HOLD_POSE2,766,745,714.312266884,683,654.312266884,631,880,783,815,652,630,652.687733116,0.456029703946,0.0046306579615,0.0697463761673,0.999999910417,0.000152047882836,-0.000392141646717,-4.76662633823e-05,1793247827613217792
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631,879,783,814,652,630,653,0.456026747788,0.00463044673039,0.0697439103475,0.999999908939,0.000152267313184,-0.000395804634012,-4.77025858475e-05,1793247827650453760
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.57881178,745,714.57881178,683,654.42118822,631,879.57881178,783,814,651.42118822,630,653,0.456028035406,0.00463007230883,0.0697446549346,0.999999909519,0.000151703328691,-0.00039458053197,-4.7479866828e-05,1793247827667121152
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,654.157056446,631,879.842943554,783,814,651.157056446,630.157056446,653,0.456029281935,0.00462987907786,0.0697452688199,0.99999990997,0.000151450697752,-0.000393544706903,-4.73734381876e-05,1793247827683788032
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,654.733785844,631,879.266214156,783,814,651.733785844,630.733785844,653,0.456030418669,0.00463017000896,0.0697455334553,0.999999910082,0.000152030039321,-0.000393011979377,-4.75777508137e-05,1793247827700453632
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.30822954,714.69177046,682.69177046,654.69177046,631,879.30822954,783,814.30822954,652,631,653,0.456030884643,0.00463004024424,0.06974597951,0.999999910379,0.000151296500753,-0.000392528886923,-4.7679534873e-05,1793247827717119744
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.880713599,714.119286401,682.119286401,654.119286401,631,879.880713599,783,814.880713599,652,631,653,0.456030775555,0.00462954980424,0.0697465811009,0.99999991083,0.000149437390249,-0.00039208834815,-4.76934180747e-05,1793247827733786368
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.53152193,714.46847807,682.46847807,654,631,880,783,815,652,631,653,0.456029904303,0.00462922122411,0.0697452080298,0.999999910127,0.000148617849961,-0.000394197111597,-4.76096779925e-05,1793247827750453504
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,744.94081763,714.94081763,683,654,631,880,783,814.94081763,652,630.94081763,653,0.456028871592,0.00462919330717,0.0697434813994,0.999999909196,0.000148314500196,-0.000396671523082,-4.75664536201e-05,1793247827767120640
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,744.359657539,714.359657539,683,654,631,880,783,814.359657539,652,630.359657539,653,0.456028184187,0.00463144143205,0.0697432205571,0.999999908983,0.000150150526679,-0.000396452757761,-4.81071998443e-05,1793247827783787264
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,744.218355955,714,683,654,631,880,783,814,652,630,653,0.456025025082,0.00463248985878,0.0697420810456,0.999999908303,0.000150799786164,-0.000397881145776,-4.84087175296e-05,1793247827800453632
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,744.791260208,714,683,654,631,880,783,814,652,630,653,0.456017852638,0.00463159031487,0.0697395148239,0.999999906858,0.000149522071601,-0.000401984044851,-4.83217956923e-05,1793247827817120256
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.373330574,683,654.373330574,631,880,783,814.373330574,652,630,653,0.455997423107,0.00463084069535,0.0697303026359,0.999999900352,0.000151178349405,-0.000417314389074,-4.78615197385e-05,1793247827833786624
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.96065503,683,654.96065503,631,880,783,814.96065503,652,630,653,0.455969394585,0.00463017701271,0.0697172809656,0.999999890553,0.000154516397707,-0.000439080329019,-4.71872363823e-05,1793247827850453248
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,655,631,880.540445338,783,814.459554662,652,630.540445338,653,0.455918060519,0.00462999178059,0.0696983949572,0.999999876605,0.000151925762682,-0.000470600617083,-4.73697732714e-05,1793247827867119872
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.880358914,745,714.880358914,682.880358914,654.880358914,631,880.760717827,783,814,652,630.880358914,653,0.455862345282,0.00463007587233,0.069680014402,0.999999862788,0.000150156842733,-0.000499623891036,-4.74715950677e-05,1793247827883786752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.301368819,745,714.301368819,682.301368819,654.301368819,631,879.602737639,783,814,652,630.301368819,653,0.455796233601,0.00463106211003,0.069665191088,0.999999853843,0.000153177160573,-0.000516371192493,-4.70273217532e-05,1793247827900453888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.274593452,714.274593452,682,654.274593452,631,879,783,814,652,630.274593452,653,0.455723695095,0.00463132366847,0.0696547878331,0.999999846302,0.000155699307458,-0.000530139905747,-4.58849800513e-05,1793247827917121024
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.847268869,714.847268869,682,654.847268869,631,879,783,814,652,630.847268869,653,0.455644180023,0.00463079855909,0.0696491827265,0.999999840436,0.000157680670069,-0.000540675243732,-4.39848577641e-05,1793247827933787648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.432126758,745.567873242,715,682.432126758,655,631,879.432126758,783.432126758,814,652,630.567873242,653.432126758,0.455553388401,0.00463134314205,0.0696501665094,0.999999840535,0.000158781522888,-0.000540245565041,-4.30402465672e-05,1793247827950454016
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.97883258,655,631,880,783.97883258,814,651.97883258,630.02116742,653.97883258,0.455457647032,0.00463219178101,0.0696535727427,0.99999984284,0.000159601159615,-0.000535771539839,-4.23715017729e-05,1793247827967120384
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.396365637,655,631,880,783.396365637,814,651.396365637,630.603634363,653.396365637,0.455339404879,0.00463078687498,0.0696576713985,0.999999845829,0.000161455491803,-0.000529800938058,-3.98028814982e-05,1793247827983786752
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.183620526,715,682.183620526,655,631,879.816379474,783,814,651.183620526,630.816379474,653,0.455211469112,0.00463038153045,0.0696597558009,0.999999847125,0.000164994497981,-0.000526431619347,-3.73828273664e-05,1793247828000453120
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.758322955,715,682.758322955,655,631,879.241677045,783,814,651.758322955,630.241677045,653,0.455062887536,0.0046321050898,0.0696575501702,0.999999844854,0.000172121585962,-0.000528602611956,-3.52791953241e-05,1793247828017119744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745.668170223,715,683,655,631,879,783,814,652,630.331829777,653,0.454896888976,0.00463279587638,0.0696569385046,0.999999843587,0.000177347145518,-0.000529440091764,-3.26718171822e-05,1793247828033786624
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.095530995,715,683,655,631,879,783,814,652,630.904469005,653,0.454718250864,0.00463273717813,0.0696574835821,0.999999843059,0.000181192763311,-0.00052930983923,-2.96988693975e-05,1793247828050453504
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.505300473,745,715,683,655,631,879,783,814,652,631,652.505300473,0.454512529343,0.0046307408629,0.0696584732606,0.999999844764,0.000184933772404,-0.00052495770117,-2.62952372028e-05,1793247828067120384
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.085928068,745,714.914071932,682.914071932,655.085928068,631,879.085928068,783.085928068,814,652,631,652.085928068,0.454298057277,0.00462870488678,0.0696613188282,0.999999848085,0.000188436892917,-0.00051749910993,-2.27129566815e-05,1793247828083787264
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.662736467,745,714.337263533,682.337263533,655.662736467,631,879.662736467,783.662736467,814,652,631,652.662736467,0.454064575254,0.00462865867692,0.0696742579568,0.999999858078,0.000190700687807,-0.000497123507184,-1.86027495362e-05,1793247828100453632
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,714,682.239053004,656,631,879.760946996,783.760946996,814,652,631,653,0.45381174357,0.004631081673,0.069683930047,0.99999986412,0.000197514489462,-0.000482196137719,-1.53039720502e-05,1793247828117119744
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714,682.814676996,656,631,879.185323004,783.185323004,814,652,631,653,0.45353166884,0.00463698114947,0.0696890023598,0.999999864925,0.000210734402852,-0.000474939525613,-1.31476346837e-05,1793247828133786368
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.610059665,745,714.389940335,683,656,631.389940335,879,783,813.610059665,651.610059665,630.610059665,653,0.45321362606,0.00465208420873,0.0696879417699,0.999999860232,0.000232226865456,-0.000474800144496,-1.31052118327e-05,1793247828150452992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.034967587,745,714.965032413,683,656,631.965032413,879,783,813.034967587,651.034967587,630.034967587,653,0.452877555273,0.00467155731939,0.0696839691507,0.999999852449,0.000257647305152,-0.000478040171933,-1.4066519399e-05,1793247828167119616
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.556924172,745,714.443075828,682.443075828,656.556924172,631.443075828,879.556924172,783.556924172,813,651.556924172,630,653,0.452498710894,0.00465047933931,0.0696777443438,0.99999985217,0.000242585261567,-0.000486562982433,-8.2857080258e-06,1793247828183786752
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.854530429,745,714,682,657,631.145469571,879.854530429,784,813,652,630.145469571,653,0.452108337411,0.00462705110013,0.0696731318276,0.999999852933,0.000224662280134,-0.000493618217648,-1.6818949206e-06,1793247828200453888
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.279090795,745,714,682,657,631.720909205,879.279090795,784,813,652,630.720909205,653,0.451692071882,0.00460443573235,0.0696737157883,0.999999856084,0.000206029607794,-0.000495324799878,6.06436283083e-06,1793247828217120000
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.296048222,682.296048222,657.296048222,632,879,784,813,652,631,653,0.451259495304,0.00459981848593,0.0696799447936,0.999999857995,0.000207438197549,-0.000490753695347,1.18099935368e-05,1793247828233786624
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.870904194,682.870904194,657.870904194,632,879,784,813,652,631,653,0.450811557507,0.0046121512314,0.0696914901024,0.999999858619,0.000227720937366,-0.000480270487455,1.5671505306e-05,1793247828250453760
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.541595773,683,658,632,879,783.541595773,813,652,631,652.541595773,0.450330564013,0.00460975646358,0.0697062648912,0.999999867555,0.000222338332609,-0.000463766716707,1.93814992129e-05,1793247828267120128
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.795064543,745,714.795064543,683,658.409870913,632.204935457,879,783.204935457,812.795064543,652,629.204935457,652.204935457,0.448801541079,0.0045976745059,0.069772246495,0.999999927798,0.000123133360743,-0.000359492208703,2.63183931878e-06,1793247828317119744
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.108433608,659.108433608,633,879,784,812,652,630.108433608,652.891566392,0.445571381259,0.00459229425329,0.0697269153604,0.999999905695,9.5550081653e-05,-0.000423263103402,1.81169699824e-05,1793247828400453120
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.684786962,659.684786962,633,879,784,812,652,630.684786962,652.315213038,0.444896798418,0.00458877485777,0.0697470329674,0.999999922907,7.52153970242e-05,-0.00038496390671,1.81988156296e-05,1793247828417119744
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.739278316,683,660.260721684,633,879,784,812,652,630.739278316,652,0.444198797642,0.00458531918324,0.0697703688548,0.999999939206,5.8660082266e-05,-0.000343153504128,1.98244142723e-05,1793247828433786624
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.163848835,683,660.836151165,633,879,784,812,652,630.163848835,652,0.443472529825,0.00458194042355,0.0697975894158,0.999999954504,4.66667067185e-05,-0.000297104845796,2.33134218242e-05,1793247828450453248
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.421563376,682.578436624,660.156873247,633,879,784,812,652,630.421563376,652,0.442716106338,0.00458055926484,0.0698125789461,0.999999959178,3.1539216985e-05,-0.000282916204612,2.46409195363e-05,1793247828467119872
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.010759033,659.010759033,633,879,784,812,651.989240967,631,652.010759033,0.441946833842,0.00457992420832,0.0698225882101,0.999999960025,1.84923832555e-05,-0.000281024870583,2.51416154892e-05,1793247828483787264
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.58988541,659.58988541,633,879,784,812,651.41011459,631,652.58988541,0.441132965466,0.0045766934499,0.0698267265645,0.999999949721,0.000181271480188,-0.000258739362198,2.74219397325e-05,1793247828500453888
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.168275104,745,715,683,660.336550208,633,879,784,812,651.168275104,631,653,0.440302890571,0.00457368509774,0.0698245668269,0.999999926375,0.000286833378099,-0.000253260663815,2.88914795535e-05,1793247828517120512
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.74487717,745,715,683,661.48975434,633,879,784,812,651.74487717,631,653,0.439433489896,0.00457121642441,0.069807124491,0.999999925817,0.000253555218896,-0.000288564446665,2.83936165674e-05,1793247828533786880
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.680893984,745,715,683,661.042681952,633,879,784,811.680893984,652,630.680893984,652.680893984,0.438534667987,0.00456755874265,0.069762250607,0.999999909718,0.000223052924626,-0.000360599517081,2.79342733103e-05,1793247828550453248
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.10854853,745,715,683,659.325645589,633,879,784,811.10854853,652,630.10854853,652.10854853,0.437612497716,0.00456295747544,0.0696956073135,0.999999874035,0.000194753529779,-0.000461784176682,2.75054987573e-05,1793247828567119616
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879,784,811,652,630,652.480313061,0.436753816466,0.00455748308258,0.0696996592367,0.99999988362,0.000164001300707,-0.000452835291401,2.83412695362e-05,1793247828583786240
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.071356602,745,714.928643398,683,659.142713204,633,879,784,811.071356602,652,630,653,0.435906277663,0.00455246222895,0.0697254578413,0.999999905693,0.000134358114804,-0.000411934419764,2.95209226488e-05,1793247828600452864
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.650421308,745,714.349578692,683,660.300842616,633,879,784,811.650421308,652,630,653,0.435032294468,0.00455212230835,0.0697882615842,0.999999939216,0.000116690428494,-0.000327090987323,3.10415587628e-05,1793247828617120000
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.772674205,745,714.227325795,682.772674205,660.772674205,633,879.227325795,784,811.772674205,651.772674205,630,652.772674205,0.4341512312,0.00454880836743,0.0698311782828,0.999999957755,0.00010554629004,-0.00026891672529,3.2145774358e-05,1793247828633786880
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.199060317,745,714.800939683,682.199060317,660.199060317,633,879.800939683,784,811.199060317,651.199060317,630,652.199060317,0.43325938264,0.00454096406586,0.0698438008195,0.999999962432,0.000104339548141,-0.000251367918427,3.26156521233e-05,1793247828650453248
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.615432538,784.384567462,811,651,630.384567462,652,0.43235046374,0.00453394337858,0.0698435963263,0.999999963235,0.000100645542793,-0.000249584924736,3.32812620192e-05,1793247828667119872
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879.026482809,784.973517191,811,651,630.973517191,652,0.431432472687,0.00452736040992,0.0698365747777,0.999999962033,9.56296562097e-05,-0.000256180832951,3.40508957086e-05,1793247828683786240
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660,633,879,784.44685213,811,651,630.44685213,652.55314787,0.430393402664,0.00452620113186,0.0697624151061,0.999999922167,9.4085671782e-05,-0.000381588667813,3.46942181787e-05,1793247828700453120
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.736198895,633,879,784,811,651,630,653,0.429375272684,0.00452270867332,0.069706125724,0.999999882668,8.99473084761e-05,-0.000474710261972,3.49771406633e-05,1793247828717119488
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,658.581659722,633,879,784,811,651,630,653,0.42844709694,0.00451047585604,0.0697208498706,0.999999899726,7.64969350391e-05,-0.0004399270756,3.40632365023e-05,1793247828733786112
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.715191041,682,658.854426876,633,879,784,811,651.284808959,630,653,0.427553754676,0.00450239972547,0.0697652122985,0.999999930343,6.65440685931e-05,-0.000365654500735,3.43856607073e-05,1793247828750452992
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.141208018,682,660.576375947,633,879,784,811,651.858791982,630,653,0.42669577982,0.00449854398956,0.0698396672558,0.999999965972,6.01423136849e-05,-0.000251287304491,3.5963361544e-05,1793247828767119616
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.444802984,681.555197016,661,633,879,784,811,652,630,652.555197016,0.42579050699,0.00449093816522,0.0698517571398,0.999999968573,5.40077823306e-05,-0.000241824960135,3.81811321085e-05,1793247828783786240
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.965880153,745,715,681.034119847,660.931760306,633.034119847,878.965880153,784,811,652,630,652,0.424867863179,0.00448227157711,0.0698420898937,0.999999962185,4.7639857571e-05,-0.00026783995934,4.0272672813e-05,1793247828800452864
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.386451992,745,715,681.613548008,659.772903984,633.613548008,878.386451992,784,811,652,630,652,0.423914241421,0.00447620743727,0.0698099143862,0.999999949424,3.61483114204e-05,-0.000313807956594,3.70089913926e-05,1793247828817119488
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.384266049,745,714.807866976,681.615733951,659,633.807866976,878,784,810.807866976,651.807866976,630,652,0.422933079056,0.00447100077719,0.0697646055655,0.999999923755,2.91096437539e-05,-0.000387801736453,3.54009072088e-05,1793247828833786112
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.538059342,745,714.230970329,680.461940658,659,633.230970329,878,784,810.230970329,651.230970329,630,652,0.421896763986,0.00446751129618,0.0696929961006,0.999999864711,3.09882625678e-05,-0.000517919666515,3.71083042126e-05,1793247828850452736
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.655920633,745,714.344079367,680.344079367,658.655920633,633,878,784.344079367,810,651.344079367,630,652,0.420982902308,0.00445826917769,0.0696833463864,0.999999859053,2.05209789733e-05,-0.000529239796921,3.71153610611e-05,1793247828867119360
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.082104155,745,714.917895845,680.917895845,658.082104155,633,878,784.917895845,810,651.917895845,630,652,0.420150801156,0.00444518610165,0.0697150663587,0.99999989298,1.81050441071e-06,-0.0004612402478,3.59871239768e-05,1793247828883785984
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.517634917,633,878,785,810,652,629.494121694,652,0.419379194089,0.00444093731707,0.0697899791294,0.999999939738,-1.59661515021e-05,-0.00034491626302,3.60745979823e-05,1793247828900452608
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.094402676,745,715,681,660.905597324,633.094402676,878,784.905597324,810,652,629.094402676,652.094402676,0.418603290456,0.00443714180584,0.069859895673,0.999999969979,-2.95166956661e-05,-0.000240437908109,3.68892956771e-05,1793247828917119232
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.673563511,745,715,681,660.326436489,633.673563511,878,784.326436489,810,652,629.673563511,652.673563511,0.417753454954,0.00442809913514,0.0698671220911,0.999999970564,-2.21668151852e-05,-0.000238221397013,4.03959146172e-05,1793247828933786112
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,659.498537494,634,878,784,810.250731253,652,629.749268747,653,0.416897819078,0.00441994289061,0.0698527692282,0.999999966426,-2.24593787545e-05,-0.000254924965317,4.07009845234e-05,1793247828950452736
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,658.349350937,634,878,784,810.825324532,652,629.174675468,653,0.4160346911,0.00441293161682,0.0698105430557,0.99999995496,-3.262345819e-05,-0.000296067031497,3.68707094273e-05,1793247828967119360
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.590885001,745,715,680.590885001,658.818229998,633.590885001,877.590885001,784,810.590885001,652,629.409114999,652.590885001,0.415194500045,0.00442183326908,0.0697781354403,0.999999937851,-3.26313873268e-05,-0.000349170458513,3.62332131762e-05,1793247828983785984
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.003077349,745,715,680.003077349,659.993845301,633.003077349,877.003077349,784,810.003077349,652,629.996922651,652.003077349,0.414364327271,0.00443768534537,0.0697500163563,0.999999915891,-2.82033287501e-05,-0.000407498353967,3.6990253795e-05,1793247829000452608
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.57642925,659.42357075,633,877.57642925,784,810,652,630,652,0.413584714392,0.00446949347689,0.0697379666795,0.999999904334,4.07445581358e-05,-0.000433900534702,3.74447680755e-05,1793247829017119232
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633,877.846243956,784,810,652,629.846243956,652.153756044,0.412848409767,0.00449016725202,0.0697467145557,0.999999907914,8.10991780653e-05,-0.000419780390611,3.71277772672e-05,1793247829033786112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633,877.274721029,784,810,652,629.274721029,652.725278971,0.412229053807,0.00448035997516,0.0698117411791,0.999999954667,4.28411228901e-05,-0.000296014533894,3.47188745412e-05,1793247829050452736
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.699178251,659.300821749,633.300821749,877.300821749,784.300821749,810,652,629,652.699178251,0.41158275983,0.00447163756732,0.0698574891943,0.999999976169,1.76666372584e-05,-0.000214846556058,3.45184245339e-05,1793247829067119872
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.119914716,659.880085284,633.880085284,877.880085284,784.880085284,810,652,629,652.119914716,0.410911531957,0.00446391931909,0.0698853928503,0.999999984345,4.60235732796e-06,-0.000173107351384,3.63621274736e-05,1793247829083787520
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.064132051,633.532066026,877.532066026,785,810,652,629,652.467933974,0.410231392069,0.00445964319826,0.0698629326171,0.999999975479,1.69785180937e-05,-0.000217784680448,3.6393836721e-05,1793247829100454144
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.05696968,633.05696968,877,784.94303032,810,651.94303032,629,652.94303032,0.409552606005,0.00445682751713,0.0698266637494,0.999999958139,3.25139142576e-05,-0.00028527307561,3.58318506687e-05,1793247829117120512
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.636338911,633.636338911,877,784.363661089,810,651.363661089,629,652.363661089,0.408907567774,0.00445916396544,0.0697843340742,0.999999936249,1.61193409917e-05,-0.000355069598504,3.41633700468e-05,1793247829133786624
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784,809.78591032,651.21408968,629,652,0.408298042929,0.00446285621872,0.069760982972,0.999999923052,7.55345542742e-06,-0.000390871598084,3.25467218446e-05,1793247829150453248
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,634,877,784,809.210888164,651.789111836,629,652,0.407748389948,0.00446883421503,0.0697696277338,0.99999993123,1.21859080892e-05,-0.000369362435159,3.10174579972e-05,1793247829167119872
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.636957485,680,659,634,877.363042515,784,809,652,629,652,0.407221788488,0.00447257078142,0.0697866135531,0.999999939675,2.76280460295e-05,-0.000344826367906,3.13285511741e-05,1793247829183786240
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.063658881,680,659,634,877.936341119,784,809,652,629,652,0.406708537266,0.00447500922414,0.069808430097,0.999999947515,4.93306141193e-05,-0.000318537266572,3.27054870384e-05,1793247829200452864
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.527170344,680,657.945659313,634,877.472829656,784,809.527170344,652,629,652,0.406213662658,0.00447582533544,0.0698020280637,0.999999942097,4.18552014113e-05,-0.000336074514071,3.32821185708e-05,1793247829217120256
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.8829081,745,715,680.1170919,657.1170919,633.8829081,877.1170919,784,810,652,629,652,0.405736001936,0.00447727055205,0.0697948142298,0.99999993664,3.30514257511e-05,-0.000352863922584,3.33850142403e-05,1793247829233787648
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764.305171712,745,715,680.694828288,657.694828288,633.305171712,877.694828288,784,810,652,629,652,0.405317030966,0.0044819879087,0.0697982733314,0.999999939358,3.33598574482e-05,-0.000345175060203,3.20174823691e-05,1793247829250454272
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764.271266335,745,715,680.728733665,658.271266335,633,877.728733665,784,810,652,628.728733665,652,0.404927688734,0.00448288358121,0.0698084503259,0.999999946224,3.40188696642e-05,-0.000324661128208,3.14509291768e-05,1793247829267120640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.846250685,745,715,680.153749315,658.846250685,633,877.153749315,784,810,652,628.153749315,652,0.404571519761,0.00447950037997,0.069826148877,0.999999956892,3.50704024154e-05,-0.000289787859475,3.17811760623e-05,1793247829283786752
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.569129986,658.569129986,633,877.861740028,784,809.569129986,652,628.430870014,652.430870014,0.404229184436,0.00447485437131,0.0698401365853,0.999999964096,2.57525007198e-05,-0.000264831036924,3.17561533916e-05,1793247829300453120
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.018839145,745,715,679.018839145,657.981160855,633.018839145,878.962321711,784,809,652,629,652.981160855,0.403892255343,0.00446988420978,0.0698519465138,0.99999996945,1.2578863016e-05,-0.000244844766685,3.15139211699e-05,1793247829317119488
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.601809928,745,715,679.601809928,657.398190072,633.601809928,877.796380143,784,809,652,629,652.398190072,0.403566016283,0.00446900949847,0.0698391019682,0.99999996439,-2.71871747693e-06,-0.000265316230215,2.86504119042e-05,1793247829333786112
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.818147109,745,715,680,657.181852891,634,877,784,809,652,629,652,0.403254724875,0.00446753406869,0.0698284364409,0.999999959334,-1.59680367867e-05,-0.000283471345366,2.68515336035e-05,1793247829350453248
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.244413481,745,715,680,657.755586519,634,877,784,809,652,629,652,0.402975644693,0.00446476413114,0.069822466553,0.999999955322,-2.48034891527e-05,-0.000296634883314,2.7346863765e-05,1793247829367120640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.329318514,658.329318514,634,877.329318514,784.329318514,809.329318514,652,629,652,0.402718756029,0.00446197938904,0.0698151578209,0.999999951585,-3.20397901165e-05,-0.000308262367198,2.7882260158e-05,1793247829383787520
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.903049358,658.903049358,634,877.903049358,784.903049358,809.903049358,652,629,652,0.402478337349,0.00445918365906,0.0698068554302,0.999999948069,-3.80892400589e-05,-0.000318749829855,2.84473928022e-05,1793247829400454144
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.506603556,658.506603556,634,877.506603556,784.506603556,810,652,629,652,0.402262983279,0.00445837595377,0.0697991941375,0.999999943363,-3.66157604659e-05,-0.000333209332632,3.0085485155e-05,1793247829417120768
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.915276305,877,784,809.915276305,652,629,652,0.40205946737,0.00445848292587,0.0697928517694,0.999999939129,-3.21971866981e-05,-0.000345959628166,3.19096186063e-05,1793247829433786880
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.337896653,877,784,809.337896653,652,629,652,0.401895151687,0.00446155793597,0.0697934207069,0.999999940053,-1.95485711122e-05,-0.000344074524016,3.3546867022e-05,1793247829450453248
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.761082479,658,633.238917521,877.238917521,784,809,652,629,652,0.401745422177,0.0044705735871,0.0697949708269,0.999999941211,2.48790040599e-05,-0.000340205184292,3.4923118217e-05,1793247829467119616
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.185066194,658,633.814933806,877.814933806,784,809,652,629,652,0.401616272922,0.00448797113794,0.0697979053381,0.999999937217,0.00011414484707,-0.000333536201506,3.5931117185e-05,1793247829483786240
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.396293542,658.792587083,634,877.603706458,784,809,652,629,652,0.401504209694,0.00450348165893,0.069799563851,0.999999934096,0.00014984289649,-0.000328767266656,3.55970808411e-05,1793247829500453120
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.98018272,659.96036544,634,877.01981728,784,809,652,629,652,0.401400234577,0.00451809890582,0.0698006183376,0.999999933792,0.000160183264926,-0.000324897768851,3.4627757976e-05,1793247829517120256
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.874290231,634,877,784.562854885,809.562854885,652,629,652.562854885,0.40131121801,0.00450723575391,0.0697974604336,0.999999939824,9.79797905802e-05,-0.00033201080682,2.28366760948e-05,1793247829533787136
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.143703286,634,877,785,809.856296714,652,628.856296714,652.856296714,0.401230337996,0.00449853165727,0.0697957541478,0.999999942146,5.02087490076e-05,-0.000336136055062,1.41269784969e-05,1793247829550454016
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.719200085,634,877,785,809.280799915,652,628.280799915,652.280799915,0.40117232727,0.00449900483254,0.069798854303,0.999999943955,5.34617539092e-05,-0.00033012435349,1.5818492172e-05,1793247829567120384
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.705535728,634,877,784.705535728,809.294464272,652,628.294464272,652,0.401124186574,0.00450028356621,0.0698024234437,0.999999945942,5.85657059303e-05,-0.000323093441222,1.72181699318e-05,1793247829583787264
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.130493117,634,877,784.130493117,809.869506883,652,628.869506883,652,0.401085450464,0.00450232987094,0.0698064394543,0.99999994805,6.54333210808e-05,-0.000315091380044,1.83397739623e-05,1793247829600454144
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.454498918,745,715,679.545501082,658.454498918,633.545501082,877.454498918,784,810,652,629,652,0.401056784284,0.00450107325112,0.0698108153643,0.999999950627,6.17233989923e-05,-0.000307528056353,1.90493827557e-05,1793247829617120256
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.957975361,745,715,679,659,633.042024639,877.957975361,784,810,652,629.042024639,652,0.401031555936,0.00449920353266,0.069815085323,0.999999953107,5.57437677964e-05,-0.000300490004122,1.96060596959e-05,1793247829633786368
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.375425094,745,715,679,659,633.624574906,877.375425094,784,810,652,629.624574906,652,0.401012525864,0.00450191841299,0.0698166337115,0.999999953408,6.05068575318e-05,-0.000298551572805,1.9751217511e-05,1793247829650453248
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.795758026,633.795758026,877.204241974,784.204241974,809.795758026,652,629.795758026,652,0.400996151075,0.00450259448071,0.0698177131307,0.999999953708,6.19816552022e-05,-0.000297221775529,2.00369355336e-05,1793247829667120128
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658.221316937,633.221316937,877.778683063,784.778683063,809.221316937,652,629.221316937,652,0.400984589124,0.00449957509525,0.0698179425188,0.999999954032,5.74962535916e-05,-0.000296995158972,2.05774261756e-05,1793247829683786496
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.353437975,658,633,877.646562025,784.646562025,809,652,629,652,0.400978660276,0.00449920698321,0.0698194686976,0.999999954927,5.71724574137e-05,-0.000294031344483,2.05402263997e-05,1793247829700453120
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.928389552,658,633,877.071610448,784.071610448,809,652,629,652,0.400976261918,0.00450050052952,0.0698218076266,0.999999956167,5.94569046443e-05,-0.000289352019454,2.01409650979e-05,1793247829717119488
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.515478494,877,784.515478494,809,652,629,652,0.400974080715,0.00449985787336,0.0698228548447,0.99999995687,5.80252087404e-05,-0.000287197454116,2.02442347562e-05,1793247829733786112
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.897119458,658,633.897119458,877,784.897119458,809,652,629,652,0.40097192061,0.0044992786673,0.0698236335214,0.999999957359,5.63991957478e-05,-0.00028581009402,2.03466122797e-05,1793247829750452736
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.31628515,658,633.31628515,877,784.31628515,809,652,629,652,0.400969714997,0.0045002739598,0.0698240183828,0.999999957222,5.63266149256e-05,-0.000286318219815,2.0112698831e-05,1793247829767119360
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.260951316,877,784,809.260951316,652,629,652,0.400969230394,0.00450058625967,0.069824811454,0.999999957462,5.61635564483e-05,-0.00028551217446,2.00988734597e-05,1793247829783786240
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.83388641,877,784,809.83388641,652,629,652,0.400970803366,0.00450008199885,0.0698260925657,0.999999958148,5.58923262107e-05,-0.000283134954564,2.03481772535e-05,1793247829800452864
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.407584343,658,633.592415657,877,784,810,651.592415657,629,652,0.400971403355,0.00449952686411,0.0698269598323,0.99999995862,5.46313496356e-05,-0.000281711664032,2.03364940665e-05,1793247829817119488
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.981593723,658,633.018406277,877,784,810,651.018406277,629,652,0.400971606055,0.00449895095652,0.0698276581174,0.999999959003,5.29662393699e-05,-0.000280677882545,2.02182445335e-05,1793247829833786368
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.577506122,877,784,809.422493878,651.577506122,629,652,0.400970186516,0.00450057157888,0.0698276665759,0.999999958806,5.50724728729e-05,-0.000280985382478,2.00649130887e-05,1793247829850452736
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,809.168121032,652,629,652,0.400968925945,0.0045012824387,0.0698274756138,0.999999958601,5.59545698059e-05,-0.000281548005709,1.99612816299e-05,1793247829867119104
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,809.744123162,652,629,652,0.400968181434,0.00449960956638,0.069826856278,0.999999958428,5.35636534242e-05,-0.000282621784129,1.99810477589e-05,1793247829883785984
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.319123183,745,715,679.680876817,658,633.680876817,877,784.319123183,810,652,629,652,0.400967508857,0.00449813958993,0.0698265027163,0.999999958371,5.18936920046e-05,-0.000283128520244,2.00987478352e-05,1793247829900452864
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.893322187,745,715,679.106677813,658,633.106677813,877,784.893322187,810,652,629,652,0.400966893779,0.00449683178865,0.0698263615884,0.999999958408,5.07999914952e-05,-0.00028318201822,2.02947267174e-05,1793247829917119488
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.518623784,745,715,679.481376216,658.481376216,633,877.481376216,784.518623784,809.518623784,652,629,652,0.400966970309,0.0044981116576,0.0698265355556,0.999999958487,5.33512093091e-05,-0.000282433730835,2.02541866388e-05,1793247829933786112
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.929009374,633.070990626,877.929009374,784.070990626,809.070990626,652,629,652,0.400967308892,0.00449980095699,0.0698268869205,0.999999958609,5.62392539179e-05,-0.000281446635319,2.01597346272e-05,1793247829950452992
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.350833626,633.649166374,877.350833626,784.649166374,809.649166374,652,629,652,0.400968392227,0.00450019699367,0.0698279920189,0.999999959037,5.55918101942e-05,-0.000280060463237,2.00656853976e-05,1793247829967119360
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.773560253,809.773560253,652,629,652,0.400969195984,0.0044999080857,0.0698290900803,0.999999959456,5.4937473793e-05,-0.000278685019335,2.01089742007e-05,1793247829983785728
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.197679334,809.197679334,652,629,652,0.400969568295,0.00449856217319,0.0698301772823,0.999999959865,5.42725005328e-05,-0.000277326130917,2.03642026496e-05,1793247830000452608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.614313602,877,784.385686398,809.385686398,652,628.614313602,652,0.400968742888,0.00449794706277,0.0698295259644,0.999999959557,5.40456174344e-05,-0.000278473036676,2.04510639002e-05,1793247830017119232
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.027035726,877,784.972964274,809.972964274,652,628.027035726,652,0.400967291455,0.0044977139298,0.0698279659528,0.99999995887,5.40477163771e-05,-0.000280929676942,2.04499225702e-05,1793247830033786112
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744.447359898,715,679.447359898,658,633.552640102,877,784.447359898,810,652,628.552640102,652,0.400968379507,0.00449920063307,0.0698287425184,0.999999959351,5.39499722441e-05,-0.000279266057067,1.99506723339e-05,1793247830050452480
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.131336825,715,679.131336825,658,634,877.131336825,784.131336825,809.868663175,652,629,652,0.400969178695,0.00450022940616,0.0698293732433,0.9999999597,5.44126234976e-05,-0.000277943635514,1.96572973782e-05,1793247830067119616
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744.707957743,715,679.707957743,658,634,877.707957743,784.707957743,809.292042257,652,629,652,0.400968583029,0.00449942422928,0.0698291272196,0.999999959417,5.67915735296e-05,-0.000278452132655,2.01434177397e-05,1793247830083787264
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95c94601c2f3ca019ceee9a8307efe14cadd5947
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+33,0.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+34,0.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+36,0.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+37,0.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+38,0.633333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+39,0.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+40,0.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+41,0.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+49,0.816666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+99,1.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+378,6.300000000,pose2_to_pose3_retreat,0.583385975654,0.00992786254945,1.0600424186,0.553957767352,0.0186023214731,1.05966579874
+379,6.316666667,pose2_to_pose3_retreat,0.583351471253,0.00992787954493,1.06004247737,0.55392326259,0.0186023374292,1.05966586179
+380,6.333333333,pose2_to_pose3_retreat,0.583323992103,0.00992796534199,1.060042378,0.55389578269,0.0186024206603,1.05966576198
+381,6.350000000,pose2_to_pose3_retreat,0.583302095896,0.00992785921606,1.06004243812,0.553873887623,0.0186023185952,1.05966582655
+382,6.366666667,pose2_to_pose3_retreat,0.583285039599,0.00992788448433,1.060042406,0.553856830529,0.0186023410618,1.05966579216
+383,6.383333333,pose2_to_pose3_retreat,0.583271981029,0.00992800350217,1.06004228616,0.553843770764,0.0186024562599,1.05966567784
+384,6.400000000,pose2_to_pose3_retreat,0.583262889062,0.0099280590355,1.06004221739,0.553834678506,0.0186025110724,1.05966561516
+385,6.416666667,pose2_to_pose3_retreat,0.583256775644,0.00992790332111,1.0600423468,0.553828566141,0.0186023584547,1.05966573363
+386,6.433333333,pose2_to_pose3_retreat,0.583253099281,0.00992789908315,1.06004238113,0.553824890109,0.0186023551073,1.05966576266
+387,6.450000000,pose2_to_pose3_retreat,0.583250868741,0.00992791042499,1.0600423952,0.553822659723,0.0186023668383,1.05966577371
+388,6.466666667,pose2_to_pose3_retreat,0.583249480936,0.00992791141763,1.06004243614,0.553821271803,0.0186023675192,1.05966581646
+389,6.483333333,pose2_to_pose3_retreat,0.583248679787,0.00992791147581,1.06004246251,0.55382047057,0.0186023673504,1.05966584418
+390,6.500000000,pose2_to_pose3_retreat,0.583248286832,0.00992791150435,1.06004247544,0.553820077574,0.0186023672677,1.05966585778
+391,6.516666667,pose2_to_pose3_retreat,0.583248240665,0.00992791150771,1.06004247696,0.553820031402,0.0186023672579,1.05966585938
+392,6.533333333,pose2_to_pose3_retreat,0.583248171461,0.00992791151273,1.06004247924,0.55381996219,0.0186023672434,1.05966586178
+393,6.550000000,pose2_to_pose3_retreat,0.583248126777,0.00992791151598,1.06004248071,0.553819917502,0.018602367234,1.05966586332
+394,6.566666667,pose2_to_pose3_retreat,0.583247741957,0.00992791154393,1.06004249338,0.553819532642,0.0186023671529,1.05966587664
+395,6.583333333,pose2_to_pose3_retreat,0.583247247296,0.00992791390677,1.06004252424,0.553819038095,0.0186023699244,1.05966590794
+396,6.600000000,pose2_to_pose3_retreat,0.583246702825,0.00992791839696,1.06004257006,0.553818493886,0.0186023753099,1.05966595391
+397,6.616666667,pose2_to_pose3_retreat,0.583246331214,0.00992792146159,1.06004260133,0.553818122453,0.0186023789857,1.05966598528
+398,6.633333333,pose2_to_pose3_retreat,0.58324614613,0.0099279233882,1.06004261005,0.553817937443,0.018602381165,1.05966599405
+399,6.650000000,pose2_to_pose3_retreat,0.583246124503,0.00992792418872,1.0600426012,0.553817915803,0.0186023819208,1.05966598522
+400,6.666666667,pose2_to_pose3_retreat,0.583245951407,0.0099279305958,1.06004253042,0.5538177426,0.0186023879702,1.05966591452
+401,6.683333333,pose2_to_pose3_retreat,0.583245677007,0.00992794075262,1.06004241821,0.553817468031,0.0186023975599,1.05966580245
+402,6.700000000,pose2_to_pose3_retreat,0.583245514237,0.00992796426126,1.06004240484,0.553817305073,0.0186024204513,1.05966578962
+403,6.716666667,pose2_to_pose3_retreat,0.583245512942,0.00992796476119,1.06004240568,0.553817303774,0.0186024209413,1.05966579047
+404,6.733333333,pose2_to_pose3_retreat,0.583245511997,0.00992796512588,1.0600424063,0.553817302827,0.0186024212987,1.0596657911
+405,6.750000000,pose2_to_pose3_retreat,0.583245510712,0.00992796562156,1.06004240714,0.55381730154,0.0186024217846,1.05966579195
+406,6.766666667,pose2_to_pose3_retreat,0.583245437516,0.00992799386964,1.06004245489,0.553817228169,0.0186024494712,1.05966584042
+407,6.783333333,pose2_to_pose3_retreat,0.58324542564,0.00992799845288,1.06004246264,0.553817216264,0.0186024539634,1.05966584828
+408,6.800000000,pose2_to_pose3_retreat,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e851d2401c3c5d2c01a10e952ae001656ab2151
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ae13aac15f4628f3d2be774aa871be0a8401372f1265bbd7d98a10004797873
+size 26070144
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dfdcbd29bcad2aeeed00a6a8d0e58cbf9549d84c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+1,0.016666667,BASELINE,765,745,715,679.599197907,658,633.400802093,877,784.599197907,809.599197907,652,629,652,0.400969673641,0.00450023998564,0.0698304571617,0.999999960245,5.77313609888e-05,-0.000275264258177,2.01668388205e-05,1793247830225324288
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+40,0.666666667,BASELINE,765,745,715,679.267910018,658,634,877,784,809.267910018,652,629.732089982,652,0.40096888673,0.0045024078571,0.0698312131211,0.999999960354,5.90634408559e-05,-0.000274626576615,1.95786227549e-05,1793247830875323648
+41,0.683333333,BASELINE,765,745,715,679.847016479,658,634,877,784,809.847016479,652,629.152983521,652,0.400970178122,0.00450067267186,0.0698317612405,0.999999960826,5.75948299053e-05,-0.000273179397828,2.01017959374e-05,1793247830891990528
+42,0.700000000,BASELINE,765,745,715,680,658.425920433,634,877,784.425920433,810,652,628.574079567,652,0.400970609542,0.00449927410022,0.0698322282811,0.999999961029,5.57232275214e-05,-0.000272824050661,2.00966642986e-05,1793247830908657664
+43,0.716666667,BASELINE,765,745,715,680,658.995294096,634,877,784.995294096,810,652,628.004705904,652,0.400970730649,0.0044980144865,0.0698326659667,0.999999961134,5.37241919433e-05,-0.000272856235119,1.99016741615e-05,1793247830925324800
+44,0.733333333,BASELINE,765,745,715,680,658.422038158,634,877,784.422038158,810,652,628.577961842,652,0.400970661853,0.00449894278002,0.0698330738384,0.999999961271,5.38087283105e-05,-0.00027235082018,1.96836813093e-05,1793247830941990912
+45,0.750000000,BASELINE,765,745,715,680,658,634,877.15548273,784,810,652,629,652.15548273,0.400970472433,0.00449964210067,0.0698331007668,0.999999961276,5.4012057403e-05,-0.000272301915803,1.95614485801e-05,1793247830958657280
+46,0.766666667,BASELINE,765,745,715,680,658,634,877.744906696,784,810,652,629,652.744906696,0.400969946357,0.00449970237423,0.0698320645091,0.99999996091,5.45469285246e-05,-0.000273527100006,1.97064755761e-05,1793247830975324160
+47,0.783333333,BASELINE,765,745,715,679.671714505,658,634,877.671714505,784.328285495,809.671714505,652,629,652.671714505,0.400969819599,0.00449950674007,0.0698317144296,0.999999960912,5.38507182894e-05,-0.000273670115846,1.95233546998e-05,1793247830991991296
+48,0.800000000,BASELINE,765,745,715,679.09294809,658,634,877.09294809,784.90705191,809.09294809,652,629,652.09294809,0.400969997519,0.00449911584903,0.0698318879021,0.999999961194,5.22151964569e-05,-0.000272987440361,1.90898579239e-05,1793247831008658176
+49,0.816666667,BASELINE,765,745,715,679.484758978,658.484758978,634,877,784.515241022,808.515241022,652,629,652,0.400970470715,0.00450020582774,0.0698322915993,0.999999961202,5.41635966078e-05,-0.00027256795706,1.9212395119e-05,1793247831025324544
+50,0.833333333,BASELINE,765,745,715,679.93817005,658.93817005,634,877.06182995,784.06182995,808.06182995,652,628.93817005,652,0.40097081575,0.00450127678514,0.0698326343339,0.999999961133,5.64102919138e-05,-0.000272349483789,1.94374415922e-05,1793247831041990912
+51,0.850000000,BASELINE,765,745,715,679.364685384,658.364685384,634,877.635314616,784.635314616,808.635314616,652,628.364685384,652,0.400969632734,0.00449984577732,0.0698321080925,0.999999960902,5.54512570494e-05,-0.000273377712573,1.9630441174e-05,1793247831058657536
+52,0.866666667,BASELINE,765,745,715,679.213167058,658,634,877.786832942,784.786832942,809,652,628.213167058,652,0.40096964834,0.00449913552985,0.069832239989,0.999999960932,5.52661342676e-05,-0.000273300252787,1.9698304023e-05,1793247831075324416
+53,0.883333333,BASELINE,765,745,715,679.79864815,658,634,877.20135185,784.20135185,809,652,628.79864815,652,0.400971757439,0.00449968415051,0.0698335213783,0.999999961417,5.64327134979e-05,-0.000271291615698,1.9547605127e-05,1793247831091991040
+54,0.900000000,BASELINE,765,745,715,679.616432076,658,634,877,784.383567924,809.383567924,652,629,652,0.40097204736,0.00449922944505,0.0698335634158,0.999999961561,5.56879134719e-05,-0.000270902729312,1.97176904318e-05,1793247831108657408
+55,0.916666667,BASELINE,765,745,715,679.031806551,658,634,877,784.968193449,809.968193449,652,629,652,0.400971383708,0.0044982488188,0.0698329558133,0.999999961525,5.39412117764e-05,-0.000271362879552,2.00559235402e-05,1793247831125324032
+56,0.933333333,BASELINE,765,745,715,679,658,634,877,784.457588998,810,652,629,652,0.400971704995,0.00449864509933,0.0698335527489,0.999999961717,5.35806305067e-05,-0.000270730992092,1.99925418201e-05,1793247831141991168
+57,0.950000000,BASELINE,765,745,715,679,658,634,877,784,809.880994329,652,629,652,0.400971708118,0.00449909650595,0.0698339425809,0.999999961786,5.34795854559e-05,-0.000270504086886,1.98955813246e-05,1793247831158658048
+58,0.966666667,BASELINE,765,745,715,679,658,634,877,784,809.29266352,652,629,652,0.400970233001,0.00449945289039,0.069833242341,0.999999961317,5.40875642923e-05,-0.000272122105165,1.97573230531e-05,1793247831175324928
+59,0.983333333,BASELINE,765,745,715,679.291179366,658,633.708820634,877,784,809,652,629,652,0.400969896153,0.00449959108855,0.0698331452533,0.99999996123,5.37713001728e-05,-0.000272516982421,1.95909851306e-05,1793247831191991552
+60,1.000000000,BASELINE,765,745,715,679.870579992,658,633.129420008,877,784,809,652,629,652,0.400970686011,0.00449951331701,0.0698336451901,0.999999961521,5.25401826037e-05,-0.000271701144803,1.93968528036e-05,1793247831208657664
+61,1.016666667,BASELINE,765,745,715,679.550367845,658,633.449632155,877,784,809.449632155,652,629,652,0.400971244394,0.00449958249358,0.0698340077263,0.999999961758,5.34476665103e-05,-0.000270643674136,1.94816123601e-05,1793247831225324032
+62,1.033333333,BASELINE,765,745,715,679.028280903,658,634,877,784,809.971719097,652,629,652,0.40097170311,0.00449969554244,0.0698342847146,0.999999961948,5.49633366623e-05,-0.000269622406345,1.96488181509e-05,1793247831241990656
+63,1.050000000,BASELINE,765,745,715,679.601092574,658,634,877,784,809.398907426,652,629,652,0.400971524673,0.00449983955601,0.0698336754296,0.999999961593,5.63461136744e-05,-0.000270636314426,1.98590281558e-05,1793247831258657536
+64,1.066666667,BASELINE,765,745,715,679.821058061,658,633.821058061,877.178941939,784.178941939,809,652,629,652,0.400971231424,0.00449964774356,0.0698334050401,0.999999961385,5.67341799068e-05,-0.000271313908699,2.00042562076e-05,1793247831275324160
+65,1.083333333,BASELINE,765,745,715,679.231653099,658,633.231653099,877.768346901,784.768346901,809,652,629,652,0.400970674815,0.00449868560212,0.0698339120209,0.999999961516,5.48405450987e-05,-0.000271220055014,2.00004264626e-05,1793247831291991040
+66,1.100000000,BASELINE,765,745,715,679,658,633.351710894,877.648289106,784.648289106,809,652,629,652,0.400970881308,0.00449860360666,0.0698341749457,0.999999961681,5.49763792151e-05,-0.000270587968268,1.9950029067e-05,1793247831308657920
+67,1.116666667,BASELINE,765,745,715,679,658,633.93116319,877.06883681,784.06883681,809,652,629,652,0.400971581929,0.00449909152727,0.0698342798384,0.999999961867,5.642634414e-05,-0.000269607362462,1.98694779793e-05,1793247831325324544
+68,1.133333333,BASELINE,765,745,715,679.508417447,658,633.491582553,877,784,809.508417447,652,629,652,0.400971034328,0.00449905844713,0.0698335250573,0.999999961639,5.4614900698e-05,-0.000270846968224,1.94978411326e-05,1793247831341991168
+69,1.150000000,BASELINE,765,745,715,680,658,633,877,784.084218637,809.915781363,652,628.915781363,652,0.400970380652,0.00449917298294,0.0698328270631,0.999999961376,5.30817879265e-05,-0.000272146426915,1.9149349853e-05,1793247831358657536
+70,1.166666667,BASELINE,765,745,715,680,658,633,877,784.653359171,809.346640829,652,628.346640829,652,0.400970085115,0.00450054189198,0.0698331233469,0.999999961256,5.56828768016e-05,-0.000272067117259,1.9160077892e-05,1793247831375323904
+71,1.183333333,BASELINE,765,745,715,680,658,633,877,784.766902508,809,652,628.233097492,652,0.400969807365,0.00450167738722,0.0698331309441,0.99999996113,5.7335251806e-05,-0.000272178034754,1.92885889159e-05,1793247831391990528
+72,1.200000000,BASELINE,765,745,715,680,658,633,877,784.170653397,809,652,628.829346603,652,0.400969557326,0.00450244923825,0.0698326887852,0.999999961003,5.75095890895e-05,-0.000272585314491,1.96005986202e-05,1793247831408657152
+73,1.216666667,BASELINE,765,745,715,679.588277464,658,633.411722536,877,784.411722536,809.411722536,652,629,652,0.400969613945,0.00450153900714,0.0698328872132,0.99999996107,5.6474473825e-05,-0.000272557090106,1.95954169284e-05,1793247831425323776
+74,1.233333333,BASELINE,765,745,715,679.011464368,658,633.988535632,877,784.988535632,809.988535632,652,629,652,0.400969793527,0.00449995430264,0.0698333425008,0.999999961212,5.49543979751e-05,-0.000272354239308,1.94630493088e-05,1793247831441990400
+75,1.250000000,BASELINE,765,745,715,679.565766218,658,634,877,784.434233782,809.434233782,652,629,652,0.400969819119,0.00449853512217,0.0698331181088,0.999999961338,5.31376563785e-05,-0.000272225203512,1.98229424691e-05,1793247831458657024
+76,1.266666667,BASELINE,765,745,715,680,658.145428596,634,877,784,809,652,629,652,0.400970391603,0.00449754809088,0.0698333955579,0.999999961646,5.16962250489e-05,-0.00027135576606,2.00501088599e-05,1793247831475323904
+77,1.283333333,BASELINE,765,745,715,680,658.732449341,634,877,784,809,652,629,652,0.400972634201,0.00449786308317,0.0698352386929,0.999999962507,5.14126860789e-05,-0.000268233562888,1.98439410044e-05,1793247831491990528
+78,1.300000000,BASELINE,765,744.683111056,715,679.683111056,658.683111056,633.683111056,877,784,809,652,629,652,0.400972438743,0.00449984323014,0.0698352871473,0.999999962379,5.32120758771e-05,-0.000268374055402,1.964438691e-05,1793247831508657152
+79,1.316666667,BASELINE,765,744.100833145,715,679.100833145,658.100833145,633.100833145,877,784,809,652,629,652,0.400970201457,0.00450321791511,0.0698338325878,0.999999961413,5.67558822292e-05,-0.000271246998844,1.94503717356e-05,1793247831525323776
+80,1.333333333,BASELINE,765,744.474632039,715,679.474632039,658.474632039,633.474632039,877,784,809.474632039,652,629,652.474632039,0.40096969331,0.00450319575373,0.0698327425555,0.999999960903,5.84166456559e-05,-0.000272773957454,1.93672668864e-05,1793247831541990400
+81,1.350000000,BASELINE,765,745,715,679.951341603,658.951341603,633.951341603,877,784,809.951341603,652,629,652.951341603,0.400969609402,0.0045024269244,0.069831849829,0.999999960562,5.9441577146e-05,-0.00027380393966,1.93242620235e-05,1793247831558657024
+82,1.366666667,BASELINE,765,745,715,679.377444989,658.377444989,633.377444989,877,784,809.377444989,652,629,652.377444989,0.400970195738,0.00450127773326,0.06983226279,0.999999961005,5.7860200193e-05,-0.000272512313649,1.94633703612e-05,1793247831575323648
+83,1.383333333,BASELINE,765,745,715,679.202144765,658,633,877,784,809,652,628.797855235,652,0.400970359677,0.00450056024223,0.0698325369931,0.999999961246,5.65973941011e-05,-0.000271882004941,1.96087936426e-05,1793247831591990528
+84,1.400000000,BASELINE,765,745,715,679.792672925,658,633,877,784,809,652,628.207327075,652,0.400969712059,0.00450067218212,0.069832544599,0.999999961105,5.59466621162e-05,-0.000272522293633,1.97663499331e-05,1793247831608657152
+85,1.416666667,BASELINE,765,744.623790129,715,680,658,633,877.376209871,784,809,652,628.376209871,652,0.400969197603,0.00450037096242,0.0698327114606,0.999999961113,5.48658235308e-05,-0.000272709414118,1.98283248825e-05,1793247831625323776
+86,1.433333333,BASELINE,765,744.044035745,715,680,658,633,877.955964255,784,809,652,628.955964255,652,0.400968755193,0.00449984620695,0.069832964486,0.9999999612,5.35522801941e-05,-0.000272651352528,1.98385865127e-05,1793247831641990400
+87,1.450000000,BASELINE,765.538155799,744.538155799,715,679.461844201,658.538155799,633.538155799,877.461844201,784.538155799,809,652,629,652,0.400968908013,0.00450071957891,0.0698327717489,0.999999961175,5.55021390833e-05,-0.000272363522991,1.97131940638e-05,1793247831658658048
+88,1.466666667,BASELINE,765.880076034,745,715,679,659,634,877.119923966,784.880076034,809,652,629,652,0.400969350739,0.00450146122627,0.0698327233997,0.99999996125,5.6940217149e-05,-0.000271797726768,1.95833744605e-05,1793247831675325184
+89,1.483333333,BASELINE,765.300697458,745,715,679,659,634,877.699302542,784.300697458,809,652,629,652,0.400970716707,0.0045012579049,0.0698333686131,0.999999961762,5.53898298607e-05,-0.000270239339503,1.94793141505e-05,1793247831691991296
+90,1.500000000,BASELINE,765,744.721503905,715,679.278496095,659,634,877.721503905,784,809.278496095,652,629,652,0.400970816861,0.00450122114083,0.0698334126221,0.999999961807,5.54073048166e-05,-0.000270073187773,1.93962859066e-05,1793247831708657920
+91,1.516666667,BASELINE,765,744.142510029,715,679.857489971,659,634,877.142510029,784,809.857489971,652,629,652,0.4009695512,0.0045013640924,0.0698328079305,0.99999996135,5.71165060165e-05,-0.000271409260755,1.93359513064e-05,1793247831725324800
+92,1.533333333,BASELINE,765,744,715,679.564783666,658.564783666,633.564783666,877.435216334,784,809.564783666,652,629,652,0.400970482414,0.00449952925798,0.0698329432083,0.999999961629,5.4895103309e-05,-0.000270814809187,1.9677021172e-05,1793247831741991424
+93,1.550000000,BASELINE,765,744,715,679,658,633.012465214,878,784,809,652,629,652.012465214,0.400972052693,0.00449713821429,0.0698332978194,0.999999962115,5.14659560663e-05,-0.000269659183817,2.01251977481e-05,1793247831758657792
+94,1.566666667,BASELINE,765,744,715,679,658,633.586842948,878,784,809,652,629,652.586842948,0.400970097624,0.00449878300958,0.0698326488248,0.999999961598,5.14438556681e-05,-0.000271620009972,1.94937412056e-05,1793247831775324416
+95,1.583333333,BASELINE,765,744.165714753,715,679.165714753,658,633.834285247,878,784.165714753,809,652,628.834285247,652.834285247,0.400968999945,0.00450006928047,0.0698322606893,0.99999996124,5.21811441187e-05,-0.000272827924558,1.90531143548e-05,1793247831791991040
+96,1.600000000,BASELINE,765,744.756103554,715,679.756103554,658,633.243896446,878,784.756103554,809,652,628.243896446,652.243896446,0.400970099487,0.00450043676805,0.0698325410527,0.999999961292,5.48645039301e-05,-0.000272106367404,1.91015229913e-05,1793247831808657408
+97,1.616666667,BASELINE,765,745,715,679.672792749,658,633.327207251,877.672792749,784.672792749,809,652.327207251,628.327207251,652,0.400970623083,0.00450091258771,0.0698332585792,0.999999961413,5.6462834844e-05,-0.000271324829786,1.92112615e-05,1793247831825324288
+98,1.633333333,BASELINE,765,745,715,679.115263898,658,633.884736102,877.115263898,784.115263898,809,652.884736102,628.884736102,652,0.40097074127,0.00450146466245,0.0698342838254,0.999999961586,5.72974123749e-05,-0.000270501071887,1.93641701811e-05,1793247831841990656
+99,1.650000000,BASELINE,765,745,715,679.474511061,658.474511061,634,877,784.474511061,809,652.525488939,628.525488939,652.474511061,0.400971752033,0.00450037129389,0.0698344755219,0.999999962011,5.54776129407e-05,-0.000269297192055,1.94612257447e-05,1793247831858657536
+100,1.666666667,BASELINE,765,745,715,680,658.930105405,634,877,784.930105405,809.069894595,652,628.069894595,652.930105405,0.400972853006,0.00449924565416,0.069834480903,0.999999962424,5.35862084928e-05,-0.000268141520476,1.95055569085e-05,1793247831875324416
+101,1.683333333,BASELINE,765,745,715,680,658.35493074,634,877,784.35493074,809.64506926,652,628.64506926,652.35493074,0.400972924451,0.00450098686732,0.0698347098529,0.999999962311,5.61782176312e-05,-0.000268050534751,1.92739660531e-05,1793247831891990784
+102,1.700000000,BASELINE,765,745,715,679.773753326,658.226246674,634,877,784,809.773753326,652,628.773753326,652,0.400972408636,0.0045019578999,0.069834390422,0.9999999621,5.77672766812e-05,-0.000268505548344,1.91865819039e-05,1793247831908657152
+103,1.716666667,BASELINE,765,745,715,679.18290233,658.81709767,634,877,784,809.18290233,652,628.18290233,652,0.400970946433,0.00450168775969,0.0698331872563,0.999999961739,5.77400468012e-05,-0.000269840458689,1.93315918606e-05,1793247831925324032
+104,1.733333333,BASELINE,765,745,715,679,658.599826032,634,877,784.400173968,809,652,628.400173968,652,0.400970871674,0.00450117911453,0.0698331168388,0.999999961768,5.58987616041e-05,-0.000270130895851,1.92169146253e-05,1793247831941990656
+105,1.750000000,BASELINE,765,745,715,679,658.020235443,634,877,784.979764557,809,652,628.979764557,652,0.40097141897,0.00450056353648,0.0698335542851,0.999999961965,5.32441509426e-05,-0.000269953047172,1.89858075431e-05,1793247831958657024
+106,1.766666667,BASELINE,765,745,715,679,658.554959117,634,877,784.445040883,809,652,628.445040883,652,0.40097238286,0.00450093021672,0.0698344184698,0.999999962193,5.52221594173e-05,-0.000268677916896,1.93998071467e-05,1793247831975323648
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,745,715,680,658,633,877,785,810,652,629,652,0.400971455191,0.00449979794348,0.0698348631107,0.99999996226,5.41161903808e-05,-0.000268645537742,1.95313162745e-05,1793247832016596224
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.57934961,745,715,680,658,633.57934961,877,785,809.42065039,652,629,652,0.400970497523,0.00450055058531,0.0698337065168,0.999999961765,5.56432095816e-05,-0.000270162299448,1.96384180291e-05,1793247832033263104
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.842203699,877.157796301,784.842203699,809,652,629,652,0.400970143902,0.00450100905007,0.0698330165621,0.999999961476,5.68935795081e-05,-0.000270965969331,1.97326149016e-05,1793247832049929984
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.26615017,877.73384983,784.26615017,809,652,629,652,0.400971391377,0.00450068776484,0.0698335634881,0.999999961739,5.74106590776e-05,-0.000269879507731,1.97926059253e-05,1793247832066596608
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633,877.690212183,784,809,652,629,652,0.400971218004,0.00450019243121,0.0698335361786,0.999999961774,5.62950833248e-05,-0.000269994420891,1.96673356112e-05,1793247832083262976
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633,877.11437346,784,809,652,629,652,0.400969824385,0.00449954762193,0.0698330157062,0.999999961607,5.37773561181e-05,-0.000271141094649,1.93829597892e-05,1793247832099929600
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.472877556,633.472877556,877,784,809,652,629,652,0.400969553051,0.00450009441818,0.0698329897423,0.999999961593,5.39272514752e-05,-0.000271172000364,1.92654694868e-05,1793247832116596224
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.938275192,659,634,877,784.061724808,809,652,629,652,0.400969759435,0.00450075240854,0.0698332753716,0.999999961665,5.46419532026e-05,-0.000270768927945,1.92169488451e-05,1793247832133262848
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.359745472,659,634,877,784.640254528,809,652,629,652,0.400971636682,0.00449986861596,0.0698351436978,0.999999962131,5.4549860714e-05,-0.00026904768089,1.93995768928e-05,1793247832149929472
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,633.782383213,877,784.782383213,809.217616787,652,629,652,0.400974541846,0.00449925272448,0.0698367609028,0.999999962686,5.40590507821e-05,-0.000267064770264,1.9525639743e-05,1793247832166596096
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679,659,633.206940659,877,784.206940659,809.793059341,652,629,652,0.400979137208,0.00449907734099,0.069837965191,0.999999963389,5.29126325425e-05,-0.00026465160822,1.95586928146e-05,1793247832183262720
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.62365509,715,679.37634491,658.62365509,633.37634491,877,784.37634491,809.62365509,652,629,652,0.400998935803,0.00449911405949,0.0698464445215,0.999999966969,5.34663400329e-05,-0.000250627429522,1.97389465574e-05,1793247832199929344
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.035965043,715,679.964034957,658.035965043,633.964034957,877,784.964034957,809.035965043,652,629,652,0.401027272123,0.00449926988873,0.0698590093194,0.99999997182,5.49747920933e-05,-0.000230082817129,2.0001864218e-05,1793247832216595968
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.543972638,715,680,658.543972638,634,876.456027362,785,809.543972638,652,629,652,0.401080611808,0.00449937530637,0.0698779468988,0.999999979419,5.43061567583e-05,-0.000194524669325,1.93296988463e-05,1793247832233262592
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.122735572,745,715,680,658.877264428,633.877264428,876.122735572,784.877264428,809.877264428,651.877264428,629,652,0.401137360314,0.0044995589073,0.0698953347086,0.999999984989,5.36628303674e-05,-0.000163688871176,1.86533372364e-05,1793247832249929472
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.699024994,745,715,680,658.300975006,633.300975006,876.699024994,784.300975006,809.300975006,651.300975006,629,652,0.401200682686,0.00450004356836,0.0699054604145,0.99999998655,5.36374656255e-05,-0.000153920502318,1.81867197161e-05,1793247832266596096
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.720044772,745,715,680,658,633,877,784.279955228,809,651.279955228,629,652.279955228,0.401269899358,0.00450042267516,0.0699114103428,0.999999987866,5.22715509177e-05,-0.000145751215191,1.70871670374e-05,1793247832283262976
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.134041216,745,715,680,658,633,877,784.865958784,809,651.865958784,629,652.865958784,0.401345559703,0.00450068638954,0.0699127952915,0.999999988954,4.94401409035e-05,-0.000139330052067,1.52956867982e-05,1793247832299929600
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.446910245,633.446910245,877,784.553089755,809,652,629,652.553089755,0.401437656875,0.00450156303758,0.0699110606929,0.999999988662,4.81901903303e-05,-0.000142061597259,1.31404482238e-05,1793247832316596224
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.973675659,634,877,784.026324341,809.026324341,652,628.973675659,652,0.4015356619,0.00450263227489,0.0699084367854,0.999999987945,4.73319247706e-05,-0.000147482097147,1.08648748546e-05,1793247832333262848
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.395080324,634,877,784.604919676,809.604919676,652,628.395080324,652,0.401655340522,0.00450392825505,0.0699065654994,0.999999987352,4.48511475584e-05,-0.000152367210749,8.32804802405e-06,1793247832349929472
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.182771684,633.817228316,877,785,810,652,628.182771684,652,0.401787025648,0.00450502760738,0.0699068594362,0.999999987381,4.18446298446e-05,-0.000153161155097,5.42678136015e-06,1793247832366596096
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.759023349,633.240976651,877,785,810,652,628.759023349,652,0.401944558958,0.00450570364935,0.0699118147726,0.999999988754,3.77062721308e-05,-0.000145147426,1.74093081051e-06,1793247832383262720
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.658925113,715,679.658925113,658.658925113,633.341074887,877.341074887,784.658925113,809.658925113,652,629,652,0.402118237461,0.00450597052083,0.0699157873177,0.999999989837,3.44722882234e-05,-0.000138326401727,-1.91706333666e-06,1793247832399929600
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.072704894,715,679.072704894,658.072704894,633.927295106,877.927295106,784.072704894,809.072704894,652,629,652,0.402303520232,0.0045059433038,0.0699190534885,0.999999990716,3.18883166144e-05,-0.000132362625376,-5.55503625778e-06,1793247832416596224
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.507761037,715,679,658,634,877.492238963,784,809,652,629,652,0.402524919949,0.00450757306723,0.0699212937978,0.999999991349,2.54023065268e-05,-0.000128627339533,-1.05746491965e-05,1793247832433262848
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.913004355,715,679.086995645,658,634,877.086995645,784,809,652,629,652,0.402756520568,0.00450957443857,0.0699235608968,0.999999991953,1.85319717473e-05,-0.000124495141254,-1.58608957596e-05,1793247832449929728
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.336115576,715,679.663884424,658,634,877.663884424,784,809,652,629,652,0.403016769447,0.00451234733589,0.0699267967608,0.99999999292,1.26084508002e-05,-0.000116351089467,-2.15470595568e-05,1793247832466596352
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.240420187,715,679.759579813,658,634,877.759579813,784,809.240420187,652,629,652,0.403298734711,0.00451504090165,0.0699333550518,0.999999994335,7.69747899433e-06,-0.000102621368079,-2.71819619152e-05,1793247832483262720
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.816463109,715,679.183536891,658,634,877.183536891,784,809.816463109,652,629,652,0.403611015687,0.00451762372167,0.0699445513977,0.999999996167,4.20000994755e-06,-8.10941417361e-05,-3.27453037781e-05,1793247832499929344
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679.400785981,658.400785981,634,877,784,810,652,629,652,0.403935258933,0.00451922104401,0.0699506826763,0.999999996673,-2.73450946454e-07,-7.20516232302e-05,-3.82392323522e-05,1793247832516596480
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.988980563,658.988980563,634,877,784,810,652,629,652,0.40426509576,0.00452035754492,0.0699544455155,0.999999996662,-5.20328815121e-06,-6.88469882543e-05,-4.37007029332e-05,1793247832533263872
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680.568770205,658.431229795,634,877,784,809.431229795,652,628.431229795,652,0.40465518664,0.00452277661131,0.0699562239525,0.999999996478,-1.06434355655e-05,-6.6534903718e-05,-5.00360486915e-05,1793247832549930496
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.852753973,745,715,680.852753973,658.147246027,633.852753973,877,784,809.147246027,652,628.147246027,652,0.405053341866,0.00452306644721,0.0699583490941,0.99999999682,5.15457265877e-06,-6.28392783523e-05,-4.88415794992e-05,1793247832566596864
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.277629747,745,715,680.277629747,658.722370253,633.277629747,877,784,809.722370253,652,628.722370253,652,0.405471588156,0.00451709785469,0.0699615918072,0.999999994733,8.26962682694e-05,-5.50737419504e-05,-2.57179442077e-05,1793247832583263488
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.296930028,745,715,680,659,633.296930028,877,784,810,652,629,652,0.405906589287,0.00450775739106,0.0699607360903,0.999999992639,0.000106682238256,-5.50381713003e-05,-1.76295720097e-05,1793247832599930112
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.870963107,745,715,680,659,633.870963107,877,784,810,652,629,652,0.406357226532,0.00449527020634,0.0699560556093,0.999999994531,8.06885805954e-05,-6.22164109616e-05,-2.35725072813e-05,1793247832616596736
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.540724127,634,877,784,810,652,629,652,0.406825922424,0.00450073393782,0.0699404252303,0.999999991685,9.09628153191e-05,-8.69991737059e-05,-2.80405541821e-05,1793247832633263872
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679.949902504,658.050097496,634,877,784,809.949902504,652,629,652.050097496,0.407308403731,0.00451122131967,0.0699233704914,0.999999987976,0.000100804731222,-0.000113453930993,-3.18395957134e-05,1793247832649930240
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.376138321,658.623861679,634,877,784,809.376138321,652,629,652.623861679,0.407880246547,0.00451981012651,0.0699246169261,0.999999994034,-3.80301221458e-06,-0.000104025374358,-3.31160553302e-05,1793247832666597120
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.80099431,745,715,679.19900569,659,633.80099431,877.19900569,784,809.39801138,652,629,652.80099431,0.408470955658,0.00452618213092,0.069931962387,0.999999993631,-6.5960013532e-05,-8.4642855106e-05,-3.49734887382e-05,1793247832683263744
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.22322413,745,715,679.77677587,659,633.22322413,877.77677587,784,810.553551741,652,629,652.22322413,0.409097572667,0.00452833492857,0.0699509160314,0.999999997088,-4.73211594549e-05,-4.63151130404e-05,-3.79366811509e-05,1793247832699930112
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.352631865,745,715,680,659,633.352631865,877.647368135,784,810.647368135,652,629,652,0.409711728218,0.00453541054681,0.0699524054149,0.999999998325,-1.40804153964e-05,-3.98983197901e-05,-3.9486479873e-05,1793247832716596736
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.927282656,745,715,680,659,633.927282656,877.072717344,784,810.072717344,652,629,652,0.410318037945,0.00454558559939,0.0699428992045,0.999999997357,2.83537567274e-05,-5.35728336208e-05,-4.01463981522e-05,1793247832733263360
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877,784,810,652,629,652,0.410969637578,0.00454956849609,0.0699412389897,0.999999996041,5.28789816132e-05,-5.8956046174e-05,-4.05787879792e-05,1793247832749929984
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.109224434,633.890775566,877.109224434,783.890775566,810,652,629,652,0.411648636656,0.00455405668468,0.0699460230334,0.999999994957,7.43891290568e-05,-5.33987884485e-05,-4.12329505437e-05,1793247832766596864
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.687271705,633.312728295,877.687271705,783.312728295,810,652,629,652,0.412417078658,0.00456456428066,0.0699735887185,0.999999994631,9.40942417098e-05,-6.03775789742e-06,-4.29805126511e-05,1793247832783263488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878,783.263434278,810,652,629,652,0.413184796188,0.00457398037857,0.0699997374936,0.99999999382,9.58045671349e-05,3.5281306531e-05,-4.39999447339e-05,1793247832799930368
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,878,783.837375457,810,652,629,652,0.413951659892,0.00458210994187,0.0700242161769,0.9999999937,7.63046501235e-05,6.94787823623e-05,-4.41611387594e-05,1793247832816596992
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.423441892,878,784,810.423441892,652,629,652,0.414682432363,0.00458714088832,0.0700101633014,0.999999994165,8.99687709728e-05,3.99573036605e-05,-4.4489951854e-05,1793247832833263616
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.985986232,634,878,784,810.985986232,652,629,652.014013768,0.415400296022,0.00459109350094,0.069980371905,0.9999999921,0.000116381503778,-1.52933120516e-05,-4.4951241723e-05,1793247832849929984
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.407046539,634,878,784,810.407046539,652,629,652.592953461,0.416173017487,0.0046009632904,0.0699302596719,0.999999986388,0.000128135268608,-9.21602787416e-05,-4.80813786282e-05,1793247832866597120
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.341847044,633.829076478,878.170923522,784,810,652,629.170923522,653,0.416981075869,0.00460942809923,0.0699027618019,0.999999980743,0.000133678262467,-0.000134651591156,-5.01240014971e-05,1793247832883263744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.493194878,633.253402561,878.746597439,784,810,652,629.746597439,653,0.417872812745,0.00461456588462,0.0699288152087,0.999999986435,0.000124514024427,-9.57406478986e-05,-4.95913692448e-05,1793247832899929856
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633,878.679905971,784,810.320094029,652,629.679905971,653,0.418760123214,0.0046195434447,0.0699582007529,0.999999988645,0.000131966385944,-5.30650534452e-05,-4.97892393624e-05,1793247832916596992
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633,878.108121444,784,810.891878556,652,629.108121444,653,0.419643953149,0.00462439501908,0.0699902063612,0.999999987068,0.000152484409219,-7.42930892373e-06,-5.05615047518e-05,1793247832933264896
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.517638196,633.482361804,878.482361804,784,811,652,629.482361804,653,0.420552298928,0.004624754318,0.0700176221026,0.999999988388,0.000138876005294,3.73015168505e-05,-5.04652768377e-05,1793247832949931008
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.074906858,634,879,784,811,652,630,653,0.421462730524,0.00462098764199,0.0700382137543,0.99999998921,0.000118120387241,7.14129199686e-05,-5.02818335319e-05,1793247832966596864
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.652040609,634,879,784,811,652,630,653,0.422348816786,0.00459658111174,0.0700202281103,0.999999992783,0.000102800379465,3.57392235611e-05,-5.08714966249e-05,1793247832983263488
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.56137383,633.780686915,879,784,811.219313085,652,630,653,0.423204863462,0.00457817956861,0.0699736978597,0.999999993886,8.90155613354e-05,-4.03736817672e-05,-5.17170800923e-05,1793247832999929856
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.456773798,633.228386899,879,784,811.771613101,652,630,653,0.424015300639,0.00456889549983,0.0698838278262,0.999999979768,7.75616453881e-05,-0.000177886157835,-5.29512314862e-05,1793247833016596736
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.714757998,633,878.642621001,784,811.642621001,652,629.642621001,653,0.424920730636,0.004568579722,0.0698568458258,0.999999974094,6.42746525184e-05,-0.0002114710473,-5.44202717053e-05,1793247833033263360
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660.933482432,633,878.033258784,784,811.033258784,652,629.033258784,653,0.425893138769,0.00457458736839,0.0698742053535,0.99999998244,4.96951825775e-05,-0.000171777959956,-5.60549292926e-05,1793247833049929984
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.552506449,661.552506449,633,878.552506449,784.552506449,811.552506449,652,629.552506449,653,0.426897610406,0.00458141080181,0.0699421082951,0.999999992553,7.97986342936e-05,-7.57807828317e-05,-5.27639712902e-05,1793247833066596864
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.865317688,661.730635376,633,879,784.865317688,812,652,630,653,0.427899997284,0.00458765399161,0.0700048706799,0.999999993123,0.000105160184748,1.30691743077e-05,-5.02459914328e-05,1793247833083263488
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.29042122,660.580842439,633,879,784.29042122,812,652,630,653,0.428889519792,0.00459184669862,0.0700412936931,0.999999990702,0.000106591231245,6.79338948119e-05,-5.11839579319e-05,1793247833099930112
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.284752987,660.284752987,633,879,784,812,652,630,653,0.429861079973,0.00459311120494,0.0700536544602,0.99999998966,0.000101684502739,8.72459027467e-05,-5.22326829738e-05,1793247833116596480
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.860210701,660.860210701,633,879,784,812,652,630,653,0.430814302329,0.00459138630677,0.0700414500441,0.999999992028,9.03075308893e-05,7.02620929111e-05,-5.33944816138e-05,1793247833133263104
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784,812,652,630,653,0.431647013301,0.0045878749838,0.069970903627,0.999999993044,9.22546097608e-05,-5.02472487797e-05,-5.36393766197e-05,1793247833149929728
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.967084231,660.967084231,633,879,784,812.032915769,652,630,652.967084231,0.432451087946,0.00458358987288,0.0698878084261,0.999999975312,9.72673754753e-05,-0.000192442548824,-5.36698505331e-05,1793247833166596352
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.387463286,660.387463286,633,879,784,812.612536714,652,630,652.387463286,0.433421771248,0.0045759730794,0.0699072076383,0.999999984868,8.21914732805e-05,-0.00014310983508,-5.50253949169e-05,1793247833183263488
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.191182048,745,715,680,660.573546144,633,879,784,813,652,630,652.191182048,0.434393163008,0.00457205731119,0.0699393495844,0.999999992635,7.22612058264e-05,-7.99278766377e-05,-5.58550398524e-05,1793247833199930624
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.767860281,745,715,680,662.303580843,633,879,784,813,652,630,652.767860281,0.435365983465,0.00457560422511,0.069997185763,0.999999995747,7.27065047837e-05,1.11794689787e-05,-5.56242703908e-05,1793247833216597248
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680.34235956,662.315280881,633,879.34235956,784,813,652,630,653,0.436321454391,0.00457806816622,0.0700282291823,0.999999993582,7.63968698858e-05,6.26985807072e-05,-5.53902635886e-05,1793247833233263360
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680.91539069,661.169218621,633,879.91539069,784,813,652,630,653,0.437265235666,0.00457980243263,0.0700412204432,0.999999991263,8.22736631387e-05,8.75443262328e-05,-5.51540757663e-05,1793247833249929984
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.495487324,745,714.495487324,681,661,633,879.495487324,784,813,652,630,653,0.438119695801,0.00457746602548,0.0700160843291,0.99999999376,7.15841294755e-05,6.4086469809e-05,-5.69930125772e-05,1793247833266596352
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714.094447238,681,661,633.094447238,879,784,813,652,630,653,0.438943634487,0.00457573097381,0.0699772845545,0.99999999618,6.28045909112e-05,1.58904189746e-05,-5.86758243763e-05,1793247833283262976
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.67423361,681,661,633.67423361,879,784,813,652,630,653,0.439690243724,0.00458070977051,0.0699022112073,0.999999988469,7.85870643263e-05,-0.000116429575916,-5.77091110694e-05,1793247833299929600
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.74504846,879,784,813,652,630.25495154,653,0.440479751957,0.00458388765845,0.0698631957368,0.999999977847,8.78775081949e-05,-0.000182434390574,-5.74624762947e-05,1793247833316596480
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633.163135901,879,784,813,652,630.836864099,653,0.441324275684,0.00458475598177,0.069870422472,0.999999981015,8.8842289325e-05,-0.000163393706709,-5.81393028413e-05,1793247833333263104
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.416897649,633,879,784,813,652,630.583102351,653,0.442198321846,0.0045831406029,0.0699293950229,0.999999992995,7.51769600198e-05,-7.11655364221e-05,-5.73841770008e-05,1793247833349929984
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661.996199272,633,879,784,813,652,630.003800728,653,0.443083868648,0.00458055768901,0.0700085253424,0.999999995642,5.58124178444e-05,4.95730841835e-05,-5.60712282961e-05,1793247833366597120
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.575406514,745,715,681.575406514,661.424593486,633,879,784,813.575406514,652,630.575406514,653,0.443865215768,0.00458007096619,0.0700276444727,0.999999994069,6.58076805379e-05,6.66785812373e-05,-5.55367024607e-05,1793247833383263744
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681.845702959,661,633,879,784,814,651.845702959,630.845702959,653,0.444628036621,0.00457889245326,0.0700340526306,0.99999999354,7.3967971328e-05,6.65225804236e-05,-5.49812947208e-05,1793247833399930112
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681.267680347,661,633,879,784,814,651.267680347,630.267680347,653,0.445341871204,0.00457577615137,0.0700066427082,0.999999995375,7.65566462732e-05,2.08431309452e-05,-5.43544239309e-05,1793247833416596480
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.691909428,745,714.691909428,681.308090572,661,633,879,784,814,651.308090572,630,653,0.446029346341,0.00457374495403,0.0699787323237,0.999999995371,7.73056452545e-05,-1.93465904677e-05,-5.39222911805e-05,1793247833433263360
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.118080701,745,714.118080701,681.881919299,661,633,879,784,814,651.881919299,630,653,0.446694085554,0.00457264969488,0.0699503902761,0.999999994135,7.64678636626e-05,-5.48012398359e-05,-5.36581263895e-05,1793247833449930240
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.468288864,745,714.468288864,682,661,633,879,784,814,652,630.468288864,653,0.44731425428,0.00457248849007,0.0699264685978,0.999999990529,7.58531880848e-05,-0.000101342888329,-5.40267077555e-05,1793247833466596608
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,681.94291962,661,633,879,784,814,652,630.94291962,653,0.447924334251,0.00457279095026,0.0699058135522,0.999999984998,7.6366951146e-05,-0.000145614371399,-5.44783387567e-05,1793247833483263232
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,681.361724185,661,633,879,784,814,652,630.361724185,653,0.448547811845,0.00457512869441,0.0699046368521,0.999999984596,8.67113299213e-05,-0.000142665143418,-5.41872356016e-05,1793247833499930112
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714.783336092,681,660.783336092,633,879.216663908,784,814,652,630,653,0.449161293821,0.00457770602606,0.0699147112606,0.999999986054,9.70208033253e-05,-0.000124870946795,-5.37259365739e-05,1793247833516596992
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714.20957501,681,660.20957501,633,879.79042499,784,814,652,630,653,0.44975830134,0.00458067823642,0.0699433293164,0.99999998943,0.000107272745899,-8.26098402261e-05,-5.29841271791e-05,1793247833533263616
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,681.365429056,659.634570944,632.634570944,879.634570944,784,814,652,630,653,0.450301483444,0.00458383343814,0.0699499588541,0.999999989824,0.000110425692633,-7.22357354849e-05,-5.42244984275e-05,1793247833549930496
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,681.941148466,659.058851534,632.058851534,879.058851534,784,814,652,630,653,0.45081369115,0.00458709394463,0.0699439348487,0.999999989187,0.000109493441614,-8.02113687198e-05,-5.66055382894e-05,1793247833566596864
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.466954352,745,714,682,658.466954352,632,879,783.466954352,814.533045648,651.466954352,630,653,0.45125429132,0.00459121241826,0.0699037430625,0.999999981508,0.000115296193063,-0.000143201492653,-5.64344935286e-05,1793247833583263488
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.122294449,745,714.122294449,682,658,632,879,783.122294449,815,651.122294449,630,653,0.451679839973,0.00459508745268,0.0698617532726,0.999999969475,0.000122000998403,-0.000207556175457,-5.55501119688e-05,1793247833599930112
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.695005027,745,714.695005027,682,658,632,879,783.695005027,815,651.695005027,630,653,0.452079982538,0.00459770609452,0.0698274698886,0.999999958019,0.000129203733054,-0.000253865819921,-5.31087168742e-05,1793247833616597248
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,682,657.730182487,632,879,784,814.730182487,652,630,653,0.452481743281,0.00460055452367,0.0698083435807,0.999999951562,0.000133103536107,-0.000276208464332,-5.35611980762e-05,1793247833633263872
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,682,657.152975436,632,879,784,814.152975436,652,630,653,0.452885347508,0.00460366473778,0.0698064849701,0.999999952694,0.000133240474939,-0.000271246707347,-5.73105274077e-05,1793247833649930496
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,682,657,632,879,784,814.434707071,652,630,652.565292929,0.453252435425,0.00460498626358,0.069805311035,0.999999951317,0.000132799771432,-0.000275968744177,-5.97674425793e-05,1793247833666597120
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.974406987,745,714.974406987,682.025593013,657,631.974406987,879,783.974406987,814.974406987,652,630.025593013,652.025593013,0.453605046334,0.0046058309366,0.069804743274,0.999999949187,0.000132533549154,-0.000283290771059,-6.16995766401e-05,1793247833683263744
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.395920098,745,714.395920098,682.604079902,657,631.395920098,879,783.395920098,814.395920098,652,630.604079902,652.604079902,0.453929369118,0.00461030794223,0.069811937242,0.999999951366,0.000140536549535,-0.000271344173736,-6.23626436706e-05,1793247833699930368
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.181334127,745,714,683,657,631,879,783,814,652,630.818665873,653,0.454234349915,0.00461458551935,0.0698155883288,0.999999953866,0.000132783735506,-0.000266127593258,-6.17385229702e-05,1793247833716596992
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.755915084,745,714,683,657,631,879,783,814,652,630.244084916,653,0.454497385033,0.00461843060904,0.0698115562124,0.999999956219,9.08623708095e-05,-0.000275505938103,-5.83229667549e-05,1793247833733263872
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.671056387,745,714,682.671056387,657,631,879.328943613,783,814,651.671056387,630,653,0.454734945783,0.00462005399499,0.0698035382731,0.999999953397,7.44994460244e-05,-0.000291106520275,-5.39627508475e-05,1793247833749930240
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.099174332,745,714,682.099174332,657,631,879.900825668,783,814,651.099174332,630,653,0.454953692686,0.00462003656138,0.0697925766387,0.999999947384,7.70124803693e-05,-0.000311302482846,-4.89048644231e-05,1793247833766596608
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.489790218,745,714.489790218,682,656.510209782,631,880,783.489790218,814,651.489790218,630.489790218,653.489790218,0.455145053502,0.00462106948794,0.069781236318,0.999999939832,9.00398387306e-05,-0.000331824361638,-4.60607103346e-05,1793247833783263488
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,714.919422312,682,655.919422312,631,880,784,814,652,631,653.919422312,0.455327468034,0.00462289847947,0.0697709338777,0.999999932065,0.000103938903975,-0.00035086017481,-4.43245104944e-05,1793247833799930368
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,714.339546563,682,655.339546563,631,880,784,814,652,631,653.339546563,0.455490049767,0.00462829477817,0.0697675549395,0.999999928017,0.000109570608003,-0.000360263922328,-4.65758193865e-05,1793247833816596992
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714,682.238639798,655.238639798,631,880,783.761360202,814.238639798,652,631,653,0.455645035298,0.00463118539923,0.0697667745166,0.999999926174,0.000112962021413,-0.000364089492495,-4.82785784475e-05,1793247833833263616
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714,682.81443929,655.81443929,631,880,783.18556071,814.81443929,652,631,653,0.455789288606,0.00463053590005,0.0697696653785,0.999999927571,0.000113188263787,-0.000360033993753,-4.92063245998e-05,1793247833849930240
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,714,683,656,631,880.387361421,783,815,652,630.612638579,653,0.455917300986,0.00463200520574,0.0697747252397,0.999999930194,0.000115000932858,-0.000351940976416,-5.02354086079e-05,1793247833866596864
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,714,683,656,631,880.958915334,783,815,652,630.041084666,653,0.456037590711,0.00463448201486,0.069780816472,0.999999933315,0.000117567956558,-0.000341928096798,-5.13126792947e-05,1793247833883263488
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,714.551486713,683,656,631,880.448513287,783.551486713,815,652,630,653,0.456127398174,0.00463378060925,0.0697792312344,0.999999931969,0.000119400730175,-0.000345198652405,-5.14188388209e-05,1793247833899929856
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.85897444,745,715,683,655.85897444,631,880,783.85897444,815,652,630.14102556,653,0.456208158066,0.00463314945664,0.0697761330014,0.999999929997,0.000120658529513,-0.000350414808495,-5.1552604836e-05,1793247833916596736
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.283783147,745,715,683,655.283783147,631,880,783.283783147,815,652,630.716216853,653,0.456268331966,0.00463349239762,0.0697702071834,0.999999927165,0.000120321268391,-0.000358453461903,-5.20029118113e-05,1793247833933263872
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.291006922,745,714.708993078,682.708993078,655,631,879.708993078,783,815,651.708993078,630.708993078,653,0.456321582876,0.00463491294199,0.0697653727391,0.999999924617,0.000121084761102,-0.000365164116912,-5.25387778938e-05,1793247833949930496
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.865406331,745,714.134593669,682.134593669,655,631,879.134593669,783,815,651.134593669,630.134593669,653,0.456368091949,0.00463738289342,0.0697616011111,0.999999922367,0.000122920205484,-0.000370581522645,-5.31579644144e-05,1793247833966597120
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,714,682.453389286,655,631.453389286,879.453389286,783,814.546610714,651.453389286,630,653,0.456404813458,0.00463953600581,0.0697613507055,0.999999921165,0.000127088307141,-0.000372416948458,-5.31474866091e-05,1793247833983264000
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.955441422,745,714,682.955441422,655,631.955441422,880,783,814.044558578,652,630.044558578,653,0.456437948392,0.00464144371945,0.0697622454835,0.999999920433,0.000131503421689,-0.000372873651353,-5.29811065173e-05,1793247833999930368
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.375924835,745,714,682.375924835,655,631.375924835,880,783,814.624075165,652,630.624075165,653,0.456463984488,0.00464156934628,0.0697639516646,0.999999921664,0.000130313670165,-0.000369938374253,-5.32564621472e-05,1793247834016596736
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.202196396,745,714,682,654.797803604,631,879.797803604,783.202196396,815,652,631,653,0.456484995898,0.00464140052104,0.069764428295,0.999999922114,0.00012978978324,-0.00036888312893,-5.33959108007e-05,1793247834033263360
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.777741116,745,714,682,654.222258884,631,879.222258884,783.777741116,815,652,631,653,0.456496729404,0.00464068800071,0.0697626346044,0.999999921134,0.000130495391256,-0.000371299294377,-5.32844121274e-05,1793247834049929728
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+232,3.866666667,POSE1_TO_POSE2_PRESS,766,744.485079231,714,682.514920769,655,631,879.485079231,783,815,651.485079231,630.485079231,653,0.456515393745,0.00464174049858,0.0697575352952,0.999999918244,0.000130414354466,-0.000379092467792,-5.28558462288e-05,1793247834099930368
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,744.105866386,714,682.894133614,654.894133614,631,879.105866386,783,815,651.105866386,630.105866386,653,0.456516275047,0.00464093750857,0.0697554656488,0.999999916855,0.000128836999312,-0.000383290430649,-5.27273034201e-05,1793247834116597504
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+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714.260643285,682.260643285,654,631,880,783,815,652,631,653,0.456518661156,0.00464218376529,0.0697538091981,0.999999916423,0.0001308511093,-0.00038368394825,-5.30940887098e-05,1793247834149930240
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714.836209565,682.836209565,654,631,880,783,815,652,631,653,0.456520332416,0.00464168174671,0.0697540449311,0.9999999166,0.000129931963265,-0.000383637484925,-5.2345475752e-05,1793247834166596608
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714.579447611,683,654,631,880.420552389,783,815,652,630.579447611,653,0.456520777018,0.0046420111036,0.069753064326,0.999999916064,0.000130824190909,-0.000384739592674,-5.22753731489e-05,1793247834183263232
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714,683,654.008260018,631,880.983479964,783,815,652,630,653,0.456520758529,0.00464264944634,0.0697516462929,0.999999915263,0.000132387362656,-0.000386256868799,-5.24708689698e-05,1793247834199929856
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,714,683,654.58724975,631,879.8255005,783,815,652,630,653,0.456522455773,0.0046417879331,0.0697534335898,0.999999916039,0.000130526254479,-0.00038489327456,-5.23699506895e-05,1793247834216596992
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714,682.834432972,654.834432972,631,879,783.165567028,815,652,630,653,0.456523336878,0.00464107118311,0.0697540741404,0.999999916331,0.000129255788713,-0.000384573696095,-5.22815635917e-05,1793247834233263872
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714,682.25778534,654.25778534,631,879,783.74221466,815,652,630,653,0.456522191623,0.00464071386082,0.0697518674741,0.999999915432,0.000129451808516,-0.000386846268088,-5.22242897369e-05,1793247834249930496
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.318003148,714.318003148,682,654,631,879.636006296,783.681996852,814.681996852,651.681996852,630,653,0.456522309134,0.00464015965911,0.069751496589,0.999999915356,0.000129278106498,-0.000387134703726,-5.19720454192e-05,1793247834266597120
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+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,714,683,654,631,879.930170956,783.930170956,814,651.069829044,630.930170956,653,0.456522792337,0.00464533479819,0.0697522909547,0.999999914844,0.000135439018496,-0.000386296179043,-5.23867937059e-05,1793247834316596480
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+247,4.116666667,HOLD_POSE2,766,745,715,682,655,631,881,783,815,652,631,653,0.456524043455,0.00463883855572,0.0697533795339,0.999999915608,0.000132558902291,-0.000385503062538,-5.09857391007e-05,1793247834372481280
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+249,4.150000000,HOLD_POSE2,766,745,715,683,654,631,880,783.841993151,814.841993151,652,630.158006849,653,0.456523746849,0.00464312057528,0.069751601342,0.999999914658,0.000135403056671,-0.000386794024067,-5.23396658215e-05,1793247834405815040
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+253,4.216666667,HOLD_POSE2,766,745,714.486075068,683,654,631,880,783,814,652,631,653,0.456525967131,0.00464271101473,0.0697525547674,0.999999915187,0.000133237373239,-0.000386248490371,-5.18347873358e-05,1793247834472480512
+254,4.233333333,HOLD_POSE2,766,745,715,682.937832275,654,631,879.937832275,783,814,652,631,653,0.456527123438,0.00464354549807,0.0697531544533,0.999999915326,0.000135251636182,-0.00038516715008,-5.19826170224e-05,1793247834489147136
+255,4.250000000,HOLD_POSE2,766,745,715,682.348716088,654,631,879.348716088,783,814,652,631,653,0.456526613972,0.00464282978628,0.0697528143462,0.999999915116,0.000132746094905,-0.000386529537576,-5.23545197161e-05,1793247834505814272
+256,4.266666667,HOLD_POSE2,766,745,715,682.237688053,654,631,879.475376106,783,814,652,630.762311947,653,0.456526461167,0.0046421760504,0.069752518955,0.999999915069,0.000131741564956,-0.000387001550346,-5.23071836068e-05,1793247834522481408
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+259,4.316666667,HOLD_POSE2,765.029259744,745,715,682.029259744,654,631,879.058519487,783.970740256,814,652,630,653,0.45652475711,0.00464213594126,0.0697510288345,0.999999914119,0.000136175882552,-0.000388042477844,-5.13960063744e-05,1793247834572481024
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+262,4.366666667,HOLD_POSE2,766,745,715,682.287295098,654,631,880,783.287295098,814.287295098,652,630.287295098,653,0.456525503358,0.00464303294639,0.0697514008062,0.999999914611,0.000133453959163,-0.000387685509178,-5.1658595026e-05,1793247834622480896
+263,4.383333333,HOLD_POSE2,766,744.70187922,714.70187922,682,654,631,880,783,814,652,630.29812078,653,0.45652586935,0.00464303978207,0.0697515632733,0.999999914928,0.000133227813335,-0.000386961533166,-5.15273140116e-05,1793247834639147264
+264,4.400000000,HOLD_POSE2,766,744.120725978,714.120725978,682,654,631,880,783,814,652,630.879274022,653,0.456525477619,0.00464218497167,0.0697508710507,0.999999914663,0.000133059063424,-0.000387721449738,-5.14031927633e-05,1793247834655813632
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+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.842900456,745,714.842900456,683,654,631,880,783,814.842900456,652,630,653,0.456525455585,0.0046413415752,0.0697512459961,0.999999914663,0.000131170436503,-0.000388411137126,-5.10494036326e-05,1793247834721756160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.248162035,745,714.248162035,683,654,631,880,783,814.248162035,652,630,653,0.456525048902,0.00464366607877,0.0697504712041,0.99999991363,0.000134506583097,-0.000389893763052,-5.12910176732e-05,1793247834738422528
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.335561034,745,714,682.664438966,654,631,880,783.335561034,814.335561034,652,630.335561034,653,0.456525228907,0.00464401380912,0.0697504300797,0.999999913678,0.000135229152439,-0.000389491203956,-5.15098556574e-05,1793247834755089152
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,683,654,631,880,783.713730396,814.286269604,652,630.286269604,653,0.45620642469,0.00464391300114,0.0696546749347,0.999999846301,0.000138958198021,-0.000534409374783,-4.99509333563e-05,1793247834938421760
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,683,654.298297827,631,879.701702173,783.701702173,814.298297827,651.701702173,630,653,0.456126176167,0.0046441500689,0.0696509936912,0.999999843347,0.000141344539907,-0.000539395219154,-4.87875220165e-05,1793247834955088640
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,654.87404972,631,879.12595028,783.12595028,814.87404972,651.12595028,630,653,0.456040786907,0.00464364150056,0.0696509470827,0.99999984376,0.00014449569361,-0.000537924961673,-4.73001755741e-05,1793247834971755520
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.55085622,683,654.55085622,631,879.44914378,783,814.55085622,651.44914378,630,653,0.455935530266,0.00464338413685,0.0696502733129,0.999999843009,0.000146510542573,-0.000538911451586,-4.57317478845e-05,1793247834988422400
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.02470553,683,654,631,879.97529447,783,814.02470553,652,630.02470553,653,0.455823511769,0.00464318742668,0.0696495692837,0.999999841982,0.000148241728174,-0.000540478003092,-4.40830886906e-05,1793247835005089024
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.615196518,683,654,631,879.384803482,783,814.615196518,652,630.615196518,653,0.455684040891,0.00464276887244,0.0696521940248,0.99999984222,0.00015076338673,-0.000539574446512,-4.11169774307e-05,1793247835021755648
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.798013961,654.201986039,631,879.201986039,783,814.798013961,652,630.798013961,653,0.455533873361,0.00464230017287,0.0696539571675,0.9999998423,0.000153226374047,-0.000538935188706,-3.83398222119e-05,1793247835038422272
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.218149268,654.781850732,631,879.781850732,783,814.218149268,652,630.218149268,653,0.455363694384,0.00464173766067,0.0696541084179,0.999999842105,0.000155579598009,-0.000538790385307,-3.59161692563e-05,1793247835055088640
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,655,631,879.642486433,783.357513567,814,651.642486433,630,653,0.455170475601,0.00464206716924,0.0696498333597,0.999999838312,0.000159327795691,-0.000544887750744,-3.2982891959e-05,1793247835071755264
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,655,631,879.069357669,783.930642331,814,651.069357669,630,653,0.454963361576,0.0046429346524,0.0696428888101,0.99999983225,0.000163917297418,-0.00055474974659,-2.97422617442e-05,1793247835088421888
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.493527336,745,714.493527336,682,655,631,879,783.493527336,814,651.506472664,630.506472664,653,0.454743854931,0.00464197398653,0.0696481776255,0.999999836805,0.000169573163663,-0.000544944977383,-2.58631988935e-05,1793247835105089024
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.084965743,745.084965743,714.084965743,682.084965743,655,631,879.084965743,783,813.915034257,652,631,653,0.454516973358,0.00464056602803,0.0696557791369,0.999999843272,0.000175100503583,-0.00053133856512,-2.17755113186e-05,1793247835121755904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.677133986,745.677133986,714.677133986,682.677133986,655,631,879.677133986,783,813.322866014,652,631,653,0.454256252124,0.00463799044404,0.0696671321409,0.999999853175,0.000178984204716,-0.00051120162423,-1.69671414099e-05,1793247835138422528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.737011086,745.737011086,715,682.737011086,655.262988914,631,880,783.262988914,813.262988914,652,631,652.737011086,0.453978137501,0.00463629278512,0.0696778334419,0.999999861581,0.000183651900886,-0.000492916907999,-1.19630487834e-05,1793247835155088896
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.158725217,745.158725217,715,682.158725217,655.841274783,631,880,783.841274783,813.841274783,652,631,652.158725217,0.453679169993,0.00463564766924,0.0696877534168,0.999999868373,0.000189259527151,-0.000476852822018,-6.72430482056e-06,1793247835171755520
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,656,631.41609932,880,783.58390068,814,652,631,652.41609932,0.453341181003,0.0046363931511,0.0696893774565,0.999999870225,0.000197422513893,-0.000469649323425,-1.69329544391e-06,1793247835188422144
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,656,631.989614377,880,783.010385623,814,652,631,652.989614377,0.45298842969,0.00463766471405,0.0696878630369,0.999999870179,0.000206552226314,-0.000465797899622,3.25912514158e-06,1793247835205088512
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.420908363,682,656.579091637,632,879.420908363,783,813.420908363,652,630.420908363,653,0.452589005524,0.00463712356747,0.0696799784463,0.99999986174,0.00021317899131,-0.000480630473848,8.31085533789e-06,1793247835221755136
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.165722945,682.165722945,657,632,879.165722945,783.165722945,813,651.834277055,630.165722945,653,0.452172578862,0.0046398775724,0.0696734112931,0.999999853742,0.000222225527213,-0.000492951100793,1.14783380787e-05,1793247835238422016
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.744526564,682.744526564,657,632,879.744526564,783.744526564,813,651.255473436,630.744526564,653,0.451715917437,0.00465092839599,0.0696704208209,0.999999847689,0.000237418639281,-0.000498151543481,9.94458339995e-06,1793247835255089152
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.321872084,745,715,683,657.321872084,631.678127916,880,784,813,651.321872084,631,653,0.451247279837,0.00464551531561,0.0696743143649,0.999999848528,0.00023632873425,-0.000496911549918,1.31231328958e-05,1793247835271755776
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.898065577,745,715,683,657.898065577,631.101934423,880,784,813,651.898065577,631,653,0.45076917943,0.00462709358039,0.0696836471896,0.999999854739,0.000222373099277,-0.000490582762619,2.00250241684e-05,1793247835288422656
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.472591848,715,682.527408152,658,631.472591848,880,784,813,652,631,652.527408152,0.450267193177,0.00461080867787,0.0696979961311,0.999999869102,0.00018984881168,-0.000474744706898,1.9249901781e-05,1793247835305089280
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745.951823138,715,682,658.048176862,632.048176862,880,784,812.951823138,652,631,652.048176862,0.449759639474,0.00459669173139,0.0697148329759,0.999999885113,0.000154166348933,-0.000453586746522,1.62963349398e-05,1793247835321755392
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.360254237,715,682,658.639745763,632.639745763,880,784,812.360254237,652,631,652.639745763,0.449247195117,0.00460184713668,0.0697475707679,0.999999913595,0.000127877786725,-0.00039547798002,7.38296691361e-06,1793247835338421760
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,682.226510304,659.453020608,633,879.773489696,784,812,652,631,653,0.448696068621,0.00460329686638,0.069776464542,0.999999933287,0.000111464836751,-0.000347819475863,4.89393455439e-06,1793247835355088384
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.805792402,660.611584804,633,879.194207598,784,812,652,631,653,0.448084697799,0.0045989753006,0.069799371562,0.999999943759,0.000110432369988,-0.000316436429892,1.24102949058e-05,1793247835371754752
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.618580256,745,714.618580256,683,660.237160511,633,879,784,812,652,631,653,0.447425066148,0.00459769177912,0.0697899438821,0.999999938403,0.000111380889903,-0.000332357943775,1.80579319488e-05,1793247835388421632
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.044796161,745,714.044796161,683,659.089592322,633,879,784,812,652,631,653,0.446741094759,0.004597940458,0.0697642085939,0.999999924076,0.000113328495968,-0.000372136930356,2.27631011635e-05,1793247835405088512
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.54224469,683,659,633,879,784,812,652,631,653,0.446048662685,0.00459864938465,0.0697363750808,0.999999911909,8.86510397547e-05,-0.000409877868284,1.79543316634e-05,1793247835421755648
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.256723272,633,879.128361636,784,812,651.871638364,630.871638364,653,0.445354160076,0.00459719506478,0.0697207871077,0.999999906332,6.2931270015e-05,-0.000427985274568,1.42999715925e-05,1793247835438422784
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.414589588,633,879.707294794,784,812,651.292705206,630.292705206,653,0.444654904637,0.00458801056653,0.0697488068021,0.999999927627,4.14671363396e-05,-0.000377781397829,1.75258185665e-05,1793247835455089408
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.714308107,683,661,632.714308107,879.714308107,784,812,651,630,653,0.443916665737,0.00458467282556,0.0697757846977,0.999999943761,3.10909707202e-05,-0.000333302034802,2.05120309746e-05,1793247835471755776
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.136459126,683,661,632.136459126,879.136459126,784,812,651,630,653,0.443138561097,0.00458731415259,0.0698016972221,0.999999955799,3.20536907873e-05,-0.000294676725326,2.32531863094e-05,1793247835488422144
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.439180794,745,714.439180794,682.560819206,660.121638412,632.439180794,879.439180794,784,811.560819206,651.439180794,630,653,0.442349166178,0.00458448529469,0.0698127270205,0.999999949446,0.000138583230156,-0.000285146799473,2.43594028454e-05,1793247835505088768
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.985517703,744.985517703,715,682,659.014482297,633,879.985517703,784,811,652,630,652.985517703,0.441556258448,0.00457998822154,0.0698190517089,0.999999921846,0.000273764734679,-0.000284142885771,2.49804468025e-05,1793247835521755136
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.396547876,744.396547876,715,682,659.603452124,633,879.396547876,784,811,652,630,652.396547876,0.440762462812,0.00457640093743,0.069821250959,0.999999933193,0.000250874879763,-0.000264532628242,2.64060416994e-05,1793247835538422016
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,744.189105094,714.810894906,682,660.189105094,633,879,784,811.189105094,651.810894906,630,652,0.439929438282,0.00457390974258,0.0698124464992,0.999999936868,0.000228182251526,-0.000270992280017,2.75517984985e-05,1793247835555088896
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,744.767922569,714.232077431,682,660.767922569,633,879,784,811.767922569,651.232077431,630,652,0.439015569942,0.00457367739534,0.069780965326,0.999999923569,0.000205896073948,-0.000331177436247,2.81208580166e-05,1793247835571756032
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.344750346,682.344750346,660.310499309,633,879,784,811.655249654,651.344750346,630,652,0.438088583593,0.00456999513425,0.0697359376987,0.999999903516,0.000176173190686,-0.000401467114244,2.74661496561e-05,1793247835588422400
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.92024637,682.92024637,659.15950726,633,879,784,811.07975363,651.92024637,630,652,0.437152817234,0.00456400380306,0.0696818432631,0.999999875164,0.000141472828389,-0.000478519869915,2.59923581617e-05,1793247835605088768
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.496015883,633,879,784,811.496015883,652,630,652.496015883,0.436288413479,0.00455970647739,0.0697122894498,0.999999899597,0.000123933785962,-0.000429749606727,2.76044928083e-05,1793247835621755648
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,682.92628542,660,633,879,784,811.92628542,651.92628542,630,653,0.435435756651,0.00455575567714,0.069757321655,0.99999992822,0.000110773181752,-0.000361113259103,2.97715009716e-05,1793247835638422016
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.335359783,660,633,879,784,811.335359783,651.335359783,630,653,0.434584968816,0.00455232408285,0.0698092675401,0.999999949994,0.000108962133951,-0.000295114882619,3.23483961919e-05,1793247835655088640
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.749450172,682.250549828,660,633,879,784.250549828,811.250549828,651.250549828,630,652.749450172,0.433706748901,0.00454659958298,0.0698428831278,0.99999996238,0.000109150470016,-0.000249414109892,3.34399506127e-05,1793247835671755520
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.170122633,682.829877367,660,633,879,784.829877367,811.829877367,651.829877367,630,652.170122633,0.43279253181,0.00453786627497,0.0698524452509,0.999999966671,0.000111962447479,-0.000230348349238,3.25824044238e-05,1793247835688422144
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.405300221,682.594699779,660.405300221,633,879,784.594699779,811.594699779,652,630,652,0.43181667712,0.0045338787945,0.069835147949,0.99999996036,0.000106999881052,-0.000258308977305,3.32858615903e-05,1793247835705088768
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.979099709,682.020900291,660.979099709,633,879,784.020900291,811.020900291,652,630,652,0.430815197307,0.00453186434202,0.0698066841255,0.999999947756,9.88051300992e-05,-0.000305820328319,3.46382893326e-05,1793247835721755392
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.865755564,633,879,784,811,651.432877782,629.432877782,652.567122218,0.429814177484,0.00452517130407,0.0697360076625,0.99999990773,8.62054474309e-05,-0.000419503593576,3.35325640073e-05,1793247835738422272
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.153177582,633,879,784,811,651.153177582,629.153177582,652.846822418,0.428844267943,0.00451781435598,0.0696956406998,0.999999879365,7.60208583406e-05,-0.000484155466302,3.29434625517e-05,1793247835755088896
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.732268288,633,879,784,811,651.732268288,629.732268288,652.267731712,0.42796081283,0.00450910314641,0.0697439867213,0.999999914532,7.30144748977e-05,-0.0004055195024,3.40492138423e-05,1793247835771755520
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.619218425,633,879,784.309609213,811,652,630,652.309609213,0.42708142737,0.0045035343487,0.0697997716142,0.99999994671,6.83932477815e-05,-0.000317266368733,3.52659294499e-05,1793247835788421888
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,661.770891006,633,879,784.885445503,811,652,630,652.885445503,0.426205541373,0.00450066765166,0.0698619530489,0.999999973021,6.23834472165e-05,-0.000220743616694,3.65780609895e-05,1793247835805088512
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.538211195,660.614633584,633.461788805,878.538211195,784.538211195,810.538211195,652,630,653,0.425256341065,0.00449026984126,0.0698576267031,0.999999971671,5.10938639106e-05,-0.000229563089769,3.67203913638e-05,1793247835821755392
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.039110068,659.039110068,633.960889932,878.039110068,784,810.039110068,652,630,653,0.42428927848,0.00447864538301,0.0698349779485,0.999999962764,3.90876030195e-05,-0.000267594321451,3.6562098244e-05,1793247835838421760
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.628417282,659.628417282,633.371582718,878.628417282,784,810.628417282,652,630,653,0.423327064197,0.00447607540286,0.0697869239828,0.999999937971,3.544474645e-05,-0.000348548437011,3.62614990683e-05,1793247835855088896
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.786103112,682,659.572206225,633.213896888,878.786103112,784,811,652,630,652.786103112,0.422356402313,0.00447154889389,0.0697347170528,0.999999902697,3.2499055349e-05,-0.000438424842807,3.65111412342e-05,1793247835871755776
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.207155857,682,658.414311715,633.792844143,878.207155857,784,811,652,630,652.207155857,0.421371323045,0.00446368324491,0.0696754223955,0.999999851105,3.07431917493e-05,-0.000543528623916,3.76998611413e-05,1793247835888422656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.369025452,682,658.369025452,634,878,784.369025452,810.630974548,652,630,652,0.420504902861,0.00445469601762,0.0696961231112,0.999999870931,1.50206845844e-05,-0.000506541812567,3.64392211426e-05,1793247835905088768
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714.943665589,682,658.943665589,634,878,784.943665589,810.056334411,652,630,652,0.419704597553,0.0044450838665,0.0697613958873,0.999999923192,-8.48379802215e-06,-0.000390384537834,3.38138392642e-05,1793247835921754880
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.96568519,660.551472216,634,878,784.482842595,810.517157405,652,630,652,0.418898512355,0.00444007318849,0.0698284436956,0.999999958753,-2.19836573263e-05,-0.000284095675742,3.60724135084e-05,1793247835938421760
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.093803435,745,715,680.093803435,661.718589694,634,878,784,811,652,629.906196565,652.093803435,0.418084286989,0.00443476327382,0.0698816603519,0.99999997833,-2.93580031661e-05,-0.000202453949667,3.86055201212e-05,1793247835955088384
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.687939236,745,715,680.687939236,659.936182291,634,878,784,811,652,629.312060764,652.687939236,0.417229994094,0.004425189656,0.0698600748336,0.999999968766,-9.8598555256e-06,-0.000246555040815,3.97715518106e-05,1793247835971755008
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.727118574,659,634,878,784,810.727118574,652,629,653,0.416385157347,0.00441901239176,0.0698295987759,0.99999995755,-9.99734805167e-06,-0.000288574544379,3.90432611352e-05,1793247835988421888
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.152347351,659,634,878,784,810.152347351,652,629,653,0.415550782029,0.00441659252748,0.0697892870809,0.999999944949,-3.18578278784e-05,-0.000328291176552,3.62192741123e-05,1793247836005088768
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.423636144,659.423636144,634,878,784,810,652,629.423636144,653,0.414708226593,0.00443897985591,0.0697597516465,0.999999925693,-1.39706609882e-05,-0.000383551073518,3.61533390995e-05,1793247836021755648
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.999942063,659.999942063,633.999942063,878,784,810.000057937,652,629.999942063,653,0.413862734464,0.00447031198376,0.0697341074124,0.999999900397,1.82516493379e-05,-0.000444406457009,3.70819609239e-05,1793247836038422016
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.412941192,659.412941192,633.412941192,878,784,810.587058808,652,629.412941192,653,0.413154394097,0.00448211329139,0.0697564775193,0.999999917221,5.18399980809e-05,-0.000401906494541,3.66353088769e-05,1793247836055088384
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.172040038,659.172040038,633,878,784,810.827959962,652,629,652.827959962,0.412467622648,0.00448708312991,0.0697888479648,0.999999938636,6.39052644326e-05,-0.000342562866094,3.5981419219e-05,1793247836071755008
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.752229966,659.752229966,633,878,784,810.247770034,652,629,652.247770034,0.411832021419,0.00447584590992,0.0698449433405,0.999999969496,2.49089132173e-05,-0.000243259109277,3.48358763747e-05,1793247836088421632
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.668662464,745,715,681,660,633.331337536,878.331337536,784,810,652,629,652.331337536,0.411178198459,0.0044692654527,0.0698723289735,0.999999979387,1.52982097576e-05,-0.000199436855716,3.48770804453e-05,1793247836105088000
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.090361666,745,715,681,660,633.909638334,878.909638334,784,810,652,629,652.909638334,0.410510793926,0.00446615592594,0.0698783157245,0.99999997958,2.75901747753e-05,-0.000196967886613,3.58028295705e-05,1793247836121754624
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.516077266,659.516077266,633.516077266,878.516077266,784,810,652,629,652.516077266,0.409834223231,0.00446175012324,0.0698436613917,0.999999966231,2.35856874467e-05,-0.000256398025165,3.52412258174e-05,1793247836138421504
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.058944207,659,633.058944207,878,784.058944207,810,652,629,652,0.409162044419,0.00445807622582,0.0698028949077,0.999999946615,1.65799656258e-05,-0.000324522170971,3.43457622369e-05,1793247836155088640
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.647265387,659,633.647265387,878,784.647265387,810,652,629,652,0.408544554092,0.00446313151409,0.0697748292334,0.999999931781,9.72434190407e-06,-0.000367776941729,3.29256642931e-05,1793247836171755776
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.767416861,659.232583139,634,877.767416861,785,810,652,629,652,0.407961468806,0.00446931968542,0.0697661574339,0.999999927362,1.65538841591e-05,-0.00037946607402,3.17459778173e-05,1793247836188422656
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.186596074,659.813403926,634,877.186596074,785,810,652,629,652,0.407429896899,0.00447720407784,0.0697865233278,0.999999939428,4.38736913687e-05,-0.000343893205541,3.09262501975e-05,1793247836205089024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.609410233,634,877.390589767,784.609410233,809.609410233,652,629,652.390589767,0.406921626699,0.00447847652323,0.0698003074266,0.999999944808,4.97501224961e-05,-0.000326974448514,3.15539289422e-05,1793247836221755648
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.033944849,634,877.966055151,784.033944849,809.033944849,652,629,652.966055151,0.406424385715,0.00447661937431,0.0698109762038,0.999999947582,4.5476885713e-05,-0.000318885132235,3.28667001938e-05,1793247836238422272
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.458000965,658.458000965,634,878,784,809.541999035,652,629,652.458000965,0.405939515076,0.00447800989109,0.0698017054808,0.999999940694,3.71105675958e-05,-0.000340854429896,3.24412848878e-05,1793247836255088640
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.12046143,745,715,679.12046143,658,633.87953857,877.87953857,784,810,652,629.12046143,652,0.4054745796,0.00448027816647,0.0697959774349,0.99999993629,3.07677702471e-05,-0.000354204979067,3.1802481087e-05,1793247836271755264
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.708585047,745,715,679.708585047,658,633.291414953,877.291414953,784,810,652,629.708585047,652,0.405084027,0.00448516378553,0.0698088553774,0.999999945581,3.32768759569e-05,-0.000326780378698,3.07582475173e-05,1793247836288422144
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.707482107,745,715,680,658.292517893,633.292517893,877,784,810,652,629.414964214,652,0.40471344764,0.00448608616057,0.0698238300187,0.99999995488,3.40326582177e-05,-0.000296882060929,3.07041010286e-05,1793247836305089024
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.127665299,745,715,680,658.872334701,633.872334701,877,784,810,652,628.255330598,652,0.40436248519,0.00448311600179,0.0698408639496,0.999999963959,3.30663989089e-05,-0.000264554162339,3.1622376971e-05,1793247836321755904
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.449074032,745,715,680,658.550925968,634,877,784,810,652,628.449074032,652,0.404027814386,0.00447752698754,0.069846171391,0.999999967082,1.73836285783e-05,-0.000254209445318,3.01879608401e-05,1793247836338422272
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.974635279,745,715,680,658,634,877,784,810,652,629,652,0.403698366169,0.00447148082006,0.069847485469,0.999999968037,-1.93971058946e-06,-0.000251258569168,2.81206304648e-05,1793247836355088640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.389061887,745,715,680,658,634,877,784,810,652,629,652,0.403382669289,0.00447166917942,0.0698337283953,0.999999961912,-9.89645994257e-06,-0.000274521151749,2.67461422721e-05,1793247836371755264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.80454131,658,633.80454131,877,784.19545869,810,652,629,652,0.403081783031,0.00447114429665,0.0698222006335,0.999999955996,-1.66353630081e-05,-0.00029504158297,2.6095501986e-05,1793247836388421888
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.222105211,658,633.222105211,877,784.777894789,810,652,629,652,0.402810219511,0.00446920730682,0.0698150865595,0.999999951328,-2.09631213718e-05,-0.000310132984019,2.68779666904e-05,1793247836405088512
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.356609387,658.356609387,633.356609387,877.356609387,785,809.643390613,652,629,652.356609387,0.402569806622,0.00446750576889,0.0698098795818,0.999999948768,-2.3917701595e-05,-0.000317986792675,2.78663012566e-05,1793247836421754880
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.933030136,658.933030136,633.933030136,877.933030136,785,809.066969864,652,629,652.933030136,0.402348594723,0.00446594936156,0.0698058481232,0.999999947599,-2.60258654942e-05,-0.000321379404951,2.89815325458e-05,1793247836438421504
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.492433658,658.492433658,634,877.492433658,784.492433658,809.507566342,652,629,652.492433658,0.402154071197,0.0044670189458,0.0698012562335,0.999999944843,-2.10136086559e-05,-0.000330047258679,3.0695795555e-05,1793247836455088128
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.084236118,658,634,877,784.084236118,809.915763882,652,629,652.084236118,0.401967974344,0.0044689832663,0.0697974134426,0.999999942411,-7.14858679657e-06,-0.000337743479269,3.25075549012e-05,1793247836471755008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.675231909,658,634,877,784.675231909,809.324768091,652,629,652.675231909,0.401811465944,0.00447425356794,0.0697985203882,0.999999941676,5.43431543568e-05,-0.000335422617049,3.44321176421e-05,1793247836488421632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,809.260515571,652,629,652.739484429,0.401670255415,0.00448746261876,0.0697991793044,0.999999937785,0.000109762065758,-0.00033333905981,3.55930501256e-05,1793247836505088256
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,809.838831037,652,629,652.161168963,0.401547706588,0.00451035605644,0.0697992916747,0.999999931951,0.000157772799626,-0.00033154498892,3.5822438949e-05,1793247836521754880
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.414077253,745,715,680,658.414077253,634,877,785,810,652,629,652,0.40144508054,0.00451671699225,0.069800708762,0.999999931761,0.000167751425803,-0.000327150631892,3.62036228688e-05,1793247836538421760
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.988137617,745,715,680,658.988137617,634,877,785,810,652,629,652,0.401350151872,0.00451669042114,0.0698026299403,0.999999934276,0.000163035945235,-0.00032175162712,3.66434544378e-05,1793247836555088384
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.422983478,745,715,680,658.422983478,634,877.577016522,785,810,652,629,652.577016522,0.401273589496,0.00450977522925,0.0698008389697,0.999999941549,9.80904188244e-05,-0.000326823211894,2.16159879792e-05,1793247836571754752
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715.163382512,680,658,634,878,784.836617488,810,652,629,652.836617488,0.401203239525,0.00450473146948,0.0698002783474,0.999999944476,5.10808869572e-05,-0.000329116561572,1.09997856726e-05,1793247836588421632
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715.742557572,680,658,634,878,784.257442428,810,652,629,652.257442428,0.40114771331,0.00450482022438,0.0698030481747,0.999999946105,5.2950922665e-05,-0.000323777332426,1.24403773824e-05,1793247836605088256
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715.679391473,680,658,634,877.679391473,784,810,652,629,652,0.401104272151,0.00450518750758,0.0698069066308,0.999999948211,5.50208769388e-05,-0.000316800683471,1.37059078698e-05,1793247836621754624
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715.102239934,680,658,634,877.102239934,784,810,652,629,652,0.401070501148,0.00450577766224,0.0698116361809,0.999999950661,5.72508013022e-05,-0.000308513811108,1.48313588532e-05,1793247836638421248
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.944559669,784,810,652,629,652,0.401044673723,0.00450450628415,0.0698137200279,0.999999951967,5.6642972721e-05,-0.000304321384073,1.56570711926e-05,1793247836655087872
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.047547936,745,715,680,658,634,878.952452064,784.047547936,810,651.952452064,629,652.047547936,0.401021263501,0.00450300952228,0.0698153330625,0.999999953026,5.54922253256e-05,-0.000300997239526,1.64090756534e-05,1793247836671754496
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.637825268,745,715,680,658,634,878.362174732,784.637825268,810,651.362174732,629,652.637825268,0.401005924277,0.00450351450471,0.0698180733807,0.999999954076,5.51176354482e-05,-0.000297522673878,1.7056302142e-05,1793247836688421120
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.776194458,745,715,680,658,634,878,784.776194458,809.776194458,651.223805542,629,652.776194458,0.400992860769,0.00450302374174,0.0698196793161,0.999999954803,5.40156701466e-05,-0.000295241219568,1.75680780045e-05,1793247836705089024
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.197036963,745,715,680,658,634,878,784.197036963,809.197036963,651.802963037,629,652.197036963,0.40098341058,0.00450095196305,0.069819484111,0.999999955031,5.1758799255e-05,-0.000294854153066,1.78647892507e-05,1793247836721758464
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.620563546,745,715,679.620563546,658.379436454,634,878,784,809.379436454,652,628.620563546,652,0.400979029072,0.00450208253476,0.069820588115,0.999999955747,5.36665751784e-05,-0.000292070582412,1.79118575538e-05,1793247836738424320
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.045474168,745,715,679.045474168,658.954525832,634,878,784,809.954525832,652,628.045474168,652,0.400977261184,0.00450486436914,0.0698223620442,0.999999956688,5.77218130768e-05,-0.000288051276393,1.7830199755e-05,1793247836755088384
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.540602704,745,715,679.540602704,659,634,878,784.540602704,810,652,628.540602704,652,0.400976959716,0.00450379826843,0.0698251161727,0.999999957872,5.66157199747e-05,-0.000284136550112,1.78194329954e-05,1793247836771754752
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.874005168,715,680,658.874005168,634,878,784.874005168,810,652,629,652,0.400976311554,0.00450289147314,0.0698271752093,0.999999958689,5.60478351446e-05,-0.000281354507656,1.78889702392e-05,1793247836788421632
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.294473971,715,680,658.294473971,634,878,784.294473971,810,652,629,652,0.400973962185,0.00450374742077,0.069826429208,0.999999958156,5.90125458205e-05,-0.000282617400115,1.82256625592e-05,1793247836805088256
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.284074942,715,679.715925058,658,634,877.715925058,784,810,652,629,652,0.400972644425,0.0045046744251,0.0698262198068,0.999999958036,5.99450846686e-05,-0.000282843021459,1.82839071073e-05,1793247836821755904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.86160919,715,679.13839081,658,634,877.13839081,784,810,652,629,652,0.40097239235,0.00450567483359,0.0698265647321,0.999999958348,5.87783196147e-05,-0.000281997105778,1.80545054522e-05,1793247836838424576
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.436689602,658,634,877,784,809.563310398,652,629,652.436689602,0.400972666025,0.00450456076064,0.0698271594088,0.999999958739,5.63032822143e-05,-0.000281118565263,1.79946166987e-05,1793247836855090432
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.011292663,809.011292663,652,629,652.988707337,0.400973116687,0.00450286547953,0.0698278360883,0.999999959142,5.36036423471e-05,-0.000280212802936,1.7988012641e-05,1793247836871755008
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784.601057479,809.601057479,652,629,652.398942521,0.400974146361,0.00450553180781,0.0698286816378,0.999999959243,6.05181943266e-05,-0.000278439253452,1.79744792634e-05,1793247836888421632
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,810,652,629,652,0.40097486351,0.00450677080426,0.0698294762558,0.999999959446,6.37069179569e-05,-0.000277003098554,1.78483876327e-05,1793247836905088256
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,810,652,629,652,0.400974927282,0.00450502575037,0.0698301643938,0.999999959937,5.91062409685e-05,-0.000276272317519,1.74869761778e-05,1793247836921754880
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.343869414,745,715,680,658,634,877.343869414,784.656130586,809.656130586,652.343869414,628.656130586,652,0.400974521132,0.00450486415654,0.0698302485522,0.999999959952,5.83393201865e-05,-0.000276376910397,1.75333341846e-05,1793247836938421760
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.919238665,745,715,680,658,634,877.919238665,784.080761335,809.080761335,652.919238665,628.080761335,652,0.40097379862,0.00450576858007,0.0698299260993,0.999999959655,6.01533617168e-05,-0.0002770438939,1.78542108452e-05,1793247836955088384
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.506531596,745,715,679.506531596,658,634,877.506531596,784.493468404,809.493468404,652.506531596,628.493468404,652,0.400973571027,0.00450592874801,0.069830075595,0.999999959894,5.85008579633e-05,-0.000276558179566,1.7442292275e-05,1793247836971755008
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.069607688,658,634,877,785,809.930392312,652,629,652,0.400973425608,0.0045058517606,0.0698303196608,0.999999960183,5.66204505746e-05,-0.000275931391891,1.70564857478e-05,1793247836988421632
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.661469645,658,634,877,785,809.338530355,652,629,652,0.400973290403,0.00450490721658,0.0698306950915,0.999999960208,5.72769457235e-05,-0.00027565831212,1.77643320804e-05,1793247837005088256
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,809.247951176,652,629,652.247951176,0.400973254911,0.00450476965633,0.069830755634,0.99999996012,5.76151596448e-05,-0.000275893049519,1.79831993929e-05,1793247837021754880
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,785,809.827242852,652,629,652.827242852,0.400973352668,0.00450571047924,0.0698303953872,0.99999995988,5.7528050161e-05,-0.000276806389813,1.75486375445e-05,1793247837038421248
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.402435849,745.402435849,715,680,658,634,877,785,810,652,629,652.597564151,0.40097421462,0.00450533418395,0.069830794453,0.99999996023,5.67724951934e-05,-0.000275704870851,1.74277052189e-05,1793247837055088128
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.975887075,745.975887075,715,680,658,634,877,785,810,652,629,652.024112925,0.400975401319,0.00450439817836,0.0698315161891,0.999999960826,5.57328838858e-05,-0.000273747136075,1.74400499899e-05,1793247837071755008
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.450002398,745.450002398,715,680,658,634,877,785,810,652,629,652.549997602,0.400973474713,0.00450569927534,0.0698309236431,0.999999960402,5.71825313758e-05,-0.000274989654949,1.75221678131e-05,1793247837088421632
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2bd4189f3de78a0e78cabe7b5cfdbba73eb973a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_11/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+1,0.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+2,0.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+3,0.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+4,0.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+5,0.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+6,0.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+7,0.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+8,0.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+9,0.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+10,0.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+11,0.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+12,0.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+13,0.216666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+14,0.233333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+15,0.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+16,0.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+17,0.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+18,0.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+19,0.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+20,0.333333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+21,0.350000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+22,0.366666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+23,0.383333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+24,0.400000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+25,0.416666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+26,0.433333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+27,0.450000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+28,0.466666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+29,0.483333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+30,0.500000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+31,0.516666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+32,0.533333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+33,0.550000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+34,0.566666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+35,0.583333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+36,0.600000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+37,0.616666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+39,0.650000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+40,0.666666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+41,0.683333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+42,0.700000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+43,0.716666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+44,0.733333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+47,0.783333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+48,0.800000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+49,0.816666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+51,0.850000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+52,0.866666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+53,0.883333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+55,0.916666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+58,0.966666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+59,0.983333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+60,1.000000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+61,1.016666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+62,1.033333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+63,1.050000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+64,1.066666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+65,1.083333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+66,1.100000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+67,1.116666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+68,1.133333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+69,1.150000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+70,1.166666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+71,1.183333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+72,1.200000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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+75,1.250000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+76,1.266666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+77,1.283333333,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+78,1.300000000,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
+79,1.316666667,pose1_baseline,0.5832453861,0.00992801371201,1.06004248843,0.553817176631,0.0186024689192,1.05966587446
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51bbda9d3e3700e4fff4dc3325828236ca8356da
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86afe200c81eba58dea489c0692f55f8a882f8b194f00c656620ab4baff0887f
+size 25710973
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40bd21c254e45519a0ae353a71590d95be21f138
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,407 @@
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+5,0.083333333,BASELINE,765,745,715.122352939,680,658,633.877647061,877.122352939,784.877647061,810,651,629,652.877647061,0.401033353296,0.00449785122299,0.0798625735483,0.999999980051,0.000128144626395,-0.000145262255443,4.87479064306e-05,1793247838448087808
+6,0.100000000,BASELINE,765,745,715,679.532345166,658,634,877,784.532345166,810,651.467654834,629,652.532345166,0.401034716075,0.00449848733003,0.0798637513191,0.999999980208,0.000128500344741,-0.000143832193599,4.88188694851e-05,1793247838464754176
+7,0.116666667,BASELINE,765,745,715,679.059724448,658,634,877,784,810,652,629,652,0.401035909419,0.00449882978767,0.0798648617334,0.999999980257,0.000129136831848,-0.000142836407983,4.90574407454e-05,1793247838481420800
+8,0.133333333,BASELINE,765,745,715,679.637847035,658,634,877,784,810,652,629,652,0.401033221917,0.00449648274471,0.0798629399576,0.99999997981,0.000128579496525,-0.000146291125255,4.94603669307e-05,1793247838498087936
+9,0.150000000,BASELINE,765,745,715.214248295,679.785751705,658,634,877,784,810,652,629,652,0.401031880944,0.00449530832328,0.0798620178637,0.999999979499,0.000129050168571,-0.000147912484503,4.96907761691e-05,1793247838514754816
+10,0.166666667,BASELINE,765,745,715.787763056,679.212236944,658,634,877,784,810,652,629,652,0.401032797925,0.00449610023555,0.0798627721063,0.999999979431,0.000131244675048,-0.000146459540961,4.9631896933e-05,1793247838531421696
+11,0.183333333,BASELINE,765,745,715.626753879,679.373246121,658,634,877,784,810,652,629,652,0.401032236832,0.00449718057689,0.0798624325554,0.999999979264,0.000131543649881,-0.000147413326898,4.93795704416e-05,1793247838548088064
+12,0.200000000,BASELINE,765,745,715.034239834,679.965760166,658,634,877,784,810,652,629,652,0.401030807427,0.00449843035944,0.0798614504425,0.999999979037,0.000130729072059,-0.000149780974879,4.90136010275e-05,1793247838564754176
+13,0.216666667,BASELINE,765,745,715,679.457205378,658,634,877,784,810,652,629,652.542794622,0.401032171616,0.00449891471337,0.0798625331205,0.99999997888,0.000134106427721,-0.000147763018767,4.92117709301e-05,1793247838581421056
+14,0.233333333,BASELINE,765,745,715,679.118954798,658,633.881045202,877,784,810,652,629,652.881045202,0.401033542873,0.00449889693385,0.0798634694626,0.999999978841,0.000136329414215,-0.000145909954673,4.94316269002e-05,1793247838598087680
+15,0.250000000,BASELINE,765,745,715,679.695403996,658,633.304596004,877,784,810,652,629,652.304596004,0.40103428237,0.00449712852144,0.0798633559649,0.999999979291,0.000133123967822,-0.000145725525273,4.96018183128e-05,1793247838614754048
+16,0.266666667,BASELINE,765,745,715,680,658.277273096,633.277273096,877,784,810,652,629,652,0.401034505957,0.00449609923235,0.0798637243858,0.999999979562,0.000131433200657,-0.00014536976818,4.96863072756e-05,1793247838631420416
+17,0.283333333,BASELINE,765,745,715,680,658.865214853,633.865214853,877,784,810,652,629,652,0.401034151495,0.00449589808883,0.0798646327688,0.999999979641,0.000131439545206,-0.00014482204821,4.96747715313e-05,1793247838648087040
+18,0.300000000,BASELINE,765,745,715.446401462,679.553598538,659,633.553598538,877,784,810,652,629,652,0.401034402625,0.00449665671331,0.0798645633583,0.999999979663,0.000131767169092,-0.000144368960416,4.96974766949e-05,1793247838664753920
+19,0.316666667,BASELINE,765,745,716,679.025541786,658.974458214,633,877,784,809.974458214,652.025541786,629,652,0.401034824462,0.00449766644383,0.0798642178144,0.99999997967,0.000132129226764,-0.000143983631691,4.97027657669e-05,1793247838681420544
+20,0.333333333,BASELINE,765,745,716,679.60388023,658.39611977,633,877,784,809.39611977,652.60388023,629,652,0.401035042443,0.00449793244796,0.0798641903721,0.999999979758,0.000131168338271,-0.000144455619667,4.91107001714e-05,1793247838698087424
+21,0.350000000,BASELINE,765,745,715.818886055,679.818886055,658,633.181113945,877.181113945,784,809.181113945,652.637772111,629,652,0.401034566842,0.00449815227798,0.0798640922809,0.999999979797,0.00013038567854,-0.000145029301549,4.87034528353e-05,1793247838714754048
+22,0.366666667,BASELINE,765,745,715.244053954,679.244053954,658,633.755946046,877.755946046,784,809.755946046,651.488107908,629,652,0.401032583483,0.00449827173145,0.079863840608,0.999999979733,0.00012999046508,-0.000145824052689,4.86979764318e-05,1793247838731420672
+23,0.383333333,BASELINE,765,745,715,679,658,634,877.661467532,784,810,651.338532468,629,652,0.401031935506,0.00449752929352,0.0798638460249,0.999999979679,0.00012965647047,-0.00014640505517,4.89572323489e-05,1793247838748087296
+24,0.400000000,BASELINE,765,745,715,679,658,634,877.073159775,784,810,651.926840225,629,652,0.401032272796,0.00449615093677,0.0798640411272,0.999999979632,0.000129367644175,-0.000146828350162,4.94118124912e-05,1793247838764754176
+25,0.416666667,BASELINE,765,745,715,679.507109933,658,633.492890067,877,784,809.492890067,652,628.492890067,652,0.401031228083,0.00449603005827,0.0798632606321,0.999999979475,0.000129701790114,-0.000147594072298,4.94296870587e-05,1793247838781420800
+26,0.433333333,BASELINE,765,745,715,679.91403118,658,633.08596882,877,784,809.08596882,652,628,652,0.401030554547,0.00449601386024,0.0798626154143,0.99999997938,0.000130035741248,-0.000147953488788,4.93982337952e-05,1793247838798087424
+27,0.450000000,BASELINE,765,745,715,679.336711129,658,633.663288871,877,784,809.663288871,652,628,652,0.401033124209,0.00449557527365,0.0798635352526,0.99999997973,0.000129862917367,-0.000145712737013,4.94393198997e-05,1793247838814754048
+28,0.466666667,BASELINE,765,745,715,679,658,634,877.239248599,784,810,652,628.239248599,652,0.401033996343,0.00449600594375,0.07986390719,0.99999997976,0.000130311928016,-0.000145146820402,4.93123541666e-05,1793247838831421184
+29,0.483333333,BASELINE,765,745,715,679,658,634,877.813304638,784,810,652,628.813304638,652,0.401032492936,0.0044976530624,0.0798635123879,0.999999979345,0.000131631141591,-0.000146924688916,4.89502146169e-05,1793247838848088576
+30,0.500000000,BASELINE,765,745,715,679,658.3975387,634,877.6024613,784,809.6024613,652,629,652,0.401032752376,0.00449858167488,0.0798637745933,0.999999979305,0.000132706546902,-0.000146255440852,4.88647168318e-05,1793247838864755200
+31,0.516666667,BASELINE,765,745,715,679,658.986678224,634,877.013321776,784,809.013321776,652,629,652,0.40103386145,0.00449916399052,0.0798643534551,0.999999979444,0.00013366444446,-0.000144406761519,4.89125514599e-05,1793247838881421312
+32,0.533333333,BASELINE,765,745,715.566120629,679,658.433879371,633.433879371,877,784,809,652,628.433879371,652,0.401033912433,0.00449743162059,0.0798640393328,0.999999979626,0.000131789993116,-0.000144848212749,4.89725005551e-05,1793247838898087680
+33,0.550000000,BASELINE,765,745,715.8559641,679,658,633,877,784,809.1440359,652,628.1440359,652,0.401033914699,0.00449627077357,0.0798638603017,0.999999979707,0.000130793513062,-0.00014515409528,4.90890315603e-05,1793247838914754304
+34,0.566666667,BASELINE,765,745,715.281938138,679,658,633,877,784,809.718061862,652,628.718061862,652,0.401033844607,0.00449697595923,0.0798641462331,0.99999997949,0.000132613658358,-0.000144897094458,4.93736397103e-05,1793247838931421184
+35,0.583333333,BASELINE,765,745,715,679.293600615,658,633.293600615,877,784,809.706399385,651.706399385,629,652.293600615,0.40103307704,0.00449713715399,0.0798639147136,0.999999979398,0.000132802460947,-0.000145355134785,4.93858879733e-05,1793247838948088320
+36,0.600000000,BASELINE,765,745,715,679.870599658,658,633.870599658,877,784,809.129400342,651.129400342,629,652.870599658,0.401031636236,0.00449677326082,0.0798631837241,0.999999979426,0.000131416607778,-0.000146503369613,4.91352404848e-05,1793247838964755200
+37,0.616666667,BASELINE,765,745,715,679.542243913,658,634,877,784.457756087,809.457756087,651.457756087,629,652.542243913,0.401032584062,0.00449742907397,0.0798635039623,0.99999997952,0.000131369981639,-0.000145885381087,4.91907940592e-05,1793247838981421568
+38,0.633333333,BASELINE,765,745,715,679.047106404,658,633.952893596,877,784.952893596,810,652,629,652,0.401034116823,0.00449840736855,0.0798641312805,0.999999979603,0.000131902281496,-0.00014479566756,4.93040321321e-05,1793247838998088192
+39,0.650000000,BASELINE,765,745,715,679.628041697,658,633.371958303,877,784.371958303,810,652,629,652,0.401034452696,0.00449969940533,0.0798647945351,0.999999979347,0.000134607647382,-0.000144146652565,4.90678024173e-05,1793247839014754816
+40,0.666666667,BASELINE,765,745,715,680,658,633.205510196,877,784,809.794489804,651.794489804,629,652,0.401034123086,0.00450032768259,0.0798648480618,0.999999979124,0.000136183759958,-0.000144269602908,4.8920049141e-05,1793247839031421696
+41,0.683333333,BASELINE,765,745,715,680,658,633.77680811,877,784,809.22319189,651.22319189,629,652,0.401032608982,0.00449977453381,0.0798638163332,0.999999978965,0.000135749913745,-0.000145766574846,4.89297751439e-05,1793247839048088320
+42,0.700000000,BASELINE,765.35135177,745,715,680,658,634,877,784,809.35135177,651.35135177,629,652,0.401031321951,0.00449951215184,0.0798627224935,0.999999978778,0.000135387073855,-0.000147408475359,4.88471826176e-05,1793247839064754944
+43,0.716666667,BASELINE,765.927976453,745,715,680,658,634,877,784,809.927976453,651.927976453,629,652,0.40103018051,0.00449943619813,0.0798615888305,0.99999997857,0.00013506976044,-0.000149143298308,4.8705399087e-05,1793247839081421824
+44,0.733333333,BASELINE,765.481986828,745,715,679.481986828,658,634,877.518013172,784,809.481986828,652,629,652,0.401030611171,0.00449797170106,0.0798619694174,0.999999978895,0.000132950887436,-0.000148766848983,4.90204318983e-05,1793247839098088704
+45,0.750000000,BASELINE,765,745,715,679,658,634,877.785755298,784.107122351,809.107122351,652,629,652,0.401031470745,0.00449699998763,0.0798626807718,0.999999979191,0.000131632974166,-0.000147851850038,4.93079610383e-05,1793247839114755328
+46,0.766666667,BASELINE,765,745,715,679,658,634,876.63244999,784.683775005,809.683775005,652,629,652,0.401033226758,0.0044990569043,0.0798638945777,0.999999979041,0.00013495285522,-0.000145897174453,4.91891452204e-05,1793247839131421952
+47,0.783333333,BASELINE,765,745,715,679,658,634,876.26021925,784.73978075,810,652,629,652,0.40103398899,0.00449979938763,0.0798647325601,0.999999979074,0.000135757502379,-0.000144937483982,4.91359919311e-05,1793247839148088576
+48,0.800000000,BASELINE,765,745,715,679,658,634,876.836410512,784.163589488,810,652,629,652,0.40103354452,0.00449894581658,0.0798651141979,0.99999997934,0.000133508019622,-0.000145185956938,4.91625695502e-05,1793247839164754688
+49,0.816666667,BASELINE,765,745.421135117,715,679,658,634,877.421135117,784,810,651.578864883,629,652,0.401032796866,0.00449840802442,0.0798644483445,0.999999979265,0.000133225112296,-0.000145961476609,4.916031378e-05,1793247839181421056
+50,0.833333333,BASELINE,765,745.990863686,715.009136314,679,658,634,877.981727372,784,809.990863686,651.009136314,629,652,0.401031930382,0.00449799204193,0.0798633807534,0.999999979059,0.00013369555366,-0.000146945235992,4.91475749022e-05,1793247839198087680
+51,0.850000000,BASELINE,765,745.409544519,715.590455481,679,658,634,876.819089038,784,809.409544519,651.590455481,629,652,0.401031150229,0.00449736367484,0.0798631632879,0.999999979075,0.000132514855242,-0.000147883580451,4.91942589052e-05,1793247839214754816
+52,0.866666667,BASELINE,765,745,716,679,658,633.830736245,876.169263755,784,809,651.830736245,629,652,0.401030621668,0.00449700618013,0.0798630076613,0.999999979084,0.000131767795372,-0.000148489048568,4.91975556644e-05,1793247839231421696
+53,0.883333333,BASELINE,765,745,716,679,658,633.25791447,876.74208553,784,809,651.25791447,629,652,0.401030692952,0.00449729449842,0.0798629994708,0.999999979079,0.000132054615001,-0.000148300874079,4.90974087139e-05,1793247839248088320
+54,0.900000000,BASELINE,765,745,715.686474261,679.313525739,658,633.313525739,877.313525739,784,809.313525739,651.313525739,629,652,0.401031093996,0.00449769885646,0.0798632812237,0.999999978976,0.000133299998122,-0.000147899346573,4.90473511124e-05,1793247839264754944
+55,0.916666667,BASELINE,765,745,715.116165608,679.883834392,658,633.883834392,877.883834392,784,809.883834392,651.883834392,629,652,0.40103176512,0.00449819825304,0.079863800445,0.999999978788,0.00013533046104,-0.000147323079327,4.90383175449e-05,1793247839281421824
+56,0.933333333,BASELINE,765,745,715,679.521906975,658,634,877.521906975,784,809.521906975,652,629,652,0.401032212045,0.00449761039536,0.0798635755499,0.999999978993,0.000134103988865,-0.000147011750436,4.91695212545e-05,1793247839298088192
+57,0.950000000,BASELINE,765,745.071842936,715,679.071842936,658,633.928157064,877.071842936,784,809,652,629,652,0.401032407645,0.00449696595671,0.0798632213266,0.999999979203,0.000132568415914,-0.000146937106136,4.92959570202e-05,1793247839314754560
+58,0.966666667,BASELINE,765,745.621467957,715,679.621467957,658,633.378532043,877.621467957,784,809,652,629,652,0.401031313225,0.00449779476598,0.0798632728413,0.999999978795,0.000134517592662,-0.000147985814481,4.91521260126e-05,1793247839331421440
+59,0.983333333,BASELINE,765,745.812549686,715,679.812549686,658,633.187450314,877.812549686,784,809.187450314,652,629,652,0.401030819055,0.00449870872587,0.0798633665123,0.999999978597,0.000135591466634,-0.000148378355601,4.90438106291e-05,1793247839348088064
+60,1.000000000,BASELINE,765,745.210377676,715,679.210377676,658,633.789622324,877.210377676,784,809.789622324,652,629,652,0.4010316529,0.00449981107619,0.0798635534514,0.999999978871,0.000134728790201,-0.000147319169375,4.90140712397e-05,1793247839364754432
+61,1.016666667,BASELINE,765,745,715,679.382972767,658,634,876.617027233,784,810,652,629,652,0.401031548959,0.00449965323105,0.0798631711417,0.999999978824,0.000134585561412,-0.000147807245325,4.89028008951e-05,1793247839381421312
+62,1.033333333,BASELINE,765,745,715,679.97158635,658,634,876.02841365,784,810,652,629,652,0.401030941464,0.00449881871209,0.0798624831686,0.999999978603,0.00013482864683,-0.000149126138264,4.87477517418e-05,1793247839398088192
+63,1.050000000,BASELINE,765,745,715,680,658,634,876.554604064,784,810,651.445395936,629,652,0.401030520622,0.00449869558896,0.0798626295854,0.999999978873,0.000133515316733,-0.000148524145462,4.86679716571e-05,1793247839414755072
+64,1.066666667,BASELINE,765,745,715,680,658,634,877.135465188,784.135465188,809.864534812,651.135465188,628.864534812,652,0.401030667296,0.00449875892223,0.0798631525435,0.999999979123,0.000132698360281,-0.000147596279012,4.85898626575e-05,1793247839431421696
+65,1.083333333,BASELINE,765,745,715,680,658,634,877.710252789,784.710252789,809.289747211,651.710252789,628.289747211,652,0.401032623758,0.0044993099282,0.0798647594009,0.999999979232,0.000133747190762,-0.000145927549763,4.85047920871e-05,1793247839448087808
+66,1.100000000,BASELINE,765,745,715,679.714801899,657.714801899,634,877.714801899,784.714801899,809,652,628.285198101,652,0.4010328826,0.00449907489316,0.079865054142,0.999999979241,0.000133865920094,-0.000145728495427,4.85903954164e-05,1793247839464754176
+67,1.116666667,BASELINE,765,745,715,679.139696308,657.139696308,634,877.139696308,784.139696308,809,652,628.860303692,652,0.401031415787,0.00449804083744,0.0798640151002,0.999999979149,0.000133039189732,-0.000147023384404,4.88494909374e-05,1793247839481420800
+68,1.133333333,BASELINE,764.552224295,745,715,679,657.447775705,633.552224295,877,784,809.447775705,652,629,652,0.401031169961,0.00449728887995,0.079864077228,0.999999979239,0.000131979775838,-0.00014730529595,4.90362488442e-05,1793247839498087424
+69,1.150000000,BASELINE,764.038272635,745.038272635,715,679,658,633.038272635,877,784,810,652,629,652,0.401031325885,0.00449669633023,0.0798644733327,0.999999979379,0.000130970984926,-0.000147210488723,4.91763191817e-05,1793247839514754304
+70,1.166666667,BASELINE,764.615493774,745.615493774,715,679,658,633.615493774,877,784,810,652,629,652,0.401031622757,0.00449707401362,0.0798645973578,0.99999997941,0.000131726323206,-0.000146387425402,4.8985764497e-05,1793247839531421440
+71,1.183333333,BASELINE,765,745.807976166,715,679.192023834,658,633.807976166,877,784,810,652,629,652,0.401032155638,0.00449719859195,0.0798647551163,0.999999979452,0.000132258281267,-0.000145641431992,4.89046872921e-05,1793247839548088320
+72,1.200000000,BASELINE,765,745.232824849,715,679.767175151,658,633.232824849,877,784,810,652,629,652,0.401033159407,0.00449681817312,0.0798649801803,0.99999997952,0.000132344549472,-0.000145049208934,4.90420403934e-05,1793247839564754944
+73,1.216666667,BASELINE,765,745,715,679.649647466,658,633.350352534,877,784,810,652,629,652,0.401033314464,0.00449665644769,0.0798647581584,0.999999979432,0.00013259233151,-0.000145335816542,4.93199182239e-05,1793247839581421568
+74,1.233333333,BASELINE,765,745,715,679.06101139,658,633.93898861,877,784,810,652,629,652,0.40103289229,0.00449664346116,0.0798642320621,0.999999979237,0.00013294996315,-0.000146220138958,4.96933704379e-05,1793247839598087936
+75,1.250000000,BASELINE,765,745.519072468,715,679,658,634,877,784.519072468,810,652,628.480927532,652,0.401031619574,0.00449849082837,0.0798640098579,0.999999978686,0.00013594293999,-0.000147359205378,4.93246582442e-05,1793247839614754304
+76,1.266666667,BASELINE,764.902201054,745.902201054,715,679,658,634,877.097798946,784.902201054,810,652,628.097798946,652,0.401030427945,0.00449984583562,0.079863853354,0.999999978309,0.000137882282307,-0.000148240007985,4.89451074061e-05,1793247839631420928
+77,1.283333333,BASELINE,764.32527966,745.32527966,715,679,658,634,877.67472034,784.32527966,810,652,628.67472034,652,0.401030115401,0.00449773485791,0.0798638465657,0.999999979027,0.000133166893661,-0.000147711249949,4.89328919014e-05,1793247839648087808
+78,1.300000000,BASELINE,764.483121566,745,715.241560783,679.241560783,658.241560783,633.758439217,877.758439217,784,810,652,629,652,0.40103113044,0.00449657670711,0.0798643027135,0.999999979496,0.000130807625609,-0.000146613865724,4.90057089712e-05,1793247839664754688
+79,1.316666667,BASELINE,765.590740488,745,715.795370244,679.795370244,658.795370244,633.204629756,877.204629756,784,810,652,629,652,0.401033861549,0.00449665020898,0.0798653572662,0.999999979664,0.000131493949726,-0.000144781458356,4.91884416865e-05,1793247839681422080
+80,1.333333333,BASELINE,765.613674354,745,715.613674354,679.613674354,658.613674354,633.386325646,877,784,810,652,629,652,0.401033128442,0.00449736418033,0.0798644378823,0.999999979325,0.000132821630457,-0.000145952487499,4.90603427199e-05,1793247839698088960
+81,1.350000000,BASELINE,765.000950262,745,715.000950262,679.000950262,658.000950262,633.999049738,877,784,810,652,629,652,0.401030365199,0.00449845348608,0.0798623617122,0.99999997868,0.000134525165518,-0.000148883620594,4.87500870561e-05,1793247839714755328
+82,1.366666667,BASELINE,765,745,715,679,658,634,877,784.578641207,810,652,629,652,0.401031337123,0.00449991553233,0.0798640504972,0.999999978771,0.000136501865116,-0.00014644159712,4.87837371839e-05,1793247839731421440
+83,1.383333333,BASELINE,765,745,715,679,658,634,877,784.842422659,810,652,629,652,0.401031946509,0.00450034867991,0.079864999274,0.999999978864,0.000137063588646,-0.000145240804272,4.89009240518e-05,1793247839748088064
+84,1.400000000,BASELINE,765,745,715,679,658,634,877,784.265094968,810,652,629,652,0.40103157472,0.00449803953254,0.0798639612593,0.99999997897,0.000133855006565,-0.000147368600198,4.92392109372e-05,1793247839764754688
+85,1.416666667,BASELINE,765,745,715,679,658,634,877,784.316036228,810,652,628.683963772,652,0.401031676153,0.00449743062243,0.0798639496469,0.999999979083,0.000132635539414,-0.000147696877863,4.92709119399e-05,1793247839781421312
+86,1.433333333,BASELINE,765,745,715,679,658,634,877,784.90039668,810,652,628.09960332,652,0.401032179365,0.00449826526483,0.0798648094807,0.999999979208,0.000133104890609,-0.000146497310497,4.90423123254e-05,1793247839798087680
+87,1.450000000,BASELINE,764.519882154,745,715.480117846,679,658,634,877,785,810,652,628.480117846,652,0.401032868867,0.00449708950216,0.0798652446551,0.999999979632,0.000130740460592,-0.000145771284549,4.891526995e-05,1793247839814754816
+88,1.466666667,BASELINE,764.058844843,745.058844843,715.941155157,679.058844843,658,634,877,784.941155157,810,652,629,652,0.401033337726,0.00449587518489,0.0798654060819,0.999999979997,0.000128358887741,-0.000145428874761,4.87918382134e-05,1793247839831421952
+89,1.483333333,BASELINE,764.63721048,745.63721048,715.36278952,679.63721048,658,634,877,784.36278952,810,652,629,652,0.401031520669,0.00449796741466,0.0798639210296,0.999999979352,0.000130966526831,-0.000147614261872,4.85160558161e-05,1793247839848088576
+90,1.500000000,BASELINE,765,745.78565418,715,679.78565418,658,634,877,784,810,652,629,652,0.401030999613,0.00449927449847,0.0798635249752,0.999999979053,0.000132983230101,-0.000147849021605,4.84714768667e-05,1793247839864754944
+91,1.516666667,BASELINE,765,745.210589347,715,679.210589347,658,634,877,784,810,652,629,652,0.401032659575,0.00449926027298,0.0798649615774,0.999999979346,0.000134005457054,-0.000144801102771,4.88159863798e-05,1793247839881421312
+92,1.533333333,BASELINE,765,745.373187825,715,679,658,634,877,784,809.626812175,652,628.626812175,652,0.401032923729,0.00449884849006,0.0798653069317,0.999999979416,0.000133516661019,-0.000144723119859,4.89551464147e-05,1793247839898087936
+93,1.550000000,BASELINE,765,745.961998933,715,679,658,634,877,784,809.038001067,652,628.038001067,652,0.401032381404,0.00449820700338,0.0798650217767,0.999999979357,0.000132154814796,-0.00014636112869,4.89756581084e-05,1793247839914754560
+94,1.566666667,BASELINE,764.458389744,745.458389744,715,679,658,634,877,784,809.541610256,652,628.541610256,652,0.401030614002,0.00449763038856,0.079863730442,0.999999979132,0.000131638900682,-0.000148297618249,4.91516703074e-05,1793247839931420928
+95,1.583333333,BASELINE,764.120286912,745,715,679.120286912,658,634,877,784,810,651.879713088,629,652,0.401029628514,0.00449727688927,0.0798629795926,0.999999979022,0.000131313787641,-0.000149295256528,4.92291534793e-05,1793247839948087808
+96,1.600000000,BASELINE,764.697823482,745,715,679.697823482,658,634,877,784,810,651.302176518,629,652,0.401031936623,0.00449775451132,0.079864547182,0.999999979407,0.000131492118804,-0.000146645737436,4.88913145693e-05,1793247839964754944
+97,1.616666667,BASELINE,765,745,715,679.727794195,658,634,877,784,810,651.272205805,629,652,0.40103287964,0.00449945625393,0.0798651216345,0.999999979211,0.000134201677678,-0.00014560176342,4.86635286722e-05,1793247839981421824
+98,1.633333333,BASELINE,765,745,715,679.156873335,658,634,877,784,810,651.843126665,629,652,0.401032324623,0.00450250133024,0.0798646062318,0.99999997836,0.000139688972395,-0.000146319693521,4.8556513517e-05,1793247839998088448
+99,1.650000000,BASELINE,765,745,715,679.430110801,658,634,877,784,809.569889199,651.569889199,629,652,0.401030779898,0.00450120028036,0.0798633157482,0.999999978495,0.000136717999044,-0.000148237290462,4.84146672852e-05,1793247840014755072
+100,1.666666667,BASELINE,765,745,715,679.97735893,658,633.97735893,877.02264107,784,809,651.02264107,629,652,0.401029000915,0.00449836072821,0.0798618435725,0.999999978959,0.000130835646541,-0.000150446816108,4.82691312205e-05,1793247840031421696
+101,1.683333333,BASELINE,765,745,715,679.398101072,658,633.398101072,877.601898928,784,809,651.601898928,629,652,0.401030681449,0.00449817991774,0.0798631240811,0.999999979047,0.000132163134258,-0.000148658966453,4.835731596e-05,1793247840048088064
+102,1.700000000,BASELINE,765,745,715,679,658,633.180013273,877.819986727,784,809.180013273,652,629,652,0.401031718221,0.00449785159207,0.0798641607881,0.999999979183,0.000132614794876,-0.000147305147163,4.84560815425e-05,1793247840064754432
+103,1.716666667,BASELINE,765,745,715,679,658,633.755614617,877.244385383,784,809.755614617,652,629,652,0.401031340297,0.00449719909449,0.0798646617289,0.99999997943,0.00013114178195,-0.000146905131305,4.85780990393e-05,1793247840081421056
+104,1.733333333,BASELINE,764.670011898,745,715,679.329988102,658,633.670011898,877,784,810,652,629,652,0.401031592459,0.00449736265088,0.0798647583573,0.999999979437,0.000131591697372,-0.000146452440985,4.85929088232e-05,1793247840098087680
+105,1.750000000,BASELINE,764.09654432,745,715,679.90345568,658,633.09654432,877,784,810,652,629,652,0.401032309528,0.00449812832707,0.0798645566665,0.999999979264,0.000133460432239,-0.000145960885132,4.8528616138e-05,1793247840114754304
+106,1.766666667,BASELINE,764.492557833,745,715,680,658.492557833,633,877.492557833,784.492557833,810,652,629,652,0.40103186407,0.00449728469137,0.079864478355,0.999999979446,0.000131359531097,-0.000146544674218,4.87486327383e-05,1793247840131421440
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633,877,785,810,652,629,652,0.401031341331,0.0044963283698,0.0798634518303,0.99999997938,0.000129961836089,-0.000148176519146,4.89185143975e-05,1793247840174602752
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,633.575929555,877,784.424070445,810,652,629,652,0.401031348683,0.00449718492285,0.0798634721858,0.999999979016,0.000132545288613,-0.000148292529155,4.90794590224e-05,1793247840191269120
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715.155214116,679,658,634,877,784,810,652,629,652,0.401031699067,0.00449786850307,0.0798638573458,0.999999978829,0.00013435993792,-0.0001478677601,4.92482056529e-05,1793247840207935744
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715.743867754,679,658,634,877,784,810,652,629,652,0.401033007377,0.00449806905229,0.0798652612317,0.999999979148,0.000134027684512,-0.000145932851244,4.94387396271e-05,1793247840224602368
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715.672401108,679,658,634,877.327598892,784,810,652,629,652,0.401032837962,0.00449914728492,0.0798657370395,0.999999979091,0.00013489057903,-0.000145645770057,4.90906060909e-05,1793247840241268736
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715.092461673,679,658,634,877.907538327,784,810,652,629,652,0.401031530296,0.00450090157328,0.0798654979739,0.999999978742,0.000136674063608,-0.000146627965958,4.83275515675e-05,1793247840257935616
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.483931942,658,634,877.516068058,784,810,652,629,652,0.401032258163,0.00450005632963,0.0798655113413,0.999999979122,0.000134583467567,-0.00014591596817,4.84978208982e-05,1793247840274602496
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.059537427,784.059537427,810,652,629,652,0.401032978493,0.00449890601699,0.0798653753267,0.999999979487,0.000132232298265,-0.000145457895098,4.88206277182e-05,1793247840291269376
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.634143012,784.634143012,810,652,629,652,0.401030293504,0.00449938206862,0.0798635327651,0.999999978581,0.000133983837421,-0.000149976565862,4.89315724514e-05,1793247840307936000
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.785628907,745,715.214371093,680,658,634,877.785628907,784.785628907,810,652,629,652.214371093,0.401031111955,0.00449953704736,0.0798638420294,0.999999977939,0.000135141170346,-0.000153144577129,4.90561867924e-05,1793247840324602624
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.19554679,745,715.80445321,680,658,634,877.19554679,784.19554679,810,652,629,652.80445321,0.401038070604,0.00449912930737,0.0798679226264,0.999999977793,0.000135257085483,-0.000153945395341,4.92047587483e-05,1793247840341269248
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.387876183,745,715.612123817,680,658,634,877,784,810,652,629,653,0.401058615762,0.00449847819365,0.0798755868569,0.999999978527,0.000134467876338,-0.000149860361699,4.90503195567e-05,1793247840357935872
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.96799868,745,715.03200132,680,658,634,877,784,810,652,629,653,0.401085894915,0.00449770645454,0.0798850272739,0.999999979662,0.000133230052884,-0.000143353712525,4.87456964285e-05,1793247840374602496
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.457691951,657.457691951,634,877.542308049,784,810,652,629,653,0.40114225129,0.00449716274359,0.0799006638324,0.99999998267,0.000131387156034,-0.00012268089098,4.84339511516e-05,1793247840391269120
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,657.116166245,634,877.883833755,784,810,652,629,652.883833755,0.401203918575,0.00449703122389,0.0799154343991,0.999999985161,0.000130001184501,-0.000102436682081,4.77906439384e-05,1793247840407935744
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,657.689584616,634,877.310415384,784,810,652,629,652.310415384,0.401279808406,0.00449846976313,0.0799253723347,0.999999986631,0.000130552807671,-8.71350810877e-05,4.58438834751e-05,1793247840424602624
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.273712154,745,715,679,658,634,877,784,809.726287846,652,628.726287846,652,0.40136248806,0.00449967406325,0.0799319227471,0.999999987734,0.000129143839418,-7.72192200697e-05,4.34808027047e-05,1793247840441269760
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.870479398,745,715,679,658,634,877,784,809.129520602,652,628.129520602,652,0.401453181555,0.00450060189713,0.0799344749564,0.999999988597,0.000125420837845,-7.36600039899e-05,4.06263504009e-05,1793247840457936384
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.549039441,745,715,679.450960559,658,634,877,784,809.450960559,652,628.450960559,652,0.401561220742,0.00450223139885,0.0799374679933,0.999999989101,0.000124517836864,-6.99012876697e-05,3.75191345299e-05,1793247840474602752
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679.973151257,658,634,877,784,809.973151257,652,629,652,0.401675464727,0.00450409396752,0.0799407131966,0.999999989503,0.000124394052499,-6.59149047038e-05,3.42798652932e-05,1793247840491269120
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679.398863075,658,634,877,784,809.398863075,652,629,652,0.401818184619,0.00450674286532,0.0799466084395,0.999999990135,0.000124219568288,-5.84140345347e-05,2.97766870401e-05,1793247840507935744
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784,809.180458952,651.819541048,629,652,0.401971618799,0.00450909824626,0.0799528498032,0.999999990942,0.000122502385923,-4.99180947554e-05,2.48447853839e-05,1793247840524602368
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784,809.771226321,651.228773679,629,652,0.402149413973,0.00451078625931,0.0799598781386,0.999999992177,0.000117277580199,-3.91596722995e-05,1.89380985575e-05,1793247840541268992
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.354875712,745,715,679,658.354875712,633.645124288,877,784.354875712,810,651.354875712,629,652.354875712,0.402340772405,0.00451270443085,0.0799647644454,0.999999993287,0.000110342489973,-3.29015063118e-05,1.29367863186e-05,1793247840557935616
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.934026721,745,715,679,658.934026721,633.065973279,877,784.934026721,810,651.934026721,629,652.934026721,0.402540702599,0.00451476805873,0.079968297028,0.999999994306,0.000102326529082,-2.94874233333e-05,6.87567188128e-06,1793247840574602752
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.493241541,745,715,679.506758459,658.493241541,633.506758459,877,785,810,652,629,653,0.402756102284,0.00451820516264,0.0799619217091,0.999999994437,9.53425880227e-05,-4.51176415501e-05,-5.12731522472e-07,1793247840591269376
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.920958365,810,652,629,652.920958365,0.402979579651,0.00452145974318,0.0799548018699,0.999999994223,8.7562357526e-05,-6.18058118126e-05,-8.23173317904e-06,1793247840607936256
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784.346313042,810,652,629,652.346313042,0.403241235806,0.00452246274121,0.0799510003412,0.999999994687,7.39573702087e-05,-6.97762620937e-05,-1.69537391193e-05,1793247840624602624
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.763618326,745,715,679.763618326,658,634,877,784.236381674,810,652,629,652,0.403528272465,0.00451775729736,0.0799493340041,0.999999995383,5.76191962026e-05,-7.37006659499e-05,-2.19532150742e-05,1793247840641268736
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.168715079,745,715,679.168715079,658,634,877,784.831284921,810,652,629,652,0.403853803878,0.00450439382368,0.0799509061255,0.999999996528,3.7135581553e-05,-7.1488405232e-05,-2.13067058267e-05,1793247840657935360
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.412534456,745,715,679.412534456,658,634,877,784.587465544,810,652,629,652.412534456,0.404203256191,0.0045000543084,0.0799531220513,0.999999997231,2.25492917795e-05,-6.77511912639e-05,-2.09643883289e-05,1793247840674602240
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.988378884,745,715,679.988378884,658,634,877,784.011621116,810,652,629,652.988378884,0.404562178059,0.0044992871069,0.0799555928397,0.999999997721,1.02975758698e-05,-6.34102942639e-05,-2.07424912016e-05,1793247840691269120
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715.564011239,679.435988761,658.564011239,634,877.564011239,784,810,652,628.435988761,652.435988761,0.404970283619,0.00451465581461,0.0799567631961,0.999999997369,3.97635985001e-05,-5.60106275306e-05,-2.32975024125e-05,1793247840707936256
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,716,679.143080907,658.856919093,633.856919093,878,784,810,652,628.143080907,652,0.405384365786,0.00452697475594,0.0799565125024,0.999999996492,6.03581056957e-05,-5.16874899422e-05,-2.64755767898e-05,1793247840724603136
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,716,679.732896252,658.267103748,633.267103748,878,784,810,652,628.732896252,652,0.405813945439,0.00452873389256,0.0799519085621,0.999999996594,5.05707317915e-05,-5.71667518473e-05,-3.14204327889e-05,1793247840741269760
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.316985163,715.683014837,680,658.316985163,633.316985163,877.683014837,784,810,652,629,652,0.406274444389,0.00453508495845,0.0799438025849,0.999999995135,6.01567083707e-05,-7.20450629291e-05,-3.03505949303e-05,1793247840757936384
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.89633445,715.10366555,680,658.89633445,633.89633445,877.10366555,784,810,652,629,652,0.406760534849,0.00454523669928,0.0799327980211,0.999999991541,8.57777313257e-05,-9.4702834286e-05,-2.43024807649e-05,1793247840774603008
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.527084458,715,680.472915542,659,634,877.472915542,784,810,652,629,652.472915542,0.407272409086,0.0045574080284,0.0799313110158,0.999999990277,9.48659770935e-05,-9.83296463551e-05,-2.78764289049e-05,1793247840791269376
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,634,877.95053046,784,810,652,628.95053046,653,0.407790787202,0.00456943759917,0.079930955631,0.999999989418,0.000100702827173,-9.96486116274e-05,-3.30483540836e-05,1793247840807936256
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,634,877.367764685,784,810,652,628.367764685,653,0.40831870445,0.00457519427242,0.0799204394222,0.999999986078,0.00011032987362,-0.000120798595904,-3.28414032411e-05,1793247840824602880
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715.214882293,680.785117707,659,634,877.214882293,784,810,652,628.214882293,652.785117707,0.408888263891,0.00458399138571,0.0799183180709,0.999999984047,0.000121022793183,-0.000127013683185,-3.35798952956e-05,1793247840841269248
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715.797326031,680.202673969,659,634,877.797326031,784,810,652,628.797326031,652.202673969,0.409529053296,0.00459798924611,0.0799305563305,0.99999998464,0.000133538914371,-0.000107682260793,-3.59355906921e-05,1793247840857936128
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.622693881,745.377306119,715.622693881,680,659,634,878,784,810,651.622693881,629,652.377306119,0.410224472376,0.00460676527858,0.0799614246234,0.999999987753,0.000141563184934,-5.54442211214e-05,-3.71579938236e-05,1793247840874603008
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.044028603,745.955971397,715.044028603,680,659,634,878,784,810,651.044028603,629,652.955971397,0.410949045972,0.00461275454719,0.0800022353147,0.999999988351,0.000147190262395,1.43552847754e-05,-3.77755860351e-05,1793247840891269632
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,745.467621456,715,680,659,634,878.532378544,784,810.532378544,651.532378544,629,653,0.411616261434,0.00460620827503,0.0799910100316,0.999999989823,0.000136578611112,-9.92559065896e-06,-4.00120518384e-05,1793247840907936256
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.110568678,745,715,680,659,634,878.778862644,784,810.889431322,652,629,652.889431322,0.412281191973,0.0045984139367,0.0799719124089,0.999999990223,0.000125719744731,-4.43083310737e-05,-4.22484513177e-05,1793247840924602880
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.697236779,745,715,680,659,634,877.605526442,784,810.302763221,652,629,652.302763221,0.412956622981,0.00458969066572,0.0799373692415,0.999999987944,0.000119554687162,-8.88277119645e-05,-4.39105081385e-05,1793247840941269504
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.719666992,715,680,659,634,877.280333008,784,810.280333008,652,629,652,0.41368060003,0.00458797612099,0.0799194072958,0.9999999862,0.000117302718918,-0.000108290040346,-4.59719646844e-05,1793247840957936128
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.140379826,715,680,659,634,877.859620174,784,810.859620174,652,629,652,0.414456347881,0.00459373585685,0.0799191279771,0.999999986615,0.000119223766811,-0.000101030904428,-4.84593514025e-05,1793247840974602752
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.436021619,715,680,659,633.563978381,878,784,811,652,629,652,0.415273210862,0.00460121250342,0.0799395520793,0.999999987669,0.000133205563893,-6.7435886755e-05,-4.86845589876e-05,1793247840991269376
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.011516513,878.011516513,784,811,652,629,652.011516513,0.416102277332,0.00460922905677,0.079965713533,0.999999987143,0.000150536877066,-2.69807305836e-05,-4.82144975267e-05,1793247841007936256
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.587818211,878.587818211,784,811,652,629,652.587818211,0.416884916563,0.00461679304213,0.0799485021023,0.999999986579,0.000142955955507,-6.31825578993e-05,-4.91305821656e-05,1793247841024603136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659.168008808,633.831991192,878.831991192,783.831991192,811,651.831991192,629.168008808,653,0.417695684952,0.00462193779476,0.0799434439022,0.999999986375,0.000139702168081,-7.20996362738e-05,-5.0347059664e-05,1793247841041269504
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.757966213,633.242033787,878.242033787,783.242033787,811,651.242033787,629.757966213,653,0.41857709875,0.00462100672352,0.0799689081424,0.999999987702,0.000147315836302,-1.24919626601e-05,-5.2317963926e-05,1793247841057936384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.341680544,878.341680544,783.341680544,811,651,629.658319456,653,0.419458140961,0.00461727705185,0.0799809258892,0.999999988081,0.000143924699821,1.46071739683e-05,-5.39553899871e-05,1793247841074603008
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633.921051844,878.921051844,783.921051844,811,651,629.078948156,653,0.420338924639,0.00461160052821,0.0799835895547,0.999999989457,0.000132878048809,1.90916791546e-05,-5.53608312746e-05,1793247841091269120
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.50339501,784,811,651.49660499,629,653,0.421232314701,0.00461001942846,0.0799726978249,0.999999990421,0.000126798657183,1.6768694294e-06,-5.54808717253e-05,1793247841107935744
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.928555481,745.071444519,715,680.071444519,659.928555481,634,878.071444519,784,811,652,629,653,0.422131258259,0.00460919879493,0.0799647269968,0.999999990768,0.000123698635846,-1.15644580049e-05,-5.50425634568e-05,1793247841124602624
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.354498913,745.645501087,715,680.645501087,659.354498913,634,878.645501087,784,811,652,629,653,0.42305527888,0.00460918268913,0.0799923493178,0.999999988972,0.000136045514076,2.88598597497e-05,-5.21028894161e-05,1793247841141269760
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.226511673,746,715,680.773488327,659.226511673,633.773488327,879,783.773488327,811,652,629,652.773488327,0.423953227383,0.00460896779103,0.0800026782215,0.999999988232,0.000140704498677,3.55128519605e-05,-4.97700740152e-05,1793247841157936640
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.818750345,746,715,680.181249655,659.818750345,633.181249655,879,783.181249655,811,652,629,652.181249655,0.424809079843,0.00460843192179,0.0799850850826,0.999999989914,0.000132950569725,-1.23615185124e-05,-4.84170955093e-05,1793247841174603008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.599051282,715,680.400948718,660,633,879,783.400948718,811,652,629.400948718,652.400948718,0.425695508716,0.004607363255,0.0799501423549,0.999999988261,0.000128008463054,-6.80306788971e-05,-4.96441230929e-05,1793247841191269632
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.021280801,715,680.978719199,660,633,879,783.978719199,811,652,629.978719199,652.978719199,0.426595421994,0.00460605962004,0.0799075483134,0.99999998284,0.000124306393877,-0.000127137404272,-5.20089550696e-05,1793247841207936256
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715.554568177,681,660,633.554568177,879,784,811,651.445431823,630,653,0.427550048808,0.00460377908095,0.0799056803837,0.999999984082,0.000121298699885,-0.000119814243015,-5.25944646274e-05,1793247841224602368
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715.866901865,681,660,634,879,784,811.133098135,651.133098135,630,653,0.428497361119,0.00460186966948,0.0799107024625,0.999999985753,0.000119508202164,-0.000106958606482,-5.26547065735e-05,1793247841241268992
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715.278958947,681,660,634,879,784,811.721041053,651.721041053,630,653,0.429412526884,0.00460135620198,0.0799339479611,0.999999987758,0.000121786563694,-8.38778054286e-05,-5.11524466287e-05,1793247841257935872
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.695604325,745,715,681,660.304395675,633.695604325,879,784,812,652,630,653,0.430358110205,0.00460044720393,0.0799696741582,0.99999999082,0.000120438226255,-3.61824480595e-05,-5.04499333049e-05,1793247841274602496
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.116392171,745,715,681,660.883607829,633.116392171,879,784,812,652,630,653,0.431331155253,0.00459918111047,0.0800166682595,0.999999991451,0.000115815608358,3.37355818598e-05,-5.04694523319e-05,1793247841291269376
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.46052594,745,715,681,660.53947406,633.46052594,878.53947406,784,812,651.53947406,630,653,0.432235978033,0.00460309028044,0.0800179753274,0.999999991381,0.000117051053408,3.06322299062e-05,-5.09762638343e-05,1793247841307936000
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.963141761,878.036858239,784,812,651,630,653,0.433121768468,0.004607975383,0.0800039905249,0.999999991504,0.000119597959029,4.55431051583e-06,-5.16450412293e-05,1793247841324602880
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.386940241,878.613059759,784,812,651,630,653,0.433980114134,0.00460809648321,0.079934367344,0.999999987468,0.000119777944181,-8.89930509276e-05,-5.28906359784e-05,1793247841341269504
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,812.193543912,651.193543912,630,653,0.43484845281,0.00460730853189,0.0798946535994,0.999999981926,0.000117616518285,-0.000139278870011,-5.40027531973e-05,1793247841357935872
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879,784,812.782783914,651.782783914,630,653,0.435737222125,0.00460466204557,0.0799160889988,0.99999998726,0.000110668132899,-0.000101117476122,-5.48419796332e-05,1793247841374602496
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879.365615432,784,813,652,630,653,0.436626064374,0.00460362753468,0.0799495409987,0.99999999107,0.000108231234273,-5.69845314832e-05,-5.38394031806e-05,1793247841391269120
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633,879.944705153,784,813,652,630,653,0.437514949154,0.00460353421864,0.0799900092091,0.999999992738,0.000108428487384,-9.36494044788e-06,-5.17614410406e-05,1793247841407935744
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.518803322,715,681,660,633,879.481196678,784.518803322,813,652,630,653,0.438395528437,0.00460217582885,0.0800201505405,0.999999992345,0.000103211717988,4.20083882148e-05,-5.37901952225e-05,1793247841424602368
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,746,715,681,660,633.094790958,879.094790958,784.905209042,813,652,630,653,0.439259675468,0.00460111473684,0.0800401566004,0.999999990499,9.86314900779e-05,7.86045510073e-05,-5.56350335333e-05,1793247841441269248
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,715,681,660,633.683366086,879.683366086,784.316633914,813,652,630,653,0.440042791041,0.0046022980057,0.0800130449786,0.999999992839,0.000100344368552,3.61594113274e-05,-5.42634844665e-05,1793247841457936128
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,715,681,660,633.733274489,879.733274489,784,813.266725511,652,630,653,0.440774155139,0.00460397748717,0.0799564460774,0.999999992074,0.000100622557985,-5.18936579378e-05,-5.5078017063e-05,1793247841474602752
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,715,681,660,633.155987992,879.155987992,784,813.844012008,652,630,653,0.441445262521,0.00460623473211,0.0798655137595,0.999999974735,9.9230270442e-05,-0.000193050169413,-5.84379061734e-05,1793247841491269120
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.577550394,715,681.422449606,660,633,879,784,814,652,630,652.577550394,0.442179343835,0.00460633511281,0.0798396248508,0.999999969086,9.4172526991e-05,-0.000222621752195,-5.82976337822e-05,1793247841507935744
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.002605619,633,879.001302809,783.998697191,813.998697191,651.998697191,630,652.001302809,0.442936819781,0.00460564033473,0.0798380078531,0.999999972348,8.77808162731e-05,-0.000210630390225,-5.68656821685e-05,1793247841524602368
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661.150951009,633,879.575475505,783.424524495,813.424524495,651.424524495,630,652.575475505,0.443728654547,0.00460645450375,0.0799196058562,0.999999990152,9.15849493838e-05,-8.95725375483e-05,-5.73130324623e-05,1793247841541268992
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661.691915888,633,880,783.154042056,813.154042056,651.154042056,630.154042056,653,0.444496726362,0.00460699469378,0.0799874504866,0.999999993872,9.40902835431e-05,1.07137761372e-05,-5.73490934126e-05,1793247841557935872
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660.509853383,633,880,783.745073308,813.745073308,651.745073308,630.745073308,653,0.445197387204,0.00460675765562,0.080016279328,0.999999992748,9.29111662351e-05,5.20750497666e-05,-5.62184036823e-05,1793247841574602752
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,879.670728221,784,814,651.670728221,630.670728221,653,0.445862348335,0.00460495410073,0.0800263325199,0.99999999208,9.29322453423e-05,6.40483620071e-05,-5.5683716372e-05,1793247841591269376
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,879.091712273,784,814,651.091712273,630.091712273,653,0.446500232112,0.00460196238324,0.0800221448635,0.999999992606,9.386364268e-05,5.37316597036e-05,-5.56010816681e-05,1793247841607936256
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.483034002,715,682,660,633,879,784,814,651,630,653,0.447073569708,0.00460048404508,0.0799995343881,0.999999993938,9.0521663288e-05,2.72084604753e-05,-5.64680180309e-05,1793247841624602880
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+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.367381646,715,682,660,633,879.632618354,784,814,651,630,653,0.448131784191,0.00460129820961,0.0799353045925,0.999999992889,8.63397475233e-05,-5.76093895982e-05,-5.87236944297e-05,1793247841657936384
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+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,880,784,814,651,630.806752352,653,0.449067120304,0.00461026586944,0.0798572400545,0.999999976833,9.77180122326e-05,-0.000182348344163,-5.94509663161e-05,1793247841691270144
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.38870586,715,682,660,632.61129414,879.61129414,783.61129414,814,651.38870586,630.61129414,653,0.449529171963,0.00461331475763,0.0798460621052,0.999999973459,0.000102978063865,-0.000197373443757,-5.93369091909e-05,1793247841707936512
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+248,4.133333333,HOLD_POSE2,765.223295753,746,714,683.776704247,656.223295753,631.776704247,880,783.776704247,815,651,630.223295753,653,0.454542227878,0.00464025656526,0.0797271676054,0.999999911836,0.000126760950455,-0.000396129443249,-5.78000825659e-05,1793247842552295168
+249,4.150000000,HOLD_POSE2,765.353398083,746,714.353398083,684,656,631.646601917,880,783.646601917,814.646601917,651.353398083,630,653,0.454542515871,0.00464045415099,0.0797268046437,0.999999912029,0.000125816755757,-0.000395948375053,-5.77611152299e-05,1793247842568961792
+250,4.166666667,HOLD_POSE2,765.930397431,746,714.930397431,684,656,631.069602569,880,783.069602569,814.069602569,651.930397431,630,653,0.454541830309,0.00463979169437,0.0797260593501,0.999999911845,0.000124533757313,-0.000396876871057,-5.73525072886e-05,1793247842585628160
+251,4.183333333,HOLD_POSE2,766,745.481736471,715,683.481736471,656,631,880,783,814,652,630,653,0.454542188731,0.00463908506952,0.0797262657583,0.999999911789,0.000124267881395,-0.000397127833438,-5.71667339528e-05,1793247842602295040
+252,4.200000000,HOLD_POSE2,766,745,715,683,656,631,880,783.105725258,814,652,630,653,0.454542813927,0.0046387360713,0.0797266192476,0.999999911803,0.000124611705052,-0.000397000671618,-5.70583194346e-05,1793247842618961664
+253,4.216666667,HOLD_POSE2,766,745,715,683,656,631,880,783.684704356,814,652,630,653,0.454543992232,0.004640015024,0.0797270467317,0.999999912046,0.000127060154503,-0.000395596956414,-5.71593549784e-05,1793247842635628288
+254,4.233333333,HOLD_POSE2,766,745,714.737167272,683.262832728,656,631.262832728,880,783.737167272,814,652,630,653,0.454544128787,0.00464072960504,0.0797270005019,0.999999912101,0.000127689162607,-0.000395229126671,-5.7340290053e-05,1793247842652294912
+255,4.250000000,HOLD_POSE2,766,745,714.160056182,683.839943818,656,631.839943818,880,783.160056182,814,652,630,653,0.454543019685,0.0046407693469,0.0797263878359,0.999999911937,0.000126142600369,-0.000396099941799,-5.76167638068e-05,1793247842668961792
+256,4.266666667,HOLD_POSE2,766,745,714.413827873,683.586172127,656,632,880,783.413827873,814,652,630.413827873,653,0.454543381605,0.00463960914785,0.0797267940654,0.999999912281,0.000124166579973,-0.00039582102936,-5.78495200268e-05,1793247842685628416
+257,4.283333333,HOLD_POSE2,766,745,714.986473515,683.013526485,656,632,880,783.986473515,814,652,630.986473515,653,0.45454430807,0.00463798843863,0.0797275913239,0.999999912817,0.00012202574313,-0.000395100877585,-5.806549847e-05,1793247842702295296
+258,4.300000000,HOLD_POSE2,765.422265642,745,715,683,656,631.422265642,880,783.422265642,814.577734358,651.422265642,630.422265642,653,0.454544822085,0.00463798215015,0.0797272532324,0.999999912574,0.000122492462057,-0.000395566483225,-5.81004064077e-05,1793247842718961664
+259,4.316666667,HOLD_POSE2,765.165920536,745,715,683,656,631,880,783.165920536,814.834079464,651.165920536,630,653,0.454544796911,0.0046381227497,0.0797267820412,0.999999912156,0.000123585471359,-0.000396315667141,-5.78693949119e-05,1793247842735628544
+260,4.333333333,HOLD_POSE2,765.74532235,745,715,683,656,631,880,783.74532235,814.25467765,651.74532235,630,653,0.45454345292,0.00463853206929,0.0797260476083,0.999999911345,0.00012608201766,-0.00039770005286,-5.69866170071e-05,1793247842752295168
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,746,715,683,656,632,880,783,815,652,630,653,0.454540319162,0.00464258726518,0.0797237686006,0.999999909864,0.000128692179573,-0.000400412644097,-5.81330789753e-05,1793247842788795648
+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,745.42636246,715,683,656,631.42636246,880,783.57363754,814.42636246,652,630,653,0.454541425285,0.00463919962403,0.0797242670839,0.999999910581,0.00012481244111,-0.000399952033997,-5.74265402762e-05,1793247842805461760
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.846666717,745,715,683,656,631.153333283,880,783.846666717,814,652,630,653,0.454542562276,0.00463695366992,0.0797247595367,0.999999911164,0.000122388055262,-0.00039930582149,-5.69925605513e-05,1793247842822128128
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.336150511,745,714.663849489,683,656,631.663849489,880,783,814,652,630,653,0.454542810276,0.00463778813617,0.0797249844879,0.99999991106,0.000124311706838,-0.000398933995959,-5.72487933353e-05,1793247842855461376
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.913377113,745,714.086622887,683,656,631.086622887,880,783,814,652,630,653,0.454540250771,0.00463664251311,0.0797242144705,0.999999910318,0.000123260227295,-0.000401176624657,-5.68244028799e-05,1793247842872127744
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.488835077,714.488835077,683.488835077,656,631,880,783,814,652,630.488835077,653,0.454541165951,0.00463686051496,0.0797249763828,0.999999911105,0.000121077836479,-0.000399849691977,-5.7004800207e-05,1793247842888794880
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.934484093,745.934484093,714.934484093,684,656,631,880,783,814.065515907,652,630.934484093,653,0.454542339043,0.00463721763954,0.0797258103847,0.999999911949,0.000119363728057,-0.000398223010782,-5.72084560227e-05,1793247842905462016
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.345538443,745.345538443,714.345538443,684,656,631,880,783,814.654461557,652,630.345538443,653,0.454540671178,0.00463676269306,0.0797250593476,0.999999911132,0.000122986191836,-0.000399236867092,-5.67447996637e-05,1793247842922128384
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,656,631,880,783.239421383,814.760578617,651.760578617,630.239421383,653,0.454534697188,0.00463711633662,0.0797219506252,0.999999909068,0.000125175998871,-0.000403709447585,-5.66940068163e-05,1793247842938794752
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,656,631,880,783.818722926,814.181277074,651.181277074,630.818722926,653,0.454522610265,0.00463861784638,0.0797154949571,0.999999905186,0.000125332020662,-0.000413091997618,-5.72293108441e-05,1793247842955461376
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.396555882,745.396555882,714,684,656.396555882,631,880,783.603444118,814,651.396555882,630.603444118,653,0.454492331048,0.00463874851332,0.0797008998254,0.999999894994,0.000124955316929,-0.000437158166176,-5.73663404888e-05,1793247842972128256
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.452206809,714.547793191,684,656.452206809,631.547793191,879.452206809,783.547793191,814,652,630,653,0.454392660264,0.0046377307068,0.0796628740824,0.999999863331,0.000124474274813,-0.000504656406352,-5.62681815658e-05,1793247843005461248
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.125246476,715,683.874753524,656,631.874753524,879.250492951,783.874753524,814.125246476,652,630.125246476,653,0.454327711799,0.00463731446317,0.0796445907241,0.999999846177,0.000125146122782,-0.000537541343821,-5.50804596406e-05,1793247843022128128
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.715805499,715,683.284194501,656,631.284194501,880.431610999,783.284194501,814.715805499,652,630.715805499,653,0.454252483044,0.00463730444968,0.0796319098586,0.999999836389,0.000127665967765,-0.000555025455245,-5.3574090549e-05,1793247843038795008
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.699703798,715,683,656,631.300296202,880.699703798,783,814.699703798,652,631,653,0.454171089799,0.00463651124042,0.0796247619987,0.999999830398,0.000128891610784,-0.000565607368869,-5.17676495638e-05,1793247843055461888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.120842317,715,683,656,631.879157683,880.120842317,783,814.120842317,652,631,653,0.45408397816,0.00463499151131,0.0796227467496,0.999999828128,0.000128916706594,-0.00056978656105,-4.96828514775e-05,1793247843072128512
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.545311576,683.454688424,656,631.545311576,880,783,814,652,630.545311576,653,0.453984460449,0.00463469668752,0.0796250544247,0.999999828991,0.000131843202643,-0.000567836503098,-4.68830677202e-05,1793247843088795392
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,684,656,631.029312224,880,783,814,652,630,653,0.453880178499,0.00463466838979,0.0796284287021,0.999999830623,0.000135543052933,-0.000564321401876,-4.38641119854e-05,1793247843105461760
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,684,656,631.603412616,880,783,814,652,630,653,0.453748184128,0.00463358723006,0.0796304286735,0.999999831679,0.000139388951377,-0.000561774216566,-4.0277688917e-05,1793247843122128128
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,683.816656687,656.183343313,631.816656687,880,783,814,652,630,653,0.453606888444,0.0046324407398,0.0796331153207,0.999999833855,0.000142922557248,-0.000557249148345,-3.65511750757e-05,1793247843138794752
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.223700403,656.776299597,631.223700403,880,783,814,652,630,653,0.453444812429,0.00463114829277,0.0796373360909,0.999999838529,0.000145758460092,-0.000548305231021,-3.25116805818e-05,1793247843155461376
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.359057254,683,656.640942746,631.359057254,880,783.359057254,814,652,630,653,0.453262027618,0.00462952095605,0.0796407561416,0.999999841608,0.000148144612504,-0.000542278979481,-2.77562153256e-05,1793247843172128000
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.935636495,683,656.064363505,631.935636495,880,783.935636495,814,652,630,653,0.453066697109,0.00462769073828,0.0796436911054,0.999999843724,0.000150258299985,-0.000538020290471,-2.25670044189e-05,1793247843188794880
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,683.510762456,656.510762456,631.489237544,880,784,814,652,630,653,0.452835214366,0.00462623152224,0.0796428193638,0.999999840892,0.000154139855513,-0.000542381088658,-1.67303989549e-05,1793247843205461760
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.087953568,715,683.912046432,657.087953568,631,879.912046432,783.912046432,814,652,630,653,0.452594257043,0.00462427733707,0.0796425624912,0.999999838453,0.000158280106179,-0.000545830245799,-1.05159144824e-05,1793247843222128640
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745.67797592,715,683.32202408,657.67797592,631,879.32202408,783.32202408,814,652,630,653,0.452325147245,0.00461923158283,0.0796485460213,0.999999842108,0.000162628998913,-0.0005378927523,-2.60873766255e-06,1793247843238795008
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.778451443,633,879,784.110774278,811.110774278,652,630,652.110774278,0.443581104255,0.00458569902626,0.0798260801444,0.999999948361,0.000146887294974,-0.000284155463764,3.09426023931e-05,1793247843538795776
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.598100657,633,879,784.700949671,811.700949671,652,630,652.700949671,0.442851680576,0.00458522798469,0.0798026115547,0.9999999394,0.000147897563989,-0.000313594442115,3.13833452733e-05,1793247843555462144
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879,784.714394919,811.714394919,651.714394919,630,652.714394919,0.442097612812,0.00458050029613,0.0797894157827,0.999999935585,0.000143387119183,-0.00032749378126,3.18975144175e-05,1793247843572128512
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879,784.135409692,811.135409692,651.135409692,630,652.135409692,0.441318229986,0.00457140008125,0.0797867724837,0.999999937648,0.000133205669642,-0.000325430447306,3.24871087907e-05,1793247843588794880
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.559453913,745,715,683,659,633.440546087,879,784,811,651.440546087,630,652.440546087,0.440477495272,0.00456370657748,0.0797444630268,0.999999913328,0.00012839284761,-0.000394542615763,3.457454072e-05,1793247843605461760
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764.015528762,745,715,683,659,633.984471238,879.015528762,784,811,651.984471238,630,653,0.439619326352,0.00455642700454,0.0796913566386,0.999999874862,0.000125220464909,-0.000482928869896,3.70940251983e-05,1793247843622128384
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764.588777676,745,715,683,659,633.411222324,879.588777676,784,811,651.411222324,630,653,0.438807651438,0.0045485909461,0.0796853674895,0.999999875057,0.000122104344602,-0.00048319501617,3.87088085394e-05,1793247843638795520
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.167614608,715,683,659,633,879.832385392,784,811,651,630,653,0.43801062289,0.00453905567496,0.0797027938937,0.99999989035,0.000112419559905,-0.000452859714126,3.97433033601e-05,1793247843655462656
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.760633856,715,683,659,633,879.239366144,784,811,651,630,653,0.437250766762,0.00452520781502,0.0797796488,0.999999936061,8.60635526179e-05,-0.000344858157869,3.93050297807e-05,1793247843672129280
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.656033733,715,683.343966267,659,633,879,784,811,651.343966267,630,652.656033733,0.436438963573,0.00451579055586,0.0798356698321,0.999999961806,8.40254441855e-05,-0.000259866317196,4.24016738151e-05,1793247843688795648
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.079257771,715,683.920742229,659,633,879,784,811,651.920742229,630,652.079257771,0.435592000632,0.0045093720995,0.0798775896879,0.999999975872,9.84466329534e-05,-0.00019044834855,4.78908871099e-05,1793247843705461504
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.503648353,683.503648353,659.496351647,633,879,783.503648353,811.496351647,651.503648353,630,652,0.434693668023,0.00450135044879,0.0798561338593,0.999999970598,8.8527848473e-05,-0.000220655309617,4.77271375733e-05,1793247843722128128
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.071234717,683,659.928765283,633.071234717,879,783.071234717,811.928765283,651.071234717,630,652,0.433779281104,0.00449330041947,0.0798223533531,0.999999958924,7.55318021835e-05,-0.000272480113332,4.69276007056e-05,1793247843738795008
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.642324732,683,659.357675268,633.642324732,879,783.642324732,811.357675268,651.642324732,630,652,0.432809665092,0.0044868433999,0.0797729352056,0.999999930048,6.81511229029e-05,-0.000364631459847,4.79859263757e-05,1793247843755461376
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,634,878.776811492,784,811,651.776811492,630,652,0.431843927742,0.00447934490968,0.0797296805556,0.999999896841,6.2886836601e-05,-0.00044706613885,4.99410488575e-05,1793247843772128256
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,634,878.179567156,784,811,651.179567156,630,652,0.43088469073,0.00447010095144,0.0796967556959,0.999999865008,6.11695474283e-05,-0.000513216054093,5.33991707892e-05,1793247843788795392
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633.595634311,878.404365689,784,811,651.404365689,630,652.404365689,0.430005911032,0.00445937351082,0.079739913742,0.999999901239,5.25551725346e-05,-0.000437920912872,5.46446223255e-05,1793247843805462016
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633.017424358,878.982575642,784,811,651.982575642,630,652.982575642,0.429161721474,0.00444800829432,0.0798157812341,0.999999952105,4.09756126713e-05,-0.000301815923836,5.49388050587e-05,1793247843822128896
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.441195348,745,715,683,660.117609304,633,878.441195348,784,811,651.441195348,630,653,0.428270156285,0.00444366805426,0.0798470889327,0.999999965255,3.6356422346e-05,-0.000255002810523,5.60503964993e-05,1793247843838795264
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.137462836,745,714.862537164,682.862537164,660.587611491,633,878,784,811,651,629.862537164,652.862537164,0.427364849872,0.00444408476127,0.0798580627115,0.999999969024,3.74746783448e-05,-0.000239461430152,5.66270014573e-05,1793247843855461632
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.724262643,745,714.275737357,682.275737357,658.827212072,633,878,784,811,651,629.275737357,652.275737357,0.426419438086,0.00445933742727,0.0798070949448,0.999999946596,5.66405002006e-05,-0.000317071755005,5.53718279668e-05,1793247843872128256
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.889579483,682,658,633.889579483,878,784,811,651,629.889579483,652,0.4244872284,0.00448975751938,0.0797388866103,0.999999906045,0.000101194115882,-0.000417812063902,5.57067885434e-05,1793247843905461248
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.533350928,745,715,682.466649072,658.466649072,634,878,784,810.533350928,651,629.533350928,652,0.423528082901,0.00448427107908,0.0797251798457,0.999999896531,9.68774412947e-05,-0.000440865169966,5.64939673837e-05,1793247843922128384
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+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.616414918,745,715,682.383585082,659,633.383585082,878.616414918,784,810,651,629,652.616414918,0.421782198109,0.0044663257797,0.07978112853,0.999999937825,7.59945289345e-05,-0.000339688276766,5.64500012181e-05,1793247843955462144
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.195388652,633.195388652,879,784,810.195388652,651.195388652,629,652.804611348,0.420975848667,0.00446128538023,0.0798340372185,0.999999965719,6.85428645573e-05,-0.000246449056176,5.59096383459e-05,1793247843972128768
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+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.048535658,659.048535658,634,878.048535658,784,810.048535658,652,629,652.951464342,0.418340190071,0.00446769144723,0.0798071944638,0.999999949875,8.09188115654e-05,-0.000301071247391,5.52937414835e-05,1793247844022128128
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,633.476229599,878,784,810,651.476229599,629,652.476229599,0.417476207976,0.00447265840647,0.0798016962419,0.999999944985,8.34514453496e-05,-0.0003162227589,5.53912579125e-05,1793247844038794752
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.902091752,633.097908248,878,784,810,651,629.097908248,652,0.416624961281,0.00447624590833,0.0797992334471,0.999999941327,8.50709105001e-05,-0.000327134892185,5.5604927635e-05,1793247844055461376
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.314332559,633.685667441,878,784,810,651,629.685667441,652,0.415807196978,0.00447225801706,0.0797929384305,0.999999934388,8.51773485636e-05,-0.000347573111089,5.62237384151e-05,1793247844072128512
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.73064544,745,715,681,658,634,877.73064544,784,810,651.26935456,630,652,0.415014585392,0.00446793013462,0.0797848288191,0.999999929725,8.16522662296e-05,-0.000361523799486,5.64257307993e-05,1793247844088795392
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764.151639637,745,715,681,658,634,877.151639637,784,810,651.848360363,630,652,0.414250889542,0.00446321139704,0.0797746331417,0.999999927971,7.39523713222e-05,-0.000368016391597,5.61485468078e-05,1793247844105462272
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.426912331,745,715,681,658.426912331,634,877.426912331,784,810,652,630,652,0.413522854478,0.00446338235084,0.0797889067467,0.999999939485,6.5299634393e-05,-0.000337250670139,5.50260339978e-05,1793247844122128896
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.994718145,658.994718145,634,878,784,810,651.994718145,629.994718145,652,0.412807136313,0.00446528622558,0.0798115865535,0.999999953771,5.6636631393e-05,-0.000293893278683,5.36339672728e-05,1793247844138795520
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.418667383,658.418667383,634,878,784,810,651.418667383,629.418667383,652,0.412055073253,0.00446696776032,0.07980443246,0.999999944276,8.33991926404e-05,-0.000318449320529,5.55258003704e-05,1793247844155461888
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,810,651.160552041,629,652,0.411324874002,0.00446809254769,0.079795983305,0.999999935433,9.92333227628e-05,-0.000340697147823,5.66753647155e-05,1793247844172128256
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,810,651.74820079,629,652,0.410652836169,0.00446773628933,0.0797840890566,0.999999931088,8.59959071556e-05,-0.000356804724088,5.58503639971e-05,1793247844188794880
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.668886147,784,810,651.668886147,629,652,0.410020937401,0.00446868907732,0.0797907491676,0.999999936253,8.37630503124e-05,-0.000342563089293,5.59248782397e-05,1793247844205461504
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.089523642,784,810,651.089523642,629,652,0.409419132456,0.00447062330718,0.0798113201883,0.999999947678,8.97807304874e-05,-0.000305567495276,5.66737930653e-05,1793247844222128384
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.485215266,633.514784734,877.485215266,784,810,651.485215266,629,652,0.408836618184,0.00447241248524,0.0798304902369,0.999999956141,8.76001823487e-05,-0.000277122893174,5.69843720009e-05,1793247844238795776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.059179386,878,784,810,652,629,652,0.408254637269,0.00447403526864,0.079844025443,0.999999961115,8.50742218871e-05,-0.000259321764604,5.73127932028e-05,1793247844255462912
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633.633755139,878,784,810,652,629,652,0.407646596812,0.00447443978809,0.0798107164094,0.999999942609,9.25889929164e-05,-0.000320604771853,5.84942936714e-05,1793247844272129536
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.785001483,634,877.785001483,784,810,651.785001483,629,652,0.407073984393,0.00447358326264,0.0797824485686,0.999999925772,9.5032553119e-05,-0.000368804697628,5.83762991308e-05,1793247844288795904
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.192036507,634,877.192036507,784,810,651.192036507,629,652,0.406563654374,0.00447050982569,0.0797630431265,0.999999916892,8.85609464235e-05,-0.000394004618252,5.59737981869e-05,1793247844305462016
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.608483914,745,715,680,658,633.608483914,877.391516086,784,810,651.391516086,629,652,0.406109835775,0.00447154344388,0.0797705199855,0.999999925524,8.79893504072e-05,-0.000371797629882,5.45652962342e-05,1793247844322128640
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.029439608,745,715,680,658,633.029439608,877.970560392,784,810,651.970560392,629,652,0.405683084948,0.00447454425743,0.0797908729168,0.999999941063,9.0243738462e-05,-0.00032688370073,5.36328992302e-05,1793247844338795264
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+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.289316047,784,810,651.289316047,629,652,0.404489498393,0.00448086395691,0.0798317306223,0.999999954782,9.99717565971e-05,-0.000278118799667,5.56049254072e-05,1793247844388795648
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+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.399313793,877,784,809.399313793,652,629,652,0.402906716454,0.00447923031953,0.0798329305515,0.999999950763,9.52004935747e-05,-0.000294377161693,5.24754891833e-05,1793247844472128256
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.181351381,877,784,809.181351381,652,629,652,0.40266163131,0.00447642551567,0.0798350149205,0.999999951193,9.6936909951e-05,-0.000291770225263,5.55613159997e-05,1793247844488794624
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.771396585,877,784,809.771396585,652,629,652,0.402443795563,0.00447494525669,0.0798354675245,0.999999951741,9.7734871833e-05,-0.000289240777969,5.75031919186e-05,1793247844505461504
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.645185982,658,634,877.354814018,784,809.645185982,652,629,652,0.402248979879,0.00447541428525,0.0798359585532,0.99999995284,9.5043655918e-05,-0.000286358967117,5.73234621733e-05,1793247844522128384
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.065960401,658,634,877.934039599,784,809.065960401,652,629,652,0.402068723825,0.00447711619241,0.0798364738846,0.999999954263,9.014561677e-05,-0.000283254294305,5.58018666801e-05,1793247844538795776
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+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.659016867,877.340983133,784,809.340983133,651.340983133,629,652,0.401639057118,0.0044978463623,0.0798381791774,0.999999948728,0.000137220560337,-0.00028402784882,5.515295105e-05,1793247844588795136
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+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.167053684,633.167053684,877,784.832946316,809,651,629,652,0.401413641293,0.00450921566283,0.079831581695,0.999999942655,0.000159785372394,-0.000293727227262,5.36979601624e-05,1793247844622127872
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.20399875,658,634,877,784.20399875,809.20399875,651.79600125,629,652,0.40097168309,0.00450440093782,0.0798246104586,0.999999943533,0.000137141225481,-0.000302569518026,5.07775664087e-05,1793247844822127872
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.379519565,658,634,877,784.379519565,809.379519565,652,629,652,0.400970428009,0.0045055073126,0.0798271109013,0.999999944698,0.000137562700102,-0.000298525496473,5.06178622558e-05,1793247844838794240
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.959409861,658,634,877,784.959409861,809.959409861,652,629,652,0.400969210441,0.00450658660778,0.0798290963802,0.99999994564,0.00013738193965,-0.000295443265354,5.05980583004e-05,1793247844855460864
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.534745668,784.465254332,809.465254332,652,629,652,0.400969328588,0.004505680476,0.0798300618311,0.99999994663,0.000134746245687,-0.000293423062557,4.98586418599e-05,1793247844872127488
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809,652,629,652,0.400969134157,0.00450482752898,0.079830576858,0.999999947282,0.000132744743843,-0.000292218845874,4.92237349434e-05,1793247844888794112
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+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.718897493,784,809.281102507,652,629,652,0.4009663368,0.00450523438375,0.0798292633591,0.999999946287,0.000135240517798,-0.00029445830144,4.92912525368e-05,1793247844922127360
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.139739279,784,809.860260721,652,629,652,0.400966645716,0.00450605366054,0.0798298934913,0.999999946613,0.000135793362586,-0.000293091933614,4.93123919619e-05,1793247844938794240
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877,784,810,651.562231108,629,652,0.400966463072,0.00450672186193,0.0798304971636,0.999999946851,0.000136188164034,-0.000292100007729,4.92856991712e-05,1793247844955461632
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.014675889,634,877.014675889,784,810,651,629,652,0.400966116978,0.0045073180597,0.0798310630144,0.999999947047,0.000136515234712,-0.000291281651414,4.92456336597e-05,1793247844972129792
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.588670774,634,877.588670774,784,810,651,629,652,0.400965499184,0.00450700110027,0.0798305081179,0.999999946724,0.000136176441431,-0.000292540120592,4.92756307713e-05,1793247844988795904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.832811951,633.832811951,877.832811951,784,809.832811951,651,629,652,0.400965548351,0.00450614100111,0.0798306425617,0.999999946869,0.000135093833453,-0.00029254504032,4.92771418569e-05,1793247845005462272
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.242859036,633.242859036,877.242859036,784,809.242859036,651,629,652,0.40096728405,0.00450390747612,0.0798325201252,0.99999994819,0.000132130357083,-0.000289380136132,4.92066209325e-05,1793247845022128640
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745.341769832,715,680,658,633.341769832,877,784.341769832,809,651.341769832,629,652,0.400966976535,0.00450408154644,0.0798326168697,0.99999994823,0.000133096915349,-0.000288801661279,4.91724072583e-05,1793247845038795008
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745.922673477,715,680,658,633.922673477,877,784.922673477,809,651.922673477,629,652,0.400965239399,0.00450594019342,0.0798314675882,0.999999947373,0.000136813289801,-0.000290032891965,4.91635975005e-05,1793247845055461376
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.501055846,715,680,658,633.501055846,877.498944154,784.501055846,809,652,629,652,0.400964868825,0.00450590657778,0.0798315641626,0.999999947434,0.000135159421464,-0.000290603823521,4.91343423102e-05,1793247845072128000
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.925806904,745,715,680,658,633,877.925806904,784,809,651.925806904,629,652,0.400964723448,0.00450557750476,0.079831833766,0.999999947574,0.000133218345376,-0.000291022119719,4.9107830029e-05,1793247845088794880
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.352645225,745,715,680,658,633,877.352645225,784,809,651.352645225,629,652,0.400964681331,0.00450521553196,0.0798319804455,0.999999947327,0.000134891545306,-0.000291095789547,4.91208784691e-05,1793247845105462016
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.22873552,744.77126448,715,679.77126448,658,633,877.22873552,784,809,651.22873552,629,652,0.40096541076,0.00450464643002,0.0798324240114,0.999999947545,0.00013538808021,-0.000290099617906,4.92223556953e-05,1793247845122128896
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.823260113,744.176739887,715,679.176739887,658,633,877.823260113,784,809,651.823260113,629,652,0.400967374028,0.00450374609146,0.0798333423517,0.999999948501,0.00013400291721,-0.000287392578118,4.94652463932e-05,1793247845138795520
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.403565702,715,679,658,633,877.596434298,784.403565702,809,652,629,652,0.400967173026,0.00450488949202,0.0798336730637,0.9999999483,0.000135877586829,-0.000287221294455,4.94030892921e-05,1793247845155461888
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.977856041,715,679,658,633,877.022143959,784.977856041,809,652,629,652,0.40096605645,0.00450689747705,0.0798337551852,0.999999947603,0.000139131297752,-0.000288122738493,4.92118846025e-05,1793247845172128512
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.554660449,658,633.554660449,877.554660449,785,809,652,629,652,0.400967225555,0.00450766641425,0.0798343502607,0.999999947989,0.000139232505842,-0.000286775408722,4.89509170653e-05,1793247845188794880
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52a75c20d87997c9ed219eec024d7b419114df2e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_01/simulation_data.csv
@@ -0,0 +1,407 @@
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+2,0.033333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+3,0.050000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+4,0.066666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+6,0.100000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+7,0.116666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+10,0.166666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+12,0.200000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+15,0.250000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+16,0.266666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+17,0.283333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+18,0.300000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+21,0.350000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+22,0.366666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+24,0.400000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+385,6.416666667,pose2_to_pose3_retreat,0.583249668302,0.00992779967591,1.07004235246,0.553821459818,0.0186022582943,1.06966573998
+386,6.433333333,pose2_to_pose3_retreat,0.58324907366,0.0099277942149,1.07004236075,0.553820865077,0.0186022523881,1.06966574576
+387,6.450000000,pose2_to_pose3_retreat,0.583248532412,0.00992778924425,1.0700423683,0.553820323739,0.0186022470122,1.06966575102
+388,6.466666667,pose2_to_pose3_retreat,0.583248193111,0.00992778612821,1.07004237303,0.553819984382,0.0186022436421,1.06966575432
+389,6.483333333,pose2_to_pose3_retreat,0.583247814017,0.00992778264672,1.07004237831,0.553819605224,0.0186022398768,1.06966575801
+390,6.500000000,pose2_to_pose3_retreat,0.583247414858,0.00992777898097,1.07004238388,0.553819205999,0.0186022359122,1.06966576189
+391,6.516666667,pose2_to_pose3_retreat,0.583247191399,0.00992777692878,1.07004238699,0.553818982502,0.0186022336928,1.06966576406
+392,6.533333333,pose2_to_pose3_retreat,0.583247105575,0.00992777928119,1.07004241017,0.553818896723,0.018602236184,1.06966578701
+393,6.550000000,pose2_to_pose3_retreat,0.5832470391,0.00992778172437,1.07004243247,0.553818830293,0.0186022387749,1.06966580915
+394,6.566666667,pose2_to_pose3_retreat,0.583246985629,0.00992778368962,1.07004245041,0.553818776859,0.018602240859,1.06966582696
+395,6.583333333,pose2_to_pose3_retreat,0.583246894239,0.00992778704851,1.07004248107,0.553818685531,0.018602244421,1.0696658574
+396,6.600000000,pose2_to_pose3_retreat,0.583246828594,0.00992778946117,1.0700425031,0.553818619932,0.0186022469796,1.06966587927
+397,6.616666667,pose2_to_pose3_retreat,0.58324674269,0.00992779261844,1.07004253191,0.553818534086,0.0186022503278,1.06966590789
+398,6.633333333,pose2_to_pose3_retreat,0.583246471647,0.00992780258019,1.07004262285,0.553818263229,0.0186022608919,1.06966599817
+399,6.650000000,pose2_to_pose3_retreat,0.583246308589,0.0099278085731,1.07004267755,0.553818100283,0.0186022672472,1.06966605249
+400,6.666666667,pose2_to_pose3_retreat,0.583246086292,0.00992781674327,1.07004275213,0.553817878138,0.0186022759114,1.06966612654
+401,6.683333333,pose2_to_pose3_retreat,0.583245833845,0.00992781574031,1.07004260618,0.553817625763,0.0186022754254,1.06966598694
+402,6.700000000,pose2_to_pose3_retreat,0.583245686121,0.00992781383766,1.07004249126,0.553817478067,0.0186022738197,1.06966587663
+403,6.716666667,pose2_to_pose3_retreat,0.58324544573,0.00992782825177,1.07004233554,0.553817237436,0.0186022876262,1.06966572563
+404,6.733333333,pose2_to_pose3_retreat,0.58324538593,0.00992787131473,1.07004235874,0.553817176561,0.018602326862,1.06966574473
+405,6.750000000,pose2_to_pose3_retreat,0.583245386146,0.00992787289459,1.07004235874,0.553817176622,0.0186023279212,1.06966574481
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e10d65cb853967225f0c2525af9f54cb7192eb05
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:492c6ace2b93e627d41c692c8375805f7610e25e7a7fd9ad6885c51a470cefaa
+size 25709733
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2faef5a363d34da40505bb95720b08e7c0f744d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,407 @@
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+0,0.000000000,BASELINE,765,745,715,680,658,634,878,785,810,651,629,652,0.400967948132,0.00450780722354,0.0798345110233,0.999999948605,0.00013789544051,-0.000285347055076,4.84884408325e-05,1793247845316064256
+1,0.016666667,BASELINE,765,745,715,680,658,634,877.420800627,785,809.420800627,651.579199373,629,652,0.400967245084,0.00450752061977,0.0798341886042,0.999999948095,0.000138830022832,-0.000286667999299,4.85555737439e-05,1793247845332730880
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+4,0.066666667,BASELINE,765,745,715,680,658,633.312291887,877,784,809.312291887,651,629,652,0.400964009217,0.00450735110462,0.0798325738427,0.999999947828,0.000135500227872,-0.000289210005642,4.83787952668e-05,1793247845382730752
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+22,0.366666667,BASELINE,764.24126393,745,715,680,658,633.75873607,878,784,809,651.24126393,629,652,0.400967348718,0.00450931205637,0.0798357554566,0.999999949066,0.000137362096167,-0.000284095359638,4.78443804966e-05,1793247845682729984
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+27,0.450000000,BASELINE,765,745,715,679.337523744,658,634,877,785,809,652,629,652,0.400965271486,0.00450661704029,0.0798346035026,0.999999948473,0.000136421577526,-0.00028650203656,4.85818525885e-05,1793247845766063104
+28,0.466666667,BASELINE,765,745,715,679,658,634,877,785,809.24073229,652,629.24073229,652,0.40096555474,0.00450708372643,0.0798347375424,0.999999948632,0.000136288799285,-0.000286036391147,4.84165903815e-05,1793247845782729984
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+41,0.683333333,BASELINE,765,745,715,679.21592311,658,633.78407689,877,784,809.21592311,652,629,652,0.400969879338,0.00450683483938,0.0798370080703,0.999999950392,0.00013334511144,-0.000281332529361,4.78311962199e-05,1793247845999396864
+42,0.700000000,BASELINE,765,745,715,679.365999753,658,634,877,784,809,651.634000247,629,652,0.400969051291,0.00450732373873,0.0798364731194,0.999999949972,0.000134476216165,-0.000282289216692,4.78008206524e-05,1793247846016063744
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+47,0.783333333,BASELINE,765,745,715,679.734175292,658,633.734175292,877.265824708,784,809.734175292,652,629,652.734175292,0.400967082531,0.00450753374291,0.0798360250097,0.999999949239,0.000137928417485,-0.000283186656652,4.79843831884e-05,1793247846099396608
+48,0.800000000,BASELINE,765,745,715,679.158414354,658,633.158414354,877.841585646,784,809.158414354,652,629,652.158414354,0.400967801406,0.00450579358521,0.0798364625081,0.999999949819,0.00013436286789,-0.000282864031608,4.79182032215e-05,1793247846116063488
+49,0.816666667,BASELINE,765,745,715,679,658.425465395,633.425465395,878,784,809.425465395,652,629,652,0.400967883586,0.00450712702083,0.0798362411274,0.999999949507,0.000136751708539,-0.000282811120297,4.79878269396e-05,1793247846132729856
+50,0.833333333,BASELINE,765,745,715,679.012255847,658.987744153,634,878,784,809.987744153,651.987744153,629,652,0.40096769366,0.00450957002743,0.0798357574243,0.999999948848,0.000141280280731,-0.000282895295592,4.81053089095e-05,1793247846149396480
+51,0.850000000,BASELINE,765,745,715,679.591142233,658.408857767,634,878,784,809.408857767,651.408857767,629,652,0.400966096762,0.00450937364561,0.0798347083552,0.999999948517,0.000140242053891,-0.000284584235446,4.80522155687e-05,1793247846166063360
+52,0.866666667,BASELINE,765,745,715,680,658,634,878,784,809,651.169725922,629,652,0.400965424569,0.00450872852287,0.0798343342576,0.999999948621,0.000138562508437,-0.000285056945415,4.79759116748e-05,1793247846182729984
+53,0.883333333,BASELINE,765,745,715,680,658,634,878,784,809,651.747581699,629,652,0.400966975956,0.00450700433943,0.0798355832241,0.999999949764,0.000135340822219,-0.000282605059426,4.78437947444e-05,1793247846199396864
+54,0.900000000,BASELINE,765,745,715,679.675263252,658,633.675263252,877.675263252,784.324736748,809,652,629,652,0.400967146716,0.00450679008257,0.0798356563993,0.99999994981,0.000135346911157,-0.000282461253764,4.7717445335e-05,1793247846216063488
+55,0.916666667,BASELINE,765,745,715,679.098651736,658,633.098651736,877.098651736,784.901348264,809,652,629,652,0.400966246622,0.00450774696645,0.0798348175984,0.999999949007,0.000137856551589,-0.000284107658911,4.75955693801e-05,1793247846232730112
+56,0.933333333,BASELINE,764.513537643,745,715,679,658,633.486462357,877,784.513537643,809,652,629,652,0.400965851887,0.00450800420749,0.0798349155139,0.999999948954,0.000137988972836,-0.000284253599916,4.74390049295e-05,1793247846249396992
+57,0.950000000,BASELINE,764.072342632,745,715,679.072342632,658,634,877,784.072342632,809,652,629,652,0.400965779577,0.00450803080419,0.0798353062339,0.999999949108,0.000137681609679,-0.000283875354882,4.73593100919e-05,1793247846266063616
+58,0.966666667,BASELINE,764.651298334,745,715,679.651298334,658,634,877,784.651298334,809,652,629,652,0.400967234748,0.00450745348708,0.0798363934999,0.999999949609,0.000137730542238,-0.000281995060247,4.78680703089e-05,1793247846282730240
+59,0.983333333,BASELINE,764.771074733,745,715,680,658,634,877.228925267,784.771074733,809.228925267,652,629,652,0.400967893485,0.00450697824225,0.0798369427143,0.99999994996,0.000136915533105,-0.000281112357827,4.80724769225e-05,1793247846299396608
+60,1.000000000,BASELINE,764.19546003,745,715,680,658,634,877.80453997,784.19546003,809.80453997,652,629,652,0.400967346082,0.0045066575778,0.0798366770916,0.999999950084,0.000134792151762,-0.000281740430614,4.78159638528e-05,1793247846316063488
+61,1.016666667,BASELINE,764,745,715,680,658.379922097,634,878,784,809.620077903,652,629,652,0.400967614004,0.00450800763288,0.0798363140868,0.999999949819,0.000137116309041,-0.000281586393919,4.76531511395e-05,1793247846332730880
+62,1.033333333,BASELINE,764,745,715,680,658.955184609,634,878,784,809.044815391,652,629,652,0.400968301132,0.00451021670368,0.0798359010121,0.999999949338,0.000141727209033,-0.000281030228452,4.75385153346e-05,1793247846349398528
+63,1.050000000,BASELINE,764,745,715,680,658.456075504,634,877.456075504,784,809.543924496,651.456075504,629,652,0.400967582078,0.00450948919957,0.0798360815574,0.999999949605,0.000139793708879,-0.000281042772247,4.75695339551e-05,1793247846366064640
+64,1.066666667,BASELINE,764.13157386,744.86842614,715,679.86842614,658,634,877,784.13157386,810,651.13157386,629.13157386,652,0.400967087799,0.00450857718924,0.0798363929703,0.999999949917,0.000137521763361,-0.000281045909956,4.76020924706e-05,1793247846382731264
+65,1.083333333,BASELINE,764.71162493,744.28837507,715,679.28837507,658,634,877,784.71162493,810,651.71162493,629.71162493,652,0.400967764625,0.00450788194093,0.0798369795047,0.999999950183,0.000135980835348,-0.000280853212016,4.75979548705e-05,1793247846399397632
+66,1.100000000,BASELINE,765,744.288750186,715,679,658,633.711249814,877,784.711249814,809.711249814,652,629.711249814,652,0.400967562977,0.00450756560701,0.0798369264031,0.999999950166,0.000135151282097,-0.000281319876572,4.75630459828e-05,1793247846416064512
+67,1.116666667,BASELINE,765,744.862982703,715,679,658,633.137017297,877,784.137017297,809.137017297,652,629.137017297,652,0.400966492796,0.00450762389927,0.0798362409043,0.99999994987,0.000135025052906,-0.000282438441477,4.74977140538e-05,1793247846432731648
+68,1.133333333,BASELINE,765,745,715,679,658,633.439083454,877.439083454,784,809,652,629,652,0.400967112259,0.00450784368773,0.0798363041199,0.999999949849,0.000135653259981,-0.000282234380017,4.73699710775e-05,1793247846449398272
+69,1.150000000,BASELINE,765,745,715,679,658,634,878,784,809.01621211,651.98378789,629,652,0.400968239737,0.00450813567565,0.0798366103768,0.999999949912,0.000136545886204,-0.000281603320784,4.72341639615e-05,1793247846466064640
+70,1.166666667,BASELINE,765,745,715,679,658,634,878,784,809.609075946,651.390924054,629,652,0.400968602571,0.00450919555691,0.079837215571,0.999999949942,0.000138434059525,-0.000280527481911,4.75072121023e-05,1793247846482731008
+71,1.183333333,BASELINE,765,745,715,679.195750773,658,634,877.804249227,784,809.804249227,651,629,652,0.400968799929,0.00450951348625,0.0798375409287,0.999999950014,0.000139118451164,-0.000279912867312,4.76140193316e-05,1793247846499397632
+72,1.200000000,BASELINE,765,745,715,679.77044474,658,634,877.22955526,784,809.22955526,651,629,652,0.400968676953,0.00450839511173,0.0798373245662,0.999999950174,0.000137472508135,-0.000280191111323,4.73990099379e-05,1793247846516064256
+73,1.216666667,BASELINE,765,745,715,679.65468116,658,634,877,784,809.34531884,651,629,652,0.400968562059,0.00450748329588,0.0798373507972,0.999999950146,0.000136984576273,-0.000280476082524,4.77133981335e-05,1793247846532730880
+74,1.233333333,BASELINE,765,745,715,679.079687288,658,634,877,784,809.920312712,651,629,652,0.400968452542,0.00450670886434,0.0798375383796,0.999999949994,0.000137266849379,-0.000280765528029,4.8379894002e-05,1793247846549397760
+75,1.250000000,BASELINE,765,745,715,679.509494638,658,634,877,784,809.490505362,651.509494638,629,652,0.400967901764,0.0045065620387,0.0798371257455,0.999999950196,0.000134771966034,-0.000281353448169,4.78093167872e-05,1793247846566064384
+76,1.266666667,BASELINE,765,745,715,680,658,634,877.098590621,784,809,652,629,652,0.400967287712,0.00450655245794,0.079836630218,0.999999950331,0.000132588917508,-0.000282004052306,4.72408781052e-05,1793247846582731520
+77,1.283333333,BASELINE,765,745,715,680,658,634,877.676178934,784,809,652,629,652,0.400966711161,0.00450671910607,0.0798362011163,0.999999949907,0.000134091669707,-0.000282725900641,4.76497885364e-05,1793247846599398400
+78,1.300000000,BASELINE,764.74694724,745,715,679.74694724,658,634,878,784,809,652,629,652,0.400966138352,0.00450741554805,0.0798358548382,0.999999949508,0.000135651554355,-0.00028337563429,4.77552550393e-05,1793247846616065024
+79,1.316666667,BASELINE,764.170985184,745,715,679.170985184,658,634,878,784,809,652,629,652,0.400965570319,0.00450878803624,0.0798356142475,0.999999949141,0.000137284343052,-0.000283933345565,4.74735103017e-05,1793247846632731392
+80,1.333333333,BASELINE,764,745,715,679.413282639,658,634,877.586717361,784,809.413282639,652,629,652,0.400966607915,0.00450889703661,0.0798364932187,0.999999949587,0.000137368091569,-0.000282331318928,4.73820988497e-05,1793247846649397760
+81,1.350000000,BASELINE,764.001041915,745,715,679.998958085,658,634,877,784,810,652,629,652,0.400968318471,0.00450847405145,0.0798378410503,0.99999995037,0.000136800595818,-0.000279824416856,4.7371067715e-05,1793247846666064384
+82,1.366666667,BASELINE,764.58026957,745,715,679.41973043,658,634,877,784,810,652,629,652,0.40096728131,0.00450886757287,0.0798370636231,0.999999949852,0.000137773379076,-0.000281194887736,4.73709959092e-05,1793247846682730752
+83,1.383333333,BASELINE,765,745,715,679.158859514,658,634,877.158859514,784,809.841140486,652,629,652,0.400966718109,0.00450926972014,0.0798365943932,0.999999949487,0.000138743044584,-0.000282010500614,4.73889443845e-05,1793247846699397632
+84,1.400000000,BASELINE,765,745,715,679.735771398,658,634,877.735771398,784,809.264228602,652,629,652,0.400967402174,0.00450969456714,0.0798369362101,0.999999949532,0.00013970450568,-0.000281365957615,4.74543147681e-05,1793247846716064768
+85,1.416666667,BASELINE,765,745,715,679.689445696,658.310554304,634,878,784,809,651.689445696,629,652,0.400967580541,0.00450989105774,0.0798370258656,0.999999949595,0.000139563664136,-0.000281193801623,4.75539324891e-05,1793247846732731392
+86,1.433333333,BASELINE,765,745,715,679.116461886,658.883538114,634,878,784,809,651.116461886,629,652,0.400967331575,0.00450989457897,0.0798369024354,0.999999949674,0.000138491337334,-0.000281420829604,4.76824904325e-05,1793247846749398016
+87,1.450000000,BASELINE,765,745.470770655,715.470770655,679.470770655,658.529229345,634,877.529229345,784,809.470770655,651.470770655,629,652,0.400967106347,0.00450954267272,0.0798369696855,0.999999949607,0.000138920587974,-0.000281443606174,4.77174403652e-05,1793247846766064640
+88,1.466666667,BASELINE,765,745.939597939,715.939597939,679.939597939,658.060402061,634,877,784,809.939597939,652,629,652,0.400966804433,0.00450919142001,0.0798369078073,0.999999949471,0.000139530240239,-0.000281625262494,4.77201436843e-05,1793247846782731264
+89,1.483333333,BASELINE,765,745.360579598,715.360579598,679.360579598,658.639420402,634,877,784,809.360579598,652,629,652,0.400965792096,0.00450962429465,0.0798353195666,0.999999949068,0.00013839983014,-0.000283618456564,4.76510110929e-05,1793247846799397888
+90,1.500000000,BASELINE,765,745,715,679,658.781860229,634,877.218139771,784,809,651.781860229,629,652,0.400965569818,0.00450903224715,0.0798345326635,0.999999948969,0.000137101005132,-0.000284603955688,4.76052058331e-05,1793247846816064512
+91,1.516666667,BASELINE,765,745,715,679,658.203634434,634,877.796365566,784,809,651.203634434,629,652,0.4009666517,0.00450674834793,0.0798350685385,0.999999949377,0.000135524175657,-0.000283926040072,4.75979072963e-05,1793247846832730880
+92,1.533333333,BASELINE,765,745,715,679.369129066,658,634,878,784,809.369129066,651.369129066,629,652,0.400966636897,0.00450680064299,0.0798354387928,0.999999949373,0.000136282107363,-0.000283574532565,4.76185446595e-05,1793247846849397248
+93,1.550000000,BASELINE,765,745,715,679.938923219,658,634,878,784,809.938923219,651.938923219,629,652,0.400966025918,0.00450812293436,0.0798357190129,0.999999949142,0.000138309256379,-0.000283400466211,4.76543684712e-05,1793247846866064128
+94,1.566666667,BASELINE,765,745,715,680,658.530039393,634,878,784,809.469960607,652,629,652,0.400967866145,0.00450880488691,0.0798371293107,0.999999949879,0.000138533280555,-0.000280683163143,4.76229478113e-05,1793247846882730752
+95,1.583333333,BASELINE,765,745,715,680,658.879371923,634,878.120628077,784,809,651.879371923,629,652,0.40096940202,0.00450897052171,0.0798381753137,0.999999950511,0.000138131275707,-0.000278627237964,4.75814663527e-05,1793247846899397632
+96,1.600000000,BASELINE,765,745,715,680,658.300511312,634,878.699488688,784,809,651.300511312,629,652,0.400968663814,0.00450746685221,0.0798373220616,0.99999995033,0.000136173522339,-0.000280243611551,4.75324352866e-05,1793247846916064000
+97,1.616666667,BASELINE,765,745,715,680,658,634,878.447010892,784.276494554,809.276494554,651.276494554,629,652,0.400967663562,0.0045074257295,0.0798365782304,0.999999950077,0.000135153754269,-0.000281656715218,4.74201140388e-05,1793247846932730880
+98,1.633333333,BASELINE,765,745,715,680,658,634,877.297004064,784.851497968,809.851497968,651.851497968,629,652,0.400966380398,0.00450896360064,0.0798359525319,0.99999994975,0.00013514665336,-0.000282850364662,4.7239463492e-05,1793247846949397504
+99,1.650000000,BASELINE,765,745,715,679.563767975,658,634,877,784.563767975,809.563767975,651.563767975,629,652,0.400966471512,0.00450994685045,0.079835752645,0.999999949375,0.000138185215438,-0.000282700694742,4.72690972782e-05,1793247846966064128
+100,1.666666667,BASELINE,764.976041618,745,715,679.023958382,657.976041618,634,877,784,809,651,628.976041618,652,0.400967038186,0.00451068366638,0.0798357431669,0.999999949006,0.000142053353336,-0.000282076462869,4.73555714559e-05,1793247846982730752
+101,1.683333333,BASELINE,764.397476793,745,715,679.602523207,657.397476793,634,877,784,809,651,628.397476793,652,0.400967536657,0.00451018614036,0.0798367093404,0.999999949448,0.000140576842112,-0.000281293980023,4.70629206903e-05,1793247846999397888
+102,1.700000000,BASELINE,764,745,715,679.819247319,657.180752681,634,877,784,809,651.180752681,628.180752681,652,0.400968125413,0.00450942790156,0.0798375615087,0.999999949909,0.000138941946931,-0.000280465879563,4.70686100634e-05,1793247847016064512
+103,1.716666667,BASELINE,764,745,715,679.241753993,657.758246007,634,877,784,809,651.758246007,628.758246007,652,0.40096891234,0.00450809741483,0.0798381634428,0.999999950411,0.000136959409229,-0.000279537651448,4.77291371123e-05,1793247847032730624
+104,1.733333333,BASELINE,764.334619808,745,715,679,658,634,877,784,809,651.665380192,629,652,0.400967694882,0.00450806306915,0.0798373536795,0.999999950077,0.000136723980709,-0.000280833408758,4.77951802888e-05,1793247847049397248
+105,1.750000000,BASELINE,764.910187538,745,715,679,658,634,877,784,809,651.089812462,629,652,0.400965034139,0.00450896202878,0.0798355274028,0.999999949136,0.000137746583691,-0.000283730579448,4.74331566622e-05,1793247847066064640
+106,1.766666667,BASELINE,764.503063569,745,715,679.496936431,658,634,877.496936431,784,809,651.496936431,629,652,0.400965116113,0.00450866231964,0.079835667578,0.999999949112,0.000138202328196,-0.000283556251217,4.76670681625e-05,1793247847082731264
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877,784,809,652,629,652,0.400969073745,0.00450945060556,0.0798373226056,0.999999949615,0.00014024987886,-0.000280805539535,4.74179643189e-05,1793247847125755648
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.423868333,658,634,877.576131667,784.576131667,809,652,629,652,0.400968308052,0.00450971879738,0.0798366121298,0.999999949388,0.000140399166585,-0.000281529157956,4.74789682299e-05,1793247847142422272
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.84803386,744.84803386,715,679.15196614,658.15196614,634,878,785,809,652,629,652,0.400967845195,0.0045096593367,0.0798363659994,0.999999949406,0.000139766358474,-0.000281789452589,4.7412208706e-05,1793247847159088896
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.273026583,744.273026583,715,679.726973417,658.726973417,634,878,785,809,652,629,652,0.40096822537,0.00450868776179,0.0798374125072,0.999999950104,0.000136956363355,-0.000280759953348,4.69897831985e-05,1793247847175754752
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.310171306,744.620342613,715,680,658.689828694,634,877.689828694,785,809,652,629,652,0.400968208514,0.0045084999365,0.0798378291016,0.999999950368,0.000135884430471,-0.000280348362627,4.69439617539e-05,1793247847192421376
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.900774451,745.801548902,715,680,658.099225549,634,877.099225549,785,809,652,629,652,0.400967832695,0.00450902071437,0.0798376761792,0.999999950245,0.00013638391322,-0.000280495434936,4.72386353052e-05,1793247847209087744
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745.518656045,715,680,658,634,877.481343955,784.518656045,809.481343955,652,629,652,0.400967610279,0.00450832209493,0.0798376424456,0.999999950021,0.000136267286957,-0.000281342472244,4.72765850448e-05,1793247847225754624
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.940709786,658,634,878.059290214,784.059290214,809.940709786,651.940709786,629,652,0.400967470681,0.00450747379855,0.0798375817488,0.999999949818,0.000135918534278,-0.000282235807401,4.72660352875e-05,1793247847242421248
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.367934863,658,634,878.632065137,784.632065137,809.367934863,651.367934863,629,652,0.400967780068,0.00450746176381,0.0798370790925,0.99999994997,0.000134636926168,-0.000282305972475,4.72844256937e-05,1793247847259087872
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,679.21083988,658,634,878.78916012,785,809,651.21083988,629,652,0.400974216299,0.0045079461577,0.0798398353869,0.99999995134,0.000134389213809,-0.000277545717205,4.72090167065e-05,1793247847275754496
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,679.800391467,658,634,878.199608533,785,809,651.800391467,629,652,0.400991657599,0.00450932223931,0.0798484454258,0.999999954773,0.000135998590592,-0.000264109035307,4.69651247447e-05,1793247847292421120
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.615134994,809,652,629,652,0.401027796296,0.00451043994578,0.0798622121498,0.999999961183,0.000137331852962,-0.00023793021924,4.6502334325e-05,1793247847309088000
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.033260812,809,652,629,652,0.401073506034,0.00451142539232,0.0798786185385,0.999999968291,0.000138523774707,-0.000205228809899,4.59274915557e-05,1793247847325754624
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.457842663,784,809.542157337,652,629.542157337,652,0.401142573,0.00451013176533,0.079896754289,0.999999975603,0.000136271764282,-0.000167987684226,4.47602099025e-05,1793247847342420992
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.119524017,784.119524017,810,651.880475983,629.880475983,652,0.401213617253,0.00450938919459,0.079912988098,0.999999980766,0.000134137857813,-0.000136355712023,4.33724891618e-05,1793247847359087872
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.706033109,784.706033109,810,651.293966891,629.293966891,652,0.401286854187,0.00451133947141,0.0799213813133,0.999999982111,0.000133281160219,-0.000127714247723,4.12638363774e-05,1793247847375755520
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715.289144927,680,658,634,877.710855073,784.710855073,810,651.289144927,629,652,0.401373659614,0.0045127254897,0.0799280371748,0.999999983583,0.000132576400677,-0.000117311579553,3.86821327896e-05,1793247847392422656
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715.86884289,680,658,634,877.13115711,784.13115711,810,651.86884289,629,652,0.401474099608,0.00451354450143,0.0799329472213,0.999999985123,0.00013202431915,-0.000105139131121,3.56250748081e-05,1793247847409089024
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.553105391,745,715.553105391,680,658.446894609,634,877.446894609,784,809.553105391,652,629,652,0.401585541813,0.0045148502355,0.0799344697713,0.999999985579,0.000131154640969,-0.000102935986776,3.23356276471e-05,1793247847425755392
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.048688231,745,715.024344116,680,658.975655884,634,877.975655884,784,809,651.975655884,629,652,0.401701829396,0.00451629137895,0.0799353026392,0.999999985819,0.000130050937763,-0.00010302086482,2.89163690841e-05,1793247847442422016
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.198123818,745,715.599061909,680,658.400938091,634,877.400938091,784,809,651.400938091,629,652,0.401854928406,0.00451757624842,0.0799429371553,0.999999987848,0.000125755943416,-8.89285381445e-05,2.40985995078e-05,1793247847459088896
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.821978394,745,715.821978394,680,658,634,877,784,809.178021606,651.178021606,629,652,0.402014039208,0.0045194468209,0.0799499634782,0.999999989457,0.000121640973404,-7.69807094209e-05,1.90488083888e-05,1793247847475755776
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.233232015,745,715.233232015,680,658,634,877,784,809.766767985,651.766767985,629,652,0.40218702017,0.0045226687052,0.0799555865994,0.999999990506,0.000117941349432,-6.99805879407e-05,1.34637065436e-05,1793247847492422400
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.650139598,714.650139598,679.650139598,658,634,877.349860402,784,809.650139598,651.650139598,629,652,0.402382059975,0.00452646886694,0.079957963749,0.999999991333,0.000114008996537,-6.54954377088e-05,6.85445111492e-06,1793247847509089280
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.070756354,714.070756354,679.070756354,658,634,877.929243646,784,809.070756354,651.070756354,629,652,0.402591571306,0.00453064840283,0.0799582114081,0.999999991995,0.000109923963507,-6.2660211557e-05,-4.26691823333e-07,1793247847525755648
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.505275054,714.505275054,679.505275054,658,633.494724946,877.494724946,784,809,651,629,652,0.402816828542,0.00453256037077,0.0799537062022,0.999999992189,0.000100852401239,-7.34170582912e-05,-7.84035774856e-06,1793247847542422016
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.080786004,877.080786004,784,809.080786004,651.080786004,629,652,0.403051115212,0.00453447136583,0.0799491580346,0.999999992151,9.13936782936e-05,-8.43121093454e-05,-1.53981639021e-05,1793247847559088640
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.655965645,877.655965645,784,809.655965645,651.655965645,629,652,0.403327255137,0.0045383068784,0.0799483932507,0.999999992638,8.38108382964e-05,-8.44814766419e-05,-2.37252595565e-05,1793247847575755520
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.762958304,784,809.762958304,652,629,652,0.403623340584,0.00454238339851,0.0799502022812,0.999999992281,9.03616925184e-05,-8.0617212023e-05,-2.78189566434e-05,1793247847592422144
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.17310613,784,809.17310613,652,629,652,0.40394911273,0.00454681863156,0.0799558421512,0.999999990213,0.000117948995498,-7.07493301778e-05,-2.56117053626e-05,1793247847609089024
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.409071496,784,809.409071496,652,629,652,0.404308261803,0.00454947027579,0.0799572403798,0.999999988827,0.000131219648253,-6.750053586e-05,-2.38819007704e-05,1793247847625755648
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.988061289,784,809.988061289,652,629,652,0.404681274827,0.00455138106073,0.0799568767342,0.999999987908,0.000138543513928,-6.70011489028e-05,-2.2350415917e-05,1793247847642422272
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.562285935,634,878,784,810,652,629,652,0.405094211768,0.00452975160617,0.0799568888595,0.999999995925,6.19544284285e-05,-6.16108197203e-05,-2.27238768131e-05,1793247847659088896
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.862958429,878,784,809.862958429,652,629,652,0.405514385744,0.00451561809891,0.0799549353699,0.999999997814,8.62736672439e-06,-6.0952607202e-05,-2.41270898878e-05,1793247847675755264
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.286177138,878,784,809.286177138,652,629,652,0.405955084678,0.00452712796978,0.0799466492183,0.99999999608,3.56126422945e-05,-7.5809261553e-05,-2.87058826435e-05,1793247847692421888
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.29756547,878,784,809.29756547,652,629,652,0.406414052671,0.0045397443261,0.0799389494967,0.999999993578,6.31840045251e-05,-8.9305351644e-05,-2.95982344581e-05,1793247847709088256
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.888163418,878,784,809.888163418,652,629,652,0.406891011473,0.00455345031348,0.0799318272707,0.999999990321,9.13325284101e-05,-0.000101461605528,-2.68603036357e-05,1793247847725754880
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.469229339,680,659,634,877.530770661,784,810,652,628.530770661,652,0.407412798962,0.00455987114153,0.0799270330875,0.999999988693,9.54031470466e-05,-0.000112611837622,-2.88392392147e-05,1793247847742422272
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.952571459,680,659,634,877,784,810,651.952571459,628.047428541,652,0.407946828632,0.0045654580618,0.0799224023535,0.999999987234,9.5765683164e-05,-0.000123940125273,-3.16290635734e-05,1793247847759089408
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715.381439545,680,659,634,877,784,810,651.381439545,628.618560455,652,0.408500407276,0.00458062800184,0.0799135715749,0.999999982859,0.000117289134078,-0.00013982938355,-3.12062273571e-05,1793247847775755520
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.196471597,783.803528403,810,651,629,652,0.409083665275,0.00459257762019,0.0799159508997,0.99999998144,0.0001320145322,-0.000136725362273,-3.16090658191e-05,1793247847792421888
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.788014595,783.211985405,810,651,629,652,0.409726603441,0.00459805171132,0.0799408718608,0.999999986026,0.000133070186034,-9.54290432297e-05,-3.3672197482e-05,1793247847809088768
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,783.371704795,810,651.371704795,628.628295205,652,0.410411606383,0.00460369684739,0.0799712875343,0.99999998899,0.000136997323129,-4.50971533146e-05,-3.49023623798e-05,1793247847825755136
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,783.951009137,810,651.951009137,628.048990863,652,0.411120102756,0.00460943751299,0.0800047720396,0.999999989154,0.000142528202007,1.02811603933e-05,-3.56673097857e-05,1793247847842421760
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.525652244,715,680,659,634,878,784,810,651.474347756,628.525652244,652,0.411803300356,0.0046010365038,0.0799880972563,0.999999990097,0.000134192074103,-2.03837440077e-05,-3.71941177659e-05,1793247847859088384
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.899925951,715,680,659,634,878,784,810.100074049,651,628.899925951,652.100074049,0.41248838514,0.00459152345031,0.079964824234,0.999999989807,0.000123865060107,-5.92907247931e-05,-3.90869380052e-05,1793247847875754752
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.324510138,715,680,659,634,878,784,810.675489862,651,628.324510138,652.675489862,0.413193534761,0.0045829336715,0.0799322201523,0.999999988074,0.000110166386062,-9.95909442615e-05,-4.23839750339e-05,1793247847892421632
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.740665701,745,715,680,659,633.740665701,878,784,810.740665701,651.259334299,628.259334299,652.740665701,0.413926263573,0.00458039208957,0.0799172602714,0.999999987076,0.000105212659562,-0.000113101894359,-4.45566382267e-05,1793247847909088512
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.14591998,745,715,680,659,633.14591998,878,784,810.14591998,651.85408002,628.85408002,652.14591998,0.41469466218,0.0045856729747,0.079925120609,0.999999988522,0.000111569256686,-9.1964803291e-05,-4.52750869364e-05,1793247847925755904
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,745,715,680,659.435986162,633.435986162,878,783.564013838,810,651.564013838,629,652.435986162,0.415496247321,0.00459444695582,0.0799437236817,0.999999989657,0.000119638359386,-6.58245346123e-05,-4.51544760125e-05,1793247847942422528
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.013645002,745,715,680,659.986354998,633.986354998,878,783.013645002,810.013645002,651,629,652.986354998,0.416308647748,0.00460418642156,0.0799648252414,0.999999990006,0.000128142628796,-3.95092220388e-05,-4.47979386294e-05,1793247847959088896
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.588305442,745,715,680,659.411694558,633.411694558,878,783.588305442,810.588305442,651,629,652.411694558,0.417122112909,0.00460692922327,0.0799450528204,0.999999987623,0.00013164755307,-7.28750297098e-05,-4.59570848931e-05,1793247847975755520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,680.166022438,659,633.166022438,878,784,811,651,629.166022438,652.166022438,0.417957607513,0.00460832122821,0.0799395299205,0.999999986833,0.0001343529699,-7.77816500845e-05,-4.72575269305e-05,1793247847992422144
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,680.751461062,659,633.751461062,878,784,811,651,629.751461062,652.751461062,0.418848754214,0.00460630076633,0.0799700050461,0.999999989628,0.000135038621148,-1.07929035119e-05,-4.89149190273e-05,1793247848009088768
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.334974346,715,680.665025654,659.334974346,634,878,784,811,651,629.665025654,652.665025654,0.419726846891,0.00460262626585,0.0799815554371,0.999999990308,0.000129064534368,1.36410702921e-05,-5.04109709988e-05,1793247848025755648
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.917067237,715,680.082932763,659.917067237,634,878,784,811,651,629.082932763,652.082932763,0.420595309265,0.00459773154182,0.0799791445998,0.999999991654,0.000118177400684,6.68137291128e-06,-5.1787998558e-05,1793247848042422272
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.506208145,715,680,660,634,878,784,811,651,629,652,0.421483109561,0.00459876175019,0.0799727229208,0.999999991843,0.000116356430693,-4.36873423691e-06,-5.24901875428e-05,1793247848059089408
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784,811,651,629,652,0.422381227921,0.00460139402669,0.0799697065545,0.999999991625,0.000117739180908,-1.00345985809e-05,-5.27952914813e-05,1793247848075756288
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878,784,811,651,629,652,0.423331004246,0.00460851711237,0.0799962935758,0.999999989654,0.000131463126969,2.83869229211e-05,-5.10285524143e-05,1793247848092422912
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.222120425,715,680,660,634,878.222120425,784,811,651.222120425,629.222120425,652,0.424240394469,0.0046151986011,0.0799999633163,0.999999988306,0.000143213452562,2.12149695143e-05,-4.92809314285e-05,1793247848109089536
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.816106727,715,680,660,634,878.816106727,784,811,651.816106727,629.816106727,652,0.425082171916,0.00462114078551,0.0799652657895,0.999999985429,0.0001516596169,-6.22879031468e-05,-4.75653168247e-05,1793247848125755392
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.600188849,715,680.399811151,660,633.600188849,879,784,811,652,630,652,0.425981114772,0.00462177768885,0.0799331805201,0.9999999823,0.000148982013892,-0.000103501675612,-4.99259588659e-05,1793247848142422016
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.021095045,715,680.978904955,660,633.021095045,879,784,811,652,630,652,0.426905691596,0.00462003560648,0.079902266637,0.999999980644,0.000141316309287,-0.000125752234911,-5.41144693397e-05,1793247848159088896
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.446848827,660.553151173,633.553151173,879,784,811,651.446848827,630,652.553151173,0.427839935155,0.00461699198393,0.0799067403385,0.999999981984,0.000137445827463,-0.000119292625072,-5.39485281902e-05,1793247848175755776
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.130263841,661,633.869736159,879,783.869736159,811.130263841,651,630,652.869736159,0.428779018881,0.00461425729394,0.0799180535533,0.999999983995,0.000134241690486,-0.000105600639015,-5.3271315283e-05,1793247848192422656
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.718088809,661,633.281911191,879,783.281911191,811.718088809,651,630,652.281911191,0.429733820325,0.00461278058637,0.0799486918567,0.99999998738,0.000132874162065,-7.0316896151e-05,-5.13764605315e-05,1793247848209089536
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.698313285,633,878.698313285,783.301686715,812,651,630,652.301686715,0.430701748894,0.00461325974313,0.0799861006968,0.999999989508,0.000134670117808,-1.69555437923e-05,-5.0598476451e-05,1793247848225756160
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.118610811,633,878.118610811,783.881389189,812,651,630,652.881389189,0.431681774555,0.00461554130318,0.0800297488418,0.999999987586,0.000139381343972,5.3065010009e-05,-5.08497310466e-05,1793247848242422528
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.45818529,633,878.45818529,784,812,651,630,653,0.432557107198,0.00461954590307,0.0800100136661,0.999999988812,0.00013961563169,1.65300851681e-05,-5.10891206122e-05,1793247848259088896
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.965792402,633,879,783.965792402,812,651,630,652.965792402,0.433406693139,0.00462374127862,0.0799728135478,0.999999987918,0.000138710834472,-4.76761061874e-05,-5.14824559138e-05,1793247848275755520
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.390184816,633,879,783.390184816,812,651,630,652.390184816,0.434275024036,0.00462394102981,0.0799172499504,0.99999998227,0.000138004809977,-0.000116013509568,-5.43605817516e-05,1793247848292421888
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.189834321,633,879,783.189834321,812,651.189834321,630,652.189834321,0.435158898664,0.00462278166962,0.0798902830537,0.999999978611,0.000134970504588,-0.000146217565406,-5.64000639169e-05,1793247848309088512
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.779136784,633,879,783.779136784,812,651.779136784,630,652.779136784,0.436075482112,0.00461876233294,0.0799234921511,0.9999999857,0.000127036801162,-9.61776752374e-05,-5.6674790056e-05,1793247848325755392
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.638254497,633,879,784,812.361745503,652,630,653,0.436988795829,0.00461703557053,0.0799641901922,0.999999989786,0.000125379314188,-4.05109071995e-05,-5.53837261304e-05,1793247848342422272
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.059658419,633,879,784,812.940341581,652,630,653,0.437900149432,0.00461668310615,0.0800093775249,0.99999999029,0.000127484144155,1.85289245524e-05,-5.31540395719e-05,1793247848359089152
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.515942221,633,878.484057779,784,813,651.484057779,630,652.484057779,0.438766413391,0.00461886298587,0.080030574195,0.999999989111,0.000125482607236,5.45885868683e-05,-5.52441854e-05,1793247848375756032
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.09310948,715,681,661,633,878.09310948,784,813,651,630,652.09310948,0.439612140121,0.00462093848438,0.0800385160962,0.999999988238,0.000123423548205,7.08018009843e-05,-5.72586339584e-05,1793247848392422144
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.680419723,715,681,661,633,878.680419723,784,813,651,630,652.680419723,0.440376373908,0.00462091474008,0.0799907440468,0.999999990775,0.000123564846655,-4.3024403099e-06,-5.62353767264e-05,1793247848409088768
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.735880735,715,681.264119265,660.735880735,633,879,784,813,651.264119265,630,652.735880735,0.441103202607,0.00462003080792,0.0799237117441,0.999999985445,0.000118544921876,-0.000108526697955,-5.72594259915e-05,1793247848425755392
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.156491208,715,681.843508792,660.156491208,633,879,784,813,651.843508792,630,652.156491208,0.441785382058,0.00461812009854,0.0798336891298,0.999999961762,0.000107364217831,-0.00024751053115,-6.07272755721e-05,1793247848442422016
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,879,784,813.422281273,652,630,652.422281273,0.442557974807,0.00461469919633,0.0798350909345,0.999999965273,0.000104372075186,-0.000234331035375,-6.04026632858e-05,1793247848459088640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682.000818776,660.001637552,633,879.000818776,784,814,652,630,653,0.443363973406,0.00461072470893,0.0798703798248,0.999999979249,0.000104410374266,-0.000164794421609,-5.86767052622e-05,1793247848475755264
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,682.574673597,661.149347195,633,879.574673597,784,814,652,630,653,0.444134164729,0.00461042713795,0.0799448452661,0.999999990999,0.00010466519397,-6.03301963878e-05,-5.83743663845e-05,1793247848492422144
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682.84764171,661.695283421,633,879.84764171,784,814,651.84764171,630,653,0.444887409197,0.00460981803528,0.0800044695822,0.999999992649,0.000103754107212,2.35880501952e-05,-5.81406209749e-05,1793247848509089024
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682.258989653,660.517979305,633,879.258989653,784,814,651.258989653,630,653,0.445592124766,0.00460831682922,0.0800215948142,0.999999992177,9.95043292175e-05,4.86707780644e-05,-5.81033015719e-05,1793247848525755648
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.324433522,715,682,660,633,879,784,814,651,630,652.675566478,0.446255077688,0.00461001687624,0.0800219008933,0.999999991897,0.000101284667007,5.07336293806e-05,-5.8090069295e-05,1793247848542422272
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.903748742,715,682,660,633,879,784,814,651,630,652.096251258,0.446885220967,0.0046142318941,0.0800089934965,0.999999991899,0.000107802388995,3.47115871092e-05,-5.80957603737e-05,1793247848559089152
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,715,682,660.482181577,633,879.482181577,784,813.517818423,651,630.482181577,652.482181577,0.447461501402,0.00461697401222,0.0799809417912,0.999999992222,0.000109963268936,9.18898150155e-07,-5.88420766529e-05,1793247848575755776
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,715,682,660.940026383,633,880,784,813.059973617,651.059973617,630.940026383,653,0.448018314392,0.00461991261499,0.0799486711562,0.999999991179,0.000111654456031,-3.99916988497e-05,-5.97987269277e-05,1793247848592422400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,715,682,660.366218104,633,880,784,813.633781896,651.633781896,630.366218104,653,0.448500287112,0.00462704905669,0.0799061072911,0.999999985084,0.000116759133995,-0.000111549556195,-6.12931130321e-05,1793247848609089024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21306022,745.78693978,715,682.21306022,660,633,880,784,814,652,630,653,0.448981534241,0.0046332000485,0.0798694852174,0.999999976195,0.000121410610296,-0.00017034036359,-6.20735195836e-05,1793247848625755904
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.801988403,745.198011597,715,682.801988403,660,633,880,784,814,652,630,653,0.449461501273,0.0046376125684,0.0798433452979,0.999999968914,0.000125262575832,-0.000206608306156,-6.15943667972e-05,1793247848642422528
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,683,659.615596815,633,880,784,814,652,630,653,0.449947488081,0.00464017659906,0.0798464189844,0.999999970302,0.000128482665922,-0.00019781697369,-6.12836977594e-05,1793247848659088896
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,683,659.036481224,633,880,784,814,652,630,653,0.450436524142,0.00464180431169,0.0798642902867,0.999999975694,0.000131382691354,-0.000166201692403,-6.10583710173e-05,1793247848675755776
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765.886312195,745,714.886312195,683,658.886312195,632,880,783.113687805,814,652,630,653,0.451311050734,0.0046463381268,0.0799011446592,0.999999981794,0.00013602483322,-0.000118766536447,-6.16710259789e-05,1793247848709089024
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.315854192,745,714.315854192,683,658.315854192,632,880,783.684145808,814,652,630,653,0.451664846492,0.00464870722328,0.079891224358,0.999999977846,0.000143150856742,-0.00014155416051,-6.14610100063e-05,1793247848725755904
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.266051134,745,714.266051134,683.266051134,658.266051134,632,880,783.733948866,814,651.733948866,630.266051134,653,0.451991633856,0.00465178838336,0.0798686379743,0.999999970254,0.000151260972801,-0.000181266862125,-6.12680652381e-05,1793247848742422528
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.862157648,745,714.862157648,683.862157648,658.862157648,632,880,783.137842352,814,651.137842352,630.862157648,653,0.452284915365,0.00465575290891,0.0798303384138,0.999999955962,0.00016059192498,-0.000241976326048,-6.10962983935e-05,1793247848759088640
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,683.555639654,659,632,880,783,814,651,631,653,0.452563004704,0.00465717554291,0.0798032157813,0.9999999445,0.000166268950766,-0.00028202520091,-6.17695627764e-05,1793247848775755264
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,714.977743076,683.022256924,658.955486153,632,880,783,814,651.022256924,630.977743076,653,0.452836033729,0.00465746412853,0.0797802863266,0.999999934143,0.000169736776054,-0.000314583558889,-6.27725357493e-05,1793247848792422656
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,714.402923777,683.597076223,657.805847554,632,880,783,814,651.597076223,630.402923777,653,0.453096882308,0.00464858013104,0.0797779937566,0.99999993748,0.0001456439835,-0.00031546401825,-6.56506496781e-05,1793247848809089280
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.82395149,745,714.17604851,683.82395149,657,632,880,783,814,652,630.17604851,653,0.453346576913,0.00463789545304,0.0797767620746,0.999999941048,0.000115612537124,-0.000316237542956,-6.73111785398e-05,1793247848825755904
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.235244664,745,714.764755336,683.235244664,657,632,880,783,814,652,630.764755336,653,0.453570126531,0.00462298997498,0.0797780171176,0.999999945078,7.16608691165e-05,-0.000316760412306,-6.61176833961e-05,1793247848842422272
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,683,657,632,879.652184351,783.347815649,814,651.652184351,630.652184351,653,0.453773164232,0.00462103624787,0.0797772812969,0.999999944075,6.70148116507e-05,-0.000321234963334,-6.45580560167e-05,1793247848859088384
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,683,657,632,879.072881983,783.927118017,814,651.072881983,630.072881983,653,0.453962550367,0.00462770248315,0.0797752204681,0.999999940209,8.85283744685e-05,-0.000328339533744,-6.27547513317e-05,1793247848875755008
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.496540221,683,656.496540221,631.496540221,879.503459779,783.496540221,814,651.503459779,630,653,0.454113895286,0.00463231734678,0.0797661791691,0.999999934471,0.000107398056713,-0.000340501464662,-5.98553383359e-05,1793247848892421888
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+215,3.583333333,POSE1_TO_POSE2_PRESS,765.655591842,745,714.655591842,683,656,631,880,783,814.655591842,652,630,653,0.454370513174,0.00463533652558,0.0797455309099,0.999999921601,0.000121867438233,-0.00037210688094,-5.90076444114e-05,1793247848925755392
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+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,714.620138314,683.379861686,656,631.620138314,880.379861686,783,814,652,630,653,0.455014409238,0.0046467821058,0.0797352595054,0.999999913594,0.000135160120861,-0.000388308077117,-6.13275743638e-05,1793247849125755392
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.800796565,745.199203435,715,683.199203435,656,632,880.199203435,783.199203435,814,652,630,653,0.455022414279,0.0046458371394,0.0797344763022,0.999999913048,0.00013518789024,-0.000389793263104,-6.07419003792e-05,1793247849142422016
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.211951979,745.788048021,715,683.788048021,656,632,880.788048021,783.788048021,814,652,630,653,0.455026932641,0.00464355712132,0.0797335129592,0.999999913205,0.000131505961262,-0.000390738566466,-6.0161844006e-05,1793247849159088640
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.370969054,745.629030946,714.629030946,683.629030946,656,631.629030946,880.629030946,783.629030946,814,652,630,653,0.455029842555,0.00464341075893,0.0797325013262,0.999999912549,0.000130700512785,-0.000392665906071,-6.02679059752e-05,1793247849175755264
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.950558858,745.049441142,714.049441142,683.049441142,656,631.049441142,880.049441142,783.049441142,814,652,630,653,0.45503184793,0.00464446429413,0.0797314625364,0.999999911436,0.000131512702101,-0.000395145510405,-6.07598182681e-05,1793247849192421632
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.474502677,745,714,683,656,631,880,783,814,652,630,653,0.455032043801,0.00464460354241,0.0797299116267,0.999999910852,0.000131292461241,-0.000396766486268,-6.02825629052e-05,1793247849209088768
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.099981569,745,714,683.099981569,656,631,880,783,814,652,630,653,0.455032067651,0.00464457382699,0.0797283840085,0.999999910301,0.000130695723135,-0.000398417231344,-5.98402267405e-05,1793247849225755648
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.674368646,745,714,683.674368646,656,631,880,783,814,652,630,653,0.455032075992,0.00464414696946,0.0797271935244,0.999999909674,0.000128769390258,-0.000400589178264,-5.99924438117e-05,1793247849242422272
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.743275835,745,714.256724165,683.743275835,656,631.256724165,880,783,814,652,630.256724165,652.743275835,0.455032869606,0.00464470008775,0.0797269983824,0.999999909509,0.000128616902172,-0.00040104079658,-6.00483637064e-05,1793247849259088896
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.150489218,745,714.849510782,683.150489218,656,631.849510782,880,783,814,652,630.849510782,652.150489218,0.455034691176,0.00464653603448,0.0797281061838,0.999999909952,0.000130786449335,-0.000399240434562,-5.99782266727e-05,1793247849275755520
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.431166532,745,715,683,656,631.568833468,880,783,814,652,630.568833468,652.431166532,0.455035897246,0.00464471023962,0.0797287689721,0.999999910658,0.00012915719373,-0.000398096534724,-5.93432407025e-05,1793247849292422144
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.990979223,745.009020777,714.990979223,683,655.990979223,631.009020777,880,783,814,651.990979223,630,653,0.455036857079,0.00464170852906,0.0797292413534,0.999999911415,0.000126272479838,-0.000397237973408,-5.8541902513e-05,1793247849309088512
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.414022404,745.585977596,714.414022404,683,655.414022404,631.585977596,880,783,814,651.414022404,630,653,0.455035498988,0.00464311211264,0.0797272587404,0.999999910222,0.000125721199198,-0.000400281645163,-5.93670650013e-05,1793247849325755136
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.165595824,745.834404176,714,683.165595824,655.165595824,631.834404176,880.165595824,783,814,651.165595824,630,653,0.4550340976,0.0046439200784,0.0797255641279,0.999999909149,0.000125626290624,-0.000402909930831,-5.9868982515e-05,1793247849342422016
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.751976758,745.248023242,714,683.751976758,655.751976758,631.248023242,880.751976758,783,814,651.751976758,630,653,0.455032586192,0.00464321455722,0.0797246013353,0.999999908398,0.000126691040374,-0.000404482704918,-5.9549522548e-05,1793247849359088640
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714.333986376,684,656,631,880.666013624,783,814,652,630,653,0.455032946163,0.00464290518948,0.0797253326935,0.999999908651,0.000127013671498,-0.000403804376688,-5.92259998134e-05,1793247849375755264
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714.912791704,684,656,631,880.087208296,783,814,652,630,653,0.455034677896,0.00464288621047,0.0797273058996,0.999999909636,0.000126792314204,-0.000401475943628,-5.88994989995e-05,1793247849392422400
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714.509356467,684,656,631,879.509356467,783,814,652,630,653,0.455036430431,0.0046432714962,0.0797279988871,0.999999910219,0.000126894727077,-0.000400013890459,-5.87175888549e-05,1793247849409088768
+245,4.083333333,HOLD_POSE2,766,746,715,684,656,631,881,783,814,652,630,653,0.455036492668,0.0046438318118,0.0797266418215,0.999999909822,0.000126733892197,-0.00040102907206,-5.89070771848e-05,1793247849452857856
+246,4.100000000,HOLD_POSE2,765.409036689,745.409036689,714.409036689,684,655.409036689,631,880.409036689,783.590963311,814,652,630,653,0.455035170766,0.00464329869169,0.0797259055422,0.999999909065,0.000126054542632,-0.000403150133416,-5.87370970642e-05,1793247849469524224
+247,4.116666667,HOLD_POSE2,765.178333756,745,714,684,655.178333756,631,880,784,814,652,630.178333756,653,0.455034895694,0.00464298397797,0.0797257033016,0.999999908831,0.000125507173486,-0.000403918937735,-5.86202957005e-05,1793247849486190592
+248,4.133333333,HOLD_POSE2,765.757626258,745,714,684,655.757626258,631,880,784,814,652,630.757626258,653,0.455036974273,0.00464316032069,0.0797267017729,0.999999909777,0.000125256543902,-0.000401647379861,-5.86230593717e-05,1793247849502857472
+249,4.150000000,HOLD_POSE2,766,745.334353449,714.334353449,684,656,631.334353449,880,783.665646551,814,652,630.665646551,653,0.455037251143,0.00464289857374,0.0797267341463,0.999999909908,0.000124341792032,-0.000401603468387,-5.86265526324e-05,1793247849519524352
+250,4.166666667,HOLD_POSE2,766,745.909235165,714.909235165,684,656,631.909235165,880,783.090764835,814,652,630.090764835,653,0.455036231894,0.00464232167242,0.079726071525,0.999999909453,0.00012294928174,-0.000403162088519,-5.86305707476e-05,1793247849536191232
+251,4.183333333,HOLD_POSE2,766,745.515987963,715,684,656,631.515987963,880,783,814,652,630,653,0.455035523402,0.00464252820425,0.079725280813,0.999999908985,0.00012377980684,-0.000404084535481,-5.85153789603e-05,1793247849552857856
+252,4.200000000,HOLD_POSE2,766,745,714.939463282,683.939463282,656,631,880,783,814,652,630,653,0.455035166372,0.00464299135063,0.0797247228471,0.999999908617,0.000125172147636,-0.000404583439132,-5.84043289886e-05,1793247849569524480
+253,4.216666667,HOLD_POSE2,766,745,714.347420402,683.347420402,656,631,880,783,814,652,630,653,0.455037383599,0.00464441793524,0.0797264192184,0.999999909149,0.000127837828786,-0.00040241088223,-5.85258754241e-05,1793247849586190592
+254,4.233333333,HOLD_POSE2,766,745,714,683,656,631,880,783,814,651.760855448,630,653,0.455038396532,0.00464500845549,0.0797271400718,0.999999909335,0.000129673065099,-0.000401376737584,-5.84139362371e-05,1793247849602857216
+255,4.250000000,HOLD_POSE2,766,745,714,683,656,631,880,783,814,651.182070462,630,653,0.455037699089,0.00464441157134,0.0797264754645,0.999999909041,0.000130328877938,-0.000401959401164,-5.79703935925e-05,1793247849619524096
+256,4.266666667,HOLD_POSE2,766,745,714,683.393740023,655.606259977,631,880,783,814,651.393740023,630,653,0.455036887679,0.00464485816921,0.0797256050627,0.99999990851,0.000130990499793,-0.000403067012957,-5.79577363643e-05,1793247849636190720
+257,4.283333333,HOLD_POSE2,766,745,714,683.968185422,655.031814578,631,880,783,814,651.968185422,630,653,0.455036023963,0.00464578366884,0.0797246402124,0.999999907867,0.000131654787729,-0.000404415547641,-5.81428322008e-05,1793247849652857344
+258,4.300000000,HOLD_POSE2,766,745,714.555734286,683.444265714,655,631,880,783,814,652,630,653,0.455036997245,0.00464542149362,0.0797253467006,0.999999908305,0.00013002071921,-0.000403813000498,-5.847018124e-05,1793247849669524224
+259,4.316666667,HOLD_POSE2,766,745,715,683.141781082,655.141781082,631,880,783,814,651.858218918,630,653,0.455037957796,0.00464479338533,0.0797261290875,0.999999908834,0.000128442649278,-0.000402986716643,-5.86184118939e-05,1793247849686191360
+260,4.333333333,HOLD_POSE2,766,745,715,683.720826152,655.720826152,631,880,783,814,651.279173848,630,653,0.455038546918,0.00464357795616,0.0797268433404,0.999999909454,0.0001274528724,-0.00040182320619,-5.81885052032e-05,1793247849702857984
+261,4.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,683,656,631,880,783,814,651,630,653,0.455037032117,0.0046435505437,0.0797243747808,0.99999990838,0.000125803284792,-0.000404961208624,-5.84866524491e-05,1793247849739744768
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765.432192298,744.432192298,714.432192298,683,656,631,880,783,814,651,630,653,0.455037034276,0.00464387310654,0.0797249913724,0.999999908343,0.000128501151259,-0.00040428375899,-5.79264176531e-05,1793247849756411648
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765.142414093,744.142414093,714,683,656,631,880,783,814,651.142414093,630,653,0.455037023787,0.00464386684313,0.0797253224891,0.999999908382,0.000129566716638,-0.000403894987579,-5.76026756306e-05,1793247849773078528
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.738687352,744.738687352,714,683,656,631,880,783,814,651.738687352,630,653,0.455036972992,0.0046428126442,0.079724743826,0.999999908669,0.000125430305883,-0.000404426204006,-5.80326117773e-05,1793247849789745664
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.675014494,745,714.324985506,683,655.675014494,631.324985506,880,783,814,651.675014494,630,653,0.455037230582,0.00464286290113,0.0797243031996,0.99999990867,0.000124757013388,-0.000404606488397,-5.82193876755e-05,1793247849806412288
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.096498249,745,714.903501751,683,655.096498249,631.903501751,880,783,814,651.096498249,630,653,0.455037728754,0.00464377477658,0.0797239702598,0.999999908453,0.000126785401428,-0.000404513000367,-5.82164670955e-05,1793247849823078912
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.518710586,683.481289414,655.481289414,631.518710586,880,783,814,651.481289414,630,652.518710586,0.455038069086,0.0046437099936,0.0797244958073,0.999999908758,0.000126067688587,-0.000404002920262,-5.80752322565e-05,1793247849839745280
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.059710535,683.940289465,655.940289465,631,880,783,814,652,630,652,0.455038182817,0.00464332853343,0.0797250292997,0.999999909083,0.000124773226871,-0.000403623647808,-5.79124736929e-05,1793247849856411904
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.644991206,683.355008794,655.355008794,631,880,783,814,652,630,652,0.455036580133,0.00464188068233,0.0797241199637,0.99999990867,0.000123241204685,-0.000405129825826,-5.78039905719e-05,1793247849873078016
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.227779171,745,715,683,655.227779171,631,879.772220829,783,814,652,630,652.227779171,0.455033931035,0.00464169742529,0.0797228577734,0.999999907964,0.000122692556171,-0.00040702071471,-5.79041917938e-05,1793247849889744640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.806724093,745,715,683,655.806724093,631,879.193275907,783,814,652,630,652.806724093,0.45502966869,0.00464346378532,0.0797210515901,0.999999906806,0.000123659968956,-0.00040950470984,-5.83261203977e-05,1793247849906411264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,683.385619727,656,631,879.771239453,783,813.614380273,652,630,653,0.455010212224,0.00464362926098,0.0797122149032,0.999999900616,0.000124484074903,-0.000424119661763,-5.82582865312e-05,1793247849923077888
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,683.964490712,656,631,880.928981423,783,813.035509288,652,630,653,0.454983141306,0.00464299246217,0.0796998549171,0.999999891549,0.00012523636344,-0.00044481397771,-5.79450108461e-05,1793247849939744512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.462212365,745,715,684,656,631.537787635,880.462212365,783.537787635,813.537787635,652,630,653,0.454930216794,0.00464433658556,0.0796805685048,0.99999987524,0.000126365438831,-0.000479834039825,-5.75429569204e-05,1793247849956411904
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.113929078,745,714.886070922,684,656,632,880,783.886070922,814,652,630.113929078,653,0.454872362679,0.00464543692192,0.0796615548181,0.999999858301,0.000127458097385,-0.000513715470476,-5.69930189145e-05,1793247849973079296
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.70346611,745,714.29653389,684,656,632,880,783.29653389,814,652,630.70346611,653,0.454800982673,0.00464497912195,0.0796455692737,0.999999844985,0.000128295938309,-0.000538935315698,-5.58499446301e-05,1793247849989745920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.287937745,714.287937745,683.712062255,656,631.712062255,880,783,814,652,630.712062255,653,0.454726223272,0.00464427913729,0.0796357432826,0.999999836388,0.000130263919505,-0.000554365477522,-5.41752090179e-05,1793247850006412544
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.867282909,714.867282909,683.132717091,656,631.132717091,880,783,814,652,630.132717091,653,0.454648043758,0.00464333404962,0.0796321510689,0.999999833018,0.000133375659268,-0.000559887988133,-5.19624056057e-05,1793247850023078656
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.505199009,683.505199009,656.494800991,631,879.494800991,783,813,651.505199009,630,653,0.453465800583,0.00463408317666,0.0796273094971,0.999999827784,0.000156482977325,-0.000565198767027,-2.22544246723e-05,1793247850156412416
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.079751171,745,714.920248829,684,656.079751171,631.079751171,879.079751171,783,813,652,630,653,0.453248667601,0.00463251680469,0.0796333064963,0.999999833539,0.000162439781452,-0.000553411053185,-1.64998986898e-05,1793247850173079040
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.65103972,745,714.34896028,684,656.65103972,631.65103972,879.65103972,783,813,652,630,653,0.452996801748,0.0046293466957,0.0796368277283,0.999999835155,0.000165571992281,-0.000549712941443,-9.58085624959e-06,1793247850189745664
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.768880673,745,714.231119327,684,657,632,880,783,813.231119327,651.768880673,630,653,0.4527261295,0.00462606725428,0.0796406946222,0.999999836376,0.00016975545397,-0.000546283866918,-2.31842924332e-06,1793247850206412288
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.1750029,745,714.8249971,684,657,632,880,783,813.8249971,651.1750029,630,653,0.452425939274,0.00462261620791,0.0796451040574,0.999999836994,0.000175588929488,-0.000543277065933,5.48296417913e-06,1793247850223078912
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.592246774,683.592246774,657,632,880,783,813.592246774,651,630,653,0.452108728716,0.0046196294119,0.0796533467148,0.999999842409,0.00018156278047,-0.000531088679169,1.27422056211e-05,1793247850239745792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.014137207,683.014137207,657,632,880,783,813.014137207,651,630,653,0.451784407195,0.00461683657641,0.0796631908645,0.999999849563,0.000187595279109,-0.000515064292379,1.9774939698e-05,1793247850256412672
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.560985363,714.560985363,683.560985363,657,632,880,783.560985363,813,651.560985363,630,653,0.451427187635,0.00461433914492,0.0796756884279,0.999999859153,0.000187380685558,-0.000495930337585,2.52036870911e-05,1793247850273079040
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.860860723,715,684,657.139139277,632,880,783.860860723,813,652,630,653,0.451063505529,0.00461185528712,0.0796895407787,0.999999872676,0.000175563659584,-0.000472373966102,2.6242265108e-05,1793247850289745408
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.272682332,715,684,657.727317668,632,880,783.272682332,813,652,630,653,0.450681628553,0.00460939133796,0.079707550726,0.999999897348,0.000126807906646,-0.000434796852994,1.324236859e-05,1793247850306411776
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.68776762,683.68776762,658,632,879.68776762,783.31223238,812.68776762,652,630,653,0.45025995222,0.00460451516679,0.0797277329357,0.999999914805,0.000105327651085,-0.000398947628875,1.1721904222e-05,1793247850323078400
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.105673632,683.105673632,658,632,879.105673632,783.894326368,812.105673632,652,630,653,0.449803877368,0.00459755411834,0.0797497926281,0.999999927564,0.00010742152944,-0.000364591811044,2.0123080816e-05,1793247850339745024
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,879.470751724,783.529248276,812,651.529248276,630.470751724,652.529248276,0.449301850552,0.00459404774904,0.0797483754186,0.999999926261,0.000101469057332,-0.000369534601646,2.50165502995e-05,1793247850356411648
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.04573618,683,658.04573618,632.04573618,880,783,812,651,630.95426382,652.04573618,0.448784603804,0.00459109622332,0.0797403910312,0.999999921012,9.33325275836e-05,-0.000385276393922,2.87505932932e-05,1793247850373078528
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.618605519,683,658.618605519,632.618605519,880,783,812,651,630.381394481,652.618605519,0.44820941283,0.00458570785143,0.0797167339652,0.999999906038,8.05936640784e-05,-0.000425017478732,2.80889155075e-05,1793247850389745920
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.197031468,745,715,683,659,633,880,783.197031468,812,651.197031468,630,652.802968532,0.447641042909,0.00458060821239,0.0797023343296,0.99999989541,9.63874887317e-05,-0.000446202227419,2.81635445124e-05,1793247850406412800
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.786525468,745,715,683,659,633,880,783.786525468,812,651.786525468,630,652.213474532,0.447086259726,0.00457608369413,0.079706374362,0.999999892643,0.000169014931154,-0.000430425026529,2.97048064009e-05,1793247850423079424
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.628960031,745,715,683,659,633,879.628960031,784,812,651.628960031,630,652.371039969,0.446495652923,0.00457016653766,0.079738308193,0.999999910855,0.000173718343396,-0.000383530515699,3.18784157354e-05,1793247850439745792
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.047272521,745,715,683,659,633,879.047272521,784,812,651.047272521,630,652.952727479,0.445884708284,0.00456345875005,0.079786077946,0.999999938757,0.000139859788847,-0.000318970024238,3.44110224793e-05,1793247850456412160
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.52778366,715,683,659,633,879,784,812,651,630,652.47221634,0.445239538693,0.00455812717947,0.0798195320018,0.999999955119,0.000118446527671,-0.000272736514723,3.67034469057e-05,1793247850473079040
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.895758664,715,683,659.104241336,633,879,784,812,651.104241336,630.104241336,652,0.444580887885,0.0045530056992,0.0798442761342,0.999999965137,0.000102128578893,-0.000240353592856,3.90720347169e-05,1793247850489745408
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.310120011,715,683,659.689879989,633,879,784,812,651.689879989,630.689879989,652,0.443873960563,0.0045482922524,0.0798346449124,0.999999958722,0.000104257396095,-0.000264447536641,4.18904674447e-05,1793247850506412032
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.726282627,745,715,683.273717373,659.726282627,633,879,784,812,651.726282627,630.726282627,652,0.443137879049,0.00454466049811,0.0798194123365,0.999999951792,0.000106777806402,-0.000288436627342,4.26545256282e-05,1793247850523078656
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764.144472653,745,715,683.855527347,659.144472653,633,879,784,812,651.144472653,630.144472653,652,0.442368981878,0.00454224628179,0.0797978749505,0.999999944366,0.000109738988934,-0.000312307699909,4.11062077526e-05,1793247850539745280
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.432385473,745,714.567614527,683.567614527,659,633,879,784,811.567614527,651.432385473,630,652.432385473,0.441569211029,0.00455799895828,0.0797849130709,0.999999938373,0.000123284281359,-0.000326634058917,3.69602201899e-05,1793247850556412160
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,633,879,784,811.007631089,652,630,653,0.440758198784,0.00457935588699,0.079774053442,0.999999932171,0.000140144998773,-0.000339100909092,3.20543069415e-05,1793247850573079040
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,633,879,784,811.584618767,652,630,653,0.439869409302,0.0045710845644,0.0797086810713,0.999999888722,0.00014350182185,-0.000448079721438,3.4475401294e-05,1793247850589745664
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.165099653,714.165099653,683.165099653,659,633,879,784,812,651.834900347,630,652.834900347,0.439010595843,0.00456044211338,0.0796683452154,0.999999857855,0.000138773424347,-0.000513511652404,3.65824881498e-05,1793247850606411776
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.75455919,714.75455919,683.75455919,659,633,879,784,812,651.24544081,630,652.24544081,0.43822883058,0.00454370509046,0.0796923613616,0.999999883817,0.000113263379833,-0.000467013918974,3.78824741616e-05,1793247850623078144
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.66206424,715,683.66206424,659.33793576,633,879,784.33793576,811.66206424,651,630,652.33793576,0.437441276806,0.0045366006543,0.0797493537133,0.999999921327,0.000106389096204,-0.000380122443691,3.91732897984e-05,1793247850639744768
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.083027599,715,683.083027599,659.916972401,633,879,784.916972401,811.083027599,651,630,652.916972401,0.436649593241,0.00453636860539,0.0798298729979,0.999999957862,0.000112810530152,-0.000264411978326,4.04575623985e-05,1793247850656411392
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.507320563,633.492679437,879,784.507320563,811,651.492679437,630,652.507320563,0.435779761016,0.0045236586309,0.0798572878252,0.999999968536,0.000101356528679,-0.000225438272411,4.28183067215e-05,1793247850673078528
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.93241023,683,659,633.93241023,879,784,811.06758977,651.93241023,630,652.06758977,0.434892475077,0.00450952277377,0.0798693073725,0.999999973423,8.8252619594e-05,-0.000208158469078,4.51219658971e-05,1793247850689745664
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.359290433,683,659,633.359290433,879,784,811.640709567,651.359290433,630,652.640709567,0.43397248741,0.00450034436326,0.0798326656029,0.999999962289,8.5188184398e-05,-0.000257062548971,4.56509359754e-05,1793247850706412800
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.221307198,683,659,633,879,784,811.778692802,651,630,653,0.433036745747,0.00449340371,0.079788240676,0.999999941194,8.07446674445e-05,-0.000330020118188,4.66707528878e-05,1793247850723079424
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.814469681,683,659,633,879,784,811.185530319,651,630,653,0.43207453301,0.004490223086,0.0797307379573,0.999999897787,7.39839233282e-05,-0.000443393989154,4.85153235946e-05,1793247850739745280
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.60362178,745,715,683,659,633,879,784,811,651.39637822,629.60362178,652.60362178,0.431119473925,0.00447682236702,0.0797123697368,0.999999881635,6.3005644871e-05,-0.000479795509141,5.05644854737e-05,1793247850756411648
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764.026835414,745,715,683,659,633,879,784,811,651.973164586,629.026835414,652.026835414,0.430167670821,0.00445877005967,0.079711813251,0.999999881596,5.01077925069e-05,-0.000481163718826,5.27067653417e-05,1793247850773078272
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,745,715,683,659,633,879,784,811,651.452177588,629.547822412,652.547822412,0.429311704339,0.0044505314406,0.0797891192568,0.999999936609,4.25196728056e-05,-0.000349511804579,5.30696822841e-05,1793247850789745152
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764.125677159,745,715,682.874322841,659.125677159,633,878.874322841,784,811,651,629.874322841,652.874322841,0.428447293474,0.00444332684336,0.0798528646057,0.999999968823,3.6070484037e-05,-0.000241197851474,5.36370994947e-05,1793247850806412032
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764.715728197,745,715,682.284271803,659.715728197,633,878.284271803,784,811,651,629.284271803,652.284271803,0.427534401526,0.00443817352254,0.0798524650628,0.999999968383,3.28722739572e-05,-0.000243100625013,5.5280962366e-05,1793247850823078912
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.700024638,633,878,784,811,651.299975362,629,652,0.426592098292,0.00444410324314,0.0798253697108,0.999999956962,4.1017201426e-05,-0.000285172577932,5.54159602852e-05,1793247850839745792
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.121173155,633,878,784,811,651.878826845,629,652,0.425622452512,0.00446033646226,0.0797734562418,0.999999930289,5.97074289592e-05,-0.000364588346163,5.41482212766e-05,1793247850856412416
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,633.454819371,878,784,810.545180629,651.545180629,629.454819371,652,0.424647229981,0.00448064400642,0.0797430571194,0.999999910325,8.75264079872e-05,-0.000410760939779,5.44391890505e-05,1793247850873079296
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,634,878.030078146,784,810.030078146,651,629.969921854,652,0.423674355824,0.00450033183125,0.0797203288698,0.999999892873,0.000115256620833,-0.000444905509864,5.50417258045e-05,1793247850889745920
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,634,878.605756512,784,810.605756512,651,629.394243488,652,0.422770863656,0.00448921123222,0.079733422697,0.999999905377,9.75355790737e-05,-0.000420519769626,5.38102174414e-05,1793247850906412288
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.813773902,745,715,682,659,633.813773902,878.813773902,784,811,651,629,652,0.421904184914,0.00447844376216,0.0797648700341,0.999999928337,8.19372421113e-05,-0.000365773571883,5.31275631588e-05,1793247850923078912
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.222893266,745,715,682,659,633.222893266,878.222893266,784,811,651,629,652,0.421117498657,0.00446844361121,0.0798361980949,0.999999966018,7.09513702625e-05,-0.00024505650015,5.36375246042e-05,1793247850939745280
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.359543646,745,715,682,659,633,878,784,811,651,629,652,0.420279935236,0.00446399757165,0.0798637768055,0.999999976508,6.59592603505e-05,-0.000199325895424,5.38729643734e-05,1793247850956411648
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.936866083,745,715,682,659,633,878,784,811,651,629,652,0.419411555111,0.00446291570744,0.0798648561405,0.999999976655,6.45976265328e-05,-0.000199015270556,5.39421242158e-05,1793247850973078272
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+339,5.650000000,POSE2_TO_POSE3_RETREAT,764.259966404,745,714.740033596,680.259966404,658,634,878,784,810.259966404,652,629,652.740033596,0.415945362771,0.0044794260167,0.0798009544696,0.999999938782,9.18001106414e-05,-0.000333069901668,5.54353449737e-05,1793247851039745024
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.998258589,680.001741411,658,634,877.001741411,784,811,652,629,652,0.413616721886,0.00446639465573,0.0797863103412,0.99999993929,6.74239037571e-05,-0.000337885614964,5.20364534173e-05,1793247851089744640
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.572182902,634,877.572182902,784.572182902,810.427817098,651.427817098,629,652,0.412905480004,0.0044687899975,0.0798043977551,0.999999949361,6.53683585152e-05,-0.000306957278009,5.27396488558e-05,1793247851106411264
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.850147624,745,715,680,658.850147624,633.850147624,877.850147624,784.700295248,810,651.149852376,629,652,0.412187732009,0.00447131821964,0.0798138735,0.999999953085,7.07318706472e-05,-0.000293161131912,5.37020109692e-05,1793247851123078144
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764.261471095,745,715,680,658.261471095,633.261471095,877.261471095,783.52294219,810,651.738528905,629,652,0.411450770721,0.00447415088976,0.0797980424347,0.999999939381,9.7692198016e-05,-0.000329583552977,5.53981923335e-05,1793247851139745280
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764.321913852,745,715,680,658,633.321913852,877.643827703,783.321913852,810,651.678086148,629,652,0.410753463971,0.00447698357076,0.0797884712079,0.999999932035,0.000103930194708,-0.000349344797534,5.55636739141e-05,1793247851156412416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764.901070239,745,715,680,658,633.901070239,878.802140479,783.901070239,810,651.098929761,629,652,0.41008784535,0.00447981626028,0.079783902242,0.999999930839,9.36088996516e-05,-0.000355792033178,5.45059676568e-05,1793247851173079296
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.478636926,634,878.042726147,784,810,651.478636926,629,652,0.409494997075,0.00447915638205,0.0798066643825,0.999999944739,9.40949851264e-05,-0.000313975292484,5.55696672065e-05,1793247851189745664
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.94436436,634,877.05563564,784,809.94436436,651.94436436,629,652,0.408916380067,0.00447799803901,0.0798324824375,0.999999957936,9.61964529655e-05,-0.000267657255967,5.68710146155e-05,1793247851206412288
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.369609505,634,877.630390495,784,809.369609505,651.369609505,629,652,0.408330672707,0.00447890202707,0.079834278913,0.999999957105,9.25968005096e-05,-0.000272111198844,5.63120528796e-05,1793247851223078912
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.210182221,651.210182221,629,652,0.407744675446,0.00447935033809,0.0798216664212,0.999999949181,9.22535175856e-05,-0.000299968024079,5.60880759527e-05,1793247851239745536
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.799048792,651.799048792,629,652,0.407158155934,0.00447897765779,0.0797830933585,0.999999925179,9.77772208907e-05,-0.000369989714356,5.64676395049e-05,1793247851256412160
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.618699464,877.618699464,784,809.618699464,651.618699464,629,652,0.406637533051,0.00447702282655,0.0797673756549,0.999999917311,9.5259460089e-05,-0.00039143777501,5.55027486145e-05,1793247851273079040
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.039874336,877.039874336,784,809.039874336,651.039874336,629,652,0.406151046455,0.00447424839581,0.079763497678,0.999999919463,8.85759913729e-05,-0.000387723312197,5.38413919684e-05,1793247851289745920
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633,877.537646855,784,809.537646855,651,629,652,0.40573466776,0.00447820175553,0.079783752483,0.999999934603,9.35573791588e-05,-0.000345295790305,5.30263388795e-05,1793247851306412544
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.116541997,877.883458003,784,809.883458003,651,629,652,0.405325037558,0.00448274475305,0.0798044544993,0.99999994669,0.000100127413195,-0.000306308436839,5.26349141466e-05,1793247851323079168
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.701345415,877.298654585,784,809.298654585,651,629,652,0.404921681487,0.00448765692815,0.0798197794621,0.999999949728,0.000109612965915,-0.000292651750939,5.36940323921e-05,1793247851339745280
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.715378179,877,784,809,651.284621821,629,652,0.404533615621,0.0044900190925,0.0798287023056,0.999999950774,0.000114934809867,-0.000286802456765,5.46543017701e-05,1793247851356411648
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.133695556,877,784,809,651.866304444,629,652,0.404161508222,0.00448971980131,0.0798309432338,0.999999949952,0.000115910975696,-0.000289101765847,5.55114021829e-05,1793247851373078272
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764.556360296,745,715,680,658,633.443639704,877.443639704,784,809,651.556360296,629,652,0.403818651702,0.00448831230858,0.0798302173494,0.999999947638,0.000119032761082,-0.000295508413802,5.68380160171e-05,1793247851389744896
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764.019656729,745,715,680,658,634,878,784.019656729,809,651.019656729,629,652,0.403486511294,0.00448656724198,0.0798287842303,0.999999945043,0.0001221065452,-0.000302697661621,5.81221865804e-05,1793247851406411264
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764.595085183,745,715,680,658,634,878,784.595085183,809,651.595085183,629,652,0.403210539345,0.00448462859967,0.079832388656,0.99999994873,0.000105718529572,-0.00029735653717,5.42445940163e-05,1793247851423077888
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.825996819,715,679.825996819,658,633.825996819,878,784.825996819,809.174003181,651.825996819,629,652,0.402943751191,0.0044825271172,0.0798360068308,0.999999951438,9.33355224521e-05,-0.000292715230798,5.22455273412e-05,1793247851439744512
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,744.238792361,715,679.238792361,658,633.238792361,878,784.238792361,809.761207639,651.238792361,629,652,0.40269877162,0.00448003894228,0.0798396576549,0.999999952438,9.04631175646e-05,-0.000289735766957,5.47073526522e-05,1793247851456411136
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.344016042,715,679.344016042,658.344016042,633.344016042,877.655983958,784.344016042,809.655983958,651.344016042,628.655983958,652,0.402475056914,0.00447931499703,0.0798379287966,0.999999952047,8.64557468316e-05,-0.000292176632711,5.53541838525e-05,1793247851473077760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.923811565,715,679.923811565,658.923811565,633.923811565,877.076188435,784.923811565,809.076188435,651.923811565,628.076188435,652,0.402265916558,0.0044798002078,0.0798325128469,0.999999950665,8.16705002874e-05,-0.000298332448434,5.47570664275e-05,1793247851489744384
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715.498683326,680,658.501316674,634,877.498683326,784.501316674,809,652,628.498683326,652,0.402094098648,0.00448076209355,0.0798338943851,0.999999952146,7.96285267931e-05,-0.000293834398013,5.50245261522e-05,1793247851506411008
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715.927036127,680,658,634,877.927036127,784,809.072963873,652,629,651.927036127,0.401931685736,0.00448235031322,0.0798368258457,0.999999954017,7.94732883941e-05,-0.000287343190814,5.55322705365e-05,1793247851523077632
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715.351697185,680,658,634,877.351697185,784,809.648302815,652,629,651.351697185,0.401795152054,0.00448775448038,0.0798433483909,0.999999955682,8.94512051168e-05,-0.000278226069959,5.67938592498e-05,1793247851539744256
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.769203015,658,634,877.230796985,784,810,652,629,651.230796985,0.401663638668,0.00449723670017,0.079845868478,0.999999953299,0.000121152504649,-0.000274754042549,5.68673598474e-05,1793247851556410880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.175456625,658,634,877.824543375,784,810,652,629,651.824543375,0.401540020165,0.004513132031,0.0798420943326,0.999999941751,0.000187015813016,-0.000280159441554,5.50724827961e-05,1793247851573077504
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.404377665,658,633.595622335,877.595622335,784,810,652,629,652,0.401433780726,0.00451710752944,0.0798375021282,0.999999939465,0.000187931215737,-0.000288389020748,5.08262612355e-05,1793247851589744640
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.978376345,658,633.021623655,877.021623655,784,810,652,629,652,0.401334831145,0.00451608311218,0.0798325667792,0.999999941561,0.000161603446446,-0.00029780323587,4.55517941778e-05,1793247851606411520
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.44425358,633.55574642,877,784,810,652,629,652,0.401259748366,0.00451199307312,0.079828547854,0.999999941328,0.000152972123043,-0.00030300930369,4.61481411732e-05,1793247851623078656
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.135721727,634,877.135721727,784,809.864278273,652,629,652,0.401191205563,0.00450964156213,0.0798253780713,0.999999940905,0.000147915747481,-0.000306769156249,4.69471268165e-05,1793247851639745280
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.723942798,634,877.723942798,784,809.276057202,652,629,652,0.401141352201,0.00451348645698,0.0798249197421,0.999999940345,0.000152468662755,-0.000306256523453,4.76554792174e-05,1793247851656411392
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.691383651,784,809,651.691383651,629,652,0.401097953009,0.00451311768585,0.0798250020941,0.999999940816,0.000150784997537,-0.000305468312175,4.8175930978e-05,1793247851673077760
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.109847227,784,809,651.109847227,629,652,0.401060261457,0.0045090226251,0.0798255625889,0.999999942173,0.000143586109752,-0.000304436397281,4.85302158053e-05,1793247851689744384
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.465152505,634,877,784,809,651,629,652,0.401032775386,0.00450958276844,0.0798250180684,0.999999941571,0.000144238745811,-0.000306036964648,4.89283411663e-05,1793247851706411264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.961222774,634,877.038777226,784,809,651.038777226,629,652,0.401008579137,0.00451119386607,0.0798243533197,0.999999940633,0.000146608006009,-0.000307916844918,4.92637350564e-05,1793247851723078144
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.385558705,634,877.614441295,784,809,651.614441295,629,652,0.400997026004,0.00451234596078,0.0798255868945,0.999999941386,0.000147428757686,-0.000305175944823,4.85892297207e-05,1793247851739745024
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.80401174,658,634,877.80401174,784,809,651.80401174,629,652,0.400986630186,0.00451244638141,0.0798266020627,0.999999942231,0.000146513405944,-0.000302899815916,4.82009665028e-05,1793247851756411904
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.210533522,658,634,877.210533522,784,809,651.210533522,629,652,0.400978581555,0.00451041386869,0.0798271742737,0.999999943265,0.000142077008186,-0.000301566304249,4.83932399708e-05,1793247851773078272
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.626728083,745,715,679.373271917,658,634,877.373271917,784.373271917,809,651.373271917,629,652,0.400974035613,0.0045097889154,0.0798286433,0.999999944093,0.000141067028805,-0.000299282797402,4.84235189483e-05,1793247851789745152
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.048240517,745,715,679.951759483,658,634,877.951759483,784.951759483,809,651.951759483,629,652,0.400971415364,0.00450993780345,0.0798306053732,0.999999944808,0.000141940809469,-0.000296477006798,4.83647373637e-05,1793247851806412032
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.526360218,745,715,680,657.473639782,634,878,784.473639782,809,651.473639782,629,652,0.400972246924,0.00451031107549,0.0798321680742,0.999999945628,0.000142427400654,-0.000293472000534,4.83002986164e-05,1793247851823078400
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.10312823,634,877.89687177,784,809,651.10312823,629,652,0.400972679987,0.00451050414456,0.0798331466716,0.999999946207,0.000142774953366,-0.000291330142105,4.82589444463e-05,1793247851839745024
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,657.691763926,634,877.308236074,784,809,651.691763926,629,652,0.40096975858,0.00450975274878,0.0798315464764,0.999999945637,0.000142633774874,-0.000293337140057,4.83286909408e-05,1793247851856411904
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.724318228,658,634,877,784,809.275681772,652,629,652,0.40096836529,0.00450975614407,0.0798310943322,0.999999945404,0.000143001464811,-0.000293945433526,4.8355675578e-05,1793247851873078528
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.145586521,658,634,877,784,809.854413479,652,629,652,0.40096865182,0.00451058926183,0.0798319042109,0.999999945545,0.000143928540803,-0.000293016167107,4.83356532056e-05,1793247851889745408
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.432317783,658.432317783,634,877,784,809.567682217,652,629,652,0.40096873543,0.00451013016274,0.0798326809758,0.999999945934,0.000143061700299,-0.000292123997685,4.82536060021e-05,1793247851906412032
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.990127712,634,877,784,809,652,629,652,0.400968795067,0.00450925138892,0.0798334639897,0.999999946413,0.000141617381832,-0.00029120511546,4.81491937865e-05,1793247851923078656
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.416664278,634,877,784,809,652,629,652,0.400971379856,0.00450920944041,0.0798352391576,0.999999947335,0.000141627892582,-0.000288049419977,4.79581472209e-05,1793247851939745280
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.838399102,745,715,680,658,634,877.161600898,784,809,652,629,652,0.400972699646,0.00450903595002,0.0798361648752,0.999999947937,0.000141272163449,-0.000286149794566,4.7806874935e-05,1793247851956411648
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.247374236,745,715,680,658,634,877.752625764,784,809,652,629,652,0.400970657938,0.00450851291186,0.0798348333389,0.999999947714,0.000139943220763,-0.000287587939143,4.77612953234e-05,1793247851973078016
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.33511157,745,715,680,658,634,877.66488843,784,809,652,629,652,0.400969551683,0.00450860143362,0.0798346830427,0.999999947596,0.000140149809238,-0.000287888419128,4.78132939223e-05,1793247851989744640
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.911450574,745,715,680,658,634,877.088549426,784,809,652,629,652,0.400969118806,0.00450913018203,0.0798353830532,0.999999947555,0.000141461737831,-0.000287369960119,4.79355334325e-05,1793247852006411520
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.4892288,784,809,652,629,652,0.400969832308,0.00451085882049,0.079835635781,0.999999947487,0.000142917944268,-0.00028694852967,4.75402976684e-05,1793247852023078144
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745.066825,715,680,658,634,878,784,809,652,629,652,0.400970664661,0.00451241934229,0.0798358916438,0.999999947483,0.000144052613161,-0.000286461406353,4.71363328218e-05,1793247852039745280
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27cc1da1b445c410fc698cefedcf6ff9c4b0c325
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,407 @@
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+375,6.250000000,pose2_to_pose3_retreat,0.5834448359,0.00992796383227,1.07004224582,0.554016624665,0.0186024129466,1.06966562925
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+377,6.283333333,pose2_to_pose3_retreat,0.583358901018,0.00992793353955,1.07004232542,0.553930691238,0.0186023878254,1.06966571428
+378,6.300000000,pose2_to_pose3_retreat,0.58332804012,0.00992796800272,1.07004279331,0.553899831197,0.018602424715,1.06966617106
+379,6.316666667,pose2_to_pose3_retreat,0.583303788199,0.00992789494041,1.07004247759,0.553875579653,0.0186023533912,1.06966586594
+380,6.333333333,pose2_to_pose3_retreat,0.583285271811,0.00992792277763,1.07004232975,0.553857062185,0.0186023777524,1.06966572245
+381,6.350000000,pose2_to_pose3_retreat,0.58327192437,0.009927925094,1.07004242385,0.553843713253,0.0186023745929,1.06966580693
+382,6.366666667,pose2_to_pose3_retreat,0.583262524827,0.00992793617577,1.07004252749,0.553834313321,0.0186023839903,1.0696659022
+383,6.383333333,pose2_to_pose3_retreat,0.583256690066,0.00992805479908,1.07004251282,0.553828479815,0.0186025071377,1.06966589368
+384,6.400000000,pose2_to_pose3_retreat,0.583252932105,0.00992797113017,1.07004248045,0.5538247218,0.0186024235361,1.06966586718
+385,6.416666667,pose2_to_pose3_retreat,0.583250830922,0.00992790621887,1.07004245975,0.553822620488,0.0186023583401,1.06966584998
+386,6.433333333,pose2_to_pose3_retreat,0.583249568632,0.0099279124088,1.07004246466,0.55382135807,0.0186023640432,1.06966585368
+387,6.450000000,pose2_to_pose3_retreat,0.583248767722,0.00992792371453,1.0700424706,0.553820557071,0.0186023749884,1.06966585832
+388,6.466666667,pose2_to_pose3_retreat,0.583248377383,0.0099279292246,1.0700424735,0.553820166688,0.0186023803228,1.06966586059
+389,6.483333333,pose2_to_pose3_retreat,0.583247881398,0.00992793622597,1.07004247718,0.553819670648,0.0186023871009,1.06966586346
+390,6.500000000,pose2_to_pose3_retreat,0.583247360104,0.00992794064148,1.0700424836,0.553819149299,0.0186023912611,1.06966586833
+391,6.516666667,pose2_to_pose3_retreat,0.583247175525,0.00992793848195,1.07004248911,0.553818964704,0.0186023889851,1.0696658724
+392,6.533333333,pose2_to_pose3_retreat,0.583246682067,0.0099279327086,1.07004250384,0.553818471203,0.0186023829004,1.06966588328
+393,6.550000000,pose2_to_pose3_retreat,0.583246453674,0.00992793003646,1.07004251066,0.55381824279,0.0186023800841,1.06966588832
+394,6.566666667,pose2_to_pose3_retreat,0.583246360745,0.00992792894921,1.07004251343,0.553818149853,0.0186023789382,1.06966589037
+395,6.583333333,pose2_to_pose3_retreat,0.583246323888,0.00992792851799,1.07004251453,0.553818112993,0.0186023784837,1.06966589118
+396,6.600000000,pose2_to_pose3_retreat,0.583246147703,0.00992792645666,1.07004251979,0.553817936793,0.0186023763112,1.06966589507
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+400,6.666666667,pose2_to_pose3_retreat,0.583245671752,0.00992799592583,1.07004229627,0.553817460231,0.0186024441117,1.0696656809
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+402,6.700000000,pose2_to_pose3_retreat,0.583245490273,0.00992795059854,1.07004229188,0.553817279774,0.01860240233,1.06966567832
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f0c5585f06a932ae6aff0958b443ffc70c080cef
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15746f9cbea86585f53223aa7d2fa605a45eeb93cad7cd428b3ae3f3a77ece54
+size 25833469
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ca7063e68623a6f5a682558fd42c59aa9fb2017
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,409 @@
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+24,0.400000000,BASELINE,764.911041882,745,715,679.088958118,658,634,877,784,810,651.088958118,629,652,0.400969432544,0.00451138015115,0.0798385292807,0.999999948882,0.000142482347479,-0.000282395543863,4.67677236246e-05,1793247852696190976
+25,0.416666667,BASELINE,765,745,715,679.501569851,658,634,877.501569851,784,810,651,629,652,0.400971815741,0.00451153596101,0.0798398679681,0.999999949533,0.000142246214882,-0.000280213090619,4.66988812809e-05,1793247852712857856
+26,0.433333333,BASELINE,765,745,715,680,658,634,878,784.091307062,809.908692938,651.091307062,629,652,0.400973856729,0.00451171636375,0.0798410444455,0.999999950121,0.000142087661406,-0.000278196711008,4.66479144835e-05,1793247852729524480
+27,0.450000000,BASELINE,765,745,715,680,658,634,878,784.663490351,809.336509649,651.663490351,629,652,0.400971500438,0.00451226209667,0.0798399709147,0.9999999495,0.000143138667333,-0.000279901336125,4.65556435135e-05,1793247852746191360
+28,0.466666667,BASELINE,765,745,715.237403509,680,658,634,878,784.762596491,809,652,629,652,0.400970673326,0.00451203631462,0.0798393684954,0.999999949255,0.000143459947227,-0.000280603170483,4.65934364098e-05,1793247852762858240
+29,0.483333333,BASELINE,765,745,715.813786647,680,658,634,878,784.186213353,809,652,629,652,0.400972029674,0.00451070891505,0.0798394387588,0.999999949552,0.000142739278435,-0.000279873157163,4.68169426621e-05,1793247852779524864
+30,0.500000000,BASELINE,765,745,715.600776054,679.600776054,658,634,877.600776054,784,809,652,629,652,0.400971095242,0.00451043673587,0.0798387891857,0.999999949286,0.000142288710872,-0.000281040726557,4.68778152268e-05,1793247852796191488
+31,0.516666667,BASELINE,765,745,715.011017561,679.011017561,658,634,877.011017561,784,809,652,629,652,0.400969067507,0.00451066817368,0.0798377960618,0.999999948748,0.000141967052468,-0.000283113940696,4.68610688541e-05,1793247852812858368
+32,0.533333333,BASELINE,765,745,715,679.568202803,658,633.431797197,877,784.568202803,809.568202803,652,629,652,0.400969603755,0.00451162432795,0.0798380704628,0.999999948837,0.000142441144019,-0.000282599792343,4.66218628871e-05,1793247852829524992
+33,0.550000000,BASELINE,764.853124337,745,715.146875663,680,658,633.146875663,877.146875663,785,809.853124337,652,629,652,0.400970060252,0.00451216351366,0.0798383000162,0.999999948897,0.000142985763344,-0.000282135342726,4.64820047769e-05,1793247852846191360
+34,0.566666667,BASELINE,764.275468986,745,715.724531014,680,658,633.724531014,877.724531014,785,809.275468986,652,629,652,0.400970139681,0.00451143928466,0.0798383272609,0.999999948837,0.000143692806652,-0.000281961122788,4.66459505232e-05,1793247852862857728
+35,0.583333333,BASELINE,764.298626292,745,715.701373708,679.701373708,658,634,877.701373708,784.701373708,809,651.701373708,629,652,0.400969455791,0.00451126486487,0.0798379872424,0.999999948559,0.000144266073145,-0.000282620698316,4.68553152415e-05,1793247852879524352
+36,0.600000000,BASELINE,764.86947632,745,715.13052368,679.13052368,658,634,877.13052368,784.13052368,809,651.13052368,629,652,0.400968076071,0.00451159164371,0.0798373124317,0.999999948079,0.000144717390565,-0.000284040350628,4.71060833064e-05,1793247852896191232
+37,0.616666667,BASELINE,765,745,715,679,658,633.542667178,877,784,809,651,629,652,0.400970291034,0.00451238274538,0.0798391118102,0.999999948692,0.00014546275189,-0.000281513380648,4.69842030184e-05,1793247852912858368
+38,0.633333333,BASELINE,765.049095298,745,715,679,658,633.049095298,877.049095298,784,809,651,629,652,0.400973118661,0.00451323588069,0.0798412628925,0.999999949512,0.000146107773443,-0.000278291502902,4.67250543149e-05,1793247852929525504
+39,0.650000000,BASELINE,765.628594356,745,715,679,658,633.628594356,877.628594356,784,809,651,629,652,0.400971053447,0.00451327223345,0.0798392901802,0.999999949205,0.000144727110686,-0.000280200978875,4.61763034579e-05,1793247852946191616
+40,0.666666667,BASELINE,765.793820384,745,715,679.206179616,658,634,877.793820384,784.206179616,809,651.206179616,629,652,0.400970052066,0.00451289158325,0.0798381029735,0.99999994908,0.00014354517051,-0.000281287565627,4.59482309913e-05,1793247852962857984
+41,0.683333333,BASELINE,765.219650907,745,715,679.780349093,658,634,877.219650907,784.780349093,809,651.780349093,629,652,0.400970949417,0.00451176666521,0.0798383177392,0.99999994929,0.000142717910948,-0.00028090545767,4.62925060971e-05,1793247852979524608
+42,0.700000000,BASELINE,765,745,715,680,658,634,877,785,809,652,629,652,0.400971496986,0.00451119827769,0.0798387019088,0.999999949467,0.000142541407712,-0.000280344358063,4.64205741174e-05,1793247852996190976
+43,0.716666667,BASELINE,765,745,715,680,658,634,877,785,809,652,629,652,0.400971827839,0.00451097470267,0.0798391910367,0.999999949623,0.000142768096941,-0.000279672359695,4.64146855933e-05,1793247853012857600
+44,0.733333333,BASELINE,764.468674492,745,715,679.468674492,658,634,877.531325508,784.468674492,809.531325508,652,629,652,0.400971133504,0.00451096828836,0.0798391383206,0.999999948979,0.000145527688328,-0.000280505144163,4.67020816595e-05,1793247853029524480
+45,0.750000000,BASELINE,764.110193797,745,715,679.110193797,658,634,877.889806203,784.110193797,809.889806203,652,629,652,0.400970374121,0.00451105743654,0.0798389972188,0.999999948425,0.000147494303795,-0.000281411616633,4.69304603032e-05,1793247853046191104
+46,0.766666667,BASELINE,764.689903712,745,715,679.689903712,658,634,877.310096288,784.689903712,809.310096288,652,629,652,0.400969726815,0.00451147130958,0.0798386852449,0.999999948596,0.000145120516927,-0.000282060736058,4.67960241435e-05,1793247853062857984
+47,0.783333333,BASELINE,764.733016965,745,715,680,658,634,877.266983035,784.733016965,809.266983035,652,629,652,0.40096952048,0.00451182264878,0.0798387132405,0.999999948815,0.0001434705603,-0.000282143088005,4.67136390345e-05,1793247853079524864
+48,0.800000000,BASELINE,764.158963146,745,715,680,658,634,877.841036854,784.158963146,809.841036854,652,629,652,0.400969821329,0.00451210206467,0.0798391322523,0.999999949093,0.000142653117392,-0.000281573571898,4.66911204726e-05,1793247853096191744
+49,0.816666667,BASELINE,764.427385516,745,715,679.572614484,658,634,878,784,809.572614484,652,629,652,0.400969975892,0.00451200130421,0.0798392770405,0.999999949319,0.000141793307766,-0.000281263660698,4.63329581936e-05,1793247853112858112
+50,0.833333333,BASELINE,765,745,715,679.017969445,658,634,877.982030555,784,809,651.982030555,629,652,0.400970071044,0.00451178841004,0.0798393011834,0.999999949497,0.000141051856433,-0.000281079939092,4.58777426743e-05,1793247853129524224
+51,0.850000000,BASELINE,765,745,715,679.593863378,658,634,877.406136622,784,809,651.406136622,629,652,0.400970060935,0.00451261435656,0.07983884008,0.9999999488,0.000144489006631,-0.000281727425587,4.64000852734e-05,1793247853146191104
+52,0.866666667,BASELINE,765,745,715,679.830470706,658,634,877,784,809,651.169529294,629,652.169529294,0.400970348885,0.00451293591935,0.0798388054711,0.999999948589,0.000146164327511,-0.000281548845542,4.67830574302e-05,1793247853162857728
+53,0.883333333,BASELINE,765,745,715,679.255350345,658,634,877,784,809,651.744649655,629,652.744649655,0.400971349928,0.0045120507671,0.0798397912308,0.999999949559,0.000143624552274,-0.000279393939122,4.68325921592e-05,1793247853179524352
+54,0.900000000,BASELINE,765,745,715,679,658,633.672062356,877,784.327937644,809,651.672062356,629,652.672062356,0.40097090699,0.00451053398242,0.0798394186142,0.999999949856,0.000140670046732,-0.000279845498268,4.67527014408e-05,1793247853196190976
+55,0.916666667,BASELINE,765,745,715,679,658,633.082252188,877,784.917747812,809,651.082252188,629,652.082252188,0.40096931097,0.00450851281171,0.0798379612748,0.99999994961,0.000137384361057,-0.000282378434053,4.65694588499e-05,1793247853212857856
+56,0.933333333,BASELINE,765,745,715.498150657,679,658,633.498150657,877,784.501849343,809.498150657,651.498150657,629,652,0.4009694079,0.00451029501311,0.0798379529792,0.999999949121,0.000141504891212,-0.000282070670251,4.65932709214e-05,1793247853229524736
+57,0.950000000,BASELINE,765,745,715.923117254,679,658,634,877,784,809.923117254,652,629,652,0.400969683671,0.00451240852839,0.0798381243311,0.999999948639,0.000145963227912,-0.000281498962428,4.66329082916e-05,1793247853246191360
+58,0.966666667,BASELINE,765,745,715.345338286,679,658,634,877,784,809.345338286,652,629,652,0.400969337189,0.00451266498355,0.0798379362009,0.999999948612,0.000144802929584,-0.000282206845857,4.65570407067e-05,1793247853262858240
+59,0.983333333,BASELINE,765,745,715,679,658,633.768466237,877.463067526,784,809,652,629,652,0.400969499136,0.00451269588296,0.0798379970461,0.999999948705,0.000144325469389,-0.000282128103474,4.65142046978e-05,1793247853279524608
+60,1.000000000,BASELINE,765,745,715,679,658,633.192941516,878.614116967,784,809,652,629,652,0.400970416459,0.00451239167304,0.0798384277953,0.999999948978,0.000144862505308,-0.000280880666998,4.6520443868e-05,1793247853296190720
+61,1.016666667,BASELINE,765,745,715.39102625,679.7820525,658.39102625,633.39102625,878.2179475,784,809.39102625,652,629,652,0.400970781087,0.00451205652053,0.0798391982109,0.99999994924,0.000144700536554,-0.000280013939523,4.66211307112e-05,1793247853312857344
+62,1.033333333,BASELINE,765,745,715.979251915,680.958503831,658.979251915,633.979251915,877.041496169,784,809.979251915,652,629,652,0.400970866985,0.0045117057633,0.0798401399244,0.999999949496,0.000144186050992,-0.000279339208422,4.67694486936e-05,1793247853329524224
+63,1.050000000,BASELINE,765,745,715.441488884,679.882977768,658.441488884,634,877.558511116,784,809.441488884,651.441488884,629,652,0.400970587442,0.00451239827737,0.0798399296438,0.999999949377,0.000144970921561,-0.000279393393156,4.65781024212e-05,1793247853346191360
+64,1.066666667,BASELINE,765,745,715,679.136756976,658,634,878,784,809,651.136756976,629,652,0.400970416623,0.0045125215918,0.0798396577255,0.999999949295,0.000145119963075,-0.000279619281513,4.65201116773e-05,1793247853362858240
+65,1.083333333,BASELINE,765,745,715,679.712800834,658,634,878,784,809,651.712800834,629,652,0.400970637965,0.00451069401411,0.0798393231102,0.999999949377,0.00014307401188,-0.000280311105132,4.69303730639e-05,1793247853379525120
+66,1.100000000,BASELINE,764.706050548,745,715,680,658,634,877.706050548,784,809,652,629,652,0.400970814348,0.00451033934993,0.0798391887569,0.9999999494,0.000142501410407,-0.000280513448597,4.69723309679e-05,1793247853396191488
+67,1.116666667,BASELINE,764.119826288,745,715,680,658,634,877.119826288,784,809,652,629,652,0.400970946027,0.00451144920811,0.0798392535248,0.999999949367,0.000143393765037,-0.000280229100459,4.66480836069e-05,1793247853412857600
+68,1.133333333,BASELINE,764.460645277,745,715,680,658,634,877,784,809.460645277,652,628.539354723,652,0.400970772172,0.00451151185363,0.079839374769,0.999999949407,0.000143546440971,-0.000280038276695,4.64558522431e-05,1793247853429524224
+69,1.150000000,BASELINE,764.960531256,745,715,679.960531256,658,634,877.039468744,784,809.960531256,652,628.039468744,652,0.400970492141,0.00451131627067,0.079839528055,0.999999949482,0.000143394329029,-0.000279874995094,4.63018209247e-05,1793247853446190592
+70,1.166666667,BASELINE,764.384023196,745,715,679.384023196,658,634,877.615976804,784,809.384023196,652,628.615976804,652,0.400969835508,0.00451126791065,0.0798399198926,0.999999949763,0.000141680838874,-0.000279759527823,4.62060630088e-05,1793247853462857216
+71,1.183333333,BASELINE,764.192593686,745,715,679.192593686,658,634,878,784.192593686,809.192593686,652,629,652,0.400969623873,0.00451098079987,0.0798402634751,0.99999994996,0.000140881715038,-0.000279451778789,4.62593666798e-05,1793247853479524352
+72,1.200000000,BASELINE,764.769427778,745,715,679.769427778,658,634,878,784.769427778,809.769427778,652,629,652,0.400970300044,0.00451021736145,0.0798405107847,0.999999949991,0.000141906827674,-0.000278760411635,4.6610060586e-05,1793247853496191744
+73,1.216666667,BASELINE,765,745.352610764,715,679.647389236,658,634,877.647389236,784.647389236,810,652,629,652,0.400970222751,0.00451057319331,0.0798399772655,0.999999949444,0.000144163028561,-0.000279539580206,4.67715969365e-05,1793247853512858368
+74,1.233333333,BASELINE,765,745.940021379,715,679.059978621,658,634,877.059978621,784.059978621,810,652,629,652,0.400969643734,0.00451167433569,0.0798389238006,0.999999948501,0.000147238998284,-0.000281297963304,4.68071752111e-05,1793247853529524480
+75,1.250000000,BASELINE,764.481963093,745.481963093,715,679.518036907,658,634,877.518036907,784,809.481963093,651.481963093,629,652,0.400969505494,0.00451102952401,0.0798392600596,0.999999948994,0.000144837476809,-0.000280793667666,4.67841976545e-05,1793247853546191104
+76,1.266666667,BASELINE,764.094731117,745,715,679.905268883,658,634,878,784,809,651,629,652,0.40096948605,0.00451036579336,0.079839535071,0.999999949491,0.000142408742866,-0.000280273158101,4.67357127729e-05,1793247853562857728
+77,1.283333333,BASELINE,764.670141929,745,715,679.329858071,658,634,878,784,809,651,629,652,0.400969815046,0.00451061352072,0.0798386974003,0.999999949216,0.000143002567294,-0.000280975994363,4.65915880158e-05,1793247853579524352
+78,1.300000000,BASELINE,765,745,715,679,658.245611311,634,878,784,809,651.245611311,629,652,0.400970661492,0.00451096252583,0.0798389189923,0.999999949333,0.000144109713462,-0.000280011164898,4.64766043019e-05,1793247853596190976
+79,1.316666667,BASELINE,765,745,715,679,658.821159325,634,878,784,809,651.821159325,629,652,0.400972203041,0.00451144758022,0.0798405635224,0.999999949968,0.000145906419365,-0.000276806112287,4.64007665968e-05,1793247853612857600
+80,1.333333333,BASELINE,765,745,715,679.408079001,658.591920999,633.591920999,877.591920999,784,809.408079001,652,629,652,0.400971242006,0.00451059599221,0.0798398519076,0.999999949662,0.00014499274386,-0.000278379640698,4.64578176775e-05,1793247853629524224
+81,1.350000000,BASELINE,764.999877141,745,715,679.999877141,658,633,877,784,809.999877141,651.999877141,628.999877141,652,0.400969153422,0.00450914239228,0.0798380788393,0.999999948919,0.000142857616396,-0.000282106100856,4.6574762754e-05,1793247853646191360
+82,1.366666667,BASELINE,764.418983558,745,715,679.418983558,658,633,877,784,809.418983558,651.418983558,628.418983558,652,0.400970128618,0.00451035240582,0.0798397400818,0.999999949634,0.000142719119183,-0.000279624827999,4.66257363121e-05,1793247853662858240
+83,1.383333333,BASELINE,764,745,715,679,658,633.160163641,877,784,809.160163641,651.160163641,628.160163641,652,0.400970736679,0.00451095063633,0.0798406055283,0.999999950126,0.000141976682823,-0.000278246778504,4.65706277899e-05,1793247853679524864
+84,1.400000000,BASELINE,764,745,715,679,658,633.734791746,877,784,809.734791746,651.734791746,628.734791746,652,0.400970394686,0.00450996572171,0.079839411649,0.999999950054,0.000139671399122,-0.000279723601647,4.62410047112e-05,1793247853696190976
+85,1.416666667,BASELINE,764,745,715,679,658.313031368,634,877,784,809.686968632,651.686968632,629,652,0.400970978055,0.00451031776638,0.0798395088748,0.999999950055,0.000140066262239,-0.000279533539164,4.61866154791e-05,1793247853712857600
+86,1.433333333,BASELINE,764,745,715,679,658.894366437,634,877,784,809.105633563,651.105633563,629,652,0.400972354565,0.0045118157382,0.0798407127256,0.999999950114,0.000142775460289,-0.000277914764873,4.63681331675e-05,1793247853729524224
+87,1.450000000,BASELINE,764.479599883,745,715,679,658.520400117,634,877,784,809,651.479599883,629,652,0.40096980839,0.00451173466688,0.0798394466095,0.999999949332,0.000143698454312,-0.000280229812443,4.64552362571e-05,1793247853746190592
+88,1.466666667,BASELINE,765,745,715,679.064565116,658,633.935434884,877,784,809,651.935434884,629,651.935434884,0.400966929921,0.00451130809985,0.0798379068253,0.999999948526,0.000144068423305,-0.000282895118692,4.65073427712e-05,1793247853762857216
+89,1.483333333,BASELINE,765,745,715,679.640548933,658,633.359451067,877,784,809,651.359451067,629,651.359451067,0.400968319061,0.00451092228015,0.0798385437966,0.999999949071,0.000143199684468,-0.000281415537836,4.64483099918e-05,1793247853779524352
+90,1.500000000,BASELINE,765,745,715,680,658,633.215857573,877,784,809,651.215857573,629,651.215857573,0.400969343333,0.00451092600764,0.0798392713474,0.999999949462,0.000142858271772,-0.000280209168654,4.63664007933e-05,1793247853796191232
+91,1.516666667,BASELINE,765,745,715,680,658,633.790045341,877,784,809,651.790045341,629,651.790045341,0.400969761915,0.00451157639545,0.079840149263,0.999999949602,0.00014339223674,-0.000279456339382,4.62465160434e-05,1793247853812858368
+92,1.533333333,BASELINE,764.623925462,744.623925462,715,680,658,634,877.376074538,784,809,651.623925462,629,652,0.400970191411,0.00451178004904,0.0798404404738,0.999999949674,0.000143732682459,-0.000278998664624,4.63864757084e-05,1793247853829524736
+93,1.550000000,BASELINE,764.031070463,744.031070463,715,680,658,634,877.968929537,784,809,651.031070463,629,652,0.400970627198,0.0045117261919,0.0798403934908,0.999999949708,0.000143961578024,-0.000278711125565,4.66762173508e-05,1793247853846191104
+94,1.566666667,BASELINE,764.54651324,744.54651324,715,680,658.54651324,634,878,784,809,651,629,651.45348676,0.400971139314,0.00451050267147,0.079840214501,0.999999949847,0.000143040227186,-0.000278676897392,4.67340084819e-05,1793247853862857728
+95,1.583333333,BASELINE,765,745,715,679.87734983,658.87734983,633.87734983,878,784,809,651,629,651.12265017,0.400971355329,0.00450979465705,0.0798400001455,0.999999949879,0.000142533899256,-0.000278831992667,4.66876657931e-05,1793247853879524096
+96,1.600000000,BASELINE,765,745,715,679.303428316,658.303428316,633.303428316,878,784,809,651,629,651.696571684,0.400970466353,0.00451122137996,0.0798396825296,0.999999949493,0.000143788646354,-0.000279632126006,4.63053797663e-05,1793247853896190720
+97,1.616666667,BASELINE,765,745,715,679.278150967,658,633.278150967,878,784,809,651,629,652,0.400970354585,0.00451184253372,0.0798397735007,0.999999949525,0.000144021191571,-0.000279429428256,4.61168354147e-05,1793247853912857344
+98,1.633333333,BASELINE,765,745,715,679.86832039,658,633.86832039,878,784,809,651,629,652,0.400971114656,0.00451156003265,0.079840322808,0.999999950025,0.00014310707217,-0.000278101795285,4.61456226264e-05,1793247853929524224
+99,1.650000000,BASELINE,764.549841905,745,715,679.549841905,658,633.549841905,877.549841905,784,809,651.450158095,629,652,0.400970618855,0.00451121796426,0.0798397760352,0.999999949624,0.000143851463443,-0.000279112521242,4.64299241898e-05,1793247853946191360
+100,1.666666667,BASELINE,764.029443157,745,715,679.029443157,658,633.029443157,877,784,809,651.970556843,629,652,0.40096979465,0.00451092150638,0.07983896951,0.999999949,0.000145012383934,-0.000280688093096,4.67513929638e-05,1793247853962858496
+101,1.683333333,BASELINE,764.605761221,745,715,679.605761221,658,633.605761221,877,784,809,651.394238779,629,652,0.400969570135,0.00451178997547,0.0798391853858,0.999999949123,0.000145062586437,-0.000280281129535,4.64001653527e-05,1793247853979524864
+102,1.700000000,BASELINE,764.818658694,745,715,679.818658694,658,634,877.181341306,784.181341306,809.181341306,651,629,652,0.400969549512,0.00451177047009,0.0798395670997,0.999999949426,0.000144026257,-0.000279765013635,4.62231060506e-05,1793247853996191232
+103,1.716666667,BASELINE,764.24467656,745,715,679.24467656,658,634,877.75532344,784.75532344,809.75532344,651,629,652,0.400969970361,0.00450982831917,0.0798403078868,0.999999950109,0.000140637364811,-0.000279012560754,4.64231566242e-05,1793247854012857600
+104,1.733333333,BASELINE,764.339352748,745,715,679,658,634,878,784.660647252,809.660647252,651.339352748,629,652,0.40096964601,0.00450957197471,0.0798398748733,0.999999949826,0.0001412847517,-0.000279684139919,4.65226623608e-05,1793247854029524224
+105,1.750000000,BASELINE,764.930847244,745,715,679,658,634,878,784.069152756,809.069152756,651.930847244,629,652,0.400968767969,0.00451056819744,0.0798385697168,0.999999948817,0.000144931125184,-0.000281413785963,4.65474625171e-05,1793247854046190592
+106,1.766666667,BASELINE,764.488106604,745,715,679,658,633.488106604,877.488106604,784.511893396,809,652,628.488106604,652,0.400969950525,0.0045115399597,0.0798398153026,0.999999949258,0.000145436074474,-0.000279567515038,4.66302025417e-05,1793247854062857472
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,877,784,809,652,629,652,0.40097083363,0.0045125707941,0.0798405101676,0.999999949484,0.000146462965498,-0.000278257913186,4.63965294673e-05,1793247854109844224
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.663800496,658,634,877.663800496,784,809.663800496,652,629,652,0.400971102066,0.00451191858387,0.0798406482188,0.999999949761,0.00014468347069,-0.000278175846163,4.65170684799e-05,1793247854126511104
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.707086788,878,784,810,652,629,652,0.400970999754,0.00451118116669,0.0798407261038,0.999999949864,0.000143968997445,-0.000278152160068,4.66451583787e-05,1793247854143177728
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.113572226,878,784,810,652,629,652,0.400970516964,0.00451035630604,0.0798407422435,0.999999949793,0.000144347499331,-0.000278188387224,4.67809973678e-05,1793247854159844096
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.535118733,745,715,680.464881267,658,633,877.535118733,784,809.535118733,651.535118733,629,652,0.400971195996,0.0045110554927,0.0798408988684,0.999999950028,0.000143901517888,-0.000277618201709,4.65143631817e-05,1793247854176510720
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.039638493,745,715,680.960361507,658,633.039638493,877,784,809,651.039638493,629,652,0.400972129809,0.00451199941308,0.0798410928914,0.999999950303,0.00014330545815,-0.00027698873106,4.61947980738e-05,1793247854193177600
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.612616684,745,715,680.387383316,658,633.612616684,877,784,809,651.612616684,629,652,0.400972792515,0.00451138371913,0.0798413428072,0.999999950151,0.000143315215669,-0.000277492376369,4.64445071955e-05,1793247854209844224
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.186026817,745,715,680,658,634,877,784,809,651.813973183,629,652,0.400973689768,0.00451098281499,0.0798418212746,0.999999950193,0.000143328969254,-0.000277306818501,4.65927739964e-05,1793247854226510848
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.760338489,745,715,680,658,634,877,784,809,651.239661511,629,652,0.400975076579,0.00451103023137,0.0798427767868,0.999999950642,0.000143351063638,-0.000275682719861,4.65293050907e-05,1793247854243177984
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.65203276,745,715,680,658,634,877.34796724,784,809,651,629,652,0.400987378673,0.00451105388741,0.079847965151,0.999999953152,0.000143174548128,-0.000266560231298,4.62847825751e-05,1793247854259844864
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.054866938,745,715,680,658,634,877.945133062,784,809,651,629,652,0.401007497804,0.00451106052734,0.0798561848945,0.999999956973,0.000142855797065,-0.000252067731086,4.59105975526e-05,1793247854276511232
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,633.478758678,877.478758678,784,809,651.521241322,628.478758678,652,0.401054571324,0.00451283454507,0.079872181983,0.999999964231,0.000144816580197,-0.000220305870144,4.50697667939e-05,1793247854293177600
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.904582809,745,715,680,658,633.095417191,877.095417191,784,809.095417191,651.904582809,628.095417191,652,0.401108201263,0.00451423496564,0.0798889218579,0.999999970974,0.000145987287991,-0.000186536241487,4.40830962671e-05,1793247854309843968
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.329411088,745,715,680,658,633.670588912,877.670588912,784,809.670588912,651.329411088,628.670588912,652,0.401181084855,0.00451285788043,0.0799054400733,0.999999977537,0.000142025916229,-0.00015145661321,4.26005327913e-05,1793247854326510592
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.253919874,745,715,680,658.253919874,634,878,784.253919874,809.746080126,651,629,652,0.401256501418,0.00451267332681,0.079918445744,0.999999981287,0.000139391293331,-0.000127799759897,4.07851140003e-05,1793247854343177216
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.848187352,745,715,680,658.848187352,634,878,784.848187352,809.151812648,651,629,652,0.401335313121,0.00451408721135,0.0799267432932,0.999999982527,0.00013853500977,-0.000119453692653,3.85235444374e-05,1793247854359843840
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.569899744,745,715,680,658.569899744,634,877.569899744,784.569899744,809,651,629,652,0.401429121033,0.0045157478785,0.0799297463582,0.999999983423,0.000138039040929,-0.000113203700484,3.58349484095e-05,1793247854376510976
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,715,680,658,634,877,784,809,651,629,651.992264189,0.401528394286,0.00451748621848,0.0799309569946,0.999999984185,0.000137640799851,-0.000107692543471,3.29812918623e-05,1793247854393177856
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,745,715,680,658,634,877,784,809,651,629,651.417434903,0.401651120893,0.00451871127764,0.0799339406077,0.999999985059,0.00013534378687,-0.00010362123209,2.87683856432e-05,1793247854409844736
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.159882673,745,715,680,658,634,877,784,809,651.159882673,629,651.159882673,0.401782151838,0.00452018697323,0.0799384397079,0.999999986189,0.000133124996756,-9.64384329406e-05,2.44883605771e-05,1793247854426511616
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.743799556,745,715,680,658,634,877,784,809,651.743799556,629,651.743799556,0.401935207196,0.0045223273963,0.0799469581199,0.999999987923,0.000131113666227,-8.10034749464e-05,2.00303259345e-05,1793247854443177728
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.672077821,658,633.672077821,877.327922179,784,809.327922179,652,629,652,0.402107968547,0.00452470508423,0.0799546862789,0.99999998962,0.000126308920311,-6.77717376405e-05,1.45943724977e-05,1793247854459844352
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.087794381,658,633.087794381,877.912205619,784,809.912205619,652,629,652,0.402296135536,0.00452726825972,0.0799617966376,0.999999991263,0.000119320353042,-5.62624232294e-05,8.39390710778e-06,1793247854476510976
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.491486691,658,633.491486691,877.508513309,784.491486691,809.508513309,651.508513309,629,652,0.402501903634,0.00452914484594,0.0799601204005,0.999999991932,0.000111909716752,-6.00876172982e-05,1.41537886106e-06,1793247854493177344
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.069307837,634,877,784.930692163,809.069307837,651.069307837,629,652,0.402713484978,0.00453116628723,0.0799565663344,0.999999992259,0.000104499387299,-6.72941513952e-05,-5.7604652561e-06,1793247854509843968
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.64294204,634,877,784.35705796,809.64294204,651.64294204,629,652,0.402944719148,0.00453512523497,0.0799506539824,0.999999991994,9.76343820334e-05,-7.93740638422e-05,-1.33709427323e-05,1793247854526511360
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.222532535,715,679.777467465,658.777467465,634,877.222532535,784,809.777467465,652,629,652,0.403193687881,0.00453877607793,0.0799465250908,0.999999991808,9.1461178256e-05,-8.70349024623e-05,-2.10542957865e-05,1793247854543178240
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.811942952,715,679.188057048,658.188057048,634,877.811942952,784,809.188057048,652,629,652,0.403471894705,0.00454191896512,0.0799453364971,0.999999992028,8.64285107498e-05,-8.74102445443e-05,-2.88577962506e-05,1793247854559845120
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.605509152,745.605509152,715,679.394490848,658,634,877.605509152,784,809.394490848,652,629,652,0.403793097179,0.00453064738434,0.0799502569704,0.999999991537,9.98417452363e-05,-8.01684682828e-05,-2.30463694634e-05,1793247854576511488
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.026176775,745.026176775,715,679.973823225,658,634,877.026176775,784,809.973823225,652,629,652,0.404134445558,0.00451262180055,0.0799580398911,0.999999990106,0.000121897940247,-6.93576362687e-05,-1.0855569934e-05,1793247854593177600
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.549696145,745,715,680,658,634,877,784,809.450303855,652,629,652,0.40451182034,0.00450956917169,0.0799572744217,0.999999990188,0.000121705569837,-6.80634173165e-05,-1.33486477821e-05,1793247854609843968
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679.872274775,658.127725225,634,877.127725225,784,809,652,629,652,0.404898057013,0.00451158577491,0.0799561059425,0.99999999206,0.000105800261468,-6.62929238406e-05,-1.70869804526e-05,1793247854626510592
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.285915564,658.714084436,634,877.714084436,784,809,652,629,652,0.405309993021,0.00452926062145,0.0799549429298,0.999999997174,3.72537476716e-05,-6.11951155648e-05,-2.28015926259e-05,1793247854643177472
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.296622247,659,634,878,784,809,652,629,652,0.405739275562,0.00453836909313,0.0799507239844,0.999999997327,1.56108622527e-05,-6.6367524379e-05,-2.64137067943e-05,1793247854659844352
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.875523412,659,634,878,784,809,652,629,652,0.40618506581,0.00453932542064,0.0799435968778,0.999999995556,3.86035588005e-05,-8.13135288217e-05,-2.80249901292e-05,1793247854676512000
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.546844459,784,809.453155541,651.546844459,629,652.453155541,0.406663191257,0.00455034762768,0.0799339443956,0.999999992226,7.19317028414e-05,-9.78064731666e-05,-2.84147278348e-05,1793247854693178880
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.96962248,715,680,658.96962248,634,877.03037752,784,810,651.03037752,629,652.96962248,0.407152890586,0.00456383903652,0.0799239921361,0.999999987378,0.000106602715809,-0.000114301257547,-2.85331539154e-05,1793247854709845760
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.393524707,715,680,658.393524707,634,877.606475293,784,810,651.606475293,629,652.393524707,0.407691391553,0.00457215558842,0.0799210816037,0.999999985406,0.000114538199125,-0.000123216755903,-2.97886646177e-05,1793247854726512128
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.813583783,744.186416217,715,680,658.186416217,634,877.813583783,784,809.813583783,652,629,652,0.408238069194,0.00458033505609,0.0799180221228,0.999999983588,0.000121605093574,-0.000130692947067,-3.09252136513e-05,1793247854743178496
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.225359079,744.774640921,715,680,658.774640921,634,877.225359079,784,809.225359079,652,629,652,0.408802371245,0.00458821904884,0.0799146415924,0.999999982334,0.000126799800606,-0.00013506680338,-3.18053484985e-05,1793247854759844608
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,744.643092821,715,680,659,634,877,784,809,652,629,652,0.409426066251,0.00459954931069,0.0799295613877,0.999999983795,0.00013747000116,-0.000111317117473,-3.34838089729e-05,1793247854776510976
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,744.064527112,715,680,659,634,877,784,809,652,629,652,0.410086647438,0.00461301989031,0.0799558466685,0.999999985425,0.000151540776788,-7.01012007602e-05,-3.56580724405e-05,1793247854793177600
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,744.512773273,715,680,659,634,877.512773273,784,809.512773273,652,629,652,0.41078335049,0.00461730231749,0.0799836142822,0.999999987261,0.000153443843307,-2.56439280667e-05,-3.572013666e-05,1793247854809844736
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.089682977,745,715,680,659,634,878,784,810,652,629,652,0.411482290839,0.00461763731535,0.0800030399435,0.999999987751,0.000152296803183,5.31058319894e-06,-3.57042644732e-05,1793247854826511872
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.665336355,745,715,680,659,634,878,784,810,652,629,652,0.412168783908,0.00460283206718,0.0799762542726,0.999999988352,0.000142898632814,-3.91079298823e-05,-3.6702823915e-05,1793247854843178496
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.753068444,784,810,651.753068444,629,652,0.412863619474,0.00458923850098,0.0799480499416,0.999999988012,0.000127344823111,-7.89649353376e-05,-3.90393482367e-05,1793247854859845120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,877.163221851,784,810,651.163221851,629,652,0.41357004025,0.00457732760455,0.0799178755128,0.999999987409,0.000103242648461,-0.000112487349578,-4.32339107629e-05,1793247854876511488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.418690463,634,877.418690463,783.581309537,810,651.418690463,629,652,0.414336579954,0.00458159597022,0.0799217650006,0.999999988113,0.000108676786726,-0.000100085811515,-4.41187941974e-05,1793247854893177856
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.997567259,634,877.997567259,783.002432741,810,651.997567259,629,652,0.415126120553,0.00459205434132,0.079938686963,0.999999988722,0.000125411188975,-7.01142808771e-05,-4.37374314053e-05,1793247854909844480
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.42729314,745,715,680,659.42729314,633.42729314,878.57270686,783,810,652,629,652,0.415926088433,0.00459768048193,0.0799515288362,0.999999990163,0.000118556991378,-6.10956998939e-05,-4.34181857304e-05,1793247854926510848
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.147662535,745,715,680,659,633.147662535,878.852337465,783,810.147662535,651.852337465,629,652,0.416736164664,0.00460314459655,0.079957738278,0.999999990458,0.000117888182907,-5.72913911792e-05,-4.36443994973e-05,1793247854943177472
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.722132308,745,715,680,659,633.722132308,878.277867692,783,810.722132308,651.277867692,629,652,0.417575331297,0.00460819933391,0.0799448269585,0.99999998747,0.000135385507394,-6.83029438033e-05,-4.54464641738e-05,1793247854959844352
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.694318191,745,715,680.305681809,659.305681809,633.694318191,878.305681809,783.305681809,810.694318191,651,629,652.305681809,0.41844592155,0.00460802429157,0.0799542252496,0.999999988377,0.000138484681929,-4.23970940019e-05,-4.76469607176e-05,1793247854976511744
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.102262503,745,715,680.897737497,659.897737497,633.102262503,878.897737497,783.897737497,810.102262503,651,629,652.897737497,0.419345950546,0.00460294980038,0.0799845239989,0.999999990371,0.000128095142572,1.80943268576e-05,-5.022072255e-05,1793247854993178880
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,745,715,680.523642133,660,633.476357867,878.523642133,783.523642133,810.476357867,651,629,652.523642133,0.420203725089,0.00459816769125,0.0799772857418,0.999999991403,0.000121047930123,5.85226975161e-06,-5.00775403765e-05,1793247855009844992
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.052153721,745,715,680,659.947846279,633.947846279,878.052153721,783.052153721,811,651.052153721,629,652.052153721,0.421058215047,0.00459428349746,0.079963947321,0.999999991907,0.00011570754874,-1.84308436385e-05,-4.95736150846e-05,1793247855026511104
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.627754951,745,715,680,659.372245049,633.372245049,878.627754951,783.627754951,811,651.627754951,629,652.627754951,0.421968283901,0.0045987986537,0.0799680433189,0.999999991371,0.000120494087799,-1.11512093514e-05,-5.11424519447e-05,1793247855043177472
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.791389818,745,715,680.208610182,659.417220365,633.208610182,879,784,811,651.791389818,629,652.791389818,0.422890689323,0.00460456190196,0.0799814688524,0.999999990557,0.000127078333011,8.23992235943e-06,-5.16640476638e-05,1793247855059844096
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.200917162,745,715,680.799082838,660.598165675,633.799082838,879,784,811,651.200917162,629,652.200917162,0.423835676823,0.00461260979136,0.0800119721691,0.999999988118,0.000136953291894,4.98012383895e-05,-5.02686605415e-05,1793247855076510720
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,715,681,660.618487825,634,879,784,811,651,629.381512175,652.381512175,0.424719873969,0.00461803228861,0.0799914365565,0.999999988314,0.000144728333984,-2.36468729051e-06,-4.91866041927e-05,1793247855093177088
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,715,681,660.040206857,634,879,784,811,651,629.959793143,652.959793143,0.425572717955,0.00462210071383,0.0799445770988,0.99999998208,0.000151420322357,-0.000102871389375,-4.82661508739e-05,1793247855109843968
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.537217297,744.462782703,715.537217297,681,660,633.462782703,879,784,811,651,630,652.462782703,0.426511035359,0.00461774115205,0.0799232655338,0.999999982865,0.000141795161887,-0.000107289166083,-5.15007048533e-05,1793247855126511104
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.886851429,744.226297142,715.886851429,681,660.113148571,633,879,784,811,651,629.886851429,652,0.427450699323,0.00461291263392,0.0799087903055,0.999999984127,0.000132812894887,-0.00010578337027,-5.40093112781e-05,1793247855143178496
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.316691189,745.366617623,715.316691189,681,660.683308811,633,879,784,811,651,629.316691189,652,0.428370005495,0.00460873364671,0.0799142166558,0.999999984025,0.000131352005631,-0.000109352797196,-5.23317567771e-05,1793247855159844608
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,745.73535279,715,680.73535279,660.73535279,633.26464721,879,784,811.26464721,651,629.26464721,652.26464721,0.429317276735,0.00460797458855,0.0799323731062,0.999999986172,0.000130226374113,-8.96357753287e-05,-5.15906363954e-05,1793247855176510976
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,745.14004813,715,680.14004813,660.14004813,633.85995187,879,784,811.85995187,651,629.85995187,652.85995187,0.430299488239,0.0046114884834,0.0799664348909,0.999999989426,0.000129519622637,-4.08240280669e-05,-5.20195223864e-05,1793247855193177344
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,745,715,680.442270049,660.442270049,634,879,784,812,651,630,653,0.431275602276,0.00461397080849,0.080006213234,0.99999998953,0.000134201420779,1.72922820355e-05,-5.12963210819e-05,1793247855209843968
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.02051054,745,715,681,661,633.97948946,878.97948946,784,811.97948946,651.02051054,630,653,0.432244996924,0.00461622466038,0.0800443476338,0.999999986227,0.000140295119578,7.30365189699e-05,-5.0293125904e-05,1793247855226510592
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.596510779,745,715,681,661,633.403489221,878.403489221,784,811.403489221,651.596510779,630,653,0.433083210578,0.00462088520431,0.0799903317559,0.999999988837,0.000139733150159,-1.29827939515e-05,-5.13053679853e-05,1793247855243177728
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.824207122,633,878.175792878,784,811.175792878,651.824207122,630,653,0.433938547841,0.00462359356767,0.0799409730227,0.999999985272,0.000137905419981,-8.74340331929e-05,-5.28468890712e-05,1793247855259844608
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660.237249106,633,878.762750894,784,811.762750894,651.237249106,630,653,0.434833935704,0.00462173593996,0.0799025069772,0.999999980503,0.000133117181011,-0.000134828483882,-5.56263509244e-05,1793247855276511488
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.344807135,745.344807135,715,681,660.344807135,633,879.344807135,784,812,651.344807135,630,653,0.435742527431,0.00461974957693,0.079911202294,0.999999982943,0.000128703303734,-0.000119845768854,-5.64488515717e-05,1793247855293178368
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.923537978,745.923537978,715,681,660.923537978,633,879.923537978,784,812,651.923537978,630,653,0.436660077002,0.00461767587724,0.0799518927706,0.999999988724,0.000124543399858,-6.2545204674e-05,-5.59437127669e-05,1793247855309845248
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.997364876,745.498682438,715,681,660.498682438,633,879.498682438,784,812,652,630.501317562,653,0.437579265406,0.00461608644267,0.0799933964043,0.999999990559,0.000126057980356,-4.54816184359e-07,-5.46828193872e-05,1793247855326511104
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,745,715,681,660.078503466,633,879.078503466,784,812.078503466,652,630.921496534,652.921496534,0.438489101661,0.0046149425027,0.0800304405689,0.999999988962,0.000126977929165,5.53259575558e-05,-5.37725271495e-05,1793247855343177472
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,745,715,681,660.652854479,633,879.652854479,784,812.652854479,652,630.347145521,652.347145521,0.439338291998,0.00461614677553,0.0800385357438,0.999999989179,0.000118685775931,6.66480287343e-05,-5.58034107824e-05,1793247855359844096
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.23317213,745,715,681,661,633,879.76682787,784,813,651.76682787,630,652.23317213,0.440142973045,0.00461748185246,0.0800141021348,0.999999991196,0.000116311372651,2.86447685911e-05,-5.70944250009e-05,1793247855376510720
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.822606129,745,715,681,661,633,879.177393871,784,813,651.177393871,630,652.822606129,0.440879648648,0.00461901678387,0.0799399680518,0.99999998721,0.000122978652604,-8.47222796214e-05,-5.72549979229e-05,1793247855393177856
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.404587864,661,633,879,784,813,651.404587864,630,653,0.44160534316,0.00461604097807,0.0798716382647,0.999999975061,0.000111126967879,-0.000184577947841,-5.88223328234e-05,1793247855409844736
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.983361193,661,633,879,784,813,651.983361193,630,653,0.442326310012,0.00461112318402,0.0798058073779,0.999999955158,9.13023927359e-05,-0.000278616616143,-6.09953146196e-05,1793247855426511616
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.441788544,682,661,633,879.558211456,783.441788544,813.558211456,652,630,653,0.443154727888,0.0046111570287,0.0798684854606,0.999999978133,9.61644850024e-05,-0.0001755889523,-6.04548795383e-05,1793247855443177984
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,661.136061656,632.863938344,880,783.136061656,813.863938344,651.863938344,630,653,0.443968351059,0.00461155387898,0.0799333632339,0.999999990454,0.000101458126982,-7.2337970032e-05,-5.97145642245e-05,1793247855459844608
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,682,661.724266638,632.275733362,880,783.724266638,813.275733362,651.275733362,630,653,0.444722241151,0.00461266997725,0.079992910482,0.999999992617,0.00010575764175,1.22714758936e-05,-5.85769274701e-05,1793247855476511232
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.307880476,745,714.307880476,682,661.692119524,632,879.692119524,784,813,651.307880476,630,653,0.44545426054,0.00461169523877,0.0800250007366,0.999999991266,0.000104827897374,5.61027328719e-05,-5.77231058853e-05,1793247855493177856
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.887443031,745,714.887443031,682,661.112556969,632,879.112556969,784,813,651.887443031,630,653,0.446166980714,0.00460887548937,0.0800328622024,0.999999991395,9.92837139576e-05,6.39502202658e-05,-5.7119730638e-05,1793247855509844224
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.534634253,745.465365747,715,682,661,632.465365747,879.465365747,784,813.465365747,652,630,653,0.446809063146,0.00460824687873,0.0800175691422,0.999999992064,0.000100851039717,4.86820779878e-05,-5.77106946932e-05,1793247855526510848
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.957534195,714.957534195,682.042465805,660.957534195,633,879.957534195,784,814,651.957534195,630,653,0.447428029985,0.00460861722251,0.079995241538,0.999999992554,0.000104032635616,2.50943743015e-05,-5.86405975927e-05,1793247855543177728
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.385761241,714.385761241,682.614238759,660.385761241,633,879.385761241,784,814,651.385761241,630,653,0.447971082259,0.00461485638269,0.0799547923526,0.999999992036,0.000105971107546,-3.27486207577e-05,-6.02071912618e-05,1793247855559845120
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.192610001,682.807389999,660,632.807389999,879.192610001,784,813.807389999,651.192610001,630,652.807389999,0.448490663123,0.00462155746246,0.0799106741315,0.999999987241,0.000108149527185,-0.000100422708368,-6.11256898659e-05,1793247855576512256
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714.7846651,682.2153349,660,632.2153349,879.7846651,784,813.2153349,651.7846651,630,652.2153349,0.448961567669,0.00462921649583,0.0798589468672,0.999999974253,0.000110825563388,-0.000188485046875,-6.07001336117e-05,1793247855593178880
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,715,682.367938703,660,632.367938703,880,784,813.367938703,652,630,652.367938703,0.449468928115,0.00463502846045,0.0798386079787,0.99999996757,0.000118370502936,-0.000216994950912,-6.13275432877e-05,1793247855609845504
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,715,682.946192745,660,632.946192745,880,784,813.946192745,652,630,652.946192745,0.449997126893,0.00463978463238,0.0798362108221,0.999999967403,0.000128698528735,-0.000211464425791,-6.25568329928e-05,1793247855626512128
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,715,683,659.476475206,632.476475206,879.476475206,783.476475206,813.476475206,652,630,653,0.450500349004,0.00464364617177,0.0798630195332,0.999999974028,0.000135544936462,-0.000172314445671,-6.2280782946e-05,1793247855643178496
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+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,683,659,632,879.673798205,783,813.673798205,651.326201795,630,653,0.451430773767,0.0046502924534,0.0799053101234,0.999999980348,0.0001494494049,-0.000114691917381,-6.17583157653e-05,1793247855676511232
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.254967468,715,683,659,632,879.745032532,783,814,651,630,652.745032532,0.45181998634,0.00465365446743,0.0798983993787,0.999999977213,0.000157411720252,-0.000130361404961,-6.16572618335e-05,1793247855693177600
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+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.581396387,683,658,632,880,783,814,652,630,653,0.453059720068,0.00466969792201,0.0797800810184,0.99999993125,0.00018685604166,-0.000313835712715,-6.39652900764e-05,1793247855759845120
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,683,657.843717489,632,879.843717489,783.156282511,814,651.843717489,630,652.843717489,0.453342704682,0.00467415311281,0.0797716263584,0.999999930484,0.000171671747705,-0.000324159452599,-6.69510443694e-05,1793247855776511488
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,683,657.268988915,632,879.268988915,783.731011085,814,651.268988915,630,652.268988915,0.453611874882,0.00467775300643,0.0797724509894,0.999999938459,0.00011875488111,-0.000322658972123,-6.9787663295e-05,1793247855793177856
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,683,656.68495661,631.68495661,879,783.68495661,814,651.31504339,630,652.31504339,0.453855736639,0.00467954398409,0.0797735368725,0.999999940312,0.000101341963699,-0.000322749040152,-7.0271580051e-05,1793247855809844224
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+214,3.566666667,POSE1_TO_POSE2_PRESS,765.219615143,745,714.219615143,684,656.219615143,632,880,783.219615143,814,651.780384857,630,653,0.45473395202,0.00463269793495,0.0797355104294,0.99999991589,0.000116701942246,-0.000388823032921,-5.84654247467e-05,1793247855893178368
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+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.851957763,714.148042237,683.148042237,655.851957763,631,879.148042237,783.148042237,813.148042237,651.148042237,630.851957763,653,0.455513095731,0.00465330185042,0.0797149960579,0.999999900543,0.000138131848402,-0.000419588829955,-6.14744725764e-05,1793247856293177344
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+241,4.016666667,POSE1_TO_POSE2_PRESS,765.894046159,745.894046159,714.105953841,684,655,631,880,783.105953841,814,652,630,653,0.455512407514,0.00465238225569,0.07971558859,0.999999900713,0.000134591851719,-0.000420372560986,-6.11966083876e-05,1793247856343177216
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+245,4.083333333,HOLD_POSE2,766,745,715,683,655,631,880,783,814,651,630,653,0.455513764139,0.00465575634955,0.0797143564924,0.999999899701,0.000138488018712,-0.000421519241205,-6.11553417306e-05,1793247856432316416
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+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.23922246,655,631,880,783,813.76077754,651,630,653,0.455515923326,0.00465502864691,0.0797138206417,0.999999899719,0.000135756799061,-0.000422559958469,-5.98000555581e-05,1793247856770216192
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.339510086,655,631,879.660489914,783,814,651,630,653,0.455515646789,0.00465565477234,0.0797130622953,0.999999899132,0.000136717406329,-0.000423633771542,-5.98262787061e-05,1793247856786883072
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.918087343,655,631,879.081912657,783,814,651,630,653,0.455515614251,0.00465683474758,0.0797120593357,0.99999989835,0.000140282802172,-0.000424313115607,-5.98227932719e-05,1793247856803550464
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.493019178,745,714,684,655,631,879.493019178,783,814,651.493019178,630.493019178,653,0.455515275788,0.00465648774858,0.0797127610889,0.999999898571,0.000139625780261,-0.000423966115076,-6.01308356173e-05,1793247856820216832
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.930969218,745,714,684,655,631,880,783,814,652,630.930969218,653,0.455515068155,0.00465608335808,0.0797136540744,0.999999898948,0.000138713366188,-0.000423336646475,-6.03982570921e-05,1793247856836883200
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.342303806,745,714,684,655,631,880,783,814,652,630.342303806,653,0.455516225156,0.00465714267119,0.0797138701915,0.999999899263,0.000141120555436,-0.000421855073485,-5.99731432713e-05,1793247856853550080
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.757762701,655.242237299,631,880,783,814,651.757762701,630,653,0.455514753377,0.00465732921995,0.0797126138282,0.999999898854,0.000141285908383,-0.000422785360195,-5.98557434722e-05,1793247856870216960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.178952107,655.821047893,631,880,783,814,651.178952107,630,653,0.455509629075,0.00465630311816,0.0797093115472,0.999999897429,0.000138336372407,-0.000427066772425,-6.0165892738e-05,1793247856886883840
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.39740761,655.60259239,631,880,783,814,651,630,653,0.455488010795,0.00465672641264,0.0797002721689,0.99999989065,0.000139060931793,-0.000442461005687,-5.99121197939e-05,1793247856903550720
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.972670514,655.027329486,631,880,783,814,651,630,653,0.455459010821,0.00465779836797,0.0796886652171,0.999999881129,0.000141429790819,-0.000462828656896,-5.94059698307e-05,1793247856920217344
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,655,631,880.559773353,783,813.440226647,651,630,653,0.455410197991,0.00465798408504,0.0796726449012,0.999999866938,0.000141948074353,-0.000492432001694,-5.9033051979e-05,1793247856936883200
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.145450202,684,655,631,880.854549798,783,813.145450202,651,630,653,0.45535489449,0.00465775030179,0.0796569917142,0.99999985272,0.000142237658385,-0.00052049761005,-5.84002874161e-05,1793247856953549568
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.725107313,684,655,631,880.274892687,783,813.725107313,651,630,653,0.455283164698,0.00465639615858,0.0796430916358,0.999999841072,0.000142120060173,-0.000542597513495,-5.69719745978e-05,1793247856970216448
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.697074069,684,655,631,880,783,813.697074069,651.302925931,630,653,0.455207112531,0.00465563970439,0.0796337249848,0.999999832766,0.000143545638192,-0.000557504356104,-5.52361136014e-05,1793247856986883072
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.120913776,684,655,631,880,783,813.120913776,651.879086224,630,653,0.455127161655,0.00465542235624,0.0796284474139,0.999999827738,0.000146363136621,-0.000565923171294,-5.32228491503e-05,1793247857003549696
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,684,655,631,880,783,814,652,630,653,0.454937987437,0.00465241485974,0.079637030431,0.999999835449,0.000145923977569,-0.000552695366282,-4.83396533711e-05,1793247857036884480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,684,655,631,880,783,814,652,630,653,0.454813433476,0.00465047771912,0.0796364067944,0.999999833251,0.000148498324149,-0.000556294978016,-4.45218080904e-05,1793247857053550848
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.793186035,684,655,631,880,783,813.793186035,651.793186035,630,653,0.454675768019,0.00464956328219,0.0796352406472,0.99999983127,0.000151403596964,-0.00055934125211,-4.09240858291e-05,1793247857070217216
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.21379681,684,655,631,880,783,813.21379681,651.21379681,630,653,0.454514482221,0.0046504912457,0.079633097167,0.999999829711,0.00015490503296,-0.00056139068833,-3.77229154981e-05,1793247857086883328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.362772794,714,684,655,631,879.637227206,783,813,651.362772794,630,653,0.454330260431,0.00464882684553,0.0796264413554,0.999999824265,0.000157993066676,-0.000570432148237,-3.33972638689e-05,1793247857103549696
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.486940072,714,684,655.513059928,631,879.513059928,783,813,651.486940072,630,652.486940072,0.453909724545,0.00464435068457,0.0796114682213,0.999999810284,0.000165977009872,-0.000592761832994,-2.27396098895e-05,1793247857136882944
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.090925286,745,714,684,656,631,879.909074714,783,813,651.090925286,630,652.181850571,0.453681026051,0.00464320217394,0.0796084922777,0.999999806598,0.00017147561372,-0.000597590966915,-1.68568819492e-05,1793247857153549568
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.682245579,745,714,684,656,631,879.317754421,783,813,651.682245579,630,653.364491158,0.453437324053,0.00464160335129,0.0796179708096,0.999999815427,0.00017742785588,-0.000580998912673,-1.02900347143e-05,1793247857170216960
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,714,684,656,631,879.267837356,783,812.732162644,651.732162644,630,653.732162644,0.453168819746,0.00464034769674,0.0796276086217,0.999999823016,0.000185817442545,-0.000565179911865,-3.33468187891e-06,1793247857186884096
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,714,684,656,631,879.846775265,783,812.153224735,651.153224735,630,653.153224735,0.45287150688,0.0046394906416,0.0796374314418,0.999999829187,0.000197038072431,-0.000550258835174,4.07193064425e-06,1793247857203550464
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.577147664,745.422852336,714,684,656.422852336,631.422852336,879.577147664,783,812.422852336,651,630,653,0.452548615904,0.00463513512946,0.0796455621385,0.999999834222,0.000199292081537,-0.000540114736042,1.07060878784e-05,1793247857220217088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.002100291,745.997899709,714,684,656.997899709,631.997899709,879.002100291,783,812.997899709,651,630,653,0.452216518739,0.00462952043596,0.0796530837977,0.999999838842,0.000198318781339,-0.000531689989851,1.7062219148e-05,1793247857236883968
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.573403544,745.426596456,714.573403544,683.426596456,657,632,879,783.573403544,813,651,630,653,0.451850773804,0.00462773755187,0.0796648536009,0.999999848813,0.000196574291857,-0.000513114909359,2.1127303227e-05,1793247857253549824
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.847758523,745,714.847758523,683,657,632,879.152241477,783.847758523,812.847758523,651.152241477,630,652.847758523,0.451478519779,0.00462559531628,0.0796764814742,0.999999860744,0.000186186875311,-0.000493303710876,2.22988957404e-05,1793247857270216192
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.25937392,745,714.25937392,683,657,632,879.74062608,783.25937392,812.25937392,651.74062608,630,652.25937392,0.451087971858,0.00462238336608,0.0796876581302,0.999999878,0.000151047201437,-0.000470057866651,1.52052397525e-05,1793247857286882816
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.323167189,657.323167189,632,879.676832811,783.323167189,812,652,630,652.323167189,0.450666581274,0.00461657145352,0.0797069786957,0.999999897198,0.000126875268744,-0.000435110728512,1.36162616387e-05,1793247857303550208
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.901101669,657.901101669,632,879.098898331,783.901101669,812,652,630,652.901101669,0.450220875981,0.00460870987287,0.079732719474,0.99999991725,0.000111349697981,-0.000390938929073,1.63668689627e-05,1793247857320218112
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.477267394,684,658,632,879.477267394,783.522732606,812,651.522732606,630,653,0.449733824422,0.00460640858702,0.0797459681338,0.999999925225,0.000107426022476,-0.000370906882499,2.0915816566e-05,1793247857336884480
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.945860127,684,658.054139873,632.054139873,880,783.054139873,812,651.054139873,630,653,0.449232183773,0.00460485632555,0.0797543258064,0.999999929297,0.000105200809983,-0.000360121824963,2.55003148918e-05,1793247857353551104
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.358428607,684,658.641571393,632.641571393,880,783.641571393,812,651.641571393,630,653,0.448670918805,0.00459937466015,0.079739910137,0.999999918453,9.61121327499e-05,-0.000391331067553,2.67778727091e-05,1793247857370217472
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.226986332,714.226986332,684,659,633,879.773013668,784,811.773013668,652,630.226986332,652.773013668,0.448090409707,0.00459339554518,0.079722673429,0.999999904698,0.00011706950611,-0.000419693604649,2.75111986929e-05,1793247857386884096
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.809244944,714.809244944,684,659,633,879.190755056,784,811.190755056,652,630.809244944,652.190755056,0.4474797803,0.00458663783723,0.0797010213158,0.999999884112,0.000185054067676,-0.000443600559842,2.73927090008e-05,1793247857403550720
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.613511255,715,683.613511255,659,633,879,784,811.386488745,651.613511255,630.613511255,652.386488745,0.446874022343,0.00458027976889,0.0797168793107,0.999999895096,0.000187879468393,-0.00041673918669,2.89301393697e-05,1793247857420217344
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.038710874,715,683.038710874,659,633,879,784,811.961289126,651.038710874,630.038710874,652.961289126,0.446270637954,0.00457411641997,0.0797510136208,0.999999920213,0.000158956909453,-0.000365141601711,3.12743953134e-05,1793247857436883712
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,632.463160725,879,784,811.463160725,651.536839275,630,653,0.445636211854,0.00456781170517,0.0797976541838,0.999999945796,0.000134052922984,-0.000298816549669,3.38495679272e-05,1793247857453550848
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.115525029,659,632.115525029,879,784,811.115525029,651.884474971,630,652.884474971,0.444986452655,0.0045619763841,0.0798372013566,0.999999962989,0.00011241027659,-0.000245049175603,3.65667910232e-05,1793247857470217728
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.706903336,659,632.706903336,879,784,811.706903336,651.293096664,630,652.293096664,0.444282768736,0.00455811656784,0.0798438106918,0.999999963302,0.000103005993718,-0.000247387988348,3.98004441728e-05,1793247857486884352
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.710547316,659.289452684,632.710547316,879,784,812,651,630,652.289452684,0.443543931286,0.00455452478959,0.0798334850338,0.999999956935,0.000112160791989,-0.000267989065507,4.16065200793e-05,1793247857503550720
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,683.136673387,659.863326613,632.136673387,879,784,812,651,630,652.863326613,0.44277055128,0.00455119638969,0.0798065187579,0.999999942398,0.000139552065075,-0.000306534961345,4.20098340616e-05,1793247857520216576
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.438899869,715,683,659.561100131,632.438899869,879,784,811.561100131,651,630.438899869,653,0.44197180012,0.00454496419784,0.0797929369897,0.999999940099,0.000123415152349,-0.000320699038753,4.1499878023e-05,1793247857536882944
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.984584007,715,683,659.015415993,633,879,784,811,651,630.984584007,652.984584007,0.441163465704,0.00453825287891,0.0797824143148,0.999999940456,9.47871643431e-05,-0.000329314360595,4.06837729529e-05,1793247857553549568
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.392672905,715,683,659.607327095,633,879,784,811,651,630.392672905,652.392672905,0.440293352414,0.00454757048387,0.0797298196583,0.99999990711,0.000107903546447,-0.000415460839789,3.90953875382e-05,1793247857570216192
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.80589048,633,879.19410952,784,811,651,630,652,0.439434297339,0.00455611711902,0.0796906929583,0.999999878178,0.00012375036079,-0.000476349091088,3.77115650903e-05,1793247857586882816
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,659.229216053,633,879.770783947,784,811,651,630,652,0.438597036638,0.00456314427122,0.079678109872,0.999999870009,0.000144978506559,-0.00048745662235,3.67309105178e-05,1793247857603549696
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,683,659,633,879.074238698,784.925761302,811,651,630,652.925761302,0.436996357827,0.00453706239198,0.079803388292,0.999999946845,9.51390512963e-05,-0.000309447188976,3.87383903457e-05,1793247857636884224
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+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.830533639,745,714.830533639,684,659,633,879,784,811,651,630,652,0.432433201413,0.00449202272003,0.0797594950698,0.999999919769,7.51275977521e-05,-0.000390662210752,4.6903108648e-05,1793247857720216320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.593797851,658.593797851,633,878.593797851,783.593797851,811,651,630,652,0.431453880693,0.00448212908351,0.079721242631,0.999999889197,6.90647521893e-05,-0.000463122870868,4.85181609591e-05,1793247857736882944
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.018640951,658.018640951,633,878.018640951,783.018640951,811,651,630,652,0.430478510117,0.00447241883111,0.0796882990132,0.999999858459,6.24709400098e-05,-0.000525991060964,5.01233901858e-05,1793247857753549824
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764.429826744,745,715,683,658.570173256,633,878,783.570173256,810.429826744,651,630,652,0.429646189652,0.00445684688544,0.0797650910026,0.999999922356,4.42983843262e-05,-0.000388301946827,5.04661483718e-05,1793247857770216448
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,745.156691692,715,682.843308308,659.313383383,633,878,784,810.156691692,651,630,652.156691692,0.428795279782,0.00444398547728,0.0798310912654,0.999999961239,2.96851727896e-05,-0.000272084611947,5.10919173221e-05,1793247857786883072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,745.735788012,715,682.264211988,660.471576023,633,878,784,810.735788012,651,630,652.735788012,0.427881340223,0.0044389603465,0.0798580907279,0.999999971407,2.57126598957e-05,-0.000231859979068,5.25946176299e-05,1793247857803549696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764.314103203,745.685896797,715,682,660.057690391,633,878,783.685896797,810.685896797,651,630,652.685896797,0.42693470888,0.00443981075781,0.0798414239389,0.999999964972,2.83851253556e-05,-0.000257706284545,5.32760993508e-05,1793247857820216320
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.891762939,745.108237061,715,682,658.324711184,633,878,783.108237061,810.108237061,651,630,652.108237061,0.425960646683,0.00444559119712,0.0797881178347,0.999999940453,3.66332343205e-05,-0.000338991145215,5.32685157744e-05,1793247857836882688
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.531746677,745,715,682,658.468253323,633,878.468253323,783.468253323,810.468253323,651,629.531746677,652,0.424986260796,0.00447457423036,0.0797577248631,0.999999921224,7.47827268627e-05,-0.00038624444852,5.26775832628e-05,1793247857853549568
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,745,715,682,658.954637519,633,878.954637519,784,810.954637519,651,629.045362481,652,0.42401512155,0.0045059034294,0.0797338609354,0.999999902094,0.000116166542259,-0.000423796706899,5.20928751878e-05,1793247857870216192
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,745,715,682,658.366906914,633,878.366906914,784,810.366906914,651,629.633093086,652,0.42308369338,0.00450131859194,0.0797248928275,0.999999895672,0.000113788005462,-0.000439179256578,5.31907816951e-05,1793247857886882560
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,745,715,682,658.217735343,633,877.782264657,784,810,651.217735343,629.782264657,652,0.42219852418,0.00449275761665,0.0797449216391,0.999999911629,0.000104714107679,-0.000403584414352,5.38147118303e-05,1793247857903549184
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,745,715,682,658.797246289,633,877.202753711,784,810,651.797246289,629.202753711,652,0.421390215881,0.00447759013553,0.0798131299404,0.999999954863,8.45156099979e-05,-0.000283288683369,5.36511117322e-05,1793247857920215808
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.373434872,745,715,681.626565128,659.373434872,633,877.373434872,784,810,651.626565128,629,652,0.420558403737,0.00447090507327,0.0798520557023,0.999999972377,7.35142228692e-05,-0.000216848583814,5.30919776973e-05,1793247857936883200
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.947835474,745,715,681.052164526,659.947835474,633,877.947835474,784,810,651.052164526,629,652,0.419713942937,0.00446878486549,0.079875222924,0.999999980265,6.74623055309e-05,-0.000179391153562,5.23199854524e-05,1793247857953550592
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.479919956,681,658.959839912,633.520080044,878,784,810,651,629.520080044,652,0.4188019273,0.00446743820814,0.0798329932796,0.999999963604,6.96291236648e-05,-0.000255448314918,5.18722800208e-05,1793247857970217472
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.095779559,680.904220441,658,633.904220441,878,784,809.904220441,651.095779559,629.904220441,652,0.417894511979,0.00446790950534,0.0797931219411,0.999999942136,7.32868913639e-05,-0.000328151286641,5.17010612509e-05,1793247857986884096
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.690602572,680.309397428,658,633.309397428,878,784,809.309397428,651.690602572,629.309397428,652,0.417046224374,0.00447745036259,0.0797995735646,0.999999942786,8.04356151999e-05,-0.000324299840933,5.28016589192e-05,1793247858003550464
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.277550967,878,784,809.277550967,652,629,652.277550967,0.416200778707,0.00448333296969,0.0797970626605,0.999999938244,8.94173496081e-05,-0.000335598168268,5.37637441559e-05,1793247858020217088
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.855963347,878,784,809.855963347,652,629,652.855963347,0.415358413718,0.00448525008355,0.0797848364998,0.999999927472,0.000100386041634,-0.00036331864032,5.45756837265e-05,1793247858036883968
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.431199502,745,715,680.431199502,658,634,877.568800498,784,810,651.568800498,629,652.568800498,0.414590679883,0.00448313973109,0.0797786331081,0.999999927171,9.56221537069e-05,-0.000365606267675,5.33521640879e-05,1793247858053550848
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.994476533,745,715,680.994476533,658.011046935,634,877.005523467,784,810,651,629,652,0.41384792376,0.00447967905596,0.0797746820751,0.999999930517,8.56128124373e-05,-0.000359148658129,5.14726795042e-05,1793247858070217728
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.405253863,745,715,680.405253863,659.189492274,634,877.594746137,784,810,651,629,652,0.413129524149,0.00447465054306,0.0797977039873,0.999999944919,7.25796801626e-05,-0.000319736758144,5.15991959611e-05,1793247858086884096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.638615739,634,877.819307869,784,810,651,629,652,0.412405357076,0.00447187385562,0.0798095931244,0.999999950483,7.09071908214e-05,-0.000302144134008,5.20990536468e-05,1793247858103550208
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.481159518,634,877.240579759,784,810,651,629,652,0.411668485068,0.00447405758003,0.0797969585359,0.999999938814,9.42603858017e-05,-0.000332615891963,5.34213227273e-05,1793247858120216320
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.337218012,784,810,651.337218012,629,652,0.410967227164,0.0044777396526,0.0797881516432,0.999999932001,0.000100629804824,-0.000350685108892,5.37679465352e-05,1793247858136882944
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.914353847,784,810,651.914353847,629,652,0.410291307388,0.00448248774294,0.0797820680117,0.999999929294,9.4915910182e-05,-0.000359930386755,5.34204356977e-05,1793247858153549568
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,810,652,629,652,0.409694439243,0.00448543349245,0.0798027476783,0.999999941734,0.000101713860929,-0.000321444939781,5.34807901196e-05,1793247858170216448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764.934747682,745,715,680,658.065252318,634,877.934747682,784,810,652,629,652,0.409110361966,0.00448746800061,0.0798264461061,0.999999953893,0.000108193572244,-0.000278624067338,5.36350885634e-05,1793247858186883584
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764.344524902,745,715,680,658.655475098,634,877.344524902,784,810,652,629,652,0.408518363875,0.00448469814569,0.0798369103953,0.999999958202,9.45719974355e-05,-0.000267839734335,5.39733833973e-05,1793247858203550720
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764.241059834,744.758940166,715,680,658.758940166,633.758940166,877.241059834,784,809.758940166,652,629,652,0.407925989652,0.00448332178933,0.0798282164359,0.999999952792,9.05749994985e-05,-0.000288549945334,5.43229761392e-05,1793247858220217856
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.820140917,744.179859083,715,680,658.179859083,633.179859083,877.820140917,784,809.179859083,652,629,652,0.407333088055,0.00448389943822,0.0797926582111,0.999999931043,0.000100073869656,-0.000353422740335,5.46884109672e-05,1793247858236884480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.396391099,715,680,658,633,877.603608901,784,809.396391099,651.603608901,629,652,0.406804363093,0.00448248553578,0.0797722863142,0.999999920841,9.95791470429e-05,-0.000381493227581,5.35316901222e-05,1793247858253551104
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.971365943,715,680,658,633,877.028634057,784,809.971365943,651.028634057,629,652,0.406304551202,0.00448017439152,0.0797587562209,0.999999916973,9.45820709527e-05,-0.000392983394201,5.16892015516e-05,1793247858270217472
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.557302957,877,784,809.442697043,651,629,652,0.405888762819,0.00448088579291,0.0797810981981,0.999999933132,9.62902425816e-05,-0.00034896892591,5.18229891419e-05,1793247858286884096
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.857721178,877,784,809,651.142278822,629,652,0.405475708911,0.00448327061192,0.0798033958145,0.999999945753,0.000100442644655,-0.000309374173571,5.18864313354e-05,1793247858303550720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.277472389,877,784,809,651.722527611,629,652,0.405057516531,0.00449031899463,0.0798197695326,0.999999949783,0.000111037225225,-0.000292339139777,5.14144944134e-05,1793247858320216832
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.30078765,633.30078765,877.30078765,784,809,652,629,652,0.404659900858,0.0044954216902,0.0798281965213,0.999999950779,0.000118944317001,-0.000285665222405,5.18539026715e-05,1793247858336883968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.877225111,633.877225111,877.877225111,784,809,652,629,652,0.404281142251,0.00449874130587,0.0798293409144,0.99999994924,0.000124388521883,-0.000288486509075,5.31284919576e-05,1793247858353551616
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.545722987,658.545722987,634,878,784,809,652,629,652,0.403934921142,0.00449545971359,0.0798325982865,0.999999949341,0.000123340378795,-0.000288187895392,5.52551583255e-05,1793247858370217728
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.0320821,658,633.9679179,878,784,809,651.9679179,629,652,0.403600287827,0.0044906266278,0.0798362075289,0.999999949917,0.000120033234476,-0.000287199185897,5.72328959481e-05,1793247858386883840
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.620056587,658,633.379943413,878,784,809,651.379943413,629,652,0.403313861404,0.00448986532696,0.0798360053816,0.999999951053,0.00010802828749,-0.000288883091977,5.26345055682e-05,1793247858403549952
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.79558471,658,633.20441529,878,784,809.20441529,651.20441529,629,652,0.403037314179,0.00448852671167,0.0798362646243,0.999999951788,9.9157738016e-05,-0.000289905085507,5.04650075186e-05,1793247858420216320
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.217829856,658,633.782170144,878,784,809.782170144,651.782170144,629,652,0.402778810135,0.00448613370214,0.0798373665395,0.999999952032,9.60117841407e-05,-0.000289718176491,5.27315851908e-05,1793247858436882944
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.359776274,658,633.640223726,878,784,809.640223726,651.640223726,629,652,0.402548639908,0.00448562792415,0.0798366833346,0.999999951907,9.27463775491e-05,-0.000290974068074,5.40197662845e-05,1793247858453549824
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.937292452,658,633.062707548,878,784,809.062707548,651.062707548,629,652,0.402335617543,0.00448626431578,0.0798349197588,0.999999951551,8.94086767734e-05,-0.000293103155804,5.47158130052e-05,1793247858470216448
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.487758275,744.487758275,715,680,657.487758275,633,878,784,809,651,628.487758275,652,0.402155544115,0.00448589481797,0.0798351271732,0.999999952441,8.61847752696e-05,-0.000290951789162,5.5107587284e-05,1793247858486883584
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764.089340749,744.089340749,715,680,657.178681497,633,878,784,809,651.089340749,628.089340749,652,0.401984980965,0.00448628430893,0.0798366887837,0.999999953692,8.40667302835e-05,-0.000287174005549,5.54962254857e-05,1793247858503550720
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.680264689,744.680264689,715,680,658.360529378,633,878,784,809,651.680264689,628.680264689,652,0.401845278552,0.00449162285628,0.079844505336,0.999999956131,8.80794396082e-05,-0.000277192307735,5.60753368839e-05,1793247858520217344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.734649908,745,715,680,658.734649908,633,878,784,809,651.734649908,629,652,0.40171061702,0.00450016873978,0.079847906537,0.999999956246,9.99184929428e-05,-0.000272736764415,5.60183125381e-05,1793247858536883968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.156448259,745,715,680,658.156448259,633,878,784,809,651.156448259,629,652,0.401581898766,0.0045124961182,0.0798461019753,0.999999953401,0.000120984917623,-0.000274796636878,5.52112749978e-05,1793247858553550592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,745,715,680,658,633.419687949,877.580312051,784,809,651.419687949,629,652,0.40147171309,0.00452059366825,0.0798426242961,0.999999947351,0.000153690148152,-0.000281438840627,4.96976149111e-05,1793247858570216960
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,745,715,680,658,633.995057974,877.004942026,784,809,651.995057974,629,652,0.401368402025,0.00452712217498,0.0798385259785,0.999999938927,0.000190712760656,-0.00028978084703,4.24380462525e-05,1793247858586883072
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.570959387,745,715,679.429040613,658,634,877,784,809.570959387,652,629,652,0.401292173591,0.00451893926425,0.079833432108,0.999999939789,0.000176612479212,-0.000295514735624,4.3597479357e-05,1793247858603549696
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.150679186,658,633.849320814,877,784,809.849320814,651.849320814,629,652,0.401220642,0.00451352849055,0.0798291705661,0.999999940167,0.000166024020178,-0.000300178255032,4.46728944949e-05,1793247858620216576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.741540153,658,633.258459847,877,784,809.258459847,651.258459847,629,652,0.401162145946,0.00451658834954,0.0798273657182,0.999999939496,0.000166988606004,-0.000301780895176,4.52897858384e-05,1793247858636883456
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.32374311,877,784,809,651,629,652,0.401114438691,0.0045168677402,0.0798271848061,0.99999993949,0.000166410007676,-0.000302002775176,4.60712962679e-05,1793247858653550080
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.899214057,877,784,809,651,629,652,0.401075120306,0.00451498516618,0.0798282665921,0.999999939999,0.000164631500029,-0.000301151039406,4.69808070359e-05,1793247858670216704
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..181326396e7284c4452a97dd1a9c22b1758a348e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,409 @@
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a38f4c1ae8cc86f17b725378b1ca6e8897d2556c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18b387c21b1982fc92fd80b8d7edcaabbbe84875ef3eef14fc7e1fbd2920f085
+size 25833767
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e9e1daea4462abd2575d9faa8bf3a775ac3b718
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/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,765,745,715,680,658,634,877,784,809,651,628,652,0.400970532925,0.00451460044397,0.0798380761046,0.999999946684,0.000156033214872,-0.000283069992411,4.64421546805e-05,1793247859276205568
+1,0.016666667,BASELINE,765,745,715,680,658,634,877.5767473,784,809,651,628.5767473,652,0.400970047705,0.00451347985819,0.0798378701516,0.99999994695,0.000153873335477,-0.000283341688675,4.62628070994e-05,1793247859292872704
+2,0.033333333,BASELINE,765,745,715,680,658,634,878,784,809,651,629,652,0.400969431282,0.00451282409193,0.0798375212244,0.999999947016,0.000152603936111,-0.000283802026781,4.62304190162e-05,1793247859309539328
+3,0.050000000,BASELINE,765,745,715,680,658,634,878,784,809,651,629,652,0.400968453074,0.00451345003941,0.0798367780534,0.999999946538,0.000153789985442,-0.000284782534348,4.66032635405e-05,1793247859326205696
+4,0.066666667,BASELINE,765,745,715,680,658,634,878,784,809,651.310328889,629,652,0.400968047935,0.00451359934374,0.0798366314901,0.999999946292,0.0001546577999,-0.000285134212558,4.68616455796e-05,1793247859342872064
+5,0.083333333,BASELINE,765,745,715,680,658,634,878,784,809,651.901512182,629,652,0.400968161437,0.00451331727559,0.0798370248698,0.999999946257,0.000155237604793,-0.000284916786446,4.70164365543e-05,1793247859359538432
+6,0.100000000,BASELINE,764.517594083,745,715,680,658.482405917,634,877.517594083,784,809,652,629,652,0.400967960781,0.00451323613056,0.0798364724843,0.99999994649,0.000153137091596,-0.000285291186663,4.6667148657e-05,1793247859376205312
+7,0.116666667,BASELINE,764,745,715,679.939098318,658.939098318,633.939098318,877.060901682,784,809.060901682,652,629,652,0.400967950881,0.00451325923761,0.0798360503006,0.999999946791,0.000151013423639,-0.000285430996905,4.62767650399e-05,1793247859392871936
+8,0.133333333,BASELINE,764,745,715,679.363485598,658.363485598,633.363485598,877.636514402,784,809.636514402,652,629,652,0.400970083908,0.00451382398802,0.0798383263144,0.999999947257,0.000153222251256,-0.000282588323762,4.63906625344e-05,1793247859409538816
+9,0.150000000,BASELINE,764.212197937,745,715,679.212197937,658,633.212197937,877.787802063,784,809.787802063,651.787802063,629,652,0.400970953489,0.00451443499534,0.0798393999412,0.999999947427,0.000154573975115,-0.000281241296948,4.64244666082e-05,1793247859426205440
+10,0.166666667,BASELINE,764.788002754,745,715,679.788002754,658,633.788002754,877.211997246,784,809.211997246,651.211997246,629,652,0.400969658119,0.00451512526504,0.0798384132452,0.999999947108,0.000154457028367,-0.000282457100712,4.63210284373e-05,1793247859442872064
+11,0.183333333,BASELINE,765,745,715,679.624883925,658,634,877.375116075,784,809,651,629,652,0.400969064555,0.00451482220004,0.079837611446,0.99999994681,0.000154406887489,-0.000283537899215,4.63210424787e-05,1793247859459538688
+12,0.200000000,BASELINE,765,745,715,679.03118088,658,634,877.96881912,784,809,651,629,652,0.400968879948,0.00451394030086,0.0798369173895,0.999999946524,0.000154395675598,-0.000284540027812,4.63813399992e-05,1793247859476205312
+13,0.216666667,BASELINE,765,745,715,679.545257809,658,634,877.454742191,784,809,651.545257809,628.454742191,652,0.400968705278,0.00451469373588,0.0798373685781,0.999999946612,0.000154426669168,-0.000284230439668,4.62769818884e-05,1793247859492871936
+14,0.233333333,BASELINE,765,745,715,680,658,634,877,784.120682632,809,651.879317368,628.120682632,652,0.400968434757,0.0045153686882,0.0798376474124,0.999999946623,0.000154689033101,-0.000284046957785,4.62790338967e-05,1793247859509538816
+15,0.250000000,BASELINE,765,745,715,680,658,634,877,784.695893341,809,651.304106659,628.695893341,652,0.400967801161,0.00451540664459,0.0798370380162,0.999999946268,0.00015581399814,-0.000284612275866,4.67162341384e-05,1793247859526205952
+16,0.266666667,BASELINE,765,745.278420299,715,680,658,633.721579701,877.278420299,784.721579701,809.278420299,651.278420299,629,652,0.400968569724,0.00451536037453,0.0798375560917,0.999999946462,0.000156086709393,-0.000283772840856,4.6744088633e-05,1793247859542872832
+17,0.283333333,BASELINE,765,745.86915411,715,680,658,633.13084589,877.86915411,784.13084589,809.86915411,651.86915411,629,652,0.400970911138,0.00451521962477,0.0798393388907,0.999999947271,0.000155403418544,-0.00028135764653,4.63127660659e-05,1793247859559539200
+18,0.300000000,BASELINE,764.549585447,745.549585447,715,679.549585447,658,633.450414553,878,784,810,651.549585447,629,652,0.400970266288,0.00451442471433,0.0798389312212,0.999999947218,0.000154464232454,-0.000282071607019,4.62670120309e-05,1793247859576205568
+19,0.316666667,BASELINE,764.028725142,745,715,679,658,634,877.971274858,784,809.971274858,651.028725142,629,652.028725142,0.400968834238,0.00451354355933,0.0798379395004,0.999999946916,0.00015355835118,-0.000283621176221,4.63244676992e-05,1793247859592871936
+20,0.333333333,BASELINE,764.602208984,745,715,679,658,634,877.397791016,784,809.397791016,651.602208984,629,652.602208984,0.400968586379,0.00451455649022,0.0798376906951,0.999999946604,0.000154664820908,-0.000284133599699,4.62588234304e-05,1793247859609538304
+21,0.350000000,BASELINE,765,745,715,679,658,634,877,784,809,651.819460513,628.819460513,652.819460513,0.400968725099,0.00451520780213,0.0798377728355,0.999999946501,0.000155551505757,-0.000284020158183,4.62069266855e-05,1793247859626204672
+22,0.366666667,BASELINE,765,745,715,679,658,634,877,784,809,651.230156633,628.230156633,652.230156633,0.400969739082,0.00451504036249,0.0798386042789,0.999999946874,0.000155940569493,-0.000282489678538,4.61861560952e-05,1793247859642871552
+23,0.383333333,BASELINE,765,745,715,679,658,634,877.704351349,784,809.352175674,651.352175674,628,652,0.400970635948,0.00451548341037,0.0798391751583,0.999999947231,0.000155705450424,-0.000281358322264,4.61592793195e-05,1793247859659538688
+24,0.400000000,BASELINE,765,745,715,679,658,634,878.860080724,784,809.930040362,651.930040362,628,652,0.400971457762,0.00451631768437,0.0798395790573,0.999999947577,0.000155070328747,-0.000280482740915,4.61284894412e-05,1793247859676206336
+25,0.416666667,BASELINE,765.508422166,745,715,679.508422166,658,634,877.983155668,784,809.491577834,652,628.508422166,652,0.400970145329,0.00451585688065,0.079838338311,0.999999947028,0.000156042568791,-0.000281931543003,4.59284963061e-05,1793247859692872704
+26,0.433333333,BASELINE,765.91352244,745,715,680,658,634,877.08647756,784,809,652,629,652,0.400969039546,0.00451537441164,0.079837362308,0.999999946543,0.000157015987006,-0.000283142656391,4.57258860847e-05,1793247859709539072
+27,0.450000000,BASELINE,765.337716826,745,715,680,658,634,877.662283174,784,809,652,629,652,0.400970766514,0.00451577873721,0.0798391661796,0.999999947138,0.000156743290819,-0.000281197193443,4.56403445656e-05,1793247859726205696
+28,0.466666667,BASELINE,765,745,715,679.756561125,658,634,877.756561125,784,809,651.756561125,629,652,0.400971652522,0.00451571805165,0.0798400260796,0.999999947627,0.000155909136583,-0.000279902587513,4.57562252446e-05,1793247859742872064
+29,0.483333333,BASELINE,765,745,715,679.167816632,658,634,877.167816632,784,809,651.167816632,629,652,0.400971345669,0.00451499777151,0.079839547004,0.999999947965,0.000154278582782,-0.00027953118916,4.61578130354e-05,1793247859759538432
+30,0.500000000,BASELINE,765,745,715,679.413647716,658,634,877.413647716,784,809,651.413647716,629,652,0.400970501667,0.00451474267928,0.0798392701309,0.999999947629,0.000154332819183,-0.000280696600542,4.61744293598e-05,1793247859776205312
+31,0.516666667,BASELINE,765,745,715,679.992209584,658,634,877.992209584,784,809,651.992209584,629,652,0.400969443512,0.00451467304941,0.0798390738725,0.999999947023,0.000155058752175,-0.000282474711248,4.60375642461e-05,1793247859792872192
+32,0.533333333,BASELINE,764.430249868,745,715,679.430249868,658,634,878,784,809,652,629,652,0.400970603317,0.0045157762464,0.0798394980177,0.999999947527,0.000155409619865,-0.000280522439255,4.58471869454e-05,1793247859809539072
+33,0.550000000,BASELINE,764,745,715,679.146179544,658,634,878.146179544,784,809,652,629,652,0.400971238814,0.00451640850663,0.0798395721887,0.999999947918,0.000155024897486,-0.000279362329485,4.56946964842e-05,1793247859826206208
+34,0.566666667,BASELINE,764,745,715,679.719403537,658,634,878.719403537,784,809,652,629,652,0.400970254176,0.00451561822166,0.0798385992176,0.999999947942,0.000152506199909,-0.000280665162155,4.56550212317e-05,1793247859842873088
+35,0.583333333,BASELINE,764,745,715,679.698388736,658.301611264,634,878.698388736,784.301611264,809,652,629,652,0.400969715919,0.00451562656436,0.0798384326421,0.999999947591,0.000153225218899,-0.000281513139783,4.57210744475e-05,1793247859859539712
+36,0.600000000,BASELINE,764,745,715,679.10756656,658.89243344,634,878.10756656,784.89243344,809,652,629,652,0.40096960569,0.00451640070008,0.0798390393081,0.999999946874,0.000157048839674,-0.000281924963291,4.58885092392e-05,1793247859876206336
+37,0.616666667,BASELINE,764.472321994,745,715,679.472321994,658.527678006,634,877.527678006,784.527678006,809,652,629,652,0.400970386381,0.00451566355789,0.079839281471,0.99999994745,0.000155489481207,-0.00028077404408,4.56978158528e-05,1793247859892872704
+38,0.633333333,BASELINE,765,745,715,680,658,634,877,784,809,651.95037477,628.95037477,652,0.400971324009,0.0045147047548,0.0798394507163,0.999999948202,0.000153206925217,-0.000279384673515,4.54838364638e-05,1793247859909539072
+39,0.650000000,BASELINE,765,745,715,680,658,634,877,784,809,651.374678567,628.374678567,652,0.400971823061,0.00451496219358,0.0798397070604,0.999999947823,0.000155959627763,-0.000279154988265,4.5868051456e-05,1793247859926205440
+40,0.666666667,BASELINE,765,745.205532296,715,680,658,634,877.205532296,784,809.205532296,651.205532296,628.205532296,652,0.400971692279,0.00451555509808,0.0798397724133,0.999999947506,0.000157652281778,-0.00027930677786,4.60635861351e-05,1793247859942872064
+41,0.683333333,BASELINE,765,745.79415804,715,680,658,634,877.79415804,784,809.79415804,651.79415804,628.79415804,652,0.400970387542,0.00451677328005,0.0798394817758,0.999999947316,0.000157369101875,-0.000280169601779,4.59074379021e-05,1793247859959538432
+42,0.700000000,BASELINE,765,745.623628269,715,680,658,634,878,784,810,652,629,652,0.400969679101,0.00451565928631,0.0798394819175,0.999999947559,0.000155578005907,-0.00028029370965,4.59725875763e-05,1793247859976205312
+43,0.716666667,BASELINE,765,745.044862678,715,680,658,634,878,784,810,652,629,652,0.400969291319,0.00451329116526,0.0798396384257,0.999999948028,0.000152976028237,-0.000280020573011,4.61567401823e-05,1793247859992872448
+44,0.733333333,BASELINE,765,745,715,680,658,634,878,784.531558767,809.468441233,652,629,652,0.400969308277,0.00451399675569,0.0798388073282,0.999999947392,0.000154921054943,-0.00028123159723,4.60851861609e-05,1793247860009538816
+45,0.750000000,BASELINE,765,745,715,680,658,634,877.893394646,784.893394646,809,651.893394646,629,652,0.400969525779,0.00451475810425,0.0798381393261,0.999999946936,0.000156188812553,-0.000282173188639,4.59566557505e-05,1793247860026205440
+46,0.766666667,BASELINE,765,745,715,680,658,634,877.323467472,784.323467472,809,651.323467472,629,652,0.400970467063,0.00451463927639,0.0798385408298,0.999999947682,0.000152852512828,-0.000281401776507,4.56738811639e-05,1793247860042871808
+47,0.783333333,BASELINE,765,745,715,679.742260035,658,634,877,784.257739965,809,651,629,652,0.400970683477,0.00451475649465,0.0798386008323,0.999999947883,0.0001522098634,-0.000281053496769,4.55522491718e-05,1793247860059538688
+48,0.800000000,BASELINE,765,745,715,679.146247665,658,634,877,784.853752335,809,651,629,652,0.400969948529,0.00451518351307,0.0798382126295,0.999999947376,0.000155102511426,-0.000281260559641,4.56421097311e-05,1793247860076205312
+49,0.816666667,BASELINE,765,745,715,679.436581619,658,634,877,784.563418381,809,651,629,652,0.400970859751,0.00451503794238,0.079838944819,0.999999947544,0.000155928785207,-0.000280166403769,4.58851309572e-05,1793247860092871936
+50,0.833333333,BASELINE,765,745,715,679.984947145,657.984947145,634,877.015052855,784,809,651.015052855,629,652,0.400972268396,0.00451473919683,0.0798400339965,0.999999947925,0.000156099257109,-0.000278659639491,4.61682334909e-05,1793247860109538560
+51,0.850000000,BASELINE,765,745,715,679.409133335,657.409133335,634,877.590866665,784,809,651.590866665,629,652,0.400972266835,0.00451567020245,0.0798408503318,0.999999948118,0.000156869885139,-0.000277544106815,4.60891964909e-05,1793247860126205696
+52,0.866666667,BASELINE,764.830088766,744.830088766,715,679,657.339822469,634,877.830088766,784,809,651.830088766,629,652,0.400971976481,0.00451603717337,0.0798412139935,0.999999948188,0.00015695673037,-0.000277263827042,4.59608999085e-05,1793247860142872576
+53,0.883333333,BASELINE,764.24311402,744.24311402,715,679,658.51377196,634,877.24311402,784,809,651.24311402,629,652,0.400970977258,0.00451501966664,0.0798404665245,0.999999947956,0.000155365164725,-0.000279033756143,4.57116909347e-05,1793247860159538944
+54,0.900000000,BASELINE,764,744.339155177,715,679.339155177,658.660844823,634,877.339155177,784,809,651.339155177,629,652,0.400971078807,0.00451597023594,0.0798401227156,0.999999947804,0.000156498471978,-0.00027895984103,4.56147074229e-05,1793247860176205312
+55,0.916666667,BASELINE,764,744.918097465,715,679.918097465,658.081902535,634,877.918097465,784,809,651.918097465,629,652,0.400971958617,0.00451831226056,0.0798400642997,0.999999947704,0.000159558299796,-0.000277582304054,4.56253492987e-05,1793247860192871680
+56,0.933333333,BASELINE,764.494870826,745,715,679.505129174,658,633.505129174,877.505129174,784,809.494870826,652,629,652,0.400971250802,0.00451665660332,0.0798397657028,0.999999947837,0.000156590375112,-0.000278780560216,4.56771121414e-05,1793247860209538304
+57,0.950000000,BASELINE,765,745,715,679.071227494,658,633.071227494,877,784,809.928772506,652,629,652,0.400970424192,0.00451473229077,0.0798394462194,0.999999947935,0.000153431521678,-0.000280173707643,4.57336506887e-05,1793247860226205184
+58,0.966666667,BASELINE,765,745,715,679.647163716,658,633.647163716,877,784,809.352836284,652,629,652,0.400970609558,0.00451557207294,0.0798392591759,0.999999947608,0.000155957863483,-0.000279940295693,4.57760158046e-05,1793247860242872064
+59,0.983333333,BASELINE,764.77189439,745,715,680,658,634,877,784,809.22810561,652,629,652,0.400971127949,0.00451606651919,0.0798393501814,0.999999947541,0.000157394897399,-0.000279357970942,4.58667231058e-05,1793247860259538944
+60,1.000000000,BASELINE,764.18303585,745,715,680,658,634,877,784,809.81696415,652,629,652,0.400972173026,0.0045160148109,0.0798398809262,0.999999947895,0.000157109172613,-0.000278223834582,4.60338844078e-05,1793247860276206080
+61,1.016666667,BASELINE,764.399297654,744.600702346,715,680,658,634,877,784.399297654,809.600702346,652,629,652,0.400972405046,0.00451573323056,0.079840281735,0.999999948093,0.000156853588337,-0.000277639114573,4.61311816867e-05,1793247860292872704
+62,1.033333333,BASELINE,764.978688173,744.021311827,715,680,658,634,877,784.978688173,809.021311827,652,629,652,0.400972270358,0.00451534797238,0.0798406239395,0.999999948221,0.000156611598173,-0.000277302194649,4.61969685971e-05,1793247860309539328
+63,1.050000000,BASELINE,765,744.553869924,715,679.446130076,658,634,877,784.446130076,809,652,629,652,0.400971938192,0.00451617144156,0.0798401176756,0.999999947741,0.000158070718623,-0.000278207542598,4.61763897649e-05,1793247860326205440
+64,1.066666667,BASELINE,765,745,715,679.128895543,658,634,877,784,809,652,629,652,0.400971478444,0.00451687106929,0.0798396696799,0.999999947351,0.000159064723895,-0.00027905225955,4.61163732226e-05,1793247860342872064
+65,1.083333333,BASELINE,765,745,715,679.703937027,658,634,877,784,809,652,629,652,0.400970603199,0.0045169822757,0.0798395355177,0.999999947361,0.000158223974603,-0.000279522912066,4.59312667824e-05,1793247860359538432
+66,1.100000000,BASELINE,765,745,715,680,658,634,877,784,809,651.71301499,629,652,0.400970714486,0.00451641463912,0.0798397333108,0.999999947684,0.000156898412787,-0.000279147686327,4.57284143001e-05,1793247860376205056
+67,1.116666667,BASELINE,765,745,715,680,658,634,877,784,809,651.121470235,629,652,0.40097187272,0.00451512658773,0.079840283388,0.999999948336,0.000155058348962,-0.000277874781387,4.55067290339e-05,1793247860392871424
+68,1.133333333,BASELINE,765,745,715,679.54596413,658,634,877,784,809,651.45403587,629,652,0.400971646792,0.00451539240534,0.0798401848483,0.999999947925,0.000156795642162,-0.000278337339487,4.5750454792e-05,1793247860409538304
+69,1.150000000,BASELINE,764.974123277,745,715,679.025876723,658,634,877,784,809,651.974123277,629,652,0.400971053751,0.00451604584241,0.0798398593941,0.999999947242,0.000159332956372,-0.00027929266057,4.60921217594e-05,1793247860426205184
+70,1.166666667,BASELINE,764.391981285,745,715,679.608018715,658,634,877,784,809,651.391981285,629,652,0.400970257834,0.00451640025603,0.0798382590162,0.999999946736,0.000159196271058,-0.000281200465127,4.5953895955e-05,1793247860442871808
+71,1.183333333,BASELINE,764.187605383,745,715,679.812394617,658,633.812394617,877.187605383,784,809,651.187605383,629,652,0.400969189573,0.00451621218944,0.0798372046495,0.999999946476,0.000158344652358,-0.000282611068676,4.58803302566e-05,1793247860459538432
+72,1.200000000,BASELINE,764.761924827,745,715,679.238075173,658,633.238075173,877.761924827,784,809,651.761924827,629,652,0.400967559924,0.00451490589953,0.0798372757846,0.99999994673,0.000156019329676,-0.000282996783959,4.59400494737e-05,1793247860476205056
+73,1.216666667,BASELINE,765,745,715,679.346952163,658,633.346952163,878,784,809.346952163,652,629,652,0.400968462844,0.00451483108441,0.0798382990714,0.999999947165,0.000155941351869,-0.00028148433004,4.60260294733e-05,1793247860492871680
+74,1.233333333,BASELINE,765,745,715,679.939561104,658,633.939561104,878,784,809.939561104,652,629,652,0.400971158931,0.0045156282055,0.079839996522,0.999999947723,0.000157454589243,-0.000278627892173,4.61306032117e-05,1793247860509538560
+75,1.250000000,BASELINE,765,745,715,680,658,634,878,784,810,652,629.500298035,652,0.400971446972,0.00451473803117,0.0798407025031,0.999999948416,0.000154530532954,-0.000277818239834,4.58839714752e-05,1793247860526204928
+76,1.266666667,BASELINE,764.938695561,745,715,679.938695561,658,633.938695561,877.938695561,784.061304439,809.938695561,652,629.938695561,652,0.400971507318,0.00451380200347,0.0798412604902,0.999999949009,0.000151700044128,-0.000277285716717,4.56263711311e-05,1793247860542871552
+77,1.283333333,BASELINE,764.343840321,745,715,679.343840321,658,633.343840321,877.343840321,784.656159679,809.343840321,652,629.343840321,652,0.400971966165,0.00451413468921,0.0798415104477,0.999999948687,0.000154069895767,-0.000277142008789,4.56204529829e-05,1793247860559538432
+78,1.300000000,BASELINE,764.249308494,745,715,679,658,633.249308494,877,784.750691506,809,651.750691506,628.750691506,652,0.400972370782,0.00451505584677,0.0798417386689,0.999999948401,0.000156486052016,-0.000276786370924,4.58120159666e-05,1793247860576205312
+79,1.316666667,BASELINE,764.8401198,745,715,679,658,633.8401198,877,784.1598802,809,651.1598802,628.1598802,652,0.400972701112,0.00451678309307,0.0798419371153,0.999999948168,0.000158965636132,-0.000276140431408,4.62740886348e-05,1793247860592871936
+80,1.333333333,BASELINE,765,745,715,679,658.423075236,634,877,784,809,651,628.423075236,652,0.40097098394,0.00451636097092,0.0798404494203,0.999999947768,0.000157485572106,-0.000278449156687,4.61396290105e-05,1793247860609538816
+81,1.350000000,BASELINE,765,745,715,679.003089753,658.996910247,633.996910247,877,784,809,651,629,651.996910247,0.400968524634,0.00451514663082,0.0798383501944,0.999999947294,0.000154554573495,-0.000281830662796,4.57863180135e-05,1793247860626205440
+82,1.366666667,BASELINE,765,745,715,679.578224914,658.421775086,633.421775086,877,784,809,651,629,651.421775086,0.400969307364,0.0045148990323,0.0798388515637,0.999999947492,0.000154981854864,-0.000280873768405,4.58900741487e-05,1793247860642872064
+83,1.383333333,BASELINE,765,745,715,679.847347408,658,633.152652592,877.152652592,784,809,651,629,651.152652592,0.400970342331,0.00451490833755,0.0798395094561,0.999999947776,0.000155212142782,-0.000279735414914,4.58917631313e-05,1793247860659538688
+84,1.400000000,BASELINE,765,745,715,679.27486534,658,633.72513466,877.72513466,784,809,651,629,651.72513466,0.400972071008,0.00451562418674,0.079840597823,0.999999948293,0.000154900653839,-0.000278098007258,4.56127441679e-05,1793247860676205056
+85,1.416666667,BASELINE,765,744.691313949,715,679.308686051,658,633.691313949,877.691313949,784,809,651.308686051,629,652,0.400972326733,0.00451558702848,0.0798407001222,0.999999948483,0.000154700316913,-0.000277533245502,4.55717859309e-05,1793247860692871680
+86,1.433333333,BASELINE,765,744.097539469,715,679.902460531,658,633.097539469,877.097539469,784,809,651.902460531,629,652,0.400971222108,0.00451485442668,0.079839891734,0.999999948372,0.000154602634968,-0.000277959130931,4.5750689796e-05,1793247860709538304
+87,1.450000000,BASELINE,765,744.485283677,715,680,658,633,877,784,809,652,629,651.514716323,0.40097150359,0.00451464917124,0.0798404174548,0.999999948481,0.000154255499611,-0.000277740292214,4.58612409354e-05,1793247860726204928
+88,1.466666667,BASELINE,764.934915203,745,715,680,658,633.065084797,877.065084797,784.065084797,809,652,629,651.065084797,0.400971952982,0.00451460661704,0.0798410945241,0.999999948593,0.000154016710925,-0.000277455500685,4.59571195032e-05,1793247860742871552
+89,1.483333333,BASELINE,764.361899322,745,715,680,658,633.638100678,877.638100678,784.638100678,809,652,629,651.638100678,0.400971586503,0.00451502487063,0.0798409062493,0.999999948383,0.000155006130414,-0.000277644994526,4.60433425783e-05,1793247860759538176
+90,1.500000000,BASELINE,764.211683234,745,715,679.788316766,658,633.788316766,877.788316766,785,809,652,628.788316766,652,0.400970977581,0.00451505833552,0.0798406571019,0.999999948217,0.000155056111719,-0.000278206267065,4.61035653659e-05,1793247860776204544
+91,1.516666667,BASELINE,764.786237134,745,715,679.213762866,658,633.213762866,877.213762866,785,809,652,628.213762866,652,0.400969953061,0.00451443218965,0.0798403036058,0.999999948123,0.000153495693487,-0.000279404848365,4.61192180506e-05,1793247860792871168
+92,1.533333333,BASELINE,765,745,715,679,658.371319255,633,877,784.628680745,809,651.628680745,628,652,0.400969562629,0.00451449183857,0.079839889257,0.999999947758,0.000154846106408,-0.000279994092158,4.59350774631e-05,1793247860809538048
+93,1.550000000,BASELINE,765,745,715,679,658.962639234,633,877,784.037360766,809,651.037360766,628,652,0.400969547883,0.00451495780989,0.079839438854,0.999999947227,0.000157921140115,-0.000280222313329,4.56325625564e-05,1793247860826204928
+94,1.566666667,BASELINE,765,745,715,679,658.458586496,633.541413504,877,784,809.541413504,651,628.541413504,652,0.400969161453,0.00451582864124,0.0798395287576,0.999999947323,0.000157684263631,-0.000279989237649,4.57772150377e-05,1793247860842871552
+95,1.583333333,BASELINE,764.881244701,745,715,679,658,634,877,784,809.881244701,651,628.881244701,652,0.400968971103,0.00451640137016,0.0798396009405,0.999999947475,0.000157017364458,-0.000279800885023,4.58980916732e-05,1793247860859538432
+96,1.600000000,BASELINE,764.306155878,745,715,679,658,634,877,784,809.306155878,651,628.306155878,652,0.400969630547,0.00451572367645,0.0798394650031,0.999999947679,0.000155556357442,-0.000279903936314,4.58117186727e-05,1793247860876205056
+97,1.616666667,BASELINE,764.275696096,745,715,679.275696096,658,633.724303904,877.275696096,784,809,651,628.275696096,652,0.400969362098,0.00451510933745,0.0798389984204,0.999999947667,0.000154505669737,-0.000280534933118,4.5771057244e-05,1793247860892871680
+98,1.633333333,BASELINE,764.865247273,745,715,679.865247273,658,633.134752727,877.865247273,784,809,651,628.865247273,652,0.400968037327,0.00451456712211,0.0798381554281,0.99999994741,0.00015392209356,-0.000281766948152,4.57824343124e-05,1793247860909538048
+99,1.650000000,BASELINE,764.552656961,745,715,680,658,633,878,784,809,651,629,652,0.400968334151,0.00451478665131,0.0798385217758,0.999999947492,0.000153910507386,-0.000281468465084,4.58486285076e-05,1793247860926204672
+100,1.666666667,BASELINE,764.02701052,745,715,679.97298948,658,633.02701052,877.97298948,784,809,651,629,652,0.400969186411,0.0045152136352,0.0798392799191,0.9999999477,0.000154079495314,-0.000280626321532,4.59207957973e-05,1793247860942871296
+101,1.683333333,BASELINE,764.602226971,745,715,679.397773029,658,633.602226971,877.397773029,784,809,651,629,652,0.400971560303,0.00451527035032,0.0798407175535,0.999999948392,0.00015447373988,-0.000277953730128,4.57845487831e-05,1793247860959538176
+102,1.700000000,BASELINE,764.819319826,745,715,679.180680174,657.819319826,634,877,784,809.180680174,651,629,652,0.400973321472,0.00451544366895,0.079841773074,0.999999948921,0.000154962387925,-0.000275790685323,4.56532414689e-05,1793247860976205056
+103,1.716666667,BASELINE,764.23361091,745,715,679.76638909,657.23361091,634,877,784,809.76638909,651,629,652,0.400973709108,0.00451587837638,0.0798419720133,0.999999949099,0.000155662659148,-0.00027476988584,4.55330074442e-05,1793247860992871936
+104,1.733333333,BASELINE,764.350190145,745,715,680,657.350190145,634,877,784,809.649809855,651,628.649809855,652,0.400972609199,0.00451547632644,0.0798412156133,0.999999948849,0.000154903323091,-0.000276101330723,4.5554865612e-05,1793247861009538560
+105,1.750000000,BASELINE,764.932725425,745,715,680,657.932725425,634,877,784,809.067274575,651,628.067274575,652,0.400970522329,0.00451451910242,0.0798398253622,0.999999948307,0.000153175562786,-0.000278993449167,4.56709994922e-05,1793247861026205184
+106,1.766666667,BASELINE,764.490948461,745,715,679.490948461,658,634,877,784,809,651,628.509051539,652,0.400969468493,0.00451399612541,0.0798398400087,0.999999948176,0.000152413949116,-0.000279866144309,4.57578508638e-05,1793247861042871808
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,679,658,634,878,784,809,652,629,652,0.400969087324,0.00451371145664,0.0798392052053,0.999999947931,0.000152371426251,-0.00028075370448,4.58177042567e-05,1793247861085499648
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.420896039,745,715.420896039,679,658,634,878,784,809,652,629,652,0.400968233365,0.00451422120649,0.0798384556249,0.99999994743,0.000154168960873,-0.000281562163428,4.57765878529e-05,1793247861102166272
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.157470889,745,715,679.157470889,658.157470889,634,877.842529111,784.157470889,809,652,629,652,0.40096801139,0.0045146331009,0.0798382236505,0.999999947194,0.0001555669138,-0.00028163910827,4.57131151512e-05,1793247861118832640
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.733877145,745,715,679.733877145,658.733877145,634,877.266122855,784.733877145,809,652,629,652,0.400969470743,0.00451478466093,0.0798393687146,0.999999947672,0.00015590182045,-0.000279769934029,4.55901657726e-05,1793247861135499520
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.69037621,715,679.69037621,658.69037621,634,877.61924758,785,809,652,629,652,0.400969399998,0.00451508352299,0.0798392690903,0.999999947742,0.000155689026802,-0.000279665952029,4.54228783811e-05,1793247861152166144
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.115195333,715,679.115195333,658.115195333,634,878.769609335,785,809,652,629,652,0.400968016922,0.00451550872254,0.0798381019257,0.999999947462,0.000155006483389,-0.000281075934269,4.52175633197e-05,1793247861168832768
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.471477876,715,679.942955753,658,634,878.528522124,784.528522124,809.471477876,652,629,652,0.400967896998,0.00451554705233,0.0798381441532,0.99999994742,0.000154644818969,-0.000281388592814,4.54516223728e-05,1793247861185499648
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680.940161676,658,634,878,784.059838324,809.940161676,652,628.940161676,652,0.400968330436,0.00451540310204,0.0798385955391,0.999999947501,0.000154426434729,-0.000281169976568,4.57702612165e-05,1793247861202166272
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.362113839,658,634,878,784.637886161,809.362113839,652,628.362113839,652,0.40097081657,0.00451451961472,0.07983996739,0.999999948129,0.00015475296209,-0.000278730295167,4.58684663384e-05,1793247861218832896
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.783634101,809,652,628.216365899,652,0.400977450821,0.00451393981399,0.0798433582876,0.999999949502,0.000155343458231,-0.000273399539919,4.60119706874e-05,1793247861235499520
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784.204430139,809,652,628.795569861,652,0.40099104132,0.00451386928514,0.0798501350559,0.999999952062,0.000156376620758,-0.000263220554922,4.62314402467e-05,1793247861252165888
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.370887881,651.629112119,629,652,0.401022385531,0.00451386122993,0.0798619751325,0.999999957657,0.00015631510115,-0.000241151695016,4.58030700332e-05,1793247861268832512
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.944086264,651.055913736,629,652,0.401063413971,0.00451388725259,0.0798765771238,0.999999964273,0.000155656458512,-0.000212597190509,4.50213186486e-05,1793247861285499136
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.467965954,658,634,877.467965954,784,809.467965954,651.532034046,629,652,0.401126978482,0.00451460481668,0.0798946114469,0.999999971997,0.000153584994981,-0.000174722676079,4.34743985131e-05,1793247861302166016
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.880488745,745,715,679.119511255,658,634,877,784.119511255,809,652,629,652,0.401195440959,0.00451530031004,0.0799113818715,0.999999977747,0.000151259584211,-0.000140979148299,4.18504847143e-05,1793247861318833152
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.300959301,745,715,679.699040699,658,634,877,784.699040699,809,652,629,652,0.401273380177,0.00451562312765,0.0799218592976,0.999999980091,0.000148544506548,-0.000127014122887,4.02485650453e-05,1793247861335499520
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,745,715,679.723463321,658,634,877,784.723463321,809.276536679,651.723463321,629,652,0.401358922792,0.00451664586347,0.079929202286,0.999999981667,0.000147591266865,-0.000115872727636,3.81505569327e-05,1793247861352166144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,745,715,679.148164272,658,634,877,784.148164272,809.851835728,651.148164272,629,652,0.401452679896,0.00451842477101,0.0799331589163,0.999999982529,0.000148541467044,-0.000107781903019,3.55165890648e-05,1793247861368832768
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.425295528,745,715,679,658,634,877.425295528,784,809.574704472,651,629,652,0.401560343997,0.00451828803993,0.0799355652387,0.999999983555,0.000145075171035,-0.000103996594482,3.20566310611e-05,1793247861385499392
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.998117318,745,715,679,658,634,877.998117318,784,809.001882682,651,629,652,0.401672832146,0.00451748681322,0.079937433791,0.999999984617,0.000140076883407,-0.000101704780993,2.83101541398e-05,1793247861402166016
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,658.590970093,634,878,784,809,651,629,652,0.401816135101,0.00450956168586,0.0799435109338,0.999999987717,0.000125724621175,-8.99164122209e-05,2.59851693886e-05,1793247861418832896
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.820853076,745,715,679.179146924,658.820853076,634,877.820853076,784,809,651,629,652,0.40196905863,0.00449818412914,0.0799489640415,0.999999990812,0.000106982944106,-7.98352502225e-05,2.36035820277e-05,1793247861435499776
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.243224092,745,715,679.756775908,658.243224092,634,877.243224092,784,809,651,629,652,0.402143155458,0.00447917947997,0.0799529982187,0.999999993983,7.85463666586e-05,-7.36211378653e-05,2.10856657203e-05,1793247861452166656
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.327714442,745,715,680,658,633.672285558,877.327714442,784.327714442,809,651,628.672285558,652,0.402334501859,0.00447892546894,0.0799564531317,0.99999999527,6.87813359945e-05,-6.70296679172e-05,1.53640452322e-05,1793247861468833280
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.893786842,745,715,680,658,633.106213158,877.893786842,784.893786842,809,651,628.106213158,652,0.402538394483,0.00449230943836,0.0799594867264,0.999999995528,7.25967589719e-05,-6.01637322273e-05,7.31226052597e-06,1793247861485499648
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.524524319,715,680,658,633.475475681,878,784.524524319,809,651,628.475475681,652,0.402758219538,0.00449325673022,0.0799556839739,0.999999995609,6.24631159535e-05,-6.98544179163e-05,1.12683886033e-07,1793247861502166016
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.061440118,715,679.938559882,658,634,878,784,809,651,629,652,0.402985653802,0.00449197954421,0.0799505069033,0.999999995325,4.99880953618e-05,-8.24804640481e-05,-6.99521836853e-06,1793247861518832896
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.653176394,715,679.346823606,658,634,878,784,809,651,629,652,0.403247002518,0.00449629537572,0.0799470963168,0.999999995047,4.51120835521e-05,-8.7436026038e-05,-1.50107642288e-05,1793247861535499264
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.238715228,658,634,877.761284772,784,809,651,629,652,0.403532213999,0.00450282119264,0.079945816886,0.999999994723,4.59499170603e-05,-8.90806837362e-05,-2.25242017101e-05,1793247861552165888
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.815477762,658,634,877.184522238,784,809,651,629,652,0.40385121779,0.00451247659437,0.079947555409,0.999999994363,5.48791911591e-05,-8.60367325208e-05,-2.93265974164e-05,1793247861568832512
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.608860863,745,715,680,658,634,877.391139137,784,809,651,629,652,0.404206748355,0.00451867151774,0.0799512224862,0.999999992087,9.61492152133e-05,-7.7581428344e-05,-2.37218257185e-05,1793247861585499392
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.033717524,745,715,680,658,634,877.966282476,784,809,651,629,652,0.404579462258,0.00452323852253,0.0799557968161,0.99999998606,0.000152633348761,-6.65804527216e-05,-1.22803304283e-05,1793247861602166528
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.557648619,745,715,680,658.557648619,633.442351381,877.442351381,784,809,651.557648619,628.442351381,652,0.404976913111,0.00453320713718,0.0799537541959,0.999999995555,6.47773075127e-05,-6.59466794568e-05,-1.8582786525e-05,1793247861618832896
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.146297097,877.146297097,784.146297097,809,652,628.146297097,652,0.40538515108,0.00454179185674,0.079950921887,0.999999997393,-1.63070433586e-06,-6.77556114756e-05,-2.49026570607e-05,1793247861635499520
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,633.723953549,877.723953549,784.723953549,809,652,628.723953549,652,0.405820652757,0.00454530429313,0.0799469761736,0.99999999657,2.17049233025e-05,-7.48632742079e-05,-2.80157271275e-05,1793247861652166144
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.701797559,634,877.701797559,784.701797559,809.298202441,652,629,652,0.40627604202,0.00455408919239,0.0799404985368,0.999999994191,5.79983167248e-05,-8.61817272952e-05,-2.87528330894e-05,1793247861668832768
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.130667348,634,877.130667348,784.130667348,809.869332652,652,629,652,0.406749633309,0.0045676996781,0.0799317035737,0.999999988857,0.000106151220396,-0.000101354078513,-2.73153542586e-05,1793247861685499392
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.444918158,634,877.444918158,784,810,652,629,652,0.407264462779,0.00457724370809,0.0799276281886,0.999999985724,0.000125082035548,-0.000109831250646,-2.90559564494e-05,1793247861702166016
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.977567856,745.022432144,715,680,659,634,877.977567856,784,810,651.977567856,629,652,0.407792113218,0.00458556029859,0.0799247002632,0.999999983579,0.000134889973408,-0.000116811072564,-3.16487622938e-05,1793247861718832896
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.384620874,745.615379126,715,680,659,634,877.384620874,784,810,651.384620874,629,652,0.40833470083,0.00459334057012,0.0799153467991,0.999999981347,0.000133154517363,-0.00013622343009,-3.193726795e-05,1793247861735499776
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,745.798015696,715,680,659,633.798015696,877,784,809.798015696,651,629,652,0.408908379385,0.00460163856389,0.0799151261823,0.999999980347,0.000136938612396,-0.000139527678977,-3.29434695153e-05,1793247861752166400
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,745.223119069,715,680,659,633.223119069,877,784,809.223119069,651,629,652,0.409539459378,0.00461089239882,0.0799317670312,0.999999981596,0.000150913145965,-0.000113092426668,-3.52747128766e-05,1793247861768833024
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.35116326,745,715,680,659,633.35116326,877,784,809.35116326,651.35116326,628.64883674,652,0.410211898662,0.00461800531829,0.0799594145267,0.999999984779,0.000157033941352,-6.69208165526e-05,-3.61230004526e-05,1793247861785499904
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.925055942,745,715,680,659,633.925055942,877,784,809.925055942,651.925055942,628.074944058,652,0.410910570538,0.00462376033664,0.0799940431166,0.999999986808,0.000158173410182,-8.23119061334e-06,-3.60307057355e-05,1793247861802166272
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680.517450355,659,634,877,784,810,651.482549645,628.517450355,652,0.411592248113,0.00461859897155,0.0799886670258,0.999999987056,0.000154670421921,-2.25086586231e-05,-3.8183937866e-05,1793247861818833152
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.109310411,715,680.890689589,659,634,877.109310411,784,810.109310411,651.109310411,629,652,0.412275286432,0.0046094010924,0.0799726335361,0.999999987039,0.000146956498839,-5.17834985155e-05,-4.05514525899e-05,1793247861835499776
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.686973691,715,680.313026309,659,634,877.686973691,784,810.686973691,651.686973691,629,652,0.412975091759,0.00458993372485,0.0799366828631,0.999999986553,0.000124188075752,-9.83571389703e-05,-4.23919401212e-05,1793247861852166400
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745.737606334,715,679.737606334,659,634,878,784,810.737606334,651.737606334,629,652.262393666,0.413702443855,0.00457921504125,0.0799172089503,0.999999985892,0.000109171458039,-0.000120050986866,-4.34233941891e-05,1793247861868833024
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.164839782,715,679.164839782,659,634,878,784,810.164839782,651.164839782,629,652.835160218,0.414462379795,0.00457884475391,0.0799172246025,0.999999987409,0.000103324076557,-0.000112315727338,-4.34978817048e-05,1793247861885499904
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.403104976,715,679.403104976,659.403104976,634,878,784,810,651,629,652.596895024,0.415245765748,0.00458363432816,0.0799366764232,0.99999998967,0.000111462356067,-7.98956709497e-05,-4.3047721097e-05,1793247861902166272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.969101254,715,679.969101254,659.969101254,634,878,784,810,651,629,652.030898746,0.416038627607,0.00459050895873,0.0799639822347,0.999999990555,0.000125252122713,-3.7500697873e-05,-4.23855545565e-05,1793247861918832896
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.42792754,745.42792754,715,680,659.42792754,633.42792754,878,784,810,651.57207246,629,652,0.416864364572,0.0045978099884,0.0799492326528,0.999999988764,0.0001261471772,-6.88146557503e-05,-4.26902513077e-05,1793247861935499520
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.168982487,745,715,680,659.168982487,633.168982487,878,784,810.168982487,651.831017513,629,652.168982487,0.417715390231,0.00460235155779,0.0799444688824,0.999999987879,0.000128555694106,-7.63420376228e-05,-4.34471293226e-05,1793247861952166144
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.746096619,745,715,680,659.746096619,633.746096619,878,784,810.746096619,651.253903381,629,652.746096619,0.418622908929,0.00460016892645,0.0799696884208,0.999999989545,0.00013641793765,-1.61395101105e-05,-4.51612852908e-05,1793247861968832768
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680.32236025,660.32236025,633.67763975,878,784,810.67763975,651,629,653,0.419506483583,0.00459512930481,0.0799813826422,0.999999990511,0.00012907040945,1.04195148132e-05,-4.70060768786e-05,1793247861985499648
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680.89795573,660.89795573,633.10204427,878,784,810.10204427,651,629,653,0.420371248569,0.00458784532904,0.0799824518344,0.999999992721,0.000109774602673,1.05493475624e-05,-4.89534913591e-05,1793247862002166272
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.524593072,633,878.475406928,784,810.475406928,651,629,652.524593072,0.421257066246,0.00458738491085,0.0799718047238,0.999999993328,0.000103937151969,-7.37236383075e-06,-4.98686090578e-05,1793247862018832896
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.945587111,660,633.054412889,879,784,811,651.054412889,629,652.054412889,0.422152570704,0.00458915647044,0.07996263272,0.999999993137,0.000103204164908,-2.32031046499e-05,-5.03678014265e-05,1793247862035499264
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.355205985,660,633.644794015,879,784,811,651.644794015,629,652.644794015,0.423098804056,0.00459842968719,0.0799928590601,0.999999990893,0.00012418416721,1.98776741809e-05,-4.89612257501e-05,1793247862052165888
+166,2.766666667,POSE1_TO_POSE2_PRESS,764.771585004,745,715,680,660,634,879,784,811,652,629,653,0.424014681311,0.0046071735129,0.080002235874,0.999999988952,0.000138929474047,2.30837097373e-05,-4.75479927254e-05,1793247862068832768
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.198174387,745,715,680,660,634,879,784,811,652,629,653,0.424884709177,0.00461511775331,0.0799801217861,0.999999987955,0.000144257965213,-3.39366437274e-05,-4.61247043251e-05,1793247862085499136
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.379026858,745,715,680,659.620973142,633.620973142,879,784,811,651.620973142,629.379026858,652.620973142,0.425781947623,0.00461713947056,0.0799463278552,0.999999984943,0.000143651562495,-8.47960458737e-05,-4.78395847648e-05,1793247862102165760
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.958230021,745,715,680,659.041769979,633.041769979,879,784,811,651.041769979,629.958230021,652.041769979,0.426693556802,0.0046160333119,0.079906365424,0.999999980136,0.000139910750535,-0.00013240164747,-5.12118334019e-05,1793247862118832640
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.546431773,660.092863547,633,879,784,811,651.546431773,630,652.546431773,0.427647068004,0.00460777593336,0.079906104791,0.999999981971,0.000132786407687,-0.000125836469972,-5.08969642462e-05,1793247862135499520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.866889571,660.866889571,633,879,784,811,651.866889571,630,652.866889571,0.428603686297,0.0046013534117,0.0799139578641,0.999999984466,0.000126755504326,-0.000111705124891,-5.0234935414e-05,1793247862152165888
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.287659575,660.287659575,633,879,784,811,651.287659575,630,652.287659575,0.429559803203,0.0046029431821,0.0799386623876,0.999999987209,0.000125270614814,-8.63263252172e-05,-4.93698316186e-05,1793247862168832768
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745.289475193,715,680,660.289475193,633,879,784,811,651,629.710524807,652.289475193,0.430532589807,0.00460519022553,0.079975320204,0.999999990165,0.000126592584938,-3.51502796562e-05,-4.90814141276e-05,1793247862185499136
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.864542804,715,680,660.864542804,633,879,784,811,651,629.135457196,652.864542804,0.43152182246,0.00460808572578,0.0800237709802,0.999999989382,0.000130683765447,4.14769880035e-05,-4.93619476153e-05,1793247862202165760
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.561831209,745.561831209,715,680.438168791,661.438168791,633.438168791,879,784,811.438168791,651,629.438168791,653,0.432420897369,0.00461152424244,0.0800162850891,0.99999998977,0.000131805678031,2.53019916531e-05,-4.94706904888e-05,1793247862218832384
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.011728762,745,715,681,661.976542477,633.988271238,879.011728762,784,812.011728762,651.011728762,630,653,0.433292412923,0.00461513762649,0.0799907598837,0.999999989844,0.000132067226501,-2.03053807445e-05,-4.95836470889e-05,1793247862235499264
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.604006117,745,715,681,660.791987767,633.395993883,879.604006117,784,812.604006117,651.604006117,630,653,0.434174862033,0.00461912459122,0.079925461068,0.999999983742,0.000135029216282,-0.000107352497551,-5.25252878885e-05,1793247862252165888
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.191658641,633,879.808341359,784,812.808341359,652,630,652.808341359,0.43507459153,0.00461948283719,0.0798933920536,0.999999978851,0.000133255532793,-0.000146816572465,-5.46466245487e-05,1793247862268832512
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660.769980865,633,879.230019135,784,812.230019135,652,630,652.230019135,0.436009183671,0.00461252029008,0.0799283628118,0.999999986972,0.000121927821354,-9.02837954363e-05,-5.51130317624e-05,1793247862285499136
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745.34625988,715,681,661,633,879,784,812.34625988,651.65374012,630,652,0.436932915161,0.00460793280667,0.0799671980004,0.999999991035,0.000116628959628,-3.83393580584e-05,-5.34644949743e-05,1793247862302165760
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745.921189526,715,681,661,633,879,784,812.921189526,651.078810474,630,652,0.437849474229,0.00460491381398,0.0800085852537,0.999999992025,0.000115311546408,1.05749398087e-05,-5.04192506918e-05,1793247862318832640
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.492324502,715,681,661,633,879,784,812.492324502,651,630,652.507675498,0.438734154623,0.00460543599614,0.0800342849145,0.999999990911,0.000110568012987,5.61197051291e-05,-5.29393891759e-05,1793247862335499008
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784,812,651,630,653,0.439600391414,0.00460698505967,0.0800452557551,0.999999989387,0.000107878082961,8.05495481027e-05,-5.56862718726e-05,1793247862352165632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,633,879,784,812,651,630,653,0.44039801079,0.00461091556465,0.0799934699064,0.999999991461,0.000118511330047,-5.63960899897e-07,-5.50619753042e-05,1793247862368832512
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,681.252224989,660.747775011,633,879.252224989,784,812.252224989,651,630,653,0.441153457856,0.00461200176594,0.0799255115264,0.999999985954,0.000117005633682,-0.000106273427215,-5.57505213269e-05,1793247862385499392
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681.828500085,660.171499915,633,879.828500085,784,812.828500085,651,630,653,0.441854723308,0.00460943370208,0.079836775231,0.999999963654,9.99042330434e-05,-0.000243582937689,-5.8125762615e-05,1793247862402166272
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,879.595562386,784,813,651,630,652.595562386,0.442649857754,0.00460648878939,0.0798406263128,0.999999968204,9.51241909391e-05,-0.000226040713827,-5.8724977203e-05,1793247862418832640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,682,660,633,879.019767833,784,813,651,630,652.019767833,0.443484763792,0.00460338420868,0.0798837059083,0.99999998351,9.55646070538e-05,-0.000142889077095,-5.85717038405e-05,1793247862435499264
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661.136200204,633,879,784,813,651.568100102,630,652.568100102,0.444267558036,0.00460813680812,0.0799512879302,0.999999991437,0.000106086900484,-5.05746183477e-05,-5.75667810195e-05,1793247862452166912
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661.846134968,633,879,783.846134968,813.153865032,651.846134968,630,653,0.445039032345,0.00461046748672,0.0800066322447,0.999999992174,0.000108816797275,2.42055798628e-05,-5.67835110212e-05,1793247862468834304
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,682,661.267362825,633,879,783.267362825,813.732637175,651.267362825,630,653,0.44578436245,0.00460533848506,0.0800257758265,0.999999993196,8.9037722202e-05,4.96643372865e-05,-5.6695962765e-05,1793247862485500928
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.310387816,783.310387816,813.689612184,651,630,653,0.446481994962,0.00460233896093,0.0800270634591,0.999999993204,8.54376708062e-05,5.52499642325e-05,-5.69181777335e-05,1793247862502167296
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,682,661,633,879.887261405,783.887261405,813.112738595,651,630,653,0.447138676306,0.00460116771591,0.0800130207324,0.999999992812,9.57282419975e-05,4.377336539e-05,-5.7406342259e-05,1793247862518833664
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.47136882,715,682,660.52863118,633,879.52863118,784,813.47136882,651.47136882,630,653,0.4477154812,0.00460285234871,0.0799806208223,0.999999993259,0.000100880337937,-8.83334493269e-07,-5.74752829566e-05,1793247862535500032
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.943419096,715,682,660,633,879,784,814,652,630,653,0.448268197332,0.00460579832807,0.079942044563,0.99999999138,0.000103289417543,-5.70920763875e-05,-5.75440388376e-05,1793247862552166656
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.364233082,715,682,660,633,879,784,814,652,630,653,0.448777624824,0.00461398738629,0.079887605843,0.99999998347,9.18911710487e-05,-0.000145559773028,-5.85516303172e-05,1793247862568833280
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.214999379,715,682,659.785000621,632.785000621,879.214999379,784,814,652,630,653,0.449298878943,0.00462074877829,0.079848992272,0.999999973134,9.11750537161e-05,-0.000204680806479,-5.9374847191e-05,1793247862585499904
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.794310486,715,682,659.205689514,632.205689514,879.794310486,784,814,652,630,653,0.449840172967,0.00462509102038,0.0798371940742,0.9999999694,0.00010855957185,-0.000214074556121,-5.98856458691e-05,1793247862602166784
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.62924059,715,682.37075941,659,632,880,784,814,651.62924059,630,653,0.450372133219,0.0046294283409,0.0798530265213,0.999999972859,0.000122297768412,-0.000189131846311,-5.96159310009e-05,1793247862618833664
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.054367327,715,682.945632673,659,632,880,784,814,651.054367327,630,653,0.450898955008,0.00463376295236,0.0798840704421,0.999999978729,0.000134028560187,-0.000145285916179,-5.89165206499e-05,1793247862635500800
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.117259174,683,658,632,879.117259174,783,813.117259174,652,630,653,0.451794465025,0.00464005949447,0.079906537188,0.99999998109,0.000142323908038,-0.000118168049702,-5.99956757741e-05,1793247862668833280
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.696986571,683,658,632,879.696986571,783,813.696986571,652,630,653,0.452154967151,0.00464273194194,0.0798711912056,0.999999970689,0.000152108909912,-0.000179066993228,-5.8483547443e-05,1793247862685499904
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.275408255,714.724591745,683,658,632,880,783,814,651.724591745,630,653,0.452501796858,0.00464828003649,0.0798339057626,0.999999956324,0.000163867585209,-0.000238966188621,-5.82568756669e-05,1793247862702166784
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.852400093,714.147599907,683,658,632,880,783,814,651.147599907,630,653,0.452833654672,0.00465697708497,0.079794496531,0.999999938096,0.000177787515102,-0.000297770614252,-5.94378328183e-05,1793247862718834176
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.426876925,746,714,683,657.573123075,632,880,783,814,651,630,653,0.45315027474,0.00466729583696,0.0797756640855,0.999999928419,0.000184606310391,-0.000324078256368,-6.36879029425e-05,1793247862735500800
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.999496678,745.999496678,714.000503322,683,657.000503322,632,880,783.000503322,814,651,630,653,0.453461635771,0.00467817413945,0.0797639183947,0.999999922242,0.00018894397313,-0.000339199466634,-6.89916844383e-05,1793247862752167168
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.409366918,745.409366918,714.590633082,683,657.590633082,632,880,783.590633082,814,651,630,653,0.453748181155,0.00469151676288,0.0797681693391,0.999999930327,0.000146215982252,-0.000335656233635,-7.28069660921e-05,1793247862768833536
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.176642152,715,683,657.823357848,632,880,784,814,651.176642152,630,652.823357848,0.454021078579,0.00470046767768,0.0797692690927,0.99999993322,0.000123453022643,-0.000335995915017,-7.36654684555e-05,1793247862785500160
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.753319168,715,683,657.246680832,632,880,784,814,651.753319168,630,652.246680832,0.454263067945,0.00469947285265,0.0797632324618,0.999999927499,0.000145904127528,-0.000345129088643,-6.78278632611e-05,1793247862802167040
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.668981148,714.668981148,683.331018852,656.668981148,632,880,783.668981148,814,652,630,652.331018852,0.454484237757,0.00469739458978,0.0797542381779,0.999999920002,0.000162840608376,-0.000359756669461,-6.36778383703e-05,1793247862818833408
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.090516933,714.090516933,683.909483067,656.090516933,632,880,783.090516933,814,652,630,652.909483067,0.454689844425,0.00469450642832,0.0797430329695,0.999999911097,0.000175654763966,-0.000378491466178,-6.07893238584e-05,1793247862835499776
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.494310769,683.505689231,656,631.505689231,880,783,814,651.505689231,630,653,0.45486996139,0.00468711987644,0.0797410862618,0.999999911107,0.000171805795988,-0.000379959419118,-6.24439969738e-05,1793247862852166656
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.079361913,745,714.920638087,683.079361913,656,631,880,783,814,651.079361913,630,653,0.455041717038,0.00467626432552,0.0797411500832,0.999999913326,0.000161714042424,-0.000378213748595,-6.44332328916e-05,1793247862868833024
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.658387892,745,714.341612108,683.658387892,656,631,880,783,814,651.658387892,630,653,0.455190600372,0.00464882176815,0.0797430587999,0.999999918479,0.000131779228085,-0.00037640179288,-6.32226837241e-05,1793247862885499648
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714,683.762834615,656,631.237165385,880,783,814,652,630.237165385,652.762834615,0.455326495019,0.00463704053847,0.0797438546602,0.999999920025,0.000118936191574,-0.0003765375462,-6.34331019886e-05,1793247862902166528
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714,683.184414702,656,631.815585298,880,783,814,652,630.815585298,652.184414702,0.455443700385,0.00464779421362,0.0797430492442,0.999999917302,0.000130686318321,-0.000379475835968,-6.56881339794e-05,1793247862918833664
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.607523626,745,714,683.392476374,655.607523626,631.607523626,880,783,814,652,630.607523626,652.392476374,0.455542060268,0.0046529638969,0.0797388317756,0.999999913395,0.000138362068007,-0.000386856012881,-6.63883020302e-05,1793247862935500544
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.03134814,745,714,683.96865186,655.03134814,631.03134814,880,783,814,652,630.03134814,652.96865186,0.455631599494,0.00465551998474,0.0797330172912,0.999999908878,0.000144130799528,-0.000396315221122,-6.63607137924e-05,1793247862952167168
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.555177027,745,714,683.444822973,655,631.555177027,880,783,814,651.444822973,630,653,0.455696408206,0.00465081352514,0.0797287149267,0.99999990656,0.000137652758266,-0.000404450067912,-6.59652830089e-05,1793247862968833536
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.85966752,745,714.14033248,683,655,632,880.14033248,783,814,651,630,653,0.455756887056,0.00464811917771,0.0797251926828,0.999999904457,0.000133911539315,-0.000410896932803,-6.57089411187e-05,1793247862985499904
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.280655441,745,714.719344559,683,655,632,880.719344559,783,814,651,630,653,0.455808278844,0.0046530209622,0.0797238371237,0.999999902897,0.000140928376358,-0.000412305365354,-6.5953552782e-05,1793247863002166528
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.702740558,683,655,631.702740558,880.702740558,783,814,651.297259442,630,653,0.455851492967,0.00465411532399,0.0797223242827,0.999999901789,0.000141935581747,-0.000414687814169,-6.56597907217e-05,1793247863018832896
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.125857709,683,655,631.125857709,880.125857709,783,814,651.874142291,630,653,0.455887014604,0.00465162815332,0.0797206634912,0.999999901116,0.000137289700317,-0.000417986492238,-6.48595960143e-05,1793247863035499520
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.446829987,745,714,683,655,631,880,783,814,652,630,653,0.455912548824,0.00465276036151,0.0797178744929,0.999999899144,0.00013817354798,-0.000422368678256,-6.50035692468e-05,1793247863052166144
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+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,714.201376835,684,655,631,880,783.798623165,814,651.201376835,630,653,0.45596051369,0.00465512918324,0.0797139492258,0.999999895248,0.000141046269294,-0.000430669413019,-6.43015541443e-05,1793247863102166016
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+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,684,655,631,880.933309912,783,814,652,630,653,0.455975567898,0.00465646570153,0.0797116640994,0.999999893633,0.000138595904669,-0.000435216660339,-6.4129190272e-05,1793247863152166144
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.48124817,745,714.48124817,684,655,631,880.48124817,783,814,651.48124817,630,653,0.455977491913,0.00465572969889,0.0797095944237,0.99999989259,0.000137743194083,-0.000437950795256,-6.36070048728e-05,1793247863168832768
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,683.896054578,655,631,880,783,814,651.103945422,630.103945422,653,0.455979514194,0.00465467900479,0.079707934818,0.999999891965,0.000136212193012,-0.000439933879505,-6.30430391986e-05,1793247863185499392
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+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,683.834974086,655,631,880.834974086,783,814,652,630,653,0.455982678705,0.0046576683483,0.0797051408214,0.999999890818,0.000135213098541,-0.000442859402666,-6.29000973675e-05,1793247863302166016
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715,683.257049079,655,631,880.257049079,783,814,652,630,653,0.455983506096,0.00465493421101,0.0797065863944,0.999999891632,0.000131047291478,-0.00044235782942,-6.23060873414e-05,1793247863318832896
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715,683.319808994,655,631,880.319808994,783,814.319808994,651.680191006,630,653,0.455983995337,0.0046535880545,0.079707006118,0.999999891951,0.000129161352665,-0.000442230208961,-6.20224575568e-05,1793247863335499520
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715,683.895812334,655,631,880.895812334,783,814.895812334,651.104187666,630,653,0.455984213692,0.0046533537894,0.0797066040485,0.999999891885,0.00012910178343,-0.000442402156685,-6.19874689099e-05,1793247863352166144
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.526401465,745,715,683.526401465,655,631,880.526401465,783,815,651.473598535,630,653,0.45598463428,0.00465587356282,0.0797064812446,0.999999891534,0.000131567676274,-0.000442411963661,-6.23969224015e-05,1793247863368832768
+245,4.083333333,HOLD_POSE2,766,745,715,683,654,631,880,783,814,652,630,653,0.455984105497,0.0046537352122,0.0797056105802,0.999999891458,0.000129079863496,-0.000443495590585,-6.11089772177e-05,1793247863412350720
+246,4.100000000,HOLD_POSE2,766,745,715,683,654,631,880,783,814,652,630,653,0.45598340204,0.00465468375675,0.079705384041,0.999999890678,0.000132360417682,-0.000444287970672,-6.10918306503e-05,1793247863429017600
+247,4.116666667,HOLD_POSE2,765.843368579,745,714.843368579,683,654.156631421,631,880,783,813.843368579,652,630,653,0.455983226502,0.00465553923461,0.0797051701018,0.999999890171,0.000134472665436,-0.00044478757281,-6.11551224288e-05,1793247863445684224
+248,4.133333333,HOLD_POSE2,765.26761703,745,714.26761703,683,654.73238297,631,880,783,813.26761703,652,630,653,0.455984463588,0.00465614568139,0.0797049898784,0.999999890416,0.000133458716515,-0.000444503749106,-6.14336540944e-05,1793247863462350080
+249,4.150000000,HOLD_POSE2,765.314173794,745,714.314173794,683.314173794,655,631,880,783,813.314173794,652,630,652.685826206,0.455984940045,0.00465598898942,0.0797044392886,0.999999890603,0.000132072398765,-0.0004444940919,-6.14449116704e-05,1793247863479016448
+250,4.166666667,HOLD_POSE2,765.901209737,745,714.901209737,683.901209737,655,631,880,783,813.901209737,652,630,652.098790263,0.455984755891,0.00465516950605,0.0797035670329,0.99999989074,0.000130362676133,-0.000444722550239,-6.12240398047e-05,1793247863495683072
+251,4.183333333,HOLD_POSE2,766,745,715,683.518425327,655,631,880,783,814,652,630,652.963149347,0.45598417433,0.00465525181272,0.0797040544189,0.999999890473,0.000132177915577,-0.00044482846017,-6.09087455201e-05,1793247863512349440
+252,4.200000000,HOLD_POSE2,765.939642653,745,714.939642653,683,655.060357347,631,880,783,813.939642653,651.939642653,630,653.939642653,0.455983627309,0.00465532350614,0.0797047200107,0.999999890227,0.000133935160616,-0.000444894333638,-6.06389494984e-05,1793247863529016064
+253,4.216666667,HOLD_POSE2,765.36284904,745,714.36284904,683,655.63715096,631,880,783,813.36284904,651.36284904,630,653.36284904,0.455984063832,0.00465374315631,0.0797045564929,0.999999890875,0.000129093561346,-0.000444829805853,-6.09219205429e-05,1793247863545682688
+254,4.233333333,HOLD_POSE2,765,745,714,683.213254195,655.786745805,631,880,783,813.213254195,651.213254195,630,653,0.455984178039,0.00465331163745,0.0797043969363,0.999999890947,0.000127155025483,-0.000445201018689,-6.11036018359e-05,1793247863562349056
+255,4.250000000,HOLD_POSE2,765,745,714,683.788186494,655.211813506,631,880,783,813.788186494,651.788186494,630,653,0.455983745596,0.00465482853065,0.0797042440978,0.999999890067,0.000130140071912,-0.000446311245577,-6.11134961628e-05,1793247863579015936
+256,4.266666667,HOLD_POSE2,765,745,714,684,655,631,880,783,814,652,630,652.62750921,0.45598449684,0.00465477233941,0.0797045641917,0.999999890375,0.000130609205267,-0.000445510739385,-6.09168615023e-05,1793247863595683840
+257,4.283333333,HOLD_POSE2,765,745,714,684,655,631,880,783,814,652,630,652.037738008,0.455985938548,0.00465379854056,0.0797051601553,0.999999891376,0.000129610762683,-0.000443595669178,-6.05997548623e-05,1793247863612352768
+258,4.300000000,HOLD_POSE2,765.541425266,745,714,683.458574734,655,631,879.458574734,783,814,652,630,652.541425266,0.455986506006,0.00465392857206,0.0797050726262,0.9999998914,0.00012882129364,-0.000443742878838,-6.08009614323e-05,1793247863629017600
+259,4.316666667,HOLD_POSE2,766,745,714,683.238809301,655,631,879,783,814,651.88059535,630,653,0.455987059728,0.00465426621258,0.0797052618548,0.999999891427,0.000128626038948,-0.000443705789813,-6.10445980669e-05,1793247863645682688
+260,4.333333333,HOLD_POSE2,766,745,714,684.391258518,655,631,879,783,814,651.304370741,630,653,0.455987789553,0.00465510943116,0.0797066886669,0.999999891716,0.000130649482611,-0.000442424240382,-6.13150048206e-05,1793247863662349312
+261,4.350000000,HOLD_POSE2,766,745,714,684.446570245,655,631,879.276714878,783,814,651,630,653,0.455987670463,0.0046554038972,0.079706526801,0.999999891471,0.000131042282707,-0.000442859040956,-6.13385602482e-05,1793247863679015936
+262,4.366666667,HOLD_POSE2,766,745,714,683.273514194,655,631,879.863242903,783,814,651,630,653,0.455986600916,0.00465508397354,0.079704586233,0.999999890627,0.000129609395459,-0.000445215486738,-6.10857380856e-05,1793247863695682560
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,655,631,881,783,814,652,630,653,0.455985672016,0.00465317569742,0.0797048665273,0.999999890807,0.00012648495235,-0.000445731456273,-6.09104494698e-05,1793247863728381696
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745.421607352,714,683,655,631,880.421607352,783,814,652,630,653,0.45598639135,0.00465292088689,0.0797048941566,0.999999890614,0.000126498249952,-0.000446182017728,-6.07550544738e-05,1793247863745048320
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765.156054804,745,714,683,654.843945196,631,880,783,814,651.843945196,630,653,0.45598689038,0.00465363042931,0.0797049286361,0.999999890468,0.000127388123676,-0.000446263162671,-6.07025710464e-05,1793247863761714944
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.731752736,745,714,683,654.268247264,631,880,783,814,651.268247264,630,653,0.455986796999,0.00465693318945,0.0797049815363,0.999999890442,0.000130635176655,-0.000445350918867,-6.09268245479e-05,1793247863778381568
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,683,654.314047126,631,880,783,814,651.314047126,630,653,0.455986323139,0.00465759181933,0.0797047464502,0.999999890312,0.000132060882712,-0.000445233121236,-6.0851660224e-05,1793247863795048192
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,683,654.902096815,631,880,783,814,651.902096815,630,653,0.455985517316,0.00465594347529,0.0797042600994,0.999999890098,0.000131897483995,-0.000445808468959,-6.05152572229e-05,1793247863811715072
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.482845342,683.482845342,655,631,880.482845342,783,814,652,630,653,0.455985473345,0.00465503436808,0.0797040167902,0.999999890065,0.00013112923414,-0.000446120394069,-6.0437349166e-05,1793247863828381440
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.938011089,745,714.938011089,683.938011089,655,631,880.938011089,783,814,652,630,653,0.455985524299,0.0046543108441,0.0797037480383,0.999999890039,0.000130312519622,-0.000446420576347,-6.04152068392e-05,1793247863845048064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.360087686,745,714.360087686,683.360087686,655,631,880.360087686,783,814,652,630,653,0.45598509877,0.00465390297936,0.0797028634801,0.99999988978,0.000130097974506,-0.000447060952719,-6.04274656249e-05,1793247863861714944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631,880.216387916,783,814,652,630,653,0.455980320148,0.00465449102498,0.0797003386908,0.999999888235,0.000130576724595,-0.000450361287092,-6.04460916716e-05,1793247863878381568
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631,880.790470209,783,814,652,630,653,0.455968345757,0.00465672533421,0.0796951025608,0.999999884524,0.00013220150818,-0.000458058595294,-6.04752429489e-05,1793247863895048192
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631,880.63674017,783,813.63674017,652,630.36325983,653,0.455940247157,0.00465603805237,0.079683759819,0.999999875316,0.000131697687858,-0.000477920093608,-6.01269736631e-05,1793247863911714816
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631,880.064693469,783,813.064693469,652,630.935306531,653,0.455902881021,0.00465367155987,0.0796689072464,0.999999862382,0.000129970433281,-0.00050477307059,-5.95617784661e-05,1793247863928381184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.52832474,714.52832474,683.52832474,654.47167526,631,880,783,813.52832474,652,630.47167526,652.47167526,0.455842573203,0.00465409679106,0.0796512663529,0.999999845157,0.000130074556067,-0.000537874214743,-5.87965927178e-05,1793247863945048064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.12030193,745.87969807,715,683.87969807,654.12030193,631,880,783,814,652,630,652.12030193,0.45577841717,0.00465514193485,0.0796353418732,0.999999829355,0.0001310194119,-0.000566354720245,-5.80218623472e-05,1793247863961714688
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.698149488,745.301850512,715,683.301850512,654.698149488,631,880,783,814,652,630,652.698149488,0.455710751113,0.00465719090646,0.079627297686,0.999999824472,0.000134273680482,-0.00057423136027,-5.73078195224e-05,1793247863978381568
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.720680424,683.279319576,655,631,880,783,814,652,630,653,0.455636157309,0.00465748771882,0.0796227495587,0.999999821125,0.000136955169195,-0.000579551616213,-5.57886580686e-05,1793247863995047936
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.13587661,683.86412339,655,631,880,783,814,652,630,653,0.455553986821,0.00465586824204,0.0796220249777,0.999999819507,0.000139010223925,-0.000582076023837,-5.33889602719e-05,1793247864011714560
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.555367892,745,714,684,655,631,880,783,813.555367892,652,630,653,0.45545855694,0.00465301255534,0.07962504541,0.999999823564,0.000137185827995,-0.000575723303296,-5.09375606404e-05,1793247864028381440
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.023818561,745,714,683.976181439,655,631,880,783,813,652,630,653,0.455357476539,0.00464993880717,0.0796290183153,0.99999982895,0.000134587130179,-0.000567134010467,-4.84198504462e-05,1793247864045048064
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.602486436,745,714,683.397513564,655,631,880,783,813,652,630,653,0.45521825534,0.00465050141989,0.079628774191,0.999999827117,0.000141303797001,-0.000569033547919,-4.47219770337e-05,1793247864061714688
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,714,683.179436745,655,631,879.820563255,783,813,651.820563255,630,653,0.455070914985,0.00465082346978,0.0796282348882,0.999999825292,0.000147149686251,-0.000571041862859,-4.091181014e-05,1793247864078381568
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,714,683.752618057,655,631,879.247381943,783,813,651.247381943,630,653,0.454905758491,0.00465061764388,0.0796270478644,0.999999823577,0.000151084795773,-0.00057328887199,-3.68552340721e-05,1793247864095049216
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,714,683.664815788,655,631,879.335184212,783.335184212,813.335184212,651.335184212,630,653,0.454725150253,0.00464858258908,0.0796254839025,0.999999822373,0.000153907065498,-0.000574913320208,-3.2269598471e-05,1793247864111715840
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,714,683.075123589,655,631,879.924876411,783.924876411,813.924876411,651.924876411,630,653,0.454532809367,0.00464515858649,0.0796236337287,0.999999821552,0.000155884347695,-0.000576065053304,-2.72822434099e-05,1793247864128382208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.511639878,745,714,683,655.488360122,631,880,783.511639878,813.511639878,652,630,653,0.454297129952,0.00464197987035,0.0796183010288,0.999999817832,0.000157089970304,-0.00058240711791,-2.14454871557e-05,1793247864145048832
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.051348007,745,714,683.051348007,656,631,880,783,813,652,630,653,0.454051822164,0.00463896890225,0.0796129254948,0.999999813739,0.000158934448712,-0.000589088652469,-1.53603014264e-05,1793247864161715456
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.64982303,745,714,683.64982303,656,631,880,783,813,652,630,653,0.45377133864,0.0046373637659,0.0796125109611,0.999999810898,0.000168786503509,-0.000591313263762,-7.94935523094e-06,1793247864178382080
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.763430214,745,714,683.763430214,656,631,880,783,813,652,630,653,0.453482618395,0.00463476844751,0.0796153714119,0.999999812094,0.000177054218294,-0.000586910325813,-6.33233318498e-07,1793247864195048704
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.193223972,745,714,683.193223972,656,631,880,783,813,652,630,653,0.453182281846,0.00463077666677,0.079622850602,0.999999818962,0.000183087523803,-0.000573160496605,6.54915662645e-06,1793247864211715072
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.392609691,745,714,683.392609691,656.392609691,631.392609691,880,783,812.607390309,652,630,653,0.452858179795,0.00462799710466,0.0796324988081,0.999999826686,0.000187039811247,-0.000558100690531,1.29406590183e-05,1793247864228382208
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.986453241,745,714,683.986453241,656.986453241,631.986453241,880,783,812.013546759,652,630,653,0.452521896638,0.00462583887079,0.0796432587529,0.999999834703,0.000189925463325,-0.000542369450274,1.89267882212e-05,1793247864245049600
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.433723266,745,714,684,657,631.433723266,879.433723266,783,812.566276734,652,630,653,0.452137223903,0.00461857942083,0.0796540195898,0.999999845962,0.000176103908057,-0.000525961284006,2.06958554082e-05,1793247864261716224
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,657,631.144962398,879.144962398,783,812.855037602,652,630,653,0.451741050973,0.00461213653125,0.079665346524,0.999999857835,0.000159597769024,-0.000508331478645,2.1405177441e-05,1793247864278382848
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,657,631.721236339,879.721236339,783,812.278763661,652,630,653,0.451314022228,0.00460847750201,0.0796783577227,0.999999871891,0.000136264545188,-0.00048711391014,1.9254311263e-05,1793247864295049216
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,657.294620508,632,879.705379492,783.294620508,812,651.705379492,630,652.705379492,0.450880644647,0.0046035662548,0.0796965602811,0.99999989005,0.000112426356764,-0.000454938042184,1.70619580368e-05,1793247864311715584
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,657.865297064,632,879.134702936,783.865297064,812,651.134702936,630,652.134702936,0.450441318231,0.00459748169326,0.0797196270858,0.999999910932,8.81150194605e-05,-0.000412494370002,1.48307316522e-05,1793247864328381952
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,684,658,632,879.453489462,784,812,651,630.453489462,652,0.449963832065,0.00459158238415,0.0797419583761,0.999999926656,8.12994749215e-05,-0.000373773001355,1.931416685e-05,1793247864345048832
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,684,658,632.046015234,880,784,812,651.046015234,630.953984766,652.046015234,0.449466478763,0.00458582110326,0.0797612735035,0.99999993767,8.63911652117e-05,-0.000341389616857,2.5504080581e-05,1793247864361715712
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,684,658,632.626025705,880,784,812,651.626025705,630.373974295,652.626025705,0.448875394642,0.00458099737369,0.0797482240396,0.999999917533,0.000166931745019,-0.000369210512679,2.74216758457e-05,1793247864378382848
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.203845282,684,658.407690564,632.796154718,879.796154718,784,812,651.796154718,630.203845282,653,0.448266310877,0.00457603618577,0.0797297503049,0.999999897206,0.00020845985122,-0.000401622531852,2.88460505873e-05,1793247864395049728
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.777688155,684,659.55537631,632.222311845,879.222311845,784,812,651.222311845,630.777688155,653,0.44762455617,0.00457082549885,0.0797014310296,0.999999885672,0.00017917679242,-0.000442367856099,2.93751856868e-05,1793247864411716352
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.360387432,745.360387432,715,683.639612568,659.639612568,632.360387432,879.360387432,784,812,651.360387432,631,653,0.447011506852,0.0045637566462,0.0797068075388,0.999999894612,0.00015063846838,-0.000432592416456,3.07733614774e-05,1793247864428382720
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.948687569,745.948687569,715,683.051312431,659.051312431,632.948687569,879.948687569,784,812,651.948687569,631,653,0.446416611142,0.00455551267068,0.0797334936082,0.999999915564,0.000122571123216,-0.000390867126235,3.27211274541e-05,1793247864445049088
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.471112996,745.471112996,715,683.528887004,659,633,879.471112996,784,812,651.471112996,630.471112996,653,0.445776403515,0.00455041371069,0.0797820704398,0.999999942558,0.000105803394366,-0.000320116426026,3.48536006844e-05,1793247864461715712
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.107889174,715,683.892110826,659,633,879.107889174,784,811.892110826,651.107889174,630.107889174,652.892110826,0.445116927767,0.0045452419218,0.0798264732889,0.99999996183,9.1196691296e-05,-0.000258136809451,3.72637258054e-05,1793247864478382592
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.685050465,715,683.314949535,659,633,879.685050465,784,811.314949535,651.685050465,630.685050465,652.314949535,0.444392476966,0.00453844620197,0.0798436226507,0.999999965514,8.12930993393e-05,-0.000246371494299,4.08047493529e-05,1793247864495048704
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.739000363,715,683,659.260999637,633,880,784,811.260999637,651.739000363,630.739000363,652,0.443632507112,0.00453207238251,0.0798401701203,0.999999962131,8.82682566763e-05,-0.000257061734156,4.31871009939e-05,1793247864511714816
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.164507026,715,683,659.835492974,633,880,784,811.835492974,651.164507026,630.164507026,652,0.442829874271,0.00452620531806,0.079811972104,0.999999948921,0.000115516933414,-0.000294723944638,4.41777409806e-05,1793247864528381440
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.421383419,715,683,660,633,879.578616581,784,811.578616581,651,630,652.421383419,0.442039194415,0.00451870166106,0.0797963451288,0.99999994521,9.97593635283e-05,-0.000312562110339,4.39579706169e-05,1793247864545048064
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.988384016,714.988384016,683,659.988384016,633,879,784,811.011615984,651,630,652.988384016,0.441251152337,0.00451059181595,0.0797848737127,0.999999944317,6.7173174344e-05,-0.000324002557866,4.33187713279e-05,1793247864561714688
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.409430527,714.409430527,683,659.409430527,633,879,784,811.590569473,651,630,652.409430527,0.440357691314,0.00450494816483,0.079730003451,0.999999912752,5.54732523139e-05,-0.000411473048584,4.59152101395e-05,1793247864578381312
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,633,879,784,811.831519899,651,630,652,0.439474700926,0.00449813835303,0.079687117381,0.999999883332,5.19623471071e-05,-0.00047785765885,4.78260423621e-05,1793247864595048192
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,633,879,784,811.256128019,651,630,652,0.438616999185,0.00448851203971,0.0796731754377,0.999999874836,6.82294908668e-05,-0.00049331582193,4.80810036473e-05,1793247864611714816
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.326149034,683,659,633,879,784.326149034,811,651,630,652.326149034,0.437793804073,0.0044792738876,0.0797119091998,0.999999901544,5.68963878872e-05,-0.000437396465946,4.85750424795e-05,1793247864628381696
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.913949658,683,659,633,879,784.913949658,811,651,630,652.913949658,0.436998291789,0.00447034713654,0.079792901809,0.999999945955,2.34211102145e-05,-0.000324214812222,4.92608796705e-05,1793247864645048320
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.505730502,745,715,683.494269498,659,633,879,784.505730502,811,651,630,653,0.436159358343,0.0044621038859,0.0798452795727,0.999999969071,3.58010079218e-05,-0.000240411804628,5.27024287189e-05,1793247864661714688
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.072905964,745,715,683.927094036,659,633.072905964,879,784,811.072905964,651.072905964,630,652.927094036,0.435303454399,0.00445399809793,0.079883090603,0.999999981549,5.03580023462e-05,-0.000176698052326,5.60712159523e-05,1793247864678381312
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.64877974,745,715,683.35122026,659,633.64877974,879,784,811.64877974,651.64877974,630,652.35122026,0.434381847841,0.00444603196136,0.0798542636366,0.999999974615,2.56806286707e-05,-0.000216817712739,5.567759172e-05,1793247864695047936
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.22366107,715,683,659,633.77633893,878.77633893,784.22366107,811.77633893,652,630,652.22366107,0.43342609698,0.0044386359934,0.0798146785072,0.999999958399,1.13256035803e-05,-0.000282752836793,5.58989038449e-05,1793247864711714560
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.796990913,715,683,659,633.203009087,878.203009087,784.796990913,811.203009087,652,630,652.796990913,0.432416965222,0.00443213141831,0.0797582742028,0.999999922606,1.31083985978e-05,-0.000389047521809,5.70815990366e-05,1793247864728381184
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.617119312,715,683,659,633,878.382880688,784.617119312,811,651.617119312,630,652.617119312,0.431445307185,0.00442342677767,0.0797169139132,0.99999988937,8.00040770112e-06,-0.00046665710983,5.85387444512e-05,1793247864745047808
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.024344242,715,683,659,633,878.975655758,784.024344242,811,651.024344242,630,652.024344242,0.430494192224,0.00441351606616,0.0796838007241,0.999999858513,-8.85097494636e-07,-0.000528541582454,6.01463428782e-05,1793247864761714432
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.555549469,715,683,659,633,879,784,811,651,630,652,0.429622124163,0.00440155263784,0.0797623364683,0.999999922002,-1.5261585635e-05,-0.000390018703869,6.03977263267e-05,1793247864778381312
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.866048885,715,682.866048885,659.267902229,633,878.866048885,784,811,651,629.866048885,652.133951115,0.4287458326,0.00439110181938,0.0798326109183,0.999999962072,-2.6651527168e-05,-0.000267269577455,6.09281093252e-05,1793247864795047936
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.290745746,715,682.290745746,660.418508508,633,878.290745746,784,811,651,629.290745746,652.709254254,0.427844470873,0.00438592451882,0.0798599106744,0.999999972405,-2.7426342599e-05,-0.000224772463032,6.25691396356e-05,1793247864811714816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,660.433511229,633,878,784,811,651,629.283244386,652.716755614,0.426901578379,0.00439424523926,0.0798456409996,0.999999967062,-1.63267123552e-05,-0.000248355786876,6.26734974128e-05,1793247864828381696
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,659.288214162,633,878,784,811,651,629.855892919,652.144107081,0.425916251996,0.00441635752473,0.079788897875,0.999999940488,6.90559925509e-06,-0.000339456612635,6.12077639553e-05,1793247864845048320
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.555157901,682,658.555157901,633,878,784,811,651,630,652,0.424930287812,0.00444719871663,0.0797576146705,0.99999992224,4.51930529569e-05,-0.000387372110534,5.84894474464e-05,1793247864861714944
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.961909188,745,714.038090812,682,658.038090812,633.038090812,878.038090812,784,810.961909188,651,630,652,0.423948229898,0.00447946529948,0.0797359088337,0.999999906772,8.65559136305e-05,-0.000419391105035,5.54541901572e-05,1793247864878381312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764.38536898,745,714.61463102,682,658.61463102,633.61463102,878.61463102,784,810.38536898,651,630,652,0.42302442371,0.00449038787795,0.0797285633632,0.999999900261,9.98272723244e-05,-0.000431981242634,5.38928849378e-05,1793247864895047936
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764.191319454,745,715,681.808680546,659,633.808680546,878.808680546,784,810,651.191319454,630,652,0.422142678302,0.00449401305868,0.0797470618255,0.999999914101,0.000103837823248,-0.000397773134417,5.2850342418e-05,1793247864911714816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764.768306792,745,715,681.231693208,659,633.231693208,878.231693208,784,810,651.768306792,630,652,0.421345720194,0.00448292791326,0.0798176573141,0.999999958385,8.91801424628e-05,-0.000269227620754,5.28535375242e-05,1793247864928381440
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.347670015,633,878,784,810.347670015,651.652329985,629.652329985,652,0.42050873744,0.00447511403085,0.079855716672,0.999999974794,7.77813743788e-05,-0.000203988595639,5.24464854956e-05,1793247864945048064
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.928627427,633,878,784,810.928627427,651.071372573,629.071372573,652,0.4196448981,0.00446949517426,0.0798719442053,0.999999979887,6.85693458808e-05,-0.000181228382493,5.17641570661e-05,1793247864961714688
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.486044775,659.486044775,633,878,784,811,651,629,652,0.418720371385,0.00447046777251,0.0798308602553,0.999999963718,7.34458090147e-05,-0.000254005191494,5.1487451604e-05,1793247864978381312
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745.097946756,715,680.097946756,659.097946756,633.097946756,878,784,810.902053244,651.097946756,629,652.097946756,0.417804583704,0.00447305953661,0.0797914916408,0.999999942743,8.02555775925e-05,-0.000324684841631,5.15001637151e-05,1793247864995047936
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.672458318,715,680.672458318,659.672458318,633.672458318,878,784,810.327541682,651.672458318,629,652.672458318,0.416972672877,0.00447903755358,0.0797995251358,0.999999943623,8.68710570636e-05,-0.000320055049995,5.26446330842e-05,1793247865011714560
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764.752383555,745.752383555,715,681,659.504767111,634,878,784,810,651.752383555,629,652.752383555,0.416140973256,0.0044845802872,0.0797978942539,0.999999939492,9.54648264087e-05,-0.000330202197104,5.35698919185e-05,1793247865028381440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764.176367973,745.176367973,715,681,658.352735946,634,878,784,810,651.176367973,629,652.176367973,0.415309553812,0.00448954572961,0.0797834460763,0.999999928059,0.00010668228476,-0.000359947129764,5.42044245778e-05,1793247865045048064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764.409401783,745,715,680.590598217,658,634,878,784,810,651.409401783,629,652,0.41452860628,0.00448549669005,0.0797781427696,0.999999927487,9.9478952781e-05,-0.000363766646213,5.29459788434e-05,1793247865061714688
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764.999476191,745,715,680.000523809,658,634,878,784,810,651.999476191,629,652,0.413769932377,0.00447746948035,0.079776875174,0.999999931747,8.41463641905e-05,-0.000356145049929,5.08521450699e-05,1793247865078381312
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.579496241,634,877.420503759,784,809.420503759,651.420503759,629,652,0.413060792438,0.00447512397028,0.0797998751943,0.999999946255,7.32398482859e-05,-0.000315428584285,5.12968694725e-05,1793247865095047936
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.158093034,658.841906966,634,877.158093034,784,809.158093034,651,629,652,0.412343803208,0.00447369852875,0.079811779538,0.999999952114,7.11369576543e-05,-0.000296672345588,5.19335228826e-05,1793247865111714560
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.732961419,658.267038581,634,877.732961419,784,809.732961419,651,629,652,0.411606004976,0.0044746853243,0.0797943758852,0.999999937928,9.2232399115e-05,-0.000335886625006,5.30702064774e-05,1793247865128381184
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.697071826,658,634,878,784,810,651.302928174,629,652,0.410913442451,0.00447794459802,0.0797838256299,0.999999930042,9.85882282006e-05,-0.000356899444358,5.31016214075e-05,1793247865145048832
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.131357208,658,634,878,784,810,651.868642792,629,652,0.410260121388,0.00448317521839,0.0797792206132,0.999999928826,9.21576247439e-05,-0.000362122720337,5.21742294405e-05,1793247865161716736
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.461694929,658,634,877.076610143,784,810,652,629,652,0.409642607802,0.00448704306418,0.0797989180813,0.999999940369,0.000100327846507,-0.000326241855501,5.25520314728e-05,1793247865178383360
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.939539332,658,634,876.060460668,784,810,652,629,652,0.409039065634,0.00449001758831,0.0798242428009,0.999999952782,0.000110820295682,-0.000281623694553,5.33128313962e-05,1793247865195049216
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.362589019,658,634,876.637410981,784,810,652,629,652,0.408462369446,0.00448888146961,0.0798348551548,0.999999957133,0.000103430450973,-0.0002685558901,5.39735527039e-05,1793247865211716096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.213678696,784,810,652,629,652,0.407880973784,0.00448793876692,0.0798273907855,0.99999995262,0.00010032052128,-0.000285907190125,5.43427298988e-05,1793247865228382720
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.788791748,784,810,652,629,652,0.407291629089,0.0044873232247,0.0797893499048,0.999999930165,0.000104450005079,-0.000354711956595,5.42187643063e-05,1793247865245049344
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.627499148,784,810,652,629,652,0.406766295791,0.00448488432376,0.0797687141367,0.999999918623,0.000103096735815,-0.000386371977153,5.33081778604e-05,1793247865261715968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.038800889,784,810,652,629,652,0.406278114291,0.00448138715559,0.0797581801949,0.999999915198,9.85613080011e-05,-0.000396473402673,5.19410411671e-05,1793247865278382592
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.54215954,784,809.45784046,651.45784046,629,652,0.405844672843,0.00448474190773,0.0797817509915,0.999999932646,0.00010037369678,-0.000349259266865,5.1496609945e-05,1793247865295049472
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.878372708,784,809.121627292,651,629,652,0.405420976862,0.00448852439162,0.0798049760963,0.999999946466,0.000104441299183,-0.000305848444953,5.11562188523e-05,1793247865311716352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.302440905,784,809.697559095,651,629,652,0.405019255035,0.00449209867034,0.0798179214009,0.9999999495,0.000115259601477,-0.000291749789398,5.09612543706e-05,1793247865328382976
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.727334834,715,680.272665166,658,633.727334834,877.545330332,784,809.727334834,651.272665166,629.272665166,652,0.404630562178,0.00449593545088,0.0798264413066,0.999999950471,0.000123341149608,-0.000284955610814,5.14398064775e-05,1793247865345049344
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.153141937,715,680.846858063,658,633.153141937,878.693716126,784,809.153141937,651.846858063,629.846858063,652,0.40425627748,0.00450006251979,0.0798300673688,0.999999949404,0.00012839624792,-0.000286239114648,5.26631692923e-05,1793247865361715712
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.433869188,715,680.132261624,658,633.433869188,878.566130812,784,809.433869188,652,629.566130812,652,0.403911189842,0.00449959923712,0.079831254455,0.999999947822,0.000127986986196,-0.000291631117361,5.41046731012e-05,1793247865378382080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.024926571,658,634,878,784.024926571,810,652,629,652,0.403578596913,0.0044974562445,0.079831678864,0.999999946252,0.00012518124114,-0.000297912201799,5.54363645093e-05,1793247865395048960
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.602333092,658,634,878,784.602333092,810,652,629,652,0.403287569477,0.0044950885736,0.0798348607629,0.999999949922,0.000113309819215,-0.000290778681269,5.25756079568e-05,1793247865411716096
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715.178679396,680,658,634,878,784.821320604,809.821320604,651.821320604,629,652,0.403007559209,0.00449203884957,0.0798356192833,0.99999995147,0.000103430242684,-0.000289379101461,5.12134170084e-05,1793247865428382976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715.752679934,680,658,634,878,784.247320066,809.247320066,651.247320066,629,652,0.40275192403,0.00448748011009,0.0798310161733,0.999999948589,9.79575474394e-05,-0.00030066564124,5.31667439752e-05,1793247865445049600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715.664043459,680,658,634,878,784,809.335956541,651.335956541,629,652,0.402524438931,0.00448617043745,0.0798282280478,0.999999947368,9.40368923996e-05,-0.000305756479288,5.41667751471e-05,1793247865461715968
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715.073744154,680,658,634,878,784,809.926255846,651.926255846,629,652,0.4023182654,0.00448732053677,0.0798268139929,0.999999947485,9.1291240542e-05,-0.000306156735954,5.44450944682e-05,1793247865478382336
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,810,652,629,652,0.402144478194,0.0044872416097,0.079832188916,0.999999951067,8.72149764861e-05,-0.000295525586428,5.40748434101e-05,1793247865495048448
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.914074042,784,810,652,629,652,0.40197902819,0.00448746876681,0.0798386891779,0.999999954787,8.38093651919e-05,-0.000283716805782,5.39180136827e-05,1793247865511715072
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.33891943,784,810,652,629,652,0.401834722366,0.00449043763342,0.0798460784116,0.999999957237,8.53037439025e-05,-0.000274169682147,5.55034969067e-05,1793247865528381952
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634.236278234,877,784,809.763721766,652,629,652,0.401697484538,0.00449710785091,0.0798482607282,0.999999956797,9.62730072823e-05,-0.000272029473367,5.60054893393e-05,1793247865545048832
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634.811537628,877,784,809.188462372,652,629,652,0.401570386956,0.00450908828325,0.0798429728394,0.999999951845,0.000120835598032,-0.000280515739456,5.49530305275e-05,1793247865561715712
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634.20976193,877.395119035,784,809,652,629,652,0.40146109996,0.0045199355326,0.0798380668136,0.999999945166,0.000153986571817,-0.000289058215271,4.9010020573e-05,1793247865578382592
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.034489543,877.982755229,784,809,652,629,652,0.401360490969,0.00453023065138,0.0798333468464,0.999999936579,0.00019132213455,-0.000297628078065,4.06841463839e-05,1793247865595049472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.565273629,878,784,809,652,629,652,0.40128102743,0.00452488071427,0.0798292633909,0.999999936853,0.000182952441305,-0.000301702894978,4.23925959388e-05,1793247865611716352
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+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.281563893,658,634,878,784,809,651.281563893,629,652,0.401152397286,0.00452116636327,0.0798244345544,0.999999936361,0.000174687451177,-0.000307809177487,4.49080058334e-05,1793247865645049344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.292400671,658,634,878,784,809.292400671,651.292400671,629,652,0.401105987875,0.00451995908478,0.0798238909771,0.999999936546,0.000172180140794,-0.000308497122557,4.57259397353e-05,1793247865661715456
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.867163786,658,634,878,784,809.867163786,651.867163786,629,652,0.401068525611,0.00451709879925,0.0798242052664,0.999999937552,0.000168010891584,-0.000307410453531,4.65528692817e-05,1793247865678382080
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.543660961,658,634,877.543660961,784,809.543660961,652,629,652,0.401039411326,0.00451736371339,0.0798242016432,0.999999937637,0.000166623213845,-0.000307875672747,4.66322186176e-05,1793247865695048960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.048337135,658,634,877.048337135,784,809.048337135,652,629,652,0.401013843884,0.00451861824115,0.0798240882726,0.99999993747,0.000166416101442,-0.000308551794449,4.64880012472e-05,1793247865711715840
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.623875012,658,634,877.623875012,784,809.623875012,652,629,652,0.400999592965,0.00452042059586,0.0798238201558,0.999999937528,0.000169966024762,-0.00030644047495,4.63562615452e-05,1793247865728382720
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.800675387,658,634,878,784,809.800675387,651.800675387,628.800675387,651.800675387,0.400987437651,0.00452030942011,0.0798244120427,0.999999938092,0.000170660227996,-0.000304190046139,4.64799577063e-05,1793247865745049344
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.225392324,658,634,878,784,809.225392324,651.225392324,628.225392324,651.225392324,0.400979234986,0.00451658901637,0.0798266260354,0.999999939614,0.000165968081174,-0.000301677234796,4.70854472163e-05,1793247865761715712
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764.642034541,745,715,679.357965459,658,634,878,784,809.357965459,651,628.357965459,651.357965459,0.400973724096,0.00451659845311,0.079827783481,0.999999940213,0.00016499900257,-0.000300228713412,4.70272101761e-05,1793247865778382592
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764.053475216,745,715,679.946524784,658,634,878,784,809.946524784,651,628.946524784,651.946524784,0.400969947192,0.00451901057527,0.0798282603209,0.999999940228,0.000166428246876,-0.000299465785472,4.65414143426e-05,1793247865795049216
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764.526722449,745,715,679.473277551,658,633.473277551,878,784.526722449,809.473277551,651,628.473277551,652,0.400968342475,0.00451917336402,0.0798286097342,0.999999940447,0.000165909760309,-0.00029902202469,4.65289272333e-05,1793247865811715584
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.105572826,878,784.894427174,809,651.105572826,628.105572826,652,0.400967083541,0.00451879858033,0.0798290116957,0.999999940815,0.00016475264233,-0.000298422945906,4.65821607919e-05,1793247865828381952
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,658,633.682140438,878,784.317859562,809,651.682140438,628.682140438,652,0.400966398775,0.00451702838917,0.0798297049054,0.999999941748,0.000161614788841,-0.000296988640467,4.67175682069e-05,1793247865845048832
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.258404028,658,634,877.741595972,784,809,652,629,652,0.40096659479,0.00451626183524,0.0798306514315,0.999999942578,0.00015993457298,-0.000295105411812,4.66627873816e-05,1793247865861715712
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.83429416,658,634,877.16570584,784,809,652,629,652,0.400967872969,0.00451672839217,0.079831909193,0.999999943289,0.000160045271863,-0.00029267061694,4.6374333269e-05,1793247865878382848
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.580502645,658,634,877.419497355,784,809,652,629,652.419497355,0.400966335296,0.00451833321831,0.0798312650312,0.999999942453,0.000162760297876,-0.000294030802587,4.63621325975e-05,1793247865895049728
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.008331844,658,634,877.991668156,784,809,652,629,652.991668156,0.400963711614,0.00452036937857,0.0798298907373,0.999999941005,0.000166470331467,-0.000296847947911,4.645792374e-05,1793247865911716352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.588183625,658,634,877.411816375,784,809,652,629,652.411816375,0.400964622954,0.00452045041239,0.0798311370876,0.999999941758,0.000166264594183,-0.000294442805397,4.63061726775e-05,1793247865928382464
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.167015261,784.167015261,809.167015261,652,629,652,0.400965391963,0.0045202589663,0.0798320362098,0.999999942339,0.000165939161615,-0.000292674920911,4.61205648814e-05,1793247865945048576
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.743346717,784.743346717,809.743346717,652,629,652,0.400965812155,0.00451939973427,0.0798320843555,0.999999942514,0.000165320383308,-0.000292468810206,4.58519819861e-05,1793247865961714944
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.675305002,810,652,629,652,0.400966465432,0.00451877724077,0.0798327880232,0.999999943007,0.000164166964362,-0.000291428196612,4.58718683041e-05,1793247865978381568
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.089928996,810,652,629,652,0.400967305842,0.00451834481257,0.0798340179759,0.999999943751,0.00016258430982,-0.000289717603338,4.61233518124e-05,1793247865995048448
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.511168165,745,715,679.511168165,658,634,878.488831835,784,809.511168165,652,629,652,0.400966455257,0.00451892485016,0.0798332284895,0.99999994341,0.000162770365083,-0.000290825780484,4.58879621687e-05,1793247866011715584
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.066400972,745,715,679,658,634,878.933599028,784,809,652,629,652.066400972,0.400965526518,0.00451951838506,0.0798323508246,0.999999943005,0.000163092113949,-0.000292075400686,4.56350836018e-05,1793247866028382976
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.644039325,745,715,679,658,634,878.355960675,784,809,652,629,652.644039325,0.400966359214,0.00451880092122,0.0798336164124,0.999999943638,0.000161986835312,-0.000290474803288,4.59279571811e-05,1793247866045049344
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.224786641,658,634,878,784.224786641,809,652,629,652.775213359,0.400966897377,0.00451844670555,0.079834555159,0.999999944067,0.000161388807969,-0.000289313581288,4.60204163119e-05,1793247866061715456
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.81052629,658,634,878,784.81052629,809,652,629,652.18947371,0.40096696259,0.00451867577848,0.0798349690779,0.999999944174,0.000161605303412,-0.000288857889716,4.57910583314e-05,1793247866078381824
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745.394309485,715,680,658,634,878,785,809,651.605690515,629,652,0.400966923115,0.0045195740048,0.0798347373846,0.999999944026,0.000162865113497,-0.000288705619869,4.55116791202e-05,1793247866095048448
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745.977157172,715,680,658,634,878,785,809,651.022842828,629,652,0.400966833584,0.0045207921853,0.0798341969932,0.999999943754,0.000164623782143,-0.000288698430472,4.52083823823e-05,1793247866111715072
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745.444132074,715,680,658,634,878,784.444132074,809,651,629,652,0.400966675022,0.00452116475139,0.0798340091154,0.999999943646,0.000164699930758,-0.000289040133831,4.5139924582e-05,1793247866128381696
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f73b57ee80e9e0e4125345345e96e261f6c4427
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_04/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,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+1,0.016666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+2,0.033333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+3,0.050000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+4,0.066666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+5,0.083333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+6,0.100000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+7,0.116666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+8,0.133333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+10,0.166666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+11,0.183333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+12,0.200000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+15,0.250000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+16,0.266666667,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+17,0.283333333,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
+18,0.300000000,pose1_baseline,0.583245385307,0.00992786675896,1.07004235875,0.553817176383,0.0186023238077,1.06966574449
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+377,6.283333333,pose2_to_pose3_retreat,0.583465848179,0.0099279714067,1.07004232095,0.554037638552,0.0186024264749,1.06966571587
+378,6.300000000,pose2_to_pose3_retreat,0.583414584612,0.00992796407466,1.07004261066,0.553986374083,0.0186024154592,1.06966599125
+379,6.316666667,pose2_to_pose3_retreat,0.583372307212,0.00992798852541,1.07004263172,0.553944097294,0.0186024419942,1.06966601254
+380,6.333333333,pose2_to_pose3_retreat,0.583338421456,0.00992797579206,1.07004250539,0.553910211417,0.0186024290909,1.0696658917
+381,6.350000000,pose2_to_pose3_retreat,0.583311999674,0.00992797610607,1.07004247499,0.553883788667,0.0186024261445,1.0696658619
+382,6.366666667,pose2_to_pose3_retreat,0.58329170802,0.00992792984369,1.07004255534,0.553863498284,0.0186023840131,1.06966593806
+383,6.383333333,pose2_to_pose3_retreat,0.583276642608,0.00992790618509,1.07004256292,0.553848433924,0.0186023638351,1.06966594361
+384,6.400000000,pose2_to_pose3_retreat,0.58326578483,0.00992794197936,1.07004249861,0.553837575375,0.0186023969985,1.06966587903
+385,6.416666667,pose2_to_pose3_retreat,0.583258704356,0.00992798773884,1.07004253212,0.553830493809,0.0186024388455,1.06966590777
+386,6.433333333,pose2_to_pose3_retreat,0.58325379897,0.00992797492432,1.07004240702,0.553825588162,0.0186024254529,1.06966578973
+387,6.450000000,pose2_to_pose3_retreat,0.583250626318,0.00992800582458,1.07004240939,0.553822414893,0.0186024542885,1.06966579283
+388,6.466666667,pose2_to_pose3_retreat,0.583248637792,0.00992805917265,1.07004248547,0.553820425591,0.0186025048671,1.06966586577
+389,6.483333333,pose2_to_pose3_retreat,0.583247661224,0.00992804394125,1.07004247471,0.553819449521,0.0186024912797,1.06966585389
+390,6.500000000,pose2_to_pose3_retreat,0.583247408475,0.00992802850157,1.07004245857,0.553819197146,0.0186024770992,1.06966583758
+391,6.516666667,pose2_to_pose3_retreat,0.583247163896,0.00992801356093,1.07004244295,0.553818952928,0.018602463377,1.0696658218
+392,6.533333333,pose2_to_pose3_retreat,0.583246753019,0.00992798846166,1.07004241671,0.553818542658,0.0186024403247,1.06966579528
+393,6.550000000,pose2_to_pose3_retreat,0.583246536631,0.00992797524316,1.07004240289,0.55381832659,0.0186024281842,1.06966578131
+394,6.566666667,pose2_to_pose3_retreat,0.583246392776,0.00992796682752,1.07004239555,0.553818182936,0.0186024204457,1.06966577391
+395,6.583333333,pose2_to_pose3_retreat,0.583246205947,0.00992796423491,1.07004242752,0.553817996099,0.0186024178462,1.06966580633
+396,6.600000000,pose2_to_pose3_retreat,0.583246194149,0.00992796407119,1.07004242954,0.5538179843,0.0186024176821,1.06966580838
+397,6.616666667,pose2_to_pose3_retreat,0.583245868304,0.00992795954945,1.0700424853,0.553817658441,0.0186024131484,1.06966586494
+398,6.633333333,pose2_to_pose3_retreat,0.58324569575,0.00992794779225,1.07004248053,0.553817486038,0.0186024019932,1.06966586225
+399,6.650000000,pose2_to_pose3_retreat,0.583245681711,0.00992794492268,1.07004247314,0.553817472044,0.0186023992969,1.06966585536
+400,6.666666667,pose2_to_pose3_retreat,0.583245624635,0.00992793325593,1.07004244307,0.553817415149,0.0186023883347,1.06966582735
+401,6.683333333,pose2_to_pose3_retreat,0.583245579568,0.00992792404413,1.07004241933,0.553817370226,0.0186023796792,1.06966580524
+402,6.700000000,pose2_to_pose3_retreat,0.583245543756,0.00992791672382,1.07004240046,0.553817334527,0.0186023728009,1.06966578767
+403,6.716666667,pose2_to_pose3_retreat,0.583245494943,0.00992790674613,1.07004237475,0.553817285869,0.0186023634257,1.06966576371
+404,6.733333333,pose2_to_pose3_retreat,0.583245400692,0.00992788185006,1.07004234513,0.553817191532,0.0186023382404,1.06966573419
+405,6.750000000,pose2_to_pose3_retreat,0.583245392609,0.00992787687362,1.07004235269,0.553817183247,0.0186023325062,1.06966574009
+406,6.766666667,pose2_to_pose3_retreat,0.583245386917,0.00992787336979,1.07004235802,0.553817177413,0.0186023284688,1.06966574424
+407,6.783333333,pose2_to_pose3_retreat,0.583245386146,0.00992787289459,1.07004235874,0.553817176622,0.0186023279212,1.06966574481
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ffeb18ceca3685c25295b0cb37459209b11241c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74634ac0d2072e25803aa1fad7c1636ff0ad3cbaa9137ea6590b16629baba2b6
+size 25973331
diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9491cf516046ec5109e5f7153612282260e7b09b
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+30,0.500000000,BASELINE,765,745,715,680,658,634,878.58098387,784.58098387,809,651.58098387,629,652,0.400966389991,0.00451984304009,0.0798352740283,0.999999944615,0.00016317088676,-0.000286560977581,4.50438025853e-05,1793247866785433600
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+41,0.683333333,BASELINE,765,745,715,679.189207545,658,634,878,784.189207545,809.810792455,651.189207545,629,652,0.400966346947,0.00452058131069,0.0798361999855,0.999999945315,0.000163148541806,-0.000284154618752,4.48120073334e-05,1793247866968766464
+42,0.700000000,BASELINE,764.612014168,745,715,679.387985832,658,634,878,784,810,651.387985832,629,652,0.400966882969,0.00451910879505,0.0798363726277,0.999999945811,0.000160590804138,-0.0002838100144,4.51775290357e-05,1793247866985433088
+43,0.716666667,BASELINE,764.036343418,745,715,679.963656582,658,634,878,784,810,651.963656582,629,652,0.400968637104,0.00451732787859,0.0798372362663,0.999999946586,0.000158118286451,-0.000282370947512,4.5752630184e-05,1793247867002099712
+44,0.733333333,BASELINE,764.550166971,745,715,680,658,634,878,784.550166971,810,651.449833029,629,652,0.400968040206,0.00451767600708,0.0798374565281,0.999999946499,0.000158700172095,-0.000282413427228,4.5384278672e-05,1793247867018766336
+45,0.750000000,BASELINE,765,745,715,679.86469206,658,634,877.86469206,785,809.86469206,651.13530794,629,652,0.400967667732,0.00451854963141,0.0798376374427,0.999999946295,0.000160070818952,-0.00028242598558,4.4984649838e-05,1793247867035432960
+46,0.766666667,BASELINE,765,745,715,679.286425558,658,634,877.286425558,785,809.286425558,651.713574442,629,652,0.400968548604,0.00452067389949,0.0798378314776,0.999999945894,0.000163349825575,-0.000282013755179,4.46907576247e-05,1793247867052099584
+47,0.783333333,BASELINE,765,745,715,679.291483231,658,634,877.291483231,784.708516769,809,652,629,652,0.400968248995,0.0045213072476,0.0798373992599,0.999999945588,0.000164309042093,-0.00028256136146,4.45638159266e-05,1793247867068766464
+48,0.800000000,BASELINE,765,745,715,679.869041016,658,634,877.869041016,784.130958984,809,652,629,652,0.40096679081,0.00452047734105,0.0798363524104,0.99999994538,0.000162991514247,-0.000284050993924,4.46007268237e-05,1793247867085433344
+49,0.816666667,BASELINE,765,745,715,680,658,634,877.546918509,784.453081491,809.453081491,652,629,652.453081491,0.400967490344,0.00452018820998,0.0798368767679,0.999999945797,0.000162459827929,-0.000282853369398,4.47988616126e-05,1793247867102099968
+50,0.833333333,BASELINE,765,745.038512059,715,680,658,634,877.038512059,785,809.961487941,652,629,652.961487941,0.400968761558,0.00451998030952,0.0798378273825,0.999999946378,0.000162039534097,-0.000280998510998,4.50204898275e-05,1793247867118766592
+51,0.850000000,BASELINE,765,745.616783195,715,680,658,634,877.616783195,785,809.383216805,652,629,652.383216805,0.400969177274,0.00451868840215,0.0798382947784,0.999999946726,0.000159950788498,-0.000280976399346,4.49087879305e-05,1793247867135433216
+52,0.866666667,BASELINE,764.804495829,745.804495829,715,679.804495829,658,634,877.804495829,784.804495829,809,652,629,652,0.400968662266,0.00451781156287,0.0798380192506,0.999999946687,0.000158700404633,-0.000281820310888,4.4913936845e-05,1793247867152099840
+53,0.883333333,BASELINE,764.224891105,745.224891105,715,679.224891105,658,634,877.224891105,784.224891105,809,652,629,652,0.400966318699,0.00451775019413,0.0798362841249,0.999999945893,0.000159097122366,-0.000284365669457,4.51486586768e-05,1793247867168766464
+54,0.900000000,BASELINE,764.351935728,745,715,679.351935728,658,634,877,784,809,652,629,652,0.400966320342,0.00451866396654,0.0798362488783,0.99999994573,0.000160011547333,-0.000284422121073,4.51724159352e-05,1793247867185433088
+55,0.916666667,BASELINE,764.927001334,745,715,679.927001334,658,634,877,784,809,652,629,652,0.400967808865,0.00452019598572,0.0798372913679,0.999999945967,0.000161254202537,-0.000282900587003,4.50624200702e-05,1793247867202099712
+56,0.933333333,BASELINE,765,745,715,680,658,634,877,784,809.503061828,652,629,652,0.400968033761,0.00451913797569,0.0798374318406,0.999999946263,0.000159850131363,-0.000282663729622,4.49784841761e-05,1793247867218766592
+57,0.950000000,BASELINE,765,745,715,680,658.081235749,634,877.081235749,784,809.918764251,651.918764251,629,652,0.400968057264,0.00451816249413,0.0798374446488,0.999999946449,0.000158746076794,-0.000282644874295,4.48698890051e-05,1793247867235433216
+58,0.966666667,BASELINE,765,745,715,680,658.671752004,634,877.671752004,784,809.328247996,651.328247996,629,652,0.400967970019,0.00452006524486,0.0798374793075,0.999999945901,0.000161935404448,-0.000282821710071,4.45829467166e-05,1793247867252099840
+59,0.983333333,BASELINE,765,745,715,679.743152309,658.743152309,634,878,784,809,651.256847691,629,652,0.400967533781,0.00452064040298,0.0798370163279,0.999999945513,0.000163030620769,-0.000283548982782,4.46559087196e-05,1793247867268766464
+60,1.000000000,BASELINE,765,745,715,679.164840781,658.164840781,634,878,784,809,651.835159219,629,652,0.40096666075,0.00451955398127,0.0798359305171,0.999999945335,0.000161504902678,-0.000284965167959,4.51793174596e-05,1793247867285433088
+61,1.016666667,BASELINE,764.588864319,745,715,679,658.411135681,634,878,784.411135681,809,652,629,652,0.400967081209,0.00451946270919,0.0798363039389,0.999999945475,0.000162005627833,-0.000284223725551,4.49550747876e-05,1793247867302099968
+62,1.033333333,BASELINE,764.013818827,745,715,679,658.986181173,634,878,784.986181173,809,652,629,652,0.400968017351,0.00451976817916,0.0798372591213,0.999999945739,0.000163314246793,-0.000282622089335,4.44327616214e-05,1793247867318766592
+63,1.050000000,BASELINE,764.571468457,745,715,679,658.428531543,634,877.428531543,784.428531543,809,652,629,652,0.400968522895,0.00451857402332,0.0798376264692,0.999999946128,0.000161327872506,-0.000282338149738,4.47417228991e-05,1793247867335433472
+64,1.066666667,BASELINE,764.843643441,745,715,679.156356559,658,634,877.156356559,784,809,652,629,652,0.40096906192,0.00451769642398,0.0798381377486,0.999999946535,0.000159765001323,-0.000281754588844,4.49482985953e-05,1793247867352099840
+65,1.083333333,BASELINE,764.260533167,745,715,679.739466833,658,634,877.739466833,784,809,652,629,652,0.400969721264,0.00451778360275,0.0798390813737,0.999999946989,0.000159579459896,-0.000280264698599,4.48195620842e-05,1793247867368766464
+66,1.100000000,BASELINE,764.637843652,745,715,680,658,634,878,784,809.318921826,652,629,652,0.400969282383,0.00451866386834,0.0798386408736,0.999999946724,0.000160403602566,-0.000280746997007,4.47529038272e-05,1793247867385433344
+67,1.116666667,BASELINE,765.790849124,745,715,680,658,634,878,784,809.895424562,652,629,652,0.400967956509,0.00452018467968,0.0798370824688,0.999999945876,0.000162043228309,-0.000282822156513,4.47363837978e-05,1793247867402099968
+68,1.133333333,BASELINE,765.532113271,745,715,680,658,634,877.532113271,784.467886729,810,652,629,652,0.400968504933,0.00452028613495,0.0798376723004,0.999999945911,0.000162878920772,-0.000282189451494,4.49206422996e-05,1793247867418766336
+69,1.150000000,BASELINE,765,745.040966462,715,680,658,634,877.040966462,784.959033538,809.959033538,652,629,652,0.400969406834,0.00452002546444,0.0798386765582,0.999999946148,0.000163370746553,-0.000281033704035,4.51080782915e-05,1793247867435433216
+70,1.166666667,BASELINE,765,745.63445057,715,680,658,634,877.63445057,784.36554943,809.36554943,652,629,652,0.400969474496,0.00451912270895,0.0798388499249,0.99999994648,0.00016162747667,-0.000280916454134,4.47383161695e-05,1793247867452099840
+71,1.183333333,BASELINE,765,745.777529756,715,680,658,634,878,784,809.222470244,651.777529756,629,652,0.40096908709,0.00451842291421,0.0798384630641,0.99999994658,0.000160114351867,-0.000281449879548,4.4592779259e-05,1793247867468766464
+72,1.200000000,BASELINE,765,745.198273555,715,680,658,634,878,784,809.801726445,651.198273555,629,652,0.400967969869,0.00451804861699,0.0798371777402,0.999999946308,0.000158970321246,-0.000283026823443,4.48068427711e-05,1793247867485433088
+73,1.216666667,BASELINE,765,745,715,680,658,634,878,784,810,651.376707206,629.376707206,652,0.400967200797,0.00451824632665,0.079836626872,0.999999946128,0.000159093114442,-0.000283563736611,4.50052765513e-05,1793247867502099968
+74,1.233333333,BASELINE,765,745,715,680,658,634,878,784,810,651.949462878,629.949462878,652,0.400966612911,0.00451874172394,0.079836458234,0.999999945996,0.000159875196573,-0.000283559389985,4.51955761896e-05,1793247867518766592
+75,1.250000000,BASELINE,765,745,715,680,658,634,877.462667588,784,809.462667588,651.462667588,629.462667588,652,0.4009668466,0.00451863798876,0.0798370474318,0.999999945938,0.000160382311809,-0.000283497537011,4.50586163575e-05,1793247867535433472
+76,1.266666667,BASELINE,765,745,715,679.87548899,658.12451101,634,877.12451101,784,809,651.12451101,629,652,0.400967032427,0.00451872780823,0.0798374155456,0.999999945852,0.000160906071133,-0.000283525426215,4.49213560579e-05,1793247867552099840
+77,1.283333333,BASELINE,765,745,715,679.29617673,658.70382327,634,877.70382327,784,809,651.70382327,629,652,0.400966753012,0.0045197364094,0.0798367082216,0.999999945637,0.000161587823206,-0.000283901444274,4.48986798583e-05,1793247867568766464
+78,1.300000000,BASELINE,765,745,715,679.280223995,658.719776005,634,878,784.280223995,809.280223995,652,629,652.280223995,0.400966825258,0.00452000010695,0.0798367165757,0.999999945628,0.000161977282015,-0.000283709050993,4.49109679926e-05,1793247867585433088
+79,1.316666667,BASELINE,765,745,715,679.853579044,658.146420956,634,878,784.853579044,809.853579044,652,629,652.853579044,0.400967265361,0.0045194845907,0.0798374735719,0.999999945835,0.000162060984547,-0.000282922065441,4.49598309123e-05,1793247867602099968
+80,1.333333333,BASELINE,765,745,715,680,658.428754261,634,878,784.571245739,810,652,629,652.571245739,0.400967156418,0.00451966826417,0.0798373204065,0.999999945713,0.000162401108074,-0.00028315279544,4.49922408949e-05,1793247867618766336
+81,1.350000000,BASELINE,765,745,715,680,658.995323877,634,878,784,809.995323877,651.995323877,629,652,0.400966885614,0.00452008806813,0.0798368773679,0.999999945493,0.000162805593058,-0.000283693825041,4.50166231584e-05,1793247867635433216
+82,1.366666667,BASELINE,765,745,715,680,658.404053259,634,878,784,809.404053259,651.404053259,629,652,0.400969931421,0.00452004836275,0.0798392286275,0.999999947133,0.000160252030576,-0.00027937571803,4.47418154704e-05,1793247867652099840
+83,1.383333333,BASELINE,765,745,715,680,658,634,877.816217228,784,809,651.183782772,629,652,0.400970985045,0.00452018117768,0.0798399790033,0.999999947709,0.000159215273634,-0.000277924569099,4.46170440547e-05,1793247867668766464
+84,1.400000000,BASELINE,765,745,715,680,658,634,877.235793625,784,809,651.764206375,629,652,0.400967739131,0.00452068632671,0.0798372743448,0.999999946014,0.000161452092963,-0.000282660901575,4.48160815664e-05,1793247867685433344
+85,1.416666667,BASELINE,765,745,715,679.659416285,658,634,877.340583715,784,809,652,629,652,0.400967027054,0.00451979387437,0.0798366924014,0.999999945612,0.000162006982249,-0.000283748152118,4.49177150497e-05,1793247867702099712
+86,1.433333333,BASELINE,765,745,715,679.085807406,658,634,877.914192594,784,809,652,629,652,0.400968048612,0.00451794519222,0.079837562806,0.999999946105,0.000161411105805,-0.000282338724253,4.49527053191e-05,1793247867718766336
+87,1.450000000,BASELINE,765,745,715,679.488330244,658,634,877.511669756,784.488330244,809.488330244,651.511669756,629,652,0.400968233997,0.00451810810943,0.0798379996163,0.999999946648,0.00016026943397,-0.000281076652013,4.48788145939e-05,1793247867735432960
+88,1.466666667,BASELINE,765,745,715,680,658,634,877.129222379,784.93538881,810,651.06461119,629,652,0.400968223446,0.00451860980211,0.0798383145849,0.999999947075,0.000159339018298,-0.000280096301624,4.48006054107e-05,1793247867752099840
+89,1.483333333,BASELINE,765,745,715,680,658,634,878.315321773,784.342339114,810,651.657660886,629,652,0.400967813378,0.00451898817774,0.0798382568493,0.999999946508,0.000160921645564,-0.000281208083025,4.48437230717e-05,1793247867768766464
+90,1.500000000,BASELINE,765,745,715,680,658,634,878.755956183,784,809.755956183,652,629,652,0.400967705047,0.00451980625396,0.0798381145517,0.999999946057,0.000162403078732,-0.000281964013812,4.48148105687e-05,1793247867785433344
+91,1.516666667,BASELINE,765,745,715,680,658,634,878.178676604,784,809.178676604,652,629,652,0.400968008729,0.00452122473036,0.0798378567868,0.999999945767,0.000163746333748,-0.000282234039344,4.4687542665e-05,1793247867802099712
+92,1.533333333,BASELINE,764.601780424,745,715,679.601780424,658,634,877.601780424,784,809.398219576,651.601780424,629,652,0.400968717367,0.00452070905315,0.0798381905821,0.999999946309,0.000162709209421,-0.000280943093302,4.44740042729e-05,1793247867818766336
+93,1.550000000,BASELINE,764.025056055,745,715,679.025056055,658,634,877.025056055,784,809.974943945,651.025056055,629,652,0.400969607528,0.00451932637777,0.0798387895486,0.999999947218,0.000160605063022,-0.00027895243053,4.42217945015e-05,1793247867835432960
+94,1.566666667,BASELINE,764.559789519,745,715,679.559789519,658,634,877.559789519,784,810,651.559789519,629,652,0.400968809589,0.00451869571996,0.0798382859328,0.999999946539,0.000161329590121,-0.00028087805832,4.47356802083e-05,1793247867852099584
+95,1.583333333,BASELINE,765,745,715,679.855482086,658,634,877.855482086,784,810,651.855482086,629,652,0.400968023732,0.00451864617265,0.0798378782289,0.999999945956,0.000162133401714,-0.000282431262757,4.50923632181e-05,1793247867868766208
+96,1.600000000,BASELINE,765,745,715,679.272229078,658,634,877.272229078,784,810,651.272229078,629,652,0.400967507313,0.00452025709955,0.0798379137278,0.999999945893,0.000162787879423,-0.000282313849641,4.48661694693e-05,1793247867885433088
+97,1.616666667,BASELINE,765,745,715,679.306746896,658,634,877,784,810,651.306746896,629,652,0.4009669935,0.00452049604376,0.079837787847,0.999999946001,0.000161935058696,-0.000282449654849,4.46925215974e-05,1793247867902099456
+98,1.633333333,BASELINE,765,745,715,679.881979289,658,634,877,784,810,651.881979289,629,652,0.400966481967,0.00451953413645,0.0798375207158,0.999999946255,0.000159762949053,-0.000282807093755,4.45648654212e-05,1793247867918766336
+99,1.650000000,BASELINE,765,745,715.455627341,679.544372659,658,634,877,784,809.544372659,651.544372659,629,652,0.400966569061,0.00451939984654,0.0798368538347,0.999999945887,0.000160620501837,-0.000283617005222,4.45846424663e-05,1793247867935432960
+100,1.666666667,BASELINE,765,745,715.970285608,679.029714392,658,634,877.029714392,784.029714392,809,651.029714392,629,652,0.400966735803,0.0045194699368,0.0798361159221,0.999999945384,0.000162127306055,-0.000284521647621,4.46484285025e-05,1793247867952099584
+101,1.683333333,BASELINE,765,745,715.380207183,679.619792817,658,634,877.619792817,784.619792817,809,651.619792817,629,652,0.400965490491,0.00451936551401,0.0798359844283,0.999999945399,0.000161129729151,-0.00028501015347,4.48244563819e-05,1793247867968766464
+102,1.700000000,BASELINE,765,745,715,680,658.206070032,634,877.793929968,784.793929968,809.206070032,652,629,652,0.400964843063,0.00451924882727,0.0798360927535,0.999999945401,0.000160699245157,-0.000285224272996,4.49536601642e-05,1793247867985433088
+103,1.716666667,BASELINE,765,745,715,680,658.785460828,634,877.214539172,784.214539172,809.785460828,652,629,652,0.400965278774,0.00451910992294,0.0798366355396,0.999999945384,0.000161296118601,-0.000284941308487,4.49980364168e-05,1793247868002099712
+104,1.733333333,BASELINE,764.637412145,745,715,680,658.637412145,634,877.362587855,784.362587855,810,652,629,652,0.400965827998,0.00451923111615,0.07983671622,0.999999945413,0.000161738360162,-0.000284620854507,4.47921586895e-05,1793247868018766336
+105,1.750000000,BASELINE,764.061616199,745,715,680,658.061616199,634,877.938383801,784.938383801,810,652,629,652,0.40096644397,0.0045195052513,0.079836525174,0.999999945469,0.00016208967549,-0.000284278356024,4.44391271867e-05,1793247868035432960
+106,1.766666667,BASELINE,764.523940163,745,715,679.476059837,658,634,878,784.476059837,809.476059837,652,629,652,0.400967529496,0.00451996205494,0.0798372865788,0.999999945897,0.000162807150463,-0.000282343856877,4.45131539796e-05,1793247868052099840
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658,634,878,784,809,651,628,652,0.40096466237,0.00451870353469,0.0798361604468,0.999999945516,0.000159757752328,-0.000285314804948,4.51861381513e-05,1793247868094398464
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,679.577713458,658,634,877.422286542,784,809,651.577713458,628.577713458,652,0.400965959808,0.00451919537042,0.0798369590183,0.999999945819,0.000160250003885,-0.000284004131985,4.49929476001e-05,1793247868111065088
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.154723024,784.154723024,809,652,629,652,0.400967014781,0.00451956705823,0.0798377360887,0.999999946063,0.000161030269191,-0.000282718329309,4.48754639329e-05,1793247868127731968
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.729820281,784.729820281,809,652,629,652,0.400967410991,0.00451961231066,0.0798384547422,0.99999994615,0.000162593052658,-0.000281500097585,4.49636718033e-05,1793247868144398592
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.687580797,658.312419203,634,878,785,809,652,629,652,0.400967970669,0.00451956092849,0.079838808087,0.999999946424,0.000162020237768,-0.00028087153328,4.4863060649e-05,1793247868161065216
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.098334872,658.901665128,634,878,785,809,652,629,652,0.400968675192,0.00451942392086,0.079838837741,0.999999946862,0.000159555123321,-0.000280765458371,4.45951417469e-05,1793247868177731840
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,658.517512001,633.517512001,878,785,809,652,628.517512001,652,0.400968853844,0.00451939512253,0.0798384307321,0.999999946557,0.00016032471371,-0.000281381461077,4.47865562451e-05,1793247868194398464
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.061195636,658,633.061195636,877.938804364,784.938804364,809,652,628.061195636,652,0.400969071016,0.00451937716889,0.079838081459,0.999999946186,0.000161561408439,-0.00028195313754,4.5036286071e-05,1793247868211065088
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,679.636308952,658,633.636308952,877.363691048,784.363691048,809,652,628.636308952,652,0.400970496289,0.0045192682586,0.079838951601,0.999999946519,0.000161279397225,-0.000280937885052,4.5003053871e-05,1793247868227731712
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.215685926,784,809,652,629,652,0.400977447123,0.00451914444151,0.0798424082397,0.999999948047,0.00016116821423,-0.000275523409187,4.49234356857e-05,1793247868244398592
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,877.802397232,784,809,652,629,652,0.400993903092,0.0045189949816,0.0798503141992,0.999999951517,0.000161350891891,-0.000262541339364,4.47640237998e-05,1793247868261065216
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679.613436316,658,634,878,784,809,652,629,652,0.401028909924,0.00451991877174,0.0798634262375,0.999999957663,0.000162276870107,-0.000237449068075,4.42488608731e-05,1793247868277731840
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.030562177,658,634,878,784,809,652,629,652,0.401073337531,0.00452138759549,0.0798791821041,0.999999964412,0.000163580322038,-0.000206206814794,4.3553035172e-05,1793247868294398464
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679,658.545314796,634,878,784,809,651.454685204,629,652,0.401142663223,0.00452072445355,0.0798994616408,0.999999972567,0.00016105532922,-0.000164772589211,4.21467708559e-05,1793247868311065344
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.120528217,658.879471783,633.879471783,877.879471783,784,809,651,629,652,0.401214079527,0.0045204920402,0.0799171846682,0.999999978029,0.00015904178283,-0.000130367738849,4.06458408824e-05,1793247868327731712
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.694701624,658.305298376,633.305298376,877.305298376,784,809,651,629,652,0.40128817898,0.00452232483198,0.0799243433425,0.999999978726,0.000159750574728,-0.00012454278877,3.89365705683e-05,1793247868344398592
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.724590345,745,715,679.724590345,658,633.275409655,877,784.275409655,809,651,629,652,0.401370221389,0.00452349645072,0.0799296240856,0.999999979954,0.000158008825183,-0.000117427751302,3.65597220487e-05,1793247868361065216
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.136462508,745,715,679.136462508,658,633.863537492,877,784.863537492,809,651,629,652,0.401461282744,0.00452391733014,0.0799327725019,0.999999981739,0.000153484570148,-0.000108847864364,3.34248615623e-05,1793247868377731840
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.447508183,745,715,679.447508183,658,634,877.447508183,784.552491817,809.447508183,651,629,652,0.401570215036,0.00452403697389,0.0799351644693,0.999999982535,0.000151241775725,-0.000105569003628,3.01883811938e-05,1793247868394398464
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.97031595,745,715,680,658,634,877.97031595,784,810,651.02968405,629,652,0.401686223339,0.00452411967597,0.0799375592669,0.999999983126,0.000149515845432,-0.000103305556298,2.68592216285e-05,1793247868411065344
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.39798983,745,715,680,658,634,877.39798983,784,810,651.60201017,629,652,0.401832881491,0.0045251908322,0.0799441837845,0.99999998521,0.000144637647118,-9.03261018947e-05,2.23970923289e-05,1793247868427731712
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.175365703,745,715,680,658,634,877,784,809.824634297,652,628.824634297,652,0.401990869067,0.00451947247426,0.079950909664,0.999999988104,0.000131912250259,-7.76742602565e-05,1.88931936893e-05,1793247868444398336
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.751071192,745,715,680,658,634,877,784,809.248928808,652,628.248928808,652,0.402174720401,0.0044982544341,0.0799578669403,0.999999992555,0.000101272599804,-6.57703227395e-05,1.75768263455e-05,1793247868461065216
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658.334806537,634,877.334806537,784,809.334806537,652,628.334806537,652,0.402367403478,0.00448866316758,0.0799617800689,0.999999994975,8.05060146992e-05,-5.82389444624e-05,1.33004593115e-05,1793247868477732096
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658.92465885,634,877.92465885,784,809.92465885,652,628.92465885,652,0.402566814339,0.00448792883317,0.079963374256,0.999999996255,6.72604373143e-05,-5.40384520308e-05,6.76925140449e-06,1793247868494398464
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,658.493467695,634,878,784,809.493467695,652,629,652,0.402782347466,0.00449873206198,0.0799553753913,0.999999995125,7.02371189227e-05,-6.93831999506e-05,-1.57731555133e-06,1793247868511065088
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.086233061,652,629,652,0.4030076457,0.00450854571274,0.0799468023928,0.999999993657,7.21355924362e-05,-8.59246398458e-05,-9.98257829852e-06,1793247868527731712
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,658,634,878,784,809.660252913,652,629,652,0.403274827161,0.00450320501533,0.0799429277747,0.999999994038,5.44979821543e-05,-9.30457599425e-05,-1.72161809459e-05,1793247868544398592
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.23955007,715,679.76044993,658,634,878,784,809.76044993,652,628.76044993,652,0.403565952037,0.00450496084432,0.0799428413178,0.999999994165,4.878364577e-05,-9.32226291778e-05,-2.44840228975e-05,1793247868561065472
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.826500444,715,679.173499556,658,634,878,784,809.173499556,652,628.173499556,652,0.403891800118,0.00451700819818,0.0799482485281,0.999999994201,6.03606807943e-05,-8.3328806491e-05,-3.1801518943e-05,1793247868577731840
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.592034309,715,679,658,634,877.592034309,784,809,652,628.407965691,652,0.404245986444,0.00452530841377,0.0799528099968,0.999999991084,0.00010924882913,-7.26990270359e-05,-2.47473540316e-05,1793247868594398464
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.012870842,715,679,658,634,877.012870842,784,809,652,628.987129158,652,0.404612064558,0.00453203618867,0.0799570165603,0.999999982923,0.000173794125693,-6.17604123703e-05,-1.16622984214e-05,1793247868611065088
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.433894452,745,715,679.566105548,658,634,877.566105548,784,809,652,629,652.566105548,0.405018538359,0.00453913596218,0.0799542535504,0.999999995262,7.29660489711e-05,-6.15636332607e-05,-1.90230194674e-05,1793247868627731712
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.14248039,745.14248039,715,679.85751961,658,634,877.85751961,784,809,651.85751961,629,652.85751961,0.405432075244,0.00454669966489,0.0799509015122,0.999999997619,2.18779535442e-06,-6.39871996243e-05,-2.57617957943e-05,1793247868644398592
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.711087208,745.711087208,715,679.288912792,658,634,877.288912792,784,809,651.288912792,629,652.288912792,0.405863990234,0.0045556255863,0.0799462615822,0.999999996341,3.25230068304e-05,-7.35174481176e-05,-2.92506737216e-05,1793247868661065216
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.707357066,715,679.292642934,658.292642934,634,877.292642934,784,809.292642934,651.292642934,629,652.292642934,0.406323252621,0.0045644076841,0.0799409231837,0.999999993548,6.97776905927e-05,-8.44781417154e-05,-2.99712688384e-05,1793247868677731840
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.112425561,715,679.887574439,658.887574439,634,877.887574439,784,809.887574439,651.887574439,629,652.887574439,0.406810763839,0.00457304121889,0.0799348632944,0.999999988398,0.00011417991904,-9.69164295923e-05,-2.78323377617e-05,1793247868694398464
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,810,652,629,652.529975045,0.407321323897,0.00458199672362,0.0799289402847,0.999999984837,0.000133429038526,-0.000107865171405,-2.98047018791e-05,1793247868711065088
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,810,652,629,652,0.407839547614,0.0045910864622,0.0799225898587,0.999999981771,0.000145287005918,-0.000119543021572,-3.25528540797e-05,1793247868727731712
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,810,652,629,652,0.408382290622,0.00460080932198,0.0799113284754,0.999999979348,0.00014078200956,-0.000142727399416,-3.33533705682e-05,1793247868744398592
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.199310278,715,680,659,634,878,784,810,652,629,652.199310278,0.408960715255,0.00460988458724,0.0799106063188,0.999999978322,0.000144430770601,-0.000145963146364,-3.44898189575e-05,1793247868761065472
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.77255963,715,680,659,634,878,784,810,652,629,652.77255963,0.409606084489,0.00461774485742,0.0799296574972,0.99999997975,0.000163377330523,-0.000111771958077,-3.62565311481e-05,1793247868777731840
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.642182891,715,680,659,634,877.642182891,784,810,652,629,652.642182891,0.410291581247,0.00462471847866,0.0799593147837,0.999999983166,0.000169071717311,-6.07388374505e-05,-3.73238629407e-05,1793247868794398464
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.049027627,715,680,659,634,877.049027627,784,810,652,629,652.049027627,0.41100347006,0.00463110894603,0.0799959477613,0.999999985493,0.000166050080481,1.37130752826e-06,-3.79312084871e-05,1793247868811065344
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680.531142711,659,634,877.531142711,784,810,652,629,652,0.411679620131,0.00462146758872,0.0799871708335,0.999999986369,0.00015919739672,-1.95928500926e-05,-3.91704084317e-05,1793247868827731712
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680.890427449,659,634,878,784,810,651.890427449,629,652.109572551,0.412356299156,0.00460965155965,0.0799693875583,0.999999986616,0.000149703641628,-5.19074859031e-05,-4.07610949113e-05,1793247868844398592
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680.314426339,659,634,878,784,810,651.314426339,629,652.685573661,0.413048937283,0.00459472741551,0.0799306830849,0.999999985475,0.000130436776188,-0.000100675586225,-4.36056407715e-05,1793247868861065216
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,810,651.266561914,629,652.733438086,0.413783606127,0.00458606233166,0.0799124225306,0.999999984985,0.000117723461403,-0.000119095070215,-4.45880839776e-05,1793247868877731840
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,634,878,784,810,651.853545046,629,652.146454954,0.414568798159,0.00458492096032,0.0799187366202,0.999999987585,0.000112887851508,-0.000101033953043,-4.33321838772e-05,1793247868894398464
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.434906213,680.434906213,659.434906213,634,878,784,810,652,629,652,0.415372499072,0.00458544246525,0.0799370088541,0.999999989629,0.000116187922115,-7.35399016411e-05,-4.28188349801e-05,1793247868911065088
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715.985662813,681,659.985662813,634,878,784,810.014337187,652,629,652,0.416181991684,0.00458663494025,0.079958330986,0.99999999067,0.000121946727356,-4.44545369866e-05,-4.25844141969e-05,1793247868927731968
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715.408630508,681,659.408630508,634,878,784,810.591369492,652,629,652,0.416977293084,0.00459246415482,0.0799433249756,0.999999989194,0.000118050826873,-7.59941223555e-05,-4.3608444209e-05,1793247868944398336
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.170845041,634,878,784,811,651.829154959,629,652.170845041,0.417800524962,0.00459669058119,0.0799405755921,0.999999988694,0.000119013027211,-8.03666975265e-05,-4.46087557105e-05,1793247868961064960
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.756249139,634,878,784,811,651.243750861,629,652.756249139,0.418691530679,0.00459702780821,0.0799675671704,0.999999990105,0.000131763510732,-1.881795371e-05,-4.55515136684e-05,1793247868977731584
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715.337881579,680.662118421,660,634,878.675763158,784,811,651.337881579,629,652.662118421,0.419587616849,0.00459417924968,0.0799784923761,0.999999990799,0.000127015089918,7.56454779522e-06,-4.703504679e-05,1793247868994398464
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715.916823123,680.083176877,660,634,879.833646245,784,811,651.916823123,629,652.083176877,0.420487327604,0.00458905780798,0.0799779551053,0.999999992739,0.00010978216085,8.85786260511e-06,-4.89043933543e-05,1793247869011065344
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715.503865821,680.496134179,660,633.503865821,879.007731641,784,811,651.503865821,629,652.496134179,0.421378118826,0.00458935093337,0.0799677085872,0.999999993079,0.000105898569975,-9.52879988592e-06,-5.03574839061e-05,1793247869027731968
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.925133605,745,715,681,660,633,878.074866395,784,811,651.074866395,629,653,0.42227418827,0.00459145344916,0.0799614122996,0.999999992729,0.000106756729565,-2.24869531287e-05,-5.13745755908e-05,1793247869044398592
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.350678009,745,715,681,660,633,878.649321991,784,811,651.649321991,629,653,0.423215465369,0.00459956815188,0.0799923464388,0.999999990766,0.000124311370643,2.28129716833e-05,-4.99482425747e-05,1793247869061064960
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,745,715,680.777040366,660,633,879,784,811,652,629.222959634,652.777040366,0.424122812943,0.00460742717231,0.0799983560002,0.999999989002,0.000138552662725,2.14987542418e-05,-4.83344323442e-05,1793247869077732352
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,745,715,680.204684436,660,633,879,784,811,652,629.795315564,652.204684436,0.424976990274,0.00461488551858,0.0799653066793,0.999999986632,0.000147601663821,-5.28636953665e-05,-4.64268294585e-05,1793247869094400000
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.382449829,745,715,680.382449829,660,633,879,784,811,651.617550171,629.617550171,652.382449829,0.425896001642,0.00461602902381,0.079934135042,0.999999983568,0.000145366135331,-9.69754406975e-05,-4.82601197289e-05,1793247869111066624
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.977811225,745,715,680.977811225,660,633,879,784,811,651.022188775,629.022188775,652.977811225,0.426851106364,0.00461365702773,0.0799040087218,0.999999981556,0.000136848457332,-0.00012424647637,-5.21759824922e-05,1793247869127732992
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.554755401,715,680.445244599,660.554755401,633,879,784,811,651.554755401,629.554755401,653,0.427789972275,0.0046062509873,0.0799039856863,0.999999982838,0.000129055525202,-0.000122585377467,-5.13872346567e-05,1793247869144399360
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,746,715,680.130577525,660.869422475,633.130577525,879,784,811,652,630,653,0.428734197909,0.00460067841855,0.0799125003511,0.999999984885,0.000123280071108,-0.00011176379007,-5.04031861056e-05,1793247869161065984
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,715,680.705009091,660.294990909,633.705009091,879,784,811,652,630,653,0.429698778904,0.00460200054067,0.0799460747731,0.999999988351,0.000124266981525,-7.36113779377e-05,-4.93743540432e-05,1793247869177732352
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.714028187,745.714028187,715,681,660.285971813,633.714028187,879.285971813,784,811.285971813,652,629.714028187,653,0.430666452599,0.00460470338884,0.0799837236234,0.999999990632,0.00012608309805,-2.05385583331e-05,-4.91738345069e-05,1793247869194398720
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.126170901,745.126170901,715,681,660.873829099,633.126170901,879.873829099,784,811.873829099,652,629.126170901,653,0.431637391034,0.00460886379714,0.0800256736322,0.9999999893,0.000128774563699,4.828495207e-05,-4.98477210962e-05,1793247869211065344
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,745,715,681,661,633,879.542315131,784,812,651.542315131,629.457684869,653,0.432560763933,0.00461469377477,0.0800079572472,0.999999989666,0.00013390397022,1.52040639525e-05,-5.00754168633e-05,1793247869227732480
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.039790744,745,715,681,660.960209256,633,879,784,811.960209256,651.039790744,629.960209256,653,0.433468723975,0.00462053351151,0.0799723639438,0.999999987985,0.000139078055542,-4.63824834831e-05,-5.03656796341e-05,1793247869244399616
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.613095679,745,715,681,660.386904321,633,879,784,811.386904321,651.613095679,629.386904321,653,0.434344315912,0.00462038649976,0.0799157050321,0.999999982533,0.000135918153367,-0.000116777355267,-5.31297626879e-05,1793247869261066496
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.19044449,715,681.19044449,660.19044449,633,879,784,811.38088898,652,629.19044449,653,0.435229380154,0.00461913060621,0.0798874708744,0.999999978773,0.000131283523478,-0.000148825874965,-5.54075171898e-05,1793247869277733376
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.776187123,715,681.776187123,660.776187123,633,879,784,812.552374247,652,629.776187123,653,0.436134105851,0.00461557305026,0.0799182368509,0.999999985628,0.000123587859617,-0.000101280392512,-5.66758195173e-05,1793247869294399232
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,715,681.64239023,660.64239023,633,879,784,813,652,630,653,0.437063421084,0.00461185234215,0.0799604609659,0.999999990091,0.000121775009556,-4.41450365098e-05,-5.51360604374e-05,1793247869311065600
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,715,681.063639043,660.063639043,633,879,784,813,652,630,653,0.438007942125,0.00460803074302,0.0800097706488,0.999999990838,0.000123600018266,1.8920574755e-05,-5.18598310542e-05,1793247869327732224
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.483601957,715,681,660.516398043,633,879.516398043,784,813,651.483601957,630,653,0.438932014195,0.00460784949822,0.0800312118391,0.999999990676,0.000112859017828,5.5266847533e-05,-5.34407154484e-05,1793247869344398848
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.095654495,715,681,661,633,879.904345505,784,813,651.095654495,630,653,0.439826829429,0.00460807488712,0.0800360087929,0.999999990776,0.000104511579093,6.68935801999e-05,-5.52282967978e-05,1793247869361065472
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.670207291,715,681,661,633,879.329792709,784,813,651.670207291,630,653,0.440587817326,0.00460808444177,0.079974713126,0.999999991354,0.000115920044786,-2.87124438441e-05,-5.50464514733e-05,1793247869377732352
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.749654974,746,715,681,660.749654974,633,879.250345026,784,813.250345026,652,630.250345026,652.749654974,0.441323880116,0.00460792590538,0.079904723566,0.99999998285,0.000112569573639,-0.0001359848936,-5.59988036551e-05,1793247869394399232
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.161992073,746,715,681,660.161992073,633,879.838007927,784,813.838007927,652,630.838007927,652.161992073,0.442026358457,0.00460754088113,0.0798230197558,0.999999960765,8.93327337361e-05,-0.00025897681618,-5.84793870323e-05,1793247869411065856
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,745.580758368,715,681.419241632,660.838483265,633,880,784,813.580758368,652,630.580758368,652,0.442845906644,0.00460710450059,0.0798425479918,0.99999996997,9.28160895574e-05,-0.000219010817302,-5.89912143502e-05,1793247869427732480
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,745.001971291,715,681.998028709,661.996057418,633,880,784,813.001971291,652,630.001971291,652,0.443710006668,0.00460664857602,0.0799006008104,0.999999985758,0.000106468007211,-0.000117030008743,-5.87538171628e-05,1793247869444398848
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.577863515,745,714.422136485,682,662,633,879.422136485,784,813,652,630,652.577863515,0.444534853055,0.00460556925631,0.0799668697497,0.99999999178,0.000111994154366,-2.48907207965e-05,-5.72599103539e-05,1793247869461065472
+190,3.166666667,POSE1_TO_POSE2_PRESS,764.844219658,745,714,682,661.844219658,633,879,784,813.155780342,651.844219658,630,653,0.445331313017,0.00460471080434,0.0800184210905,0.999999991225,0.000110707857334,4.62205119829e-05,-5.6185761365e-05,1793247869477732096
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.271446334,745,714,682,661.271446334,633,879,784,813.728553666,651.271446334,630,653,0.44605214745,0.00460444927401,0.080030501201,0.999999992385,9.12603411742e-05,6.11338757407e-05,-5.62467159561e-05,1793247869494398976
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.31006472,745.31006472,714.31006472,682,661,633,879,784,813.68993528,651.31006472,630,652.68993528,0.446731635264,0.00460350840329,0.0800240640608,0.999999992781,8.90723980101e-05,5.72134670016e-05,-5.68480322857e-05,1793247869511065600
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.899447005,745.899447005,714.899447005,682,661,633,879,784,813.100552995,651.899447005,630,652.100552995,0.447373876501,0.00460195555806,0.0800009459076,0.999999992416,0.000102432506401,3.63269108685e-05,-5.79361260929e-05,1793247869527732224
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714.519758278,682,660.519758278,633,879.960483443,784,813,651.519758278,630,652.480241722,0.447964204942,0.00460220141978,0.0799623214788,0.999999992762,0.000103048533437,-2.00755048275e-05,-5.87750265525e-05,1793247869544399616
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.940990187,714.059009813,682.059009813,659.940990187,633,881,784,813,651.059009813,630,652.940990187,0.448538404896,0.00460332433169,0.0799191869196,0.999999989566,9.94476075923e-05,-8.62459822161e-05,-5.94999400662e-05,1793247869561066752
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.364503399,714.635496601,682.635496601,659.364503399,633,881,784,813,651.635496601,630,652.364503399,0.449064812519,0.0046088937644,0.0798644727648,0.99999997973,8.18554319614e-05,-0.000174009997258,-5.96747768357e-05,1793247869577733376
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21545612,745.21545612,715,683,659,633,880.78454388,784,813.21545612,652,630,652.21545612,0.44959649868,0.00461505547845,0.0798320221583,0.999999970083,7.9138888482e-05,-0.000223566693558,-5.99007736284e-05,1793247869594399488
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.801386905,745.801386905,715,683,659,633,880.198613095,784,813.801386905,652,630,652.801386905,0.45013726118,0.0046222356138,0.0798378535084,0.999999971472,0.00010200084983,-0.000207426276579,-6.02147401955e-05,1793247869611065600
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.616907641,745.616907641,715,682.616907641,659,632.616907641,880,783.616907641,814,651.616907641,630,653,0.450678828174,0.00462568889156,0.0798609886297,0.999999976788,0.000114933249813,-0.000172084743984,-6.00063168452e-05,1793247869627732480
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037368846,745.037368846,715,682.037368846,659,632.037368846,880,783.037368846,814,651.037368846,630,653,0.451220807755,0.00462723106977,0.0798929969751,0.99999998264,0.000122773858861,-0.000126897044328,-5.95300164218e-05,1793247869644399360
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+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,683,658,632,880,783.137139487,814,651.137139487,630,653,0.453175418264,0.00464833264955,0.0797778892547,0.999999934679,0.000161405955655,-0.000317581514879,-6.10899375025e-05,1793247869727732224
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,683,657.555470949,632,879.555470949,783.444529051,814,651.444529051,630,653,0.453507306625,0.00465076594654,0.0797650024758,0.999999929114,0.000156826557605,-0.000336319783052,-6.37754815007e-05,1793247869744398592
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+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,683,656.248003448,631.248003448,879.248003448,783.248003448,814,652,630,653,0.454663952963,0.00469885881905,0.0797461898197,0.999999917024,0.000155778095942,-0.000370413934197,-6.69247818127e-05,1793247869811065344
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+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745.295087978,714.704912022,683.295087978,655,631,880,783.295087978,814,651.295087978,630,653,0.456305802719,0.00465589598114,0.0797104598241,0.999999892505,0.000135235341986,-0.000438294199364,-6.78205538838e-05,1793247870027733248
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745.886842888,714.113157112,683.886842888,655,631,880,783.886842888,814,651.886842888,630,653,0.456343970009,0.0046581821621,0.0797089705991,0.999999891006,0.000134240613405,-0.000441955471688,-6.81324545658e-05,1793247870044398848
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.531515837,745.531515837,714.468484163,684,655,631,880,784,814,652,630,653,0.456371995273,0.00465675278131,0.0797057031126,0.999999889639,0.000129405902093,-0.000446537529437,-6.76853291741e-05,1793247870061065472
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.047309392,745,714.952690608,684,655,631,879.952690608,783.952690608,814,652,630,653,0.456397063606,0.00465479986074,0.0797023123676,0.999999888343,0.000124220717346,-0.000450968908367,-6.71511832404e-05,1793247870077732096
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.621404578,745,714.378595422,684,655,631,879.378595422,783.378595422,814,652,630,653,0.456415907503,0.00465679925023,0.0797022307402,0.999999888034,0.000125242478875,-0.000451298363957,-6.76463427337e-05,1793247870094398720
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,714,684,655.194101807,631,879.194101807,783,814,652,630,653,0.456430915059,0.00465771965824,0.0797017242089,0.999999887528,0.000125767062276,-0.000452264146135,-6.77093763132e-05,1793247870111065600
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,714,684,655.764091786,631,879.764091786,783,814,652,630,653,0.456438493344,0.00465655056274,0.0797003948292,0.999999886638,0.000125328834504,-0.000454462207584,-6.69355757204e-05,1793247870127732224
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.649625864,745.350374136,714,684,655.299251727,631,880,783,814.350374136,652,630,653,0.456444711004,0.00465637339607,0.0796995527583,0.999999885958,0.000124345660372,-0.000456248455145,-6.67845441498e-05,1793247870144399104
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.051838857,745.948161143,714,684,654.103677714,631,880,783,814.948161143,652,630,653,0.456449967873,0.00465689666914,0.0796990547952,0.999999885424,0.000122977678336,-0.000457743904731,-6.7073274157e-05,1793247870161065472
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.471050615,714,683.471050615,654.528949385,631,880,783,814.471050615,652,630,653,0.456451615309,0.00465770977312,0.0796971900396,0.999999883891,0.00012406058548,-0.000460854086207,-6.66424298004e-05,1793247870177732096
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.107122666,745,714.107122666,683.107122666,655,631,880.107122666,783,814,652,630,653,0.456453069873,0.00465793853558,0.0796957502215,0.999999882724,0.000124871857543,-0.000463237558035,-6.61058134055e-05,1793247870194398976
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.680935286,745,714.680935286,683.680935286,655,631,880.680935286,783,814,652,630,653,0.456455177281,0.00465550166555,0.0796967270817,0.999999883613,0.000123485873008,-0.00046178708848,-6.54060556578e-05,1793247870211065600
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.738917434,745.261082566,715,684,655,631,880.738917434,783,814.261082566,652,630,653,0.456456272435,0.00465515886779,0.0796969857583,0.999999883566,0.000123359981805,-0.000461946757181,-6.52390140159e-05,1793247870227731968
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.150836088,745.849163912,715,684,655,631,880.150836088,783,814.849163912,652,630,653,0.456456099771,0.004657438838,0.0796963449298,0.999999882345,0.000124812322883,-0.000464123079852,-6.57391846446e-05,1793247870244398592
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.430197627,745.569802373,714.569802373,684,654.569802373,631,880,783,815,652,630,653,0.456455763952,0.00465648298125,0.079695089504,0.999999882141,0.000123135790648,-0.000465049920785,-6.54517847512e-05,1793247870261065472
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,714,684,654.008807699,631,880,783,814.991192301,652,630.008807699,653.008807699,0.456455372949,0.00465444147678,0.0796936396867,0.999999882267,0.000120429491625,-0.000465564384084,-6.48971344723e-05,1793247870277732352
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,714,684,654.587910352,631,880,783,814.412089648,652,630.587910352,653.587910352,0.456455053217,0.00465438210978,0.0796933311042,0.99999988142,0.000120934613357,-0.000467286747491,-6.46297811449e-05,1793247870294399232
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,714,684,654.834436741,631,880,783,814,652,630.834436741,653.834436741,0.456454868089,0.00465445077903,0.0796930808103,0.99999988077,0.00012162260971,-0.000468524619706,-6.44407910465e-05,1793247870311066112
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,714,684,654.260360988,631,880,783,814,652,630.260360988,653.260360988,0.456455015082,0.00465483536625,0.0796929743381,0.999999880611,0.000122761832768,-0.000468567053252,-6.44451552051e-05,1793247870327732224
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714,683.678195636,654.321804364,631,880,783,814,652,630,653,0.456455464234,0.00465433730267,0.0796929321829,0.999999880779,0.000121340788459,-0.000468593738906,-6.43327460278e-05,1793247870344398592
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,714,683.089316519,654.910683481,631,880,783,814,652,630,653,0.456456164157,0.00465310670164,0.0796929434062,0.99999988121,0.000117794904125,-0.000468607354921,-6.41234232794e-05,1793247870361065472
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714,683.491371543,654.508628457,631,880,783,814,652,630,653,0.456455239777,0.0046554172942,0.0796919530632,0.999999880315,0.000120859775268,-0.000469725315953,-6.41990996883e-05,1793247870377732352
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,714,684,654,631,880,783,814,652,630,653,0.45645426583,0.00465774746583,0.0796908506621,0.999999879305,0.000124316207514,-0.00047095715184,-6.43044862923e-05,1793247870394398976
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,714,684,654,631,880,783,814,652,630,653,0.456455027113,0.00465565710053,0.0796902310689,0.999999879287,0.000122078115259,-0.000471586874104,-6.42568081045e-05,1793247870411066112
+247,4.116666667,HOLD_POSE2,766,745,714,684,654,631,881,784,814,652,630,653,0.456453595104,0.0046557995878,0.0796884860228,0.999999878578,0.000120916149271,-0.000473339819148,-6.45900812739e-05,1793247870451472640
+248,4.133333333,HOLD_POSE2,766,745,714.615690192,684,654.615690192,631,880.384309808,784,814.615690192,652,630,653,0.456453351892,0.004655292408,0.0796885284413,0.999999878129,0.000121019668188,-0.000474303639433,-6.42885208539e-05,1793247870468139520
+249,4.150000000,HOLD_POSE2,766,745,714.782501768,683.782501768,654.782501768,631,880,784,814.782501768,652,630,653,0.45645384693,0.00465486424176,0.0796890116901,0.999999878194,0.000121035510931,-0.000474186453247,-6.41091576193e-05,1793247870484805888
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+251,4.183333333,HOLD_POSE2,766,745,714,683.37276472,654.37276472,631,880.37276472,783.62723528,814,652,630,653,0.456456856295,0.00465604635854,0.0796909781874,0.999999879382,0.000123420600234,-0.000471070279611,-6.40001102743e-05,1793247870518138880
+252,4.200000000,HOLD_POSE2,766,745,714,683.948066252,654.948066252,631,880.948066252,783.051933748,814,652,630,653,0.456457909112,0.00465849035728,0.0796914769218,0.999999879285,0.000127372410129,-0.000470252107874,-6.37825691891e-05,1793247870534805248
+253,4.216666667,HOLD_POSE2,766,745,714,683.465404451,655,631,880.465404451,783,814,652,630,653,0.456457470771,0.00465718581194,0.0796911762937,0.999999879353,0.0001249966008,-0.000470725954293,-6.39251240837e-05,1793247870551472384
+254,4.233333333,HOLD_POSE2,765.87970143,745.12029857,714,683,654.87970143,631,880,783,814,652,630,653,0.456457057983,0.00465552033177,0.079690973875,0.999999879492,0.000122298558729,-0.000471128105995,-6.40099194772e-05,1793247870568139520
+255,4.250000000,HOLD_POSE2,765.301386204,745.698613796,714,683,654.301386204,631,880,783,814,652,630,653,0.456457305844,0.00465389685777,0.0796914473726,0.999999879865,0.000120764252593,-0.000470769165883,-6.3738760498e-05,1793247870584806400
+256,4.266666667,HOLD_POSE2,765,745.72386132,714,683.27613868,654,631,880,783,814,652,630,653,0.456456955168,0.00465427809863,0.0796909770533,0.999999879503,0.000121114506756,-0.000471442461309,-6.37772762691e-05,1793247870601472768
+257,4.283333333,HOLD_POSE2,765,745.147196616,714,683.852803384,654,631,880,783,814,652,630,653,0.456455953092,0.004656841102,0.0796894795631,0.999999878336,0.000123515757344,-0.00047323915477,-6.41528159116e-05,1793247870618138880
+258,4.300000000,HOLD_POSE2,765.428831066,745,714,683.571168934,654,631,880,783,814,652,630.428831066,653,0.45645635017,0.00465708215525,0.0796898906304,0.999999878639,0.000124058386266,-0.000472454790678,-6.41735480431e-05,1793247870634805248
+259,4.316666667,HOLD_POSE2,766,745,714.004749124,683.004749124,654,631,880,783,814,652,630.995250876,653,0.456457213507,0.00465651625939,0.0796909344152,0.99999987943,0.000123952069087,-0.000470818237063,-6.40712111834e-05,1793247870651471616
+260,4.333333333,HOLD_POSE2,766,745,714.594042107,683.594042107,654,631,880,783,814,652,630.405957893,653,0.456456441338,0.00465458166513,0.0796893411233,0.99999987853,0.000122378709911,-0.000473175361632,-6.37889665803e-05,1793247870668138240
+261,4.350000000,HOLD_POSE2,766,745,715,684,654.180247628,631,880,783,814,652,630,653,0.456456589816,0.004653648377,0.0796888248638,0.999999878254,0.000121877458486,-0.000473922835739,-6.35196348636e-05,1793247870684804864
+262,4.366666667,HOLD_POSE2,766,745,715,684,654.759616713,631,880,783,814,652,630,653,0.456458776883,0.00465493227582,0.0796906934716,0.99999987937,0.0001237501698,-0.000471106069028,-6.32788960352e-05,1793247870701472256
+263,4.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,684,655,631,880,783,814,652,630,653,0.456457799407,0.00465419403838,0.0796911978809,0.999999879455,0.00012104163043,-0.00047166009859,-6.30505178507e-05,1793247870737311232
+264,4.400000000,POSE2_TO_POSE3_RETREAT,766,745.586036724,714.413963276,684,654.413963276,631,880,783.586036724,814,652,630,653,0.456457662791,0.00465379072186,0.0796899885903,0.999999879066,0.000120515153747,-0.000472592421593,-6.32443821654e-05,1793247870753977856
+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,746,714.170052801,684,654,631,880,783.829947199,814,652,630,653,0.456458116749,0.00465327304194,0.0796896168178,0.999999879288,0.000119450832063,-0.000472380164247,-6.33458653791e-05,1793247870770644480
+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,746,714.749207855,684,654,631,880,783.250792145,814,652,630,653,0.456459991474,0.00465248023369,0.0796912598925,0.999999880971,0.000117092596849,-0.000469414348204,-6.32251040332e-05,1793247870787311104
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.671847523,714.671847523,684,654,631,880.328152477,783,814,652,630.328152477,653,0.456459708518,0.00465261427321,0.0796912609233,0.999999880758,0.000116750268124,-0.000469957088753,-6.31975797537e-05,1793247870803977472
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.093063657,714.093063657,684,654,631,880.906936343,783,814,652,630.906936343,653,0.4564577776,0.0046534562067,0.0796900078183,0.999999879095,0.000117947618443,-0.000473179542347,-6.32412666932e-05,1793247870820643328
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.48092719,714.48092719,683.51907281,654,631,880.51907281,783,814,652,630.51907281,653,0.456457339152,0.00465398666092,0.0796895832074,0.999999879083,0.000118237669987,-0.000473099479374,-6.34881904168e-05,1793247870837310208
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.944453361,714.944453361,683.055546639,654,631,880.055546639,783,814,652,630,653,0.45645725306,0.00465444282832,0.0796893645603,0.999999879366,0.000118348368066,-0.000472436320124,-6.37548396217e-05,1793247870853977344
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.354963907,714.354963907,683.645036093,654,631,880.645036093,783,814,652,630,653,0.456457805242,0.00465475857981,0.0796895998628,0.999999879442,0.000118406046936,-0.000472250553054,-6.38367887528e-05,1793247870870643968
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,684,654.230098053,631,881,783,813.769901947,652,630,653,0.456456084238,0.00465487308099,0.0796887280639,0.99999987872,0.00011919725837,-0.000473607830839,-6.36275658734e-05,1793247870887310592
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,684,654.808458768,631,881,783,813.191541232,652,630,653,0.456450922676,0.00465468298171,0.0796861806224,0.999999876777,0.000121098700848,-0.000477300569114,-6.29776424306e-05,1793247870903976960
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,684,654.613727165,631,880.613727165,783,813.772545669,652,630,653,0.456431621631,0.00465407827727,0.0796776616024,0.999999870072,0.000121866738976,-0.00049098295515,-6.27653207697e-05,1793247870920643584
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,684,654.036183731,631,880.036183731,783,814.927632539,652,630,653,0.456405319143,0.00465326827292,0.0796661856376,0.999999860727,0.000122073549759,-0.000509611912163,-6.27696861713e-05,1793247870937310208
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.538866561,714.538866561,684,654,631,880.538866561,783,814.461133439,652,630,653,0.456355161144,0.00465481790617,0.0796471022192,0.999999842578,0.000124276136533,-0.000543649646025,-6.20047141881e-05,1793247870953976832
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+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.293919349,745.293919349,714.293919349,684,654,631,880.293919349,783,814,652,630.706080651,653,0.456232372429,0.0046550924553,0.0796113167043,0.999999808355,0.000125732427079,-0.000603159380808,-6.06632774292e-05,1793247870987310336
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,714,683.445432827,654.554567173,631,880.445432827,783,813.445432827,651.554567173,630.554567173,653,0.456005844379,0.0046523249718,0.0796056417058,0.999999803986,0.000127017112378,-0.000610583301315,-5.55281308831e-05,1793247871037310464
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.020126524,684,654.020126524,631,881,783,813.979873476,651.020126524,630.020126524,653,0.455913954105,0.00465139481726,0.0796119143848,0.99999980842,0.00012848011183,-0.000603194362412,-5.29964030868e-05,1793247871053976832
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.594188238,684,654.594188238,631,881,783,813.405811762,651.594188238,630.594188238,653,0.455801932468,0.00465125358479,0.0796186717475,0.999999813782,0.000132459713703,-0.000593647484739,-4.97372741349e-05,1793247871070643200
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,684,655,631,880.826255338,783,813,652,630.826255338,653,0.455682006655,0.00465107953712,0.0796239505361,0.999999818316,0.000136246319124,-0.000585364747928,-4.64036979525e-05,1793247871087309824
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,684,655,631,880.233445992,783,813,652,630.233445992,653,0.455543016328,0.00465082634065,0.0796256630663,0.999999821065,0.000139567424815,-0.000580131066248,-4.28905587199e-05,1793247871103976448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.648744439,745,714.648744439,684,655,631,880,783.351255561,813,652,630,653,0.45538119041,0.00464894578683,0.079626241403,0.999999822783,0.000140793784902,-0.000577149950139,-3.88345152217e-05,1793247871120643584
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.06930973,745,714.06930973,684,655,631,880,783.93069027,813,652,630,653,0.455204530249,0.00464600808529,0.0796260829565,0.999999823839,0.000140659377495,-0.000575632122775,-3.44257953025e-05,1793247871137310720
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.504218104,745,714,684,655,631,880.504218104,783.495781896,813,652,630,653,0.454990092218,0.00464289499183,0.0796247198107,0.999999821806,0.000145419022337,-0.000578297313552,-2.85267700655e-05,1793247871153977600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.920760324,745,714,684,655,631,880.920760324,783,813.079239676,651.920760324,630,653,0.454767007,0.0046401664718,0.0796229656286,0.999999819359,0.000150782918871,-0.000581408748991,-2.25779701195e-05,1793247871170644224
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.330942412,745,714,684,655,631,880.330942412,783,813.669057588,651.330942412,630,653,0.45452127691,0.00464006948552,0.0796197464842,0.999999817343,0.000155755737662,-0.000583733476026,-1.76131512261e-05,1793247871187310592
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.254252611,745,714,684,655.254252611,631.254252611,880,783,813.745747389,651.254252611,630,653,0.454252947294,0.00463816428944,0.079615751656,0.99999981359,0.000160710995492,-0.000588951002482,-1.13862095429e-05,1793247871203976960
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.833537769,745,714,684,655.833537769,631.833537769,880,783,813.166462231,651.833537769,630,653,0.453955726811,0.00463394750634,0.0796107652059,0.999999807553,0.000165643803354,-0.000597866638137,-3.54579018975e-06,1793247871220643584
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.589251248,745.410748752,714.410748752,684,656,631.589251248,880,783,812.589251248,652,630,653,0.453641357623,0.00463041473551,0.0796126222473,0.999999810388,0.000171365343727,-0.000591476311315,3.56018056036e-06,1793247871237310208
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.012876646,745.987123354,714.987123354,684,656,631.012876646,880,783,812.012876646,652,630,653,0.453320073584,0.00462715777843,0.0796172387837,0.999999816639,0.000177404923854,-0.000578914174714,1.03700000712e-05,1793247871253976832
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.439333451,715,684,656.560666549,631,879.439333451,783.560666549,812.560666549,652,630.560666549,653,0.452950061897,0.00462225418236,0.0796271048184,0.999999824138,0.000179777615822,-0.000564886828291,1.7514045104e-05,1793247871270643200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.138540948,714.861459052,683.861459052,657,631.138540948,879.138540948,784,812.861459052,652,631,653,0.45257441576,0.00461805314594,0.0796383915222,0.999999833887,0.000175350864922,-0.000548632786522,2.19199461827e-05,1793247871287309568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.730812094,714.269187906,683.269187906,657,631.730812094,879.730812094,784,812.269187906,652,631,653,0.452183963264,0.00461627627036,0.0796539381345,0.999999850844,0.000148929943967,-0.000525195837534,1.73332413411e-05,1793247871303976192
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.686657631,714.313342369,683.313342369,657,632,880,783.686657631,812,652,630.686657631,652.686657631,0.451770497766,0.00461119447439,0.0796699072428,0.999999864997,0.000129953768346,-0.000502809132403,1.73678829308e-05,1793247871320643584
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.112243236,714.887756764,683.887756764,657,632,880,783.112243236,812,652,630.112243236,652.112243236,0.451337858146,0.00460335906957,0.07968622837,0.999999877085,0.000117180436807,-0.000481297471821,2.12529585612e-05,1793247871337311232
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.535088456,683.535088456,657,632,879.535088456,783.464911544,812,652,630,652.464911544,0.450875060509,0.00459963908244,0.0797032879478,0.999999894511,0.000102604754582,-0.00044720903813,2.13268714495e-05,1793247871353977344
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.043570855,745,714,683,657.087141709,632,879.087141709,783.956429145,812,652,630,653,0.450401504261,0.00459667288371,0.0797210323609,0.9999999119,8.7862091193e-05,-0.000409939139633,2.07421221548e-05,1793247871370643712
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.632736578,745,714,683,658.265473156,632,880.265473156,783.367263422,812,652,630,653,0.449884941866,0.00459063021126,0.0797451065983,0.999999927948,7.65096158503e-05,-0.000371078168014,2.34997444563e-05,1793247871387310336
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.782202331,745,714.217797669,683.217797669,658.782202331,632.217797669,880.564404662,783.217797669,812,652,630,653,0.449335583961,0.0045849274304,0.079756406667,0.999999931103,0.000102889469834,-0.000355672931062,2.65600169451e-05,1793247871403976960
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.20393472,745,714.79606528,683.79606528,658.20393472,632.79606528,879.407869441,783.79606528,812,652,630,653,0.448731947289,0.00457978719358,0.0797465646173,0.999999909314,0.000191718893148,-0.000379088529893,3.01211957987e-05,1793247871420644096
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.374105866,745,715,684,658.374105866,633,879.374105866,784,812,652,630.374105866,653,0.448101260336,0.00457456280337,0.0797258867557,0.999999893974,0.000202426325493,-0.000412454744079,3.09456273303e-05,1793247871437310976
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.952022751,745,715,684,658.952022751,633,879.952022751,784,812,652,630.952022751,653,0.447455836544,0.00456929256697,0.079699305598,0.999999883184,0.000170573282112,-0.000451242003737,3.02790924161e-05,1793247871453978112
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.475169951,745.524830049,714.475169951,683.475169951,659,633,880,784.524830049,812,652,630.475169951,652.475169951,0.446828796841,0.00456112253048,0.0797193537561,0.999999902525,0.000138979249983,-0.000417847475058,3.22212745526e-05,1793247871470644992
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.899532315,714.100467685,683,659,633,880,784.799064631,811.899532315,652,630,652.100467685,0.446195922242,0.00455336903784,0.0797487459586,0.999999924314,0.000110071632093,-0.000371574310073,3.4472931422e-05,1793247871487311872
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.307792952,714.692207048,683,659,633,880,783.615585903,811.307792952,652,630,652.692207048,0.44552637755,0.00454893610981,0.0798031865589,0.999999951576,9.41855189649e-05,-0.000294281081667,3.70830070559e-05,1793247871503977984
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.278080151,745,715,683,659,633,880,783.556160302,811.278080151,651.721919849,630,652.721919849,0.444823128301,0.00454290771547,0.0798393084024,0.999999964809,8.34065343023e-05,-0.000248649016364,3.99978528945e-05,1793247871520644096
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.857594401,745,715,683,659,633,880,784.715188803,811.857594401,651.142405599,630,652.142405599,0.444083343809,0.00453514986255,0.0798555730355,0.999999967846,7.81635875073e-05,-0.000237337098919,4.32430649062e-05,1793247871537310464
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.565705486,745,715,683.434294514,659,633,880,784.565705486,811.565705486,651.434294514,630,652,0.443304595645,0.00452910455448,0.0798414016928,0.999999960787,9.49965571037e-05,-0.000259571106189,4.49889757804e-05,1793247871553977088
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.989960389,659,633,879.989960389,784,811,652,630,652,0.442512582215,0.00452357790149,0.0798174225441,0.999999949195,0.000118027869307,-0.000292480743221,4.62076581073e-05,1793247871570643968
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,683.416357477,659,633,879.416357477,784,811,652,630,652,0.441688497151,0.00451584657853,0.0797995017621,0.999999946926,8.52750796231e-05,-0.000311172068668,4.52499593562e-05,1793247871587311104
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764.837681085,745,715,683,659.32463783,633,879,784,811,651.837681085,630,652,0.440835247445,0.00450772179338,0.0797681440429,0.999999934341,5.73904695736e-05,-0.000354919150807,4.53493825678e-05,1793247871603977984
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764.245571067,745,715,683,660.508857866,633,879,784,811,651.245571067,630,652,0.439904775097,0.00449855519203,0.0797012077478,0.999999889821,4.23959196474e-05,-0.000465009338248,4.82478732215e-05,1793247871620644352
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764.339007124,745,715,683,660.321985751,633,879.339007124,784,811,651,630,652.339007124,0.439020677554,0.00448944217537,0.0796744485845,0.999999871408,4.78570801041e-05,-0.000502438780712,4.9479482613e-05,1793247871637310464
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764.918247945,745,715,683,659.16350411,633,879.918247945,784,811,651,630,652.918247945,0.43816944305,0.00448036713131,0.0796761605097,0.999999877217,6.78139571437e-05,-0.000488377978052,4.9529874962e-05,1793247871653977088
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,683.492319912,659,633,880,784,811,651,630,653,0.437371104289,0.00447131339376,0.079751651281,0.999999925922,4.10057902943e-05,-0.000379347890945,5.06876444497e-05,1793247871670643712
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.933980479,745,715,683.933980479,659,633.066019521,879.933980479,784,811,651,630,653,0.43657162303,0.00446242310795,0.0798329867614,0.999999963914,1.27477933561e-05,-0.000263218707861,5.22097784302e-05,1793247871687310080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.356586146,745,715,683.356586146,659,633.643413854,879.356586146,784,811,651,630,653,0.435695963482,0.00445477177321,0.0798656836984,0.999999975261,3.27852986868e-05,-0.000212984454337,5.5144674586e-05,1793247871703977216
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764.450748721,745,715,683.225374361,659,634,879,784,811,651,630,652.774625639,0.434794000663,0.00444580621629,0.0798732452546,0.999999978031,3.69823211336e-05,-0.000198238164754,5.71970974023e-05,1793247871720644096
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.62941787,745,715,683.814708935,659,634,879,784,811,651,630,652.185291065,0.433849560185,0.00443471830236,0.0798402153369,0.999999969214,1.5598328971e-05,-0.000240801878139,5.7824402238e-05,1793247871737310976
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.602968773,745.397031227,715,683.602968773,659,633.602968773,879,784,811,651.397031227,630,652.397031227,0.432838166547,0.00442777656461,0.0797861245388,0.999999940351,6.87999978152e-06,-0.000340391854609,5.81649025511e-05,1793247871753977344
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.023862292,745.976137708,715,683.023862292,659,633.023862292,879,784,811,651.976137708,630,652.976137708,0.431796068796,0.00442273622981,0.0797223753962,0.999999889648,3.97004063757e-06,-0.000466133599383,5.8373875896e-05,1793247871770643712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.449731865,715,683,659,633,879,784,811,652,630,652.449731865,0.430862470738,0.00441198429642,0.0797152948624,0.999999882038,-1.18176698818e-07,-0.000481826274921,6.1376219501e-05,1793247871787310592
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.127539038,715,683,659,633,879,784,811,651.872460962,630,652.127539038,0.429950679179,0.004401134291,0.0797290611691,0.999999892456,-6.84164908871e-06,-0.000459338001724,6.36414819831e-05,1793247871803976960
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.716957528,715,683,659,633,879,784,811,651.283042472,630,652.716957528,0.42910097276,0.00439081805839,0.0798095040415,0.99999994793,-2.29252509606e-05,-0.000315706103338,6.28026699524e-05,1793247871820643328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.698653085,715,682.698653085,659.60269383,633,879,784,811,651.301346915,630,653,0.428206232611,0.00439058610842,0.0798521557972,0.999999968713,-2.41607721519e-05,-0.000240786898065,6.33455411635e-05,1793247871837309952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.118909817,715,682.118909817,660.762180365,633,879,784,811,651.881090183,630,653,0.427269888544,0.00439967042328,0.0798598946009,0.999999971508,-1.16790410745e-05,-0.0002293472433,6.51648676308e-05,1793247871853976832
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.458198409,745.458198409,715,682.458198409,660.083603182,633,879,784,811,651.541801591,630,653,0.426291691353,0.00442450317168,0.0798167911029,0.999999953642,1.87556118953e-05,-0.000297279338787,6.31663558348e-05,1793247871870643968
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+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.381030401,745.381030401,715,682.381030401,659,633.618969599,878.381030401,784,811,651,630,652.381030401,0.424350830385,0.00447210577507,0.079742898955,0.999999910061,7.57905232466e-05,-0.000413417524352,5.67447884516e-05,1793247871903977216
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.201882188,715,682,659.201882188,634,878,784,810.798117812,651,630,652,0.423407771126,0.00448703270346,0.0797327337122,0.999999902827,9.39440440654e-05,-0.000427296328311,5.42027173086e-05,1793247871920643840
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.782950873,715,682,659.782950873,634,878,784,810.217049127,651,630,652,0.42248520195,0.00449377650964,0.0797407671397,0.999999909699,0.000103539100777,-0.000408708014884,5.32949455738e-05,1793247871937310208
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+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.05808254,715,682,658.116165081,633.05808254,878,784,810,651.94191746,630,652,0.420830462611,0.00447668494585,0.0798621861265,0.999999975988,7.48225827638e-05,-0.000199148121997,5.25890600926e-05,1793247871970643200
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.483092023,659.033815955,633.516907977,878,784,810.516907977,652,629.483092023,652,0.419956117539,0.00447530558638,0.0798686920538,0.999999977133,7.56439101386e-05,-0.000192963010507,5.27030044091e-05,1793247871987310080
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.813086031,634,878,784.093456985,811,651.906543015,629.093456985,652.093456985,0.41907231952,0.00447506454681,0.0798605041262,0.99999997315,7.81577858545e-05,-0.000211704051252,5.26557778538e-05,1793247872003976960
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.638657075,634,878,784.680671462,811,651.319328538,629.680671462,652.680671462,0.418179121931,0.00447454882531,0.0798137328958,0.999999952921,7.74339055236e-05,-0.000292410716646,5.15571149007e-05,1793247872020643840
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.264334833,715,681,658.264334833,634,878,785,811,651.264334833,629.735665167,652.735665167,0.417303377007,0.00447683435655,0.0797939891492,0.999999940363,7.99127196661e-05,-0.000332038865864,5.13662188709e-05,1793247872037310720
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.84376513,715,681,658.84376513,634,878,785,811,651.84376513,629.15623487,652.15623487,0.416448436275,0.00448245906951,0.0798064630196,0.999999942851,8.62092472126e-05,-0.000322700123304,5.22574100467e-05,1793247872053977344
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.580004654,715,681,659,634,878,784.580004654,810.580004654,652,629.419995346,652,0.415615633526,0.0044839662846,0.0797959924575,0.999999934927,9.37939489186e-05,-0.000344143120618,5.3978901553e-05,1793247872070643712
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.004955794,715,681,659,634,878,784.004955794,810.004955794,652,629.995044206,652,0.414791003588,0.00448395340588,0.0797770512907,0.999999922199,0.000101854218063,-0.000376950092679,5.60069226316e-05,1793247872087310080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.429762835,634,878,784,810,651.429762835,630,652,0.414063170191,0.00448094796418,0.0797871431179,0.999999934124,8.92609263008e-05,-0.000347857876501,5.27157728413e-05,1793247872103976448
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.149269252,634,877.850730748,784.149269252,810,651,629.850730748,652,0.413342444448,0.00447853459083,0.079798506518,0.999999944554,7.80239139944e-05,-0.000319779035264,5.04619047718e-05,1793247872120643072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.739642744,634,877.260357256,784.739642744,810,651,629.260357256,652,0.412640235743,0.00447794770708,0.0798128817211,0.999999952242,7.13253867842e-05,-0.000296284899001,5.14099394437e-05,1793247872137309696
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.676043861,634,877.323956139,784.676043861,810,651,629,652.323956139,0.411909799966,0.00447790190506,0.0798099015081,0.999999948459,8.015186836e-05,-0.000306414390081,5.26136319229e-05,1793247872153976832
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,658.096511449,634,877.903488551,784.096511449,810,651,629,652.903488551,0.411157095262,0.00447828297459,0.0797932292168,0.999999934569,0.000101226378301,-0.000343070316882,5.40190184746e-05,1793247872170644224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.520079175,658,633.520079175,878,784,810,651,629.479920825,652.520079175,0.410488522374,0.00448016493726,0.0797902667867,0.999999933453,9.50917161648e-05,-0.000348030043269,5.41019295466e-05,1793247872187311104
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.055697934,633.055697934,878.055697934,784,810,651.055697934,629.944302066,652,0.409843782165,0.00448261814806,0.0797928361312,0.999999936347,8.65747641152e-05,-0.00034190302548,5.3967523525e-05,1793247872203977472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.631141626,633.631141626,878.631141626,784,810,651.631141626,629.368858374,652,0.409264572161,0.00448760353555,0.0798214631054,0.999999950388,0.000106559226378,-0.000291417839755,5.42709897962e-05,1793247872220644096
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.788279876,634,878.788279876,784,809.788279876,651.788279876,629.211720124,652,0.408688091555,0.00449054857566,0.0798392199058,0.999999957608,0.000114294074486,-0.00026223651642,5.43415889663e-05,1793247872237310976
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658.198533236,634,878.198533236,784,809.198533236,651.198533236,629.801466764,652,0.408116484354,0.00448985057276,0.0798375679959,0.999999956781,0.000100157221355,-0.000271093269403,5.39964038632e-05,1793247872253977600
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.615110561,784,809.384889439,651,629.615110561,652,0.407524782175,0.00448787517702,0.0798092770775,0.999999941457,9.84668420911e-05,-0.000323306663819,5.35062211289e-05,1793247872270643968
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.034897122,784,809.965102878,651,629.034897122,652,0.406922882127,0.00448525152887,0.0797674673738,0.999999914272,0.000103092807595,-0.000397522720587,5.29424546086e-05,1793247872287310336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.538694764,784,810,651,629,652,0.406448690013,0.0044849551813,0.0797673649377,0.999999917698,0.000104487193465,-0.000388518642262,5.23458960829e-05,1793247872303977472
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.885226524,878,784,810,651,629,652,0.405995713294,0.00448569904532,0.0797740388745,0.999999925357,0.000105601278071,-0.000368043751296,5.17533275717e-05,1793247872320644096
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.297144909,878,784,810,651,629,652,0.405596523005,0.00449011840123,0.0797976508772,0.999999941113,0.000106412265709,-0.000322226994996,5.11858669086e-05,1793247872337309952
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.286181522,878,784.286181522,809.713818478,651,629,652,0.405193058264,0.00449331940553,0.0798141582211,0.999999948176,0.000114399448074,-0.00029655193044,5.1158641882e-05,1793247872353976320
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.864651264,878,784.864651264,809.135348736,651,629,652,0.404785227885,0.00449527606009,0.0798234093016,0.99999994778,0.000129715954815,-0.000291448355208,5.16831804406e-05,1793247872370642944
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.557288164,658,633.557288164,878,784.557288164,809.442711836,651,629,652,0.404403841588,0.00449529252095,0.0798308160652,0.999999949527,0.000127642541192,-0.000286120038763,5.28114728082e-05,1793247872387309312
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.020602682,658,633.020602682,878,784,809.979397318,651.020602682,629,652,0.404032104122,0.00449485044472,0.0798373758176,0.999999951736,0.000120557394315,-0.000281187856535,5.41024364595e-05,1793247872403976192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.597286008,658,633.597286008,878,784,809.402713992,651.597286008,629,652,0.403702786127,0.00449802738279,0.0798362789788,0.999999949406,0.000121567207844,-0.000288800409301,5.480657425e-05,1793247872420642816
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.822858867,784.177141133,809.177141133,651.822858867,629,652,0.403390807019,0.00449883916735,0.0798353067575,0.999999948178,0.000118755441375,-0.000294229635456,5.45035627334e-05,1793247872437309440
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.235661567,784.764338433,809.764338433,651.235661567,629,652,0.403118964978,0.00449417596228,0.0798346230075,0.999999949524,0.000107097268408,-0.000294604774437,5.18691457747e-05,1793247872453976064
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.347377473,784.652622527,809.652622527,651.347377473,629,652,0.402860688991,0.00449065424838,0.0798334219156,0.999999949341,0.000100811538975,-0.000297378184758,5.21697294638e-05,1793247872470642688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,877.927628969,784.072371031,809.072371031,651.927628969,629,652,0.402611507353,0.00448789776393,0.0798318740092,0.999999948174,9.81273733394e-05,-0.000301759342139,5.4437871122e-05,1793247872487309312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.49653438,745,715,679.49653438,658,634,878,784.50346562,809.50346562,651.49653438,629,652,0.402399493546,0.00448803691576,0.0798319769279,0.99999994914,9.13611299354e-05,-0.000300767959694,5.39537703441e-05,1793247872503976192
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.078699478,745,715,679,658,634,878,784.921300522,810,651.078699478,629,652,0.402199011642,0.00448833019532,0.0798331339045,0.999999950655,8.4206007962e-05,-0.00029793215247,5.32521789509e-05,1793247872520642816
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.654099617,745,715,679,658,634,878,784.345900383,810,651.654099617,629,652,0.402037884934,0.00448699205571,0.0798394587578,0.999999953943,7.82677251572e-05,-0.000288287282267,5.36531402299e-05,1793247872537309440
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.23667229,658,634,878,784,809.76332771,652,629,652,0.401889083342,0.0044878026849,0.0798464552734,0.999999957052,7.85868102223e-05,-0.000276997806613,5.46933994652e-05,1793247872553976064
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.830055319,658,634,878,784,809.169944681,652,629,652,0.401758858083,0.00449185192275,0.0798544641131,0.999999959846,8.83369545628e-05,-0.000263229594259,5.66972038607e-05,1793247872570642944
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.411355765,652,629,652,0.401631949727,0.00450165562621,0.079851901386,0.999999957278,0.00010373999368,-0.000267407105837,5.63526805514e-05,1793247872587309312
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,809.987806917,652,629,652,0.401506372595,0.00451376885288,0.0798450958181,0.999999952252,0.000121411790948,-0.000278787035874,5.50656686881e-05,1793247872603975936
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784,810,652,629,652,0.401402004056,0.00452402793079,0.07983709405,0.999999943056,0.00016229878868,-0.000292143214382,4.68899890752e-05,1793247872620642816
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.141818859,745,715,680,658,634,877.858181141,784.141818859,809.858181141,651.858181141,629,652,0.401306391317,0.00452964666054,0.0798303095081,0.999999935188,0.000190551551691,-0.000302718058688,4.09280336338e-05,1793247872637309440
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.73114241,745,715,680,658,634,877.26885759,784.73114241,809.26885759,651.26885759,629,652,0.401236961093,0.00452074935227,0.0798274474497,0.999999937049,0.000177354433495,-0.000304381740637,4.24211281987e-05,1793247872653976320
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.684851218,745,715,680,658,634,877.315148782,785,809,651.315148782,629,652,0.401177462136,0.00451859212475,0.0798259019618,0.999999937386,0.000173884832565,-0.000305125658762,4.34791385733e-05,1793247872670643200
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.105305672,745,715,680,658,634,877.894694328,785,809,651.894694328,629,652,0.401126295092,0.00452208954455,0.0798254610217,0.999999936537,0.000178576213899,-0.000305097933382,4.41721315183e-05,1793247872687309824
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.52850988,809,652,629,652,0.401085413988,0.00452064049598,0.0798239787092,0.999999936122,0.000176466253236,-0.000307564830644,4.49396366438e-05,1793247872703976448
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764.95154979,745,715,680,658,634,878,784.04845021,809,651.95154979,629,652,0.401047934977,0.00451824044696,0.0798223724277,0.999999935842,0.000172818542254,-0.00031042337893,4.56859571605e-05,1793247872720643072
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764.36599922,745,715,680,658,634,878,784.63400078,809,651.36599922,629,652,0.401022850575,0.00451747408581,0.0798219552891,0.999999936173,0.000168865950204,-0.000311482915339,4.60140163525e-05,1793247872737309440
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764.216723755,745,715,679.783276245,658,634,878,785,809,651.216723755,629,652,0.401002820366,0.00451745362018,0.0798222244899,0.999999936646,0.000167143707795,-0.00031085066486,4.62806827104e-05,1793247872753976064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764.794733002,745,715,679.205266998,658,634,878,785,809,651.794733002,629,652,0.400991215661,0.00451867658651,0.0798236378404,0.999999937371,0.000169139530437,-0.000307398150996,4.64450052145e-05,1793247872770642688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.373258989,658,634,878,784.626741011,809,651.626741011,629,652,0.400982047109,0.00451802012542,0.0798247782047,0.999999938181,0.00016793430954,-0.000305413413322,4.64702411257e-05,1793247872787309312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.952069523,658,634,878,784.047930477,809,651.047930477,629,652,0.400974220132,0.0045163286746,0.079825768237,0.999999939036,0.000164966292594,-0.000304236971538,4.64188828569e-05,1793247872803975936
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,634,878,784.52622034,809,651.52622034,629,652,0.400971009199,0.00451826462555,0.0798274880721,0.999999939774,0.00016559568497,-0.00030150907645,4.60675466596e-05,1793247872820643072
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764.897295042,745,715,680.102704958,658,634,877.897295042,784.897295042,809.102704958,652,629,652,0.400968518724,0.0045199451825,0.0798289879354,0.999999940407,0.000166245370523,-0.000299081914351,4.58015235694e-05,1793247872837309696
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764.307753861,745,715,680.692246139,658,634,877.307753861,784.307753861,809.692246139,652,629,652,0.400967467823,0.00451886273863,0.0798291327712,0.999999940628,0.000165451688143,-0.000298744236154,4.60682765878e-05,1793247872853976064
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.276901748,745,715,680.723098252,658,634,877.553803495,784,809.723098252,651.723098252,629,652,0.400967083031,0.0045181400652,0.0798298699165,0.999999941155,0.000164868814738,-0.000297253016057,4.63532919906e-05,1793247872870642688
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.856221654,745,715,680.143778346,658,634,878.712443308,784,809.143778346,651.143778346,629,652,0.40096742573,0.00451781031483,0.0798312539525,0.999999942013,0.000164516176188,-0.000294501955478,4.66582526842e-05,1793247872887309568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.566589519,878.133179038,784,809.433410481,651.433410481,629,652,0.40096659709,0.00451830955168,0.0798312011473,0.999999941997,0.000164748414261,-0.000294476761048,4.63383040702e-05,1793247872903976192
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,658,633.009892178,877.009892178,784,809.990107822,652,629,652,0.400965408159,0.00451907036041,0.0798306975437,0.999999941707,0.000165161308055,-0.000295308493477,4.58249340456e-05,1793247872920643072
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diff --git a/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8bc6487234e17df49fabd4754bfcd34d35e205ee
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_12.5/position_12/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ef7cc5d47421df6124a7ca0e761736ae863e85d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac8bb5585606809715769122478c8e2badc63f4b52922547c46dc88d4cdcf316
+size 25708111
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b89255633490e3996679fd37758289c969f30ad
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+14,0.233333333,BASELINE,766,745.155559746,714,679,659,635,878,786,804.155559746,652,631,651.844440254,0.400777143405,-0.00544487089319,0.0598714419135,0.999999932147,-9.27409205335e-05,-0.00035471013226,-3.58502573533e-05,1793242340254944768
+15,0.250000000,BASELINE,766,745.734053336,714,679,659,635,878,786,804.734053336,652,631,651.265946664,0.400777902047,-0.00544532166417,0.0598715073888,0.999999932352,-9.30155586007e-05,-0.000354089131022,-3.55596197401e-05,1793242340271611904
+16,0.266666667,BASELINE,766,745.69024212,714.30975788,679,659,635,878,786.30975788,804.69024212,652,631,651,0.400778782419,-0.00544526415572,0.0598719229229,0.999999932701,-9.27651913118e-05,-0.000353170829753,-3.55253673412e-05,1793242340288278528
+17,0.283333333,BASELINE,766,745.116910812,714.883089188,679,659,635,878,786.883089188,804.116910812,652,631,651,0.400779766372,-0.00544477415154,0.0598726363226,0.999999933172,-9.20680961911e-05,-0.000351999555496,-3.57092735083e-05,1793242340304945152
+18,0.300000000,BASELINE,765.542295262,745,714.542295262,679.457704738,659,635,878,787,804,652,631,651.457704738,0.400780055527,-0.0054446329653,0.0598725177282,0.999999933193,-9.15759925269e-05,-0.000352075743785,-3.56491350739e-05,1793242340321611776
+19,0.316666667,BASELINE,765.033751216,745,714,679.966248784,659,635.033751216,878,787,804,652,631,652,0.400780048807,-0.00544456088706,0.0598721503903,0.999999933061,-9.12193072385e-05,-0.000352551743204,-3.55484867483e-05,1793242340338278400
+20,0.333333333,BASELINE,765.628101286,745,714,679.371898714,659,635.628101286,878,787,804,652,631,652,0.400778083741,-0.00544415261584,0.0598711912345,0.999999932319,-9.2239741822e-05,-0.000354361125023,-3.58132765428e-05,1793242340354945024
+21,0.350000000,BASELINE,766,745,714,679,659,635.784671537,878,787,804,652,631,652,0.400776777537,-0.00544365280454,0.0598706005944,0.999999931865,-9.23424791595e-05,-0.000355593463678,-3.59996173239e-05,1793242340371611904
+22,0.366666667,BASELINE,766,745,714,679,659,635.209352614,878,787,804,652,631,652,0.400776572833,-0.0054429999547,0.0598706260465,0.999999931899,-9.09109916691e-05,-0.000355861089778,-3.60548054392e-05,1793242340388278784
+23,0.383333333,BASELINE,765.633360816,745,714,679.366639184,659,635,878,786.633360816,804,652,631,651.633360816,0.400776749978,-0.00544441257257,0.0598708060862,0.999999931769,-9.27839348681e-05,-0.000355765156719,-3.58368308881e-05,1793242340404945152
+24,0.400000000,BASELINE,765.056984042,745,714,679.943015958,659,635,878,786.056984042,804,652,631,651.056984042,0.400777145561,-0.00544700675047,0.0598710745586,0.999999931534,-9.65471923343e-05,-0.000355461248032,-3.54625924128e-05,1793242340421611776
+25,0.416666667,BASELINE,765.528270093,745,714.528270093,680,659,635,878,786,804,652,631,651.528270093,0.400777577352,-0.00544672663365,0.0598710020929,0.999999931797,-9.49619927924e-05,-0.000355161452426,-3.53253593248e-05,1793242340438278656
+26,0.433333333,BASELINE,765.886151397,745,714.886151397,680,659,635,878.113848603,786.113848603,804,652,631.113848603,652,0.400777842148,-0.00544614941267,0.0598709833671,0.999999932079,-9.31847044343e-05,-0.000354841398262,-3.52915077008e-05,1793242340454945536
+27,0.450000000,BASELINE,765.303248983,745,714.303248983,680,659,635,878.696751017,786.696751017,804,652,631.696751017,652,0.400777402553,-0.0054456473516,0.0598713401574,0.999999932227,-9.30335935907e-05,-0.000354436020014,-3.55764555964e-05,1793242340471611904
+28,0.466666667,BASELINE,765.275590278,745,714,679.724409722,659.275590278,635.275590278,879,787,804,652,631.724409722,652,0.400777327301,-0.00544548160819,0.0598714669093,0.999999932317,-9.29023330054e-05,-0.000354217728079,-3.55721566198e-05,1793242340488278272
+29,0.483333333,BASELINE,765.850023526,745,714,679.149976474,659.850023526,635.850023526,879,787,804,652,631.149976474,652,0.400777647133,-0.00544568055898,0.0598713442133,0.999999932344,-9.27925975359e-05,-0.00035420230773,-3.52542057993e-05,1793242340504945152
+30,0.500000000,BASELINE,766,745,714,679,660,635.5759589,878.5759589,787,804,652,631,651.5759589,0.400776958924,-0.00544483212116,0.0598709675518,0.999999932117,-9.0644903166e-05,-0.000355396823314,-3.52584148228e-05,1793242340521611776
+31,0.516666667,BASELINE,766,745,714,679,660,635.002088212,878.002088212,787,804,652,631,651.002088212,0.400775914535,-0.00544361360174,0.0598705011548,0.999999931791,-8.77771216591e-05,-0.000357018854537,-3.53764549807e-05,1793242340538278400
+32,0.533333333,BASELINE,766,745,714,679,659.412702558,635,878,787.587297442,804,652,631,651.587297442,0.400776277365,-0.005445495243,0.0598706717749,0.999999931364,-9.25290471804e-05,-0.000357001971566,-3.55023826797e-05,1793242340554945024
+33,0.550000000,BASELINE,766,745,714,679.173915384,659,635,878,787.826084616,804,652,631,651.826084616,0.400776246021,-0.00544641745451,0.0598705769962,0.99999993095,-9.56240266155e-05,-0.000357331804673,-3.56418820245e-05,1793242340571611904
+34,0.566666667,BASELINE,766,745,714,679.753938087,659,635,878,787.246061913,804,652,631,651.246061913,0.400775282243,-0.00544507287696,0.0598698570562,0.999999930611,-9.47849135774e-05,-0.000358485226176,-3.58130050438e-05,1793242340588278528
+35,0.583333333,BASELINE,766,745,714,679.66787633,659,635,878,786.66787633,804,652,631,651.33212367,0.400775212291,-0.0054453516281,0.0598696987558,0.999999930717,-9.49737965962e-05,-0.000358146327332,-3.57425733258e-05,1793242340604945152
+36,0.600000000,BASELINE,766,745,714,679.091044274,659,635,878,786.091044274,804,652,631,651.908955726,0.40077580091,-0.00544682644604,0.0598699542708,0.999999931149,-9.59201059843e-05,-0.000356707888481,-3.54941643386e-05,1793242340621611776
+37,0.616666667,BASELINE,766,744.516231381,714,679,659,635,878,786.483768619,804,652,631,652,0.400776657476,-0.00544588722065,0.0598705989805,0.999999931644,-9.45589138651e-05,-0.00035568728256,-3.54438878745e-05,1793242340638278400
+38,0.633333333,BASELINE,765.939845542,744.060154458,714,679,659,635,878,787,804,652,631,652,0.400777571316,-0.00544455702437,0.0598713480585,0.999999932132,-9.29320766537e-05,-0.000354744519324,-3.54520754476e-05,1793242340654945024
+39,0.650000000,BASELINE,765.346151717,744.653848283,714,679,659,635,878,787,804,652,631,652,0.400778547737,-0.00544377193576,0.0598723758793,0.999999932474,-9.27848200901e-05,-0.00035379762432,-3.5649457082e-05,1793242340671611648
+40,0.666666667,BASELINE,765.239668531,744.760331469,714,679,659,635,878,787,804,652,631,652,0.400778203443,-0.00544440244665,0.0598722046621,0.999999932161,-9.40344755853e-05,-0.000354350043357,-3.56546211297e-05,1793242340688278528
+41,0.683333333,BASELINE,765.814478691,744.185521309,714,679,659,635,878,787,804,652,631,652,0.400776012319,-0.00544701246785,0.0598703567643,0.999999930922,-9.7237509698e-05,-0.000356999035356,-3.53909967898e-05,1793242340704945408
+42,0.700000000,BASELINE,766,744.389257552,714,679,659,635,878,787,804,652,631,652,0.400775809114,-0.0054467425179,0.0598703534266,0.999999930997,-9.68970343282e-05,-0.000356863763619,-3.55784936686e-05,1793242340721612032
+43,0.716666667,BASELINE,766,744.96402148,714,679,659,635,878,787,804,652,631,652,0.400776553283,-0.00544510007553,0.0598712291411,0.999999931698,-9.48678476291e-05,-0.000355401610227,-3.59809789655e-05,1793242340738278400
+44,0.733333333,BASELINE,765.445295541,745,714,679,659,635,878,787,804,652,631,652,0.400776665274,-0.00544593330658,0.0598707348031,0.999999931658,-9.43059240432e-05,-0.000355676353347,-3.58547291207e-05,1793242340754945280
+45,0.750000000,BASELINE,765.143213947,745,714,679.143213947,659.143213947,635,878,786.856786053,804,652,631,652,0.400776813027,-0.00544635680968,0.0598704176283,0.999999931671,-9.36407036184e-05,-0.000355826976489,-3.57334145449e-05,1793242340771611904
+46,0.766666667,BASELINE,765.721882399,745,714,679.721882399,659.721882399,635,878,786.278117601,804,652,631,652,0.400777197877,-0.00544503183438,0.059870917311,0.999999931996,-9.23634848349e-05,-0.00035524753974,-3.57344613256e-05,1793242340788278528
+47,0.783333333,BASELINE,765.701344112,745,714,680,659.701344112,635,878.298655888,786.298655888,804,652,631,652,0.400777616475,-0.00544420138671,0.0598713793526,0.999999932268,-9.22493172867e-05,-0.000354507301089,-3.57508942542e-05,1793242340804944896
+48,0.800000000,BASELINE,765.126324078,745,714,680,659.126324078,635,878.873675922,786.873675922,804,652,631,652,0.400778066301,-0.00544382855487,0.0598718065628,0.999999932493,-9.32113904168e-05,-0.000353618262758,-3.5781564905e-05,1793242340821611520
+49,0.816666667,BASELINE,765,745,714,679.541817617,659,635,878.541817617,786.541817617,804,652,631,651.541817617,0.400777351896,-0.00544501190866,0.0598711454665,0.999999931907,-9.35321261633e-05,-0.000355187731025,-3.57813795795e-05,1793242340838278144
+50,0.833333333,BASELINE,765.044757407,745,714,679.044757407,659,635,878,786.044757407,804,652,631,651.044757407,0.400776332942,-0.00544646709789,0.0598702263743,0.999999931141,-9.36937770965e-05,-0.000357295397474,-3.57784580812e-05,1793242340854945024
+51,0.850000000,BASELINE,765.624139522,745,714,679.624139522,659,635,878,786.624139522,804,652,631,651.624139522,0.400775591393,-0.00544593600086,0.0598698854343,0.999999931003,-9.41119430493e-05,-0.000357564022016,-3.58466197021e-05,1793242340871611904
+52,0.866666667,BASELINE,766,745,714,680,659,635,878,787,804.203405242,652,631,651.796594758,0.400775471193,-0.00544565992571,0.0598701307187,0.999999931133,-9.42516476671e-05,-0.000357174075132,-3.57360301357e-05,1793242340888278528
+53,0.883333333,BASELINE,766,745,714,680,659,635,878,787,804.782455971,652,631,651.217544029,0.400776498495,-0.00544585482083,0.0598714586328,0.999999931756,-9.38770944045e-05,-0.000355567889257,-3.52953257854e-05,1793242340904945152
+54,0.900000000,BASELINE,765.640976553,745,714,679.640976553,659,635,878,787,804.640976553,652.359023447,631,651.359023447,0.400777122589,-0.00544557708518,0.0598720736334,0.999999932068,-9.28441933287e-05,-0.000354962818961,-3.52918152915e-05,1793242340921611520
+55,0.916666667,BASELINE,765.065903446,745,714,679.065903446,659,635,878,787,804.065903446,652.934096554,631,651.934096554,0.400777504046,-0.00544501493436,0.0598722596238,0.999999932191,-9.14151180826e-05,-0.000354960190379,-3.55513951067e-05,1793242340938278144
+56,0.933333333,BASELINE,765,745,714,679,659.519825523,635,877.480174477,786.480174477,804,652.480174477,631,652,0.400778786672,-0.00544573840477,0.059872538801,0.99999993263,-9.18154196516e-05,-0.000353634707241,-3.53914139565e-05,1793242340954945024
+57,0.950000000,BASELINE,765.105344673,745,714.105344673,679.105344673,659.894655327,635,877.105344673,786.105344673,804,652,631,652,0.400779680336,-0.00544661397624,0.0598727246364,0.999999932967,-9.25510082727e-05,-0.000352507591594,-3.51851579051e-05,1793242340971611904
+58,0.966666667,BASELINE,765.683728229,745,714.683728229,679.683728229,659.316271771,635,877.683728229,786.683728229,804,652,631,652,0.40077830365,-0.00544742533041,0.0598724371695,0.999999932676,-9.37289227829e-05,-0.000353040074827,-3.50149606956e-05,1793242340988278528
+59,0.983333333,BASELINE,765.7383135,745,714.7383135,680,659,635,878,787,804,652,631,652,0.400777296184,-0.0054469223893,0.0598720211063,0.999999932312,-9.35980717855e-05,-0.000354088545757,-3.51551784008e-05,1793242341004945152
+60,1.000000000,BASELINE,765.160868314,745,714.160868314,680,659,635,878,787,804,652,631,652,0.400776734233,-0.00544483358066,0.0598714498749,0.99999993186,-9.18880256992e-05,-0.000355759622803,-3.56699519181e-05,1793242341021611776
+61,1.016666667,BASELINE,765.414111323,744.585888677,714.414111323,679.585888677,659,635,878,787,804,652,631,651.585888677,0.400776397636,-0.00544409500365,0.0598711981676,0.99999993173,-9.10337919307e-05,-0.000356337377634,-3.57209751984e-05,1793242341038278400
+62,1.033333333,BASELINE,765.988138812,744.011861188,714.988138812,679.011861188,659,635,878,787,804,652,631,651.011861188,0.400776148064,-0.0054438778418,0.0598710698499,0.999999931727,-9.0510044821e-05,-0.000356492927303,-3.55929133665e-05,1793242341054945280
+63,1.050000000,BASELINE,766,744.578200537,714.421799463,679.578200537,659,635,878,787,804,652,631,651,0.400776341657,-0.00544463257719,0.0598715305268,0.999999931781,-9.09539717761e-05,-0.000356241081095,-3.54566996265e-05,1793242341071611648
+64,1.066666667,BASELINE,766,745,714,680,659.16621079,635,878,787,804,652,631,651.16621079,0.400776242688,-0.00544536288102,0.0598716545532,0.999999931641,-9.19650253103e-05,-0.000356387302953,-3.53344312731e-05,1793242341088278272
+65,1.083333333,BASELINE,766,745,714,680,659.748242337,635,878,787,804,652,631,651.748242337,0.400775388405,-0.00544598076117,0.0598709052677,0.999999931007,-9.4343819019e-05,-0.000357550902965,-3.52474813406e-05,1793242341104944896
+66,1.100000000,BASELINE,766,745,714.325599217,680,659.674400783,635,878,787,804,652,631,652,0.400774805271,-0.00544603903457,0.0598701730869,0.99999993069,-9.50701374143e-05,-0.000358227799164,-3.5409274674e-05,1793242341121611776
+67,1.116666667,BASELINE,766,745,714.899392714,680,659.100607286,635,878,787,804,652,631,652,0.400774428826,-0.0054456707369,0.0598694539442,0.999999930619,-9.45368245344e-05,-0.000358533695945,-3.57606773619e-05,1793242341138278656
+68,1.133333333,BASELINE,766,745,714.517259005,680,659,635,878,787,804,652,631,652,0.400775797323,-0.00544636863946,0.0598701014357,0.99999993121,-9.47792449494e-05,-0.000356832419069,-3.56027345881e-05,1793242341154945024
+69,1.150000000,BASELINE,766,745,714,679.932602317,659,635,878,787,804,652.067397683,631,651.932602317,0.400777451269,-0.00544709579309,0.0598710362178,0.999999931915,-9.50420299406e-05,-0.000354805661966,-3.53502169566e-05,1793242341171611904
+70,1.166666667,BASELINE,766,745,714,679.353436637,659,635,878,787,804,652.646563363,631,651.353436637,0.400778455579,-0.00544632372656,0.0598719461047,0.999999932445,-9.42070629419e-05,-0.00035354793902,-3.52018826807e-05,1793242341188278528
+71,1.183333333,BASELINE,766,745,714,679.225606551,659,635,878.225606551,787,804,652.774393449,631,651.225606551,0.400778711529,-0.00544637682793,0.0598722064001,0.999999932564,-9.43071762446e-05,-0.000353197126862,-3.50839237493e-05,1793242341204945152
+72,1.200000000,BASELINE,766,745,714,679.804458034,659,635,878.804458034,787,804,652.195541966,631,651.804458034,0.400777795729,-0.00544772194125,0.0598714495933,0.999999932039,-9.58713975173e-05,-0.000354266316011,-3.5013525189e-05,1793242341221612032
+73,1.216666667,BASELINE,765.620964931,745,714.379035069,679.620964931,659,635,878.620964931,787,804,652.379035069,631,652,0.400777517309,-0.00544617126167,0.0598714292376,0.999999932088,-9.47202805674e-05,-0.000354403834686,-3.53627185167e-05,1793242341238278400
+74,1.233333333,BASELINE,765.048568503,745,714.951431497,679.048568503,659,635,878.048568503,787,804,652.951431497,631,652,0.400777564042,-0.00544314331908,0.0598717845759,0.999999932424,-9.21839579471e-05,-0.000354066069912,-3.59259629075e-05,1793242341254945024
+75,1.250000000,BASELINE,765,745,714.459653333,679.540346667,659,635,878,787,804,652.459653333,631,652,0.400777557595,-0.0054434969303,0.0598717247924,0.999999932225,-9.26867013279e-05,-0.000354491804622,-3.59714995226e-05,1793242341271611904
+76,1.266666667,BASELINE,765.127829105,745,714.127829105,680,659.127829105,635,878,787,804,652.127829105,631,652,0.400777359591,-0.00544433819256,0.0598714515512,0.999999931913,-9.31592845501e-05,-0.000355255691489,-3.58855396495e-05,1793242341288278528
+77,1.283333333,BASELINE,765.704893861,745,714.704893861,680,659.704893861,635,878,787,804,652.704893861,631,652,0.400776505717,-0.00544579136804,0.0598705634108,0.999999931378,-9.25356112529e-05,-0.000356959179694,-3.55061479585e-05,1793242341304945152
+78,1.300000000,BASELINE,766,745,714.717708796,680,659.717708796,635,878,787,804,652.717708796,631,652,0.400776497263,-0.00544625041248,0.0598707271731,0.999999931434,-9.16558117802e-05,-0.000357049844638,-3.53098397775e-05,1793242341321612032
+79,1.316666667,BASELINE,766,745,714.139963396,680,659.139963396,635,878,787,804,652.139963396,631,652,0.400777373651,-0.00544566897031,0.0598719918874,0.999999932108,-9.05079432306e-05,-0.000355452481675,-3.53051521547e-05,1793242341338278656
+80,1.333333333,BASELINE,766,745,714.444751776,679.555248224,659,635,878,787,804,652,631,652,0.400776460324,-0.00544426234769,0.059871540957,0.99999993194,-8.94750449279e-05,-0.000356187486416,-3.52917955505e-05,1793242341354945280
+81,1.350000000,BASELINE,766,745,714.968537032,679.031462968,659,635,878,786.968537032,804,652,631,652,0.400775135069,-0.00544276682671,0.0598706247043,0.999999931549,-8.86494769836e-05,-0.000357488417788,-3.52770218392e-05,1793242341371611904
+82,1.366666667,BASELINE,766,745,714.385895937,679.614104063,659,635,878,786.385895937,804,652,631,652,0.400776617352,-0.0054443356163,0.0598711657475,0.999999932014,-9.08120650009e-05,-0.000355640338467,-3.52859759177e-05,1793242341388278784
+83,1.383333333,BASELINE,766,745,714,680,659,635.19388776,878,786,804,652,631,652,0.400777806679,-0.00544525835564,0.0598716579503,0.999999932401,-9.183842735e-05,-0.000354280216163,-3.5334795767e-05,1793242341404945408
+84,1.400000000,BASELINE,766,745,714,680,659,635.768067062,878,786,804,652,631,652,0.400778421405,-0.00544491393202,0.0598720543574,0.999999932649,-9.06361965405e-05,-0.000353877172647,-3.54618083593e-05,1793242341421612032
+85,1.416666667,BASELINE,765.657570925,745,714,679.657570925,659,635.657570925,878,786,804,652,631,652,0.400778766114,-0.00544499274032,0.0598722539465,0.999999932784,-9.0711486288e-05,-0.000353472031212,-3.55157106366e-05,1793242341438278656
+86,1.433333333,BASELINE,765.083085127,745,714,679.083085127,659,635.083085127,878,786,804,652,631,652,0.400778927838,-0.00544535836367,0.0598723201563,0.999999932841,-9.16525239505e-05,-0.000353065468089,-3.55200676387e-05,1793242341454945280
+87,1.450000000,BASELINE,765.507283083,745,714,679,659,635.507283083,878,786.507283083,804,652,631,652,0.400778523644,-0.00544454332113,0.0598724565833,0.999999932371,-9.22281485318e-05,-0.000354249926347,-3.54745158241e-05,1793242341471612160
+88,1.466666667,BASELINE,765.902095137,745,714,679,659,635.902095137,878,786.902095137,804,652,631,652,0.400777799111,-0.00544386753026,0.0598723050209,0.999999931778,-9.27341680673e-05,-0.000355790594232,-3.54469200121e-05,1793242341488278784
+89,1.483333333,BASELINE,765.323415046,745,714,679,659,635.323415046,878,786.323415046,804,652,631,652,0.400775971383,-0.00544485583882,0.0598706809472,0.999999931029,-9.32017782158e-05,-0.000357759482608,-3.55489379755e-05,1793242341504945152
+90,1.500000000,BASELINE,765.253522344,745,714,679.253522344,659,635,878,786.253522344,804,652,631,652,0.400775553704,-0.00544603929959,0.0598701356935,0.999999930957,-9.34920036339e-05,-0.000357897135889,-3.54376040258e-05,1793242341521611520
+91,1.516666667,BASELINE,765.828251726,745,714,679.828251726,659,635,878,786.828251726,804,652,631,652,0.400776922525,-0.00544747001369,0.0598709572805,0.999999931743,-9.35574866015e-05,-0.000355714655846,-3.50559580515e-05,1793242341538278144
+92,1.533333333,BASELINE,766,745,714,680,659,635,878,787,804.412463675,652,631,652,0.400776194261,-0.00544744432365,0.0598704812659,0.999999931183,-9.48387514778e-05,-0.000356931207146,-3.52077391094e-05,1793242341554945024
+93,1.550000000,BASELINE,765.999294439,745,714,680,659,635,878,787,804.999294439,652,631,651.999294439,0.400774573507,-0.00544679710684,0.0598694531485,0.999999930044,-9.66324783038e-05,-0.000359593826501,-3.55863506303e-05,1793242341571611392
+94,1.566666667,BASELINE,765.420501152,745,714,680,659,635,878,787,804.420501152,652,631,651.420501152,0.400773998374,-0.00544548174393,0.0598691851924,0.999999930122,-9.37579894706e-05,-0.000360142447605,-3.55445137542e-05,1793242341588278528
+95,1.583333333,BASELINE,765.157292896,745,714,680,659,635,878,786.842707104,804,652,631,651.157292896,0.400774026992,-0.00544479888829,0.0598691058957,0.999999930267,-9.20589443102e-05,-0.000360176406273,-3.55513751489e-05,1793242341604945408
+96,1.600000000,BASELINE,765.732432602,745,714,680,659,635,878,786.267567398,804,652,631,651.732432602,0.400775659466,-0.00544579628079,0.0598695277702,0.99999993061,-9.34824514222e-05,-0.000358843170092,-3.56876029442e-05,1793242341621612032
+97,1.616666667,BASELINE,766,745,714,679.691243872,659,635,878,786.308756128,804,652,631,652,0.400776617143,-0.00544620266461,0.0598702759158,0.999999931043,-9.3854996516e-05,-0.000357537521056,-3.56773759792e-05,1793242341638278400
+98,1.633333333,BASELINE,766,745,714,679.113890536,659,635,878,786.886109464,804,652,631,652,0.400776987792,-0.0054460949103,0.0598713078955,0.999999931556,-9.3313274772e-05,-0.000356255871074,-3.55397431478e-05,1793242341654944768
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+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.416306061,635.583693939,878,787,805,652,631,651,0.403957654686,-0.00549459775345,0.0598906244798,0.999999948236,-0.000165048768317,-0.000268089096694,-6.64429293516e-05,1793242342330451456
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.994010328,635.005989672,878,787,805,652,631,651,0.404291581016,-0.00549617607448,0.0598804995082,0.999999941772,-0.000179401191468,-0.000281716150665,-7.00574580375e-05,1793242342347118080
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.569034342,745,714,679,659.430965658,635,878,786.430965658,804.430965658,652,631,651.569034342,0.404643604541,-0.00548522439617,0.0598643282635,0.999999928085,-0.000204206169355,-0.000310613218361,-7.51671982199e-05,1793242342363785216
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,714.147513906,679.147513906,659,635,878,786.147513906,804,652,631,651.852486094,0.405017788896,-0.00547587720652,0.0598533428176,0.999999918076,-0.000220734540504,-0.000329744273674,-7.99552785887e-05,1793242342380451840
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,714.736417035,679.736417035,659,635,878,786.736417035,804,652,631,651.263582965,0.405457715228,-0.0054717237422,0.0598580637953,0.99999992305,-0.000212170082347,-0.000319174900151,-8.37340197462e-05,1793242342397118720
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.680035388,745,714.680035388,679.680035388,659,635,878,786.680035388,804,652,631,651.319964612,0.405932686054,-0.00547560575836,0.0598759877807,0.999999932403,-0.000213734061922,-0.000286830127331,-8.50951639601e-05,1793242342413785344
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.100826957,745,714.100826957,679.100826957,659,635,878,786.100826957,804,652,631,651.899173043,0.406436050907,-0.00548599833359,0.0599046091939,0.999999943406,-0.000223504369168,-0.000236842346502,-8.44975072298e-05,1793242342430451456
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+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,714.797197829,680,659.797197829,635,878,787,804,652,631,652,0.409129612096,-0.00549337921316,0.0599272937934,0.999999947507,-0.00021400795764,-0.000229197337564,-8.15788918366e-05,1793242342513785088
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+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714.039292571,680,659.039292571,635,878.960707429,787,804.960707429,652,631,652,0.410381215556,-0.00549098378196,0.0599288045057,0.999999955332,-0.000190716096131,-0.000215038422008,-8.19824045152e-05,1793242342547117824
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.537133271,680,659.537133271,635,879,787,804.462866729,652,631,652,0.411056645119,-0.00549393430292,0.0599348664878,0.999999959276,-0.000188631116297,-0.000197681635103,-8.23962914692e-05,1793242342563784448
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,714.88471909,679.88471909,660,635,879,787,804,652,631,652,0.411730700442,-0.00549691115391,0.059937619309,0.99999996047,-0.000192513059238,-0.000187474924645,-8.27711749141e-05,1793242342580450816
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+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660,635,878.715876257,787,804,652,631,652,0.413057774581,-0.00549774596962,0.0599017939405,0.999999940115,-0.000219417865103,-0.000254091820153,-8.40409296543e-05,1793242342613784320
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+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659.02025556,635,878,787,805,652,631,652,0.415328500654,-0.00549610466,0.0599055938328,0.999999951771,-0.000180122537706,-0.000238345325367,-8.48895180678e-05,1793242342663784192
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+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.237953268,714,679.762046732,660,635,878.762046732,787,805,652,631,652,0.417751779075,-0.00550625756212,0.0599715571922,0.999999971839,-0.0001809608415,-0.000131361649793,-7.94935566687e-05,1793242342713784064
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.76265294,681,661,634.76265294,879.23734706,787,805.76265294,652,631.76265294,652,0.446545491186,-0.00555373210473,0.0599135632287,0.999999973427,-0.000135576913482,-0.000172046053909,-7.18716566586e-05,1793242343330450944
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.183045137,681,661,634.183045137,879.816954863,787,805.183045137,652,631.183045137,652,0.447026406411,-0.00555739990212,0.0598980486954,0.999999970291,-0.000136465573856,-0.000188681829294,-7.20737577729e-05,1793242343347117568
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.60611855,634,879.60611855,787,805.39388145,651.60611855,631,651.60611855,0.447495890213,-0.00556068761281,0.0598993455315,0.999999971539,-0.000138106844207,-0.000180911173062,-7.15465159067e-05,1793242343363784192
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.030429506,634,879.030429506,787,805.969570494,651.030429506,631,651.030429506,0.447960097549,-0.00556379988361,0.0599084021493,0.999999974587,-0.000140095503922,-0.00016187501034,-7.06826242921e-05,1793242343380450816
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.545870065,745,714,680.454129935,660,634,879,787,806,651,631,651.545870065,0.448389289388,-0.00556620011944,0.0599157168637,0.999999976011,-0.000144299023634,-0.000149075361828,-7.02371831175e-05,1793242343397117440
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.874914998,745,714,680.125085002,660,634,879.125085002,786.874914998,806,651.125085002,631,651.874914998,0.448794494499,-0.00556818365028,0.0599144937489,0.999999975399,-0.0001468229294,-0.000150888856229,-6.98380599607e-05,1793242343413784064
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.284992514,745,714,680.715007486,660,634,879.715007486,786.284992514,806,651.715007486,631,651.284992514,0.449117822764,-0.0055687663029,0.0598819038408,0.99999996625,-0.000142645761008,-0.000205713921376,-6.95242799703e-05,1793242343430450944
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.711654709,880,786,806,651.711654709,631,651,0.449428257393,-0.00556773557797,0.0598506909058,0.99999995552,-0.000138452310928,-0.000254743130979,-6.99792000224e-05,1793242343447117312
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.153817248,880,786,806,651.153817248,631,651,0.449726641403,-0.00556519696428,0.059820764914,0.99999994395,-0.000134243644065,-0.000298355437132,-7.11525596209e-05,1793242343463783936
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.432884925,745,714,681,659.567115075,633,879.567115075,786,806,651.432884925,631,651.432884925,0.450010650675,-0.00556592478844,0.0598032832854,0.999999936547,-0.000131965557601,-0.000323050826579,-7.16253977973e-05,1793242343480450560
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.970553391,745,714,681,659,633,879,786,806,651.970553391,631,651.970553391,0.45028892122,-0.00556790398238,0.0597915466868,0.999999931537,-0.000130624960761,-0.000338682617592,-7.18182718698e-05,1793242343497117440
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.394945859,745,714,681,659,633,879,786,806,651.394945859,631,651.394945859,0.450562257782,-0.00557002751903,0.0597984921033,0.999999937443,-0.000133039960313,-0.000319786168203,-7.17651337759e-05,1793242343513784064
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879,786,806,651.185566562,631,651,0.450820213329,-0.00557236767764,0.0598051639986,0.999999941738,-0.000134917428535,-0.000305382676036,-7.11587375034e-05,1793242343530450688
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879,786,806,651.776801523,631,651,0.451044544294,-0.00557518139477,0.059811237946,0.999999943159,-0.000135619795413,-0.000300801272727,-6.93428595918e-05,1793242343547117312
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680.639784409,659,633,879.360215591,786,806,652,631,651,0.451241388858,-0.00557498040796,0.0598089123272,0.999999941983,-0.000135261698744,-0.000304911721843,-6.90467137397e-05,1793242343563783936
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.061113325,659,633,879.938886675,786,806,652,631,651,0.451421564105,-0.00557295113121,0.0598014927279,0.99999993917,-0.000134260475922,-0.000314293410736,-6.9672220814e-05,1793242343580450816
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680.513532711,659,633,879.486467289,786,806,651.486467289,631,651.513532711,0.45157739263,-0.00557381964151,0.0597964758371,0.999999936993,-0.000133856044512,-0.000321357885176,-6.94620697289e-05,1793242343597117184
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.089963745,786,806,651.089963745,631,651.910036255,0.451728373586,-0.00557514352218,0.0597934839499,0.99999993569,-0.000134035063706,-0.000325392059916,-6.90924271174e-05,1793242343613783808
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,879.678932157,786,806,651.678932157,631,651.321067843,0.451868412556,-0.00557709528821,0.0598001505345,0.999999938928,-0.000137059452203,-0.000314135661663,-6.83854497466e-05,1793242343630450432
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.263472477,745,714.263472477,681,659,633,879.736527523,786,806,651.736527523,631,651.263472477,0.451995803366,-0.00557809586242,0.0598070083527,0.999999942047,-0.000138585469163,-0.000303494180614,-6.77636710326e-05,1793242343647117312
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.842705875,745,714.842705875,681,659,633,879.157294125,786,806,651.157294125,631,651.842705875,0.452108035871,-0.00557795647225,0.0598140953562,0.999999945076,-0.000138315749325,-0.000293589653225,-6.72439994486e-05,1793242343663784192
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,714.580881336,681,659,633,879.419118664,786,806.419118664,651.419118664,631,652,0.452194410454,-0.00557790194574,0.0598116416247,0.999999944528,-0.000136682813861,-0.000296293339949,-6.68698261005e-05,1793242343680450816
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,714.005520051,681,659,633,879.994479949,786,806.994479949,651.994479949,631,652,0.452271145499,-0.00557787905543,0.0598056312166,0.999999942619,-0.000134541687275,-0.000303697224238,-6.65498928327e-05,1793242343697117696
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659,633,880,786,806.430015867,651.430015867,631,652,0.452329364997,-0.00558003983788,0.0597996554424,0.99999994024,-0.000137473553745,-0.000310189355576,-6.6361566412e-05,1793242343713784320
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659,632.851391361,880,786,806,651.148608639,631,652,0.452383790213,-0.00558111257986,0.0597952310418,0.99999993848,-0.000139148136713,-0.000315091718547,-6.62969524317e-05,1793242343730450944
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+223,3.716666667,POSE1_TO_POSE2_PRESS,765.679108824,745,714,681,659,632,879.679108824,786,806,652,631,651.679108824,0.452461489565,-0.00557818893224,0.0597936124702,0.999999937751,-0.000136084990627,-0.000318716492805,-6.63217075254e-05,1793242343763784192
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.097434835,745,714,681,659,632,879.097434835,786,806,652,631,651.097434835,0.452487498292,-0.0055786798984,0.0597902586717,0.999999935854,-0.000136273487449,-0.000324684072972,-6.55861435875e-05,1793242343780450560
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.479652273,745,714,681,659,632.479652273,879.479652273,786,806.479652273,652,631,651,0.452510370783,-0.00557906663773,0.0597892066153,0.999999935731,-0.000136423918237,-0.000325036532456,-6.54113004527e-05,1793242343797117184
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659,633,880,786,806.943773954,652,631,651.056226046,0.452531783975,-0.00557938400091,0.0597887217977,0.999999936007,-0.000136490607971,-0.000324173230608,-6.53257875487e-05,1793242343813784064
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,714,681,659,633,880,786,806.363381316,652,631,651.636618684,0.452545475814,-0.00557925011457,0.0597892074523,0.999999936653,-0.000135848027098,-0.000322508842905,-6.50212553848e-05,1793242343830450944
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.782006423,745,714,681,659,633,879.782006423,786,806,651.782006423,631,651.782006423,0.452555734516,-0.00557843580003,0.0597892179254,0.999999936813,-0.000134531298516,-0.000322603859813,-6.48176678595e-05,1793242343847117568
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.198986798,745,714,681,659,633,879.198986798,786,806,651.198986798,631,651.198986798,0.452560244493,-0.00557648212157,0.0597884327162,0.999999936156,-0.000132085722609,-0.000325644965967,-6.47831102066e-05,1793242343863783936
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765.958146726,745,714,681,659,633,879,785.041853274,806,651.958146726,631,651,0.452563756971,-0.00557791598068,0.0597844569662,0.999999933324,-0.000134598272393,-0.000333327146402,-6.42505999283e-05,1793242343897119232
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,714,681,659,633,879,785.534754175,806,652,631,651.534754175,0.452566372196,-0.00557592087353,0.0597843170652,0.999999933911,-0.000131714859901,-0.000332643044944,-6.46373710255e-05,1793242343913784832
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.886580664,745,714,681,659,633,879,785.886580664,806.113419336,652,631,651.886580664,0.452568464854,-0.00557447522484,0.059784060833,0.999999934393,-0.00012947939843,-0.000332016248064,-6.49176947955e-05,1793242343930450944
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.298972026,745,714,681,659,633,879,785.298972026,806.701027974,652,631,651.298972026,0.452567907152,-0.00557639195005,0.0597826339011,0.999999933767,-0.000131553639516,-0.000333160642934,-6.45241407613e-05,1793242343947117824
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.284793739,745,714,681,658.715206261,633,879.284793739,785.284793739,806.715206261,652,631,651,0.452566615587,-0.00557750099943,0.0597813370531,0.999999932894,-0.000132784237507,-0.000335358432588,-6.41420181044e-05,1793242343963784448
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.864579096,745,714,681,658.135420904,633,879.864579096,785.864579096,806.135420904,652,631,651,0.452564563881,-0.00557777345201,0.0597801749467,0.999999931762,-0.000133140983529,-0.000338647337068,-6.3771736111e-05,1793242343980451072
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,714.4430818,681,658.4430818,632.5569182,879.5569182,785.5569182,806,651.5569182,630.5569182,651.4430818,0.45256653114,-0.00557588395652,0.0597806084122,0.99999993235,-0.000129987181494,-0.00033810235176,-6.39482531098e-05,1793242343997117696
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.979045465,745,715,681,659.020954535,632,879,785.020954535,806,651,630.020954535,652,0.452569650349,-0.00557343877959,0.05978150881,0.99999993342,-0.000125914137338,-0.000336416755563,-6.42542823962e-05,1793242344013784320
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.407454211,745,715,681,659.592545789,632,879,785.592545789,806,651,630.592545789,652,0.452570855581,-0.00557370483307,0.0597819014947,0.999999933799,-0.000125798611387,-0.000335460999564,-6.35847338164e-05,1793242344030450944
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.170093279,745,714.829906721,681,659.659813442,632.170093279,879,785.829906721,806,651.170093279,631,651.829906721,0.452571554507,-0.00557400846342,0.0597820280701,0.99999993387,-0.000126662253702,-0.000334983647632,-6.32606924056e-05,1793242344047117312
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.762426506,745,714.237573494,681,658.475146988,632.762426506,879,785.237573494,806,651.762426506,631,651.237573494,0.452570996578,-0.00557440537468,0.0597814940549,0.999999933176,-0.000129956585583,-0.000335693887115,-6.37943388276e-05,1793242344063783936
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,714,681,658,632.653874417,879,785.346125583,806,651.653874417,630.653874417,651.346125583,0.452570885592,-0.00557489945494,0.0597814005945,0.999999933088,-0.000130383757816,-0.000335820730693,-6.36203335824e-05,1793242344080450816
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+245,4.083333333,HOLD_POSE2,765,745,714,681,659,632,879,785,806,652,631,651,0.452571069324,-0.00557511930409,0.0597799829164,0.999999932303,-0.000129582812196,-0.000338452618008,-6.36498036993e-05,1793242344156614912
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+257,4.283333333,HOLD_POSE2,766,745,714,681,659,633,879.960938504,786,806,651.039061496,631,651,0.452572693383,-0.00557105998557,0.059779550536,0.999999933284,-0.000122293558265,-0.000338454743575,-6.26399586061e-05,1793242344356612352
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+262,4.366666667,POSE2_TO_POSE3_RETREAT,766,744.409883535,714,681,658,632,879.409883535,785.409883535,806,651,630,651,0.452573625176,-0.00557208076668,0.0597800980838,0.99999993359,-0.000122204669679,-0.00033773648644,-6.1813754952e-05,1793242344461010944
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.910378772,745,714,681.910378772,659,632.089621228,879,785.910378772,806,651,631,651.089621228,0.452575357987,-0.0055722974553,0.0597813098998,0.999999933801,-0.000124808274457,-0.000336145282447,-6.18709744441e-05,1793242344527677696
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+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.606833523,714,681.393166477,659,632,879.606833523,785,806.393166477,651.606833523,631,651.393166477,0.452542335861,-0.00556897083557,0.0597673153594,0.999999927116,-0.000121467676417,-0.000356488422827,-6.26788128192e-05,1793242344627677696
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.312161353,659,632.312161353,880,786,806,651,631,652,0.450383357946,-0.00550494988073,0.0596697828577,0.999999869026,-7.12435405299e-05,-0.00050394660836,-5.39373325101e-05,1793242344894343936
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,659,633,879.417367085,785.417367085,806,651,630.582632915,651,0.449457818839,-0.00547712741861,0.0596718087542,0.999999875746,-4.43265794819e-05,-0.000494219932687,-4.78469993009e-05,1793242344944344064
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878.575804216,787,804.575804216,652.424195784,631,652,0.4011907914,-0.00538593898542,0.0598322563345,0.999999930299,0.000241156199552,-0.000283535285855,2.92293425253e-05,1793242346294344960
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878.01299636,787,804.01299636,652.98700364,631,652,0.401129998275,-0.00538664306202,0.0598281102138,0.999999928892,0.0002393796889,-0.000289984610607,2.86843547919e-05,1793242346311011328
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878.592733402,787,804.592733402,652.407266598,631,652,0.401086286865,-0.00538602842121,0.0598271926584,0.999999928742,0.000236808725282,-0.000292629149796,2.83753905158e-05,1793242346327678208
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.82934664,745,714,679,659,635,878.82934664,787,805,652,631,652,0.401047478757,-0.00538592684876,0.0598265067391,0.99999992869,0.000234537822345,-0.000294653048355,2.81488617842e-05,1793242346344344576
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.25571757,745,714,679,659,635,878.25571757,787,805,652,631,652,0.401020249165,-0.0053870368206,0.0598263677986,0.999999928891,0.00023297547404,-0.000295211384434,2.81169939115e-05,1793242346361011200
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.31672255,744.68327745,714,679,659,635,878,787,804.68327745,652,631,651.68327745,0.401001867408,-0.00538667312104,0.0598276837159,0.999999929527,0.000233679917197,-0.000292503570329,2.79616648253e-05,1793242346377677824
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.888206381,744.111793619,714,679,659,635,878,787,804.111793619,652,631,651.111793619,0.400990602558,-0.00538512404842,0.0598301698731,0.999999930486,0.000236207693234,-0.000287168571689,2.77070275651e-05,1793242346394344448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.480302036,714,679,659,635,878.480302036,787,804,652,631,651.480302036,0.40098121328,-0.00538503024813,0.0598316994192,0.999999931036,0.000236444714708,-0.000285045480816,2.77590109148e-05,1793242346411011328
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,879,787,804.074826626,652,631,652,0.400972855682,-0.00538536909543,0.0598329561021,0.999999931579,0.000235666399862,-0.000283774352752,2.78407534117e-05,1793242346427678208
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,879,787,804.652005526,652,631,652,0.400968362079,-0.00538623653409,0.0598339427544,0.999999932712,0.000231811668068,-0.000282978866203,2.76216688034e-05,1793242346444345088
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878.772374655,787,804.772374655,652,631,652,0.400964351709,-0.0053868600866,0.059834237043,0.999999933194,0.000230081861791,-0.000282711478875,2.73675306064e-05,1793242346461011456
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878.199122188,787,804.199122188,652,631,652,0.400961075083,-0.00538711332145,0.059833480044,0.999999932705,0.000231578550117,-0.00028324595931,2.7060166931e-05,1793242346477678080
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.386028378,659,635,878,787,804,652,631,652,0.40096115592,-0.00538741099261,0.0598343503272,0.999999933276,0.000230883754827,-0.000281787582183,2.71247678974e-05,1793242346494344448
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.977511413,659,635,878,787,804,652,631,652,0.400963023689,-0.00538773231396,0.0598360866938,0.999999934404,0.00022902259313,-0.000279268552792,2.7387338432e-05,1793242346511010816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.442904109,659,635,878,787,804.557095891,652,631,652,0.400962870591,-0.00538787927186,0.0598362141767,0.999999934821,0.000228499839286,-0.000278225845798,2.71221233193e-05,1793242346527677696
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.864767244,714,679,659,635,878,787,804.864767244,652,631,652,0.400962463807,-0.00538830177262,0.0598363075109,0.999999935157,0.000227894161428,-0.000277536200592,2.69193192792e-05,1793242346544344064
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744.289808447,714,679,659,635,878,787,804.289808447,652,631,652,0.400961491844,-0.00538964264337,0.0598364965719,0.999999935318,0.00022684684025,-0.000277804849861,2.69872810899e-05,1793242346561010688
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,744.285188173,714.285188173,679.285188173,659,635,878,787,804.285188173,652,631,651.714811827,0.40096158646,-0.00538945285849,0.0598371016537,0.99999993534,0.000227815941033,-0.000276930324089,2.6990857806e-05,1793242346577677568
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744.860223304,714.860223304,679.860223304,659,635,878,787,804.860223304,652,631,651.139776696,0.400962765076,-0.00538770741362,0.0598381295522,0.999999935212,0.000230834403572,-0.000274893948596,2.69289976519e-05,1793242346594344192
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.552720987,679.552720987,659,635,878,787,805,652,631,651.447279013,0.400963233919,-0.0053886368844,0.0598389329914,0.999999935961,0.000229016205851,-0.000273661278035,2.71810082539e-05,1793242346611011328
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.037442468,679.037442468,659,635,878.037442468,787,805,652,631,652,0.400963314282,-0.00539020726935,0.0598395196609,0.999999936844,0.000225988911106,-0.000272920017524,2.74842362977e-05,1793242346627678208
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.616717251,679.616717251,659,635,878.616717251,787,805,652,631,652,0.400961071376,-0.00538862159336,0.059838012544,0.99999993569,0.000227941448101,-0.000275555033259,2.70700265747e-05,1793242346644345088
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.805297309,745,714.805297309,680,659,635,878.805297309,787,804.805297309,652.194702691,631,652,0.400960256767,-0.00538770841264,0.059837532007,0.999999935097,0.00022947525926,-0.00027645800184,2.67866178644e-05,1793242346661011968
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.229833351,745,714.229833351,680,659,635,878.229833351,787,804.229833351,652.770166649,631,652,0.400962235341,-0.00538811036617,0.0598390590532,0.999999935617,0.000230190208588,-0.000273973772751,2.67590041002e-05,1793242346677678592
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.342450474,745,714,679.657549526,659,635,878,787,804.342450474,652.657549526,631,652,0.400963213608,-0.00538919020539,0.0598398884498,0.999999936177,0.000229362125918,-0.000272596774332,2.70344914827e-05,1793242346694345472
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.912619589,745,714,679.087380411,659,635,878,787,804.912619589,652.087380411,631,652,0.400963526704,-0.00539072081695,0.0598402539314,0.999999936762,0.000227507976164,-0.000271956049086,2.75115314595e-05,1793242346711012096
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.497201436,745,714,679,659,635,878,787,804.497201436,652,631,652,0.400963154007,-0.00539034564545,0.0598403859438,0.999999936772,0.000228121100012,-0.000271425531241,2.7295625861e-05,1793242346727678976
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.094613197,744.905386803,714,679,659,635,878,787,804.094613197,652,631,652,0.400962733825,-0.0053897567627,0.0598404871823,0.999999936672,0.000228983394668,-0.000271094704413,2.70329817712e-05,1793242346744345600
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.676205833,744.323794167,714,679,659,635,878,787,804.676205833,652,631,652,0.400962708105,-0.00538984326839,0.059840647519,0.999999936542,0.000228829744926,-0.000271689032643,2.71753000603e-05,1793242346761011712
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,744.254915262,714,679,659,635,878,787,805,652,631,652,0.400962894269,-0.00539003848959,0.059840950479,0.999999936867,0.000227588689117,-0.000271545662073,2.70617207127e-05,1793242346777678080
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,744.830003469,714,679,659,635,878,787,805,652,631,652,0.400963346561,-0.00539037025723,0.0598414325736,0.999999937759,0.000224981853923,-0.000270475743691,2.66267345773e-05,1793242346794344704
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878,787,805,652,631,652,0.400962241157,-0.0053903156372,0.0598410168946,0.999999937468,0.000224724717423,-0.000271762285019,2.66092709702e-05,1793242346811011072
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878,787,805,652,631,652,0.400960482067,-0.00539009886978,0.0598402244653,0.999999936679,0.000225453630827,-0.000274037713416,2.67670204855e-05,1793242346827677440
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..324a495eb79c9b6378bbf90f7f25277bbf0c6d0c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+42,0.700000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+43,0.716666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+44,0.733333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+45,0.750000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+46,0.766666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+47,0.783333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+48,0.800000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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+395,6.583333333,pose2_to_pose3_retreat,0.580744622301,1.88413896427e-06,1.05004084269,0.551316342362,0.00867671389164,1.04967863778
+396,6.600000000,pose2_to_pose3_retreat,0.580744383382,1.90663615245e-06,1.05004083615,0.551316103308,0.00867673599984,1.04967863281
+397,6.616666667,pose2_to_pose3_retreat,0.580744099214,1.93339405626e-06,1.05004082837,0.551315818981,0.00867676229509,1.04967862691
+398,6.633333333,pose2_to_pose3_retreat,0.580744055979,1.94103100604e-06,1.05004083017,0.551315775654,0.0086767696032,1.04967862833
+399,6.650000000,pose2_to_pose3_retreat,0.5807440281,1.94649438128e-06,1.05004083178,0.551315747705,0.00867677481547,1.0496786296
+400,6.666666667,pose2_to_pose3_retreat,0.580744012373,1.94957633747e-06,1.05004083269,0.551315731939,0.00867677775578,1.04967863031
+401,6.683333333,pose2_to_pose3_retreat,0.58074393268,1.96519372868e-06,1.0500408373,0.551315652046,0.00867679265537,1.04967863393
+402,6.700000000,pose2_to_pose3_retreat,0.580743736097,2.00371767631e-06,1.05004084868,0.551315454971,0.00867682940871,1.04967864286
+403,6.716666667,pose2_to_pose3_retreat,0.580743565589,2.00223168096e-06,1.05004085095,0.551315284601,0.00867682834835,1.04967864418
+404,6.733333333,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976182,1.04967862557
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..078440a438c41c8a37d2dadfd658608e1ff3cebb
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def184a4a7b74f487bb2bf74d998f0c9fa37c74cbf9a6aed9d43b0dbd930cb37
+size 25715542
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca84db1023c5d98de298762e091b66daaaadd17e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+54,0.900000000,BASELINE,765.321598606,745,714,679,659,635,878,787,804.678401394,652,631,652,0.400964362597,-0.00539074690924,0.0598441527271,0.999999938762,0.000226523486528,-0.000265490049758,2.60450220957e-05,1793242347842463488
+55,0.916666667,BASELINE,765.913208056,745,714,679,659,635,878,787,804.086791944,652,631,652,0.400964552177,-0.00538962271451,0.0598454862221,0.999999939064,0.00022711815718,-0.000263819122583,2.62379988406e-05,1793242347859130112
+56,0.933333333,BASELINE,766,745,714,679,659,635,878.494214564,787,804.494214564,652,631,651.505785436,0.400963557351,-0.00539098663439,0.0598444872261,0.999999939515,0.000223192663218,-0.00026546950954,2.60907748502e-05,1793242347875796992
+57,0.950000000,BASELINE,765.92707905,745,714,679.07292095,659.07292095,635,879,787,804.92707905,652,631,651.07292095,0.4009626495,-0.00539254021727,0.0598433764025,0.999999939905,0.000219310859724,-0.000267248264942,2.59081032824e-05,1793242347892463616
+58,0.966666667,BASELINE,765.351661231,745,714,679.648338769,659.648338769,635,879,787,804.351661231,652,631,651.648338769,0.400963744214,-0.00539245297413,0.0598442583938,0.999999939854,0.000221085385596,-0.000265976682894,2.58842154463e-05,1793242347909130496
+59,0.983333333,BASELINE,765,745,714,679.77578603,659.77578603,635,878.77578603,787.22421397,804.22421397,652,631,652,0.400964496846,-0.00539243568964,0.0598448055226,0.999999939824,0.000222153517045,-0.000265187994771,2.59885079282e-05,1793242347925797376
+60,1.000000000,BASELINE,765,745,714,679.199191908,659.199191908,635,878.199191908,787.800808092,804.800808092,652,631,652,0.400964711852,-0.00539252835387,0.0598448263735,0.999999939833,0.000222111462044,-0.000265158234333,2.62942517244e-05,1793242347942464512
+61,1.016666667,BASELINE,765.385966391,745,714,679,659.385966391,635,878,787.614033609,804.614033609,652,631,652,0.400965152778,-0.00539298393765,0.0598452609432,0.999999939857,0.000222607034068,-0.000264623017374,2.65665821615e-05,1793242347959130880
+62,1.033333333,BASELINE,765.975644806,745,714,679,659.975644806,635,878,787.024355194,804.024355194,652,631,652,0.400965712944,-0.0053936310694,0.0598459138725,0.999999939889,0.00022338636419,-0.000263821021824,2.68212770991e-05,1793242347975797248
+63,1.050000000,BASELINE,766,745,714,679,659.444921735,635,878.555078265,787,804,652,631,652,0.400964084098,-0.00539270801689,0.0598447720756,0.999999939338,0.000224639620533,-0.000264875762844,2.647747103e-05,1793242347992463616
+64,1.066666667,BASELINE,766,745,714,679,659,635,879,787,804,652,631,652,0.400962807284,-0.00539221205714,0.0598438574823,0.999999939059,0.000224876793256,-0.000265751610268,2.62394030639e-05,1793242348009130240
+65,1.083333333,BASELINE,766,745,714,679,659,635,879,787,804,652,631,652,0.400963011674,-0.00539335792384,0.0598439534727,0.999999939764,0.000221674265051,-0.000265768328856,2.6437802124e-05,1793242348025796864
+66,1.100000000,BASELINE,766,745,714,679,659,635,879,787,804,652,631,652,0.400964282634,-0.0053935272188,0.0598445602204,0.999999940239,0.000220851356917,-0.000264653500535,2.65741111407e-05,1793242348042464000
+67,1.116666667,BASELINE,766,745,714,679,659,635,879,787,804,652,631,652,0.400966648966,-0.00539269357019,0.0598456915183,0.999999940477,0.000222472329367,-0.000262376568513,2.66466533949e-05,1793242348059130624
+68,1.133333333,BASELINE,766,745,714,679,659,635,878.553441388,787,804,652,631,652,0.400965138834,-0.00539190477421,0.0598449833632,0.999999939982,0.000223055285325,-0.000263817560588,2.61141271522e-05,1793242348075797248
+69,1.150000000,BASELINE,766,745,714,679,659,635,878,787,804,652,631,651.963203707,0.40096261259,-0.0053911992493,0.0598438085058,0.999999939294,0.000223378401232,-0.000266207829787,2.54413313605e-05,1793242348092464128
+70,1.166666667,BASELINE,766,745,714,679,659,635,878,787,804,652,631,651.385226878,0.400963592105,-0.00539150495422,0.0598445245995,0.999999939324,0.000224820413515,-0.000264863933011,2.55853771453e-05,1793242348109130496
+71,1.183333333,BASELINE,766,745,714.191599392,679,659,635,878.191599392,787,804.191599392,652,631,651.191599392,0.400964343121,-0.00539149493427,0.0598450840729,0.999999939394,0.000225438915537,-0.000264059717461,2.57100769062e-05,1793242348125797120
+72,1.200000000,BASELINE,766,745,714.766126277,679,659,635,878.766126277,787,804.766126277,652,631,651.766126277,0.40096463746,-0.00539085391166,0.0598453305277,0.999999939551,0.000224411563328,-0.000264334099974,2.57961120381e-05,1793242348142463744
+73,1.216666667,BASELINE,765.650724706,745,714.650724706,679,659,635,879,787,804.650724706,652,631,652,0.40096411153,-0.0053908931499,0.0598451030373,0.99999993961,0.000223817837669,-0.000264608755554,2.58439481332e-05,1793242348159130368
+74,1.233333333,BASELINE,765.061656243,745,714.061656243,679,659,635,879,787,804.061656243,652,631,652,0.400963022449,-0.00539139941778,0.0598445501622,0.999999939603,0.000223521816162,-0.000264883598592,2.58655588696e-05,1793242348175796992
+75,1.250000000,BASELINE,765,745,714,679,659,635,878.481118412,787,804,652,631,652,0.400965013928,-0.00539142513615,0.0598456940121,0.999999940082,0.000223646426341,-0.000262929896511,2.61996756195e-05,1793242348192463872
+76,1.266666667,BASELINE,765,745,714,679,659,635,878,787,804.097760306,652,631,652,0.400966527772,-0.00539152295754,0.0598464583506,0.999999940347,0.000224012674708,-0.000261577432796,2.65004299472e-05,1793242348209130752
+77,1.283333333,BASELINE,765,745,714,679,659,635,878,787,804.673403663,652,631,652,0.400963946363,-0.00539224785607,0.0598443979074,0.999999939302,0.000225319752105,-0.000264437535642,2.64595135475e-05,1793242348225797376
+78,1.300000000,BASELINE,765.248154181,745,714,679.248154181,659,635,878,787,805,652.248154181,631,652,0.40096293427,-0.00539258325317,0.0598434555054,0.999999939008,0.000225119871294,-0.000265723798611,2.63719472997e-05,1793242348242464000
+79,1.316666667,BASELINE,765.821733799,745,714,679.821733799,659,635,878,787,805,652.821733799,631,652,0.400963980153,-0.00539240786427,0.0598439792853,0.999999939706,0.000222943789407,-0.000264946152826,2.62232051878e-05,1793242348259130624
+80,1.333333333,BASELINE,766,744.59170906,714,679.59170906,659,635,878,787,804.59170906,652.59170906,630.59170906,652,0.40096363112,-0.00539217631427,0.0598440098735,0.999999939366,0.000223512885423,-0.000265746778639,2.62249587717e-05,1793242348275796992
+81,1.350000000,BASELINE,766,744.000684232,714,679,659.000684232,635,878,787,804,652,630.000684232,652,0.400962656088,-0.0053919205737,0.0598438196294,0.999999938558,0.00022531619283,-0.000267254274585,2.62945010367e-05,1793242348292463616
+82,1.366666667,BASELINE,766,744.579472877,714,679,659.579472877,635,878,787,804,652,630.579472877,652,0.400964247069,-0.00539262400686,0.0598449574561,0.999999939549,0.000223973047035,-0.000264663996057,2.6298806738e-05,1793242348309131264
+83,1.383333333,BASELINE,766,745,714,679,660,635,878.156805794,787,804,652,631,652,0.400965058686,-0.00539307681468,0.0598455713376,0.999999940222,0.000222801043764,-0.000263103898222,2.63036840908e-05,1793242348325798400
+84,1.400000000,BASELINE,766,745,714,679,660,635,878.730270728,787,804,652,631,652,0.400963799408,-0.00539286366937,0.0598447930098,0.999999940071,0.000222083794422,-0.000264281161696,2.63100804179e-05,1793242348342465024
+85,1.416666667,BASELINE,766,745,714,679,659.697319763,635,878.697319763,786.697319763,804,652,631,651.697319763,0.400963408226,-0.00539247854858,0.0598447449477,0.999999939916,0.000222582712821,-0.00026444403815,2.63489504018e-05,1793242348359130880
+86,1.433333333,BASELINE,766,745,714,679,659.125847548,635,878.125847548,786.125847548,804,652,631,651.125847548,0.400963787947,-0.0053919407068,0.0598453453904,0.999999939756,0.000224161636144,-0.000263706098882,2.64166582722e-05,1793242348375797248
+87,1.450000000,BASELINE,766,745,714,679,659,635,878,786.466567851,804.466567851,652,631,651.466567851,0.400963739693,-0.00539259232602,0.059845233647,0.999999940069,0.000222758073007,-0.000263716924707,2.63637766763e-05,1793242348392463872
+88,1.466666667,BASELINE,766,745,714.062634138,679,659,635,878,787,804.937365862,652,631,652,0.400963707612,-0.00539341036844,0.0598450000276,0.999999940448,0.000220921519062,-0.000263833388687,2.62780567765e-05,1793242348409130240
+89,1.483333333,BASELINE,766,745,714.640094515,679,659,635,878,787,804.359905485,652,631,652,0.400964801902,-0.005392835283,0.0598454178138,0.999999940309,0.000222449110292,-0.000263080070113,2.6202340194e-05,1793242348425796864
+90,1.500000000,BASELINE,766,744.780339417,714.780339417,679,659,635,878,787,804,652,631,652,0.400965302182,-0.00539278304911,0.0598455009603,0.999999940388,0.000222620826299,-0.000262635216597,2.61948269687e-05,1793242348442463744
+91,1.516666667,BASELINE,766,744.197289918,714.197289918,679,659,635,878,787,804,652,631,652,0.400964819779,-0.00539359577911,0.0598450305056,0.999999940827,0.000220549490523,-0.0002627006631,2.63001439351e-05,1793242348459130368
+92,1.533333333,BASELINE,766,744.384401616,714,679,659,635,878,787,804,652,631,651.615598384,0.400964604732,-0.00539384701425,0.0598446998409,0.999999940582,0.000220783222088,-0.000263432254712,2.63335032147e-05,1793242348475796992
+93,1.550000000,BASELINE,766,744.965398696,714,679,659,635,878,787,804,652,631,651.034601304,0.40096452642,-0.00539381108276,0.0598444406693,0.999999939987,0.000222195839724,-0.000264504534563,2.63300610069e-05,1793242348492463616
+94,1.566666667,BASELINE,766,745,714,679.545044031,659,635,878,787,804.545044031,652,631,651.545044031,0.400964566111,-0.00539338013748,0.0598447713864,0.9999999401,0.000222403976521,-0.000263899961002,2.63159923634e-05,1793242348509130240
+95,1.583333333,BASELINE,765.876488044,745,714,679.876488044,659,635,878.123511956,787,804.876488044,652,631,652,0.400965029868,-0.00539320365302,0.0598453136331,0.999999940443,0.0002220023111,-0.00026293977818,2.6287134776e-05,1793242348525796864
+96,1.600000000,BASELINE,765.30200639,745,714,679.30200639,659,635,878.69799361,787,804.30200639,652,631,652,0.400967014699,-0.0053940475963,0.0598464918284,0.999999941454,0.000219652620655,-0.000261068906779,2.62067364856e-05,1793242348542463488
+97,1.616666667,BASELINE,765.272098466,744.727901534,714.272098466,679.272098466,659,635,878.727901534,787,804.272098466,652,631,652,0.400966972712,-0.00539372784721,0.0598465143062,0.99999994141,0.000219698017838,-0.000261213869596,2.60743110746e-05,1793242348559130112
+98,1.633333333,BASELINE,765.84578565,744.15421435,714.84578565,679.84578565,659,635,878.15421435,787,804.84578565,652,631,652,0.400964684237,-0.00539211828376,0.059845255809,0.999999940194,0.000222398084334,-0.000263593144496,2.5884219806e-05,1793242348575796992
+99,1.650000000,BASELINE,765.565808537,744,714.565808537,679.565808537,659,635,878,787,805,652,631,651.565808537,0.400965170871,-0.00539274552007,0.0598455858788,0.999999940346,0.000222271334178,-0.000263089738668,2.62083928427e-05,1793242348592463616
+100,1.666666667,BASELINE,765.02720288,744,714,679,659.02720288,635,878,787,804.97279712,652,631,651.02720288,0.400966550826,-0.00539404347976,0.0598463869508,0.999999940926,0.00022128346948,-0.000261668944453,2.66822021859e-05,1793242348609130240
+101,1.683333333,BASELINE,765.603941703,744,714,679,659.603941703,635,878,787,804.396058297,652,631,651.603941703,0.400965366893,-0.00539227870209,0.0598449049411,0.999999939971,0.000223894118005,-0.000263124745314,2.63595308895e-05,1793242348625796864
+102,1.700000000,BASELINE,765.819804663,744.180195337,714,679,659.819804663,635,878,786.819804663,804.180195337,652,631,652,0.400964474877,-0.00539135116211,0.0598440962015,0.999999939429,0.000225117194956,-0.000264153072655,2.6225173134e-05,1793242348642463744
+103,1.716666667,BASELINE,765.24461466,744.75538534,714,679,659.24461466,635,878,786.24461466,804.75538534,652,631,652,0.400964222756,-0.00539225887757,0.0598447632944,0.999999939805,0.000223298664711,-0.000264244362461,2.65036054841e-05,1793242348659130368
+104,1.733333333,BASELINE,765,745,714,679,659,635,878,786.336927931,804.663072069,652,631,651.663072069,0.400964338116,-0.00539317733282,0.0598454454681,0.999999940235,0.000222063650886,-0.000263656829847,2.64936371528e-05,1793242348675797504
+105,1.750000000,BASELINE,765,745,714,679,659,635,878,786.923171286,804.076828714,652,631,651.076828714,0.4009647254,-0.00539410373526,0.0598461388013,0.999999940706,0.000221260419549,-0.00026256699131,2.62702619723e-05,1793242348692464896
+106,1.766666667,BASELINE,765,745,714,679,659,635,878.506694758,787,804,651.493305242,631,651.506694758,0.400965577027,-0.00539287063579,0.0598460262729,0.999999940632,0.000222804855871,-0.000261557742047,2.61118957009e-05,1793242348709131008
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660,635,878,787,804,652,631,652,0.400963927963,-0.00539234173283,0.0598446481566,0.99999994023,0.000221727870859,-0.000264045371823,2.56412293279e-05,1793242348752292352
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.577246389,745,714,679,659.422753611,635,878.577246389,787,804,652,631,652,0.400964142097,-0.00539323349526,0.0598450851596,0.999999940603,0.000220603056686,-0.000263537635943,2.59961999087e-05,1793242348768959232
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.842801791,714,679,659,635,878.842801791,787,804,652,631,652,0.400964385547,-0.00539352246962,0.0598454434791,0.999999940672,0.000220792738584,-0.000263090499415,2.62830178684e-05,1793242348785625856
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.255446702,714,679,659,635,878.255446702,787,804,652,631,652,0.400964709216,-0.00539216197607,0.0598455864892,0.9999999399,0.000224579404766,-0.000262809186732,2.63833432048e-05,1793242348802292736
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.326388599,714,679,659,635,878,787,804,652,631,652,0.40096487938,-0.00539242802947,0.0598456637372,0.999999939966,0.00022445766097,-0.00026265686526,2.64406585695e-05,1793242348818959360
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.903975672,714,679,659,635,878,787,804,652,631,652,0.400964931401,-0.00539394592235,0.0598456903729,0.999999940676,0.000221327887193,-0.000262603819318,2.64648721617e-05,1793242348835625984
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.518469145,714,679,659,635,878,787,804.481530855,652,631,652,0.400965025874,-0.00539367069594,0.0598456280371,0.999999940517,0.000222201035049,-0.000262486595845,2.63156182556e-05,1793242348852292608
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.941229693,744.058770307,714,679,659,635,878,787,804.941229693,652,631,651.941229693,0.400965280865,-0.00539318317565,0.0598457167624,0.999999940295,0.000223513009336,-0.000262234781797,2.61607965893e-05,1793242348868959232
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.366705199,744.633294801,714,679,659,635,878,787,804.366705199,652,631,651.366705199,0.400966870238,-0.0053939703942,0.0598472868548,0.999999941048,0.000221671307692,-0.000260914137227,2.62606643305e-05,1793242348885625600
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+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.189351818,714,679,659,635,878,787,804,652,631,651.810648182,0.400974970799,-0.00539642075491,0.0598509625514,0.999999943131,0.000218176965805,-0.000255752536618,2.69840192813e-05,1793242348918959104
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.390746256,714,679,659,635,878,787,804.390746256,652,631,651.609253744,0.401000717991,-0.00539643505567,0.0598613916536,0.999999947631,0.000218631208871,-0.000237025043711,2.7509273797e-05,1793242348935625984
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.963748972,714,679,659,635,878,787,804.963748972,652,631,651.036251028,0.401036047287,-0.00539578881279,0.0598757694505,0.999999953117,0.00022009159389,-0.0002110417267,2.80535867016e-05,1793242348952293120
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,804.461305763,652,631,651.538694237,0.401092904946,-0.00539744809644,0.059894382714,0.999999959802,0.000219520466998,-0.000177126939557,2.88509669068e-05,1793242348968960000
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.117455261,745,714,679.117455261,659,635,878,787,804.117455261,652,631,651.882544739,0.401153338828,-0.00539915854514,0.0599122232519,0.999999964944,0.000219100974769,-0.000145716077464,2.95578364213e-05,1793242348985626624
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.711156255,745,714,679.711156255,659,635,878,787,804.711156255,652,631,651.288843745,0.401222377789,-0.00540044509535,0.0599257707622,0.99999996737,0.000219852636377,-0.000126629865036,2.98284113573e-05,1793242349002292736
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.705011209,714,679.705011209,659,635,878.294988791,787,804.705011209,652,631,651.294988791,0.401297919858,-0.00540262996328,0.059934665692,0.999999969366,0.0002183742885,-0.000112648528562,2.98453197661e-05,1793242349018959104
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.130528797,714,679.130528797,659,635,878.869471203,787,804.130528797,652,631,651.869471203,0.401379623437,-0.00540566596204,0.0599391524314,0.999999971139,0.000214783069062,-0.000103503920306,2.96218862311e-05,1793242349035625728
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.55210223,744.44789777,714,679,659.44789777,635,878.55210223,787,804,652,631,652,0.401477290515,-0.00540891028522,0.0599418223794,0.999999972094,0.000212585766832,-9.87722422094e-05,2.93884453147e-05,1793242349052292352
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.02709426,744.97290574,714,679,659.97290574,635,878,787,804.02709426,652,631,651.97290574,0.40158090621,-0.00541213976138,0.0599441388842,0.999999972837,0.000210858961373,-9.49662779598e-05,2.90924402969e-05,1793242349068958976
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.59846225,744.40153775,714,679,659.40153775,635,878,787,804.59846225,652,631,651.40153775,0.401709734898,-0.00541384058141,0.0599500857147,0.999999973993,0.000210350801553,-8.36925086934e-05,2.75987434329e-05,1793242349085625856
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.176916636,714,679.176916636,659,635,878,787,805,652,631,651,0.401843566106,-0.00541627723523,0.0599532796009,0.999999974969,0.000208779151337,-7.60914382704e-05,2.61340611267e-05,1793242349102292736
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.772125641,714,679.772125641,659,635,878,787,805,652,631,651,0.401989224987,-0.00542045365543,0.0599499645699,0.999999975766,0.000204693040601,-7.71739050586e-05,2.47379795306e-05,1793242349118959616
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.643825458,745,714,680,659,635,878.356174542,787,805,652,631,651.356174542,0.40216204356,-0.00542562633757,0.0599503310847,0.999999976911,0.000201225198534,-7.17355483e-05,2.32684558414e-05,1793242349135626240
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.066699621,745,714,680,659,635,878.933300379,787,805,652,631,651.933300379,0.40235171054,-0.00543141704677,0.0599529814297,0.999999978196,0.000198140896278,-6.2252027723e-05,2.17533725385e-05,1793242349152292608
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.506950034,745,714,679.493049966,659,635,878.493049966,787,804.493049966,652,631,652,0.402567415674,-0.00543674282185,0.0599545735033,0.999999979483,0.000193770800438,-5.56655940396e-05,1.97179927351e-05,1793242349168959232
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.917377928,745,714,679.082622072,659,635,878.082622072,787,804,652,631,652,0.40279049993,-0.00544215072025,0.0599557833291,0.999999980736,0.00018903991673,-4.9823267751e-05,1.75658756568e-05,1793242349185625600
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.326469555,745,714,679.673530445,659,635,878.673530445,787,804,652,631,652,0.403038048118,-0.0054484376001,0.0599554923341,0.99999998205,0.000183123135704,-4.6229673489e-05,1.51138636003e-05,1793242349202292224
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.259316707,745,714,680,659,635,878.740683293,787,804,652,631,651.740683293,0.403303984429,-0.00545539794357,0.0599550444482,0.999999983532,0.000175578305675,-4.41469694991e-05,1.25987329484e-05,1793242349218959360
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.838779303,745,714,680,659,635,878.161220697,787,804,652,631,651.161220697,0.403592622237,-0.0054631897279,0.0599544028689,0.999999985203,0.000166023527624,-4.39295728749e-05,1.00056778119e-05,1793242349235626240
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,878,787,804.414181362,652,631,651.414181362,0.403901777054,-0.00547129827921,0.0599462483962,0.999999986202,0.000156506209811,-5.53187081298e-05,6.47570281191e-06,1793242349252293120
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,878,787,804.988018184,652,631,651.988018184,0.404218840603,-0.00547952893524,0.0599351979108,0.999999986658,0.000147003332061,-7.11818403985e-05,2.58457117617e-06,1793242349268960256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.437415131,745,714,679.437415131,659,635,878,787,805,652,631,652,0.404556699019,-0.00548860916766,0.0599219726007,0.999999986392,0.000133546835603,-9.68505678458e-05,-1.45039166832e-06,1793242349285626880
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,713.858480459,679,659,635,878,787,804.858480459,652,631,651.858480459,0.404907689664,-0.00549722958295,0.0599108720551,0.999999985645,0.000121261690748,-0.00011821683122,-5.47019019785e-06,1793242349302293248
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,713.265666369,679,659,635,878,787,804.265666369,652,631,651.265666369,0.405299143717,-0.00550432590065,0.0599066951168,0.999999985736,0.000112980762459,-0.000125196042981,-9.43184887953e-06,1793242349318959872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,744.681040116,713.318959884,679,659,635,878,787,804,652,631,651.318959884,0.405739075522,-0.00551232466136,0.0599172629324,0.999999992269,5.92721054744e-05,-0.000108575922286,-1.26445309491e-05,1793242349335626496
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,744.103062886,713.896937114,679,659,635,878,787,804,652,631,651.896937114,0.406218374636,-0.00552105626859,0.0599398045011,0.999999996744,-3.13269906964e-05,-7.27915216847e-05,-1.5248992878e-05,1793242349352292608
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,744.47139418,714,679,659,635,878,787,804.47139418,652,631,652,0.406746783827,-0.00552634690029,0.0599694986341,0.999999998622,-4.50417342993e-05,-2.11430412474e-05,-1.67509884233e-05,1793242349368959488
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.044893854,745,714,679.044893854,659.044893854,635,878,787,805,652,631,652,0.407284499698,-0.00552911512705,0.0599989261361,0.99999999858,-4.01137651747e-05,2.9956363612e-05,-1.82398372384e-05,1793242349385626368
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.616125718,745,714,679.616125718,659.616125718,635,878,787,805,652,631,652,0.40780637824,-0.00551106534741,0.0600070295425,0.999999999088,-1.22329058634e-05,3.42557614932e-05,-2.23795371877e-05,1793242349402293248
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.803507286,745,714,679.803507286,659.803507286,635,878.196492714,787,804.803507286,652,631,652,0.408331609204,-0.00549917804586,0.0600072338577,0.999999999326,3.79106799233e-06,2.51140480452e-05,-2.65213537969e-05,1793242349418960128
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.204423482,745,714,679.204423482,659.204423482,635,878.795576518,787,804.204423482,652,631,652,0.408863708864,-0.00549991695794,0.0599912538384,0.999999999453,-4.47836159213e-06,-1.15669649586e-05,-3.06675069592e-05,1793242349435626752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.378528917,745,714,679,659,635,878.621471083,787,804,652,631,652,0.409437094294,-0.00551118997338,0.0599797337974,0.999999998287,-2.93179718976e-05,-3.75707202496e-05,-3.39857301689e-05,1793242349452292864
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.953125663,745,714,679,659,635,878.046874337,787,804,652,631,652,0.41003186463,-0.00552791937184,0.0599705239059,0.999999995667,-6.27404911434e-05,-5.80439412179e-05,-3.68751077109e-05,1793242349468958976
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.529705171,714,679.529705171,659.529705171,635,878.529705171,787,804,652,631,652,0.410715596848,-0.00552739959657,0.0599821242917,0.99999999923,-1.48667393e-05,-2.46711040423e-05,-2.6668445147e-05,1793242349485625600
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.891120425,714,679.891120425,660,635,879,787,804.108879575,652,631,652,0.411400887909,-0.00552454449892,0.0599919763013,0.999999999395,2.92833097613e-05,3.99966033276e-06,-1.83272160105e-05,1793242349502292224
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.301261139,714,679.301261139,660,635,879,787,804.698738861,652,631,652,0.412058157905,-0.00551814130425,0.059985939194,0.99999999937,2.50844851603e-05,-9.22944041165e-06,-2.33652752091e-05,1793242349518958848
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,714,679.283066885,660,635,879,787,804.716933115,652,631,652,0.412712229062,-0.00551360991495,0.0599666417917,0.999999998411,7.42341959785e-06,-4.8070730296e-05,-2.84907214938e-05,1793242349535625728
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,714,679.86162102,660,635,879,787,804.13837898,652,631,652,0.413362961102,-0.00551103246103,0.0599335022605,0.999999992679,-2.42905816333e-05,-0.000113648018509,-3.37073897354e-05,1793242349552292608
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714,679.56187185,660,635,879,787,804,651.56187185,631,652,0.414087677426,-0.00551398212161,0.0599227639863,0.999999990066,-2.53752212469e-05,-0.000133861428548,-3.61393857262e-05,1793242349568959232
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679.014266433,660,635,879,787,804,651.014266433,631,652,0.414838161113,-0.00551878409309,0.0599205166856,0.999999989734,-1.7176102567e-05,-0.000137200624252,-3.76004589835e-05,1793242349585625856
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679.601436384,660,635,879,787,804,651.601436384,631,652,0.415689391123,-0.00552819365697,0.0599764427984,0.999999998485,-2.28421964388e-05,-3.56061358821e-05,-3.52265684879e-05,1793242349602292224
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.813930215,745,714,680,660,635,879,787,804.186069785,652,631,652,0.416524259183,-0.00553364553434,0.0600166563306,0.999999998396,-2.85742161753e-05,3.53470569742e-05,-3.38082608635e-05,1793242349618958848
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.234657096,745,714,680,660,635,879,787,804.765342904,652,631,652,0.417324551058,-0.00553073401394,0.0600236659782,0.999999997952,-3.44455507647e-05,4.15489484357e-05,-3.44092951496e-05,1793242349635625728
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787.34245207,805,652,631,652,0.418124820604,-0.00552762878533,0.0600148875642,0.999999998489,-3.10154049113e-05,2.75518344592e-05,-3.60814351608e-05,1793242349652292608
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787.918087727,805,652,631,652,0.41892507491,-0.0055243916564,0.0599953586912,0.999999999034,-2.12516641995e-05,-1.99252881849e-07,-3.84829159503e-05,1793242349668959488
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.492855586,745,714,680,660,635,879.492855586,787.507144414,805,651.507144414,631.492855586,652,0.41973900164,-0.00552374688776,0.0599713983006,0.999999997914,-2.98986695278e-05,-3.97216988314e-05,-4.1226499623e-05,1793242349685626112
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.930470967,787,805,651.069529033,631.860941934,652,0.420553927566,-0.00552369095394,0.0599457487164,0.9999999948,-3.94570080085e-05,-8.31895101073e-05,-4.38532741818e-05,1793242349702292480
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.338394275,787,805,651.661605725,630.676788549,652,0.421359314668,-0.0055248280624,0.0599129295311,0.999999988408,-3.29084849183e-05,-0.000141631335489,-4.51756034732e-05,1793242349718959360
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.751999398,745,714,680,660,635,879.248000602,787,805,652,630.248000602,652,0.422202141012,-0.00552553031545,0.0598977568726,0.999999984422,-3.05839667719e-05,-0.000167531285938,-4.64138282023e-05,1793242349735625728
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.173183577,745,714,680,660,635,879.826816423,787,805,652,630.826816423,652,0.423094908762,-0.00552565250237,0.059906123425,0.999999987042,-3.38939708978e-05,-0.000150022691386,-4.75398637481e-05,1793242349752292352
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.403901695,745,714,679.596098305,660,635,879.596098305,787,805.403901695,652,631,652,0.424028716045,-0.00552988783363,0.05995470506,0.999999995477,-4.35868126442e-05,-7.06657330744e-05,-4.64003437672e-05,1793242349768958976
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.980248078,745,714,679.019751922,660,635,879.019751922,787,805.980248078,652,631,652,0.424980044988,-0.00553587926027,0.0600204564104,0.999999996835,-5.60047882971e-05,3.50972093464e-05,-4.42935507328e-05,1793242349785625600
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679.56572343,660,635,879,787,805.43427657,652,631,652,0.425883306131,-0.00553731525742,0.0600338565295,0.999999996021,-5.27610518688e-05,5.6870226085e-05,-4.4041208529e-05,1793242349802292224
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.149880565,652,631,652,0.426779710495,-0.00553944490727,0.0600360748988,0.999999995571,-5.21445033051e-05,6.44608074416e-05,-4.45397341997e-05,1793242349818959104
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,805.729331052,652,631,652,0.427661351648,-0.00554402595005,0.0600115700478,0.999999996258,-6.06506253504e-05,3.99458953587e-05,-4.70016942637e-05,1793242349835626240
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.691788827,745,714,680,660,635,879,787,805.691788827,651.691788827,631,652,0.428522125068,-0.0055456137452,0.059986409741,0.999999996652,-6.51587965695e-05,6.20542833477e-06,-4.91027550136e-05,1793242349852292864
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.113408703,745,714,680,660,635,879,787,805.113408703,651.113408703,631,652,0.429364606394,-0.0055445777463,0.0599606748818,0.999999995882,-6.61624798675e-05,-3.56218905405e-05,-5.08874617472e-05,1793242349868959488
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879,787,805,651.461840687,631,652,0.430193204558,-0.00554045503654,0.0599349884106,0.999999993211,-6.05105492571e-05,-8.48968873847e-05,-5.20414943333e-05,1793242349885625856
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.037233516,745,714,680,660,634.962766484,879,787,805,652,631,652,0.43102747504,-0.00553617502627,0.0599142378183,0.999999989152,-5.42931349055e-05,-0.000126266335165,-5.29545917923e-05,1793242349902292480
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.626063055,745,714,680,660,634.373936945,879,787,805,652,631,652,0.431995941572,-0.00554071798656,0.0599664350033,0.999999996307,-6.37472753871e-05,-2.36080599087e-05,-5.25771869412e-05,1793242349918958848
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+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680.790328908,660.790328908,634.790328908,879,787,805,652,631.790328908,651.209671092,0.433792598491,-0.0055507729494,0.060024556961,0.999999993694,-7.27991380244e-05,6.82914205372e-05,-5.14600460847e-05,1793242349952292608
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680.264870635,660.632435318,635,879.735129365,787,805.367564682,651.632435318,631.632435318,651.367564682,0.434625090754,-0.005551153697,0.0600115535394,0.999999994737,-7.67907250502e-05,4.26941845897e-05,-5.29804974989e-05,1793242349968959744
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679.112421845,660.056210922,635,880.887578155,787,805.943789078,651.056210922,631.056210922,651.943789078,0.435438733641,-0.00554876860824,0.0599807816078,0.999999995067,-8.17806007355e-05,-8.54123614529e-06,-5.57290202297e-05,1793242349985626624
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679.517165744,660.517165744,635,880.482834256,787,805.482834256,651,631,651.482834256,0.436215490344,-0.00554770493777,0.0599525267896,0.999999993241,-8.09793172901e-05,-6.05639873299e-05,-5.73788249045e-05,1793242350002292992
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.906652034,745,714,680,660.906652034,635,879.906652034,787,805.093347966,651,631,651,0.436988452615,-0.00554682307255,0.0599272052638,0.999999989204,-7.98104498522e-05,-0.000108520529507,-5.869835576e-05,1793242350018959616
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765.426444463,745,714.426444463,680.426444463,660.426444463,635,879.426444463,787,805.426444463,651.426444463,632,651.573555537,0.440134172295,-0.00554964384385,0.0599663093098,0.999999992738,-8.97206444199e-05,-5.59239127237e-05,-5.7855916816e-05,1793242350085625344
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+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.66680494,661,635,879,787.33319506,806,651,631,651,0.443627064536,-0.00555677598437,0.0599595774391,0.999999991218,-0.000103491894738,-5.81230983233e-05,-5.89421083927e-05,1793242350168959488
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,680.090667352,661,635,879,787.909332648,806,651,631,651,0.444262369173,-0.0055578369754,0.0599563178135,0.999999990561,-0.000106509196287,-6.33391442954e-05,-5.93435028934e-05,1793242350185625856
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+196,3.266666667,POSE1_TO_POSE2_PRESS,766,744.651277634,714,680.348722366,660.651277634,634.651277634,879.348722366,787,806,651,631,651,0.445980648557,-0.00556026996777,0.0599540111923,0.999999989191,-0.000102848729779,-8.56958820832e-05,-6.07913987235e-05,1793242350235625472
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,714,680.237045233,660.762954767,634.762954767,879,786.762954767,806,651,631,651.237045233,0.446489324363,-0.00555677814194,0.0599313511473,0.999999985133,-9.85249322989e-05,-0.000126846392003,-6.27365314103e-05,1793242350252292352
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,714,680.815746296,660.184253704,634.184253704,879,786.184253704,806,651,631,651.815746296,0.447000017366,-0.00555256107661,0.0599079789414,0.99999998113,-9.50487970162e-05,-0.000156274436251,-6.54589456625e-05,1793242350268959488
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,714,680.607168651,660,634,879,786.392831349,806,651,631,651.607168651,0.447497611579,-0.00555500982761,0.0599067784338,0.999999981203,-9.91690612029e-05,-0.000152568591975,-6.69509663338e-05,1793242350285626112
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,714,680.030838416,660,634,879,786.969161584,806,651,631,651.030838416,0.447989087148,-0.00556057230599,0.0599159347399,0.999999983094,-0.000106837745658,-0.000133385289871,-6.78682473341e-05,1793242350302292736
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.863162838,632,879.136837162,785.136837162,806,651,630.863162838,651,0.453049267293,-0.00556681629923,0.0597746236167,0.999999932333,-0.000113075248326,-0.000344828833563,-6.03367762902e-05,1793242350902292480
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,879.438890948,785.438890948,806,651,631,651,0.453047893409,-0.00556630959365,0.0597729909459,0.999999931458,-0.000112742362275,-0.000347470632601,-6.03160457011e-05,1793242350918959104
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013915484,745,714,680.986084516,658.986084516,632.013915484,879.986084516,785.986084516,806,651,631,651,0.453046020326,-0.00556545104848,0.0597709280053,0.999999930387,-0.000112090249154,-0.000350752641074,-6.02887198281e-05,1793242350935625984
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.602147869,745,714,680.397852131,658.397852131,632.602147869,879.397852131,785.397852131,806,651,631,651,0.453049149369,-0.00556554259581,0.0597721041779,0.999999931253,-0.000111910158209,-0.000348348807413,-6.0197150188e-05,1793242350952292864
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.812663488,745,714,680.187336512,658.187336512,632.812663488,879.187336512,785,806,651.187336512,631,651.187336512,0.453051219109,-0.00556522429586,0.0597729431244,0.999999931889,-0.000111179567444,-0.00034675371065,-6.01841581021e-05,1793242350968959488
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.23383562,745,714,680.76616438,658.76616438,632.23383562,879.76616438,785,806,651.76616438,631,651.76616438,0.453051075144,-0.00556404950691,0.0597730773439,0.999999932055,-0.000109298555354,-0.000346848693024,-6.03353755123e-05,1793242350985625856
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.344451042,745,714,681,659,632,880,785.344451042,806,651.655548958,630.655548958,651.655548958,0.453050900008,-0.0055628292676,0.0597730326445,0.999999932115,-0.000107691759672,-0.000347168167872,-6.03809734207e-05,1793242351002292736
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.922370854,745,714,681,659,632,880,785.922370854,806,651.077629146,630.077629146,651.077629146,0.453050703743,-0.00556157822213,0.0597728666738,0.999999932105,-0.000106270827832,-0.000347639803618,-6.035498247e-05,1793242351018959616
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.505340489,745,714,681,658.505340489,632.494659511,880,786,806,651.494659511,630,651.494659511,0.453049926283,-0.00556265439507,0.059772134949,0.999999931505,-0.000108858300902,-0.00034860622543,-6.01110471421e-05,1793242351035625984
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.068490987,632.931509013,880,786,806,652,630.068490987,651.931509013,0.453049073772,-0.00556403909408,0.0597713327638,0.999999930819,-0.00011166559904,-0.000349727336401,-5.98585727454e-05,1793242351052292608
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.660804399,632.339195601,880,786,806,652,630.660804399,651.339195601,0.453048336985,-0.00556502162761,0.0597706630929,0.999999930251,-0.000111397221396,-0.000351444338074,-5.97994330996e-05,1793242351068958976
+247,4.116666667,HOLD_POSE2,765,745,714,681,658,632,880,785,806,652,630,652,0.453048116258,-0.00556329965898,0.0597700791776,0.999999929987,-0.000110539962586,-0.000352381659065,-6.02875274891e-05,1793242351107268352
+248,4.133333333,HOLD_POSE2,765,745,714,681,658.576310466,632,879.423689534,785.576310466,806,652,630,652,0.453050194729,-0.00556358087707,0.0597711299631,0.999999930698,-0.000111024929981,-0.000350299595516,-5.97375521386e-05,1793242351123935232
+249,4.150000000,HOLD_POSE2,765.155177051,745,714,681,658.844822949,632,879.155177051,786,806,651.844822949,630.155177051,652,0.453051491788,-0.00556348715478,0.0597716518837,0.999999931187,-0.000110516424933,-0.000349116245743,-5.94137326298e-05,1793242351140602368
+250,4.166666667,HOLD_POSE2,765.741139787,745,714,681,658.258860213,632,879.741139787,786,806,651.258860213,630.741139787,652,0.453050619575,-0.00556235256379,0.0597707056272,0.999999931066,-0.00010724994964,-0.000350427807123,-5.97177422951e-05,1793242351157269504
+251,4.183333333,HOLD_POSE2,765.676700152,745,714,681,658,632,880,786,806,651.323299848,631,651.676700152,0.453051529803,-0.00556192928291,0.0597715725284,0.999999931505,-0.000106566198578,-0.000349353099469,-5.98863096087e-05,1793242351173936384
+252,4.200000000,HOLD_POSE2,765.097549459,745,714,681,658,632,880,786,806,651.902450541,631,651.097549459,0.453053850606,-0.00556206891387,0.0597738743142,0.999999932386,-0.000107926346519,-0.000346389962311,-5.99476914533e-05,1793242351190603008
+253,4.216666667,HOLD_POSE2,765.480528927,745.480528927,714,681,658,632,880,786,806,651.519471073,631,651.480528927,0.453053844588,-0.00556200476027,0.0597731426437,0.999999932114,-0.000108112553151,-0.000347097808922,-6.00514061012e-05,1793242351207269888
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+255,4.250000000,HOLD_POSE2,766,745.368759819,714,681,658,632,880,785.368759819,806,651,631,652,0.453052091406,-0.00556031461719,0.0597709938704,0.999999931135,-0.000106099933569,-0.000350520676457,-6.00689146972e-05,1793242351240603392
+256,4.266666667,HOLD_POSE2,765.789776697,745,714.210223303,681.210223303,658.210223303,632,879.789776697,785,806,651.210223303,631,652,0.453051965959,-0.00555989882292,0.0597708772956,0.999999931053,-0.000106167156701,-0.000350743905155,-6.0006998219e-05,1793242351257270016
+257,4.283333333,HOLD_POSE2,765.20056613,745,714.79943387,681.79943387,658.79943387,632,879.20056613,785,806,651.79943387,631,652,0.453053782344,-0.00556134559589,0.05977208751,0.999999931681,-0.000109574992106,-0.000347901497988,-5.99700700373e-05,1793242351273937152
+258,4.300000000,HOLD_POSE2,765,745,714.616831307,681.616831307,658.616831307,632,879,785.383168693,806,651.616831307,631,652,0.453053895997,-0.00556131398982,0.0597718430603,0.999999931647,-0.000108983493842,-0.000348171526736,-6.00501166099e-05,1793242351290603776
+259,4.316666667,HOLD_POSE2,765,745,714.035922275,681.035922275,658.035922275,632,879,785.964077725,806,651.035922275,631,652,0.453053130927,-0.0055605194427,0.0597708479081,0.999999931269,-0.000106328075722,-0.000350047777605,-6.01905298734e-05,1793242351307270144
+260,4.333333333,HOLD_POSE2,765,745,714,681,658.539232068,632,879,785.460767932,806,651,631,652,0.453052739658,-0.00556206969145,0.0597703433684,0.999999931072,-0.000108342882931,-0.000350043157625,-5.98931948657e-05,1793242351323936256
+261,4.350000000,HOLD_POSE2,765,745,714,681.116555083,658.883444917,632,879.116555083,785.116555083,806,651,630.883444917,651.883444917,0.453052593982,-0.0055632944851,0.0597700569724,0.999999931014,-0.000109763855209,-0.000349818821971,-5.95940506389e-05,1793242351340602368
+262,4.366666667,HOLD_POSE2,765,745,714,681.704176152,658.295823848,632,879.704176152,785.704176152,806,651,630.295823848,651.295823848,0.45305334131,-0.00556257928313,0.0597705215226,0.99999993148,-0.000107540669026,-0.000349207546432,-5.9404208802e-05,1793242351357268736
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632,880,786,806,651,631,652,0.453051388345,-0.00556068393357,0.0597694320903,0.999999930471,-0.000104601700016,-0.000352898657958,-5.98310533323e-05,1793242351394508032
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765.579874478,745,714,681.579874478,658.420125522,632,880,786,806,651,631,652,0.45305317355,-0.00556126421654,0.0597711568925,0.999999931039,-0.000106610547244,-0.000350679553042,-5.98267824729e-05,1793242351411174400
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745.731894163,714,681.268105837,658,632,880,785.268105837,806,651.731894163,631,652,0.45305407031,-0.00556091205372,0.0597721656563,0.999999931801,-0.000105396078658,-0.000348910164749,-5.95893555703e-05,1793242351444507904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,714,681.314164162,658,632,880,785.314164162,806,651.685835838,631,651.685835838,0.453053359517,-0.00556088205938,0.0597712359099,0.999999931398,-0.000105717237864,-0.000349971080362,-5.95583255308e-05,1793242351461174784
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,681.903849441,658,632,880,785.903849441,806,651.096150559,631,651.096150559,0.453052298079,-0.00556135697163,0.0597696563983,0.999999930394,-0.000108155816426,-0.000352073543763,-5.96612040563e-05,1793242351477841664
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.514989478,745.514989478,714,681.514989478,658,632,880,785.514989478,806,651,631,651,0.453053009799,-0.00556081797598,0.0597707725373,0.999999931193,-0.000106284031198,-0.000350393428394,-5.9514983832e-05,1793242351494508032
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.128270368,658.064135184,632.064135184,879.935864816,785,806,651,631,651.064135184,0.453053784441,-0.00556021514706,0.0597721023497,0.999999932141,-0.000103925525792,-0.000348416646649,-5.93589227798e-05,1793242351511174656
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.280520808,658.640260404,632.640260404,879.359739596,785,806,651,631,651.640260404,0.453052303681,-0.00556067961501,0.0597709455112,0.999999931547,-0.000104385220498,-0.000349954425301,-5.9511712562e-05,1793242351527841280
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.215723349,745,714,682.568553303,659,632.784276651,879.215723349,785,806,651.215723349,631,652,0.453045228317,-0.00556042110024,0.0597671748408,0.999999929422,-0.000104788726592,-0.000355814479533,-5.97629887591e-05,1793242351544507648
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.790085207,745,714,681.419829585,659,632.209914793,879.790085207,785,806,651.790085207,631,652,0.453028851965,-0.00555896063184,0.059759058694,0.999999924637,-0.000105098819467,-0.000368860285529,-6.01779978879e-05,1793242351561174528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.625123035,745,714,681,658.625123035,632,880,785.374876965,806,651.625123035,631,651.625123035,0.452998410324,-0.00555759859621,0.0597467221937,0.999999916828,-0.000104602673672,-0.00038950889627,-6.07058535821e-05,1793242351577841152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.034323793,745,714,681,658.034323793,632,880,785.965676207,806,651.034323793,631,651.034323793,0.452959867333,-0.0055562932559,0.0597319548462,0.99999990683,-0.000103642149124,-0.000414536584608,-6.12987068473e-05,1793242351594508032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,786,806,651,631,651.545528191,0.45289886353,-0.00555576778765,0.0597121954503,0.999999895239,-0.000103404317215,-0.000441599190224,-6.18084996869e-05,1793242351611174656
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.123843422,745,714,681,658,632,879.876156578,786,806,651.123843422,631,652,0.452834793667,-0.00555431000971,0.0596943963671,0.999999884487,-0.000102457666238,-0.000465436282609,-6.24270574543e-05,1793242351627841536
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.699019114,745,714,681,658,632,879.300980886,786,806,651.699019114,631,652,0.45276459882,-0.00554927923687,0.0596848635506,0.999999879315,-9.87653581962e-05,-0.000477060968862,-6.34606669967e-05,1793242351644508416
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,658.279875307,632,879,785.720124693,806,652,631,651.720124693,0.452690834169,-0.00554617741571,0.0596798392212,0.999999877026,-9.67861714587e-05,-0.000482239187348,-6.34463535629e-05,1793242351661175040
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+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.026579914,745,714,680.973420086,658.973420086,632,879.026579914,785.973420086,806,651.973420086,630.973420086,651.973420086,0.452408186799,-0.00553911693087,0.0596818509193,0.999999881019,-8.89446304135e-05,-0.000475702028883,-6.12978737767e-05,1793242351711175424
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.181297599,714,680.181297599,658,632,880,785.181297599,806,651,630.181297599,651.181297599,0.452118346379,-0.00553113569819,0.0596806033581,0.999999878649,-8.51322116942e-05,-0.000481624073293,-5.90940643611e-05,1793242351744508672
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744.785608191,714,679.214391809,659,635,878.785608191,787.214391809,805.571216381,652,631,652,0.406361592626,-0.00538007512167,0.0598211658214,0.99999992946,0.000232525431783,-0.00029350802933,2.93933352177e-05,1793242352894507776
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744.211180887,714,679.788819113,659,635,878.211180887,787.788819113,804.422361774,652,631,652,0.405922792599,-0.00537678821282,0.0598273718838,0.999999933247,0.000225960534325,-0.000285653073469,2.91631431236e-05,1793242352911174912
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744.374115036,714,680,659,635,878.374115036,787.625884964,804.374115036,652,631,652,0.405479084548,-0.00537258742907,0.0598281913697,0.999999933416,0.000228440739085,-0.000283086941069,2.90561568644e-05,1793242352927842048
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,744.965729715,714,680,659,635,878.965729715,787.034270285,804.965729715,652,631,652,0.40503252307,-0.00536785534462,0.0598258792565,0.999999931475,0.000236179503578,-0.000283595576641,2.90207988854e-05,1793242352944509184
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.454552491,659,635,879,787,804.454552491,652,631,652,0.404602089289,-0.00536145038105,0.0598028458541,0.999999915994,0.000251714155752,-0.000322293596177,2.79248156123e-05,1793242352961175552
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.123480169,659,635,879,787,804.123480169,652,631,652,0.40419012693,-0.00535579169588,0.0597811979144,0.999999900322,0.000264946640878,-0.000358369245958,2.70479881377e-05,1793242352977841920
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.698029474,659,635,879,787,804.698029474,652,631,652,0.403842017441,-0.005353234895,0.0597692653448,0.999999892917,0.000268018310616,-0.000376287543032,2.72099626967e-05,1793242352994508032
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.130959542,659,635,878.130959542,787,804.130959542,652,631,652,0.403265063792,-0.00534834036079,0.0597878853968,0.999999906193,0.000270056253856,-0.000337426287971,2.8746085046e-05,1793242353027841024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659.450873821,635.450873821,878.901747642,787,804,652,631,651.549126179,0.403022492492,-0.00534834080005,0.059809240071,0.999999918602,0.000267632924543,-0.000300412156555,3.03357392008e-05,1793242353044507648
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,659.969693338,635.969693338,879.969693338,787,804.060613325,652,631,651.030306662,0.402787408347,-0.00534955992584,0.059831090379,0.999999930199,0.000262695643327,-0.000263786558542,3.17849382089e-05,1793242353061174272
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659.394502178,635.394502178,879.394502178,787,805.210995645,652,631,651.605497822,0.402560344952,-0.00536031939551,0.0598388820883,0.999999941185,0.000226481046011,-0.000256076194453,2.75989174522e-05,1793242353077841152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.180803479,659,635,878.819196521,787,805.819196521,652,631,652,0.40234004836,-0.00537241820798,0.0598420052868,0.999999948905,0.000189869719376,-0.000256075613501,2.37662751575e-05,1793242353094508032
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.756359046,659,635,878.243640954,787,805.243640954,652,631,652,0.402134525902,-0.00538744123471,0.0598349356254,0.999999950935,0.000152392210266,-0.000272907967627,2.07051721744e-05,1793242353111174656
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714.340572828,679.659427172,659,635,878,787,804.659427172,652.340572828,631,652,0.40195525207,-0.00539342256347,0.0598303611242,0.999999949559,0.00013933978231,-0.000284718406845,2.0050719288e-05,1793242353127841280
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.93114221,679.06885779,659,635,878,787,804.06885779,652.93114221,631,652,0.401795245949,-0.00539276686009,0.0598276181879,0.999999946498,0.000144216514672,-0.000292842525118,2.11628610285e-05,1793242353144507904
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,714.488781844,679.511218156,659,635,878.511218156,787,804,652.488781844,631,652,0.401664453582,-0.00538856741843,0.0598293869765,0.999999945462,0.000155024746978,-0.000290822486989,2.15807772388e-05,1793242353161174528
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,744.910444682,714,679.910444682,659,635,879,787,804.089555318,652,631,652,0.40154131267,-0.005384692272,0.0598315571899,0.999999943476,0.000173300438984,-0.000287285351919,2.19679357189e-05,1793242353177840896
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.334030771,714,679.334030771,659,635,879,787,804.665969229,652,631,652,0.401438806632,-0.00538512282595,0.0598326724569,0.999999933788,0.000227916268224,-0.000282779304182,2.26860037073e-05,1793242353194507520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744.246602652,714,679,659,635,878.753397348,787,805,652,631,652,0.401347042739,-0.00538332721259,0.0598336272375,0.999999926411,0.000260733977218,-0.000280474935503,2.30254169244e-05,1793242353211174400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,744.833050994,714,679,659,635,878.166949006,787,805,652,631,652,0.401270082714,-0.00537846369481,0.0598343608503,0.999999925482,0.00026351146654,-0.000281204724915,2.28430020782e-05,1793242353227841024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.585466225,745,714,679,659,635,878,787,805,652,631,652,0.401204435881,-0.00537806138983,0.0598330291626,0.999999925492,0.000260821929717,-0.000283638157688,2.31899650582e-05,1793242353244507648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.005959611,745,714,679,659,635,878,787,805,652,631,652,0.401143291383,-0.00537943452278,0.0598308755432,0.999999925848,0.000255956669456,-0.000286749592805,2.37476055978e-05,1793242353261174272
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.570251142,659.570251142,635,878,787,804.429748858,652,631,652,0.401096768349,-0.005378504754,0.0598282999431,0.999999924572,0.000254914905631,-0.000292110189623,2.33617016752e-05,1793242353277841152
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.146170797,745,714.146170797,680,660,635.146170797,878,787,804.146170797,652,631,652,0.401054274087,-0.00537790586222,0.0598260278895,0.999999923465,0.00025379862981,-0.000296849654867,2.31567420192e-05,1793242353294507520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.721336525,745,714.721336525,680,660,635.721336525,878,787,804.721336525,652,631,652,0.401023157932,-0.00537834828644,0.0598246595804,0.999999922975,0.000252347069125,-0.000299697577473,2.35116077758e-05,1793242353311174144
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714.695884321,679.695884321,659.695884321,635.695884321,878,787,805,652.304115679,631,652,0.401001730788,-0.00537877401142,0.0598255924694,0.999999923727,0.000251578412017,-0.000297801571384,2.38345141846e-05,1793242353327841024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,714.105949726,679.105949726,659.105949726,635.105949726,878,787,805,652.894050274,631,652,0.400989409724,-0.0053791840419,0.0598286881077,0.999999925624,0.000251451572219,-0.000291447049815,2.41273840831e-05,1793242353344507648
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.524592806,714,679.475407194,659,635,878,787,804.524592806,653,631,652,0.400979530992,-0.00537849910525,0.0598297001117,0.999999926279,0.000250920480208,-0.000289681028482,2.37885596261e-05,1793242353361174528
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.945519795,744.054480205,714.054480205,680,659,635,878.054480205,787,804.054480205,652.945519795,631,652,0.400970529595,-0.00537766656811,0.0598302273146,0.999999926689,0.000250146699255,-0.000288970981002,2.33501929289e-05,1793242353377841152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.370328422,744.629671578,714.629671578,680,659,635,878.629671578,787,804.629671578,652.370328422,631,652,0.400964803478,-0.00537771430525,0.059830480494,0.999999927313,0.000247899165666,-0.000288753156097,2.32821215979e-05,1793242353394508032
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.790826028,679.790826028,659,635,878.790826028,787,805,652,631,652,0.400960985794,-0.0053779383546,0.0598312703425,0.999999927962,0.000246684313033,-0.000287530350785,2.3425134751e-05,1793242353411174656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.203530686,679.203530686,659,635,878.203530686,787,805,652,631,652,0.400960617964,-0.00537848112151,0.0598330303219,0.999999928658,0.00024733622596,-0.000284490854025,2.39497228901e-05,1793242353427841024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.378245358,745,714.378245358,679.378245358,659,635,878,787,804.621754642,652,631,652,0.400960352832,-0.00537869181639,0.0598341428523,0.999999929057,0.000247876106284,-0.000282603776565,2.40422841354e-05,1793242353444507648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.957094208,745,714.957094208,679.957094208,659,635,878,787,804.042905792,652,631,652,0.400960142167,-0.00537872639592,0.0598349120063,0.999999929301,0.000248356569781,-0.000281327888027,2.39057186833e-05,1793242353461174016
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.465208479,680,659,635,878.534791521,787,804.534791521,652,631,652,0.400960103655,-0.0053790211739,0.0598357442695,0.999999929803,0.000247622389448,-0.000280194175825,2.38274393653e-05,1793242353477840640
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.887820159,745,714,679.887820159,659,635,878.887820159,787,805,652,631,652,0.400959937437,-0.0053792811334,0.0598363332652,0.999999930208,0.000246951492863,-0.00027934287637,2.37904123404e-05,1793242353494507520
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.311329348,745,714,679.311329348,659,635,878.311329348,787,805,652,631,652,0.400959185598,-0.00537931076197,0.0598358944682,0.999999930132,0.000246945003498,-0.000279613369475,2.3904814759e-05,1793242353511174400
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.270176666,745,714,679.270176666,659,635,878,787,805,652,631,652,0.400958886316,-0.00537956623802,0.0598358578311,0.999999930337,0.000246174197639,-0.000279557994175,2.38962942442e-05,1793242353527841024
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.857571168,745,714,679.857571168,659,635,878,787,805,652,631,652,0.400959118387,-0.00538008688444,0.0598362933751,0.999999930873,0.000244505998132,-0.0002791200127,2.37434483752e-05,1793242353544507648
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.560791261,745,714.439208739,680,659,635,878.439208739,787,805,652,631,652,0.400958902109,-0.00538005326957,0.0598368268082,0.999999931163,0.000244056629567,-0.000278489982032,2.35138865418e-05,1793242353561174272
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.018832145,745,714.981167855,680,659,635,879,787,805,652,631,652,0.40095855287,-0.00537983267859,0.059837367895,0.999999931373,0.000244014347368,-0.000277795047818,2.32670495624e-05,1793242353577840896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.593397731,745,714.406602269,680,659,635,879,787,805,652,631,652,0.40095851497,-0.00537932988766,0.0598372102056,0.999999931483,0.000244472298003,-0.000276998875232,2.32350681055e-05,1793242353594507520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.831425215,714,679.831425215,659,635,879,787,805,652.168574785,631,652,0.400959190899,-0.00537976946869,0.0598376985216,0.999999932044,0.000243643090066,-0.000275694328504,2.33072228268e-05,1793242353611174400
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,744.254767967,714,679.254767967,659,635,879,787,805,652.745232033,631,652,0.40096159485,-0.0053824903249,0.0598397506748,0.999999933685,0.000239697954417,-0.000273159119878,2.36314683235e-05,1793242353627841024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,744.329370423,714,679.329370423,659,635,879,787,805,652.670629577,631,652,0.400962018195,-0.0053826583987,0.0598402137127,0.999999933618,0.000239945765152,-0.000273176745385,2.37459390137e-05,1793242353644507648
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,744.919429936,714,679.919429936,659,635,879,787,805,652.080570064,631,652,0.400960873936,-0.005380806004,0.0598394190023,0.999999932199,0.000243512196392,-0.000275214880327,2.36943777696e-05,1793242353661174528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.500563939,745,714,679.500563939,659,635,879,787,804.500563939,652,631,652,0.400959176677,-0.00538178233693,0.0598383284274,0.999999931861,0.000243125767669,-0.000276769829833,2.3802466463e-05,1793242353677841408
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.077432817,745,714,679,659,635,879,787,804.077432817,652,631,652,0.400957920078,-0.0053827723091,0.0598376638622,0.99999993186,0.000242219133789,-0.00027756370735,2.38560944727e-05,1793242353694508032
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.65273182,745,714,679,659,635,879,787,804.65273182,652,631,652,0.400960059046,-0.00538097378848,0.0598400392215,0.999999932922,0.000241986941974,-0.000273955447226,2.33972305678e-05,1793242353711174400
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.233057795,659,635,878.766942205,787,805,652,631,652,0.400960791478,-0.00537999002297,0.05984102202,0.999999933263,0.000242289735716,-0.000272453916262,2.32022010557e-05,1793242353727841024
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.821039431,659,635,878.178960569,787,805,652,631,652,0.400959381899,-0.00538024704817,0.0598398840872,0.99999993252,0.000243407259222,-0.000274160723737,2.34089650148e-05,1793242353744507648
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5561978e8f94872c9bc4e8e9b5715a9ade0546a9
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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+377,6.283333333,pose2_to_pose3_retreat,0.580826997294,1.97900085149e-06,1.05004093612,0.551398713471,0.00867679575263,1.04967873532
+378,6.300000000,pose2_to_pose3_retreat,0.580801984259,1.90221512229e-06,1.05004086331,0.55137370327,0.00867672835933,1.04967865722
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+380,6.333333333,pose2_to_pose3_retreat,0.58077005636,1.82198812716e-06,1.05004094464,0.551341775501,0.00867664845601,1.04967873577
+381,6.350000000,pose2_to_pose3_retreat,0.58076096147,1.8397536778e-06,1.05004074565,0.551332681102,0.00867666804475,1.04967854076
+382,6.366666667,pose2_to_pose3_retreat,0.580754747456,1.83649249664e-06,1.0500405999,0.55132646729,0.00867666552924,1.04967839644
+383,6.383333333,pose2_to_pose3_retreat,0.580750533929,1.8769924333e-06,1.05004067459,0.551322252962,0.00867670344163,1.04967847418
+384,6.400000000,pose2_to_pose3_retreat,0.580747844365,1.79656045315e-06,1.05004069937,0.5513195644,0.00867662642141,1.04967849913
+385,6.416666667,pose2_to_pose3_retreat,0.580746446018,1.69941464453e-06,1.05004070033,0.551318167363,0.00867653368529,1.04967849925
+386,6.433333333,pose2_to_pose3_retreat,0.580745813788,1.65595639211e-06,1.05004070055,0.551317535718,0.00867649219494,1.0496784991
+387,6.450000000,pose2_to_pose3_retreat,0.580745694493,1.66983949734e-06,1.05004069064,0.551317416167,0.00867650521931,1.04967848937
+388,6.466666667,pose2_to_pose3_retreat,0.580745531499,1.68880792881e-06,1.0500406771,0.551317252825,0.00867652301446,1.04967847607
+389,6.483333333,pose2_to_pose3_retreat,0.58074536462,1.70822859939e-06,1.05004066324,0.551317085588,0.00867654123387,1.04967846244
+390,6.500000000,pose2_to_pose3_retreat,0.580745248121,1.72178623813e-06,1.05004065356,0.55131696884,0.00867655395291,1.04967845294
+391,6.516666667,pose2_to_pose3_retreat,0.580745111393,1.73769798343e-06,1.0500406422,0.55131683182,0.00867656888044,1.04967844178
+392,6.533333333,pose2_to_pose3_retreat,0.580744953839,1.7560334258e-06,1.05004062912,0.551316673928,0.00867658608175,1.04967842892
+393,6.550000000,pose2_to_pose3_retreat,0.580744877526,1.76491436912e-06,1.05004062278,0.551316597452,0.00867659441337,1.04967842269
+394,6.566666667,pose2_to_pose3_retreat,0.580744842867,1.76894787855e-06,1.0500406199,0.551316562719,0.00867659819739,1.04967841986
+395,6.583333333,pose2_to_pose3_retreat,0.580744561062,1.80174300124e-06,1.05004059649,0.551316280311,0.00867662896398,1.04967839686
+396,6.600000000,pose2_to_pose3_retreat,0.580744215562,1.83988039439e-06,1.050040586,0.551315934223,0.00867666512511,1.04967838682
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+398,6.633333333,pose2_to_pose3_retreat,0.580743965186,1.84873306996e-06,1.05004074369,0.551315684793,0.00867667717976,1.04967854432
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+400,6.666666667,pose2_to_pose3_retreat,0.580743729597,1.85706294977e-06,1.05004089206,0.551315450094,0.00867668852251,1.04967869252
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+402,6.700000000,pose2_to_pose3_retreat,0.580743542844,1.8869742608e-06,1.05004085668,0.551315263584,0.00867671913024,1.0496786541
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diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cdb1d81eb5a3342604b9b60eaeaa9ee30a4ef980
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:716fabe6142d6233d1a26758185344ff5b9d4ebb23a0f3104e234bebd61d3aa6
+size 25839239
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..273dc9cdf86b3172ed1bc2328c418b68064ec7bc
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+30,0.500000000,BASELINE,765.410184746,744.589815254,714,679.589815254,659,635,878,787,805,652,631,652,0.400959413775,-0.00538218116876,0.0598420867955,0.999999934341,0.000239904717291,-0.000270615366838,2.30276910908e-05,1793242354393265408
+31,0.516666667,BASELINE,765.988506548,744.011493452,714,679.011493452,659,635,878,787,805,652,631,652,0.400959497948,-0.0053815023142,0.0598425488738,0.999999934753,0.000238618564413,-0.000270221896848,2.31232086896e-05,1793242354409932288
+32,0.533333333,BASELINE,765.435858144,744.564141856,714.564141856,679,659,635,878,787,804.435858144,652.564141856,631,652,0.400960325791,-0.00538189325225,0.0598426959278,0.999999934745,0.000239000118689,-0.000269907198916,2.32287222515e-05,1793242354426598656
+33,0.550000000,BASELINE,765.142625238,745,714.857374762,679,659,635,878,787,804.142625238,652.857374762,631,652,0.400960635963,-0.00538202248062,0.0598425037002,0.99999993465,0.000239380085898,-0.000269923364715,2.32025341013e-05,1793242354443265024
+34,0.566666667,BASELINE,765.730162868,745,714.269837132,679,659,635,878,787,804.730162868,652.269837132,631,652,0.400959284243,-0.00538126765158,0.0598412730261,0.999999934313,0.000239649615767,-0.00027096666113,2.27648766726e-05,1793242354459931392
+35,0.583333333,BASELINE,765.686598818,745,714,679.313401182,659,635,878,787.313401182,805,652,631,652,0.400958193533,-0.00538177596825,0.0598407280085,0.999999934204,0.000239074918184,-0.000271879810035,2.27451719032e-05,1793242354476598528
+36,0.600000000,BASELINE,765.107012038,745,714,679.892987962,659,635,878,787.892987962,805,652,631,652,0.400957324509,-0.00538335713082,0.0598407653492,0.999999934285,0.000237783180615,-0.000272682418971,2.30804529149e-05,1793242354493265920
+37,0.616666667,BASELINE,765.470999384,745,714.470999384,680,659,635,878.470999384,787.529000616,805,652,631,652,0.400957985026,-0.00538268570822,0.0598411930154,0.999999934355,0.000238268202233,-0.000272008159671,2.30143462361e-05,1793242354509932032
+38,0.633333333,BASELINE,766,745,714.951811696,680,659,635,879,787,805,652,631,652,0.400958940816,-0.00538166926574,0.0598416937727,0.999999934442,0.00023904172207,-0.000271018975479,2.2896419212e-05,1793242354526598400
+39,0.650000000,BASELINE,766,745,714.379686546,680,659,635,879,787,805,652,631,652,0.400959341179,-0.00538244753568,0.0598420282236,0.999999934756,0.000238577500637,-0.000270241852405,2.3203307532e-05,1793242354543265024
+40,0.666666667,BASELINE,765.801010467,745,714,679.801010467,659,635,878.801010467,787,804.801010467,652,631,652,0.400959794481,-0.00538333208064,0.0598423768222,0.999999935104,0.000237773072528,-0.000269639620222,2.34421625242e-05,1793242354559931904
+41,0.683333333,BASELINE,765.209409264,745,714,679.209409264,659,635,878.209409264,787,804.209409264,652,631,652,0.400960352234,-0.00538442630901,0.0598427533348,0.999999935521,0.000236297407574,-0.000269382452487,2.35467859233e-05,1793242354576598528
+42,0.700000000,BASELINE,765,745,714,679,659,635,878.374438885,787,804.374438885,652,631,652,0.400960517496,-0.00538379438216,0.0598430515717,0.999999935479,0.000236749242856,-0.00026915518113,2.34068526274e-05,1793242354593264896
+43,0.716666667,BASELINE,765,745,714,679,659,635,878.954038988,787,804.954038988,652,631,652,0.400960467706,-0.00538221666647,0.0598433069202,0.999999935184,0.000238257187242,-0.000268944290498,2.31329226959e-05,1793242354609931520
+44,0.733333333,BASELINE,765.529436405,744.470563595,714,679,659,635,879,787,804.470563595,652,631,651.470563595,0.400959764035,-0.00538204274848,0.0598425405246,0.999999934502,0.000240084380306,-0.000269856205161,2.30843151718e-05,1793242354626598144
+45,0.750000000,BASELINE,766,744,714,679.106661902,659.106661902,635,879,787,804.106661902,652,631,651.106661902,0.400959347222,-0.00538200015812,0.0598419186143,0.999999933993,0.000241533280207,-0.000270452307952,2.30680884947e-05,1793242354643265024
+46,0.766666667,BASELINE,766,744,714,679.693751665,659.693751665,635,879,787,804.693751665,652,631,651.693751665,0.400960476141,-0.0053820045107,0.0598423438689,0.999999934424,0.000241154418568,-0.000269190349386,2.31103012195e-05,1793242354659931648
+47,0.783333333,BASELINE,766,744.276965174,714,679.723034826,659.723034826,635,878.723034826,787,804.723034826,652,631,652,0.400961879834,-0.00538185642235,0.0598434270441,0.999999934966,0.000240888853681,-0.000267407820129,2.30862516108e-05,1793242354676598272
+48,0.800000000,BASELINE,766,744.855951829,714,679.144048171,659.144048171,635,878.144048171,787,804.144048171,652,631,652,0.40096358316,-0.00538154210216,0.0598452276602,0.999999935628,0.000240746835159,-0.000265057625365,2.29899450959e-05,1793242354693265408
+49,0.816666667,BASELINE,765.566301551,745,714,679,659,635,878,787,804.433698449,652,631,652,0.400962487876,-0.00538205559388,0.0598444567249,0.999999935634,0.0002391521824,-0.000266479589191,2.29676758551e-05,1793242354709932032
+50,0.833333333,BASELINE,765.011023728,745,714,679,659,635,878,787,805,652,631,652,0.400960491386,-0.00538282351521,0.0598428549254,0.999999935406,0.000237145629136,-0.000269115268967,2.29692159272e-05,1793242354726598912
+51,0.850000000,BASELINE,765.587804181,745,714,679,659,635,878,787,805,652,631,652,0.400959812388,-0.00538257859805,0.0598423212914,0.999999934821,0.000238690554271,-0.000269924262303,2.29342537286e-05,1793242354743265792
+52,0.866666667,BASELINE,765.832449058,745,714,679,659,635,878,787,805,652,631,652,0.400959519223,-0.00538263597898,0.059842169742,0.999999934555,0.000239619903567,-0.000270082731922,2.29846306618e-05,1793242354759932672
+53,0.883333333,BASELINE,765.245273329,745,714,679,659,635,878,787,805,652,631,652,0.40096019236,-0.00538345045369,0.0598429751086,0.999999935091,0.000239007567131,-0.000268611990258,2.32487361196e-05,1793242354776599808
+54,0.900000000,BASELINE,765,745,714,679,659,635,878.337459982,787,805,652,631,652,0.400960267197,-0.00538382625288,0.0598429084323,0.9999999353,0.000237902865404,-0.000268814104385,2.32726989659e-05,1793242354793266176
+55,0.916666667,BASELINE,765,745,714,679,659,635,878.917006374,787,805,652,631,652,0.400959912826,-0.00538388735582,0.0598422161716,0.999999935271,0.000236444951615,-0.000270216288731,2.31243887436e-05,1793242354809932288
+56,0.933333333,BASELINE,765,745,714,679.492897901,659,635,879,787,805,652.492897901,631,652,0.400959272412,-0.00538305560028,0.0598415847338,0.999999935083,0.000236472745545,-0.000270920585149,2.27102719656e-05,1793242354826598400
+57,0.950000000,BASELINE,765.068092482,745,714,679.931907518,659,635,878.931907518,787,805,652.931907518,631,652,0.400958784806,-0.00538212833273,0.0598411965859,0.999999934919,0.000236856326309,-0.000271221580103,2.23532758313e-05,1793242354843265024
+58,0.966666667,BASELINE,765.642646561,745,714,679.357353439,659,635,878.357353439,787,805,652.357353439,631,652,0.400959789355,-0.00538160062691,0.0598425423781,0.999999935124,0.000238039224679,-0.000269390465068,2.27515744724e-05,1793242354859931648
+59,0.983333333,BASELINE,766,745,714,679,659,635,878,787,804.77628794,652,631,652,0.400959911202,-0.00538139714199,0.0598429193614,0.999999935034,0.000239025243149,-0.000268833095779,2.29586352577e-05,1793242354876598272
+60,1.000000000,BASELINE,766,745,714,679,659,635,878,787,804.184509307,652,631,652,0.400958580766,-0.00538172708768,0.0598417023936,0.999999934464,0.000239687341365,-0.0002703713809,2.28510583444e-05,1793242354893264896
+61,1.016666667,BASELINE,765.602857498,745,714,679,659,635,878.397142502,787,804,652,631,652,0.400959710383,-0.00538265605352,0.059842450269,0.999999934769,0.000239614634042,-0.000269287466877,2.30437730205e-05,1793242354909932288
+62,1.033333333,BASELINE,765.025793581,745,714,679,659,635,878.974206419,787,804,652,631,652,0.400961954502,-0.00538385639939,0.059844088297,0.999999935468,0.000239209030421,-0.000267015591814,2.33725317873e-05,1793242354926599936
+63,1.050000000,BASELINE,765.549747432,745,714,679.549747432,659,635,879,787,804.549747432,652,630.450252568,651.450252568,0.400960259956,-0.00538255557377,0.0598426147596,0.999999935012,0.000238553877171,-0.000269335173168,2.29366620953e-05,1793242354943266304
+64,1.066666667,BASELINE,766,745,714,679.871965075,659,635,878.871965075,787,805,652,630.128034925,651.128034925,0.400958746679,-0.00538127774096,0.0598414006144,0.9999999345,0.000238527850635,-0.000271285386861,2.25698748222e-05,1793242354959932928
+65,1.083333333,BASELINE,766,745,714,679.283545671,659,635,878.283545671,787,805,652,630.716454329,651.716454329,0.400958547868,-0.00538050339195,0.0598416426869,0.999999933994,0.000240806005946,-0.000271134953925,2.25801362932e-05,1793242354976599808
+66,1.100000000,BASELINE,765.700291161,745,714,679,659,635,878,787,805,652,631,652,0.400958719202,-0.00538062444366,0.059842074265,0.999999934067,0.000241218430739,-0.000270489418582,2.27162931924e-05,1793242354993266688
+67,1.116666667,BASELINE,765.121840257,745,714,679,659,635,878,787,805,652,631,652,0.400959234788,-0.00538157825645,0.0598426820913,0.999999934678,0.000239895646065,-0.00026938341679,2.29695382345e-05,1793242355009933056
+68,1.133333333,BASELINE,765.458194972,745,714,679.458194972,659,635,878.458194972,787,804.541805028,652,631,652,0.400960067139,-0.00538192036291,0.0598435073698,0.999999934581,0.00024143146406,-0.000268334938949,2.33506306119e-05,1793242355026599680
+69,1.150000000,BASELINE,765.962116931,745,714,680,659,635,878.962116931,787,804.037883069,652,631,651.962116931,0.400960836179,-0.00538221769206,0.059844206087,0.99999993436,0.000243206168548,-0.000267524809196,2.37022970547e-05,1793242355043266560
+70,1.166666667,BASELINE,765.393221099,745,714,680,659,635,878.393221099,787,804.606778901,652,631,651.393221099,0.40095953299,-0.00538417532593,0.0598423174429,0.999999935089,0.000237637393212,-0.000269840486241,2.31633098869e-05,1793242355059933696
+71,1.183333333,BASELINE,765,745,714,679.816511389,658.816511389,635,878,787,804.816511389,652,631,651.183488611,0.400958814503,-0.00538505400139,0.059841510126,0.999999935602,0.000234333529425,-0.00027085570478,2.28302430818e-05,1793242355076600320
+72,1.200000000,BASELINE,765,745,714,679.222311392,658.222311392,635,878,787,804.222311392,652,631,651.777688608,0.400959404782,-0.00538351759271,0.0598431231957,0.999999935695,0.000236099325067,-0.000268960044938,2.29580976292e-05,1793242355093266944
+73,1.216666667,BASELINE,765.361632179,745,714,679.361632179,658.361632179,635,878,787,804.361632179,652,631,652,0.400960025972,-0.00538424897959,0.0598438367046,0.999999935855,0.000236504493671,-0.000267991746471,2.3134434508e-05,1793242355109933824
+74,1.233333333,BASELINE,765.939444524,745,714,679.939444524,658.939444524,635,878,787,804.939444524,652,631,652,0.400960665641,-0.00538633603248,0.0598440124646,0.999999936058,0.000236096292688,-0.000267577815641,2.33397536407e-05,1793242355126601216
+75,1.250000000,BASELINE,765.484811162,745,714,679.484811162,658.484811162,635,878,787,804.484811162,652,631,652,0.400961182711,-0.00538540990931,0.0598436789793,0.999999936057,0.000236605068853,-0.000267133557403,2.33224566599e-05,1793242355143267328
+76,1.266666667,BASELINE,765,745,714,679.092589095,658.092589095,635,878.092589095,787,804.092589095,652,631,652,0.400961799201,-0.0053840368359,0.0598435302098,0.999999936041,0.00023739522364,-0.000266499617023,2.32368389364e-05,1793242355159933440
+77,1.283333333,BASELINE,765,745,714,679.680135823,658.680135823,635,878.680135823,787,804.680135823,652,631,652,0.400963023889,-0.00538216021233,0.0598446875844,0.999999936071,0.000239115686144,-0.000264870664173,2.29253155001e-05,1793242355176600320
+78,1.300000000,BASELINE,765,745,714,679.735802269,659,635,878.735802269,787,805,652,631,652,0.400962542239,-0.00538225909803,0.0598445397475,0.999999936173,0.00023805013796,-0.000265454429165,2.28078528882e-05,1793242355193266944
+79,1.316666667,BASELINE,765,745,714,679.155904548,659,635,878.155904548,787,805,652,631,652,0.40096002162,-0.00538471859557,0.0598428322631,0.999999936345,0.000233655478759,-0.000268682255578,2.29222810109e-05,1793242355209933312
+80,1.333333333,BASELINE,765,744.578255057,714.421744943,679,659,635,878,787.421744943,804.578255057,652,631,652,0.400959610492,-0.00538377071595,0.0598426911839,0.999999935717,0.000235629148342,-0.000269302969642,2.28110018766e-05,1793242355226600192
+81,1.350000000,BASELINE,765,744.001432205,714.998567795,679,659,635,878,787.998567795,804.001432205,652,631,652,0.400959975035,-0.00538156992542,0.0598431260803,0.999999934786,0.000239944486693,-0.000268965034579,2.26167289654e-05,1793242355243266560
+82,1.366666667,BASELINE,765,744.566741989,714.433258011,679,659,635,878,787.433258011,804.566741989,652,631,652,0.400960100102,-0.00538298902508,0.0598431616804,0.999999935411,0.000237747839663,-0.00026856895825,2.29234026067e-05,1793242355259933184
+83,1.383333333,BASELINE,765,744.858190073,714,679,659,635,878,787,804.858190073,652,631,652,0.400959996925,-0.00538378214886,0.0598430308394,0.99999993571,0.000236517481585,-0.000268521149876,2.31528154023e-05,1793242355276600064
+84,1.400000000,BASELINE,765,744.260911341,714,679,659,635,878,787,804.260911341,652,631,652,0.400959162584,-0.00538253580803,0.0598423686106,0.999999934965,0.000238442735318,-0.000269592382275,2.31300750408e-05,1793242355293266176
+85,1.416666667,BASELINE,765.326210663,744.326210663,714,679,659,635,878.326210663,787,804,652,631,652,0.400958931693,-0.00538253723571,0.0598420536938,0.999999934826,0.00023842203424,-0.000270121639532,2.3159256825e-05,1793242355309933056
+86,1.433333333,BASELINE,765.905454328,744.905454328,714,679,659,635,878.905454328,787,804,652,631,652,0.400959168884,-0.00538350652455,0.0598420081778,0.999999935159,0.000236891907266,-0.000270230500912,2.32287132483e-05,1793242355326600192
+87,1.450000000,BASELINE,766,745,714,679,659,635,878.51908446,787,804.48091554,652,631,652,0.400958990353,-0.00538285568601,0.0598420194458,0.999999934641,0.000239699118518,-0.000269683697286,2.3096358351e-05,1793242355343266816
+88,1.466666667,BASELINE,766,744.94308892,714,679,659,635,878,787,804.94308892,652,631.05691108,652,0.400958843048,-0.00538205803021,0.0598421580187,0.999999934109,0.000242732310713,-0.000268955880665,2.29378928426e-05,1793242355359933440
+89,1.483333333,BASELINE,766,744.355224931,714,679,659,635,878,787,804.355224931,652,631.644775069,652,0.400959743608,-0.00538283898831,0.059843380949,0.999999935102,0.000239980599968,-0.000267732495688,2.29030892021e-05,1793242355376599552
+90,1.500000000,BASELINE,765.770890669,744.229109331,714,679,659,635,878.229109331,787,804.229109331,652,631.770890669,652,0.400960532726,-0.00538358605017,0.0598439210281,0.999999935776,0.000237928369719,-0.000267030680521,2.30707646085e-05,1793242355393265920
+91,1.516666667,BASELINE,765.191946129,744.808053871,714,679,659,635,878.808053871,787,804.808053871,652,631.191946129,652,0.400961151681,-0.0053842813546,0.0598434184369,0.999999935974,0.000236944201444,-0.00026712526901,2.35476124974e-05,1793242355409932800
+92,1.533333333,BASELINE,765,745,714,679,659,635,879,787,804.613717228,652,631,652,0.400962361948,-0.00538342514088,0.0598443487189,0.999999935853,0.000239224497586,-0.000265545652598,2.34597012584e-05,1793242355426599680
+93,1.550000000,BASELINE,765,745,714,679,659,635,879,787,804.035843224,652,631,652,0.400963865496,-0.00538179939441,0.0598459896872,0.999999935559,0.000243123925551,-0.000263135652324,2.30916768759e-05,1793242355443266560
+94,1.566666667,BASELINE,765,745,714,679,659,635,878.463529575,787,804,652,631,652,0.400961131908,-0.00538287807058,0.0598439702566,0.999999935192,0.000240990462714,-0.000266444516753,2.33937894406e-05,1793242355459932672
+95,1.583333333,BASELINE,765.1122333,745,714,679,659,635,878,786.8877667,804,652,631,652,0.400958766773,-0.00538370453133,0.0598422042715,0.999999934912,0.00023895430732,-0.000269296743035,2.35690705254e-05,1793242355476599296
+96,1.600000000,BASELINE,765.70431544,745,714,679,659,635,878,786.29568456,804,652,631,652,0.400959174892,-0.00538268804508,0.0598425567718,0.999999935098,0.000239039840505,-0.000268579760917,2.30126237937e-05,1793242355493266688
+97,1.616666667,BASELINE,766,745,714,679,659,635,878,786.290082042,804,652,631,652,0.400959591536,-0.00538315774528,0.0598428804018,0.99999993534,0.000238586481117,-0.000268097138841,2.27981521328e-05,1793242355509933568
+98,1.633333333,BASELINE,766,745,714,679,659,635,878,786.869548264,804,652,631,652,0.400960016683,-0.00538511005661,0.0598431752312,0.99999993564,0.00023759552559,-0.00026784831304,2.29248328723e-05,1793242355526599936
+99,1.650000000,BASELINE,766,745,714,679.447130399,659,635,878.447130399,787,804.447130399,652,631,651.552869601,0.40096028994,-0.00538396013432,0.0598429690512,0.999999935257,0.000239290078525,-0.000267761355129,2.30214652898e-05,1793242355543266048
+100,1.666666667,BASELINE,766,745,714,680,659,635,878.976076058,787,804.976076058,652,631.023923942,651.023923942,0.400960501388,-0.00538202009571,0.0598426427458,0.99999993472,0.000241557404244,-0.000267723913723,2.31015718213e-05,1793242355559932160
+101,1.683333333,BASELINE,766,745,714,680,659,635,878.404800898,787,804.404800898,652,631.595199102,651.595199102,0.400960308302,-0.00538262355148,0.0598428982999,0.999999935313,0.000239078629198,-0.000267743421912,2.30033157503e-05,1793242355576599296
+102,1.700000000,BASELINE,765.827339972,745,714,679.827339972,659,635,878.172660028,787,804,652,631.827339972,652,0.400960676535,-0.00538333119956,0.0598435688536,0.999999936038,0.000236881538665,-0.000266985025098,2.30219446927e-05,1793242355593266176
+103,1.716666667,BASELINE,765.234837744,745,714,679.234837744,659,635,878.765162256,787,804,652,631.234837744,652,0.40096240968,-0.00538429220282,0.0598452485255,0.999999937092,0.000235369395938,-0.000264335065125,2.33247926536e-05,1793242355609933312
+104,1.733333333,BASELINE,765.349217335,745,714.349217335,679.349217335,659,635,879,787,804,652,631,652,0.400962238063,-0.00538406675412,0.0598450063703,0.999999936902,0.000235777201885,-0.000264698715603,2.32314620098e-05,1793242355626599936
+105,1.750000000,BASELINE,765.927726185,745,714.927726185,679.927726185,659,635,879,787,804,652,631,652,0.400960815806,-0.00538306229675,0.0598435023688,0.999999935893,0.000237445620766,-0.00026704106286,2.28780057276e-05,1793242355643266304
+106,1.766666667,BASELINE,765.497301531,744.497301531,714.497301531,679.497301531,659,635,879,787,804,652,631,652,0.400960337692,-0.00538290620823,0.0598436562873,0.999999936006,0.000236977973304,-0.000267029943226,2.28799326801e-05,1793242355659932928
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,878,787,805,652,631,652,0.400959502691,-0.00538426861278,0.0598428064156,0.999999935944,0.000236036722358,-0.000268072799168,2.31222534523e-05,1793242355702653440
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.421389947,745,714,679.421389947,659,635,878,787,805,652,631,652,0.400959044834,-0.00538291192798,0.0598425366405,0.999999935029,0.000239087604506,-0.000268807636877,2.28478954513e-05,1793242355719319808
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.156318174,745,714,679,659,635,878.156318174,787,805,652,631,652,0.400959058334,-0.00538195642963,0.0598425860362,0.999999934563,0.000240952792823,-0.000268883801518,2.27447011737e-05,1793242355735986432
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.731609016,745,714,679,659,635,878.731609016,787,805,652,631,652,0.400960335191,-0.00538207621318,0.0598434908911,0.999999935323,0.000239640019239,-0.000267194554118,2.31002693718e-05,1793242355752652544
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.692716945,745,714,679,659,635,878.692716945,787,804.692716945,652,631,652,0.400961087755,-0.00538249917395,0.0598439410524,0.999999935524,0.000239763830028,-0.000266315114882,2.32912160036e-05,1793242355769318912
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.116707827,745,714,679,659,635,878.116707827,787,804.116707827,652,631,652,0.400961381815,-0.00538318727012,0.0598439935736,0.999999935236,0.000241143966803,-0.000266143871519,2.33381972877e-05,1793242355785985536
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.471309479,744.528690521,714,679,659,635,878.471309479,787,804,652,631,652,0.400960247478,-0.00538404350395,0.0598435379222,0.999999935615,0.000238673113175,-0.000266971434627,2.30639762953e-05,1793242355802652160
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.938990382,744.061009618,714.061009618,679.061009618,659,635,878.938990382,787,804,652,631,651.938990382,0.400959234586,-0.00538494107751,0.0598431851538,0.999999936194,0.000235396733363,-0.000267735829991,2.27703703251e-05,1793242355819319040
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.36088847,744.63911153,714.63911153,679.63911153,659,635,878.36088847,787,804,652,631,651.36088847,0.400962327251,-0.00538582692237,0.0598447987978,0.999999937126,0.00023358667377,-0.000265813777301,2.30042177078e-05,1793242355835985664
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.783846567,679.783846567,659,635,878,787,804.216153433,652,631,651.216153433,0.400970015599,-0.00538589262626,0.059848035707,0.999999938368,0.000233907611673,-0.000260799360844,2.31166319477e-05,1793242355852652288
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.208565872,679.208565872,659,635,878,787,804.791434128,652,631,651.791434128,0.400985339425,-0.0053845957101,0.0598539695839,0.999999940056,0.000237769087064,-0.000250647149062,2.302729155e-05,1793242355869318912
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.366037443,744.633962557,714,679,659,635,878,787,804.633962557,652,631,652,0.401021311923,-0.00538613428306,0.0598685460695,0.999999946667,0.000236516419069,-0.000223948984505,2.39515160742e-05,1793242355885985536
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.940255558,744.059744442,714,679,659,635,878,787,804.059744442,652,631,652,0.401069028178,-0.00538928551613,0.0598880379655,0.99999995504,0.000232355125787,-0.000187840449329,2.54521969642e-05,1793242355902652160
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.534090421,714,679,659,635,878,787,804.534090421,652,631,652,0.40113086386,-0.00539115799939,0.0599057060395,0.999999960333,0.000232246249639,-0.00015715324358,2.64475214196e-05,1793242355919318784
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878.125470046,787,804.874529954,652,631,652,0.401196138274,-0.00539257348496,0.0599213858551,0.999999964032,0.000232805347351,-0.000130394616234,2.71031758513e-05,1793242355935985664
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878.699912634,787,804.300087366,652,631,652,0.401267850397,-0.00539288505822,0.0599307089146,0.999999965584,0.000234070726686,-0.000115440923691,2.67533774423e-05,1793242355952652544
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.724114504,745,714,679.275885496,659,635,878.724114504,787,804,652,631,652,0.401346369009,-0.00539369625213,0.0599372193894,0.999999966411,0.000235059075249,-0.000105947175322,2.64518520976e-05,1793242355969319168
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.146467877,745,714,679.853532123,659,635,878.146467877,787,804,652,631,652,0.401432332497,-0.00539505392672,0.0599406534833,0.999999966623,0.000235744409951,-0.000102425466831,2.62031274323e-05,1793242355985985792
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.440340676,745,714,680,659,635,878,787,804,652,631,652,0.401538779953,-0.00539851618397,0.0599444537163,0.999999968354,0.000232010238973,-9.38380223632e-05,2.56645894714e-05,1793242356002652416
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679.970347642,659,635,878.029652358,787,804.029652358,652,631,652,0.401653353606,-0.00540270313858,0.0599483528884,0.999999970433,0.000226935706059,-8.37165890846e-05,2.50120679099e-05,1793242356019319040
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679.392300586,659,635,878.607699414,787,804.607699414,652,631,652,0.401789527726,-0.00540707111347,0.0599517816565,0.999999971466,0.000224837022613,-7.70498580233e-05,2.40722138062e-05,1793242356035985664
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658.81566172,635,879,787,805,652,631,652,0.40193215499,-0.0054109819929,0.0599537052353,0.999999972396,0.000222486093318,-7.20037323701e-05,2.28659604665e-05,1793242356052652032
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714,679,658.241997051,635,879,787,805,652,631,652,0.402088411417,-0.00541392747639,0.059952449822,0.999999973188,0.00021960241568,-7.03803608335e-05,2.10970663666e-05,1793242356069318912
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,714,679,658.334033818,635,878.665966182,787,805,652,631,652,0.402266795275,-0.00541865670359,0.0599522918107,0.99999997427,0.000216034075692,-6.64711831359e-05,1.92560741605e-05,1793242356085985792
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,714,679,658.911791215,635,878.088208785,787,805,652,631,652,0.40246132415,-0.0054246874173,0.0599529345049,0.99999997553,0.000211966180113,-6.08941955179e-05,1.73624762926e-05,1793242356102652160
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,714,679.501034188,659.501034188,635,878,787,805,652,631,652,0.402688626378,-0.00543040475846,0.0599524446065,0.999999976966,0.000206594098579,-5.61866840854e-05,1.51626018834e-05,1793242356119318784
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,679.910381617,659.910381617,635,878,787,805,652.089618383,631,652,0.40292692797,-0.0054364337376,0.059952317027,0.999999978549,0.00020026384876,-5.12866926146e-05,1.28891607038e-05,1793242356135985152
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,679.336538671,659.336538671,635,878,787,805,652.663461329,631,652,0.403192754179,-0.00544445164518,0.059955249777,0.9999999809,0.000190026149851,-4.45002013335e-05,1.05164045591e-05,1793242356152651776
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.762129458,744.762129458,714,679.237870542,659,635,878,787,804.762129458,652.762129458,631,652,0.403467931262,-0.00545205575425,0.0599548511922,0.999999982648,0.000180911315151,-4.37385412376e-05,7.86546003528e-06,1793242356169318656
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.186917216,744.186917216,714,679.813082784,659,635,878,787,804.186917216,652.186917216,631,652,0.40375636949,-0.00545907302478,0.0599497281963,0.999999983629,0.00017338889735,-5.15211375011e-05,4.81999626699e-06,1793242356185985280
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.390462828,714,679.609537172,659,635,878.390462828,787,804,652,631,652,0.404067126683,-0.00546752265512,0.0599387654114,0.999999984262,0.000163663670287,-6.84784918322e-05,1.35719239865e-06,1793242356202651904
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.968886389,714,679.031113611,659,635,878.968886389,787,804,652,631,652,0.404388627755,-0.00547666179366,0.0599249914729,0.999999984275,0.000152878056526,-8.98523847887e-05,-2.30651027962e-06,1793242356219318784
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.438344091,787,804.561655909,652,631,652,0.40474885292,-0.00548323385384,0.0599135788962,0.999999983344,0.000144933930932,-0.000110727602147,-6.6902951586e-06,1793242356235985408
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.150607478,744.849392522,714,679.150607478,659,635,878,787,805,652,630.849392522,652,0.405128053731,-0.00549038414479,0.0599067094257,0.999999982952,0.00013605088113,-0.000124373073704,-1.08344677658e-05,1793242356252651776
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.726475642,744.273524358,714,679.726475642,659,635,878,787,805,652,630.273524358,652,0.405554618855,-0.00549957921197,0.0599122889926,0.999999985279,0.000124060540593,-0.000117684418325,-1.41864750682e-05,1793242356269318400
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.698514523,744.301485477,714,680,659,635,878,787,804.698514523,652,630.301485477,652,0.406014463352,-0.00550984902666,0.0599295014064,0.999999992548,8.0401808993e-05,-9.03186176865e-05,-1.67669837356e-05,1793242356285985024
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.124281134,744.875718866,714,680,659,635,878,787,804.124281134,652,630.875718866,652,0.406504415084,-0.0055210911451,0.0599572378262,0.999999998814,8.09331243072e-06,-4.42466139782e-05,-1.8649533237e-05,1793242356302651648
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.92190284,787,804,652,631,652,0.407036199784,-0.00552581623295,0.0599845627563,0.999999998988,-4.06488020666e-05,1.34481779925e-06,-1.92273584346e-05,1793242356319318528
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679.95169005,659,635,879.95169005,787,804,652,631,652,0.40757720009,-0.00552675847534,0.060008915656,0.99999999604,-7.63366104191e-05,4.1197374994e-05,-1.98934241147e-05,1793242356335985152
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679.374319839,659,635,879.374319839,787,804,652,631,652,0.408092584863,-0.00550598656836,0.060001965467,0.999999998668,-4.03472236458e-05,1.9655081464e-05,-2.54724717364e-05,1793242356352652032
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.202733516,745,714,679.202733516,659,635,878.797266484,787,804.202733516,652,631,652,0.408622889007,-0.0054944191477,0.0599930045922,0.999999999335,-1.92985981475e-05,-3.76182782531e-06,-3.07113231365e-05,1793242356369318400
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.779202717,745,714,679.779202717,659,635,878.220797283,787,804.779202717,652,631,652,0.409180696717,-0.00549982003765,0.0599803370541,0.999999998574,-2.57930067065e-05,-3.06345571056e-05,-3.53230284789e-05,1793242356385985536
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634.644596901,878.710806199,787,804.644596901,652,630.644596901,652,0.409778552642,-0.00551169386081,0.059976121067,0.999999997455,-4.53057522396e-05,-3.86147202737e-05,-3.9330510419e-05,1793242356402652416
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,714,680,659,634.06856342,879.862873159,787,804.06856342,652,630.06856342,652,0.410401270042,-0.00552758601034,0.0599771517115,0.999999995812,-7.29001395866e-05,-3.48665827653e-05,-4.29628968551e-05,1793242356419318784
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+155,2.583333333,POSE1_TO_POSE2_PRESS,765.166794536,745,714,679,660,635,879,787.166794536,804.166794536,652,631,652,0.413746151146,-0.00549958255442,0.0599133150372,0.99999998774,2.40995128598e-05,-0.000152239171703,-2.75981620016e-05,1793242356502652160
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.419698071,745,714,679.419698071,660,635,879,787,804,652,631,652,0.414495950329,-0.00550184085657,0.0599193023401,0.999999989679,1.99888402854e-05,-0.00013863732941,-3.19808838596e-05,1793242356519318784
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,804.012674698,652,631,652,0.415287966379,-0.00551214479905,0.0599444356971,0.999999995584,1.06004891106e-05,-8.67983081635e-05,-3.4432939755e-05,1793242356535985408
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,804.594469298,652,631,652,0.416154930861,-0.00552663891616,0.0599932481468,0.999999999344,-1.49305857486e-05,-3.100487253e-06,-3.28630640487e-05,1793242356552652032
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,804.826339811,652,631,652,0.416996840896,-0.00553576286755,0.0600247683441,0.999999997794,-3.23076039848e-05,4.83683697538e-05,-3.20728660216e-05,1793242356569318400
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,804.253139313,652,631,652,0.417781108067,-0.00553253166814,0.0600165042221,0.999999998645,-3.09245681447e-05,2.56879863752e-05,-3.30764744099e-05,1793242356585985024
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,804.322734343,652,631,652,0.418585435137,-0.00552761926874,0.060001332089,0.999999999124,-2.27121792238e-05,6.72673363725e-08,-3.51706944577e-05,1793242356602651904
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879,787,804.900722196,652,631,652,0.419405627726,-0.00552137719322,0.059980696348,0.999999998843,-9.09839323531e-06,-2.78789886934e-05,-3.81274890675e-05,1793242356619318528
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,680.489796448,660,635,879,787,805,652,631,652,0.420216046233,-0.00552068415213,0.0599573770801,0.99999999713,-2.0224071683e-05,-6.06471401824e-05,-4.06594070483e-05,1793242356635984896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,680.841266818,660,635,879,787,805,651.920633409,630.920633409,651.920633409,0.42102627191,-0.00552188697086,0.0599319544594,0.99999999354,-3.36712019841e-05,-9.9747071328e-05,-4.28553029733e-05,1793242356652651776
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.68479649,660,635,879,787,805,651.342398245,630.342398245,651.342398245,0.421848026165,-0.00552777300246,0.0598968090788,0.999999983766,-2.94609447129e-05,-0.000172360588607,-4.34929379038e-05,1793242356669318400
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679.234033621,660,635,879,787,805.234033621,651,630.234033621,651.234033621,0.422720619377,-0.00553214652751,0.0598954452168,0.999999982736,-3.30424032164e-05,-0.000177452782777,-4.41119397681e-05,1793242356685985024
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679.807847467,660,635,879,787,805.807847467,651,630.807847467,651.807847467,0.423667022924,-0.00553432413043,0.0599431268326,0.99999999428,-4.79362140501e-05,-8.45145843058e-05,-4.47038894206e-05,1793242356702651648
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.391992265,635,879,787,805.608007735,651.391992265,631,652,0.424590570802,-0.00553639723204,0.059992371741,0.999999997764,-5.08583953163e-05,-4.4696653921e-06,-4.3179244226e-05,1793242356719318784
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.981338287,635,879,787,805.018661713,651.981338287,631,652,0.42550261163,-0.00553841772093,0.0600424037071,0.99999999565,-4.77532983724e-05,6.90839535586e-05,-4.05889709103e-05,1793242356735985664
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.444355656,634.444355656,879.555644344,787,805,652,631.555644344,652,0.426395976439,-0.00553934841987,0.0600378212266,0.99999999546,-4.83821620699e-05,7.04480947315e-05,-4.21453089413e-05,1793242356752652544
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.870223944,745,714,679.870223944,660,634.129776056,879.870223944,787,805,652,631.870223944,651.870223944,0.427287875623,-0.00554071265007,0.060026662332,0.999999995903,-5.13916119332e-05,6.01124677589e-05,-4.40340050514e-05,1793242356769319168
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.29500257,745,714,679.29500257,660,634.70499743,879.29500257,787,805,652,631.29500257,651.29500257,0.428176840365,-0.00554368725976,0.0599990604885,0.999999996826,-6.21531148044e-05,1.77210692869e-05,-4.65980679966e-05,1793242356785985792
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.281582653,745,714,679.281582653,660,635,879.281582653,787,805.281582653,652,631,651.281582653,0.429034030473,-0.00554376894335,0.0599694448786,0.999999996457,-6.2112706749e-05,-2.9830681694e-05,-4.83461485477e-05,1793242356802652160
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.859603641,745,714,679.859603641,660,635,879.859603641,787,805.859603641,652,631,651.859603641,0.429857769532,-0.00554080507624,0.0599377092621,0.999999994074,-5.07005019436e-05,-8.28150313235e-05,-4.92351970703e-05,1793242356819318784
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.449984266,745,714,680.449984266,660,635,880,787,805.550015734,651.550015734,631,651.550015734,0.430719757623,-0.00553815778774,0.0599291619999,0.999999993101,-5.2216226674e-05,-9.22276158857e-05,-5.06452061858e-05,1793242356835985408
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.957076738,745,714,680.957076738,660.042923262,635,879.957076738,787,805,651,631,651.042923262,0.431599539028,-0.00553615671116,0.0599321081182,0.999999993678,-5.77440286504e-05,-8.12708060241e-05,-5.20083287671e-05,1793242356852652032
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.381592656,745,714,680.381592656,660.618407344,635,879.381592656,787,805,651,631,651.618407344,0.432547838344,-0.00554091324689,0.0599853560513,0.999999996777,-6.1591991341e-05,8.98013129584e-06,-5.07160650018e-05,1793242356869318656
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,879,787,805.193582933,651,631,651.806417067,0.433468360958,-0.0055443686149,0.0600192772506,0.999999994594,-6.48531790712e-05,6.39377981687e-05,-5.01861120175e-05,1793242356885985280
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,879,787,805.768151491,651,631,651.231848509,0.434334217124,-0.0055452631888,0.0600151620086,0.999999995228,-6.69595515007e-05,4.9435697767e-05,-5.11564438365e-05,1793242356902651904
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.657323142,635,879.342676858,786.657323142,806,651,631,651,0.435163164538,-0.00554717088558,0.0599924986285,0.999999996046,-7.1113278603e-05,8.96449691803e-06,-5.26281034326e-05,1793242356919318784
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.082827027,635,879.917172973,786.082827027,806,651,631,651,0.435967143305,-0.0055497639551,0.0599572875219,0.999999994376,-7.66520310466e-05,-4.90746754465e-05,-5.44389086787e-05,1793242356935985408
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.489445744,786.510554256,805.489445744,651,631,651,0.436750118639,-0.00554987189782,0.0599376823646,0.999999991983,-7.75343877936e-05,-8.33489287642e-05,-5.54553618305e-05,1793242356952652032
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.102842834,787,805.102842834,651,631,651,0.437524464522,-0.00554922598348,0.0599204890743,0.999999988624,-7.78790481103e-05,-0.000116222655289,-5.63908594575e-05,1793242356969319424
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.675601833,787,805.675601833,651,631,651,0.438275547383,-0.00554704840432,0.0599023036793,0.999999982236,-7.93510570773e-05,-0.000160989873681,-5.75678965087e-05,1793242356985990144
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651,631,651,0.439072430888,-0.0055460730956,0.0599098949128,0.99999998319,-8.13920404026e-05,-0.000153753626689,-5.79189086374e-05,1793242357002657536
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,880,787,806,651,631,651,0.439929137146,-0.00554666814043,0.0599511544591,0.999999991733,-8.41761930197e-05,-7.85927102111e-05,-5.71910027149e-05,1793242357019320064
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.4121025,635,880,787,806,651,631,651,0.440719759235,-0.0055495184776,0.0599942489617,0.999999995065,-8.18000225699e-05,-1.31022492171e-05,-5.48414389484e-05,1793242357035985408
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.997120797,635,880,787,806,651,631,651,0.441482652867,-0.00555331512229,0.0600381134047,0.999999994505,-7.72586108703e-05,4.8330551636e-05,-5.18114368905e-05,1793242357052652288
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,680.578064781,660.421935219,634.421935219,879.421935219,787,805.421935219,651,631,651,0.442167358102,-0.00555306884701,0.0600139458516,0.999999995194,-8.0870957669e-05,1.59592471078e-05,-5.308170602e-05,1793242357069319168
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.15843927,634.15843927,879,787.15843927,805.15843927,651.15843927,631,651,0.44284495765,-0.00555339651065,0.0599892260716,0.999999994573,-8.70278469399e-05,-1.71342988427e-05,-5.46413142366e-05,1793242357085985536
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,681,660.737355999,634.737355999,879,787.737355999,805.737355999,651.737355999,631,651,0.44350472605,-0.00555530040088,0.0599639337202,0.999999992101,-9.98306013118e-05,-5.09133351727e-05,-5.69123471283e-05,1793242357102652160
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.313511968,787.686488032,806,651.686488032,631,651,0.444162124921,-0.00555783659871,0.0599570930335,0.999999991069,-0.000104015732685,-6.0763735014e-05,-5.78819636159e-05,1793242357119318784
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,681,661,635,879.887375271,787.112624729,806,651.112624729,631,651,0.444817556012,-0.00556089788682,0.0599655752579,0.999999991939,-0.000101044486941,-5.07429537803e-05,-5.77708381761e-05,1793242357135985408
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.526298656,745,714,680.526298656,661,635,879.526298656,787,806,651,631,651,0.445402960485,-0.00555949766203,0.0599651057373,0.999999991732,-9.65904704642e-05,-6.1373169801e-05,-5.86398849891e-05,1793242357152652032
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.062034572,745,714,680.062034572,660.937965428,635,879,787,806,651,631,651,0.445965685847,-0.00555665235794,0.0599593957382,0.999999990755,-9.16977597231e-05,-8.05668934701e-05,-5.99233363999e-05,1793242357169318400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.641722897,745,714,680.641722897,660.358277103,635,879,787,806,651,631,651,0.446481847644,-0.00555083911306,0.0599281958925,0.999999985985,-8.61655774718e-05,-0.00012914170632,-6.26676539477e-05,1793242357185985024
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.780301342,745,714,681,660,634.780301342,879,787,806,651,631,651,0.447000015848,-0.00554869794067,0.0599079169335,0.99999998187,-8.52728111741e-05,-0.000157321573487,-6.51079626724e-05,1793242357202651904
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.205096827,745,714,681,660,634.205096827,879,787,806,651,631,651,0.447521430674,-0.00555249874084,0.0599053096338,0.999999981902,-9.18873265835e-05,-0.000152499311116,-6.7056338794e-05,1793242357219318528
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.369112387,787,805.630887613,651,631,651.369112387,0.448030942056,-0.0055575729595,0.0599124346978,0.999999982987,-9.99093955705e-05,-0.000139197581893,-6.83279335142e-05,1793242357235985408
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,879.942770106,787,805.057229894,651,631,651.942770106,0.448533857139,-0.00556335284923,0.0599249529959,0.999999984351,-0.000108711467448,-0.000121196916535,-6.92244868622e-05,1793242357252652032
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.871822274,634,879,787,806,651,631,651.871822274,0.449321175392,-0.00557253660579,0.0598789442254,0.999999970164,-0.000123185274255,-0.000197556121663,-7.39529841836e-05,1793242357285985280
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765.279283904,744.720716096,714,681,659,633.720716096,879,786.720716096,806.279283904,651.279283904,631,651.279283904,0.450009930912,-0.00558119474563,0.0598129646601,0.999999944712,-0.000125592666396,-0.000298339004682,-7.61288306214e-05,1793242357319318272
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681.970011555,659,633,880,786,806.029988445,651.970011555,631,651,0.451006361942,-0.00557346698929,0.0597986686835,0.999999951646,-2.69087396052e-05,-0.000306395269046,-4.58787567399e-05,1793242357369318656
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+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,879.931938913,785.534030544,806.465969456,651.534030544,631,651,0.453517052966,-0.00556478506776,0.0597635716219,0.999999927051,-0.000102074482738,-0.000363206547065,-5.96596491407e-05,1793242357785985280
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+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.963232899,745.036767101,714,681,658.963232899,631.963232899,879.963232899,785,805.963232899,651,631,652,0.45340359835,-0.00555429488831,0.0597045214552,0.999999888462,-9.35024044125e-05,-0.000458991667863,-6.04959705858e-05,1793242358545179648
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.465747558,745,714,681.534252442,659,632,879.465747558,785.534252442,806.534252442,651.534252442,631,651.465747558,0.453345232747,-0.00555133277892,0.0596884380327,0.999999879362,-8.88618003196e-05,-0.000479199708209,-6.12198663444e-05,1793242358561846016
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.890716139,632,879,786,806.890716139,652,630.890716139,651.109283861,0.453283891855,-0.00554834684542,0.0596740432677,0.999999871155,-8.44592956235e-05,-0.000496713184695,-6.19121043276e-05,1793242358578512640
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.296110713,632,879,786,806.296110713,652,630.296110713,651.703889287,0.45321235553,-0.00554619753142,0.0596657206711,0.999999866205,-8.29869009654e-05,-0.000506766397562,-6.23716042089e-05,1793242358595179264
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.869178086,714,681.130821914,658,632,879,785.130821914,806,651.130821914,630.869178086,652,0.45304917084,-0.00554108647994,0.0596643352825,0.999999866777,-8.06275659778e-05,-0.000506131525754,-6.14561215435e-05,1793242358628512256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.554844158,714,681,658,632,879,785,806,651,631,652,0.452946334287,-0.00553753347815,0.0596652398859,0.999999868165,-7.84358820915e-05,-0.000503820866516,-6.06845816665e-05,1793242358645178880
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.192931821,632,880,785.192931821,806,651,631,651.807068179,0.452555115625,-0.00552678981578,0.0596722543439,0.999999875511,-7.09904605432e-05,-0.00049048552336,-5.79895775691e-05,1793242358695179008
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.071842789,632,880,785.071842789,805.071842789,651,631,651.928157211,0.451996536356,-0.00550811367261,0.0596805791132,0.999999879848,-5.42152539878e-05,-0.000484266505126,-5.3400093617e-05,1793242358745179136
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,879.497282572,785.502717428,805.502717428,651.502717428,631,652,0.451763319031,-0.00550136397403,0.0596812394232,0.999999880876,-4.77764306554e-05,-0.000483015496678,-5.15896334547e-05,1793242358761845760
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.079506095,745,714,681,658,632,879.079506095,785.920493905,806,651.920493905,631,651.920493905,0.451518701548,-0.00549436308666,0.0596813756223,0.999999881383,-4.11503719482e-05,-0.00048276726248,-4.9761285193e-05,1793242358778512128
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.671295465,745,714,681,658,632,879.671295465,785.328704535,806,651.328704535,631,651.328704535,0.451227144833,-0.00548603917604,0.0596792548663,0.999999877919,-3.38826541058e-05,-0.000490625869541,-4.79627393086e-05,1793242358795178752
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.74362324,745,714,681.25637676,658.25637676,632.25637676,879.74362324,785.25637676,806,651,630.74362324,651.25637676,0.450923902013,-0.00547765223467,0.0596765025164,0.999999876049,-2.68174148075e-05,-0.000495020719926,-4.62316813508e-05,1793242358811845376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.166923212,745,714,681.833076788,658.833076788,632.833076788,879.166923212,785.833076788,806,651,630.166923212,651.833076788,0.45060605831,-0.00546918654167,0.0596729610379,0.99999987625,-2.00051574938e-05,-0.000495087869266,-4.45849445376e-05,1793242358828512256
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,879,786,805.159529347,651,630.840470653,651.840470653,0.449092916702,-0.00542816297952,0.0596755960548,0.999999881308,2.39436417835e-05,-0.000485323178476,-3.56565868298e-05,1793242358895179008
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+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,879,786,805.682752189,651,630.317247811,651.317247811,0.448191906744,-0.00541703159513,0.0597005757479,0.999999899422,3.84891773463e-05,-0.000446000127959,-2.75563717958e-05,1793242358928512256
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+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.374449187,745,714,681,660,634.374449187,879.374449187,786.374449187,806,651,631,651.374449187,0.444270379477,-0.00541531182026,0.0597543453895,0.999999931127,2.72190941047e-05,-0.000370140552502,-4.98901423463e-07,1793242359045179136
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.947540705,745,714,681,660,634.947540705,879.947540705,786.947540705,806,651,631,651.947540705,0.44364697068,-0.00540060491612,0.059765480539,0.999999939922,4.21133692516e-05,-0.000344055955552,2.74285764817e-06,1793242359061846016
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+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.403618801,660,634.403618801,879.403618801,786.403618801,805.596381199,651,631,651.596381199,0.437605281961,-0.00539461694847,0.0598108689626,0.999999920593,0.000256048351951,-0.000302807437861,3.9504874021e-05,1793242359195179008
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+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.035884669,745,714,680,659,634.035884669,879,786.964115331,805,651.035884669,630.964115331,652,0.421505261411,-0.00538793880215,0.0598438145927,0.999999949795,0.000188572776153,-0.000253167738639,2.74894931996e-05,1793242359495178752
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.792191638,745,714,680,659,634.792191638,879,786.207808362,805.207808362,652,630.207808362,651.792191638,0.419644061863,-0.00537871738599,0.0597444359562,0.999999884601,0.000207326563175,-0.00043270719665,2.40596309851e-05,1793242359528512000
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.213214457,745,714,680,659,634.213214457,879,786.786785543,805.786785543,652,630.786785543,651.213214457,0.418788977126,-0.00538116461397,0.0597228037283,0.999999883323,0.000193192290033,-0.000442245679154,2.12007623286e-05,1793242359545178624
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.36464614,745,714,680,659.36464614,634.36464614,879,787,805.63535386,652,631,651.36464614,0.417976936116,-0.005381938397,0.0597474392887,0.999999902476,0.000194987941682,-0.000395654174328,2.20107176677e-05,1793242359561845760
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.941855809,745,714,680,659.941855809,634.941855809,879,787,805.058144191,652,631,651.941855809,0.41718998668,-0.00538173667701,0.0597990457775,0.99999992842,0.000206069639792,-0.00031634275857,2.49593442196e-05,1793242359578512640
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,713.474771913,680,659.474771913,635,879,787,804.474771913,652,631,652,0.416398290236,-0.0053805174384,0.0598301987133,0.999999937871,0.000210624681888,-0.000281227750534,2.84028586505e-05,1793242359595179264
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,713.688877519,680,659,635,879,787,804,652,631,651.311122481,0.414823972242,-0.00538226181468,0.0598461400347,0.999999943659,0.000201832418557,-0.000266523826127,3.01902943022e-05,1793242359628512256
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+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,744.153825088,714,680,659,635,879,787,804.846174912,652,631,651.846174912,0.413287953907,-0.00538283383943,0.059837731173,0.999999937084,0.000219778222438,-0.000276850320273,2.97217911482e-05,1793242359661845504
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744.423061405,714,680,659.423061405,635,879,787,804.576938595,652,631,651.576938595,0.412503339242,-0.00537924153883,0.0597993761328,0.999999915347,0.000220677204831,-0.000346132162895,2.82943534584e-05,1793242359678512128
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744.999527252,714,680,659.999527252,635,879,787,804.000472748,652,631,651.000472748,0.411710621016,-0.00537452134694,0.0597483550026,0.999999879904,0.000216125504234,-0.000439076192782,2.6347143711e-05,1793242359695178752
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.170671036,714,679.170671036,659,635,879,787,804.170671036,652,631,651.829328964,0.410410314868,-0.00536888640735,0.0597613913419,0.999999896389,0.000236260012052,-0.000388313444936,2.47993039545e-05,1793242359728512512
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.750480839,714,679.750480839,659,635,879,787,804.750480839,652,631,651.249519161,0.409813791771,-0.00537018613705,0.0598096435506,0.999999922492,0.000229282485878,-0.000318830071882,2.81497873594e-05,1793242359745179136
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.670620789,787,804.670620789,652,631,651.329379211,0.409221775402,-0.00537211245721,0.0598418893096,0.999999938306,0.000221240224917,-0.000271140362057,3.037748108e-05,1793242359761845504
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.092410996,787,804.092410996,652,631,651.907589004,0.408633163691,-0.00537451213706,0.0598620429418,0.999999948161,0.000212393607474,-0.00023991474981,3.175695958e-05,1793242359778512128
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.481924904,787,804,652,631,651.518075096,0.408061258192,-0.00537669326707,0.0598560185183,0.999999944813,0.000220082764215,-0.000246922314629,3.10884334498e-05,1793242359795178752
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+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.352890076,714,680,658.352890076,635,878.352890076,787,804.647109924,652,631,651.647109924,0.406961956538,-0.00537682919094,0.0598285294258,0.999999932102,0.000235128058601,-0.000282347922864,2.81218114485e-05,1793242359828512000
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.231728921,744.231728921,714,680,658.231728921,635,878.231728921,787,804.768271079,652,631,651.768271079,0.40645707742,-0.00537479258553,0.0598220673247,0.999999929746,0.00023669935174,-0.000289384045994,2.71857456573e-05,1793242359845178880
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.038105207,744.038105207,714,679.038105207,658.038105207,635,878.038105207,787,804,652,631,651,0.405111530935,-0.00536277112528,0.0598273823255,0.999999929829,0.000247542091759,-0.000279731246253,2.85487979975e-05,1793242359895179264
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.196441265,745,714,679,658.803558735,635,878.803558735,787,805,652,631,652,0.402393512821,-0.00535451337473,0.05984606094,0.999999934054,0.000264563253832,-0.00024606402405,3.67645147058e-05,1793242360045179136
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.775845738,745,714,679,658.224154262,635,878.224154262,787,805,652,631,652,0.402186397054,-0.00537217433485,0.0598406657457,0.999999937353,0.000237093273032,-0.000260180903128,3.72488914899e-05,1793242360061845760
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+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.256710359,744.743289641,714.256710359,679,659,634.256710359,879,787,804,652,631,651.743289641,0.401374342272,-0.00537922666313,0.0598356453837,0.999999930682,0.000250126349609,-0.000275387029536,1.53553459559e-05,1793242360161845760
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.013182278,744,714.013182278,679,659,635,878.013182278,787,804.986817722,652,631,651,0.40115856716,-0.00537329701655,0.0598310083365,0.999999925655,0.000260950417763,-0.0002833700244,1.72332563404e-05,1793242360211845632
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.574947336,744.574947336,714,679.574947336,658.425052664,635,878,787,805,652,631,651,0.401111405981,-0.00537310295509,0.0598287462121,0.999999924478,0.000260905237883,-0.000287519238923,1.74754142746e-05,1793242360228512512
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+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.045596632,659,635,878,787,804.954403368,652,631,651.954403368,0.400966060235,-0.00537643148161,0.0598372469227,0.999999930209,0.000251737029338,-0.000275336573421,1.99884106308e-05,1793242360411845376
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.528654809,745,714,679.528654809,658.471345191,635,878.528654809,787,805,652,631,652,0.400964661126,-0.00537409222552,0.0598368960931,0.999999928976,0.000255125245125,-0.000276726710079,1.95144434865e-05,1793242360428512256
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.894028819,658.105971181,635,878.894028819,787,804.894028819,652,631,652,0.400963238736,-0.00537202928625,0.059836473052,0.999999927776,0.000258298244498,-0.000278144932932,1.91376078482e-05,1793242360445179136
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.302021486,658.697978514,635,878.302021486,787,804.302021486,652,631,652,0.400962127392,-0.00537305491398,0.0598363008269,0.999999927871,0.000257567179828,-0.000278453144738,1.95177747495e-05,1793242360461845760
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878.282677983,787,804,652,631,652,0.400962788703,-0.00537415267953,0.0598374444145,0.999999928808,0.000255852653576,-0.00027664573919,1.97569346555e-05,1793242360478512384
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,659,635,878.859766352,787,804,652,631,652,0.400965296244,-0.00537532557706,0.0598399584269,0.999999930605,0.000253113847585,-0.000272634908725,1.98492351905e-05,1793242360495179008
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.436476484,659,635,879,787,804,652,631,651.563523516,0.400964058831,-0.00537455114121,0.0598393037402,0.999999930131,0.00025394495371,-0.00027360243113,1.98121379677e-05,1793242360511845376
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.986677295,744.986677295,714,679.986677295,659,635,878.986677295,787,804,652,631,651,0.400961679947,-0.00537319518113,0.0598376701163,0.999999928962,0.000255846561683,-0.000276095637391,1.97327850182e-05,1793242360528512000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.398722893,744.398722893,714,679.398722893,659,635,878.398722893,787,804,652,631,651,0.400961918621,-0.00537371908939,0.0598376858038,0.999999929483,0.00025449316067,-0.00027546590315,1.96224600696e-05,1793242360545178880
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.18612106,744.18612106,714,679.18612106,659,635,878,787,804.18612106,652,631,651,0.400962494,-0.00537433165093,0.0598380799379,0.99999993011,0.000253093215746,-0.000274482546115,1.95802116532e-05,1793242360561845760
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.764411063,744.764411063,714,679.764411063,659,635,878,787,804.764411063,652,631,651,0.400963778839,-0.00537513101053,0.0598392714833,0.999999930959,0.00025159519991,-0.000272754083341,1.96814048378e-05,1793242360578512384
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.658804168,745,714,679.658804168,658.658804168,635,878,787,804.658804168,652,631,651,0.400963559002,-0.00537647129788,0.0598396078174,0.999999931466,0.000249758415275,-0.000272575360245,1.98047811596e-05,1793242360595178752
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.08305419,745,714,679.08305419,658.08305419,635,878,787,804.08305419,652,631,651,0.400962304779,-0.00537818344452,0.0598393562388,0.999999931736,0.000247688745012,-0.000273462001537,1.99434072143e-05,1793242360611845632
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.493496627,635,878.493496627,787,804,652,631,651.493496627,0.400963035027,-0.00537769403685,0.0598398828332,0.999999931322,0.00025033063796,-0.000272553893749,2.01051836388e-05,1793242360628512256
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.071856411,659,634.928143589,878.928143589,787,804.071856411,652,630.928143589,652,0.400964121052,-0.00537681025366,0.0598405494748,0.999999930914,0.000253215095557,-0.00027137728377,2.01926877921e-05,1793242360645178880
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.662296852,659,634.337703148,878.337703148,787,804.662296852,652,630.337703148,652,0.400965360449,-0.00537575862309,0.0598412801285,0.999999931453,0.000252118192061,-0.000270446341792,1.97160087032e-05,1793242360661845504
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.246775544,745,714,680,659,634.246775544,878.246775544,787.246775544,804.753224456,652,630.246775544,651.753224456,0.400965528217,-0.0053758884164,0.059841578358,0.999999931713,0.000251503804176,-0.000270066438416,1.96122661637e-05,1793242360678512128
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.82328833,745,714,680,659,634.82328833,878.82328833,787.82328833,804.17671167,652,630.82328833,651.17671167,0.400964264094,-0.00537759680784,0.0598412987898,0.999999931601,0.000251534145209,-0.00027042282322,2.00068349687e-05,1793242360695178752
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,744.600901784,714,679.600901784,658.600901784,635,878.600901784,787.600901784,804.399098216,652,631,651.399098216,0.400964127462,-0.00537705840077,0.0598413064159,0.999999931794,0.000251478248524,-0.000269759960655,2.00228993685e-05,1793242360711845376
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,744.025402615,714,679.025402615,658.025402615,635,878.025402615,787.025402615,804.974597385,652,631,651.974597385,0.400964489181,-0.00537552691124,0.0598414409817,0.99999993212,0.000251384234866,-0.000268646591903,1.98716652318e-05,1793242360728512256
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf7602644a9b09d33c3f6a96ac7a9d5807b8e830
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_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
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+42,0.700000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+43,0.716666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+44,0.733333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+45,0.750000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+46,0.766666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+47,0.783333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+48,0.800000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+49,0.816666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+50,0.833333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+51,0.850000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+52,0.866666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+53,0.883333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+54,0.900000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+55,0.916666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+56,0.933333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+57,0.950000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+58,0.966666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+59,0.983333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+60,1.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+61,1.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+62,1.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+63,1.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+64,1.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+65,1.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+66,1.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+67,1.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+68,1.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+69,1.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+70,1.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+71,1.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+72,1.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+73,1.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+74,1.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..206067d81f2a730f2930e4a47153d6ac7aa8bf8c
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
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+size 25971536
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f3f4a5ffb5f27126f54d87e97e6db719159b61e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_04/franka_data.csv
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+2,0.033333333,BASELINE,765.176914412,745,714,679.176914412,659,635,878,787,804.176914412,652,631,652,0.400964800911,-0.00537821286442,0.0598431001821,0.999999933076,0.000249442030631,-0.000266865248048,2.02418383544e-05,1793242360877545728
+3,0.050000000,BASELINE,765.754271382,745,714,679.754271382,659,635,878,787,804.754271382,652,631,652,0.400965040879,-0.00537803644184,0.0598428844254,0.999999933506,0.000247575122528,-0.000267003438555,2.00834309329e-05,1793242360894212608
+4,0.066666667,BASELINE,765.66857928,745,714,679.66857928,659,635,878,787.33142072,805,652,631,651.66857928,0.400965124773,-0.00537716566722,0.05984288812,0.999999933251,0.000248713673637,-0.000266912730306,1.99338291974e-05,1793242360910879232
+5,0.083333333,BASELINE,765.091583826,745,714,679.091583826,659,635,878,787.908416174,805,652,631,651.091583826,0.400965093021,-0.00537578039455,0.0598430544229,0.99999993248,0.000252079197397,-0.000266652413607,1.97907522713e-05,1793242360927545856
+6,0.100000000,BASELINE,765.494260948,745,714,679.494260948,659,635,878.494260948,787.505739052,804.505739052,652,631,651.494260948,0.400965262244,-0.00537609876853,0.0598425685671,0.999999932501,0.000251653973366,-0.000266992016756,1.95751095306e-05,1793242360944212480
+7,0.116666667,BASELINE,766,745,714,679.919386348,659,635,878.919386348,787,804.080613652,652,631,652,0.400965336726,-0.00537664837647,0.0598420620789,0.999999932686,0.000250525130196,-0.000267370739201,1.9418234473e-05,1793242360960879104
+8,0.133333333,BASELINE,766,745,714,679.340218126,659,635,878.340218126,787,804.659781874,652,631,652,0.400964590785,-0.00537664015971,0.0598421889563,0.999999932966,0.000249467969817,-0.000267291381939,1.97094807093e-05,1793242360977545984
+9,0.150000000,BASELINE,766,745,714,679,659,635,878.238177377,787,804.761822623,652,631,652,0.400964473855,-0.00537715182699,0.0598425187925,0.999999933368,0.000248109687845,-0.000267039932919,1.98999492838e-05,1793242360994212864
+10,0.166666667,BASELINE,766,745,714,679,659,635,878.815472632,787,804.184527368,652,631,652,0.400965252513,-0.00537840370719,0.059843137602,0.999999933941,0.000246322667868,-0.000266543458991,1.99469302054e-05,1793242361010879488
+11,0.183333333,BASELINE,765.610049208,745,714,679,659,635,878.610049208,787,804.389950792,652,631,652,0.400965038353,-0.00537780189342,0.0598427327147,0.999999933372,0.000247905636358,-0.000267215694075,1.98516615589e-05,1793242361027545856
+12,0.200000000,BASELINE,765.036894506,745,714,679,659,635,878.036894506,787,804.963105494,652,631,652,0.400964357754,-0.00537632919042,0.0598418468816,0.999999932258,0.000251071868725,-0.000268437003678,1.96895622349e-05,1793242361044212480
+13,0.216666667,BASELINE,765,745,714,679,659.553213349,635,878,787,804.446786651,652.553213349,631,652,0.400964095797,-0.00537584514254,0.059841891398,0.999999932353,0.000250687077303,-0.000268452868686,1.95587297467e-05,1793242361060878848
+14,0.233333333,BASELINE,765,745,714,679,659.858343213,635,878,787,804.141656787,652.858343213,630.858343213,652,0.400964083928,-0.00537577974839,0.0598421151714,0.99999993261,0.000249977270547,-0.000268156600745,1.95650502768e-05,1793242361077545472
+15,0.250000000,BASELINE,765,745,714,679,659.278653038,635,878,787,804.721346962,652.278653038,630.278653038,652,0.400964756323,-0.00537679859212,0.0598426953203,0.99999993311,0.000249017902662,-0.000267151600581,1.99888257273e-05,1793242361094212096
+16,0.266666667,BASELINE,765,745,714,679,659,635,878.298829935,787,804.701170065,652,630.298829935,652,0.400965200611,-0.00537738786019,0.0598432660288,0.999999933482,0.000248307190867,-0.000266418756857,2.00087027598e-05,1793242361110878976
+17,0.283333333,BASELINE,765,745,714,679,659,635,878.874269793,787,804.125730207,652,630.874269793,652,0.400965433754,-0.00537757949439,0.059843827999,0.999999933736,0.000247826645966,-0.000265937832973,1.96547139088e-05,1793242361127545856
+18,0.300000000,BASELINE,765,745,714.448911502,679.448911502,659,635,878.551088498,787,804.448911502,652,631,651.551088498,0.400964888437,-0.00537673643886,0.0598431579283,0.999999933427,0.000248360910661,-0.000266618941917,1.94010403046e-05,1793242361144212480
+19,0.316666667,BASELINE,765,745,714.975968292,680,659,635,878,787,804.975968292,652,631,651.024031708,0.400964143761,-0.00537569275553,0.0598421923818,0.999999932993,0.000249088157484,-0.000267582364178,1.91921802461e-05,1793242361160878848
+20,0.333333333,BASELINE,765,745,714.38427411,680,659,635,878,787,804.38427411,652,631,651.61572589,0.400963830948,-0.00537674314708,0.0598423837882,0.999999933353,0.000247672017992,-0.000267540252047,1.93793876944e-05,1793242361177545728
+21,0.350000000,BASELINE,765.20221553,745,714,680,659,635,878,787,804,652,631,652,0.400964217998,-0.00537737736639,0.0598427941676,0.999999933674,0.000246911321946,-0.00026702808215,1.95411419684e-05,1793242361194212608
+22,0.366666667,BASELINE,765.779062978,745,714,680,659,635,878,787,804,652,631,652,0.400965901639,-0.0053772405696,0.0598436102243,0.999999933928,0.000247364924658,-0.000265645065975,1.9655740736e-05,1793242361210879232
+23,0.383333333,BASELINE,765.646163931,745,714,680,659,635,878.353836069,787,804.353836069,652,631,652,0.400965601025,-0.00537816939008,0.0598434677685,0.99999993382,0.000247340344464,-0.000266058191307,1.98797417968e-05,1793242361227546112
+24,0.400000000,BASELINE,765.072678476,745,714,680,659,635,878.927321524,787,804.927321524,652,631,652,0.400964068654,-0.00537975970947,0.0598427303008,0.999999933486,0.000247018924645,-0.000267586300009,2.0171656088e-05,1793242361244212480
+25,0.416666667,BASELINE,765,745,714,680,658.483691483,635,878.483691483,787,805,652.516308517,631,651.483691483,0.400962960967,-0.00537830289131,0.0598419757258,0.999999933122,0.000247066601727,-0.000268927644193,1.97945862857e-05,1793242361260879104
+26,0.433333333,BASELINE,765.105247833,744.894752167,714,679.894752167,658.105247833,635,878.105247833,787,804.894752167,652.894752167,631,651.105247833,0.400962431737,-0.00537688302083,0.059841582394,0.999999932987,0.000247103605499,-0.000269423852751,1.93919614944e-05,1793242361277545472
+27,0.450000000,BASELINE,765.683855074,744.316144926,714,679.316144926,658.683855074,635,878.683855074,787,804.316144926,652.316144926,631,651.683855074,0.400964226962,-0.00537761818963,0.0598428249446,0.999999933904,0.000246851695979,-0.000266240906942,1.93110468046e-05,1793242361294212096
+28,0.466666667,BASELINE,765.73883829,744.26116171,714,679.26116171,659,635,878.73883829,787,804.26116171,652,631,652,0.400965304802,-0.00537838830246,0.0598436510619,0.999999934542,0.000245841410216,-0.000264769840134,1.93552451055e-05,1793242361310878976
+29,0.483333333,BASELINE,765.163098311,744.836901689,714,679.836901689,659,635,878.163098311,787,804.836901689,652,631,652,0.400965518528,-0.00537920050652,0.0598439755708,0.999999934853,0.000243917634184,-0.000265360790698,1.95501463149e-05,1793242361327545600
+30,0.500000000,BASELINE,765.411151837,745,714.411151837,679.588848163,659,635,878,787.411151837,805,652,631,651.588848163,0.400965466133,-0.00537806047773,0.059843642323,0.999999934448,0.000245272388724,-0.000265636196922,1.95839576333e-05,1793242361344212480
+31,0.516666667,BASELINE,765.98481311,745,714.98481311,679.01518689,659,635,878,787.98481311,805,652,631,651.01518689,0.400965308554,-0.00537614882095,0.0598430490941,0.999999933755,0.000247922995848,-0.000265786882949,1.95540975129e-05,1793242361360879360
+32,0.533333333,BASELINE,766,745,714.422515019,679,659,635,878,787.422515019,805,652,631,651.577484981,0.400963993384,-0.00537681089784,0.0598419971607,0.999999933614,0.000246530839308,-0.000267625492509,1.92746151489e-05,1793242361377545728
+33,0.550000000,BASELINE,766,744.833846521,714,679,659,635,878,786.833846521,804.833846521,652,631,652,0.40096301141,-0.00537762450637,0.0598414301783,0.99999993354,0.000245479768273,-0.000268869057403,1.91885969167e-05,1793242361394212352
+34,0.566666667,BASELINE,766,744.256368523,714,679,659,635,878,786.256368523,804.256368523,652,631,652,0.400962932217,-0.00537863997955,0.0598420946054,0.999999933609,0.00024554523516,-0.000268525917338,1.95983171111e-05,1793242361410878976
+35,0.583333333,BASELINE,765.680803495,744,714,679,659,634.680803495,878,786.319196505,804.319196505,652,631,651.680803495,0.400962542508,-0.00537840458635,0.0598420358752,0.999999933192,0.000247177707394,-0.000268574454495,1.96759058107e-05,1793242361427545600
+36,0.600000000,BASELINE,765.106765691,744,714,679,659,634.106765691,878,786.893234309,804.893234309,652,631,651.106765691,0.400961904888,-0.00537717052188,0.0598413997881,0.999999932382,0.000250061251228,-0.00026893570034,1.94883261691e-05,1793242361444212224
+37,0.616666667,BASELINE,765.480658818,744.480658818,714.480658818,679.480658818,659,634.480658818,878,787,805,652,631,651.480658818,0.400963442138,-0.00537838206558,0.0598428437162,0.999999933085,0.000249262939468,-0.000267015692257,2.00099478455e-05,1793242361460878848
+38,0.633333333,BASELINE,766,745,714.930243499,679.930243499,659,635,878,787,804.930243499,652,631,651.930243499,0.400965067991,-0.00537971115267,0.0598443918648,0.999999933923,0.000247899612851,-0.000265104482021,2.0490177012e-05,1793242361477545472
+39,0.650000000,BASELINE,766,745,714.351259882,679.351259882,659,635,878,787,804.351259882,652,631,651.351259882,0.40096371303,-0.00537781911002,0.0598432314237,0.99999993326,0.000248552870273,-0.000267062562522,1.9485310676e-05,1793242361494212096
+40,0.666666667,BASELINE,765.775664657,744.775664657,714,679,659,635,878,787,804,652,631,651.224335343,0.400963563964,-0.00537728246732,0.0598428078922,0.999999933191,0.000248116247603,-0.000267753183394,1.90987658768e-05,1793242361510878976
+41,0.683333333,BASELINE,765.205296003,744.205296003,714,679,659,635,878,787,804,652,631,651.794703997,0.400965274971,-0.00537883650526,0.0598435210306,0.999999934041,0.000245998504074,-0.000266488770022,1.96659712043e-05,1793242361527545856
+42,0.700000000,BASELINE,765,744.370316397,714,679,658.629683603,635,878.370316397,787,804,652,631,651.629683603,0.400965502831,-0.00537843362289,0.0598439192462,0.999999934311,0.000246077924794,-0.000265404173438,1.96154424887e-05,1793242361544212480
+43,0.716666667,BASELINE,765,744.948877561,714,679,658.051122439,635,878.948877561,787,804,652,631,651.051122439,0.400964896653,-0.00537693028039,0.0598441403671,0.999999934255,0.000247392905126,-0.000264420695574,1.921753545e-05,1793242361560879104
+44,0.733333333,BASELINE,765,744.477279514,714,679.522720486,658,635,878.477279514,787,804,652,631,651.522720486,0.400962365485,-0.0053775162695,0.0598423862797,0.999999933371,0.000247569446701,-0.000267574394875,1.92615130719e-05,1793242361577545728
+45,0.750000000,BASELINE,765,744,714,679.899720466,658.100279534,635,878.100279534,787,804.100279534,652,631,651.899720466,0.400960538619,-0.00537798885214,0.0598410544905,0.999999932642,0.00024772474731,-0.000270137558678,1.9344721617e-05,1793242361594212352
+46,0.766666667,BASELINE,765,744,714,679.301435571,658.698564429,635,878.698564429,787,804.698564429,652,631,651.301435571,0.400963136034,-0.00537689253817,0.0598427706745,0.999999933127,0.000248322549477,-0.000267776589284,1.94100563057e-05,1793242361610878976
+47,0.783333333,BASELINE,765,744.284266508,714,679,659,635,878.715733492,787.284266508,805,652,631,651,0.400964023019,-0.00537724947405,0.0598434460187,0.999999933481,0.000248281182481,-0.000266472786147,1.96549072312e-05,1793242361627545856
+48,0.800000000,BASELINE,765,744.85719144,714,679,659,635,878.14280856,787.85719144,805,652,631,651,0.400963173149,-0.00537908211237,0.0598430644424,0.999999933705,0.000247590771233,-0.000266242482197,2.00820479266e-05,1793242361644212480
+49,0.816666667,BASELINE,765,745,714,679,659,635,878,787.568872311,805,652,631,651,0.400963723653,-0.00537972097033,0.0598435624532,0.999999934106,0.000246758595164,-0.000265510464247,2.00451610131e-05,1793242361660879104
+50,0.833333333,BASELINE,765,745,714,679,659,635,878.005604577,787,804.994395423,652,631,651.005604577,0.400964722695,-0.00537994903401,0.0598443392987,0.999999934554,0.000245898595829,-0.000264635447417,1.9856948938e-05,1793242361677545728
+51,0.850000000,BASELINE,765,745,714,679,659,635,878.601667486,787,804.398332514,652,631,651.601667486,0.400963991904,-0.00537865668286,0.0598437245872,0.999999933837,0.000247066204738,-0.000266244829828,1.99576883039e-05,1793242361694212608
+52,0.866666667,BASELINE,765,745,714,679,659,635,879,787,804,652,631,652,0.400963854583,-0.00537782616518,0.0598434740493,0.999999933554,0.000247636139467,-0.000266777203179,1.99596064036e-05,1793242361710879232
+53,0.883333333,BASELINE,765,745,714,679,659,635,879,787,804,652,631,652,0.400964912825,-0.00537792602185,0.0598439571476,0.99999993415,0.000247002045593,-0.00026513991664,1.97624467589e-05,1793242361727545856
+54,0.900000000,BASELINE,765.336922484,745,714,679,659,635,878.663077516,787,804,651.663077516,631,652,0.400965232005,-0.00537869170764,0.0598442636882,0.999999934534,0.000245850780295,-0.00026476244315,1.97758597037e-05,1793242361744212480
+55,0.916666667,BASELINE,765.907226454,745,714,679,659,635,878.092773546,787,804,651.092773546,631,652,0.400965039249,-0.00537991860393,0.0598444479298,0.999999934769,0.000244341277623,-0.000265257624581,1.99351333399e-05,1793242361760879360
+56,0.933333333,BASELINE,765.515459267,745,714,679,659,635,878,787,804,651.484540733,630.515459267,651.515459267,0.400965048512,-0.00537823648732,0.0598440313896,0.999999934435,0.000245889957989,-0.000265114535693,1.95635292916e-05,1793242361777545984
+57,0.950000000,BASELINE,765.065136091,745,714,679.065136091,659,635,878,787,804,652,630.065136091,651.065136091,0.400965179197,-0.00537632313677,0.0598436287386,0.999999934094,0.000247659686345,-0.000264782897363,1.91563246083e-05,1793242361794212608
+58,0.966666667,BASELINE,765.661379337,745,714,679.661379337,659,635,878,787,804,652,630.661379337,651.661379337,0.400965979909,-0.0053771325281,0.0598442910383,0.999999934632,0.000246387317578,-0.000263924949624,1.92998047057e-05,1793242361810879232
+59,0.983333333,BASELINE,766,745,714,680,659,635,878.24854965,787,804,652,631,652,0.400966184151,-0.00537768650844,0.0598445286972,0.999999934881,0.000245830924307,-0.000263492459403,1.94374208198e-05,1793242361827545856
+60,1.000000000,BASELINE,766,745,714,680,659,635,878.823794525,787,804,652,631,652,0.400965604388,-0.00537790477507,0.0598442082055,0.99999993475,0.000246215613564,-0.000263619193108,1.95673292972e-05,1793242361844212736
+61,1.016666667,BASELINE,765.601592824,745,714,680,658.601592824,635,878.601592824,787,804.398407176,652,631,652,0.400965522333,-0.00537760356873,0.0598441815518,0.999999934602,0.000246785202163,-0.000263663593438,1.93417324148e-05,1793242361860879104
+62,1.033333333,BASELINE,765.027259382,745,714,680,658.027259382,635,878.027259382,787,804.972740618,652,631,652,0.400965660053,-0.00537707297659,0.0598442846493,0.999999934447,0.00024743643749,-0.00026367163748,1.89591535866e-05,1793242361877545728
+63,1.050000000,BASELINE,765,745,714,680,658.56272837,635,878.56272837,787,804.43727163,652,631,652,0.400965241905,-0.00537792031389,0.059844438201,0.999999934988,0.000244880264442,-0.000264002821534,1.89623254622e-05,1793242361894212352
+64,1.066666667,BASELINE,765,744.849664518,714,679.849664518,658.849664518,635,878.849664518,787,804,652,631,651.849664518,0.400964656512,-0.00537870059937,0.059844420086,0.999999935239,0.00024334222942,-0.000264464772857,1.9120285877e-05,1793242361910879232
+65,1.083333333,BASELINE,765,744.27106135,714,679.27106135,658.27106135,635,878.27106135,787,804,652,631,651.27106135,0.400963673581,-0.00537909427935,0.0598439057741,0.999999934575,0.000245159891109,-0.000265253378478,1.96644437719e-05,1793242361927545856
+66,1.100000000,BASELINE,765.306669349,744.306669349,714,679.306669349,658.306669349,635,878.306669349,787,804,652,631,651.306669349,0.400964278893,-0.00537926943042,0.0598442056531,0.999999934703,0.000245638814392,-0.000264307931667,1.99024646344e-05,1793242361944212480
+67,1.116666667,BASELINE,765.883631041,744.883631041,714,679.883631041,658.883631041,635,878.883631041,787,804,652,631,651.883631041,0.400966284052,-0.00537925197437,0.059845223144,0.999999935527,0.000244937799839,-0.000261834125053,1.98706622995e-05,1793242361960879104
+68,1.133333333,BASELINE,765.543521744,745,714,679.543521744,659,635,878.543521744,787,804.456478256,652,631,652,0.40096551784,-0.00537834131797,0.0598450745188,0.999999935011,0.000246028923641,-0.000262794916548,1.96477178744e-05,1793242361977545728
+69,1.150000000,BASELINE,765,745,714,679,659.029532365,635,878,787,805,652,631,651.970467635,0.400964178994,-0.00537729268727,0.0598446501689,0.999999934213,0.00024747476788,-0.000264487123691,1.9399894684e-05,1793242361994212608
+70,1.166666667,BASELINE,765,745,714,679,659.626535854,635,878,787,805,652,631,651.373464146,0.400965291109,-0.00537792910243,0.0598445888923,0.999999934563,0.000247036285565,-0.000263559579889,1.96019651076e-05,1793242362010879232
+71,1.183333333,BASELINE,765,745,714,679,659.785305826,635,878.214694174,787,804.785305826,652,631,651.214694174,0.400965598163,-0.00537854324683,0.0598442532747,0.999999934697,0.000246549425927,-0.000263496188647,1.97379705283e-05,1793242362027546112
+72,1.200000000,BASELINE,765,745,714,679,659.211924917,635,878.788075083,787,804.211924917,652,631,651.788075083,0.400964560211,-0.00537912018388,0.0598434593191,0.999999934471,0.000245981742864,-0.000264876525581,1.976360205e-05,1793242362044212736
+73,1.216666667,BASELINE,765,745,714,679,659,635,879,787,804,652,631,652,0.400963853345,-0.00537961917175,0.0598428123733,0.999999934275,0.000245723728586,-0.000265861983859,1.96935101384e-05,1793242362060879360
+74,1.233333333,BASELINE,765,745,714,679,659,635,879,787,804,652,631,652,0.400963340598,-0.00538007245727,0.0598422516207,0.999999934095,0.000245647275922,-0.000266615921166,1.956729472e-05,1793242362077546240
+75,1.250000000,BASELINE,765,745,714,679,659,635,878.47136556,787,804.52863444,652,631,651.47136556,0.400963916587,-0.00537793318984,0.0598432698483,0.999999934203,0.000246533067212,-0.000265416217417,1.92156193595e-05,1793242362094212608
+76,1.266666667,BASELINE,765,745,714,679.118725152,659,635,878.118725152,787,804.881274848,652,631,651,0.400964419723,-0.00537620854885,0.0598441655385,0.999999934371,0.000246973291541,-0.000264391015289,1.89757435035e-05,1793242362110879232
+77,1.283333333,BASELINE,765,745,714,679.695627974,659,635,878.695627974,787,804.304372026,652,631,651,0.400964126088,-0.00537731182192,0.0598438405479,0.99999993464,0.000245238297768,-0.00026496446748,1.92740940758e-05,1793242362127545856
+78,1.300000000,BASELINE,765.269696977,744.730303023,714,679.730303023,659,635,878.730303023,787,804.269696977,652,631,651.269696977,0.400964426873,-0.00537787008821,0.0598439805116,0.999999934571,0.000245783215844,-0.000264701107814,1.95289726552e-05,1793242362144212480
+79,1.316666667,BASELINE,765.840601033,744.159398967,714,679.159398967,659,635,878.159398967,787,804.840601033,652,631,651.840601033,0.400965391525,-0.00537781967168,0.0598446397526,0.999999934119,0.000248874419843,-0.000263503167166,1.97353001627e-05,1793242362160879104
+80,1.333333333,BASELINE,766,744.428114819,714,679.428114819,659,635,878,787,804.571885181,652,631,651.571885181,0.400964833288,-0.00537741138464,0.0598444507909,0.999999934193,0.000248292386301,-0.000263780601904,1.95886515242e-05,1793242362177545984
+81,1.350000000,BASELINE,765.978535229,745,714,679.978535229,659,635,878,787,804.021464771,652,631,651.021464771,0.400963725948,-0.00537689931321,0.0598439550045,0.999999934462,0.000246345840727,-0.00026460766087,1.93193899656e-05,1793242362194212608
+82,1.366666667,BASELINE,765.400679898,745,714,679.400679898,659,635,878,787,804.599320102,652,631,651.599320102,0.400963676139,-0.00537729030586,0.0598440225326,0.999999934498,0.000245911500007,-0.000264867790113,1.9415992673e-05,1793242362210879488
+83,1.383333333,BASELINE,765,744.823229865,714,679,659,635,878.176770135,787,805,652,631,652,0.400963640238,-0.00537800128838,0.0598439498137,0.999999934596,0.000245294057149,-0.000265067518279,1.94391102583e-05,1793242362227546112
+84,1.400000000,BASELINE,765,744.246696298,714,679,659,635,878.753303702,787,805,652,631,652,0.400963635793,-0.00537943592404,0.0598435599281,0.999999934835,0.000244262531021,-0.000265130650219,1.92960421848e-05,1793242362244212736
+85,1.416666667,BASELINE,765,744.329687014,714,679.329687014,659,635,879,787,804.670312986,652,631,652,0.400963863981,-0.00537966419744,0.0598434950416,0.999999934834,0.000244266154108,-0.000265127258963,1.93196737607e-05,1793242362260879360
+86,1.433333333,BASELINE,765,744.905957911,714,679.905957911,659,635,879,787,804.094042089,652,631,652,0.400964266165,-0.00537899019229,0.0598436732326,0.999999934655,0.000245043999786,-0.000265074112788,1.94679855573e-05,1793242362277545984
+87,1.450000000,BASELINE,765.493983451,745,714,680,659,635,878.506016549,787,804.493983451,652,631,652,0.400965133416,-0.00537947196021,0.0598444617826,0.999999935102,0.000244555231193,-0.000263805108457,1.98901421168e-05,1793242362294212352
+88,1.466666667,BASELINE,765.917688506,745,714,679.917688506,659,635,878,787,804.917688506,652,631,652,0.400965851364,-0.00537979918904,0.0598451721228,0.999999935483,0.000244225010385,-0.000262635750796,2.02418608596e-05,1793242362310879232
+89,1.483333333,BASELINE,765.341304392,745,714,679.341304392,659,635,878,787,804.341304392,652,631,652,0.400965128731,-0.00537784588133,0.0598446985393,0.999999934751,0.000246329136191,-0.000263487773445,1.98502224597e-05,1793242362327546368
+90,1.500000000,BASELINE,765,745,714,679,659,635,878.234851825,787,804.234851825,652,631,652,0.400964587167,-0.00537706392256,0.0598443688624,0.99999993454,0.000246889610743,-0.00026378270554,1.95922763562e-05,1793242362344212736
+91,1.516666667,BASELINE,765,745,714,679,659,635,878.810677114,787,804.810677114,652,631,652,0.400964308491,-0.00537798260607,0.0598442481189,0.99999993509,0.000245208909787,-0.000263268816528,1.9528433635e-05,1793242362360879360
+92,1.533333333,BASELINE,765.385326909,745,714,679.385326909,659,635,879,787,805,652,631,652,0.400965041074,-0.00537730509291,0.0598447500298,0.999999934769,0.000247211610566,-0.000262613553822,1.95459746874e-05,1793242362377545984
+93,1.550000000,BASELINE,765.959400956,745,714,679.959400956,659,635,879,787,805,652,631,652,0.40096626901,-0.00537584570462,0.0598455569394,0.99999993401,0.000251018575369,-0.000261889041091,1.9603380467e-05,1793242362394212864
+94,1.566666667,BASELINE,765.446837231,745,714,680,659,635,878.446837231,787,805,652,631,651.446837231,0.400965329381,-0.00537755345647,0.0598450059089,0.999999934404,0.000248101267349,-0.000263157850927,1.96423704142e-05,1793242362410879488
+95,1.583333333,BASELINE,765.143253488,745,714,679.856746512,659,635,878,787,805,652,631,651.143253488,0.400964434715,-0.00537906378944,0.0598444196642,0.999999934698,0.000245634929402,-0.00026434304177,1.97392546614e-05,1793242362427545856
+96,1.600000000,BASELINE,765.717781542,745,714,679.282218458,659,635,878,787,805,652,631,651.717781542,0.400964172027,-0.00537925414553,0.0598440385266,0.99999993446,0.000246066887921,-0.000264819795403,2.0014653037e-05,1793242362444212480
+97,1.616666667,BASELINE,765.707384488,745,714,679.292615512,659,635,878,787,805,652,631,652,0.400964376036,-0.00537945827083,0.0598440956634,0.999999934672,0.000245506223577,-0.000264539825489,2.00460602226e-05,1793242362460878848
+98,1.633333333,BASELINE,765.132255196,745,714,679.867744804,659,635,878,787,805,652,631,652,0.400965030629,-0.00537967568997,0.0598445759444,0.999999935314,0.000243987203871,-0.000263529255766,1.9841899315e-05,1793242362477545728
+99,1.650000000,BASELINE,765.434286865,745,714,679.565713135,659,635,878.434286865,787,804.565713135,652,631,652,0.400964637911,-0.005379419682,0.0598446943677,0.999999934983,0.000245103067432,-0.000263739516974,2.00222783254e-05,1793242362494212608
+100,1.666666667,BASELINE,765.998264517,745,714,679.001735483,659,635,878.998264517,787,804.001735483,652,631,652,0.400963932436,-0.00537902229481,0.0598447047296,0.999999934357,0.000247005784392,-0.000264314354097,2.03174922297e-05,1793242362510879488
+101,1.683333333,BASELINE,766,744.394721568,714,679,659,635,879,787,804.605278432,652,631,652,0.400963957627,-0.00537936072631,0.0598446682243,0.999999934883,0.000244896469971,-0.000264334939935,1.96796368615e-05,1793242362527546112
+102,1.700000000,BASELINE,765.799039434,744.200960566,714,679.200960566,659,635,879,787,805,652,631,652,0.400964013172,-0.00537943634763,0.0598444808652,0.999999935077,0.000244025651702,-0.000264434250233,1.92966995012e-05,1793242362544212736
+103,1.716666667,BASELINE,765.224660552,744.775339448,714,679.775339448,659,635,879,787,805,652,631,652,0.400964120924,-0.00537901940328,0.0598440134634,0.999999934653,0.000245479178056,-0.00026468302272,1.9392794221e-05,1793242362560879360
+104,1.733333333,BASELINE,765,745,714,679.649716035,659,635,878.649716035,787,805,652,631,652,0.400965132415,-0.00537869779091,0.0598444223947,0.999999934627,0.000246546042714,-0.000263779007877,1.95593510719e-05,1793242362577545984
+105,1.750000000,BASELINE,765,745,714,679.074408095,659,635,878.074408095,787,805,652,631,652,0.400966724472,-0.00537843742019,0.0598453942863,0.999999934853,0.000247364514322,-0.000262134437357,1.97711731185e-05,1793242362594212608
+106,1.766666667,BASELINE,765.513547129,745,714,679,659,635,878,787,804.486452871,652,631,652,0.400965302378,-0.00537751850923,0.0598440607221,0.999999934261,0.000248179082217,-0.000263641519229,1.94697939068e-05,1793242362610879232
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,659,635,878,787,804,652,631,652,0.400964797395,-0.00537967802344,0.0598447878827,0.999999935336,0.000243829532521,-0.000263590190107,1.9867810569e-05,1793242362653380352
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.423246572,679,659,635,878,787,804.576753428,652,631,652,0.40096403987,-0.00537869635343,0.0598440440553,0.999999934673,0.00024574806867,-0.000264339861252,1.96311344594e-05,1793242362670046976
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.847150139,745,714,679,659,635,878,787,805,652,631,652,0.40096350423,-0.00537806438513,0.0598434524267,0.999999934179,0.000247022722439,-0.000265040279987,1.93527180772e-05,1793242362686713600
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.272865029,745,714,679,659,635,878,787,805,652,631,652,0.400963580363,-0.00537839660873,0.059843280438,0.999999934161,0.000246522074207,-0.000265604900909,1.89592160144e-05,1793242362703380224
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.311400555,745,714,679.311400555,659,635,878,787,804.688599445,652,631,652,0.400963900261,-0.00537828504632,0.0598437990072,0.999999934286,0.000246646074705,-0.000265020508038,1.89194597196e-05,1793242362720046848
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.904701076,745,714,679.904701076,659,635,878,787,804.095298924,652,631,652,0.400964440829,-0.00537777174002,0.059844942714,0.99999993454,0.000247335547751,-0.000263395953368,1.91999370466e-05,1793242362736713728
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.514420577,745,714,680,659,635,878,787,804,652.485579423,631,652,0.400963690228,-0.00537815640313,0.0598446447308,0.999999934206,0.000247535237511,-0.000264459799696,1.9380862412e-05,1793242362753380096
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.936625851,714,679.936625851,659,635,878,787,804,652.936625851,631,652,0.400962933463,-0.00537859242199,0.0598441613772,0.999999933834,0.000247603544395,-0.000265788818674,1.95348162422e-05,1793242362770046720
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.364502522,714,679.364502522,659,635,878,787,804,652.364502522,631,652,0.400964110721,-0.00537806124587,0.0598444046545,0.999999934068,0.00024736955484,-0.000265116634503,1.96251825659e-05,1793242362786713344
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.214352243,714,679.214352243,659,635,878,787,804.214352243,652,631,652,0.400967025872,-0.00537739528505,0.0598455246019,0.999999934491,0.000247822219964,-0.000263086650571,1.96726006496e-05,1793242362803380224
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.805024768,714,679.805024768,659,635,878,787,804.805024768,652,631,652,0.400972992096,-0.00537649269408,0.0598481836456,0.999999935231,0.000249480387223,-0.000258672891382,1.96446180956e-05,1793242362820047104
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.387379622,745,714,679.612620378,659,635,878,787,804.612620378,652,631,652,0.400997332657,-0.00537821369631,0.0598588666626,0.999999940473,0.000247158210299,-0.000239921509842,2.00993446952e-05,1793242362836713728
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.965636092,745,714,679.034363908,659,635,878,787,804.034363908,652,631,652,0.401030726963,-0.0053812274438,0.0598735034003,0.999999947369,0.000242874764624,-0.000214105429465,2.07919206576e-05,1793242362853380096
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.45810301,745,714,679,659,635,878,787,804,652,631,652,0.401087711982,-0.00538280022104,0.0598929052215,0.999999954691,0.000242189429245,-0.000177431020975,2.19120382189e-05,1793242362870046720
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,804.117175977,652,631,652,0.401148374019,-0.00538466799841,0.0599113112219,0.999999960275,0.000241249267037,-0.000143953335421,2.29278743472e-05,1793242362886713344
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878,787,804.689133513,652,631,652,0.401217522374,-0.00538803407897,0.0599246837764,0.999999963418,0.000238437751758,-0.000125545376196,2.34341342315e-05,1793242362903379968
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.728455186,714,679,659,635,878,787,805,652,631,652,0.401290941744,-0.00539042146137,0.0599342609519,0.999999965588,0.000236427235071,-0.000111224830544,2.35666710206e-05,1793242362920046592
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.133597208,714,679,659,635,878,787,805,652,631,652,0.401369446369,-0.00539164356261,0.0599393191818,0.999999966851,0.000235370422662,-0.000101770939882,2.32542366781e-05,1793242362936713216
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.447339842,744.447339842,714,679,659,635,878,787,804.552660158,652,631,652,0.401466266045,-0.00539313994372,0.0599427448051,0.999999967285,0.000236051607331,-9.5916615947e-05,2.25868499402e-05,1793242362953380096
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,787,804.024139924,652,631,652,0.401569367781,-0.00539478741653,0.0599457370887,0.999999967502,0.000237155081563,-9.09825441041e-05,2.18157285944e-05,1793242362970046976
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,878,787,804.598547138,652,631,652,0.401694748871,-0.00539806816043,0.0599496302325,0.999999968368,0.000236410003078,-8.32604717061e-05,2.10234530053e-05,1793242362986713344
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,714,679.177804334,659,635,878,787,805,652,631,652,0.401825089577,-0.00540189002036,0.0599521788094,0.999999969477,0.000233849436527,-7.7187690419e-05,2.00692263737e-05,1793242363003380224
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,714,679.768318977,659,635,878,787,805,652,631,652,0.401966942274,-0.00540696789067,0.0599516064464,0.999999971235,0.000227074852212,-7.49431602471e-05,1.8739087391e-05,1793242363020046848
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,878,787,805,652,631,652,0.402131687724,-0.00541163730725,0.0599516996272,0.999999972342,0.000223449399378,-7.13303952483e-05,1.72992267763e-05,1793242363036713472
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680,659,635,878,787,805,652,631,652,0.402311213904,-0.00541604300602,0.0599522225167,0.999999973032,0.000221857183965,-6.68342286272e-05,1.57885242114e-05,1793242363053380096
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.491636741,745,714,679.491636741,659,635,878,787,805,652,631,652,0.402531878323,-0.0054220486425,0.059954463048,0.999999975027,0.00021564385943,-5.71203381404e-05,1.34410300087e-05,1793242363070046464
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.916177184,635,878,787,804.916177184,652,631,652,0.40276122237,-0.00542844989687,0.0599567212556,0.999999977104,0.000208348022626,-4.75488898013e-05,1.10755983153e-05,1793242363086713088
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.346083312,635,878,787,804.346083312,652,631,652,0.403008986115,-0.00543590429435,0.0599577487331,0.999999979366,0.000198359350284,-4.28538890342e-05,9.25564433743e-06,1793242363103379712
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.233892923,635,878.233892923,787,804.233892923,652,631,652,0.403266733561,-0.00544287986228,0.0599572765346,0.999999981113,0.000189729357768,-4.15478048139e-05,7.10057864916e-06,1793242363120046592
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.829136798,635,878.829136798,787,804.829136798,652,631,652,0.403539905229,-0.00544911566596,0.059954487424,0.999999982175,0.000183198447115,-4.54773996774e-05,4.42778498519e-06,1793242363136713472
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.413168247,745,714,679.413168247,659,635,878.586831753,787,804.586831753,652.413168247,631,651.586831753,0.403834879205,-0.00545691765823,0.0599450038831,0.999999983151,0.000173449766032,-6.01092913399e-05,7.84381644899e-07,1793242363153380352
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.992685358,745,714,679.992685358,659,635,878.007314642,787,804.007314642,652.992685358,631,651.007314642,0.404138631171,-0.00546535022567,0.0599328250459,0.999999983682,0.000162405553582,-7.9050117423e-05,-3.24980630456e-06,1793242363170046720
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,714,679.431938686,659,635,878.568061314,787,804,652.431938686,631,651.568061314,0.40448675687,-0.00547361454791,0.0599198879579,0.999999983117,0.00015260950108,-0.000102102504931,-7.23989723725e-06,1793242363186713344
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.856714694,744.856714694,714,679,659,635,878.856714694,787,804,652,631,651.856714694,0.404847205528,-0.00548249566095,0.0599095751579,0.999999982536,0.000142038479152,-0.000120960361242,-1.10259049879e-05,1793242363203380224
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.281789118,744.281789118,714,679,659,635,878.281789118,787,804,652,631,651.281789118,0.405243067667,-0.00549324130478,0.0599071971047,0.9999999835,0.000129084834631,-0.000127024052225,-1.4198819136e-05,1793242363220046848
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.301511748,744.301511748,714,679,659,635,878,787,804.301511748,652,631,651,0.405668004652,-0.00550296921566,0.0599143777504,0.99999998619,0.000116696309965,-0.000117098299874,-1.70210770753e-05,1793242363236713472
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.892863764,744.892863764,714,679,659,635,878,787,804.892863764,652,631,651,0.406120891045,-0.00551171879115,0.0599307470788,0.999999990099,0.000104851027865,-9.18020540418e-05,-1.95062530262e-05,1793242363253380096
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.527067167,745,714,679,659,635,878.472932833,787,804.527067167,652,631,651,0.406636686027,-0.0055188486478,0.0599599006816,0.999999998963,5.94202435568e-06,-3.94197635011e-05,-2.20097456183e-05,1793242363270046976
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.050332482,745,714,679.050332482,659,634.949667518,878.949667518,787,804.050332482,652,631,651.050332482,0.407167092615,-0.00552445707047,0.0599899508938,0.99999999459,-0.000100107565445,1.44004496667e-05,-2.43200780498e-05,1793242363286713344
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.625927266,745,714,679.625927266,659,634.374072734,878.374072734,787,804.625927266,652,631,651.625927266,0.407704727722,-0.0055179279817,0.0599998390257,0.999999996313,-7.9644552377e-05,2.06847648791e-05,-2.45723316369e-05,1793242363303379968
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.794117826,744.794117826,714,679.794117826,659.205882174,634.205882174,878,787,804.794117826,652,631,652,0.408238193584,-0.00551029851296,0.0600018715285,0.999999997814,-5.86159060775e-05,1.48122417498e-05,-2.6780301798e-05,1793242363320046848
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.206069527,744.206069527,714,679.206069527,659.793930473,634.793930473,878,787,804.206069527,652,631,652,0.408763920309,-0.00550062647855,0.0599893221207,0.999999998708,-3.65373116268e-05,-1.36262557581e-05,-3.26185455435e-05,1793242363336713216
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.376303337,744.376303337,714,679,659.623696663,635,878.376303337,787,804,652,631,652,0.409327865879,-0.00550628002654,0.0599785566218,0.999999997661,-4.18682070337e-05,-3.9300682671e-05,-3.71434195955e-05,1793242363353379840
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.955614404,744.955614404,714,679,659.044385596,635,878.955614404,787,804,652,631,652,0.409912429695,-0.00552020140397,0.0599687535047,0.999999995225,-6.19859459898e-05,-6.34839507372e-05,-4.09597581392e-05,1793242363370046720
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.465861964,714,679.534138036,659,635,879,787,804.534138036,652,631,651.465861964,0.410581452836,-0.005530404868,0.0599801419944,0.999999994973,-8.37240621744e-05,-3.14028052116e-05,-4.53768234355e-05,1793242363386713600
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.888333485,744.111666515,714,679.888333485,659,635,879,787,805,652,631,651.111666515,0.411258594181,-0.00553826070254,0.0599895123408,0.999999993251,-0.000104883851296,-4.21548370426e-06,-4.9800865802e-05,1793242363403379968
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.31465223,744.68534777,714,679.31465223,659,635,879,787,805,652,631,651.68534777,0.411940328612,-0.00553767971503,0.0599832575046,0.999999990826,-0.000123094549567,-1.65920519785e-05,-5.40475413093e-05,1793242363420046592
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.265995858,745,714,679,659.265995858,635,878.734004142,787,804.734004142,652,630.734004142,651.734004142,0.41260406118,-0.00553270180263,0.0599672692759,0.999999993954,-8.78695998356e-05,-4.90036973781e-05,-4.4386912981e-05,1793242363436713216
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.855106894,745,714,679,659.855106894,635,878.144893106,787,804.144893106,652,630.144893106,651.144893106,0.413245926299,-0.00552238278002,0.0599394575281,0.999999994174,1.22656412169e-05,-0.000105752706274,-1.78325593617e-05,1793242363453379840
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.563106158,745,714,679.436893842,659.563106158,635,878.436893842,787,804.436893842,652,630.436893842,651,0.413948622606,-0.00550998340499,0.05992029921,0.999999988721,4.49463884821e-05,-0.000142237973391,-1.74967173794e-05,1793242363470046464
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.016165341,745,714,679.983834659,659.032330682,635,879,786.983834659,805,652,631,651.016165341,0.414674951672,-0.00549775315709,0.0599060522205,0.999999984033,5.4606673782e-05,-0.000168224248684,-2.55346692888e-05,1793242363486713344
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.591065493,745,714,679.408934507,660.182130986,635,879,786.408934507,805,652,631,651.591065493,0.415532317006,-0.00551482214354,0.0599640016066,0.999999997415,2.90657473718e-05,-5.97765593202e-05,-2.74186273495e-05,1793242363503380224
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.834193821,745,714,679,660.668387642,635,879,786,805,652,631,651.834193821,0.416378706379,-0.00553007687254,0.060008694074,0.999999999346,-1.04477894812e-06,2.17067352089e-05,-2.89175467221e-05,1793242363520047104
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.25984609,745,714,679,659.519692179,635,879,786,805,652,631,651.25984609,0.417198051252,-0.00554086132346,0.0600207218798,0.999999997991,-4.24146629234e-05,3.67505451599e-05,-2.94677426509e-05,1793242363536713728
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.326165981,745,714,679.326165981,659.326165981,635,879,786.326165981,805,652,631,651.326165981,0.418006982138,-0.00554215959307,0.0600153926443,0.999999997976,-4.82283164417e-05,2.74834566483e-05,-3.11040968138e-05,1793242363553380096
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.921815277,745,714,679.921815277,659.921815277,635,879,786.921815277,805,652,631,651.921815277,0.418807308786,-0.00553562023424,0.0599957227554,0.999999999128,-2.4664867158e-05,-1.86966827723e-06,-3.36378514748e-05,1793242363570046464
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714,679.500028212,660,635,879,787,805,652,631,651.500028212,0.419617478152,-0.00553055523198,0.0599729186393,0.99999999831,-2.14681558409e-05,-4.02905326729e-05,-3.59978130039e-05,1793242363586713088
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714,679.075317697,660,635,879,787,805,652,631,651.075317697,0.420427663503,-0.00552657899626,0.0599481538918,0.999999995613,-2.201279505e-05,-8.26157494923e-05,-3.8276251265e-05,1793242363603379712
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714,679.649553242,660,635,879,787,805,652,631,651.649553242,0.421228103184,-0.00552833932193,0.0599135385062,0.999999988786,-2.69565559945e-05,-0.000141728537854,-4.01886066059e-05,1793242363620046336
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.229101839,786.770898161,805,652,631,652,0.422061014223,-0.00553090739723,0.0598930283868,0.99999998317,-3.00402653193e-05,-0.000176088120577,-4.1851112702e-05,1793242363636713216
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.816970612,786.183029388,805,652,631,652,0.4229447746,-0.00553474038564,0.059894606706,0.999999983876,-3.02111878285e-05,-0.000171684900181,-4.31223624919e-05,1793242363653380096
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.599693492,786.400306508,805,651.599693492,631,652,0.423895106094,-0.00553803797065,0.0599448824515,0.999999994178,-4.26199780095e-05,-8.97422423477e-05,-4.21123137636e-05,1793242363670046976
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.018406962,786.981593038,805,651.018406962,631,652,0.424875534576,-0.00554109349762,0.0600171744797,0.999999996992,-6.05615519999e-05,2.72562769489e-05,-4.00708811341e-05,1793242363686713600
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.442612847,745,714,680,660,635,879,787,805,651.557387153,631,651.442612847,0.425772369072,-0.00554109538617,0.0600318357147,0.999999996726,-4.96899193017e-05,5.04204308667e-05,-3.92105148469e-05,1793242363703380224
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.130688431,745,714,680,660,635,879.130688431,787,805,652,631,651,0.426663530521,-0.00554175320604,0.0600368564731,0.999999996365,-4.34078306102e-05,6.18929007805e-05,-3.94423814816e-05,1793242363720046848
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.696291545,745,714,680,660,635,879.696291545,787,805,652,631,651,0.427544909954,-0.00554492619888,0.0600160666776,0.999999996528,-5.55348010808e-05,4.46685531357e-05,-4.31805311843e-05,1793242363736713216
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660.277476796,635,880,787,805,652,631,651.277476796,0.428420044735,-0.00554678847034,0.0599914690912,0.999999996875,-6.26591610844e-05,1.47719360718e-05,-4.58853503586e-05,1793242363753380096
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.876731967,635,880,787,805,652,631,651.876731967,0.42928793779,-0.00554713075214,0.0599624557686,0.999999996386,-6.39821995145e-05,-2.9820187069e-05,-4.73918585051e-05,1793242363770046720
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,744.539249408,714,680.460750592,660.539249408,635,880,787,805,652,631,651.539249408,0.43013223687,-0.00554538534768,0.0599312917824,0.999999993078,-5.7931632812e-05,-9.03299822009e-05,-4.82490606977e-05,1793242363786713344
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,744.04045913,714,680.95954087,660,635,879.95954087,787,805.04045913,652,631,651.04045913,0.430978877417,-0.00554357084983,0.0599052453977,0.999999987178,-5.14524294228e-05,-0.000143558702038,-4.88619002452e-05,1793242363803380224
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,744.615355911,714,680.384644089,660,635,879.384644089,787,805.615355911,652,631,651.615355911,0.431937158072,-0.00554798536741,0.0599541562127,0.999999995678,-6.45353334196e-05,-4.61571147713e-05,-4.84680633645e-05,1793242363820046848
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.805930356,745,714,680,660,635,879.194069644,787,805.805930356,651.805930356,631,652,0.432874187185,-0.00555152333403,0.0599949448607,0.999999995799,-7.24958404393e-05,2.89874048628e-05,-4.80274483549e-05,1793242363836713472
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.219499581,745,714,680,660,635,879.780500419,787,805.219499581,651.219499581,631,652,0.433768251074,-0.00555328913079,0.0600193124916,0.999999994667,-7.01001228745e-05,5.91336199065e-05,-4.74922601518e-05,1793242363853379840
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.363584247,745,714,680,660,635,879.636415753,787,805,651.363584247,631,651.636415753,0.434622667877,-0.00555408639497,0.0600077889177,0.999999995401,-7.3990056854e-05,3.65633236186e-05,-4.88574950546e-05,1793242363870046720
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.944665883,745,714,680,660,635,879.055334117,787,805,651.944665883,631,651.055334117,0.435453367599,-0.0055543042794,0.059974795096,0.999999995195,-8.16400899257e-05,-1.75421790501e-05,-5.13595697475e-05,1793242363886713344
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.478443011,745,714,680,660,635,879,787,805.521556989,651.478443011,631,651.521556989,0.436259060749,-0.00555691595947,0.0599481626784,0.999999992889,-8.41273671647e-05,-6.63294108024e-05,-5.23899404582e-05,1793242363903379712
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.09786092,745,714,680,660.09786092,635,879.09786092,787,805.90213908,651.09786092,631,652,0.437055749205,-0.00555856784018,0.0599243781359,0.999999988654,-8.52900125361e-05,-0.00011218646771,-5.32220629111e-05,1793242363920046336
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+185,3.083333333,POSE1_TO_POSE2_PRESS,765.744664675,745,714,679.744664675,660.744664675,635,880,787.255335325,805.255335325,652,631,651.744664675,0.438613516828,-0.00555200435065,0.0599094658963,0.999999983191,-8.32826965506e-05,-0.000153896891834,-5.47536942689e-05,1793242363953380096
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+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.427127143,660,635,879.572872857,787.145745714,806,651.572872857,631,651,0.440273159832,-0.005555587711,0.0599684620823,0.999999993405,-8.66017458597e-05,-5.27287620546e-05,-5.3937538239e-05,1793242363986713344
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+197,3.283333333,POSE1_TO_POSE2_PRESS,765.783355978,744,713.216644022,681,660,634,879,787,806.216644022,651,631.783355978,651.216644022,0.446843539718,-0.00555450744278,0.0599129992814,0.999999982561,-8.8920739643e-05,-0.000152040234942,-6.20869281048e-05,1793242364153380864
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.193570334,744,713.806429666,681,660,634,879,787,806.806429666,651,631.193570334,651.806429666,0.447371673751,-0.00555543267705,0.059902245733,0.999999980895,-9.04776424693e-05,-0.000160852403542,-6.44214239003e-05,1793242364170046720
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.390830529,744.390830529,714,681,660,634,879.390830529,786.609169471,806.609169471,651,631,652,0.447910945998,-0.00556191315491,0.0599089352206,0.99999998192,-9.98589431923e-05,-0.000148064588551,-6.53133184736e-05,1793242364186713344
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+244,4.066666667,POSE1_TO_POSE2_PRESS,765.501919764,745,714,681,658,632,879.501919764,785,806,651,630,651.501919764,0.454009747432,-0.00556342251726,0.0597558191997,0.999999922192,-0.000101011358032,-0.000377097283194,-5.66600541041e-05,1793242364936713216
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.92022386,745,714,681.07977614,658,632,880,785,806,651,630.07977614,652,0.454008729498,-0.00556233732376,0.0597542504548,0.999999921511,-9.94100409208e-05,-0.000379276164666,-5.6964837791e-05,1793242364953379584
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.335129246,745,714,681.664870754,658,632,880,785,806,651,630.664870754,652,0.454009400001,-0.0055665841016,0.0597546155263,0.999999921057,-0.000105065338178,-0.000379062386849,-5.61974715893e-05,1793242364970046208
+247,4.116666667,HOLD_POSE2,765,745,714,682,658,632,880,785,806,651,631,652,0.454012465177,-0.00556478323683,0.0597579132132,0.999999922707,-0.000102562804269,-0.00037527004934,-5.69185873881e-05,1793242365008342272
+248,4.133333333,HOLD_POSE2,765.577753972,745,714,681.422246028,658,632,879.422246028,785,806,651.577753972,631,652,0.454012469207,-0.0055667861395,0.0597568149316,0.999999922705,-0.000103705639545,-0.000375030053512,-5.64557624852e-05,1793242365025008896
+249,4.150000000,HOLD_POSE2,765.845597723,745,714,681,658,632,879,785.154402277,806,652,631,652,0.454012521025,-0.00556808474117,0.0597561007185,0.999999922672,-0.000104288531083,-0.000375016071806,-5.60596950248e-05,1793242365041675776
+250,4.166666667,HOLD_POSE2,765.271951477,745,714,681,658,632,879,785.728048523,806,652,631,652,0.4540127026,-0.00556747097548,0.0597564293552,0.999999922556,-0.000103351024076,-0.00037561577956,-5.58448919864e-05,1793242365058342656
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+256,4.266666667,HOLD_POSE2,765,745,714,681,658,632,880.578490074,785.210754963,806,651,630.210754963,651.789245037,0.454012884781,-0.00556392928741,0.0597553378154,0.999999921738,-0.000102950642118,-0.000377845177375,-5.6195849026e-05,1793242365158342400
+257,4.283333333,HOLD_POSE2,765,745,714,681,658,632,879.425765348,785.787117326,806,651,630.787117326,651.212882674,0.454011306163,-0.0055646843247,0.0597542388688,0.999999920967,-0.000102477794666,-0.000380069956738,-5.57827061148e-05,1793242365175009024
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+259,4.316666667,HOLD_POSE2,765.96266068,745.96266068,714,681,658,632.96266068,879.96266068,785.03733932,806,651.96266068,630.03733932,651,0.45401314049,-0.005563227614,0.0597564149474,0.999999922415,-0.000100231938148,-0.000376787739243,-5.61642271241e-05,1793242365208342528
+260,4.333333333,HOLD_POSE2,766,745.458234919,714.541765081,681,658,632.458234919,879.458234919,785,806,651.458234919,630,651.541765081,0.454012527667,-0.00556259531901,0.0597553470934,0.999999921801,-0.000100440973483,-0.000378332449526,-5.63333530353e-05,1793242365225008896
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+262,4.366666667,HOLD_POSE2,765.306330422,745,714.306330422,681,658.693669578,632,879,785,806,651.693669578,630,651.306330422,0.454012311749,-0.00556462460607,0.0597543923503,0.999999921278,-0.00010081702737,-0.000379711697343,-5.56675142117e-05,1793242365258342400
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,658,632,879,785,806,651,630,651,0.454015071919,-0.00556361417434,0.0597567530171,0.999999922624,-0.000102266889096,-0.000375799757335,-5.53818886173e-05,1793242365324334336
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.422622809,745,714,681.422622809,658,632,879,785,806.577377191,651.577377191,630,651.577377191,0.454014593471,-0.00556409790253,0.0597561367896,0.999999922458,-0.00010213905593,-0.000376270579394,-5.54254003889e-05,1793242365341000704
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765.154055126,745,714,680.845944874,658,632,879.154055126,785,806.845944874,651.845944874,630.154055126,651.845944874,0.454013909087,-0.00556473189848,0.059755510702,0.999999922198,-0.000102447289134,-0.00037687540646,-5.54404880884e-05,1793242365357667584
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.728823574,745,714,680.271176426,658,632,879.728823574,785,806.271176426,651.271176426,630.728823574,651.271176426,0.454012662308,-0.00556577626486,0.059754857687,0.99999992168,-0.000103946387783,-0.000377846191534,-5.53779517292e-05,1793242365374334208
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.517042482,658,632,880,786,806,651.517042482,630,651.482957518,0.454011458467,-0.00556143709512,0.0597534472515,0.999999921205,-9.86794432871e-05,-0.000380499078436,-5.54267625214e-05,1793242365424334080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,631.938355129,880,785.938355129,806,651.061644871,630,652,0.454011140728,-0.00556137990426,0.0597535297781,0.999999921362,-9.9555028231e-05,-0.000379831863354,-5.56148638054e-05,1793242365441000704
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.613631055,745,714,681,658,632,879.386368945,785,806,651,630.613631055,652,0.453932098116,-0.00556073271143,0.0597182591159,0.999999897575,-9.91204543445e-05,-0.000437899144554,-5.71800592777e-05,1793242365507667456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.034691985,745,714,681,658,632,879.965308015,785,806,651,630.034691985,652,0.453881542194,-0.00555968465197,0.0596963220839,0.999999880785,-9.92705881785e-05,-0.000474521936939,-5.83389726393e-05,1793242365524334080
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.306610076,658,631.693389924,879,785,806,651,630,652,0.453676297709,-0.00555290958553,0.0596494934945,0.999999850444,-9.55194209066e-05,-0.000535113291377,-6.03497389924e-05,1793242365574334208
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+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.399471673,745,714,681,658,632,880,785.600528327,806,652,630.600528327,651,0.453162296869,-0.00553495883442,0.0596542580207,0.999999859022,-7.90162726739e-05,-0.00052199425217,-5.68687767089e-05,1793242365657667584
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.379119472,745,714,681,660.620880528,634,879.620880528,787,805.379119472,651,631,651.620880528,0.44667229292,-0.00543142990554,0.0597853527746,0.999999946757,1.68465801237e-05,-0.000325705239483,-1.09077492918e-05,1793242365974334720
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.195633847,745,714,681,660.804366153,634,880,787,805.195633847,651,631,651.804366153,0.446081481717,-0.00543576713329,0.0597956225931,0.999999949224,1.19248196831e-05,-0.00031840618447,-5.26050255658e-06,1793242365991001344
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.769559695,745,714,681,660.230440305,634,880,787,805.769559695,651,631,651.230440305,0.445420985436,-0.00542505939177,0.0597761572279,0.999999937561,2.0098979334e-05,-0.000352797252926,-2.69350658046e-06,1793242366007667968
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.64450033,745,713.64450033,681,659.64450033,634,880,787,805.64450033,651,631,651,0.444765313582,-0.00541069053595,0.0597599315306,0.999999929964,3.19754873345e-05,-0.000372892131861,-6.38991544356e-07,1793242366024334592
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.050500247,745,713.050500247,681,659.050500247,634,880,787,805.050500247,651,631,651,0.444112878405,-0.0053938654834,0.059745879288,0.99999992543,4.63358555879e-05,-0.000383395869481,1.07170614436e-06,1793242366041000960
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+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,713.166572082,680,660,634,879.833427918,787,805,651,631,651.833427918,0.440458153519,-0.00540519122346,0.0597849527517,0.99999989629,0.000284954238433,-0.000354332222124,2.58983938177e-05,1793242366124334336
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+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.675745583,659.324254417,634,879,787,806,651.324254417,631,651.324254417,0.435464136262,-0.0053833210348,0.0597413144056,0.999999894989,0.00020131292694,-0.000411196843265,2.03089351055e-05,1793242366224334336
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.083942113,659.916057887,634,879,787,806,651.916057887,631,651.916057887,0.434617634633,-0.00539359673194,0.0597485498878,0.999999921569,0.000143198593766,-0.000369260909586,-1.52028654906e-06,1793242366241001216
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+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.350701361,744,714,680,660,635,879.649298639,786.649298639,805,651,631,651.649298639,0.431976088606,-0.00539769620538,0.0598009563865,0.99999994335,0.000157215559155,-0.00029720211908,1.59232952543e-05,1793242366291001088
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+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.458896731,635,878,787,804.458896731,652,631,651.458896731,0.404884740909,-0.00535428074938,0.0598188092454,0.999999922414,0.000261185619901,-0.000293535094825,2.81349639727e-05,1793242366891001088
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.119520028,787,804,652,631,651.119520028,0.404456334921,-0.00534777685075,0.0597971609934,0.999999908861,0.00027262235879,-0.0003274025991,2.76047762107e-05,1793242366907667712
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658,635,878.69406755,787,804,652,631,651.69406755,0.404073415039,-0.00534128335772,0.0597751255991,0.999999892469,0.000281905056404,-0.000367258688062,2.66818926142e-05,1793242366924334336
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.276596841,634.723403159,878.723403159,787,804.276596841,652,631,652,0.403736635491,-0.00533698374089,0.05976920151,0.999999887488,0.000289196258422,-0.000375032421333,2.72109835442e-05,1793242366941000960
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.868216735,634.131783265,878.131783265,787,804.868216735,652,631,652,0.403452406343,-0.00533518278484,0.0597816269903,0.999999896335,0.000294219296035,-0.000346266756215,2.93937646096e-05,1793242366957667840
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.448286638,634.448286638,878,787,804.551713362,652,631,652,0.403196487992,-0.00533567573584,0.0598028813048,0.999999907853,0.000294731277766,-0.000310495206739,3.1951522857e-05,1793242366974334464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.974922751,635,878.025077249,787,804,652,631,652,0.402949333588,-0.0053367481576,0.0598261311831,0.999999918765,0.000294011501894,-0.000273555209464,3.45687113073e-05,1793242366991000832
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659.397453791,635,878.602546209,787,804,652,631,652,0.402716506655,-0.00533610389125,0.0598376036453,0.999999923403,0.000294636584454,-0.000255104045875,3.61278398483e-05,1793242367007667712
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.816611627,714,679,659,635,878.816611627,787,804,652,630.816611627,652,0.402490200193,-0.00533940462704,0.059843718593,0.99999992679,0.000289972136338,-0.000246857779988,3.73787940634e-05,1793242367024334592
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.228321873,714,679,659,635,878.228321873,787,804,652,630.228321873,652,0.402278290242,-0.00535141549423,0.0598380047358,0.999999927746,0.000273628985618,-0.000261142809643,3.79493330283e-05,1793242367041001216
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.35455562,714,679.35455562,659,635,878,787,804,652,630.35455562,652,0.402086902946,-0.00536411093829,0.0598336169839,0.999999928905,0.000257262629461,-0.000272943868615,3.88249093667e-05,1793242367057667584
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.93400026,714,679.93400026,659,635,878,787,804,652,630.93400026,652,0.401908532825,-0.00537724059981,0.0598300703591,0.9999999301,0.000240881552837,-0.000283169385662,3.98939661363e-05,1793242367074334208
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.490463114,659,635,878,787,804,652,631,652,0.401764682519,-0.00537438580468,0.0598299864695,0.999999942657,0.000183279660542,-0.000283825131179,2.31703723246e-05,1793242367091001088
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.91539939,714,679.08460061,659,635,878,787,804,652,631,652,0.401629082873,-0.00537157311831,0.0598304531821,0.999999950657,0.000135847942133,-0.000283158094852,7.27969997954e-06,1793242367107667456
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.34016466,714,679.65983534,659,635,878,787,804,652,631,652,0.401515598542,-0.00538092063658,0.0598315316866,0.999999944342,0.000178126325393,-0.000281953720131,9.48344074607e-06,1793242367124334080
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.240002798,713.759997202,680,658.759997202,635,878,787,804.240002798,652,631,652,0.401414550392,-0.0053839637007,0.0598337283882,0.999999938342,0.000212775220679,-0.000279145024538,1.09945379986e-05,1793242367141001216
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.82730826,713.17269174,680,658.17269174,635,878,787,804.82730826,652,631,652,0.401331498369,-0.00537788373008,0.0598375432074,0.999999934453,0.000236383652842,-0.000274014752745,1.15033262449e-05,1793242367157668864
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.410351284,679.589648716,658.410351284,635,878,787,804.589648716,652,631,652,0.401257980033,-0.00537563827587,0.0598368555104,0.999999932287,0.000243958606776,-0.000275254028207,1.20515949582e-05,1793242367174335232
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.991618934,679.008381066,658.991618934,635,878,787,804.008381066,652,631,652,0.401188432599,-0.00537498994516,0.0598342924596,0.999999930982,0.000244855418887,-0.000279146298764,1.26163077614e-05,1793242367191001344
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.567467274,745,714,679,659,635,878,787,804,652,631,652,0.401135359367,-0.00537696367149,0.0598305986359,0.999999930576,0.000239348167654,-0.00028528129642,1.3261413644e-05,1793242367207667968
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.857632844,745,714,679.142367156,659,635,878,787,804.142367156,652,631,652,0.401087139426,-0.00537747832108,0.0598281525768,0.999999929994,0.000236349681196,-0.000289765558061,1.36950744554e-05,1793242367224334336
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.285357726,745,714,679.714642274,659,635,878,787,804.714642274,652,631,652,0.401052847259,-0.00537347114251,0.0598295243637,0.999999929009,0.00024120985793,-0.000289165992523,1.3486680179e-05,1793242367241000960
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.702269227,714,679.702269227,659,635,878,787,805,652,631,652,0.401026285891,-0.00537247149617,0.0598304212714,0.999999929043,0.000242411707104,-0.000288027037401,1.3814853935e-05,1793242367257667584
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.108426057,714,679.108426057,659,635,878,787,805,652,631,652,0.401007413297,-0.00537446303354,0.0598308458813,0.9999999301,0.000239975114896,-0.000286351624592,1.46766790726e-05,1793242367274334208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.472344937,744.472344937,714,679.472344937,659,635,878,787,804.527655063,652,631,652,0.400994118848,-0.005374199957,0.05983214628,0.999999930543,0.000240727344916,-0.000284146501034,1.49742552553e-05,1793242367291000832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,878,787,804.049956966,652,630.950043034,652,0.400982611564,-0.00537352548016,0.0598336190466,0.999999930899,0.000241974271564,-0.000281816782351,1.51566703613e-05,1793242367307667456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,878,787,804.625056266,652,630.374943734,652,0.400976793224,-0.00537382025773,0.0598348473682,0.999999931818,0.000240934017924,-0.000279421096384,1.54533855644e-05,1793242367324334336
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.795578402,744.795578402,714,679.795578402,658.795578402,635,878,787,805,652,630.204421598,652,0.400971950199,-0.00537320063043,0.0598357313873,0.99999993207,0.000241598755391,-0.000277937686045,1.54955223655e-05,1793242367341001216
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.208221714,744.208221714,714,679.208221714,658.208221714,635,878,787,805,652,630.791778286,652,0.400968934195,-0.00537086808375,0.0598359704378,0.999999931075,0.000245457386962,-0.000278163206579,1.50607672522e-05,1793242367357667840
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.373865023,714,679,658.373865023,635,878.373865023,787,804.626134977,652,631,652,0.40096805204,-0.00537192893584,0.0598373274171,0.999999931951,0.000243760467997,-0.000276477497286,1.54568927457e-05,1793242367374334208
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.953057472,714,679,658.953057472,635,878.953057472,787,804.046942528,652,631,652,0.4009683418,-0.00537485344946,0.0598392983652,0.999999933836,0.00023901242932,-0.000273742136698,1.63093395608e-05,1793242367391000832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.469709973,634.469709973,878.469709973,787,804,652.530290027,631,652,0.400966713901,-0.00537482746399,0.0598385972809,0.999999933517,0.000239578318662,-0.000274419156775,1.62044695725e-05,1793242367407667712
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.893313171,714,679,658.106686829,634.106686829,878,787,804,652.893313171,631,651.893313171,0.400965192192,-0.00537435071738,0.0598378098034,0.999999933024,0.000240916105807,-0.00027505420359,1.60446168607e-05,1793242367424334336
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.319817039,714,679,658.680182961,634.680182961,878,787,804,652.319817039,631,651.319817039,0.400964875149,-0.005373040271,0.0598376754607,0.999999932616,0.00024358067191,-0.0002741887435,1.60136193594e-05,1793242367441001216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.261614856,714,679.261614856,659,635,878,787.261614856,804.261614856,652,631,651.261614856,0.400964850422,-0.00537323531445,0.0598378993851,0.999999932787,0.000243786337395,-0.000273376272431,1.60966650349e-05,1793242367457667840
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.853051567,714,679.853051567,659,635,878,787.853051567,804.853051567,652,631,651.853051567,0.400965194223,-0.00537532835179,0.0598385749823,0.999999933689,0.000240892029574,-0.000272630605319,1.63234866861e-05,1793242367474334464
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.564746657,659,635,878.435253343,787.564746657,804.564746657,652.435253343,631,652,0.400965924828,-0.00537529909747,0.0598398210514,0.999999934111,0.000240859764333,-0.00027110165603,1.64027689056e-05,1793242367491001088
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.014304034,745,714,679,659,635,878.985695966,787,804.014304034,652.985695966,631,652,0.400966703046,-0.00537457720972,0.0598411948357,0.999999934358,0.000241726952351,-0.000269412359398,1.64310183353e-05,1793242367507667968
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.589513095,745,714,679,659,635,878.410486905,787,804.589513095,652.410486905,631,652,0.400964333853,-0.00537420820274,0.0598401811904,0.999999934003,0.000240761247985,-0.000271589734015,1.63708011408e-05,1793242367524334592
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.831728548,745,714,679,659,635,878.168271452,787,804.831728548,652,631,652,0.40096278789,-0.00537368814683,0.0598395395914,0.999999933648,0.000240853380452,-0.000272817548167,1.62788861001e-05,1793242367541000960
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.244125393,745,714,679,659,635,878.755874607,787,804.244125393,652,631,652,0.400963293415,-0.00537279167765,0.0598398251306,0.9999999333,0.000243581637623,-0.000271679061776,1.61079801727e-05,1793242367557667584
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.661378253,787,804.338621747,652,631,652,0.400964004698,-0.00537324911817,0.0598401695192,0.999999933829,0.00024215042274,-0.000271015872584,1.59811036322e-05,1793242367574334208
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.08208253,787,804.91791747,652,631,652,0.400964862222,-0.00537466884433,0.0598405557348,0.999999934972,0.000237762880549,-0.000270690498915,1.58855207995e-05,1793242367591001088
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.503277235,714,679.496722765,659,635,878.496722765,787,805,652,631,651.503277235,0.400964574073,-0.00537573289236,0.0598405706464,0.999999935347,0.000236765278423,-0.000270163809081,1.60920699527e-05,1793242367607667712
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.074510264,714,680,659,635,878.925489736,786.925489736,804.925489736,652,631,651,0.400964262775,-0.00537639944135,0.0598405759668,0.999999935529,0.000236685659478,-0.000269548926639,1.63019952648e-05,1793242367624334592
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.646048262,714,680,659,635,878.353951738,786.353951738,804.353951738,652,631,651,0.400965058703,-0.00537480611366,0.0598409261947,0.999999935245,0.000238996476931,-0.000268567439998,1.62017287922e-05,1793242367641001216
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.774734954,659,635,878,786.225265046,804.225265046,652,631,651.225265046,0.400965590445,-0.00537443950051,0.0598412801827,0.999999935057,0.000240239550618,-0.000268161935127,1.61574778149e-05,1793242367657667840
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.183026851,659,635,878,786.816973149,804.816973149,652,631,651.816973149,0.40096569243,-0.00537606840766,0.0598416402876,0.999999935032,0.000239745704989,-0.000268693390923,1.62043483242e-05,1793242367674334208
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.599477649,714,679,659,635,878.400522351,787,804.599477649,652.400522351,631,652,0.400965940921,-0.0053770691483,0.0598419796343,0.999999935509,0.000237915220663,-0.000268532826969,1.63970801841e-05,1793242367691001344
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744.019582425,714,679,659,635,878.980417575,787,804.019582425,652.980417575,631,652,0.400966255025,-0.00537778856615,0.0598423096845,0.999999936206,0.00023548612627,-0.00026806234377,1.66551356602e-05,1793242367707668480
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fba8871074de1fc4fd3e6fe2f198d3d59c486e5d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,410 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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+365,6.083333333,pose2_to_pose3_retreat,0.582465134795,1.83960648542e-06,1.05004109423,0.553036855023,0.00867666949147,1.04967887824
+366,6.100000000,pose2_to_pose3_retreat,0.58226087057,1.8486303042e-06,1.05004097022,0.552832590703,0.00867667858847,1.04967876369
+367,6.116666667,pose2_to_pose3_retreat,0.58206804995,1.86333918452e-06,1.0500409625,0.552639769082,0.00867668993055,1.04967875687
+368,6.133333333,pose2_to_pose3_retreat,0.581887119366,1.86638608286e-06,1.0500408595,0.55245883943,0.00867669612033,1.04967865317
+369,6.150000000,pose2_to_pose3_retreat,0.581721861635,1.81963789419e-06,1.05004094733,0.552293582042,0.00867665047637,1.04967873976
+370,6.166666667,pose2_to_pose3_retreat,0.581572515983,1.87165205193e-06,1.0500408976,0.552144235809,0.00867670052786,1.04967869024
+371,6.183333333,pose2_to_pose3_retreat,0.581440441858,1.7553454022e-06,1.05004099254,0.55201216353,0.00867659045046,1.04967878424
+372,6.200000000,pose2_to_pose3_retreat,0.581324152274,1.71104235171e-06,1.05004086803,0.551895874473,0.00867654805878,1.04967866278
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+374,6.233333333,pose2_to_pose3_retreat,0.581137169833,1.80027634768e-06,1.05004085668,0.551708890077,0.00867663087317,1.04967865768
+375,6.250000000,pose2_to_pose3_retreat,0.581061406587,1.85508539672e-06,1.05004107701,0.551633124809,0.00867667849857,1.04967886991
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+377,6.283333333,pose2_to_pose3_retreat,0.580940186654,1.90127121237e-06,1.05004091673,0.551511904317,0.00867672308565,1.04967871662
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+379,6.316666667,pose2_to_pose3_retreat,0.580853649177,1.81917635552e-06,1.05004097447,0.551425369164,0.00867664852493,1.04967876596
+380,6.333333333,pose2_to_pose3_retreat,0.58082326278,1.75702220889e-06,1.05004091042,0.551394984646,0.00867659283116,1.04967870399
+381,6.350000000,pose2_to_pose3_retreat,0.580799738624,1.80758731827e-06,1.05004089747,0.551371459699,0.00867664074721,1.0496786919
+382,6.366666667,pose2_to_pose3_retreat,0.580782505281,1.92890607897e-06,1.05004098191,0.5513542232,0.00867675118901,1.04967877247
+383,6.383333333,pose2_to_pose3_retreat,0.580770159446,1.89046348534e-06,1.05004098352,0.551341878335,0.00867671599772,1.04967877318
+384,6.400000000,pose2_to_pose3_retreat,0.580761522405,1.83804102858e-06,1.05004096526,0.551333242567,0.00867666813784,1.04967876058
+385,6.416666667,pose2_to_pose3_retreat,0.580755526519,1.8100121841e-06,1.05004091702,0.551327246847,0.00867664064587,1.0496787116
+386,6.433333333,pose2_to_pose3_retreat,0.580751541886,1.79795922122e-06,1.05004086077,0.551323261808,0.00867662705105,1.04967865142
+387,6.450000000,pose2_to_pose3_retreat,0.580749454579,1.75940320967e-06,1.05004085139,0.551321174798,0.00867658954432,1.04967864298
+388,6.466666667,pose2_to_pose3_retreat,0.580747990733,1.72859851703e-06,1.05004084715,0.551319711219,0.00867655969235,1.04967863976
+389,6.483333333,pose2_to_pose3_retreat,0.580747009249,1.7079445179e-06,1.05004084431,0.551318729915,0.00867653967713,1.0496786376
+390,6.500000000,pose2_to_pose3_retreat,0.580746478141,1.71565936511e-06,1.05004081438,0.551318198703,0.00867654708585,1.04967860874
+391,6.516666667,pose2_to_pose3_retreat,0.580746064269,1.72348273364e-06,1.05004078832,0.551317784732,0.00867655460817,1.0496785836
+392,6.533333333,pose2_to_pose3_retreat,0.580745657383,1.73117404936e-06,1.05004076271,0.551317377747,0.00867656200352,1.04967855888
+393,6.550000000,pose2_to_pose3_retreat,0.58074555538,1.73310220221e-06,1.05004075629,0.551317275719,0.00867656385748,1.04967855268
+394,6.566666667,pose2_to_pose3_retreat,0.580745360072,1.7367940754e-06,1.050040744,0.551317080365,0.00867656740729,1.04967854081
+395,6.583333333,pose2_to_pose3_retreat,0.580745290099,1.73811676851e-06,1.05004073959,0.551317010375,0.00867656867908,1.04967853656
+396,6.600000000,pose2_to_pose3_retreat,0.580745023476,1.74315670393e-06,1.05004072281,0.551316743688,0.00867657352508,1.04967852036
+397,6.616666667,pose2_to_pose3_retreat,0.580744777759,1.74780145589e-06,1.05004070734,0.551316497912,0.0086765779911,1.04967850544
+398,6.633333333,pose2_to_pose3_retreat,0.580744588055,1.7727689803e-06,1.05004077655,0.551316308263,0.00867660312074,1.04967857403
+399,6.650000000,pose2_to_pose3_retreat,0.580744414419,1.79955799805e-06,1.05004085483,0.551316134695,0.00867663011339,1.04967865156
+400,6.666666667,pose2_to_pose3_retreat,0.58074439176,1.80305385526e-06,1.05004086504,0.551316112045,0.00867663363583,1.04967866168
+401,6.683333333,pose2_to_pose3_retreat,0.580744252641,1.82451746094e-06,1.05004092776,0.551315972982,0.00867665526259,1.0496787238
+402,6.700000000,pose2_to_pose3_retreat,0.580744086129,1.85020722354e-06,1.05004100283,0.551315806536,0.00867668114763,1.04967879815
+403,6.716666667,pose2_to_pose3_retreat,0.580743936553,1.87328417415e-06,1.05004107027,0.55131565702,0.0086767044,1.04967886494
+404,6.733333333,pose2_to_pose3_retreat,0.5807438566,1.87694976002e-06,1.05004104739,0.551315576997,0.00867670782523,1.04967884199
+405,6.750000000,pose2_to_pose3_retreat,0.580743723695,1.87647278001e-06,1.05004096472,0.5513154439,0.00867670669551,1.04967875938
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+407,6.783333333,pose2_to_pose3_retreat,0.580743500049,1.89306636428e-06,1.05004083173,0.551315220624,0.00867672460363,1.04967862769
+408,6.800000000,pose2_to_pose3_retreat,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976187,1.04967862557
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2af11caa9a7c5e2b654279b8d9c6fa5be7f9e017
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7223a679e1d80f48615b06b0d68ba379f9fdc9fb0b68e2b9b8f9c5b9a5df54d7
+size 25962518
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b5191f344c8fc256c0e30bf47be52375a912272a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_05/franka_data.csv
@@ -0,0 +1,410 @@
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+32,0.533333333,BASELINE,765.577092098,744.577092098,714,679,659,635,878.577092098,787,804.422907902,652,631,652,0.400964582716,-0.00537397801363,0.0598440924188,0.999999935891,0.000241113707949,-0.000264235671515,1.61780063399e-05,1793242368385547008
+33,0.550000000,BASELINE,765.843112378,744.843112378,714,679,658.843112378,635,878.843112378,787,804,652,631,652,0.400964223914,-0.00537479285186,0.0598437328999,0.999999936052,0.000239935771596,-0.000264697569681,1.62077376271e-05,1793242368402213632
+34,0.566666667,BASELINE,765.28648668,744.28648668,714,679,658.28648668,635,878.28648668,787,804,652,631,652,0.400964954869,-0.00537630415353,0.0598436935127,0.999999936311,0.000238837235373,-0.000264685317191,1.66156709854e-05,1793242368418880256
+35,0.583333333,BASELINE,765,744.291646876,714,679.291646876,658,635,878,787,804.291646876,652,631,652,0.400965288014,-0.00537738799144,0.0598439350203,0.999999936518,0.000238211225276,-0.000264450683517,1.68845182086e-05,1793242368435546880
+36,0.600000000,BASELINE,765,744.892589929,714,679.892589929,658,635,878,787,804.892589929,652,631,652,0.400965199277,-0.00537801849737,0.0598444744216,0.99999993667,0.000238086336557,-0.000263980211038,1.70058624112e-05,1793242368452213760
+37,0.616666667,BASELINE,765.473475487,744.526524513,714,679.526524513,658.473475487,635,878.473475487,787,804.526524513,652,631,652,0.400965136848,-0.00537679856988,0.0598445477058,0.999999936393,0.000239289225069,-0.000263953356965,1.6839516514e-05,1793242368468880384
+38,0.633333333,BASELINE,765.948875786,744.051124214,714,679,659,635,878.948875786,787,804,652,631,652,0.400965022883,-0.00537535755739,0.0598444450289,0.999999936048,0.000240554708388,-0.000264124834514,1.66195590141e-05,1793242368485547264
+39,0.650000000,BASELINE,765.359343238,744.640656762,714,679,659,635,878.359343238,787,804,652,631,652,0.400964305884,-0.00537582940118,0.0598435575775,0.999999935989,0.000239436141449,-0.000265368245212,1.64943821021e-05,1793242368502213632
+40,0.666666667,BASELINE,765,744.773845499,714,679,659,635,878,787,804,652,631,652,0.40096424562,-0.00537596883985,0.0598431876186,0.999999935939,0.00023934553415,-0.000265641088605,1.64387996444e-05,1793242368518880000
+41,0.683333333,BASELINE,765,744.194646442,714,679,659,635,878,787,804,652,631,652,0.400965210569,-0.00537558936856,0.0598436255053,0.999999935904,0.000240859650911,-0.000264398801778,1.64918594856e-05,1793242368535546624
+42,0.700000000,BASELINE,765.381079959,744.381079959,714,679.381079959,659.381079959,635,878.381079959,787,804,652,631,652,0.400966282493,-0.00537614895273,0.0598443128345,0.999999936731,0.000238691335966,-0.000263236999373,1.64801560813e-05,1793242368552213248
+43,0.716666667,BASELINE,765.955048613,744.955048613,714,679.955048613,659.955048613,635,878.955048613,787,804,652,631,652,0.400967408564,-0.00537718385233,0.0598451264224,0.99999993798,0.000234659109148,-0.000262115935266,1.64356718967e-05,1793242368568879872
+44,0.733333333,BASELINE,765.457401201,745,714,678.914802402,658.914802402,635,878.457401201,787,804.542598799,652,631,651.457401201,0.400967239661,-0.00537652739096,0.059845038719,0.999999937417,0.000236855989499,-0.000262287814514,1.64347203754e-05,1793242368585546496
+45,0.750000000,BASELINE,765.129306686,744.870693314,714,678.258613373,658.129306686,635,878,787,805,652.129306686,630.870693314,651,0.400966838316,-0.00537581506624,0.0598448877221,0.999999936856,0.000238927041151,-0.000262546541792,1.64493486536e-05,1793242368602213376
+46,0.766666667,BASELINE,765.709060077,744.290939923,714,679.418120155,658.709060077,635,878,787,805,652.709060077,630.290939923,651,0.400966010566,-0.00537540878617,0.0598447830232,0.999999936859,0.000238715928652,-0.000262725094001,1.65053642044e-05,1793242368618880000
+47,0.783333333,BASELINE,765.712839943,744.287160057,714,679.712839943,659,635,878,787,804.712839943,652.712839943,630.287160057,651.287160057,0.400965675657,-0.00537460283926,0.0598447717041,0.999999936704,0.000239438582803,-0.000262668397653,1.63514487448e-05,1793242368635546880
+48,0.800000000,BASELINE,765.136405478,744.863594522,714,679.136405478,659,635,878,787,804.136405478,652.136405478,630.863594522,651.863594522,0.400965837216,-0.00537339428273,0.0598448544523,0.999999936387,0.00024110187887,-0.000262374720642,1.59860565663e-05,1793242368652213504
+49,0.816666667,BASELINE,765.437538141,745,714,679,658.562461859,635,878.437538141,787,804,652,631,652,0.400966184833,-0.00537376158834,0.059845155614,0.999999936472,0.000240961519245,-0.000262166118317,1.61714215865e-05,1793242368668880128
+50,0.833333333,BASELINE,766,744.988997231,714,679.011002769,658.011002769,635,878.988997231,787,804,652,631,651.988997231,0.400966589983,-0.00537460993706,0.0598455104714,0.99999993668,0.000240273383315,-0.000261985274688,1.65192961606e-05,1793242368685546496
+51,0.850000000,BASELINE,766,744.400134572,714,679.599865428,658.599865428,635,878.400134572,787,804,652,631,651.400134572,0.400966987525,-0.00537506640945,0.0598451294925,0.999999936732,0.000240180951656,-0.000261877234174,1.64354203157e-05,1793242368702213376
+52,0.866666667,BASELINE,765.813573783,744,714,680,659,635,877.813573783,787,804,652,630.813573783,651.186426217,0.400967279757,-0.00537556953163,0.0598450171064,0.999999936846,0.000239925366157,-0.000261677370066,1.63806205604e-05,1793242368718880000
+53,0.883333333,BASELINE,765.231893373,744,714,680,659,635,877.231893373,787,804,652,630.231893373,651.768106627,0.400967348714,-0.00537617155901,0.059845474181,0.999999937093,0.000239323867736,-0.000261282824863,1.63874668942e-05,1793242368735546624
+54,0.900000000,BASELINE,765.345681379,744.345681379,714,679.654318621,659,635,877.691362759,787,804.345681379,652,630.345681379,652,0.40096793819,-0.00537566514305,0.0598460694809,0.999999937135,0.000240092544478,-0.000260409787851,1.65072310051e-05,1793242368752213504
+55,0.916666667,BASELINE,765.920534239,744.920534239,714,679.079465761,659,635,878.841068479,787,804.920534239,652,630.920534239,652,0.400968872746,-0.00537442387812,0.0598467564182,0.999999937037,0.000241769586833,-0.000259219531926,1.67018546128e-05,1793242368768880128
+56,0.933333333,BASELINE,765.506144245,744.506144245,714,679.493855755,659,635,879,787,804.506144245,652,631,652,0.400968024379,-0.00537528103249,0.0598465189929,0.999999937154,0.000240259365566,-0.000260182234535,1.64987624756e-05,1793242368785546752
+57,0.950000000,BASELINE,765,744.069056748,714,679.930943252,658.930943252,635,879,787,804.069056748,652,631,651.930943252,0.400966945917,-0.00537631301851,0.0598460770575,0.999999937217,0.000238595496579,-0.000261482516827,1.62881365465e-05,1793242368802213376
+58,0.966666667,BASELINE,765,744.660327827,714,679.339672173,658.339672173,635,879,787,804.660327827,652,631,651.339672173,0.400966290219,-0.00537612161545,0.0598452098919,0.999999936639,0.000239636032632,-0.000262723968996,1.65029877625e-05,1793242368818880256
+59,0.983333333,BASELINE,765,745,714,679,658,635,879,787,804.753098225,652,631,651.246901775,0.400965619001,-0.00537580718004,0.0598445240782,0.999999936173,0.000240588971803,-0.000263622510411,1.65855646581e-05,1793242368835546880
+60,1.000000000,BASELINE,765,745,714,679,658,635,879,787,804.172865576,652,631,651.827134424,0.40096492683,-0.00537532664422,0.0598440830992,0.999999935858,0.000241423650548,-0.000264058103763,1.64895640315e-05,1793242368852213248
+61,1.016666667,BASELINE,765,744.595820968,714,679.404179032,658.404179032,635,879,787,804,652,630.595820968,652,0.400964663923,-0.00537647347099,0.0598441922514,0.999999936194,0.000240181930458,-0.000263911450462,1.66228639182e-05,1793242368868880128
+62,1.033333333,BASELINE,765,744.020129235,714,679.979870765,658.979870765,635,879,787,804,652,630.020129235,652,0.400964583173,-0.00537831086641,0.0598445348509,0.999999936801,0.000238059093916,-0.000263517721731,1.6853467103e-05,1793242368885546752
+63,1.050000000,BASELINE,765.565444852,744.565444852,714.565444852,679.434555148,659,635,878.434555148,787,804,652,630.565444852,652,0.400964999526,-0.00537698691942,0.0598446335122,0.999999936941,0.000237501909731,-0.000263497986899,1.67072544282e-05,1793242368902213632
+64,1.066666667,BASELINE,766,745,714.84946615,679,658.84946615,635,878,787,804.15053385,652,631,652,0.400965661118,-0.00537585730495,0.0598447284219,0.999999937018,0.000237615019237,-0.000263113476981,1.65769814809e-05,1793242368918880000
+65,1.083333333,BASELINE,766,745,714.266797592,679,658.266797592,635,878,787,804.733202408,652,631,652,0.400966975007,-0.00537561437169,0.0598448379342,0.999999936957,0.00023948948325,-0.000261642914557,1.65316594199e-05,1793242368935546624
+66,1.100000000,BASELINE,766,745,714,679,658.310644491,635,878,787,804.689355509,652,631,652,0.400966886099,-0.00537598943635,0.0598448990795,0.999999937054,0.00023896204491,-0.000261758726399,1.65005511782e-05,1793242368952213248
+67,1.116666667,BASELINE,766,745,714,679,658.88367205,635,878,787,804.11632795,652,631,652,0.400965612333,-0.00537688648738,0.059844919372,0.999999937279,0.000236405861311,-0.000263214455033,1.64814485131e-05,1793242368968880128
+68,1.133333333,BASELINE,766,745,714,679.458818496,659,635,878.458818496,787,804.458818496,652,631,652,0.400964936772,-0.00537569169317,0.0598445959007,0.999999936683,0.00023842449508,-0.000263662636574,1.64267164351e-05,1793242368985547008
+69,1.150000000,BASELINE,765.964516983,745,714,679.964516983,659,635,879,787,805,652,631,652,0.400964556469,-0.00537410968754,0.0598442600654,0.999999935954,0.000241364762845,-0.000263754220381,1.63644464758e-05,1793242369002213376
+70,1.166666667,BASELINE,765.3725082,745,714,679.3725082,659,635,879,787,805,652,631,652,0.400966417259,-0.00537481149809,0.0598451036499,0.999999936556,0.000240483743655,-0.000262277986835,1.6326290269e-05,1793242369018880000
+71,1.183333333,BASELINE,765,744.785653351,714,679,658.785653351,635,878.785653351,787,804.785653351,652.214346649,631,652,0.400967553191,-0.00537577165781,0.05984553577,0.999999937135,0.000239029328875,-0.000261393474657,1.63728450733e-05,1793242369035546880
+72,1.200000000,BASELINE,765,744.207545007,714,679,658.207545007,635,878.207545007,787,804.207545007,652.792454993,631,652,0.400967458988,-0.00537717025481,0.0598452696053,0.999999937678,0.000236601820352,-0.000261513156004,1.65631605565e-05,1793242369052213504
+73,1.216666667,BASELINE,765.369308416,744,714,679.369308416,658.369308416,635,878,787,804.369308416,653,631,652,0.400966838088,-0.0053766560388,0.0598452046633,0.999999937592,0.000236647451528,-0.000261812101313,1.638691598e-05,1793242369068880128
+74,1.233333333,BASELINE,765.94545895,744,714,679.94545895,658.94545895,635,878,787,804.94545895,653,631,652,0.400965922195,-0.00537507049511,0.0598452524221,0.999999937154,0.000238078237993,-0.000262211448706,1.60053685732e-05,1793242369085546752
+75,1.250000000,BASELINE,765.467375763,744.532624237,714,680,659,635,878.532624237,787,805,652.467375763,631,652,0.400964474884,-0.00537527668857,0.0598444265874,0.999999936612,0.000238660620437,-0.000263743888774,1.59784205463e-05,1793242369102213376
+76,1.266666667,BASELINE,765,745,714.118981246,680,659,635,878.881018754,787,804.881018754,652,630.881018754,652,0.400963581295,-0.00537569493229,0.0598437863153,0.999999936247,0.000238939125465,-0.000264870547857,1.60602456232e-05,1793242369118880256
+77,1.283333333,BASELINE,765,745,714.697763786,680,659,635,878.302236214,787,804.302236214,652,630.302236214,652,0.400965042298,-0.00537620863207,0.059844216151,0.999999936611,0.000238386125561,-0.000263971209626,1.64191354869e-05,1793242369135546880
+78,1.300000000,BASELINE,765,745,714.724416495,679.724416495,659,635,878,787,804.275583505,652,630.551167009,652,0.400965837455,-0.00537716017274,0.0598446187404,0.999999936993,0.000237335992112,-0.000263453451665,1.66716360839e-05,1793242369152213504
+79,1.316666667,BASELINE,765,745,714.147649076,679.147649076,659,635,878,787,804.852350924,652,631.704701847,652,0.400965904912,-0.00537859022761,0.0598449915524,0.999999937394,0.00023574254379,-0.000263352721043,1.68078643289e-05,1793242369168880128
+80,1.333333333,BASELINE,765,744.572556059,714,679.427443941,659,635,878,787.427443941,804.572556059,652,631.572556059,652,0.400965808576,-0.00537827793166,0.0598445087514,0.999999937093,0.000236512257056,-0.00026381130631,1.66992606937e-05,1793242369185546752
+81,1.350000000,BASELINE,765,744.002016627,714,680,659,635,878,787.997983373,804.002016627,652,631,652,0.400965654822,-0.0053773665393,0.0598437327066,0.999999936549,0.000238094141869,-0.000264461709181,1.6506576003e-05,1793242369202213376
+82,1.366666667,BASELINE,765,744.592865591,714,680,659,635,878,787.407134409,804.592865591,652,631,652,0.400965191182,-0.00537657304227,0.0598432929493,0.999999936116,0.000239403189498,-0.000264928363399,1.63604908983e-05,1793242369218880000
+83,1.383333333,BASELINE,765,745,714,680,659,635,878,787,805,652,631,652,0.400965616311,-0.0053762412142,0.0598438499793,0.999999936246,0.000239821285613,-0.000264060200399,1.63025407313e-05,1793242369235546624
+84,1.400000000,BASELINE,765,745,714,680,659,635,878,787,805,652,631,652,0.400968011063,-0.00537693250236,0.0598466160149,0.999999937619,0.000238264921552,-0.000260233914933,1.64399086245e-05,1793242369252213248
+85,1.416666667,BASELINE,765,745,714,679.665354315,658.665354315,635,878.334645685,787,805,652.334645685,631,652,0.40096788898,-0.00537667306282,0.0598469959004,0.999999937478,0.000239325558883,-0.000259797303209,1.65266803797e-05,1793242369268880128
+86,1.433333333,BASELINE,765,745,714,679.090134747,658.090134747,635,878.909865253,787,805,652.909865253,631,652,0.400965957566,-0.00537573015332,0.0598456604032,0.999999936247,0.000242267535921,-0.000261797498785,1.65770790015e-05,1793242369285547008
+87,1.450000000,BASELINE,765,745,714,679.48595881,658.48595881,635,878.51404119,787.48595881,804.51404119,652.51404119,631,652,0.400965835755,-0.00537631875809,0.059845350089,0.99999993637,0.000240876651996,-0.0002626082973,1.65938178567e-05,1793242369302213376
+88,1.466666667,BASELINE,765,745,714,679.936152286,659,635,878,787.936152286,804.063847714,652.063847714,631,652,0.400965958746,-0.00537709781908,0.0598452149828,0.99999993671,0.000238854135919,-0.000263161991372,1.65890847269e-05,1793242369318880000
+89,1.483333333,BASELINE,765,745,714,679.344771328,659,635,878,787.344771328,804.655228672,652.655228672,631,652,0.400965326187,-0.00537709924243,0.0598449535972,0.999999936785,0.000238264866912,-0.000263417415767,1.64586183268e-05,1793242369335546624
+90,1.500000000,BASELINE,765.240290686,745,714,679.240290686,659,635,878.480581371,787,805,653,631,651.759709314,0.400965785603,-0.00537689944616,0.0598451880092,0.999999937035,0.000237951015453,-0.000262755122744,1.6415840202e-05,1793242369352213248
+91,1.516666667,BASELINE,765.816518482,745,714,679.816518482,659,635,879.633036964,787,805,653,631,651.183481518,0.40096777165,-0.00537641833588,0.0598461155685,0.999999937526,0.000238022210077,-0.000260809819757,1.64956542133e-05,1793242369368880128
+92,1.533333333,BASELINE,765.607947702,745,714,679.607947702,659,635,879.215895403,787,805,652.607947702,631,651.392052298,0.400967534045,-0.00537621202638,0.0598458382866,0.999999937253,0.000238701704237,-0.00026123504629,1.64817830626e-05,1793242369385547008
+93,1.550000000,BASELINE,765.032738045,745,714,679.032738045,659,635,878.065476091,787,805,652.032738045,631,651.967261955,0.400966257604,-0.00537613409712,0.0598449981321,0.999999936622,0.000239665381243,-0.000262767726745,1.64241444756e-05,1793242369402213632
+94,1.566666667,BASELINE,765,745,714,679,659,635,878,787,804.447142587,652,631,652,0.400966018233,-0.00537810121032,0.0598452023606,0.999999937274,0.000237171646151,-0.00026253519165,1.66647325507e-05,1793242369418880256
+95,1.583333333,BASELINE,765.137923001,745,714,679,659,635,878,787,804,652,631,651.862076999,0.400965859671,-0.00537904565464,0.0598453776867,0.999999937679,0.00023569273544,-0.000262315177319,1.67710619959e-05,1793242369435547136
+96,1.600000000,BASELINE,765.719270089,745,714,679,659,635,878,787,804,652,631,651.280729911,0.400965759697,-0.00537630541693,0.0598452574551,0.999999937061,0.000238147321828,-0.000262477913748,1.63878849053e-05,1793242369452213504
+97,1.616666667,BASELINE,765.7026952,745,714,679,659,635,878.5946096,787,804,652,631,651.2973048,0.400965324106,-0.00537532224836,0.0598450219994,0.999999936622,0.000239480101589,-0.000262952731831,1.61886701022e-05,1793242369468880128
+98,1.633333333,BASELINE,765.127753773,745,714,679,659,635,879.744492455,787,804,652,631,651.872246227,0.4009645751,-0.00537597991033,0.0598446789422,0.999999936352,0.000239765287589,-0.000263718985823,1.61612476009e-05,1793242369485546752
+99,1.650000000,BASELINE,765.448931989,745,714,679.448931989,659.448931989,635,879.551068011,787,804,652,631,652,0.400964621346,-0.00537523392167,0.059844398919,0.999999936119,0.000240378993237,-0.000264037029754,1.62449919539e-05,1793242369502213632
+100,1.666666667,BASELINE,765.973294459,745,714,679.973294459,659.973294459,635,878.973294459,787,804.026705541,652,631,652,0.400964982552,-0.00537423061229,0.0598442114293,0.999999935974,0.000240928348605,-0.000264078724412,1.63617033251e-05,1793242369518880256
+101,1.683333333,BASELINE,765.383082611,745,714,679.383082611,659.383082611,635,878.383082611,787,804.616917389,652,631,652,0.400967195734,-0.00537625901217,0.0598455964837,0.99999993745,0.000238139513266,-0.000260991109358,1.6503916483e-05,1793242369535546880
+102,1.700000000,BASELINE,765.203401547,745,714,679,659,635,878,787,804.796598453,652,631.203401547,652,0.400968127,-0.00537754187536,0.0598461112172,0.999999938242,0.000236176438592,-0.000259736336207,1.65587449259e-05,1793242369552213504
+103,1.716666667,BASELINE,765.782991331,745,714,679,659,635,878,787,804.217008669,652,631.782991331,652,0.400966687383,-0.00537744587892,0.0598450163047,0.99999993779,0.000235740596702,-0.000261871378137,1.64519565799e-05,1793242369568879872
+104,1.733333333,BASELINE,766,745,714,679.359340835,659,635,878,787,804,652,631.640659165,652,0.400965851083,-0.00537775011907,0.0598448239333,0.999999937582,0.000235737042313,-0.000262663974377,1.65123424132e-05,1793242369585546752
+105,1.750000000,BASELINE,766,745,714,679.933751054,659,635,878,787,804,652,631.066248946,652,0.400965375874,-0.00537829390515,0.0598451717423,0.999999937522,0.000235992216636,-0.000262653102533,1.66727837937e-05,1793242369602213376
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804,652,631,652,0.40096953931,-0.00537425395486,0.0598468867927,0.999999938033,0.000239802227464,-0.000257237202456,1.60712846178e-05,1793242369632475648
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679.579296327,659,635,879,787,804,652,631,652,0.400967196848,-0.00537538045823,0.0598455834832,0.999999937171,0.000239318478738,-0.000260985577243,1.6448636973e-05,1793242369649142528
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.841955105,659,635,878.841955105,787,804.158044895,652,631,652,0.40096543339,-0.00537644036051,0.059844728386,0.999999936728,0.000238464073344,-0.000263435213358,1.67312121176e-05,1793242369665809152
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679.26465947,659,635,878.26465947,787,804.73534053,652,631,652,0.400965205876,-0.00537732358817,0.0598450622757,0.999999937426,0.00023662641507,-0.000262439644754,1.67623688121e-05,1793242369682476032
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679.316796545,659,635,878,787,804.683203455,652,631,652,0.40096564242,-0.00537763145152,0.0598455265191,0.999999937707,0.000236444898275,-0.000261542915248,1.65741248993e-05,1793242369699142656
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.901774459,659,635,878,787,804.098225541,652,631,652,0.400966641115,-0.00537745224515,0.0598461011123,0.999999937636,0.000237665373804,-0.000260729857184,1.62001493025e-05,1793242369715809280
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.517851617,714,679.517851617,659,635,878,787,804,652.482148383,631,652,0.400966275332,-0.00537684766154,0.0598455637911,0.999999937217,0.000238085436352,-0.000261939799452,1.64047732668e-05,1793242369732475904
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.06147282,714,679.06147282,659,635,878,787,804,652.93852718,630.93852718,652,0.400965852152,-0.00537638290197,0.0598450187103,0.999999936892,0.000238087927249,-0.000263158388692,1.66945646895e-05,1793242369749142528
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744.639784915,714,679.639784915,659,635,878,787,804,652.360215085,630.360215085,652,0.40096726143,-0.00537781543843,0.0598462949046,0.999999937962,0.000235937649707,-0.000261017382789,1.67187376474e-05,1793242369765809152
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.216999799,745,714,680,658.783000201,635,878,787,804,652,630.216999799,652,0.400969322117,-0.00537814467887,0.0598474046647,0.999999938504,0.000235317654958,-0.000259497249449,1.67153555401e-05,1793242369782476032
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.792402441,745,714,680,658.207597559,635,878,787,804,652,630.792402441,652,0.400972458687,-0.0053766516851,0.0598482395374,0.999999938182,0.000237225117626,-0.000259002566544,1.66664627262e-05,1793242369799142656
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,658.375396819,635,878,787,804,652.375396819,631,652,0.400991423708,-0.00537699866093,0.0598564228827,0.999999941881,0.000236920703405,-0.000244567538307,1.71143282691e-05,1793242369815809536
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,658.9626762,635,878,787,804,652.9626762,631,652,0.401019322668,-0.00537838415759,0.0598687538743,0.999999947441,0.000235367855293,-0.000222264259747,1.78425755941e-05,1793242369832476160
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.457324349,744.457324349,714,679.457324349,659,635,878,787,804,652.457324349,630.457324349,651.457324349,0.401071903191,-0.00538040550893,0.0598881520317,0.999999955017,0.000234846947775,-0.000185621784488,1.89012914741e-05,1793242369849142784
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.121559356,744,714,679,659,635,878,787,804.121559356,652.121559356,630.121559356,651.121559356,0.401128798638,-0.00538229264944,0.0599070384732,0.999999960702,0.000234973334559,-0.000151605232497,1.99806835453e-05,1793242369865809408
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.698116278,744,714,679,659,635,878,787,804.698116278,652.698116278,630.698116278,651.698116278,0.401195575125,-0.00538351591452,0.0599222143174,0.999999963044,0.00023726040936,-0.000131060055831,2.10535193885e-05,1793242369882476032
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.725611618,744.274388382,714,679,658.725611618,635,878.274388382,787,804.725611618,652.725611618,631,652,0.4012692949,-0.00538561783665,0.059934193968,0.999999965727,0.000235696845478,-0.000111974513893,2.13015379819e-05,1793242369899142656
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.149652583,744.850347417,714,679,658.149652583,635,878.850347417,787,804.149652583,652.149652583,631,652,0.401350645796,-0.00538868545987,0.0599426607933,0.999999968895,0.000229901179454,-9.4493206579e-05,2.06430287798e-05,1793242369915809280
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,658.435621071,635,879,787,804,652,631,652,0.401438326878,-0.00539016333802,0.0599448365289,0.999999969261,0.000229789706172,-9.0995307028e-05,1.98808967363e-05,1793242369932475904
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,658.976418936,635,879,787.023581064,804.023581064,652,631,652,0.401529518866,-0.00539121116845,0.0599449733037,0.999999968795,0.000231472272884,-9.20120638783e-05,1.9090899377e-05,1793242369949142784
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,658.4020869,635,879,787.5979131,804.5979131,652,631,652,0.401650809999,-0.00539524907572,0.0599490686791,0.999999970221,0.000228451824953,-8.38233445226e-05,1.84996797701e-05,1793242369965809664
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.172402548,658.172402548,635,878.827597452,787.827597452,804.827597452,652,631,652,0.401777601382,-0.00539893038714,0.0599519289563,0.999999971394,0.000225637328999,-7.73964318414e-05,1.76060806297e-05,1793242369982477056
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679.747259373,658.747259373,635,878.252740627,787.252740627,804.252740627,652,631,652,0.401917232457,-0.00540177926525,0.0599519060356,0.999999972121,0.000223303605132,-7.50822590335e-05,1.6006610703e-05,1793242369999144960
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.331786752,787,804,652,631,651.668213248,0.402077140625,-0.00540583365522,0.0599520163783,0.999999973069,0.000220516909179,-7.0911687715e-05,1.43334224851e-05,1793242370015811584
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,878.923901959,787,804,652,631,651.076098041,0.402252958737,-0.00541083392125,0.0599522312828,0.999999974164,0.00021737479937,-6.52845379298e-05,1.26023928203e-05,1793242370032477696
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679.495260067,659,635,878.495260067,787,804,652,631,651,0.402459595186,-0.00541670904346,0.0599551938432,0.999999975794,0.000212548249853,-5.58351521371e-05,1.08161029218e-05,1793242370049143808
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.916402769,714,679.083597231,659,635,878,787,804,652,631,651.083597231,0.402675145552,-0.00542281399406,0.0599578114423,0.99999997745,0.000206891569178,-4.70785166146e-05,8.93092252556e-06,1793242370065810432
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.339419685,714,679.660580315,659,635,878,787,804,652,631,651.660580315,0.402916482049,-0.00542951393159,0.0599560016242,0.99999997937,0.000197801588648,-4.57372087938e-05,6.51019246783e-06,1793242370082477056
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,714,679.762766066,659,635,878,787,804,652,631,652,0.403170621151,-0.0054364087504,0.0599551800344,0.999999981028,0.000189559142998,-4.46700126013e-05,4.0775107293e-06,1793242370099143680
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,714,679.186583206,659,635,878,787,804,652,631,652,0.403443052013,-0.00544358200619,0.05995577038,0.999999982373,0.000182527616738,-4.39944545723e-05,1.62775312493e-06,1793242370115809536
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.397999268,744.397999268,714,679,659,635,878,787,804.397999268,652,631,652,0.403737606596,-0.00545132073683,0.0599494588911,0.999999983846,0.000171729317325,-5.30419403094e-05,-1.72355986643e-06,1793242370132475904
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.986604384,744.986604384,714,679,659,635,878,787,804.986604384,652,631,652,0.404042756444,-0.00545933027884,0.0599398420445,0.999999985097,0.000159127072554,-6.67458894078e-05,-5.50663672058e-06,1793242370149142528
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.434211206,745,714,679.565788794,659,635,878,787,805,652,631,652,0.404373274482,-0.00546678074121,0.0599278133407,0.99999998458,0.000151377470555,-8.85554127331e-05,-9.13036169996e-06,1793242370165809408
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.855586215,659,634.855586215,878.28882757,787,804.855586215,652,631,652,0.404716511827,-0.00547444775041,0.0599163427043,0.999999983659,0.000143548687392,-0.000109132063996,-1.29087355261e-05,1793242370182476032
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.277981293,659,634.277981293,879.444037414,787,804.277981293,652,631,652,0.405096130476,-0.00548280337883,0.0599067145627,0.999999982853,0.000135143400644,-0.000125444295825,-1.71621332433e-05,1793242370199142656
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.297877322,879.702122678,787,804,652,631,652,0.405509936746,-0.00549116708059,0.059908446922,0.999999984323,0.000125801815558,-0.000122829969434,-2.09801592851e-05,1793242370215809792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,634.872115834,879.127884166,787,804,652,631,652,0.405955461257,-0.00549953827349,0.0599207191951,0.999999987753,0.000115591561394,-0.000102656180707,-2.43942616968e-05,1793242370232476928
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.457557253,745,714,679,659,635,879,787,804,652,631,652,0.406461520326,-0.0055089460845,0.0599498929012,0.999999997082,4.85001158898e-05,-5.29603890438e-05,-2.60594223578e-05,1793242370249143808
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787,804,652,631,651.954637996,0.406985386188,-0.00551794298526,0.0599824600155,0.999999999132,-3.16362589068e-05,1.98406916552e-06,-2.70397119578e-05,1793242370265810688
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,714,679,659,635,879,787,804,652,631,651.37676864,0.407514689367,-0.00551862969683,0.0599980173683,0.999999996772,-7.35973042743e-05,1.92505410562e-05,-2.58625420794e-05,1793242370282477056
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.79892945,744.79892945,714,679,659,634.79892945,879,787,804.20107055,652,631,651,0.40804258865,-0.00551600085242,0.0600035228854,0.999999995068,-9.38167455389e-05,1.87001145098e-05,-2.6695549192e-05,1793242370299143424
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.221146811,744.221146811,714,679,659,634.221146811,879,787,804.778853189,652,631,651,0.408567857655,-0.00550716020809,0.0599901959665,0.999999996708,-7.33025957745e-05,-1.52308404605e-05,-3.12946871297e-05,1793242370315810048
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+150,2.500000000,POSE1_TO_POSE2_PRESS,765.529824104,745,714,680,659.529824104,635,879.470175896,787,804.529824104,652,630.529824104,651.470175896,0.410345104106,-0.00553691425593,0.0599747003729,0.999999993679,-9.46024856592e-05,-4.13662722189e-05,-4.45129644684e-05,1793242370365810432
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+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.26002657,714,679.73997343,659.26002657,635,878.26002657,787,804.73997343,652,631,652,0.412366527491,-0.00553706053981,0.0599762074333,0.999999994457,-9.25002107307e-05,-2.56416308886e-05,-4.32769028717e-05,1793242370415809792
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.835843284,714,679.164156716,659.835843284,635,878.835843284,787,804.164156716,652,631,652,0.413025481404,-0.00552221080386,0.0599515748497,0.999999997106,2.12020943781e-05,-7.16422989965e-05,-1.43175910735e-05,1793242370432476416
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.576867785,745,714,679.423132215,659.576867785,634.576867785,879,787,804.423132215,652,631,652,0.413700482994,-0.00551210321737,0.0599254139441,0.999999990549,5.65411076951e-05,-0.000124765545879,-1.18126201728e-05,1793242370449143040
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.014655851,745,714,680,659,634.014655851,879,787,805,652,631,652,0.414386576601,-0.00550445031842,0.0599005939612,0.999999982361,5.98921176911e-05,-0.000176922982708,-1.97421763771e-05,1793242370465809408
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.593099889,745,714,680,659,634.593099889,879,787,805,652,631,652,0.415253193647,-0.00551848097938,0.0599508015929,0.999999995707,3.4805213585e-05,-8.266706736e-05,-2.32628838056e-05,1793242370482475776
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.829550112,744.829550112,714,680,659.170449888,635,879,787,804.829550112,652,631,652,0.416103160064,-0.00553113162376,0.0599935097737,0.999999999642,2.92310886039e-06,-4.7661447036e-06,-2.6169360428e-05,1793242370499142400
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.254795198,744.254795198,714,680,659.745204802,635,879,787,804.254795198,652,631,652,0.416913631341,-0.00554050888503,0.0600184293467,0.999999998013,-4.50771256611e-05,3.43409302386e-05,-2.76188893431e-05,1793242370515809280
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.315356009,744.315356009,714,679.684643991,660,635,879,787,804.315356009,652,630.684643991,652,0.41771282795,-0.00554374124865,0.0600203951994,0.999999997298,-5.65429982947e-05,3.67575109551e-05,-2.92698137916e-05,1793242370532476160
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.881841093,744.881841093,714,679.118158907,660,635,879,787,804.881841093,652,630.118158907,652,0.418503046105,-0.0055420802138,0.0600040821964,0.99999999871,-3.8915272053e-05,9.95615953682e-06,-3.10811165523e-05,1793242370549143040
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.522847436,745,714,679.477152564,660,635,879,787,805,652,630.477152564,652,0.419319113756,-0.00553685896828,0.0599809634421,0.999999998764,-2.35866453313e-05,-2.78482790448e-05,-3.37601299226e-05,1793242370565809408
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679.923947981,660,635,879,787,805,652,631,651.923947981,0.420142314363,-0.00553144790317,0.0599550962265,0.999999996863,-1.27875478835e-05,-6.90945535164e-05,-3.65572512987e-05,1793242370582476288
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.351232346,660,635,879,787,805,652,631,651.351232346,0.420967605486,-0.00553092494018,0.059922993844,0.999999992388,-2.76117577969e-05,-0.000113879792536,-3.86322068546e-05,1793242370599142912
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.223665136,660,635,879,786.776334864,805,651.776334864,631,651,0.421802569239,-0.00553224718341,0.0598983446053,0.99999998665,-3.53579846166e-05,-0.000154287284081,-4.05623021857e-05,1793242370615809536
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679.80202272,660,635,879,786.19797728,805,651.19797728,631,651,0.422652872161,-0.00553649558984,0.0598855146994,0.999999980973,-3.18798128709e-05,-0.000187752467155,-4.22626758039e-05,1793242370632476416
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.38806552,745,714,680,660,635,879,786.38806552,805,651.38806552,630.61193448,651,0.423573494841,-0.00553992266384,0.0599247506362,0.999999990676,-4.51324748657e-05,-0.000121813231945,-4.20935198538e-05,1793242370649143040
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.978108223,745,714,680,660,635,879,786.978108223,805,651.978108223,630.021891777,651,0.424530716925,-0.00554292225715,0.0599910853798,0.999999996902,-6.70930647452e-05,-4.1367906279e-06,-4.09513257828e-05,1793242370665809408
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679.442707143,660,635,878.442707143,787,805,652,630.557292857,651,0.425458056957,-0.00554456162323,0.0600223709222,0.999999996695,-5.68813403689e-05,4.31686719859e-05,-3.88634725817e-05,1793242370682476032
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714,679.135077052,660,635,878.135077052,787,805.135077052,652,631,651.135077052,0.426382248796,-0.00554646675345,0.0600404372997,0.999999995403,-4.9159975675e-05,7.30384563123e-05,-3.79765846507e-05,1793242370699142912
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,679.709665799,660,635,878.709665799,787,805.709665799,652,631,651.709665799,0.427299943465,-0.00554940715963,0.060019885599,0.999999996207,-5.3575266479e-05,5.49989528175e-05,-4.11159406043e-05,1793242370715809792
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.282558252,787,805.717441748,651.717441748,631,652,0.428183933617,-0.00555212288745,0.0599955327966,0.999999996835,-6.21855986173e-05,2.36513130373e-05,-4.36409063172e-05,1793242370732476672
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,680,660,635,879.853718096,787,805.146281904,651.146281904,631,652,0.429033498327,-0.00555460913135,0.059967297596,0.999999995918,-7.50806950369e-05,-2.12890956072e-05,-4.55383409952e-05,1793242370749143040
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.556781271,745,714,680,660,635,879.556781271,787,805,651.443218729,631,652,0.429859687908,-0.00555271313537,0.0599352838422,0.999999993332,-6.91691187255e-05,-7.98107191068e-05,-4.67078502362e-05,1793242370765809664
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.037822553,745,714,680,660,635,879,787,805,651.962177447,631,652,0.430687436562,-0.00554948124982,0.0599065110337,0.999999988198,-5.81005422345e-05,-0.000134025491777,-4.76026100496e-05,1793242370782476032
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.615146424,745,714,680,660,635,879,787,805,651.384853576,631,652,0.431652217688,-0.00554871531284,0.0599425235396,0.999999994867,-6.58316523846e-05,-6.01101630458e-05,-4.81531684164e-05,1793242370799142656
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.191524554,635,879,787,805.191524554,651,631,651.808475446,0.432604660243,-0.00554957550178,0.0599782516521,0.999999996324,-7.07969761323e-05,5.59690502247e-06,-4.80412574207e-05,1793242370815809280
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.766011733,635,879,787,805.766011733,651,631,651.233988267,0.433532431405,-0.00555368720817,0.0600134111125,0.999999994941,-7.02319778584e-05,5.48911710388e-05,-4.66047073028e-05,1793242370832476160
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.652604716,745,714,680,660.652604716,635,879.347395284,787,805.652604716,651,631,651,0.434396185407,-0.00555697979094,0.0600124301516,0.999999994918,-7.51851983493e-05,4.81465831633e-05,-4.68202772269e-05,1793242370849142784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.066482066,745,714,680,660.066482066,635,879.933517934,787,805.066482066,651,631,651,0.435215947254,-0.00555970947803,0.0599866137691,0.999999995313,-8.39304963127e-05,2.89252305155e-06,-4.8171171395e-05,1793242370865809408
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.517228157,745,714,680.517228157,660,635,879.482771843,787,805.517228157,651.517228157,631,651.517228157,0.436033408195,-0.00556020068649,0.0599557747797,0.999999993743,-8.49553118234e-05,-5.2469801224e-05,-5.04358034851e-05,1793242370882476288
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.900642176,745,714,680.900642176,660,635.099357824,879,787,806,652,631,651.900642176,0.436845507606,-0.00556002524702,0.0599268332204,0.99999998951,-8.51429454382e-05,-0.000104763007765,-5.24900855411e-05,1793242370899142912
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.324614544,745,714,680.324614544,660,635.675385456,879,787,806,652,631,651.324614544,0.437633297282,-0.00555802550676,0.0599100774014,0.999999985629,-8.60529189546e-05,-0.000136127789578,-5.297437288e-05,1793242370915809536
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635.499397226,879.250301387,787,805.749698613,651.749698613,631,651.250301387,0.438439164192,-0.00555605379504,0.0599038025668,0.999999983634,-8.605990307e-05,-0.000149807207626,-5.36935115082e-05,1793242370932475904
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,634.352436221,879.82378189,787,805.17621811,651.17621811,631,651.82378189,0.439268371641,-0.00555411827279,0.0599110603605,0.999999985008,-8.49009834837e-05,-0.000140651990723,-5.47158807175e-05,1793242370949142528
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680.410543209,660.410543209,634.410543209,880,787,805.410543209,651,631,652,0.44010681978,-0.00555560322955,0.0599533141353,0.999999992417,-8.36321819959e-05,-7.31208067759e-05,-5.31496208607e-05,1793242370965809664
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.003111764,745,714,680.996888236,660.996888236,635,879.996888236,787,806,651,631,652,0.440948814664,-0.00555860007905,0.0600108067839,0.999999995142,-8.23323923034e-05,1.98181419913e-05,-5.04423058076e-05,1793242370982476288
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.580197935,745,714,680.419802065,660.419802065,635,879.419802065,787,806,651,631,652,0.441688931798,-0.00556060686701,0.0600157877077,0.999999994978,-8.43073942364e-05,2.29796078282e-05,-4.9065358127e-05,1793242370999142912
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660.15708701,635,879.15708701,787,806,651,631,652,0.442416832652,-0.00556228469121,0.0600110476524,0.999999994822,-8.80903197753e-05,1.51211205932e-05,-4.86616456859e-05,1793242371015809792
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660.733450151,635,879.733450151,787,806,651,631,652,0.443112127569,-0.00556308448875,0.0599803616307,0.999999993786,-9.66987192363e-05,-2.21503854356e-05,-5.08555652894e-05,1793242371032476160
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714,680.31593977,661,635,880,787,806,651.31593977,631,651.68406023,0.443797103816,-0.0055643895233,0.0599635553755,0.999999992639,-9.93732156547e-05,-4.5303828877e-05,-5.28627401948e-05,1793242371049142784
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714,680.90370031,661,635,880,787,806,651.90370031,631,651.09629969,0.444473202289,-0.00556612924163,0.0599586906664,0.999999992219,-9.69424408123e-05,-5.63107061123e-05,-5.47092480348e-05,1793242371065809408
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,714,681,660.515715744,635,880,787,806,651.515715744,631.484284256,651.484284256,0.445121585428,-0.00556960970893,0.0599643806311,0.999999992082,-9.96354988222e-05,-5.4084795261e-05,-5.46295642578e-05,1793242371082476032
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.936876432,745,714,681,660.063123568,634.936876432,879.936876432,787,806,651,631.936876432,651.936876432,0.445754642449,-0.00557224171605,0.0599679285538,0.999999991713,-0.000102442370816,-5.56955993862e-05,-5.45593849637e-05,1793242371099142656
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.360787157,745,714,681,660.639212843,634.360787157,879.360787157,787,806,651,631.360787157,651.360787157,0.446307285664,-0.005565206974,0.0599372629328,0.999999987534,-9.80153110068e-05,-0.00010955593336,-5.76335729923e-05,1793242371115809536
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.213306645,745,714,681,660.786693355,634,879.213306645,787,805.786693355,651,631,651,0.446860975263,-0.00556018353898,0.0599145316269,0.999999982942,-9.50926537043e-05,-0.000146324893144,-6.05192765462e-05,1793242371132476160
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.784056525,745,714,681,660.215943475,634,879.784056525,787,805.215943475,651,631,651,0.447416418258,-0.00555853050175,0.0599050960526,0.999999981599,-9.46909618169e-05,-0.000154453408408,-6.30891319117e-05,1793242371149142784
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.630499094,745,714,680.630499094,660,633.630499094,880,787,805.369500906,651,631,651,0.447969699293,-0.00556253606135,0.0599099930331,0.999999982472,-0.000100011846144,-0.000144488165797,-6.46337753629e-05,1793242371165809664
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.036111237,745,714,680.036111237,660,633.036111237,880,787,805.963888763,651,631,651,0.448521664561,-0.00556998557604,0.0599236131428,0.999999984303,-0.000108815624993,-0.000123510636925,-6.55544509312e-05,1793242371182476544
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.544003046,745,714.544003046,680.544003046,659.455996954,633.544003046,879.455996954,787,806.544003046,651,631,651,0.44897848683,-0.00557383047963,0.0599013194632,0.99999997837,-0.000118870048587,-0.000156817847022,-6.73581955794e-05,1793242371199143168
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,714.877731104,681,659.122268896,634,879.122268896,787,806.877731104,651.122268896,631,651.122268896,0.449414973876,-0.00557735189501,0.0598727856665,0.999999969302,-0.000128293573165,-0.000200347826716,-6.92666011427e-05,1793242371215809536
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,714.302889565,681,659.697110435,634,879.697110435,787,806.302889565,651.697110435,631,651.697110435,0.449798970555,-0.00558053896038,0.0598297529335,0.999999952226,-0.000135082424704,-0.000268719928041,-7.13509781255e-05,1793242371232475904
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.728640098,745,714,681.271359902,659.728640098,633.728640098,879.728640098,786.728640098,806,652,631,652,0.450183814834,-0.00558294215869,0.0597981249092,0.999999938763,-0.000133539643188,-0.000315433462826,-7.17130949651e-05,1793242371249142784
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.155050092,745,714,681.844949908,659.155050092,633.155050092,879.155050092,786.155050092,806,652,631,652,0.450569603116,-0.00558447231617,0.0597791990085,0.999999932879,-0.000122717412909,-0.000338024525495,-7.01570255742e-05,1793242371265809664
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659,633,879.43289617,786,806,652,631,651.56710383,0.450945678499,-0.00558295409416,0.0597803260533,0.999999939913,-7.27855235591e-05,-0.000334178791352,-5.65829876468e-05,1793242371282476288
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.025530569,745,714,681.974469431,659,633,880,786.025530569,806,652,631,651.025530569,0.451316710915,-0.005580087527,0.0597890198591,0.999999947888,-1.10460592741e-05,-0.000320227842062,-3.94360103225e-05,1793242371299142912
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.604503854,745,714,681.395496146,659,633,880,786.604503854,806,652,631,651.604503854,0.451656424069,-0.00557247228432,0.0598007063234,0.999999954261,-7.41965426619e-06,-0.000299522621527,-4.13474536858e-05,1793242371315809536
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.818328385,745.181671615,714,681,659.181671615,632.818328385,880,786.818328385,806,652,631,652,0.451977938027,-0.00556637858395,0.0598093016416,0.999999958493,-4.15974777799e-06,-0.000284836848781,-4.31824293965e-05,1793242371332475904
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.245052616,745.754947384,714,681,659.754947384,632.245052616,880,786.245052616,806,652,631,652,0.452260222471,-0.00556356466106,0.0598112338059,0.999999958912,-1.68985149064e-06,-0.000283126362736,-4.48525742428e-05,1793242371349142528
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.337388468,745.662611532,714,681,659.325223065,632.337388468,880,786,806,652,631,652,0.452519866646,-0.00556290536479,0.0598070587644,0.99999995729,-3.33809358949e-06,-0.000288449852839,-4.69528889446e-05,1793242371365809152
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.92667247,745.07332753,714,681,658.14665506,632.92667247,880,786,806,652,631,652,0.452762607537,-0.00556385472079,0.0597983240595,0.999999954041,-8.06095347965e-06,-0.000299024936537,-4.93743702946e-05,1793242371382475776
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.506252743,714.506252743,681,658.506252743,633,879.493747257,785.493747257,806.506252743,652,631,652,0.452972294521,-0.00556621204637,0.0597932681434,0.999999947539,-8.55228358542e-05,-0.000308290931685,-5.06353988936e-05,1793242371399142400
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.915534277,714.915534277,681,658.915534277,632.915534277,879,785.084465723,806.915534277,651.915534277,631,652,0.453172017141,-0.00556891850487,0.059788342723,0.999999935172,-0.000160394207039,-0.000318219868378,-5.16280061464e-05,1793242371415809280
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.337252086,714.337252086,681,658.337252086,632.337252086,879,785.662747914,806.337252086,651.337252086,631,652,0.453340948527,-0.00557249626311,0.0597811235874,0.999999930416,-0.000159683069824,-0.000333112308848,-5.20155284228e-05,1793242371432476160
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.916133386,714,681,657,632,879.916133386,785,806.916133386,651,631,651.916133386,0.45450601627,-0.00557291469538,0.0597548535235,0.999999920277,-0.000117545393387,-0.000377965719944,-5.26373126566e-05,1793242372420945664
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.336638333,714,681,657,632,879.336638333,785,806.336638333,651,631,651.336638333,0.454505644313,-0.00557217318847,0.0597544820861,0.999999920631,-0.000118913283114,-0.00037656713359,-5.28714148516e-05,1793242372437612800
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,657.819498511,631.180501489,879.819498511,785,806,651.819498511,631,651,0.454492488311,-0.00557189777238,0.059747621173,0.999999916706,-0.000118761202284,-0.000386889973774,-5.29206830465e-05,1793242372470946048
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.066483616,745,713.066483616,681,658,632,880,785,806,651.066483616,631,651.933516384,0.453151652071,-0.00552798669843,0.0596452134108,0.999999849151,-8.83595140709e-05,-0.000539637617492,-5.1784855167e-05,1793242372704280832
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,714,681.419726542,658.419726542,632,880,786,806,651,630.580273458,651.419726542,0.450916268189,-0.00546541112292,0.0596866126953,0.999999884401,-2.28651730628e-05,-0.000479066151555,-3.4215974335e-05,1793242372837613824
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.483956627,745,714,681,659,633,879.516043373,786,806,652,631,651.483956627,0.448711259817,-0.005427073688,0.0596790629974,0.999999882716,1.75468406318e-05,-0.000483565140742,-2.05877345248e-05,1793242372920946688
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.776588449,659.223411551,633.223411551,879,786.223411551,805.776588449,651,631,651.223411551,0.447182212639,-0.00543691920645,0.0597598666797,0.9999999361,-1.21317003166e-06,-0.000357272209852,-1.24410963019e-05,1793242372970947072
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+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.573606726,745,714,680,659.426393274,635,879,786.573606726,805.573606726,651.426393274,631,651.573606726,0.428839839195,-0.00538589830231,0.0598014579043,0.999999930811,0.000186104448091,-0.000321364488157,2.16160085688e-05,1793242373354279936
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,879,786.838728333,805.838728333,651.161271667,631.161271667,651.838728333,0.42787861097,-0.00538547011874,0.0597658716108,0.999999908491,0.000179279320604,-0.000387920327328,1.98473121998e-05,1793242373370946560
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,879,786.262468833,805.262468833,651.737531167,631.737531167,651.262468833,0.426967916381,-0.00538707067324,0.0597513671292,0.999999911447,0.000179193292817,-0.000380391973751,1.72655546774e-05,1793242373387612928
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.686770589,745,714,680,659.313229411,635,879.313229411,786.313229411,805,652,631.686770589,651.313229411,0.426050878253,-0.00538949390206,0.0597631410486,0.999999920665,0.000178648605695,-0.000355534294916,1.87026443795e-05,1793242373404279296
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.111541835,745,714,680,659.888458165,635,879.888458165,786.888458165,805,652,631.111541835,651.888458165,0.425128534147,-0.00539260525305,0.0597968954199,0.999999933946,0.000177720274812,-0.000316181579222,2.35012810237e-05,1793242373420945920
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.475624082,660,635,879.524375918,787,805,652,631,651.524375918,0.424237305634,-0.00539095429658,0.0598207520838,0.999999940638,0.000184697465806,-0.000289733091509,2.58003581592e-05,1793242373437613312
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.356484614,659.356484614,634.356484614,879,787,805,652,631,651,0.422479294235,-0.00538577511298,0.059850230022,0.999999952341,0.000188301014486,-0.000243204292907,2.66819978995e-05,1793242373470946816
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.221028814,659.221028814,634,879,787,805,652,631,651.221028814,0.421568668083,-0.0053833679119,0.0598378248082,0.999999946401,0.000192310673677,-0.00026368256193,2.61981971296e-05,1793242373487613184
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.796043213,659.796043213,634,879,787,805,652,631,651.796043213,0.420601332298,-0.00538098774797,0.0597905755275,0.999999915144,0.000208920583267,-0.000354113915346,2.58434962307e-05,1793242373504279552
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.628877868,659.628877868,634.371122132,879,787,805,652,631,651.628877868,0.419674701079,-0.00538057808455,0.0597507186187,0.99999989328,0.000206519417166,-0.000412580246953,2.37961958164e-05,1793242373520946176
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.05376352,659.05376352,634.94623648,879,787,805,652,631,651.05376352,0.418770443724,-0.00538125153309,0.0597149250283,0.999999878209,0.000193668559798,-0.000453476574317,2.08185356297e-05,1793242373537612544
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.533064591,635,879,787,805,652,631,651,0.41797754324,-0.00538082678225,0.0597475675906,0.999999900872,0.000196525130734,-0.000398952895849,2.16944969781e-05,1793242373554279168
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.119984349,745,714,680,659.880015651,635,879,787,805,652,631,651,0.417194502081,-0.00537965714058,0.0597875517729,0.99999992258,0.000202145509142,-0.000336786376308,2.34918116006e-05,1793242373570945792
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.702599827,745,714,680,659.297400173,635,879,787,805,652,631,651,0.416405198482,-0.00537605204265,0.059828631934,0.999999937047,0.000212176891513,-0.00028309175835,2.73093698414e-05,1793242373587612416
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,879,787,805,652,631,651.280639843,0.415615694624,-0.00537545038128,0.0598471698874,0.999999942736,0.000211463185689,-0.000262619824012,2.90169161381e-05,1793242373604279296
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,879,787,805,652,631,651.853908888,0.414825981999,-0.00537798046805,0.0598422025932,0.999999941378,0.000199545345019,-0.000276789900699,2.85243073977e-05,1793242373620945920
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,659,635,878.564725705,787,805,652,631,652,0.414062226375,-0.00538078687649,0.059843159556,0.999999939767,0.000210406904809,-0.000274462990278,2.94001800526e-05,1793242373637612800
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+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.397148192,745,714,680,659,635,878.602851808,787,804.397148192,652,631,652,0.412498614024,-0.00537655317831,0.0597954647534,0.999999911568,0.000219644393418,-0.000357473804351,2.88412126568e-05,1793242373670945792
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.815827432,879,787,804,651.815827432,631,651.815827432,0.411733997941,-0.00537079866984,0.0597580913391,0.999999888945,0.000216074052431,-0.000417984257843,2.66671340796e-05,1793242373687612416
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,634.239078016,879,787,804,651.239078016,631,651.239078016,0.411059730008,-0.00536729803514,0.0597453989032,0.999999886508,0.000223036942597,-0.000420330277169,2.36923575185e-05,1793242373704278784
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.665474685,714,680,659,634.334525315,878.665474685,787.334525315,804,651.669050629,631,651.334525315,0.410428518325,-0.00536726382153,0.0597652472503,0.999999899402,0.000230291677999,-0.000384142828787,2.44270474976e-05,1793242373720946176
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.09409888,714,680,659,634.90590112,878.09409888,787.90590112,804,652.811802241,631,651.90590112,0.409827791351,-0.00536968390234,0.0598081351115,0.999999919935,0.000237753044402,-0.000320672927288,2.77881127212e-05,1793242373737613824
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.494516468,714,680.494516468,659.494516468,635,878.494516468,787.505483532,804,652.505483532,631,652,0.409234930586,-0.00537000292343,0.0598410900273,0.999999937348,0.00022711466166,-0.000269927021555,2.93785267917e-05,1793242373754280192
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.915151156,659.915151156,635,879,787.084848844,804.084848844,652,631,652,0.408645120848,-0.00537042042807,0.0598660489023,0.999999949794,0.000214962511571,-0.00023084033857,3.02777493924e-05,1793242373770946560
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.334643771,659.334643771,635,879,787.665356229,804.665356229,652,631,652,0.408064074445,-0.00537383309405,0.0598557376541,0.999999946438,0.000214813465516,-0.000245208326412,2.91785751504e-05,1793242373787613184
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.243808199,714,680,658.756191801,635,879,787.756191801,805,652,630.756191801,652,0.40750019175,-0.0053755874334,0.0598419953368,0.999999939279,0.000223456940619,-0.000265922639682,2.81832926565e-05,1793242373804279552
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.607569567,714,680,658.392430433,635,879,787.392430433,804.607569567,652,630.392430433,652,0.406470515312,-0.00537308634847,0.0598234445541,0.999999925763,0.000248525856576,-0.000293176528458,2.74953386045e-05,1793242373837612800
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.035829056,714,680,658.964170944,635,879,787.964170944,804.035829056,652,630.964170944,652,0.406004830278,-0.00537040474536,0.05983165583,0.99999993116,0.000245603207619,-0.000276707669594,2.8127228341e-05,1793242373854279168
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.441679459,787.441679459,804.558320541,652.558320541,631,651.441679459,0.405561295342,-0.00536402834618,0.0598350308906,0.999999932142,0.000250020968095,-0.00026903029587,2.87841119899e-05,1793242373870945792
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.85107039,714,679.85107039,659,635,878.14892961,787,805,652.85107039,631,651.14892961,0.405123356917,-0.005357738709,0.0598320826605,0.999999929862,0.000255617749328,-0.000272185054812,2.91744351294e-05,1793242373887612672
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.301562345,744.301562345,714,679.301562345,659,635,879,787,805,652,631,652,0.404295639517,-0.00534640372328,0.0597901460163,0.999999904219,0.00027280579531,-0.000341092055467,2.82093504387e-05,1793242373920946432
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.878334719,744.878334719,714,679.878334719,659,635,879,787,805,652,631,652,0.403916456415,-0.00533978877508,0.059766893856,0.999999886654,0.000284289595574,-0.000380945554182,2.74346621191e-05,1793242373937612800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.535023798,745,714,679.535023798,659,635,878.535023798,787,804.535023798,652,631,652,0.403608447562,-0.00533617926523,0.0597741347886,0.999999891411,0.000289390923926,-0.000364149473418,2.87451264369e-05,1793242373954279424
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+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.6276246,659,635,878,787,804,652,631,652,0.403080896939,-0.00533323525066,0.0598109086276,0.999999911966,0.00029430157497,-0.000297265550948,3.29823859038e-05,1793242373987612416
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.796571145,658.796571145,635,878.203428855,787,804,652,631,652,0.402844839362,-0.00533235589641,0.0598292148718,0.999999920036,0.000295054360332,-0.000267658540332,3.50575510667e-05,1793242374004279040
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.218753177,658.218753177,635,878.781246823,787,804,652,631,652,0.402621225984,-0.00533052607023,0.059842791356,0.999999925472,0.000294111692935,-0.000247406844568,3.66690826977e-05,1793242374020945664
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.366094344,635,879,787,804,652,631,652,0.402407881407,-0.00533424593649,0.0598454369294,0.999999927293,0.000288657579162,-0.000246376900561,3.72826808649e-05,1793242374037612544
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.955224539,635,879,787,804,652,631,652,0.402200792876,-0.00534134684462,0.0598414230595,0.999999926938,0.000280454954453,-0.000257057432555,3.72883076587e-05,1793242374054279424
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.535356058,745,714,679.535356058,659,635,878.464643942,787,804.535356058,652,631,652,0.402012114823,-0.00536169644012,0.059833699281,0.99999992911,0.000256020474772,-0.000273410328913,3.84734654724e-05,1793242374070946048
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.886644643,745,714,679.886644643,659,635,878,787,804.886644643,652,631,651.886644643,0.401834560375,-0.00537880930271,0.059827125966,0.99999993167,0.00022932130414,-0.000287473450385,3.78222461626e-05,1793242374087612672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.314281932,745,714,679.314281932,659,635,878,787,804.314281932,652,631,651.314281932,0.401695916455,-0.0053784029986,0.0598264468549,0.999999937638,0.000198858108788,-0.000290375347538,2.93421592867e-05,1793242374104279296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.261284053,745,714,679,658.738715947,635,878,787,804,652.261284053,631,651.261284053,0.401573489853,-0.00537921575988,0.0598278028908,0.999999943071,0.000173645199877,-0.000288592554497,2.04757010807e-05,1793242374120945920
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+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.572529101,745,714,679,658.427470899,635,878,787,804,652.572529101,631,652,0.401382941068,-0.00538292903662,0.05983533765,0.99999994513,0.000183905462991,-0.000275368004673,9.5341104355e-06,1793242374154278912
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.983382061,635,878,787,804,652,631,652,0.401301055936,-0.00538381199437,0.0598388537362,0.999999936914,0.000229988646271,-0.000270483068713,1.08205535063e-05,1793242374170945792
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+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.513831056,745,714,680,658.513831056,635,878,787,805,652,631,652,0.401017283318,-0.00537583891088,0.0598308126077,0.999999930489,0.000237178342512,-0.000287400756768,1.29787747085e-05,1793242374270945792
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+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.344686819,658.655313181,635,878,787,805,652,631,652,0.400990235633,-0.00537674815635,0.0598345082371,0.999999932501,0.000236693159547,-0.000280682559222,1.38192060489e-05,1793242374304279296
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,805,652,631,651.766827843,0.400981842154,-0.00537656954143,0.0598360177562,0.999999933283,0.000236843437484,-0.000277751264352,1.38946696112e-05,1793242374320945920
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787,805,652,631,651.190511851,0.400975559058,-0.00537600251804,0.0598365277796,0.999999933548,0.000236922739787,-0.000276724900535,1.39746271983e-05,1793242374337612800
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.392878601,745,714,679.392878601,659,635,878.392878601,787,804.607121399,652,631,651.392878601,0.400972020022,-0.00537465070142,0.0598374862344,0.999999933638,0.000238143679182,-0.000275365914771,1.35832469347e-05,1793242374354279936
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.979762438,745,714,679.979762438,659,635,878.979762438,787,804.020237562,652,631,651.979762438,0.400969836015,-0.00537291135036,0.0598386661268,0.999999933638,0.000239928364149,-0.000273842678809,1.29591179002e-05,1793242374370947328
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.440786552,745,714,679.440786552,658.440786552,635,878.440786552,787,804,652,631,652,0.400970132579,-0.00537416373167,0.0598394205827,0.999999934331,0.000239161591307,-0.000271952415017,1.34707341381e-05,1793242374387613184
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.137859726,745,714,679.137859726,658.137859726,635,878,787,804.137859726,652,631,651.862140274,0.40097070288,-0.00537553616952,0.0598404016881,0.999999935144,0.000238100906145,-0.000269861515983,1.39869036467e-05,1793242374404279296
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.714788364,745,714,679.714788364,658.714788364,635,878,787,804.714788364,652,631,651.285211636,0.400971862845,-0.00537695067296,0.0598421530405,0.999999936265,0.000236394362599,-0.000267173363373,1.43883866833e-05,1793242374420945920
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.710353657,745,714,679.710353657,659,635,878,787,804.710353657,652,631,651.289646343,0.400971376548,-0.00537678595105,0.0598426887249,0.999999936562,0.000235964666313,-0.000266428763357,1.45566762996e-05,1793242374437612544
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.137520094,745,714,679.137520094,659,635,878,787,804.137520094,652,631,651.862479906,0.400969280702,-0.00537507722071,0.059842035851,0.999999936061,0.000236783343354,-0.000267584374336,1.44969727634e-05,1793242374454279168
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.449897474,787,804,652,631,652,0.400969092224,-0.00537643703468,0.0598419726328,0.999999936346,0.00023579859452,-0.000267386387076,1.45681135765e-05,1793242374470946048
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.041003172,745,714,679.041003172,659,635,878.958996828,787,804.041003172,652,631,652,0.400969316978,-0.00537852008596,0.0598420271662,0.999999936776,0.000234449646583,-0.000266956469238,1.46757983603e-05,1793242374487612672
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.620048825,745,714,679.620048825,659,635,878.379951175,787,804.620048825,652,631,652,0.4009670574,-0.00537737319142,0.0598411824918,0.999999935886,0.000235797552084,-0.000269094328115,1.47206141308e-05,1793242374504280320
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,744.802107315,714,680,659,635,878,787,805,652,631,652,0.400965244917,-0.00537637582406,0.0598406304481,0.999999935219,0.000236904417027,-0.000270595865838,1.47032748603e-05,1793242374520947200
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,744.226556991,714,680,659,635,878,787,805,652,631,652,0.40096428567,-0.00537566381388,0.0598406368596,0.99999993499,0.000237551281013,-0.000270883050588,1.45673191455e-05,1793242374537612800
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.644368277,744.355631723,714,680,659,635,878,787,805,652,631,652,0.400965522456,-0.00537397731008,0.0598414951881,0.999999934787,0.000240019084181,-0.000269463834412,1.4374430172e-05,1793242374554279168
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.057870124,744.942129876,714,680,659,635,878,787,805,652,631,652,0.400968184849,-0.00537165819159,0.0598429065577,0.999999934585,0.000243668991453,-0.000266936869203,1.41445816821e-05,1793242374570946048
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.521205853,745,714,679.478794147,659,635,878.521205853,787,804.478794147,652,631,652,0.400967125797,-0.00537339184886,0.0598427901162,0.999999935022,0.000241220401735,-0.000267511847766,1.43292438881e-05,1793242374587612672
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.900456645,745,714,679.099543355,659,635,878.900456645,787,804.099543355,652,631,652,0.400965983595,-0.00537524490822,0.0598426846685,0.999999935565,0.000238449239719,-0.000267955526611,1.45540638559e-05,1793242374604279296
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.321762896,745,714,679.678237104,659,635,878.321762896,787,804.678237104,652,631,652,0.400966402145,-0.00537553712444,0.0598434372092,0.999999936313,0.000237338943429,-0.000266132647881,1.47537589253e-05,1793242374620945920
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.255094796,659,635,878,787,804.744905204,652,631,652,0.400966370588,-0.00537567902699,0.059843397129,0.999999936578,0.000236678940489,-0.000265727314245,1.47276620668e-05,1793242374637613056
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.829653212,659,635,878,787,804.170346788,652,631,652,0.400965775349,-0.00537563268684,0.0598423644234,0.99999993624,0.000236582854602,-0.0002670972188,1.44187985629e-05,1793242374654280448
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.413964673,745,714,680.586035327,659,635,878.413964673,787,804.413964673,652,631,652,0.400966847484,-0.00537554419222,0.0598429476563,0.999999936464,0.000236737719025,-0.000266112492767,1.45185623599e-05,1793242374670947072
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.997649535,745,714,679.997649535,658.997649535,635,879,787,804.997649535,652,631,652,0.400968611017,-0.00537544265098,0.0598442018389,0.99999993692,0.000236993411306,-0.000264149579153,1.47885145188e-05,1793242374687613696
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.418069043,745,714,679.418069043,658.418069043,635,879,787,804.418069043,652,631,652,0.400967603372,-0.00537649988742,0.0598429867933,0.999999936751,0.000236038378371,-0.000265655150174,1.45625632695e-05,1793242374704279808
diff --git a/Obstacle_avoidance/ball_0050_15/position_01/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da34653b2b10ca877666f1dcc6ebd972fad1845a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_01/depth_05/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,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+1,0.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+2,0.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+3,0.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+4,0.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+5,0.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+6,0.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+7,0.116666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+8,0.133333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+9,0.150000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+10,0.166666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+11,0.183333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+12,0.200000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+13,0.216666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+14,0.233333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+15,0.250000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+16,0.266666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+17,0.283333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+18,0.300000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+19,0.316666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+20,0.333333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+21,0.350000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+22,0.366666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+23,0.383333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+24,0.400000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+25,0.416666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+26,0.433333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+27,0.450000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+28,0.466666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+29,0.483333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+30,0.500000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+31,0.516666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+32,0.533333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+33,0.550000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+34,0.566666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+35,0.583333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+36,0.600000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+37,0.616666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+38,0.633333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+39,0.650000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+40,0.666666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+41,0.683333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+42,0.700000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+43,0.716666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+44,0.733333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+45,0.750000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+46,0.766666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+47,0.783333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+48,0.800000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+49,0.816666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+50,0.833333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+51,0.850000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+52,0.866666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+53,0.883333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+54,0.900000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+55,0.916666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+56,0.933333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+57,0.950000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+58,0.966666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+59,0.983333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+60,1.000000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+61,1.016666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+62,1.033333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+63,1.050000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+64,1.066666667,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+65,1.083333333,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
+66,1.100000000,pose1_baseline,0.580743493535,1.89762152628e-06,1.05004082929,0.551315214285,0.00867672976186,1.04967862557
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diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e80b124c6fba0a2d247a4dd9e7fd1a2ceb312e4d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:c9aae8a76e7746068f4145cbee2eb959066ca03cb7b05f82f13ceddc21ebd7bf
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diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc8c6a0650f5798d87d49fc804bf54858691edc6
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_01/franka_data.csv
@@ -0,0 +1,405 @@
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+62,1.033333333,BASELINE,765.973298434,745,714.973298434,678.973298434,662,635,878,787,804.973298434,653,631,652,0.400946822069,-0.00543642444389,0.0499322693123,0.999999976444,6.70736233961e-05,-0.000204655701723,-2.70150704836e-05,1793242377013480448
+63,1.050000000,BASELINE,765.452959708,745,714.452959708,679,661.452959708,635,878.547040292,787,804.452959708,653,631,652,0.400945457516,-0.00543652041312,0.0499316751192,0.999999976249,6.66556174505e-05,-0.000205726382907,-2.71334052392e-05,1793242377030147328
+64,1.066666667,BASELINE,765,744.875305442,714,679,661,635,878.875305442,787,804,653,631,652,0.400944448489,-0.0054363500072,0.0499313720528,0.999999976131,6.63026790479e-05,-0.00020639303366,-2.72694818318e-05,1793242377046814720
+65,1.083333333,BASELINE,765,744.282553752,714,679,661,635,878.282553752,787,804,653,631,652,0.400945257189,-0.00543537199327,0.0499322588353,0.999999976397,6.58018914379e-05,-0.000205238376435,-2.74426815648e-05,1793242377063484928
+66,1.100000000,BASELINE,765,744.302527873,714,679,661.302527873,635,878,787.302527873,804.302527873,653,631,652,0.400944816915,-0.00543498251138,0.0499323818084,0.999999976319,6.64166508315e-05,-0.000205419886137,-2.74560466909e-05,1793242377080151296
+67,1.116666667,BASELINE,765,744.880622943,714,679,661.880622943,635,878,787.880622943,804.880622943,653,631,652,0.400943238972,-0.00543512911279,0.0499318090412,0.999999975925,6.80475419453e-05,-0.000206818486314,-2.73238213397e-05,1793242377096814592
+68,1.133333333,BASELINE,765,745,714,679,661.544893003,635,878,787.544893003,805,653,631,652.455106997,0.400943915823,-0.00543558400344,0.0499318821766,0.999999975945,6.75345972248e-05,-0.000206898058534,-2.72521489455e-05,1793242377113480448
+69,1.150000000,BASELINE,765,745,714,679,661,635,878.02947975,787,805,653,631,652.97052025,0.400945109481,-0.00543607214109,0.0499321047215,0.999999976069,6.65317433459e-05,-0.000206627029988,-2.72016955057e-05,1793242377130147072
+70,1.166666667,BASELINE,765,745,714,679,661,635,878.61960683,787,805,653,631,652.38039317,0.400944972223,-0.00543566676479,0.0499319719963,0.999999976133,6.68221943121e-05,-0.000206216483132,-2.72550924004e-05,1793242377146814208
+71,1.183333333,BASELINE,765,745,714,679,661,635,878.7940013,787,805,653,631,652,0.400945015852,-0.00543585991333,0.0499318474755,0.999999976234,6.60645159976e-05,-0.000205972480685,-2.72546375017e-05,1793242377163480832
+72,1.200000000,BASELINE,765,745,714,679,661,635,878.214383863,787,805,653,631,652,0.400945387556,-0.00543713860311,0.0499317378346,0.999999976397,6.34058512676e-05,-0.000206030538867,-2.71565119027e-05,1793242377180147200
+73,1.216666667,BASELINE,765.367117615,745,714,679.367117615,661,635,878.367117615,787.367117615,805,653,631,652,0.400946206071,-0.00543785145714,0.0499323550974,0.999999976639,6.28825897803e-05,-0.000205033451275,-2.69901801561e-05,1793242377196814080
+74,1.233333333,BASELINE,765.949724947,745,714,679.949724947,661,635,878.949724947,787.949724947,805,653,631,652,0.400947286855,-0.00543823217833,0.0499333990362,0.999999976929,6.36127617401e-05,-0.000203417017033,-2.67838129535e-05,1793242377213480960
+75,1.250000000,BASELINE,765.503358915,745,714.496641085,679.503358915,661,635,879,787.503358915,804.503358915,653,631,652,0.400946415642,-0.00543928752751,0.0499328264068,0.99999997688,6.20729792865e-05,-0.00020415396065,-2.66013872816e-05,1793242377230147584
+76,1.266666667,BASELINE,765,745,714.954164118,679.045835882,661.045835882,635.045835882,879,787,804.045835882,653,631,652,0.400945507188,-0.00544021875548,0.0499322322831,0.99999997681,6.05676170431e-05,-0.000204967452839,-2.64439791217e-05,1793242377246814208
+77,1.283333333,BASELINE,765,745,714.334206729,679.665793271,661.665793271,635.665793271,879,787,804.665793271,653,631,652,0.400946441389,-0.00543879723783,0.049933281257,0.999999976915,6.21786405546e-05,-0.000203955822743,-2.65716083479e-05,1793242377263480832
+78,1.300000000,BASELINE,765,745,714,679.733061187,661.733061187,635.733061187,879,787.266938813,805,653,631,652,0.400946235613,-0.00543749172985,0.0499331385965,0.999999976647,6.4513181936e-05,-0.000204534523574,-2.66536851598e-05,1793242377280147456
+79,1.316666667,BASELINE,765,745,714,679.153917544,661.153917544,635.153917544,879,787.846082456,805,653,631,652,0.400944696546,-0.00543632190391,0.0499316022306,0.999999975934,6.76939312575e-05,-0.000206973234978,-2.66824850199e-05,1793242377296814080
+80,1.333333333,BASELINE,765,745,714,679,661,635,879,787.577316167,805,653,630.577316167,652,0.400944065004,-0.00543700778041,0.0499312983755,0.999999975826,6.68786739063e-05,-0.000207764790453,-2.66266175282e-05,1793242377313480704
+81,1.350000000,BASELINE,765,745,714,679,661,635,879,787.001634958,805,653,630.001634958,652,0.400943761955,-0.00543836535888,0.0499314406478,0.999999975936,6.46169963802e-05,-0.000207960130906,-2.6540103296e-05,1793242377330147328
+82,1.366666667,BASELINE,765,745,714,679,661.583956641,635,879,787,805,653,630.583956641,652,0.400946263821,-0.00543753221489,0.049932837165,0.999999976484,6.64162872836e-05,-0.000204719544929,-2.66546417643e-05,1793242377346814208
+83,1.383333333,BASELINE,765,745,714,679,661.831077693,635,878.831077693,787,805,653,631,652,0.400947443639,-0.00543733652095,0.0499334917999,0.999999976793,6.68782889132e-05,-0.000203050266328,-2.66729223355e-05,1793242377363480832
+84,1.400000000,BASELINE,765,745,714,679,661.247716834,635,878.247716834,787,805,653,631,652,0.400945360313,-0.00543872007205,0.0499323175172,0.999999976534,6.40309725561e-05,-0.000205260084166,-2.6453636315e-05,1793242377380147456
+85,1.416666667,BASELINE,765,745,714,679,661,635,878.330452045,787,805,653,631,652,0.400944605057,-0.00543826292634,0.0499318748848,0.99999997639,6.40784294522e-05,-0.000205929007316,-2.65767958018e-05,1793242377396814080
+86,1.433333333,BASELINE,765,745,714,679,661,635,878.90478903,787,805,653,631,652,0.400944829963,-0.00543644728319,0.0499319722355,0.999999976334,6.62623284283e-05,-0.000205460697224,-2.69526918269e-05,1793242377413480704
+87,1.450000000,BASELINE,764.52300201,745,714,679,661.47699799,635,879,787,805.47699799,653,631,652,0.400944747551,-0.00543530891778,0.0499314416375,0.9999999761,6.71716827432e-05,-0.000206285848119,-2.70938191853e-05,1793242377430147584
+88,1.466666667,BASELINE,764,745,714,679,661.949422719,635,879,787,805.949422719,653,631,652,0.400944579669,-0.00543449781181,0.0499308932408,0.999999975875,6.75591133437e-05,-0.000207235041826,-2.71808217077e-05,1793242377446814464
+89,1.483333333,BASELINE,764,745,714,679,661.356618848,635,879,787,805.356618848,653,631,652,0.400944150207,-0.00543575229654,0.0499314918142,0.999999976139,6.50664270459e-05,-0.000206758469825,-2.71877179813e-05,1793242377463480832
+90,1.500000000,BASELINE,764,745,714,679,661,635,878.769030873,787.230969127,804.769030873,653,631,652,0.400943943507,-0.00543632270854,0.049931632753,0.999999976247,6.41297180585e-05,-0.000206532833618,-2.71649052333e-05,1793242377480147456
+91,1.516666667,BASELINE,764,745,714,679,661,635,878.189318498,787.810681502,804.189318498,653,631,652,0.400944073159,-0.00543586023023,0.0499310827036,0.999999976125,6.55423993944e-05,-0.000206686088626,-2.70972344523e-05,1793242377496814080
+92,1.533333333,BASELINE,764.376722573,745,713.623277427,679,661.376722573,635,878.376722573,787.623277427,804.376722573,653,631,652,0.400944260986,-0.00543659789414,0.049931257176,0.999999976119,6.62575171173e-05,-0.000206513904263,-2.69092436996e-05,1793242377513480704
+93,1.550000000,BASELINE,764.936133901,745,713.063866099,679,661.936133901,635,878.936133901,787.063866099,804.936133901,653,631,652,0.400944477023,-0.00543791755788,0.0499317829997,0.999999976169,6.66343567817e-05,-0.000206183900556,-2.66629046831e-05,1793242377530147328
+94,1.566666667,BASELINE,765,745,713.505905889,679,661.494094111,635,879,787,805,653,631,652,0.400945596475,-0.0054380417258,0.0499327889554,0.999999976518,6.5931833781e-05,-0.000204762409535,-2.62635032487e-05,1793242377546813952
+95,1.583333333,BASELINE,765,745,714,679,661,635,879,787,805,653,631,652,0.400946634446,-0.00543788236112,0.049933615709,0.999999976832,6.51806935847e-05,-0.000203499661373,-2.59930451305e-05,1793242377563480576
+96,1.600000000,BASELINE,765,745,714,679,661,635,879,787,805,653,631,652,0.400946402665,-0.00543689244035,0.049932895752,0.999999976691,6.50101209448e-05,-0.000204157868454,-2.66764113609e-05,1793242377580147200
+97,1.616666667,BASELINE,764.709131314,745,714,678.709131314,661,635,878.709131314,787.290868686,804.709131314,653,631,652,0.40094653292,-0.00543659958369,0.0499328017872,0.999999976728,6.46791040338e-05,-0.00020403943761,-2.69768388932e-05,1793242377596814080
+98,1.633333333,BASELINE,764.130283344,745,714,678.130283344,661,635,878.130283344,787.869716656,804.130283344,653,631,652,0.400947021613,-0.00543699686677,0.0499333275962,0.999999976943,6.41892366662e-05,-0.000203152083687,-2.68981316824e-05,1793242377613480704
+99,1.650000000,BASELINE,764.443729257,745,714,678.443729257,661.443729257,635,878,787.556270743,804,653,631,652,0.400945157085,-0.00543737014945,0.049931990131,0.999999976503,6.3835924972e-05,-0.00020544138877,-2.66872340014e-05,1793242377630147328
+100,1.666666667,BASELINE,765,745,714,679,661.983136349,635,878,787,804,653,631,652,0.400942732726,-0.00543771606433,0.0499302178445,0.999999975898,6.35261870828e-05,-0.000208489286444,-2.64518349236e-05,1793242377646813952
+101,1.683333333,BASELINE,765,745,714,679,661.392085074,635,878,787,804,653,631,652,0.400944518552,-0.00543736748508,0.0499320668967,0.999999976429,6.33496445171e-05,-0.000205951404543,-2.66894646269e-05,1793242377663480320
+102,1.700000000,BASELINE,765,745,714,679,661,635,878.194915063,787,804.194915063,653,631,652,0.400945394715,-0.00543709429203,0.0499330640234,0.999999976678,6.37930361067e-05,-0.000204579024215,-2.68517832008e-05,1793242377680146944
+103,1.716666667,BASELINE,765,745,714,679,661,635,878.773931909,787,804.773931909,653,631,652,0.400944478291,-0.0054369696559,0.0499323823364,0.999999976381,6.54580768404e-05,-0.00020550339452,-2.68656927999e-05,1793242377696813824
+104,1.733333333,BASELINE,765,745.352381582,714,679,661,635,878.647618418,787,805,653,631,652,0.400944507585,-0.00543695438593,0.0499321234479,0.999999976388,6.52722305366e-05,-0.000205528855318,-2.68447488546e-05,1793242377713480448
+105,1.750000000,BASELINE,765,745.930468029,714,679,661,635,878.069531971,787,805,653,631,652,0.400945142625,-0.00543700916636,0.0499321353672,0.999999976591,6.3900867812e-05,-0.000204978553285,-2.68014807743e-05,1793242377730147072
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787,805,653,631,652,0.400947911551,-0.00544035701535,0.0499342662098,0.999999977311,6.13989778462e-05,-0.000202296642934,-2.61652941056e-05,1793242377761257216
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,787.591296692,804.408703308,653,631,652,0.400946168021,-0.00543829234733,0.0499332344896,0.999999976992,6.13052235414e-05,-0.000203807040342,-2.68519968856e-05,1793242377777923840
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.178909227,635,878,788,804.357818454,653,631,652,0.40094469954,-0.00543695354137,0.0499322196206,0.999999976647,6.15824177395e-05,-0.000205359436769,-2.72248794881e-05,1793242377794590464
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.758275532,635,878,788,805.516551064,653,631,652,0.400943846708,-0.00543723945056,0.0499312424698,0.999999976248,6.26899153998e-05,-0.000207005840957,-2.68953305294e-05,1793242377811257344
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.665560346,635,878.334439654,787.665560346,805.665560346,653,631,652,0.400944625921,-0.0054371848009,0.0499313765595,0.999999976259,6.38680266716e-05,-0.000206606870474,-2.67821563879e-05,1793242377827923968
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.091688763,635,878.908311237,787.091688763,805.091688763,653,631,652,0.400946573547,-0.00543688633844,0.0499323062083,0.999999976561,6.50966915504e-05,-0.000204743575927,-2.68238892545e-05,1793242377844590592
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.494437427,745.494437427,714,679,661,635,878.505562573,787.494437427,804.505562573,653,631,652,0.400950309749,-0.00543795629005,0.0499344238752,0.999999977355,6.47115492122e-05,-0.00020099710594,-2.65161022875e-05,1793242377861257472
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.918359529,745.918359529,714,679,661.081640471,635,878.081640471,787.918359529,804,653,631,652,0.400955007713,-0.0054389118222,0.0499366837733,0.999999978247,6.42205261973e-05,-0.000196703850368,-2.62651362521e-05,1793242377877924096
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.338800878,745.338800878,714,679,661.661199122,635,878.661199122,787.338800878,804,653,631,652,0.40096349711,-0.00543758252925,0.0499384333478,0.999999979242,6.49553266018e-05,-0.000191259771653,-2.67660647744e-05,1793242377894590720
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.760703575,635,879,787,804.239296425,652.760703575,631,652,0.400977880752,-0.00543773965046,0.0499418404182,0.999999981116,6.41696290532e-05,-0.000181466625647,-2.68276608158e-05,1793242377911257088
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.184662769,635,879,787,804.815337231,652.184662769,631,652,0.401000558935,-0.00543998849388,0.0499475799616,0.999999984076,6.12442457097e-05,-0.0001655533553,-2.62710162963e-05,1793242377927923712
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.390548343,635,879,787.390548343,805,652,631,652,0.40103147441,-0.00544118127479,0.0499530260304,0.999999987109,6.02488435831e-05,-0.000146508877303,-2.62182369906e-05,1793242377944590592
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.965368034,635,879,787.965368034,805,652,631,652,0.401066276466,-0.00544187577685,0.0499583336304,0.999999989905,6.01640588927e-05,-0.000125987008799,-2.6403194962e-05,1793242377961257216
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662,635,878.444628246,787.444628246,805,652.555371754,631,652,0.401111282198,-0.00544145719405,0.0499624012032,0.999999992194,6.21479019175e-05,-0.00010507137885,-2.66211544792e-05,1793242377977924096
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.85635836,745,714,679,661.85635836,635,878.14364164,787,805,653,631,652,0.401160629836,-0.00544185705371,0.0499664571816,0.999999994004,6.27920824653e-05,-8.56371536777e-05,-2.67568973842e-05,1793242377994590464
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.276313472,745,714,679,661.276313472,635,878.723686528,787,805,653,631,652,0.401221181349,-0.00544496025961,0.0499707194656,0.999999995402,5.89632596617e-05,-7.07803330268e-05,-2.66364269079e-05,1793242378011257344
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.30108551,745,714,679,661,635,879,787,805,653.30108551,631,652,0.401286813888,-0.00544767562551,0.0499727636462,0.999999995914,5.75005346736e-05,-6.4611219353e-05,-2.62822097603e-05,1793242378027924224
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.876077398,745,714,679,661,635,879,787,805,653.876077398,631,652,0.401357068783,-0.00545003816174,0.0499727899523,0.999999995775,5.81903189686e-05,-6.63455701327e-05,-2.57153463753e-05,1793242378044590592
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.450302146,714,679.450302146,661,635,879,787,805,653.549697854,631,652,0.401445518407,-0.00545183653617,0.049973377414,0.999999995879,5.74066256334e-05,-6.56069695926e-05,-2.53311216783e-05,1793242378061257216
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745.974985608,714,679.974985608,661,635,879,787.025014392,805.025014392,653,631,652,0.401539819284,-0.00545357642258,0.0499740826745,0.999999996046,5.61913215411e-05,-6.42466204053e-05,-2.49768310409e-05,1793242378077923840
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.384488219,714,679.384488219,661,635,879,787.615511781,805.615511781,653,631,652,0.401653394382,-0.00545749792148,0.0499739657898,0.99999999617,5.43701421161e-05,-6.41894591044e-05,-2.4164934329e-05,1793242378094590464
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.201932452,635,878.798067548,787.798067548,805.596135097,653,631.201932452,652,0.401779439929,-0.00546137161276,0.0499742467417,0.999999996326,5.27054650707e-05,-6.34584394608e-05,-2.33000754039e-05,1793242378111257088
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.780744413,635,878.219255587,787.219255587,804.438511174,653,631.780744413,652,0.401928759863,-0.00546515607716,0.0499752702014,0.999999996544,5.13328786764e-05,-6.14697547007e-05,-2.23363697881e-05,1793242378127923712
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.642662262,635,878.357337738,787,804.357337738,653,631.642662262,652,0.402092293588,-0.00547167387094,0.0499750695336,0.9999999967,4.79659242671e-05,-6.209881448e-05,-2.10497480329e-05,1793242378144590336
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.067421794,635,878.932578206,787,804.932578206,653,631.067421794,652,0.402264494823,-0.00547985843539,0.0499741223992,0.999999996799,4.33828142802e-05,-6.43241613352e-05,-1.95662135692e-05,1793242378161256960
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.480109029,745,714,679,661,635,879,787,804.480109029,653,631,652,0.402462998261,-0.00548775071373,0.0499732759551,0.999999997012,3.86653233942e-05,-6.45012064686e-05,-1.79076388654e-05,1793242378177923840
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.106924128,745,714.106924128,679,661,635,879,787,804.106924128,653,631,652,0.402672042851,-0.00549557079163,0.0499725112063,0.9999999972,3.43806163022e-05,-6.44429417528e-05,-1.62774109606e-05,1793242378194590464
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.685651314,745,714.685651314,679,661,635,879,787,804.685651314,653,631,652,0.402912191573,-0.00550324351937,0.0499720479501,0.999999997292,3.20842928346e-05,-6.45463421358e-05,-1.48748078716e-05,1793242378211257344
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.737043931,745,714.737043931,679,661.262956069,635,879,787,804.737043931,653,631,652,0.403179291223,-0.00551228135649,0.0499748727466,0.999999997872,2.79477307556e-05,-5.7481682697e-05,-1.30311997358e-05,1793242378227924224
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.161430495,745,714.161430495,679,661.838569505,635,879,787,804.161430495,653,631,652,0.403478435779,-0.00552294232171,0.0499816070702,0.999999998832,2.16231068965e-05,-4.18941292084e-05,-1.06632323189e-05,1793242378244592128
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.412501292,745,714,679,661.587498708,635,879,787,804.412501292,653,631,652,0.403803929993,-0.00553291660892,0.0499923622677,0.999999999622,1.82942583179e-05,-1.88569120801e-05,-8.12955800102e-06,1793242378261258496
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.985777633,745,714,679,661.014222367,635,879,787,804.985777633,653,631,652,0.404139694151,-0.00554262325868,0.0500046846266,0.999999999829,1.61330326824e-05,7.08385931145e-06,-5.53129839743e-06,1793242378277924096
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.578264777,635,879,787,805,653,631,652,0.40449842228,-0.00555229720979,0.0500103893559,0.999999999747,1.36825028896e-05,1.7739725546e-05,-2.21736882538e-06,1793242378294590720
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714.166707064,679,661.833292936,635,879,787,805,653,631,652,0.404870893547,-0.00556056898278,0.0500140141134,0.999999999584,1.31456497332e-05,2.56676154345e-05,8.90461385053e-07,1793242378311257344
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.743983864,679,661.256016136,635,879,787,805,653,631,652,0.40527577286,-0.00556538948866,0.0500129308938,0.999999999456,1.73399669829e-05,2.78346505218e-05,3.44586534189e-06,1793242378327923968
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.679007618,679,661,635,879,787,804.679007618,652.679007618,630.679007618,652,0.405683686004,-0.00556280713926,0.0499991788826,0.999999999525,3.02191426406e-05,2.11752422219e-06,5.70502059956e-06,1793242378344590592
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714.102212833,679,661,635,879,787,804.102212833,652.102212833,630.102212833,652,0.406094016885,-0.00555432537258,0.0499753309704,0.999999997669,5.00193790346e-05,-4.58208004644e-05,7.72809223559e-06,1793242378361257216
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.484100355,714,679,661,635,878.515899645,787,804.484100355,652,630.484100355,652,0.406539601226,-0.00554580878605,0.0499603315547,0.999999995002,7.10257916675e-05,-6.98203026162e-05,8.74273395802e-06,1793242378377923840
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.928723629,714,678.928723629,661.071276371,635,878.071276371,787,804.928723629,652.071276371,631,652,0.407000154585,-0.00553913473935,0.0499482412539,0.999999992087,9.03119454221e-05,-8.70174249915e-05,9.91601992871e-06,1793242378394590464
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.349999477,714,678.349999477,661.650000523,635,878.650000523,787,804.349999477,652.650000523,631,652,0.407513223449,-0.00554563192949,0.0499432944125,0.999999991068,9.55013467488e-05,-9.24919108812e-05,1.37650356938e-05,1793242378411257344
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,678,661.772697665,635,879,787,804.227302335,653,631,652,0.40806052571,-0.00555172678248,0.0499509587201,0.999999991901,0.000101105404746,-7.51722378629e-05,1.80217935177e-05,1793242378427924224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,678,661.197572382,635,879,787,804.802427618,653,631,652,0.408660212621,-0.00555720597005,0.0499779208808,0.999999993713,0.000107343978854,-2.29724494318e-05,2.29024867961e-05,1793242378444591104
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,678.753799716,661,635,879,787.376899858,805,653,631,652,0.409279991969,-0.00555997454955,0.0499984482418,0.999999993388,0.000111510578863,9.44814859911e-06,2.64579558863e-05,1793242378461257728
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.90206069,661,635,879,787.951030345,805,653,631,652,0.409910285613,-0.00556132467535,0.0500156082894,0.999999992508,0.000114592920558,3.15183506374e-05,2.93199387702e-05,1793242378477924608
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.457748478,661,635,878.457748478,787.457748478,805,652.457748478,631,652,0.410507785737,-0.00556381747008,0.0500045218976,0.99999999423,0.000103665260718,5.25069851825e-06,2.76816605862e-05,1793242378494590976
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.263570286,787,805,652.131785143,631,652,0.411107544708,-0.00556589808179,0.0499863761327,0.999999994653,9.4217660576e-05,-3.37138125622e-05,2.60704464651e-05,1793242378511257600
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.420396813,787,805,652.710198407,631,652,0.41172532233,-0.00556622067278,0.0499532321473,0.999999990181,9.42135166473e-05,-0.00010043304837,2.59731263379e-05,1793242378527924480
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.713432673,787,805,652.713432673,631,651.713432673,0.412409111311,-0.00556525139528,0.0499463872922,0.999999989179,9.76407828741e-05,-0.000106776297554,2.65814504247e-05,1793242378544591104
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.139116454,787,805,652.139116454,631,651.139116454,0.413159183902,-0.00556298492276,0.0499659499991,0.999999992771,0.000104513607619,-5.2494628241e-05,2.78983282279e-05,1793242378561257472
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745.446346626,714,679,661.446346626,635,879.446346626,787,805,652.446346626,631,651.446346626,0.413916585719,-0.00556501790254,0.0499834795748,0.999999993954,0.000103014228416,-2.43736594855e-05,2.97762152123e-05,1793242378577924096
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.965191851,714,678.965191851,661.930383703,635,879.965191851,787,804.965191851,652.965191851,631,652,0.414674543191,-0.00556831125227,0.0499974153414,0.999999994565,9.89535319373e-05,-8.82223406608e-06,3.16366225685e-05,1793242378594590720
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.385569576,714,678.385569576,660.771139151,635,879.385569576,787,804.385569576,652.385569576,631,652,0.4154045281,-0.00556982032018,0.0499652735196,0.999999993115,9.66920338894e-05,-5.91181365694e-05,3.04165401878e-05,1793242378611257344
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714,678.192815868,660.192815868,635,879,787,804.192815868,652,631,652,0.416152614967,-0.00557041175469,0.0499428190923,0.999999990696,9.504429992e-05,-9.33071480828e-05,2.94630850672e-05,1793242378627923968
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714,678.768743776,660.768743776,635,879,787,804.768743776,652,631,652,0.416936669153,-0.00556917991384,0.0499396128621,0.999999990543,9.46160740474e-05,-9.54928579103e-05,2.90394004123e-05,1793242378644590592
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.343608223,631,652,0.417756626889,-0.005568891467,0.0499543233423,0.999999992816,9.40547716904e-05,-6.79413094411e-05,3.00923100359e-05,1793242378661257216
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.917759121,631,652,0.418600673947,-0.00556923598696,0.0499810549737,0.999999994913,9.3404182002e-05,-2.0437656498e-05,3.21359351318e-05,1793242378677924096
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.493049166,631,652,0.41941078196,-0.00556994058479,0.0499745801258,0.999999994259,9.18347292239e-05,-4.39520254314e-05,3.3414671632e-05,1793242378694590720
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.096574356,805,652,631,651.903425644,0.420228817288,-0.00557047462157,0.0499654593009,0.999999993019,9.02203293677e-05,-6.82092430313e-05,3.42023096477e-05,1793242378711257088
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.675788584,805,652,631,651.324211416,0.421114827061,-0.00556985540563,0.0499708600485,0.999999994797,8.91490431552e-05,-3.68410279e-05,3.3174723683e-05,1793242378727923968
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.25249004,745.25249004,714,679,661.25249004,635,879,787.74750996,805,652,631,651.25249004,0.421998512242,-0.00557095663208,0.0499825992053,0.999999995583,8.77192736387e-05,-4.52337371366e-06,3.34386170495e-05,1793242378744590848
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.825996828,745.825996828,714,679,661.825996828,635,879,787.174003172,805,652,631,651.825996828,0.422879242051,-0.00557424523512,0.0500023970394,0.999999995271,8.58337270257e-05,2.90014049673e-05,3.53445017602e-05,1793242378761257472
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.611347632,745.611347632,714,679,661.611347632,635,879,787,805.388652368,652,631,652,0.423744180372,-0.00557654362818,0.0499961792293,0.999999995682,8.41091414053e-05,1.65475156899e-05,3.58793575665e-05,1793242378777924096
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.05341837,745.05341837,714,679,661.05341837,635,879,787,805.94658163,652,631,652,0.424602240683,-0.00557841073672,0.0499786303472,0.999999995832,8.24546621431e-05,-1.59323081737e-05,3.58170638725e-05,1793242378794590720
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.553056176,787,806,652,631,652,0.425503567878,-0.00557925162362,0.0499884090044,0.999999995947,8.21293319141e-05,-7.62001422242e-07,3.68867370683e-05,1793242378811257344
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.155955452,745,714,678.844044548,661,635,880,787,805.844044548,652,631,652,0.426401458627,-0.00557960408138,0.0499992873051,0.999999995868,8.16462812121e-05,1.20229055529e-05,3.8125050661e-05,1793242378827923968
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.735199881,745,714,678.264800119,661,635,880,787,805.264800119,652,631,652,0.427277588212,-0.00557892577689,0.050005296833,0.999999995981,8.03531802383e-05,4.63974803924e-06,3.94957776487e-05,1793242378844590592
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.689177965,745,714,678.310822035,661,635,879.689177965,787,805.310822035,652,631,652,0.42812048327,-0.00557587668836,0.0499853518773,0.999999995268,8.23969964289e-05,-3.39657156068e-05,3.90018944028e-05,1793242378861257216
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.116606235,745,714,678.883393765,661,635,879.116606235,787,805.883393765,652,631,652,0.428935390798,-0.00557083111334,0.0499435501113,0.999999990624,8.72508997179e-05,-9.8864131715e-05,3.6937783929e-05,1793242378877924096
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805.529459678,652,631,651.529459678,0.429849031413,-0.0055740406004,0.0499499051219,0.99999999303,8.18962443035e-05,-7.65370827312e-05,3.70751486267e-05,1793242378894590976
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714.06014671,679.06014671,661.06014671,635,879.06014671,787,805.06014671,652,631,651.06014671,0.430777788872,-0.00557894407118,0.0499654146965,0.999999995701,7.4878502944e-05,-3.95265479375e-05,3.77901975341e-05,1793242378911257856
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.638825792,679.638825792,661.638825792,635,879.638825792,787,805.638825792,652,631,651.638825792,0.431619190955,-0.00558025147082,0.0499536746155,0.999999994035,7.60301252845e-05,-6.82357404781e-05,3.8631894517e-05,1793242378927924224
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.783634765,679.783634765,661.783634765,635,879.783634765,787,806,652,631,652,0.432464674017,-0.00558160506385,0.049944854435,0.999999992713,7.57636906785e-05,-8.54231666055e-05,3.91931659917e-05,1793242378944590848
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.207987636,679.207987636,661.207987636,635,879.207987636,787,806,652,631,652,0.43331693382,-0.00558303536282,0.0499408828473,0.999999993069,7.3142524149e-05,-8.34783091278e-05,3.92887814702e-05,1793242378961257472
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.633583085,879.366416915,787,806,652,631,651.633583085,0.434170098859,-0.00558299231311,0.0499564444596,0.999999994703,7.43514652796e-05,-5.86828252107e-05,4.02809168283e-05,1793242378977924096
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.059881505,879.940118495,787,806,652,631,651.059881505,0.435023775946,-0.00558211577944,0.0499830561429,0.999999995887,7.77271257377e-05,-2.09605787656e-05,4.17802198323e-05,1793242378994590976
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.530643762,879.469356238,787,806,652,631.530643762,651,0.435818971722,-0.0055799759012,0.0499742435251,0.99999999433,8.08532256546e-05,-5.42488189429e-05,4.31319919495e-05,1793242379011257600
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.120258271,786.879741729,806,651.879741729,631.879741729,651,0.436609999035,-0.00557833532871,0.0499626025212,0.999999991779,8.32608445816e-05,-8.69296916734e-05,4.41855916738e-05,1793242379027924224
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.698927231,786.301072769,806,651.301072769,631.301072769,651,0.437411116581,-0.00557915928535,0.0499559170633,0.9999999919,8.30405627037e-05,-8.57493769773e-05,4.41681324165e-05,1793242379044591104
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,880,786.275255917,806,651.275255917,631,651.275255917,0.438213576754,-0.00558111838004,0.0499635679664,0.99999999375,8.05663060434e-05,-6.35673183889e-05,4.43545340102e-05,1793242379061257728
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,880,786.849046372,806,651.849046372,631,651.849046372,0.43901749305,-0.00558430861229,0.0499867676689,0.999999995964,7.56474539769e-05,-1.86073809927e-05,4.476203707e-05,1793242379077924352
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,880,787,805.585545805,652,631,652,0.439736784286,-0.00558668094037,0.0499797805791,0.999999996039,7.16922649332e-05,-2.84237473455e-05,4.44256390739e-05,1793242379094590976
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,880,787,805.023130553,652,631,652,0.440425864256,-0.00558876127513,0.0499620167401,0.999999995052,6.80811052799e-05,-5.77953705364e-05,4.38236667902e-05,1793242379111257600
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.582996148,745,714,679,661,635,880,787,805.582996148,652,631,651.417003852,0.441158014797,-0.00559102650843,0.0499545977099,0.999999994414,6.71878949198e-05,-6.84970312033e-05,4.43397108406e-05,1793242379127923968
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.819579157,745,714,679.180420843,661,634.819579157,880,787,806,651.819579157,631,651,0.441880165516,-0.00559239052406,0.0499572414822,0.999999994864,6.67283007805e-05,-6.16718697595e-05,4.48911177086e-05,1793242379144590848
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.24524669,745,714,679.75475331,661,634.24524669,880,787,806,651.24524669,631,651,0.442576450527,-0.00559176960293,0.0499808865736,0.999999996559,6.69608981498e-05,-1.83288465348e-05,4.54150365058e-05,1793242379161257472
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.320285389,714,679.679714611,661,634.320285389,880,787,806,651.320285389,631,651,0.443223650621,-0.00559290499893,0.0499934024431,0.999999996786,6.54663044691e-05,1.4727976217e-06,4.62553791487e-05,1793242379177924096
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.879259065,714,679.120740935,661,634.879259065,880,787,806,651.879259065,631,651,0.443834270813,-0.00559534926618,0.0499976244115,0.999999996908,6.26845454354e-05,3.73054978699e-06,4.73315323301e-05,1793242379194590976
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.538149056,714.461850944,679.461850944,661.461850944,635,880,787,806,651.538149056,631,651.461850944,0.444408394548,-0.00559458174218,0.0499701370619,0.999999996134,6.07237051933e-05,-4.44086551463e-05,4.55178598748e-05,1793242379211257856
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.051666279,745,714.948333721,680,661.948333721,634.948333721,880.051666279,787,806,651.051666279,631,652,0.444975047676,-0.00559362474193,0.0499374554709,0.99999999246,5.862114759e-05,-9.88814111887e-05,4.32029019113e-05,1793242379227924736
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.649046599,745,714.350953401,680,661.350953401,634.350953401,880.649046599,787,806,651.649046599,631,652,0.44556900245,-0.00560001306732,0.0499421880403,0.999999994939,5.26327781276e-05,-7.3590859046e-05,4.40029006648e-05,1793242379244591104
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.762019128,745,714,680,661,634,880.524038255,787,806,652,631,651.762019128,0.446146755561,-0.00559925929887,0.0499545954818,0.999999996804,5.2976745693e-05,-4.03553111611e-05,4.42349146771e-05,1793242379261257472
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.185113495,745,714,680,661,634,879.37022699,787,806,652,631,651.185113495,0.44670143473,-0.00558833398786,0.0499779332307,0.999999997095,6.23390259578e-05,4.19524386254e-06,4.36580228553e-05,1793242379277924352
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.388688409,745,714,680,661,634,879.388688409,787,806,651.611311591,631.388688409,651.388688409,0.447174450656,-0.00558133420179,0.0499699414791,0.999999996508,7.08474970177e-05,-1.06755427818e-05,4.3015625513e-05,1793242379294590976
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.961023918,745,714,680,661,634,879.961023918,787,806,651.038976082,631.961023918,651.961023918,0.447608882466,-0.00557618914276,0.0499471471995,0.999999994549,7.89525619403e-05,-5.36216598305e-05,4.23422780981e-05,1793242379311257600
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.446863552,745,714.553136448,680,661,634,880,787,806,651.553136448,631.446863552,651.446863552,0.447999455247,-0.00558503300158,0.0499100286264,0.999999991108,6.94409911724e-05,-0.000106017531263,4.14953691829e-05,1793242379327924480
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.857016826,745,714.857016826,680,661,634,879.857016826,787,806,652,631,651,0.448388673987,-0.00559265180001,0.0498789935105,0.99999998615,6.04029620855e-05,-0.000149685705598,4.05634491424e-05,1793242379344590848
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.27847462,745,714.27847462,680,661,634,879.27847462,787,806,652,631,651,0.448783531463,-0.00559342474871,0.0498696786684,0.999999984057,5.67290454801e-05,-0.000164663769052,3.94112022444e-05,1793242379361257472
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.29807155,745,714,680,660.70192845,634,879.29807155,787,806,651.70192845,631,651,0.449162376309,-0.00559236742102,0.0498721963472,0.999999984364,5.65837566926e-05,-0.000162817649816,3.95113545836e-05,1793242379377924096
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.872765285,745,714,680,660.127234715,634,879.872765285,787,806,651.127234715,631,651,0.449526360776,-0.00558961152439,0.0498856950741,0.999999986821,5.97131742784e-05,-0.000145358022805,4.07737830083e-05,1793242379394590720
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.459308963,634,879.540691037,787,806,651.459308963,631,651.459308963,0.449852117187,-0.00558734206006,0.0498930924112,0.999999987939,6.18642780464e-05,-0.000136304202147,4.14130415094e-05,1793242379411257344
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.048204026,786.951795974,806,652,631,652,0.450164073236,-0.00558532802771,0.0498981264162,0.999999988577,6.36318201469e-05,-0.000130569999192,4.18261521558e-05,1793242379427923968
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634,879.625915207,786.374084793,806,652,631,652,0.450443841531,-0.00558460047177,0.049896257573,0.999999987948,6.42418082835e-05,-0.000135045328898,4.17015631029e-05,1793242379444590848
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.203683575,679.796316425,660.796316425,633.796316425,880,786,806,652,631,651.796316425,0.450708365586,-0.00558554037428,0.0498925996569,0.999999986823,6.26752076951e-05,-0.000143877989842,4.15319466819e-05,1793242379461257472
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.781556939,679.218443061,660.218443061,633.218443061,880,786,806,652,631,651.218443061,0.450944884214,-0.00558954358684,0.0498856550115,0.999999984602,5.71099671081e-05,-0.000160715561084,4.12796098936e-05,1793242379477924096
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.645272707,679.354727293,660.354727293,633,879.645272707,786.354727293,806,652,631,651.354727293,0.451154720346,-0.00559164448755,0.0498792516594,0.999999982429,5.48179903657e-05,-0.000174449523489,4.1288178692e-05,1793242379494590720
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714.074960541,679.925039459,660.925039459,633,879.074960541,786.925039459,806,652,631,651.925039459,0.451348340262,-0.00559258926206,0.0498731772767,0.999999980301,5.45153332807e-05,-0.000186297274849,4.1455312366e-05,1793242379511257344
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.517089262,680,660.482910738,633,879,786.482910738,806,651.482910738,631,651.482910738,0.451509846661,-0.00559171133741,0.0498636189463,0.999999976771,5.52904196593e-05,-0.000204222730963,4.11602148269e-05,1793242379527923968
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.890749218,680,660,633,879.109250782,786.109250782,806,651,631,651,0.451662297828,-0.00559091095488,0.0498538929016,0.999999972748,5.62433521196e-05,-0.000222859946523,4.09220295647e-05,1793242379544590848
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714.312236995,680,660,633,879.687763005,786.687763005,806,651,631,651,0.451796727992,-0.00559162837999,0.0498457110213,0.999999968566,5.72596546825e-05,-0.000240603893784,4.12287453163e-05,1793242379561257472
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714.264090439,680,660,633,880,787,806,651.264090439,631,651,0.451925472213,-0.0055919392978,0.0498418061583,0.999999966327,5.721955074e-05,-0.000249719481034,4.13741233238e-05,1793242379577924096
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714.837855931,680,660,633,880,787,806,651.837855931,631,651,0.452047549032,-0.0055917735411,0.0498429165687,0.999999966651,5.59406940653e-05,-0.000248717367241,4.13303150949e-05,1793242379594590976
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714.576503396,680,660,633,880,786.576503396,806,652,631,651.423496604,0.452151844498,-0.00559343741171,0.0498447677534,0.999999967585,5.28238438645e-05,-0.000245585228514,4.15636089185e-05,1793242379611257856
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786.013536245,806,652,631,651.986463755,0.45224851608,-0.0055956884649,0.0498468207138,0.999999968684,4.9152575845e-05,-0.000241789709137,4.18777320036e-05,1793242379627924480
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633,880,786.591940019,806,652,631,651.408059981,0.452319334658,-0.00559236706189,0.0498451168593,0.999999967686,5.25585608606e-05,-0.000245324863865,4.10098306687e-05,1793242379644591104
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,680.169540417,660,633,879.830459583,786.830459583,806,651.830459583,631,651.169540417,0.452384776684,-0.00558952681304,0.049843090382,0.999999966652,5.58261998102e-05,-0.000248886699073,4.04285975632e-05,1793242379661257984
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.745216238,660,633,879.254783762,786.254783762,806,651.254783762,631,651.745216238,0.452437339124,-0.00558783917326,0.0498402910597,0.999999965571,5.87624291831e-05,-0.000252512447086,4.05340805821e-05,1793242379677924352
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.321041014,680.678958986,660,632.678958986,879.321041014,786.321041014,806.321041014,651.321041014,631,652,0.452482381878,-0.00558748740459,0.049837463947,0.999999964791,5.94083370498e-05,-0.000255407951776,4.06905547932e-05,1793242379694590976
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.896984122,680.103015878,660,632.103015878,879.896984122,786.896984122,806.896984122,651.896984122,631,652,0.452521454111,-0.0055881962988,0.0498346147688,0.999999964258,5.82357618596e-05,-0.000257723653834,4.08875153123e-05,1793242379711257600
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.484672695,745,714.515327305,680,660,632,879.515327305,787,806.515327305,652,630.515327305,652,0.452546431485,-0.00558685092377,0.0498320821545,0.999999963301,5.84328739156e-05,-0.00026143466672,4.04311941642e-05,1793242379727924224
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.926640917,745,714,680,660,632.073359083,879,786.926640917,806,651.926640917,630.073359083,651.926640917,0.452567641687,-0.00558520558979,0.0498297355898,0.999999962311,5.87884977928e-05,-0.000265208907567,3.98172830142e-05,1793242379744591104
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.34868904,745,714,680,660,632.65131096,879,786.34868904,806,651.34868904,630.65131096,651.34868904,0.452584058033,-0.00558457491762,0.0498281944404,0.999999961811,5.81822349555e-05,-0.000267327471638,3.90982131111e-05,1793242379761257728
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.227857603,745.227857603,714,680,660,633,879.227857603,786,806,651.227857603,631,651.227857603,0.452596725983,-0.00558399553683,0.0498259571801,0.999999961011,5.85145671459e-05,-0.000270293852346,3.86683113573e-05,1793242379777924352
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.802266976,745.802266976,714,680,660,633,879.802266976,786,806,651.802266976,631,651.802266976,0.452603692944,-0.00558349416588,0.0498226611955,0.999999959747,6.02744214822e-05,-0.000274549688929,3.86782094686e-05,1793242379794591232
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.623590455,745.623590455,714,680,660,632.623590455,880,786,806,652,631,651.623590455,0.452607968503,-0.00558395466664,0.0498205935262,0.99999995881,6.02091981606e-05,-0.000277939683511,3.87957894252e-05,1793242379811257856
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.04958796,745.04958796,714,680,660,632.04958796,880,786,806,652,631,651.04958796,0.452610831234,-0.00558492009368,0.0498191706506,0.999999958044,5.91859159775e-05,-0.000280875161653,3.89698960395e-05,1793242379827924480
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.544490682,714,680,660,632,880,786,806,652,631,651.544490682,0.452614550162,-0.00558304520854,0.0498198733123,0.999999958256,6.03649636755e-05,-0.000279907712174,3.86690589964e-05,1793242379844591104
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.135290863,745.864709137,714,680,660,632.135290863,880,786.135290863,806,652,631,652,0.452617541368,-0.00558123450615,0.049820315839,0.999999958366,6.17721309955e-05,-0.000279235479462,3.8458235185e-05,1793242379861257728
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.709303461,745.290696539,714,680,660,632.709303461,880,786.709303461,806,652,631,652,0.452617910178,-0.00558050287639,0.0498192630342,0.999999957851,6.32437330482e-05,-0.000280717352636,3.86849412116e-05,1793242379877924352
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.715610234,745,714,680,660,632.715610234,879.715610234,786.715610234,806,652,631,651.715610234,0.452618837249,-0.00557988368541,0.0498188043176,0.999999957629,6.38528864162e-05,-0.000281380106624,3.86014083483e-05,1793242379894590976
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786,806,652,631,651.448544514,0.452619821283,-0.00557872895555,0.0498183650592,0.999999957235,6.45797462633e-05,-0.000282672694745,3.81610050088e-05,1793242379927924224
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786,806.039441383,652,630.960558617,651.960558617,0.452618746777,-0.00557814582429,0.0498175334667,0.999999956625,6.56359286043e-05,-0.00028457173258,3.82126740589e-05,1793242379944590848
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879,786,806.618976631,652,630.381023369,651.381023369,0.452618833282,-0.00557913371125,0.0498166339182,0.999999956718,6.18374711509e-05,-0.00028513813319,3.791168859e-05,1793242379961257472
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879.196242188,786,807,652,630.196242188,651.196242188,0.452618576489,-0.00557947898911,0.0498157065598,0.999999956524,6.00884459017e-05,-0.000286219699861,3.76782793743e-05,1793242379977924352
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632,879.769151271,786,807,652,630.769151271,651.769151271,0.452617660773,-0.00557859084415,0.0498147258231,0.9999999558,6.22730972789e-05,-0.000288290075288,3.75745759129e-05,1793242379994590976
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.331636565,880,786,807,652,631,651.668363435,0.452618463617,-0.00557872487195,0.0498152637775,0.999999956025,6.30648775063e-05,-0.000287305579883,3.778598951e-05,1793242380011257600
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,632.887087059,880,786,807,652,631,651.112912941,0.45262042628,-0.00557954874078,0.0498168266618,0.999999956889,6.29166407815e-05,-0.000284259421979,3.82100684023e-05,1793242380027924480
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.491258948,714,680.491258948,660,632.508741052,880,786,806.508741052,651.508741052,631,651.491258948,0.452620578104,-0.00557922614618,0.0498167547187,0.999999956764,6.2515581222e-05,-0.000284797075736,3.81269962502e-05,1793242380044591104
+244,4.066666667,HOLD_POSE2,765,745,714,680,660,632,879,786,806,652,630,652,0.452620918732,-0.00557485594888,0.0498175462891,0.999999956754,6.74774637407e-05,-0.000283767635142,3.76076113659e-05,1793242380087213568
+245,4.083333333,HOLD_POSE2,765,745,714,680,660,632,879.574643341,786.574643341,806.574643341,652,630.574643341,651.425356659,0.45261991452,-0.00557501413524,0.0498160330718,0.999999956184,6.59576187364e-05,-0.000286160636214,3.73319753938e-05,1793242380103880192
+246,4.100000000,HOLD_POSE2,765,745,714,680,660,632,880,787,806.851333463,652,631,651,0.452619250442,-0.00557555397438,0.0498147800486,0.999999955745,6.41503859862e-05,-0.000288111064042,3.72453074701e-05,1793242380120546816
+247,4.116666667,HOLD_POSE2,765,745,714,680,660,632,880,787,806.27907709,652,631,651,0.45261955549,-0.00557718124214,0.0498142683862,0.999999955694,6.15243100572e-05,-0.00028880048554,3.76970588614e-05,1793242380137213440
+248,4.133333333,HOLD_POSE2,765,745,714.30601084,680,660,632.30601084,879.69398916,786.69398916,806,652,631,651.30601084,0.45262052826,-0.00557638575975,0.0498146099683,0.999999955857,6.29047651405e-05,-0.00028795611911,3.754167708e-05,1793242380153880320
+249,4.150000000,HOLD_POSE2,765,745,714.903313082,680,660,632.903313082,879.096686918,786.096686918,806,652,631,651.903313082,0.452622136634,-0.00557328406393,0.0498157637531,0.999999956205,6.80990330902e-05,-0.000285651741495,3.6808365834e-05,1793242380170547200
+250,4.166666667,HOLD_POSE2,765,745,714.518597382,680,660,632.518597382,879.481402618,786.481402618,806,652,631,652,0.452620638491,-0.00557486657595,0.0498150454531,0.999999955832,6.61170661066e-05,-0.000287376661256,3.71328330057e-05,1793242380187214080
+251,4.183333333,HOLD_POSE2,765,745,714,680,660,632,880,786.943973752,806.056026248,652,631,652,0.452618774798,-0.00557699418912,0.0498140547229,0.999999955353,6.32025094099e-05,-0.00028963315027,3.75854904643e-05,1793242380203880704
+252,4.200000000,HOLD_POSE2,765,745,714,680,660,632,880,786.367074564,806.632925436,652,631,652,0.452619090589,-0.00557577872565,0.0498138926942,0.99999995529,6.45031939765e-05,-0.000289596699054,3.73306042438e-05,1793242380220547328
+253,4.216666667,HOLD_POSE2,765,745,714,680.213661426,660,632.213661426,880.213661426,786.213661426,806.786338574,652,631,651.786338574,0.452619524548,-0.00557566201129,0.049814257159,0.999999955432,6.43845676595e-05,-0.00028914138486,3.72435114179e-05,1793242380237213952
+254,4.233333333,HOLD_POSE2,765,745,714,680.801109593,660,632.801109593,880.801109593,786.801109593,806.198890407,652,631,651.198890407,0.452620165238,-0.00557746748703,0.0498155426897,0.999999955932,6.17829493169e-05,-0.000287953297189,3.74499622267e-05,1793242380253880576
+255,4.250000000,HOLD_POSE2,765,745,714,680.614706352,660,632.614706352,880.614706352,787,806.385293648,652,631,651.385293648,0.452619881537,-0.00557658912183,0.0498149797973,0.999999955756,6.31578628449e-05,-0.00028831056686,3.7094418668e-05,1793242380270547200
+256,4.266666667,HOLD_POSE2,765,745,714,680.03219304,660,632.03219304,880.03219304,787,806.96780696,652,631,651.96780696,0.452619124671,-0.00557433698328,0.0498134707555,0.999999955227,6.65682373589e-05,-0.000289458856096,3.64512079395e-05,1793242380287213824
+257,4.283333333,HOLD_POSE2,765,745,714.542755126,680,660,632,880,787,806.457244874,652,631,651.457244874,0.452621423237,-0.00557292067809,0.0498151223563,0.99999995577,6.7817289166e-05,-0.000287284800112,3.64333873821e-05,1793242380303880448
+258,4.300000000,HOLD_POSE2,765,745.117517731,715,680,660,632,880,786.882482269,806.117517731,652,631,651.117517731,0.452623128243,-0.00557239315711,0.049816490751,0.999999956183,6.8522334117e-05,-0.000285660212743,3.65658469079e-05,1793242380320547072
+259,4.316666667,HOLD_POSE2,765,745.693282607,715,680,660,632,880,786.306717393,806.693282607,652,631,651.693282607,0.452621821764,-0.00557514068823,0.0498160338441,0.999999955859,6.75991036443e-05,-0.000286936073199,3.71416494141e-05,1793242380337213952
+260,4.333333333,HOLD_POSE2,765.274562201,745.725437799,714.725437799,680,660,632,880,786.274562201,806.725437799,652,630.725437799,652,0.452621714099,-0.00557587815687,0.0498159896761,0.999999955849,6.70824527034e-05,-0.000287083361163,3.72129967377e-05,1793242380353880576
+261,4.350000000,HOLD_POSE2,765.862128607,745.137871393,714.137871393,680,660,632,880,786.862128607,806.137871393,652,630.137871393,652,0.452622973099,-0.00557432412997,0.0498164160356,0.999999956198,6.7029307364e-05,-0.000285944062867,3.67092590636e-05,1793242380370547200
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879,787,806,652,631,652,0.452622602383,-0.00557502300793,0.0498167757429,0.999999956612,6.41013059905e-05,-0.000285126498056,3.70140451288e-05,1793242380403158016
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.423995665,879.576004335,787,806.576004335,652,630.423995665,652,0.4526209387,-0.00557375047538,0.0498146124396,0.999999955642,6.61721768872e-05,-0.000288072099153,3.67560769304e-05,1793242380419824640
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764.845271128,745,714,680,660,632,879.845271128,787,806.845271128,652,630.154728872,652,0.452619991629,-0.0055732561487,0.0498133322871,0.999999955057,6.73162955303e-05,-0.000289851780649,3.66129794228e-05,1793242380436491520
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764.258959036,745,714,680,660,632,879.258959036,787,806.258959036,652,630.741040964,652,0.452621043395,-0.00557493246118,0.0498145154951,0.999999955572,6.58754366999e-05,-0.000288379378525,3.67902891732e-05,1793242380453158144
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764.322747001,745,714,680,660,632,879.322747001,787,806,651.677252999,631,652,0.452621493042,-0.00557561285223,0.0498151457459,0.999999955794,6.45749920479e-05,-0.000287903096791,3.68014666359e-05,1793242380469825024
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764.900809293,745,714,680,660,632,879.900809293,787,806,651.099190707,631,652,0.452621466373,-0.00557550540018,0.0498153385689,0.999999955784,6.33856248493e-05,-0.000288214815551,3.66812219108e-05,1793242380486492160
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.478972824,659.521027176,632,880,786.521027176,806,651.478972824,630.521027176,651.521027176,0.452620140579,-0.00557402381826,0.0498149311301,0.999999955456,6.54291810719e-05,-0.000288900022059,3.66603059916e-05,1793242380503158784
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.943212679,659.056787321,632,880,786.056787321,806,651.943212679,630,651,0.452617713212,-0.00557257663538,0.0498139183561,0.999999954864,6.76884579484e-05,-0.000290427939608,3.66376045743e-05,1793242380519825408
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.368770977,659.631229023,632,880,786.631229023,806,651.368770977,630,651,0.452607697232,-0.00557403760948,0.0498085209414,0.999999952491,6.58098732238e-05,-0.000298932524184,3.64110777669e-05,1793242380536491776
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.788857291,786.788857291,806,651.211142709,630.211142709,651.211142709,0.452590507599,-0.00557474299943,0.0497999260969,0.999999948333,6.50262520108e-05,-0.000312725476758,3.6174688236e-05,1793242380553158400
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.199132312,786.199132312,806,651.800867688,630.800867688,651.800867688,0.452560455491,-0.00557409361472,0.0497855982099,0.999999940715,6.62059181484e-05,-0.000336000557108,3.59206146985e-05,1793242380569825024
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.38401946,680,660,632,879.38401946,786,806,652,631,652,0.452509566653,-0.00557173086735,0.049764266291,0.999999927822,6.69307729674e-05,-0.000372402487847,3.45275661209e-05,1793242380586491648
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.963820126,680,660,632,879.963820126,786,806,652,631,652,0.452448054808,-0.00556849461158,0.0497393635678,0.999999910878,6.74237554165e-05,-0.000415496764882,3.25538440185e-05,1793242380603158528
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.460920113,680,660,632.539079887,880,786,806,651.460920113,630.460920113,652,0.452378726436,-0.0055654523822,0.0497214548137,0.999999899553,6.90600321292e-05,-0.000441768649821,3.10535666423e-05,1793242380619825408
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.883438651,633,880,786,806,651.116561349,630.116561349,652,0.452307631497,-0.00556248273125,0.0497064488792,0.9999998897,7.10488419243e-05,-0.00046332305504,2.97390297413e-05,1793242380636492032
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.295755774,633,880,786,806,651.704244226,630.704244226,652,0.452231498999,-0.0055597542365,0.0497012942866,0.999999886221,7.41549881863e-05,-0.0004703353958,2.90478686948e-05,1793242380653158656
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.287641533,632.712358467,879.712358467,786,806,651.712358467,631,652,0.452145955969,-0.00555699924347,0.0497004472971,0.999999885294,7.62110453929e-05,-0.000472001411494,2.86075988596e-05,1793242380669825280
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.86669703,632.13330297,879.13330297,786,806,651.13330297,631,652,0.45205087899,-0.00555421740479,0.0497039644053,0.999999886986,7.72032413977e-05,-0.000468250984437,2.84215107269e-05,1793242380686491904
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.444417849,879,786,806,651.444417849,631,652,0.451936310465,-0.00554988475654,0.0497089318529,0.999999889787,8.01085572859e-05,-0.000461762430126,2.80007881253e-05,1793242380703158784
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879,786.021706254,806,651.978293746,631,652,0.451814885444,-0.0055450982991,0.0497142375004,0.999999892809,8.3539479243e-05,-0.000454583674368,2.75176929152e-05,1793242380719825408
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,879,786.598144452,806,651.401855548,631,652,0.451667200769,-0.0055405664515,0.0497171018475,0.999999894388,8.57816419222e-05,-0.000450692472591,2.72338138013e-05,1793242380736492032
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.821978379,879.178021621,786.821978379,806,651.178021621,631,652,0.451511422019,-0.00553508411727,0.0497192427575,0.99999989583,8.90440481163e-05,-0.000446878931203,2.66422199905e-05,1793242380753158656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632.234185446,879.765814554,786.234185446,806,651.765814554,631,652,0.451337012296,-0.00552741394742,0.0497197184548,0.999999896966,9.46548570863e-05,-0.00044324414954,2.53423265507e-05,1793242380769825280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.348476956,680,660,632.348476956,880,786.348476956,806,652,631,652,0.451139777085,-0.00551910444749,0.0497207366573,0.999999898726,0.000101361149163,-0.000437834773499,2.39539326436e-05,1793242380786491904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.927741592,680,660,632.927741592,880,786.927741592,806,652,631,652,0.450927425098,-0.00551037153427,0.0497221141478,0.99999990084,0.000108792953199,-0.000431250127044,2.25069269318e-05,1793242380803158528
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.503194838,660,633,880,786.496805162,806,652,631,651.496805162,0.450691891436,-0.00550035031271,0.0497344615594,0.999999910073,0.0001153436742,-0.000407560127048,2.10920040582e-05,1793242380819825152
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.922505878,680.922505878,660,633,880,786.077494122,806,652,631,651,0.450447419634,-0.005490546319,0.0497474459131,0.999999918912,0.000121842647511,-0.000383320811048,1.98775602012e-05,1793242380836491776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.352091258,680.352091258,660,633,880,786.647908742,806,652,631,651,0.450167109414,-0.00548329194508,0.0497545371144,0.99999992265,0.000128811200234,-0.000371093977932,1.99092279728e-05,1793242380853158400
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,786.772216564,805.772216564,651.772216564,631,651,0.449867286473,-0.00547444325221,0.0497588427659,0.999999925323,0.000135425213869,-0.000361454070995,1.90975932307e-05,1793242380869824768
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,786.177085595,805.177085595,651.177085595,631,651,0.44953599528,-0.00546302339329,0.0497586561464,0.999999926487,0.000141467460073,-0.000355986114196,1.69259601339e-05,1793242380886491648
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,786.407693077,805.407693077,651.407693077,631,651,0.449168864914,-0.00545423954654,0.0497589915275,0.999999925602,0.00014510675739,-0.000357103811893,1.47566213594e-05,1793242380903158528
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,633,880,786.988086463,805.988086463,651.988086463,631,651,0.448786552948,-0.00544657232466,0.0497595480299,0.999999923844,0.000147728156438,-0.000361011217542,1.25882545236e-05,1793242380919825152
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.562737399,745,714,680,660,633,880,787,806,652,631,651.562737399,0.448359718924,-0.00543948954447,0.0497580919098,0.999999925165,0.000148438191094,-0.000357138899051,9.41653656404e-06,1793242380936491776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,633.140558665,880,787,806,652,631,651.859441335,0.447926069679,-0.00543598815312,0.0497566777184,0.999999926688,0.000145151884603,-0.000354279671542,6.46324404502e-06,1793242380953158400
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,660,633.728862145,880,787,806,652,631,651.271137855,0.44747368304,-0.00544385613896,0.0497555314467,0.999999928565,0.000129262967522,-0.000355166964623,4.27271989962e-06,1793242380969825024
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.311719886,634,880,787,806.311719886,652,631,651,0.446992889721,-0.00545088672436,0.0497528384011,0.999999928941,0.000114449468126,-0.000359184177288,2.50609007599e-06,1793242380986491648
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,660.889922252,634,880,787,806.889922252,652,631,651,0.446487812104,-0.0054572014354,0.0497488230523,0.999999928011,0.000100555317901,-0.000365877089496,1.10183794684e-06,1793242381003158272
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.372400583,744.627599417,714,680,660.627599417,634,880,787,806,651.627599417,631,651,0.442889127106,-0.00543285319969,0.0497728724944,0.999999935904,7.1918672281e-05,-0.000350403135047,-1.54339496872e-05,1793242381103158528
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+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.102780189,744.897219811,714,680.897219811,661,634,880,787,805.897219811,651.897219811,631.102780189,651.102780189,0.440840063808,-0.0054164182326,0.0498007460765,0.999999953965,6.05612373656e-05,-0.000296155820395,-2.63604203705e-05,1793242381153158656
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.675494426,744.324505574,714,680.324505574,661,634,880,787,805.324505574,651.324505574,631.675494426,651.675494426,0.44010090611,-0.00542409193899,0.0498202223476,0.999999963553,3.93894126285e-05,-0.000265583854772,-2.84197722727e-05,1793242381169825024
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+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.246614101,661,634.753385899,879.246614101,787,805.246614101,652,631,651,0.434362915106,-0.00541077673775,0.0497840332288,0.999999937384,1.70359513977e-05,-0.000351154197897,-4.04102918444e-05,1793242381286491648
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+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.697474919,661.697474919,635,879,787.302525081,805,652,631,652,0.422786886298,-0.00539481590234,0.0498388423181,0.999999968668,5.17547510278e-05,-0.00024171758045,-3.94716010287e-05,1793242381503158528
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.118350433,661.118350433,635,879,787.881649567,805,652,631,652,0.421857272477,-0.0053902057971,0.0498128781573,0.999999954953,5.88155730774e-05,-0.000291475861741,-4.09475875943e-05,1793242381519825408
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+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,744.219004779,714,679,659.657014337,635,879,787,804.438009558,652,631,652,0.417483071886,-0.005385629859,0.0497792758997,0.999999927523,6.68654843289e-05,-0.000372280008124,-4.34816886382e-05,1793242381603158272
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.520445411,714,679,661,635,879,788,805,652.520445411,631,652,0.404140031657,-0.00540040114494,0.0498351392149,0.999999953053,7.99069067073e-05,-0.000292594959919,-4.35637493165e-05,1793242381969825024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.884859996,788,805,652.884859996,631,652,0.403816039329,-0.00540230990861,0.0498581835469,0.999999961662,7.83552778659e-05,-0.000262252302664,-4.19491024759e-05,1793242381986491904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.29543382,788,805,652.29543382,631,652,0.403510742083,-0.00540439279889,0.0498594855829,0.999999961177,7.58484741977e-05,-0.000264906722293,-4.14492315607e-05,1793242382003158528
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.712854881,661,635,878.287145119,787.712854881,804.712854881,652.287145119,631,652,0.403206340848,-0.00540616036973,0.049851403843,0.999999956001,7.40771968659e-05,-0.000284218022365,-4.15937194916e-05,1793242382019824896
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.440923278,661,635,879,787.440923278,804.440923278,652.559076722,631,652,0.402635671007,-0.00540587469425,0.0498203569299,0.999999937256,7.85332152771e-05,-0.000342746001155,-4.29631915449e-05,1793242382053158400
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+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.825295125,661,635,878.825295125,788,805,652.825295125,631,652,0.402005269195,-0.00540287467945,0.0498076392354,0.99999993104,9.36302846137e-05,-0.00035690384683,-4.21097136434e-05,1793242382103158528
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.233317125,661,635,878.233317125,788,805,652.233317125,631,652,0.401855708083,-0.00540317172867,0.0498146508332,0.999999936168,9.60446796597e-05,-0.000341685001966,-4.1128967566e-05,1793242382119825152
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+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.502508311,714,679,661,635,878.497491689,787.502508311,805,652.497491689,631,652,0.401500718555,-0.00541213084089,0.0498405442363,0.999999951986,8.84178693585e-05,-0.000294392270503,-3.92793302188e-05,1793242382169825280
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+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.798139015,745,714,679,661,635,878.201860985,787.798139015,805,653,631,652,0.400986391708,-0.00542602138175,0.0498483894481,0.999999960492,7.3189974827e-05,-0.00026864781181,-3.85798059809e-05,1793242382419825408
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.208459849,745,714,679,661,635,878.791540151,787.208459849,805,653,631,652,0.400985789179,-0.00542623069758,0.0498490511137,0.999999960761,7.60814487818e-05,-0.000266927326151,-3.79395460461e-05,1793242382436492032
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,787,804.625512086,652.625512086,631,652,0.400985525676,-0.00542552607817,0.0498499590872,0.999999960974,7.71103248893e-05,-0.000265818938492,-3.80314222431e-05,1793242382453158656
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,787,804.046245235,652.046245235,631,652,0.40098544756,-0.00542432169713,0.0498510017477,0.99999996116,7.71206879027e-05,-0.0002650452607,-3.85236479887e-05,1793242382469825280
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.472690776,787.527309224,804.527309224,652.527309224,631,652,0.400985807297,-0.00542519438782,0.0498512656153,0.999999961483,7.80504731784e-05,-0.000263583947662,-3.82803161052e-05,1793242382486491904
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.103153687,788,805,653,631,652,0.400986008224,-0.00542607840223,0.0498514885336,0.999999961783,7.86394877532e-05,-0.000262302274572,-3.8035734452e-05,1793242382503158528
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.69211702,788,805,653,631,652,0.400985282316,-0.00542616704451,0.0498518368173,0.99999996193,7.72479376613e-05,-0.000262147600231,-3.80858194519e-05,1793242382519825152
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.275856092,635,879.275856092,788,804.724143908,652.724143908,631,652,0.400984522491,-0.00542580050341,0.0498518663277,0.999999961919,7.654140475e-05,-0.000262393113494,-3.8109439805e-05,1793242382536492032
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.85387281,635,879.85387281,788,804.14612719,652.14612719,631,652,0.400983725514,-0.00542493537447,0.0498515466679,0.999999961737,7.65852093457e-05,-0.000263076974634,-3.81040719546e-05,1793242382553158912
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.432438884,661.567561116,635,879.567561116,788,804.432438884,652.432438884,631,652,0.400983433731,-0.00542666485857,0.0498515558608,0.999999961778,7.55015951564e-05,-0.000263319428107,-3.7497528669e-05,1793242382569825280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.988915897,661,635,879,787.988915897,804.988915897,653,631,652,0.400983296849,-0.00542918131059,0.0498516660183,0.999999961888,7.40941507404e-05,-0.000263412657895,-3.67187209714e-05,1793242382586491904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.415681632,661,635,879,787.415681632,804.415681632,653,631,652,0.400982347028,-0.00542708743255,0.0498512537614,0.999999961718,7.56092593433e-05,-0.000263512172207,-3.75192130259e-05,1793242382603158528
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764.837657962,745,714,679,661,635,878.837657962,787,804.162342038,652.837657962,631,652,0.400982289619,-0.00542592330254,0.0498513266238,0.999999961843,7.63479088542e-05,-0.00026275005204,-3.80551745369e-05,1793242382619825152
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764.246998116,745,714,679,661,635,878.246998116,787,804.753001884,652.246998116,631,652,0.400984586715,-0.00542721218878,0.049852679409,0.999999962741,7.50379745578e-05,-0.000259714624257,-3.78932074554e-05,1793242382636491520
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,745,714,678.662309676,661,635,878.337690324,787.337690324,804.662309676,652,631,652,0.400986206353,-0.00542716957364,0.0498540965507,0.999999963255,7.54976095237e-05,-0.000257617597783,-3.77148865886e-05,1793242382653157888
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,745,714,678.081913056,661,635,878.918086944,787.918086944,804.081913056,652,631,652,0.400987339085,-0.00542616997584,0.049855559947,0.999999963496,7.72290772543e-05,-0.000256195023411,-3.75248118636e-05,1793242382669824512
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.492350848,745,714,678.492350848,661,635,879,788,804.492350848,652,631,652,0.400987100754,-0.00542738586335,0.0498554011484,0.999999963645,7.47263818309e-05,-0.000256397208101,-3.72334598799e-05,1793242382686491648
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,787.932710432,805,652.067289568,631,652,0.400986581331,-0.00542862132681,0.0498549792312,0.99999996371,7.21735023655e-05,-0.000256905955178,-3.70065829981e-05,1793242382703158528
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,787.344752753,805,652.655247247,631,652,0.400985630198,-0.00542719127857,0.0498545839929,0.999999963307,7.46160424599e-05,-0.000257720920016,-3.74073706241e-05,1793242382719825152
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.758945935,787.241054065,805,653,630.758945935,652,0.400984440472,-0.00542709135968,0.0498539675959,0.999999962915,7.53112153884e-05,-0.000259012666621,-3.75523842974e-05,1793242382736491776
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.176187964,787.823812036,805,653,630.176187964,652,0.400982912529,-0.00542887695285,0.0498530376976,0.999999962544,7.35294249052e-05,-0.00026098027082,-3.73348280864e-05,1793242382753158144
diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1a889c3afaefb0239747275e61bbc22fd8bb2ce
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/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,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+1,0.016666667,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+2,0.033333333,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+3,0.050000000,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+4,0.066666667,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
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+8,0.133333333,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
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+15,0.250000000,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
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+370,6.166666667,pose2_to_pose3_retreat,0.581023315819,1.88912417456e-06,1.04004102156,0.551595035082,0.00867671541781,1.0396787988
+371,6.183333333,pose2_to_pose3_retreat,0.580963659229,1.85766067281e-06,1.0400409269,0.551535379952,0.00867668931037,1.03967871372
+372,6.200000000,pose2_to_pose3_retreat,0.580914328711,1.81669367043e-06,1.04004085978,0.551486049897,0.00867665016967,1.03967865268
+373,6.216666667,pose2_to_pose3_retreat,0.580874139934,1.82530541545e-06,1.04004089785,0.551445860065,0.00867665520432,1.03967869077
+374,6.233333333,pose2_to_pose3_retreat,0.580841967825,1.86750077154e-06,1.04004095375,0.551413686946,0.00867669399845,1.03967874723
+375,6.250000000,pose2_to_pose3_retreat,0.580817113981,1.80490297377e-06,1.04004087995,0.551388834575,0.00867663621004,1.03967866899
+376,6.266666667,pose2_to_pose3_retreat,0.580797574146,1.94625729537e-06,1.04004102003,0.551369293506,0.00867677353512,1.03967881287
+377,6.283333333,pose2_to_pose3_retreat,0.580782864076,1.94663247047e-06,1.04004098227,0.551354583356,0.00867677384185,1.03967878005
+378,6.300000000,pose2_to_pose3_retreat,0.580771425917,1.84550974798e-06,1.04004083087,0.551343145988,0.00867667557989,1.03967863292
+379,6.316666667,pose2_to_pose3_retreat,0.580763046196,1.91458262254e-06,1.04004100525,0.55133476509,0.00867674052576,1.03967880431
+380,6.333333333,pose2_to_pose3_retreat,0.580757228733,1.9401238217e-06,1.04004099554,0.551328947418,0.00867676524886,1.03967879194
+381,6.350000000,pose2_to_pose3_retreat,0.580753312108,1.94047114678e-06,1.04004089069,0.551325031108,0.00867676658428,1.03967868488
+382,6.366666667,pose2_to_pose3_retreat,0.580750846056,1.92159181816e-06,1.04004086026,0.551322565198,0.00867674811448,1.0396786527
+383,6.383333333,pose2_to_pose3_retreat,0.580749454315,1.90016380889e-06,1.04004086315,0.551321173504,0.00867672679764,1.03967865441
+384,6.400000000,pose2_to_pose3_retreat,0.5807489437,1.89230209286e-06,1.04004086421,0.551320662905,0.00867671897672,1.03967865504
+385,6.416666667,pose2_to_pose3_retreat,0.580748695442,1.88847977721e-06,1.04004086473,0.551320414656,0.00867671517423,1.03967865534
+386,6.433333333,pose2_to_pose3_retreat,0.580748643041,1.88767298819e-06,1.04004086484,0.551320362257,0.00867671437163,1.03967865541
+387,6.450000000,pose2_to_pose3_retreat,0.580748573781,1.88660662947e-06,1.04004086498,0.551320293,0.00867671331081,1.03967865549
+388,6.466666667,pose2_to_pose3_retreat,0.580748436702,1.88449608862e-06,1.04004086526,0.551320155925,0.00867671121121,1.03967865566
+389,6.483333333,pose2_to_pose3_retreat,0.580748201396,1.88087317915e-06,1.04004086575,0.551319920627,0.0086767076071,1.03967865595
+390,6.500000000,pose2_to_pose3_retreat,0.580747877063,1.87587957577e-06,1.04004086643,0.551319596305,0.00867670263941,1.03967865635
+391,6.516666667,pose2_to_pose3_retreat,0.580747506571,1.87017527626e-06,1.0400408672,0.551319225825,0.0086766969647,1.03967865681
+392,6.533333333,pose2_to_pose3_retreat,0.580747116604,1.8670285117e-06,1.04004086551,0.551318836111,0.00867669468777,1.03967865541
+393,6.550000000,pose2_to_pose3_retreat,0.58074682107,1.86493797564e-06,1.04004086397,0.551318540794,0.00867669334279,1.03967865416
+394,6.566666667,pose2_to_pose3_retreat,0.580746707085,1.86413167248e-06,1.04004086338,0.551318426892,0.00867669282404,1.03967865368
+395,6.583333333,pose2_to_pose3_retreat,0.580746340112,1.86153579315e-06,1.04004086147,0.551318060187,0.00867669115394,1.03967865213
+396,6.600000000,pose2_to_pose3_retreat,0.580745805097,1.85775123222e-06,1.04004085869,0.551317525564,0.00867668871909,1.03967864987
+397,6.616666667,pose2_to_pose3_retreat,0.580745175913,1.8533005357e-06,1.04004085542,0.55131689684,0.00867668585566,1.03967864721
+398,6.633333333,pose2_to_pose3_retreat,0.580744672934,1.86597094566e-06,1.04004087245,0.551316393746,0.0086766982048,1.03967866597
+399,6.650000000,pose2_to_pose3_retreat,0.580744569879,1.87398667461e-06,1.0400408825,0.551316290504,0.00867670562366,1.03967867679
+400,6.666666667,pose2_to_pose3_retreat,0.580744395478,1.88755165214e-06,1.04004089951,0.55131611579,0.00867671817854,1.0396786951
+401,6.683333333,pose2_to_pose3_retreat,0.580743958305,1.92155515105e-06,1.04004094214,0.55131567783,0.00867674965004,1.039678741
+402,6.700000000,pose2_to_pose3_retreat,0.580743609891,1.79822247264e-06,1.04004070185,0.551315330941,0.008676631555,1.03967850228
+403,6.716666667,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d4dbfcd50a8073ae2e4ca1e2e5fe17453d85102
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84eacad4cd141437b4eb836696b7051c5cdae365e0efb59d6a5c38a14c762525
+size 25699845
diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..45adc6e2260f5bffa195de75d3fef2b019757d54
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_02/franka_data.csv
@@ -0,0 +1,405 @@
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+39,0.650000000,BASELINE,765,745,714,678.360337494,661,635,879.360337494,787,805,652,631,652,0.400985804029,-0.00542918455797,0.0498567281304,0.999999964556,7.57477655911e-05,-0.000252632113335,-3.64363063471e-05,1793242383552201216
+40,0.666666667,BASELINE,765,745,714,678,661,635,879,787,805,652.225808225,631,652,0.400986248151,-0.00542823869706,0.0498568476864,0.999999964601,7.60882634677e-05,-0.000252313214448,-3.66979753735e-05,1793242383568868096
+41,0.683333333,BASELINE,765,745,714,678,661,635,879,787,805,652.803457815,631,652,0.400985039416,-0.00542668243314,0.0498558537718,0.99999996416,7.67049893052e-05,-0.000253807394141,-3.71189513533e-05,1793242383585534720
+42,0.700000000,BASELINE,765,745,714,678.379743708,661,635,878.620256292,787.379743708,805,652.620256292,631,652,0.400984161026,-0.00542702214341,0.0498553230132,0.999999963882,7.68212241244e-05,-0.000254895517649,-3.69281474637e-05,1793242383602201600
+43,0.716666667,BASELINE,765,745,714,678.955326307,661,635,878.044673693,787.955326307,805,652.044673693,631,652,0.400983453,-0.00542833963288,0.0498550311103,0.999999963687,7.66793490378e-05,-0.000255774232524,-3.64218405311e-05,1793242383618868224
+44,0.733333333,BASELINE,764.469145669,745,713.469145669,678.469145669,660.469145669,635,878,787.469145669,805,652.530854331,631,652,0.400985983174,-0.00542834217347,0.0498565432066,0.999999964486,7.65820613556e-05,-0.000252656612012,-3.64343611184e-05,1793242383635534848
+45,0.750000000,BASELINE,764.109458466,745,713.109458466,678.109458466,660.109458466,635,878.109458466,787,805,652.890541534,631,652,0.400987987876,-0.00542840804568,0.0498578337225,0.999999965112,7.65617571159e-05,-0.000250171962465,-3.64392419763e-05,1793242383652201472
+46,0.766666667,BASELINE,764.701648907,745,713.701648907,678.701648907,660.701648907,635,878.701648907,787,805,652.298351093,631,652,0.400986473456,-0.00542924119686,0.0498574775673,0.999999964648,7.68644177606e-05,-0.000251961864226,-3.62178943791e-05,1793242383668868096
+47,0.783333333,BASELINE,765,745,714,679,661,635,879,787,805,652,631,652,0.400986004716,-0.00542882845841,0.049857421013,0.999999964532,7.75385716543e-05,-0.000252189463243,-3.638563403e-05,1793242383685534720
+48,0.800000000,BASELINE,765,745,714,679,661,635,879,787,805,652,631,652,0.40098659771,-0.00542715070015,0.0498576686596,0.999999964771,7.85899230031e-05,-0.000250830771034,-3.69484352222e-05,1793242383702201344
+49,0.816666667,BASELINE,765,744.563277908,714,679,660.563277908,635,879,787.436722092,804.563277908,652.436722092,630.563277908,652,0.400986878216,-0.00542762956992,0.0498577878047,0.999999964948,7.63728585168e-05,-0.000250819932925,-3.68723831598e-05,1793242383718868224
+50,0.833333333,BASELINE,765,744.012576662,714,679,660.012576662,635,878.987423338,788,804,652.987423338,630.012576662,652,0.400987068083,-0.0054287800946,0.049857872343,0.999999965093,7.32514110891e-05,-0.000251215841378,-3.65939990222e-05,1793242383735534848
+51,0.850000000,BASELINE,765,744.587407852,714,679,660.587407852,635,878.412592148,788,804,652.412592148,630.587407852,652,0.400987657274,-0.00542923657969,0.049858240248,0.999999965032,7.62570342125e-05,-0.000250595653437,-3.63705850545e-05,1793242383752201728
+52,0.866666667,BASELINE,765,745,714,679,661,635,878.167939696,787.832060304,804.167939696,652.167939696,631,652,0.400987652362,-0.00542943373057,0.0498582063765,0.999999964887,7.81244484367e-05,-0.000250626774305,-3.61864978957e-05,1793242383768868608
+53,0.883333333,BASELINE,765,745,714,679,661,635,878.762968912,787.237031088,804.762968912,652.762968912,631,652,0.40098613658,-0.00542897136537,0.0498571507417,0.999999964545,7.70972693386e-05,-0.000252314246709,-3.61024232453e-05,1793242383785534976
+54,0.900000000,BASELINE,765,745,714,679,661,634.653555156,879,787,805,653,631,652,0.40098640711,-0.00542898802501,0.0498572744891,0.999999964649,7.63377854714e-05,-0.000252149290421,-3.59863741997e-05,1793242383802201856
+55,0.916666667,BASELINE,765,745,714,679,661,634.077728694,879,787,805,653,631,652,0.40098786036,-0.0054293218477,0.049858179107,0.999999965048,7.57555430337e-05,-0.000250757838426,-3.58491548654e-05,1793242383818868480
+56,0.933333333,BASELINE,765,745,714,679,661,634.495933365,879,787.495933365,805,653,631,652,0.400987385344,-0.00542978663195,0.0498580074771,0.999999964936,7.54789709037e-05,-0.000251284665971,-3.58848494642e-05,1793242383835534848
+57,0.950000000,BASELINE,765,745,714,679,661,635,878.928875289,788,805,652.928875289,630.928875289,652,0.40098661375,-0.00543018608686,0.0498576715706,0.999999964755,7.52364331549e-05,-0.000252062824089,-3.59608437578e-05,1793242383852201472
+58,0.966666667,BASELINE,765,745,714,679,661,635,878.340095632,788,805,652.340095632,630.340095632,652,0.400985873667,-0.00542996132507,0.0498573623966,0.999999964667,7.48944340429e-05,-0.000252491493107,-3.61337557137e-05,1793242383868868096
+59,0.983333333,BASELINE,765,745,714,679,661,635,878.245113465,788,804.754886535,652.245113465,630.245113465,652,0.400985550108,-0.00542976417721,0.049857177537,0.99999996464,7.47037847827e-05,-0.000252638868765,-3.62235667961e-05,1793242383885534976
+60,1.000000000,BASELINE,765,745,714,679,661,635,878.825439615,788,804.174560385,652.825439615,630.825439615,652,0.40098579618,-0.00542960479363,0.0498571626877,0.9999999647,7.47201187586e-05,-0.00025240155284,-3.61997306709e-05,1793242383902201856
+61,1.016666667,BASELINE,765,745,714,678.593148181,661,635,879,787.593148181,804.406851819,652.593148181,631,652,0.400986278563,-0.00542991238417,0.0498572167867,0.999999964801,7.49910403114e-05,-0.000251915070148,-3.62327379584e-05,1793242383918868480
+62,1.033333333,BASELINE,765,745,714,678.011268793,661,635,879,787.011268793,804.988731207,652.011268793,631,652,0.400986862607,-0.00543042086689,0.0498573005472,0.99999996492,7.53714853871e-05,-0.000251321395977,-3.62901992721e-05,1793242383935534848
+63,1.050000000,BASELINE,765,745.55571594,714,678.55571594,661,635,878.44428406,787,805,652.55571594,631,652,0.400986603584,-0.00543025634642,0.0498574506722,0.999999964922,7.54245451404e-05,-0.000251307138515,-3.62070963496e-05,1793242383952201472
+64,1.066666667,BASELINE,765.1284484,745.8715516,714,679,661,635,878,787.1284484,805,652.8715516,631,652,0.400986038563,-0.00542993754452,0.049857279971,0.9999999648,7.54091396134e-05,-0.000251801023077,-3.61882021292e-05,1793242383968868096
+65,1.083333333,BASELINE,765.723110286,745.276889714,714,679,661,635,878,787.723110286,805,652.276889714,631,652,0.400984423327,-0.00542910700658,0.0498559400491,0.999999964229,7.51687007559e-05,-0.000254097716579,-3.64124339505e-05,1793242383985534720
+66,1.100000000,BASELINE,766,745,714,679,661,635,878,787.690926794,805,652,631,652,0.400983662351,-0.0054292322756,0.0498553605776,0.999999963975,7.46271165213e-05,-0.00025523664397,-3.65368852536e-05,1793242384002201344
+67,1.116666667,BASELINE,766,745,714,679,661,635,878,787.11254372,805,652,631,652,0.400983645731,-0.00543019038377,0.049855443722,0.999999964,7.38231303178e-05,-0.000255366755753,-3.6574393136e-05,1793242384018867968
+68,1.133333333,BASELINE,765.07646248,745,714,679,661,635,878,787,805,652,631,652,0.400985170881,-0.00543101443101,0.0498567697666,0.999999964667,7.31362359244e-05,-0.000252969566002,-3.63839794664e-05,1793242384035534848
+69,1.150000000,BASELINE,764.072416989,745,714,678.963791506,661,635,878,787.036208494,805,652.036208494,631,652,0.400986796654,-0.00543162508628,0.0498581975629,0.99999996537,7.26817845795e-05,-0.000250338138201,-3.61694916926e-05,1793242384052201728
+70,1.166666667,BASELINE,765.255360179,745,714,678.372319911,661,635,878,787.627680089,805,652.627680089,631,652,0.40098425344,-0.00542946001924,0.0498565809468,0.999999964371,7.53580752266e-05,-0.000253477969193,-3.64302445524e-05,1793242384068868352
+71,1.183333333,BASELINE,765.785295464,745,714,678.214704536,661,635,878,787.785295464,804.785295464,652.785295464,631,652,0.400983970129,-0.00542861777797,0.0498561235145,0.999999964029,7.70883444029e-05,-0.000254300482979,-3.64691186817e-05,1793242384085534976
+72,1.200000000,BASELINE,765.205826245,745,714,678.794173755,661,635,878,787.205826245,804.205826245,652.205826245,631,652,0.4009875262,-0.00543002290443,0.0498576354365,0.999999964819,7.72114042804e-05,-0.000251186073133,-3.61310398286e-05,1793242384102201600
+73,1.216666667,BASELINE,765,745,714,679.368763016,661,635,878,787,804.368763016,652,631,652,0.400987336123,-0.00542925743805,0.0498573307723,0.999999964672,7.75452007469e-05,-0.000251650610048,-3.62675624658e-05,1793242384118868224
+74,1.233333333,BASELINE,765,745,714,679.940664053,661,635,878,787,804.940664053,652,631,652,0.40098508243,-0.00542729627158,0.0498560254171,0.999999964006,7.79950842644e-05,-0.000254086657664,-3.66655256784e-05,1793242384135535104
+75,1.250000000,BASELINE,765,745,714,679.483798278,661.516201722,635,878,787,805,652,631,652,0.400985073865,-0.00542907607701,0.049856762543,0.99999996442,7.52863828104e-05,-0.000253309320007,-3.64141363338e-05,1793242384152201984
+76,1.266666667,BASELINE,765,745,714,678.904993559,661.904993559,635,878,787,805,652,631,652,0.400985192559,-0.00543059369573,0.049857449679,0.999999964785,7.32265785521e-05,-0.000252506376286,-3.61778534088e-05,1793242384168868608
+77,1.283333333,BASELINE,765,745,714,678.311248375,661.311248375,635,878,787,805,652,631,652,0.400984614943,-0.0054284615717,0.049856633177,0.999999964275,7.64926474443e-05,-0.000253521785693,-3.6415483284e-05,1793242384185535232
+78,1.300000000,BASELINE,765,745,714,678.274924769,661,635,878,787,805,652.274924769,631,652,0.400985326749,-0.00542767909915,0.0498566408925,0.9999999643,7.81826633927e-05,-0.000252889491431,-3.65319466672e-05,1793242384202201856
+79,1.316666667,BASELINE,765,745,714,678.852755178,661,635,878,787,805,652.852755178,631,652,0.400987459209,-0.00542838364099,0.0498575567113,0.99999996492,7.81362210871e-05,-0.000250441795985,-3.65149116458e-05,1793242384218868480
+80,1.333333333,BASELINE,765,745,714,679,661,635,878.427193732,787,805,652.572806268,631,652,0.40098743016,-0.00542895231638,0.0498575508521,0.999999964958,7.69675752744e-05,-0.000250668962985,-3.63884253465e-05,1793242384235535104
+81,1.350000000,BASELINE,765,745,714,679,661,635,878.999512924,787,805.000487076,652.000487076,631,652,0.400986662472,-0.00542947389942,0.0498572300472,0.999999964796,7.54155815918e-05,-0.00025180935648,-3.62247338398e-05,1793242384252201728
+82,1.366666667,BASELINE,765,745,714,679,661,635,878.408472974,787,805.591527026,652.591527026,631,652,0.400986524655,-0.00542923050765,0.0498571945375,0.999999965036,7.43553459168e-05,-0.000251154625574,-3.63316793955e-05,1793242384268868096
+83,1.383333333,BASELINE,765,745,714,678.821611574,661,635,878,787.178388426,805.821611574,653,631,652,0.400986369773,-0.00542914090261,0.049856951336,0.999999965106,7.37871820981e-05,-0.00025102881839,-3.6449456608e-05,1793242384285534720
+84,1.400000000,BASELINE,765,745,714,678.244099099,661,635,878,787.755900901,805.244099099,653,631,652,0.400986176713,-0.00542939537804,0.0498562434475,0.999999964795,7.43199735391e-05,-0.000252086418457,-3.65914684557e-05,1793242384302201600
+85,1.416666667,BASELINE,765,745,714,678.332362107,661,635,878,787.667637893,805,652.667637893,631,652,0.400986594478,-0.0054296019564,0.0498568610473,0.999999964848,7.54156840228e-05,-0.000251563030808,-3.65046264714e-05,1793242384318868480
+86,1.433333333,BASELINE,765,745,714,678.908053622,661,635,878,787.091946378,805,652.091946378,631,652,0.400987459442,-0.00542977346828,0.0498584490654,0.999999965164,7.69235195454e-05,-0.000249882168172,-3.62502356932e-05,1793242384335535104
+87,1.450000000,BASELINE,765,745,714,679,661,635,878.483629036,787,805,652.483629036,631,652,0.4009873542,-0.00542983300826,0.0498585480216,0.99999996514,7.63823432716e-05,-0.000250146250372,-3.62229379479e-05,1793242384352201984
+88,1.466666667,BASELINE,765,745,714,679,661,635,879,787.06093433,805,652.93906567,631,652,0.400987095882,-0.00542969311618,0.0498584016684,0.999999965054,7.57556447804e-05,-0.000250676425477,-3.62545008959e-05,1793242384368868352
+89,1.483333333,BASELINE,765,745,714,679,661,635,879,787.65352553,805,652.34647447,631,652,0.400987110937,-0.00542799885686,0.0498585844205,0.999999964986,7.77808245196e-05,-0.000250302799821,-3.64230186174e-05,1793242384385534976
+90,1.500000000,BASELINE,765,745,714.239181619,678.760818381,661.239181619,635,878.760818381,788,804.760818381,652.239181619,631,652,0.400986506285,-0.00542815234674,0.0498581448988,0.9999999648,7.84108302152e-05,-0.000250859804761,-3.63340879462e-05,1793242384402201600
+91,1.516666667,BASELINE,765,745,714.815074656,678.184925344,661.815074656,635,878.184925344,788,804.184925344,652.815074656,631,652,0.400985029232,-0.00543090703267,0.0498568293623,0.99999996445,7.70767591002e-05,-0.000252726918543,-3.58827305255e-05,1793242384418868224
+92,1.533333333,BASELINE,765,745,714.609224835,678.390775165,661.609224835,635,878,787.609224835,804.390775165,653,631,652,0.400985520221,-0.00543040564094,0.0498568113574,0.999999964556,7.66164974376e-05,-0.000252433854303,-3.60001424418e-05,1793242384435535104
+93,1.550000000,BASELINE,765,745,714.033615341,678.966384659,661.033615341,635,878,787.033615341,804.966384659,653,631,652,0.400986942082,-0.00542836414409,0.049857407077,0.999999964876,7.6569542332e-05,-0.000251119038868,-3.63865788328e-05,1793242384452201984
+94,1.566666667,BASELINE,765,745,714,679,661,635,878.537727904,787,805,653,631,652,0.400986279356,-0.00542861304254,0.0498575991802,0.999999964919,7.54973363659e-05,-0.000251261826004,-3.64693434106e-05,1793242384468868352
+95,1.583333333,BASELINE,765,745,714,678.88658925,661,635,879,787,804.88658925,652.88658925,631,652,0.400985795489,-0.00542888580984,0.0498576307859,0.999999964951,7.47635698928e-05,-0.00025134667434,-3.65250223274e-05,1793242384485534976
+96,1.600000000,BASELINE,765,745,714,678.291344956,661,635,879,787,804.291344956,652.291344956,631,652,0.400986620807,-0.00542865645949,0.0498570868616,0.999999965013,7.57378438114e-05,-0.000250801282898,-3.65456443919e-05,1793242384502201600
+97,1.616666667,BASELINE,765,745,714,678.295118449,661.295118449,635,879,787.295118449,804.295118449,652.295118449,631,652,0.400987243568,-0.00542866283005,0.0498573986812,0.999999965139,7.55320780163e-05,-0.000250349794907,-3.66298373366e-05,1793242384518868224
+98,1.633333333,BASELINE,765,745,714,678.87316368,661.87316368,635,879,787.87316368,804.87316368,652.87316368,631,652,0.40098767214,-0.00542889518366,0.0498585308931,0.999999965324,7.41950211886e-05,-0.000249988331145,-3.67749749774e-05,1793242384535535104
+99,1.650000000,BASELINE,764.550902464,745,714,678.550902464,661.550902464,635,878.550902464,787.550902464,805,652.550902464,631.449097536,652,0.400987305857,-0.00542945486357,0.0498581166122,0.999999965397,7.33321827858e-05,-0.000250004328323,-3.6403855677e-05,1793242384552201984
+100,1.666666667,BASELINE,764.025000818,745,714,678.025000818,661,635,878.050001635,787,805,652,631.974999182,652,0.400986705789,-0.00543009349242,0.0498573020162,0.999999965423,7.26775955616e-05,-0.000250165482041,-3.59075367291e-05,1793242384568868352
+101,1.683333333,BASELINE,764.613594632,745,714,678.613594632,661,635,879.227189264,787,805,652,631.386405368,652,0.400985872434,-0.00543043762983,0.0498572631046,0.999999965088,7.37125327046e-05,-0.000251206962275,-3.58603164169e-05,1793242384585535232
+102,1.700000000,BASELINE,765,745,714,679,661,635,879.601900179,787.199049911,805,652,631,652,0.400985497709,-0.00543068214286,0.0498572878456,0.999999964953,7.4188759631e-05,-0.000251606305333,-3.58359741116e-05,1793242384602201856
+103,1.716666667,BASELINE,765,745,714,679,661,635,878.442985959,787.778507021,805,652,631,652,0.400985999476,-0.00543073626224,0.0498574342337,0.999999965204,7.35972271605e-05,-0.000250778450506,-3.58553543061e-05,1793242384618868736
+104,1.733333333,BASELINE,765,745,714,679,661,635,878.711680215,788,805,652,631,652,0.400986928962,-0.00543026979304,0.04985785741,0.999999965412,7.43424129813e-05,-0.00024972471401,-3.58826006511e-05,1793242384635535104
+105,1.750000000,BASELINE,765,745,714,679,661,635,879.863717989,788,805,652,631,652,0.400988123103,-0.00542948120568,0.0498584518509,0.99999996559,7.59147033801e-05,-0.000248531211427,-3.59147142383e-05,1793242384652201728
+106,1.766666667,BASELINE,765,745,714,679,661,635,879.493594557,788,805,652,631,652,0.400986430086,-0.0054304671818,0.0498576697926,0.999999965171,7.38125547502e-05,-0.000250824803354,-3.60070712247e-05,1793242384668868352
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,678,662,635,879,788,805,652,631,652,0.400985085475,-0.00542794423366,0.0498565436128,0.999999964479,7.76268877176e-05,-0.000252312413017,-3.679836692e-05,1793242384711366912
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,678.578445845,661.421554155,635,878.421554155,787.421554155,805,652,631,652,0.400985945202,-0.00542886565265,0.0498574197625,0.999999964976,7.58145961845e-05,-0.00025098072511,-3.61811044758e-05,1793242384728033536
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,678.846351053,661.153648947,635,878.153648947,787.153648947,804.846351053,652.153648947,631,652,0.400987041498,-0.00542917406835,0.0498582401546,0.999999965393,7.51720659996e-05,-0.000249559527056,-3.5823039226e-05,1793242384744700160
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,678.279860789,661.720139211,635,878.720139211,787.720139211,804.279860789,652.720139211,631,652,0.400988773436,-0.00542783539791,0.0498589107311,0.999999965603,7.76725821051e-05,-0.000247897822752,-3.61614140893e-05,1793242384761367040
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,678.302488158,661.697511842,635,878.697511842,788,804.302488158,652.697511842,631,652,0.40098888095,-0.00542818924881,0.0498590200312,0.999999965693,7.73775305363e-05,-0.000247608598106,-3.62788512193e-05,1793242384778033920
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,678.900321252,661.099678748,635,878.099678748,788,804.900321252,652.099678748,631,652,0.400987402402,-0.00543019565243,0.0498585813093,0.999999965666,7.4352928133e-05,-0.000248659442277,-3.61805680132e-05,1793242384794700544
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.482959847,678.517040153,661,634.517040153,878,788,805,652,631,652,0.40098732569,-0.00543038755086,0.0498585244665,0.999999965481,7.42568818075e-05,-0.000249444185728,-3.60673505822e-05,1793242384811366912
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.9378053,678,661,634.0621947,878,788,805,652,631,652,0.400987472472,-0.00543015420357,0.0498584869687,0.999999965255,7.48900647006e-05,-0.000250174012345,-3.59715014298e-05,1793242384828033536
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.361573773,678,661,634.638426227,878,788,805,652,631,652,0.400987148079,-0.00542940702132,0.0498579778097,0.999999964936,7.67070920876e-05,-0.000250890027284,-3.60438984585e-05,1793242384844700160
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,678.214544833,661.214544833,635,878,787.785455167,805.214544833,652,631,652,0.400992946017,-0.00542909151136,0.0498600918101,0.999999965929,7.76556561793e-05,-0.000246613926397,-3.59545290747e-05,1793242384861366528
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,678.790473173,661.790473173,635,878,787.209526827,805.790473173,652,631,652,0.40100905653,-0.00542950311873,0.0498666243115,0.99999996903,7.71413635366e-05,-0.000233929007979,-3.55926771742e-05,1793242384878033152
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661.250461321,635,878,787,805.625230661,652.374769339,631,652,0.401040700139,-0.00543051275167,0.0498782610497,0.999999974456,7.62334163237e-05,-0.000209880351558,-3.50189284682e-05,1793242384894700032
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.072298591,635,878,787,805.036149295,652.963850705,631,652,0.401081226358,-0.00543186436587,0.0498928166489,0.999999980511,7.51003574548e-05,-0.000179333334779,-3.43240064137e-05,1793242384911366656
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.544130404,634.455869596,878.544130404,787,805,652.455869596,631,652,0.401142461413,-0.00543475308184,0.0499101709465,0.999999986857,7.35013617296e-05,-0.000140682685328,-3.3033830346e-05,1793242384928033536
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.122714156,878.877285844,787.122714156,805,652,631,652,0.401207304341,-0.00543762866291,0.0499265617862,0.99999999119,7.20959744264e-05,-0.000106866940782,-3.16599430511e-05,1793242384944700416
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.697173138,878.302826862,787.697173138,805,652,631,652,0.401280444817,-0.0054400859534,0.0499387323047,0.999999992683,7.15154514948e-05,-9.28001331707e-05,-3.01211526107e-05,1793242384961367040
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.27677018,788,805,652.27677018,631,652,0.401357894402,-0.00544260541753,0.0499465673849,0.999999993624,7.10661234347e-05,-8.28531230494e-05,-2.89173418028e-05,1793242384978033408
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.86209531,788,805,652.86209531,631,652,0.401440147957,-0.00544519419527,0.0499495691368,0.999999994099,7.07630569398e-05,-7.74990360228e-05,-2.8086980371e-05,1793242384994700288
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,713.552894164,679,661,635,879,788,805,653,631,652,0.401535661026,-0.00544863386072,0.0499480442545,0.999999993863,6.89333911099e-05,-8.22386520861e-05,-2.75372312897e-05,1793242385011366656
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,713.03139569,679,661,635,879,787.96860431,805,652.96860431,631,652,0.401636841801,-0.00545235056337,0.0499453599942,0.999999993406,6.66099164303e-05,-8.95581503619e-05,-2.7036279228e-05,1793242385028033280
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,713.604915883,679,661,635,879,787.395084117,805,652.395084117,631,652,0.401765319656,-0.0054563223965,0.0499467479048,0.999999993778,6.38844921681e-05,-8.7704885597e-05,-2.58844501131e-05,1793242385044700160
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.178676657,745,714,679,661,635,879,787,805,652,631,652,0.401903591048,-0.00546112757488,0.0499484757487,0.999999994154,6.10075952346e-05,-8.58086399946e-05,-2.4639737924e-05,1793242385061367040
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.752970039,745,714,679,661,635,879,787,805,652,631,652,0.40206354677,-0.00546777790321,0.0499509562558,0.999999994548,5.77953156155e-05,-8.38172286657e-05,-2.31893689317e-05,1793242385078033664
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.664118714,745,714,678.664118714,660.664118714,635,879,787.335881286,805,652.335881286,631,652,0.40223727829,-0.00547362090104,0.0499499895109,0.999999994421,5.54179784864e-05,-8.72070095773e-05,-2.19467880752e-05,1793242385094700288
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.074702336,745,714,678.074702336,660.074702336,635,879,787.925297664,805,652.925297664,631,652,0.402421408289,-0.0054788544979,0.0499464206585,0.999999993862,5.36708851845e-05,-9.46587047948e-05,-2.08610529107e-05,1793242385111366912
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,678.505819147,660.505819147,635,878.494180853,787.494180853,805,652.494180853,631,652.505819147,0.402638543672,-0.00548780295046,0.0499459431436,0.999999994188,4.73173502992e-05,-9.50017078194e-05,-1.89608121482e-05,1793242385128033536
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,678.91549643,660.91549643,634.91549643,878.08450357,787.08450357,805,652,631,652.91549643,0.402867501862,-0.0054971219964,0.0499472677839,0.999999994768,4.10231290328e-05,-9.21705143153e-05,-1.68927926095e-05,1793242385144700160
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,678.339984945,660.339984945,634.339984945,878.660015055,787.660015055,805,652,631,652.339984945,0.403137323135,-0.00550546164453,0.0499564569237,0.999999996179,3.8958154352e-05,-7.68904077219e-05,-1.45367656016e-05,1793242385161367040
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678.239274112,660.239274112,634.239274112,879,788,804.760725888,652,631,652,0.403424028041,-0.00551472764194,0.0499647542297,0.999999997427,3.6308310032e-05,-6.06490037558e-05,-1.22305258539e-05,1793242385178033664
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,678.823942794,660.823942794,634.823942794,879,788,804.176057206,652,631,652,0.403735104625,-0.00552533083327,0.0499717641642,0.999999998486,3.28142006763e-05,-4.301995836e-05,-9.99615465562e-06,1793242385194700288
+137,2.283333333,POSE1_TO_POSE2_PRESS,764.594136275,745,714.405863725,678.594136275,661,635,878.594136275,788,804.405863725,652,631,652,0.404076608796,-0.00553587312337,0.0499807863311,0.999999999243,2.88677465157e-05,-2.50480373083e-05,-7.23913768624e-06,1793242385211366912
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.013399275,745,714.986600725,678.013399275,661,635,878.013399275,788,804.986600725,652,631,652,0.404431223199,-0.00554638917287,0.0499906755025,0.999999999661,2.47263920012e-05,-6.92838291102e-06,-4.25692997005e-06,1793242385228033792
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.566007869,745,714.433992131,678,661,635,878.566007869,788,805.566007869,652,631,652,0.404822401299,-0.00555551687329,0.0499970592088,0.99999999968,2.33385674679e-05,9.65226366508e-06,-1.26672119319e-06,1793242385244700160
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,678.14449756,661,635,878.85550244,788,805.85550244,652,631,652,0.405214812557,-0.00556173717911,0.0499981796855,0.999999999561,2.56587141437e-05,1.47172551156e-05,1.82595041968e-06,1793242385261367040
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,678.720342166,661,635,878.279657834,788,805.279657834,652,631,652,0.405608327069,-0.00555937635358,0.0499838357704,0.999999999127,3.8853583969e-05,-1.44852226517e-05,5.22392443307e-06,1793242385278033664
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.30237042,787.69762958,804.69762958,652,631,652,0.406016720917,-0.0055483343654,0.0499634802574,0.999999996599,6.13884838934e-05,-5.47141992969e-05,6.36382020589e-06,1793242385294700032
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.890237307,787.109762693,804.109762693,652,631,652,0.406439163796,-0.00552909567154,0.0499374486252,0.999999990135,9.27421896111e-05,-0.000105354338039,5.37165147028e-06,1793242385311366656
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,804.471309944,652,631,652,0.406918025233,-0.00552274937526,0.0499273159099,0.999999986283,0.000112211382647,-0.000121650042636,6.58798618968e-06,1793242385328033536
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.949441234,635,879,787.050558766,804.949441234,652,631,652,0.407416682803,-0.00551984208278,0.0499229488806,0.999999983786,0.000128427569885,-0.000125947475413,8.43204357502e-06,1793242385344700416
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.372938278,635,879,787.627061722,804.372938278,652,631,652,0.407986532316,-0.00552191951827,0.0499405899461,0.999999986423,0.000139186849857,-8.74535849673e-05,1.15316643298e-05,1793242385361367040
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.205472748,660.410945497,635,879,787.794527252,804.205472748,652,631,652,0.408564297083,-0.00552403429859,0.0499612640749,0.999999987451,0.000150166059427,-4.80619478308e-05,1.54254502946e-05,1793242385378033408
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.787379401,661.574758802,635,879,787.212620599,804.787379401,652,631,652,0.409156562864,-0.00552621749595,0.0499874948901,0.999999986711,0.000161548187913,-7.02560698775e-06,2.07741770083e-05,1793242385394700032
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.629898555,661.629898555,635,879,787,805,652,631,652,0.409776620115,-0.00552736647372,0.0499990695631,0.999999985187,0.000170170979868,7.11470141504e-06,2.48547796289e-05,1793242385411366912
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.046707059,661.046707059,635,879,787,805,652,631,652,0.410412678596,-0.00552791998792,0.0500022057973,0.999999983885,0.000177205052645,5.76931664609e-06,2.82052454373e-05,1793242385428033536
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.533007143,805,652,631,652,0.41101564778,-0.00552560504266,0.0499758297593,0.999999980686,0.000187333665853,-5.14750185842e-05,2.97454260753e-05,1793242385444700160
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.888936828,635,879.111063172,787.888936828,805,652,631,652,0.411632186341,-0.00552332036653,0.0499505780111,0.999999977265,0.000185021396127,-0.000102249344484,2.79809330918e-05,1793242385461366784
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.316511505,635,879.683488495,787.316511505,805,652,631,652,0.412317059614,-0.00552219883006,0.049940669959,0.999999985865,0.000129909892768,-0.000105930635529,1.31433582308e-05,1793242385478033408
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714.263530867,678.736469133,660.527061733,635,879.736469133,787,805,652,631,652,0.413037017771,-0.00552578568739,0.049949899119,0.999999991531,0.000101649105072,-8.09048337875e-05,7.71210719588e-06,1793242385494700288
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714.852994003,678.147005997,661.705988007,635,879.147005997,787,805,652,631,652,0.413800368644,-0.00553519583769,0.0499827969852,0.999999994014,0.000106596999528,-2.03743950063e-05,1.39144989146e-05,1793242385511366912
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.564344944,714.564344944,678.435655056,661.564344944,635,879.435655056,787,805.435655056,652,631,652,0.414552594231,-0.00553862806702,0.0499806337338,0.999999993039,0.00011320214899,-2.81326410136e-05,1.77922343758e-05,1793242385528033536
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.015965236,744.015965236,714,679,660.984034764,635,880,787,805.984034764,652,631,652,0.415301336724,-0.00553995961168,0.0499665626522,0.99999999083,0.000120277343181,-5.86511227888e-05,2.07966732024e-05,1793242385544700160
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.59308218,744.59308218,714,679,660.40691782,635,880,787,805.40691782,652,631,652,0.416057576958,-0.00553726577048,0.0499433949808,0.99999998784,0.000124520411883,-9.1678567155e-05,2.02535383905e-05,1793242385561366784
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.832230213,745,714,678.832230213,660.167769787,635,880,787,805,652,631,652,0.416832629753,-0.00553557546223,0.0499335655231,0.999999986496,0.000126450698241,-0.000103023900337,2.00998124279e-05,1793242385578034176
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.263350784,745,714,678.263350784,660.736649216,635,880,787,805,652,631,652,0.417652660204,-0.00553628443445,0.0499556255161,0.999999990281,0.000122851506754,-6.2530911678e-05,2.08770982835e-05,1793242385594703360
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.319970808,745,714.319970808,678.319970808,661,635,879.680029192,787,805,652,631,651.680029192,0.418475441235,-0.00553738681108,0.0499739057414,0.999999991989,0.000120310031467,-3.25769951945e-05,2.20444257889e-05,1793242385611369728
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.91574081,745,714.91574081,678.91574081,661,635,879.08425919,787,805,652,631,651.08425919,0.419300593089,-0.00553882828306,0.0499889279905,0.999999992612,0.000118680256106,-1.17072458234e-05,2.35479501025e-05,1793242385628033792
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.504526705,745,714.504526705,679,660.504526705,635,879,787,805.495473295,652,631,651,0.42013474144,-0.00553696581039,0.0499704726961,0.999999991593,0.00012074029044,-4.13891384569e-05,2.28658786834e-05,1793242385644700160
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714.072532492,679,660.072532492,635,879,787,806,652,631,651.072532492,0.420980672195,-0.00553537809793,0.0499532580798,0.99999999,0.000122618790651,-6.68717873665e-05,2.22024818126e-05,1793242385661366784
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714.649372474,679,660.649372474,635,879,787,806,652,631,651.649372474,0.42189822,-0.00553948481327,0.0499830120837,0.999999992612,0.000119009113325,-5.26011153568e-06,2.41721243838e-05,1793242385678033664
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.230385847,744.769614153,714.769614153,679,661.230385847,635,879,787,805.769614153,651.769614153,631,652,0.422784044846,-0.00554297571051,0.0499994092901,0.999999992654,0.000115057391886,2.82990089568e-05,2.55676763952e-05,1793242385694700288
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.817868035,744.182131965,714.182131965,679,661.817868035,635,879,787,805.182131965,651.182131965,631,652,0.423620699485,-0.00554551209493,0.0499951035645,0.999999993378,0.000110575504628,1.83768877765e-05,2.60733927451e-05,1793242385711367168
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.599946663,744.400053337,714,678.599946663,661.199893325,635,879.400053337,787,805,651,631,652,0.424486751173,-0.00554685519003,0.0499835812401,0.999999993714,0.000109046377029,1.57993703224e-06,2.6057532036e-05,1793242385728033792
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.020141392,744.979858608,714,678.020141392,660.040282784,635,879.979858608,787,805,651,631,652,0.425366011491,-0.00554766211631,0.0499688163545,0.999999993576,0.000108843983395,-1.83060109741e-05,2.58073163271e-05,1793242385744700416
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.555599235,745,714.555599235,678.555599235,660.555599235,635,879.444400765,787,805,651.555599235,631,652,0.426290728109,-0.00554909090486,0.049990891474,0.9999999938,0.000107643775242,2.85493476318e-06,2.83782169871e-05,1793242385761366784
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.869347005,745,714.869347005,679,661,635,879,787,805.130652995,652,631,652,0.427192593742,-0.00554913298922,0.0500023794639,0.999999993708,0.000107859812152,5.40544371747e-06,3.03578649295e-05,1793242385778033408
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.296124447,745,714.296124447,679,661,635,879,787,805.703875553,652,631,652,0.428011513278,-0.00554440198975,0.0499735139548,0.999999991361,0.000112994829302,-6.00882711725e-05,2.99908126536e-05,1793242385794700032
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.286651577,787,805.713348423,652,631,651.713348423,0.428860999536,-0.00554232581125,0.0499532798518,0.999999988762,0.000114500753141,-9.23721281815e-05,2.8846067687e-05,1793242385811366912
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.879636996,787,805.120363004,652,631,651.120363004,0.429743151256,-0.00554308674114,0.0499422698122,0.999999989377,0.00011212840047,-8.9165845597e-05,2.68702316947e-05,1793242385828033536
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.461361601,745,714,679.461361601,661.461361601,635,879.538638399,787,805.461361601,651.538638399,631,651,0.43064289729,-0.00554519300983,0.0499513186839,0.999999991105,0.000110457576092,-6.94327804488e-05,2.77332853185e-05,1793242385844699904
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.96015258,661.96015258,634.96015258,879.03984742,787.03984742,805.96015258,651.03984742,631,651.03984742,0.431544073653,-0.00554747331105,0.0499631592981,0.999999992415,0.000109010450161,-4.93398933727e-05,2.92045686169e-05,1793242385861366528
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679.386635924,661.386635924,634.386635924,879.613364076,787.613364076,805.386635924,651.613364076,631,651.613364076,0.432404395338,-0.00554749577298,0.0499439731419,0.999999990461,0.000108166537026,-8.07968252151e-05,2.91389996686e-05,1793242385878033408
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634.192154559,879.807845441,787.807845441,805,651.807845441,631,651.807845441,0.433265280887,-0.00554811914564,0.0499384857764,0.999999989937,0.000106579952986,-8.88856041222e-05,2.94163004053e-05,1793242385894700288
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679,661,634.781856126,879.218143874,787.218143874,805,651.218143874,631,651.218143874,0.434127333167,-0.00554998573762,0.0499613397245,0.999999993004,0.000103456863037,-4.86282066292e-05,3.04029614611e-05,1793242385911366912
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.63592193,745,714,679,661,634.63592193,879,787,805.36407807,651,631,651.36407807,0.434968267476,-0.00555092759546,0.0499780017481,0.999999993632,0.000104547965714,-2.78874353586e-05,3.20510030441e-05,1793242385928033536
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.058091356,745,714,679,661,634.058091356,879,787,805.941908644,651,631,651.941908644,0.435796803242,-0.005551326536,0.0499910284529,0.999999993402,0.000108113247399,-1.86049994497e-05,3.40873452159e-05,1793242385944700160
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.520220995,745,714,679.520220995,661,634.520220995,879.520220995,787,806,651.520220995,631.520220995,652,0.436572742109,-0.00554739962849,0.0499622711686,0.999999990001,0.00011194851393,-7.93417853494e-05,3.42005804766e-05,1793242385961367040
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.902190624,745,714,680,661,635,880,787,806,652,632,652,0.437358422188,-0.00554479637032,0.0499389682877,0.999999985132,0.000114374135044,-0.000124430765193,3.42363983476e-05,1793242385978033664
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.328387541,745,714,680,661,635,880,787,806,652,632,652,0.438220117569,-0.00555098768988,0.049964937267,0.999999991834,0.000109792801281,-5.5283112701e-05,3.49415061426e-05,1793242385994700288
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661.252232862,635,880,787,806,652,631.747767138,652,0.439030816812,-0.0055548606746,0.0499808087404,0.99999999396,0.000102682398349,-1.83424374235e-05,3.46339264986e-05,1793242386011366912
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661.841975391,635,880,787,806,652,631.158024609,652,0.439773278687,-0.00555563152374,0.0499831688642,0.999999994907,9.21878802249e-05,-2.44975247789e-05,3.29712824658e-05,1793242386028033536
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,744.575197277,714,679.575197277,661.575197277,635,880,787,806,651.575197277,631,651.575197277,0.440488802984,-0.00555383187679,0.0499654347399,0.999999993829,9.26490941437e-05,-5.26546675029e-05,3.13953469885e-05,1793242386044700160
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,744.005029946,714,679,661,635,880,787,806,651,631,651,0.441194598783,-0.00555115582963,0.0499407169117,0.999999990947,9.70593986187e-05,-8.826943104e-05,2.98883350047e-05,1793242386061366784
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,744.577479904,714,679,661,635,880,787,806,651,631,651,0.441915238537,-0.00555575546792,0.0499579108656,0.999999993392,9.4575996237e-05,-5.66569263653e-05,3.25761181094e-05,1793242386078033408
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.150835619,745,714,679,661,634.849164381,880,787,805.849164381,651,631,651.150835619,0.442629492193,-0.00555910443484,0.0499752021651,0.999999994593,9.44608773429e-05,-2.5602886278e-05,3.51611549486e-05,1793242386094700288
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.726743999,745,714,679,661,634.273256001,880,787,805.273256001,651,631,651.726743999,0.443325749231,-0.0055589288618,0.0499927678001,0.999999994188,0.000101019863314,3.87734113834e-06,3.74566412377e-05,1793242386111366912
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.688256038,745,714,679.311743962,661,634.311743962,879.688256038,787,805,651,631,651.688256038,0.44395575253,-0.00555820793313,0.0499851114782,0.999999993794,0.000104071968606,-1.19897476992e-05,3.79097457052e-05,1793242386128033280
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.095047587,745,714,679.904952413,661,634.904952413,879.095047587,787,805,651,631,651.095047587,0.444525937225,-0.00555699461886,0.0499546829892,0.999999991556,0.000103957813492,-6.87996015196e-05,3.66994173972e-05,1793242386144699904
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,879.486807188,787,805.486807188,651,631,651,0.445111959096,-0.00555869362255,0.0499404722948,0.999999990543,0.000104077851275,-8.19374646497e-05,3.69999974223e-05,1793242386161366784
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.06544591,680,661,634.93455409,880,787,806,651.06544591,631,651.06544591,0.445700947163,-0.00556038785661,0.0499334554685,0.99999999054,0.000104858790882,-8.06235213614e-05,3.77349886777e-05,1793242386178033408
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714.635982576,680,661,634.364017424,880,787,806,651.635982576,631,651.635982576,0.446289507009,-0.00555775686148,0.0499580777583,0.999999992608,0.000110395509052,-3.20825886513e-05,3.95977993857e-05,1793242386194700032
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.790680422,679.790680422,661,634,880,787,806,651.790680422,631,651.790680422,0.446847187539,-0.00555421882687,0.0499698306707,0.999999992306,0.000116852051012,-8.40612201411e-06,4.07827076326e-05,1793242386211366912
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.21240752,679.21240752,661,634,880,787,806,651.21240752,631,651.21240752,0.447350439146,-0.00554908201599,0.0499588996078,0.999999990957,0.000124929903308,-2.85565568297e-05,4.07727234362e-05,1793242386228034048
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679.374646104,661,634,880,787,806,651,631,651.374646104,0.447796377029,-0.00555089751349,0.049930848533,0.999999988969,0.000124078294705,-7.12356311667e-05,3.99034581784e-05,1793242386244700928
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.966797537,661,634,880,787,806,651,631,651.966797537,0.448209040783,-0.00555674925727,0.0498928582272,0.999999984227,0.000118042579981,-0.000126993981568,3.85353268051e-05,1793242386261368064
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.453435667,661,634,880,787,806,651,631,651.453435667,0.448613032672,-0.00556024310016,0.0498739254576,0.999999984838,7.08554435727e-05,-0.000157128017594,2.47783406972e-05,1793242386278034432
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679.123720005,661,634,880,787,806.123720005,651.123720005,631,651.123720005,0.449014852324,-0.00556221672299,0.0498628630399,0.999999983929,3.4157389018e-05,-0.000175440010023,1.40121644999e-05,1793242386294700544
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679.694104894,661,634,880,787,806.694104894,651.694104894,631,651.694104894,0.449410689428,-0.0055592075822,0.0498761278361,0.999999986629,4.41531371047e-05,-0.000156566337524,1.67005459065e-05,1793242386311367168
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.275056604,745,714,680,661,633.724943396,880,787,806.724943396,652,631,651.724943396,0.449790289536,-0.0055562956426,0.0498872771006,0.999999988432,5.30077030317e-05,-0.000141280012746,1.91470003949e-05,1793242386328033792
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.868229311,745,714,680,661,633.131770689,880,787,806.131770689,652,631,651.131770689,0.450151110758,-0.00555349612101,0.0498959796509,0.999999989472,6.05424366807e-05,-0.000130142628174,2.1313654687e-05,1793242386344700160
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.549549612,745,714.450450388,680,661,633,880,787,806,651.549549612,631,651.450450388,0.450471121519,-0.00555657920027,0.0498984589352,0.999999989348,6.23965738968e-05,-0.00012979184111,2.37743751004e-05,1793242386361367040
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.970585193,680,661,633,880,787,806.029414807,651.029414807,631,652,0.450776313783,-0.00556124852241,0.0498985137898,0.999999988766,6.25049153784e-05,-0.000133696432107,2.62129898872e-05,1793242386378033664
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.394020328,680,661,633,880,787,806.605979672,651.605979672,631,652,0.451022660615,-0.00556417389462,0.0498865310361,0.999999985112,6.03162361914e-05,-0.000159454798466,2.66782573117e-05,1793242386394700544
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.814445718,660.814445718,633,880,786.814445718,806.814445718,652,631,652,0.451260579138,-0.00556671392887,0.0498746456644,0.999999981086,5.95415660381e-05,-0.000183161263116,2.71174955923e-05,1793242386411367424
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.228374683,660.228374683,633,880,786.228374683,806.228374683,652,631,652,0.451480305221,-0.00556842221526,0.0498629704923,0.99999997722,6.18190182243e-05,-0.000202438718685,2.75005502347e-05,1793242386428034048
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,679.703025739,660,633,880,786.35151287,806,652,631,652,0.451676490738,-0.00556700180131,0.0498515880321,0.999999972179,6.51338789379e-05,-0.000225027997631,2.76150902661e-05,1793242386444700160
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680.854905149,660,633,880,786.927452574,806,652,631,652,0.451857646574,-0.00556358383816,0.0498403924556,0.999999966049,6.91110834894e-05,-0.000249731744473,2.75581945422e-05,1793242386461366784
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.507878878,680.492121122,660,633,880,787,806,652,631,652,0.452024229573,-0.00556038377473,0.0498376021081,0.999999964028,7.30692776013e-05,-0.000256548729817,2.80767016739e-05,1793242386478033408
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.089379431,745,715,680,660,633,880,786.910620569,806,652,631,651.910620569,0.452184758189,-0.00555646179887,0.0498361523123,0.999999962701,7.81718308902e-05,-0.000260134809081,2.85999991136e-05,1793242386494700032
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.673246191,745,715,680,660,633,880,786.326753809,806,652,631,651.326753809,0.452323410517,-0.00554837214066,0.0498354173887,0.999999961745,8.96206542738e-05,-0.000260107545299,2.86910183241e-05,1793242386511366912
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.74530725,745,714.74530725,680,660,632.74530725,880,786.25469275,806,652,631,651.25469275,0.452455271025,-0.00554496525342,0.0498359374634,0.999999962046,9.40910850016e-05,-0.000257360773912,2.86574511336e-05,1793242386528033792
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.166936454,745,714.166936454,680,660,632.166936454,880,786.833063546,806,652,631,651.833063546,0.452578500095,-0.00554750949859,0.0498380524613,0.999999964032,8.96929764203e-05,-0.00025115789748,2.846555245e-05,1793242386544700672
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,679.587193846,660,632.412806154,880,786.587193846,806,652,631,652,0.452675678291,-0.0055500255761,0.0498357253981,0.999999963737,8.66438289019e-05,-0.000253361706004,2.87431640846e-05,1793242386561367296
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,679.006894651,660,632.993105349,880,786.006894651,806,652,631,652,0.452762286536,-0.00555253022473,0.0498315960013,0.999999962499,8.41420124564e-05,-0.000258976464879,2.921127606e-05,1793242386578033920
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,679.569680232,660,633,880,786.569680232,806.569680232,652,631,652,0.452825030936,-0.00555261830758,0.0498275228799,0.99999996071,8.42253066484e-05,-0.00026582913952,2.8662759715e-05,1793242386594700544
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.148498666,745,714.148498666,680,660,632.851501334,880,787,806.851501334,652,631,652,0.452883946635,-0.00555279253002,0.0498239153192,0.999999959203,8.42696157961e-05,-0.000271461869515,2.83166435994e-05,1793242386611366912
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.73405191,745,714.73405191,680,660,632.26594809,880,787,806.26594809,652,631,652,0.452932438372,-0.0055533057937,0.0498216759847,0.999999958664,8.41077022766e-05,-0.000273460304022,2.86021999456e-05,1793242386628033536
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.683966534,745,715,680,660,632,879.683966534,786.683966534,806.316033466,651.683966534,631,652,0.452974726392,-0.00555281649837,0.0498202573042,0.999999958285,8.43605817364e-05,-0.000274766223375,2.85750035538e-05,1793242386644700160
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.104956969,745,715,680,660,632,879.104956969,786.104956969,806.895043031,651.104956969,631,652,0.453011852212,-0.005551492959,0.0498195215017,0.999999958042,8.49586165229e-05,-0.000275495890895,2.82875610361e-05,1793242386661367040
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.525516368,680,660,632,879.474483632,786,807,651,631,651.525516368,0.453038462203,-0.00555206611016,0.0498204135425,0.999999958402,8.36233999404e-05,-0.000274616205544,2.80873124413e-05,1793242386678033664
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714.053381553,680,660,632,880,786,807,651.053381553,631,651.053381553,0.453061772769,-0.00555282835181,0.0498213728706,0.999999958736,8.21770781972e-05,-0.000273851788526,2.79375182884e-05,1793242386694700544
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714.626072137,680,660,632,880,786,807,651.626072137,631,651.626072137,0.453075635445,-0.00555134488936,0.0498194806244,0.999999957541,8.38138681477e-05,-0.000277675066033,2.80907530353e-05,1793242386711367168
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.799862739,680,660.200137261,632,880,786.200137261,806.799862739,652,630.799862739,652,0.453087242872,-0.00554986700772,0.0498176229198,0.999999956519,8.55536705737e-05,-0.000280813315148,2.80498863915e-05,1793242386728034048
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.223211755,680,660.776788245,632,880,786.776788245,806.223211755,652,630.223211755,652,0.45309460755,-0.00554839962523,0.0498158301976,0.999999955842,8.74872679531e-05,-0.000282662835556,2.7643861165e-05,1793242386744701184
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.36340762,714,680,660.63659238,632,879.63659238,787,806,652,630,652,0.45309993782,-0.00554742134529,0.0498147536223,0.999999955522,8.81424850337e-05,-0.000283617757356,2.73589026305e-05,1793242386761367808
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.956322433,714,680,660.043677567,632,879.043677567,787,806,652,630,652,0.453103983275,-0.00554675195423,0.0498141293239,0.99999995543,8.79903511306e-05,-0.000284007702449,2.71504028179e-05,1793242386778033920
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.534385663,745.465614337,714.534385663,680,660,632,880.068771327,787,806,651.465614337,630.534385663,652,0.453105835931,-0.00554715107109,0.049814124029,0.999999955226,8.71326000335e-05,-0.000284984382888,2.72031575235e-05,1793242386794700544
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.890128323,745,715,680,659.890128323,632,880.890128323,787,806,651.109871677,631,652,0.453107083975,-0.00554714721683,0.0498139084471,0.9999999549,8.66341786921e-05,-0.000286273722378,2.72295092303e-05,1793242386811367424
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.320484866,745,715,680,659.320484866,632,880.320484866,787,806,651.679515134,631,652,0.453106531663,-0.00554510150311,0.0498126069017,0.999999954106,8.78742320196e-05,-0.000288676169707,2.70584344277e-05,1793242386828034304
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.739658234,680,659.260341766,632,880,786.739658234,806.260341766,652,631,651.739658234,0.453106736072,-0.00554416864138,0.0498115318741,0.999999953569,8.90803571858e-05,-0.000290162254807,2.70629619181e-05,1793242386844701184
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.144446954,680,659.855553046,632,880,786.144446954,806.855553046,652,631,651.144446954,0.453107913826,-0.00554466720629,0.0498107482092,0.999999953369,9.02428417843e-05,-0.000290469652013,2.72933611512e-05,1793242386861368064
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.438986016,714.438986016,680.438986016,660,632,880,786,806.561013984,652,631,651.438986016,0.453106512106,-0.00554285305623,0.0498102254456,0.999999952697,9.21115565759e-05,-0.000292243857899,2.67238940797e-05,1793242386878034176
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.98152617,714.98152617,680.98152617,660,632,880.01847383,786.01847383,806,652,631,652,0.453104399,-0.00554046079133,0.0498098055882,0.999999951912,9.40053745915e-05,-0.000294389336799,2.5942164586e-05,1793242386894700288
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.40717686,714.40717686,680.40717686,660,632,880.59282314,786.59282314,806,652,631,652,0.453105752336,-0.00554297293972,0.0498099664867,0.999999952524,8.98448855236e-05,-0.000293563013792,2.64860102521e-05,1793242386911367168
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.170982821,714.170982821,680,660,632,880.829017179,787,806,652,631,652,0.453106949728,-0.00554447012735,0.0498097726444,0.999999952833,8.76347238435e-05,-0.000293137590177,2.69189338426e-05,1793242386928033792
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.758423271,714.758423271,680,660,632,880.241576729,787,806,652,631,652,0.453107767295,-0.0055434952059,0.0498087147706,0.999999952441,9.01749152005e-05,-0.000293688625009,2.70816878936e-05,1793242386944700160
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.658814575,714.658814575,680,660,632,880,786.658814575,806,651.658814575,631,652,0.453107665819,-0.00554209370136,0.0498081681363,0.999999952033,9.19216298872e-05,-0.000294551403502,2.68880034959e-05,1793242386961366784
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.079320111,714.079320111,680,660,632,880,786.079320111,806,651.079320111,631,652,0.453106922417,-0.00554039423978,0.0498079785895,0.999999951616,9.31141219002e-05,-0.000295631926712,2.64453562174e-05,1793242386978033664
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.500796225,745,714,680,660,632,880,786,806,651,631,651.500796225,0.453107756266,-0.00553973874949,0.0498086868644,0.999999952003,9.31207833948e-05,-0.000294322678177,2.63933770725e-05,1793242386994700288
+245,4.083333333,HOLD_POSE2,765,745,715,681,660,632,880,787,806,652,631,651,0.453109191067,-0.00554172572027,0.0498085203195,0.999999952216,9.1486652722e-05,-0.000294149722212,2.59806364703e-05,1793242387038064896
+246,4.100000000,HOLD_POSE2,765,745,715,681,660,632,880,786.412496047,806,651.412496047,630.412496047,651.587503953,0.453111138179,-0.00554114405544,0.0498097841415,0.999999952783,9.19074883064e-05,-0.00029207966373,2.6019487837e-05,1793242387054731520
+247,4.116666667,HOLD_POSE2,765,745,714.827399252,680.827399252,660,632,879.827399252,786,806,651.172600748,630.172600748,652,0.453111728684,-0.00554063853274,0.0498101388399,0.999999952948,9.1818312589e-05,-0.00029154936268,2.59468667742e-05,1793242387071397888
+248,4.133333333,HOLD_POSE2,765,745,714.247976046,680.247976046,660,632,879.247976046,786,806,651.752023954,630.752023954,652,0.453109121648,-0.00554031247803,0.0498083507208,0.999999952166,9.05270329479e-05,-0.000294648291731,2.5611503592e-05,1793242387088064768
+249,4.150000000,HOLD_POSE2,765,745,714.329185522,680,660,632,879,786.329185522,806.329185522,652,630.670814478,652,0.453108362307,-0.00553937701183,0.049807656069,0.999999951697,9.18578327165e-05,-0.00029584684078,2.53343348387e-05,1793242387104731648
+250,4.166666667,HOLD_POSE2,765,745,714.904654984,680,660,632,879,786.904654984,806.904654984,652,630.095345016,652,0.453108985341,-0.00553798560743,0.0498077795074,0.999999951462,9.51503714778e-05,-0.000295623598453,2.51007049378e-05,1793242387121398272
+251,4.183333333,HOLD_POSE2,765.489845359,745,714.510154641,680,659.510154641,632,879.489845359,787,807,652,630.489845359,652,0.453108749956,-0.00553854092918,0.0498080484704,0.99999995155,9.45986092722e-05,-0.000295462394634,2.55610095617e-05,1793242387138064640
+252,4.200000000,HOLD_POSE2,765.924237056,745,714,679.924237056,659.075762944,632,880,786.924237056,806.924237056,652,630.924237056,652,0.453108286481,-0.00553935056646,0.0498081157187,0.999999951643,9.32817821772e-05,-0.000295522378635,2.60578707662e-05,1793242387154731520
+253,4.216666667,HOLD_POSE2,765.346294674,745,714,679.346294674,659.653705326,632,880,786.346294674,806.346294674,652,630.346294674,652,0.453107441067,-0.00553928345828,0.0498066543911,0.999999951343,9.19540292049e-05,-0.000296966801945,2.58836320411e-05,1793242387171398144
+254,4.233333333,HOLD_POSE2,765,745.232408993,714,679.232408993,660,632,880,786,806.232408993,652,630.232408993,651.767591007,0.45310660853,-0.00553963573774,0.0498057600022,0.999999951029,9.07534716215e-05,-0.000298395284686,2.57892447973e-05,1793242387188064768
+255,4.250000000,HOLD_POSE2,765,745.812250667,714,679.812250667,660,632,880,786,806.812250667,652,630.812250667,651.187749333,0.453105795243,-0.00554061496789,0.0498057131409,0.9999999507,8.9743060995e-05,-0.000299799937432,2.58142290876e-05,1793242387204731392
+256,4.266666667,HOLD_POSE2,765,745.611805282,714.388194718,680,660,632,880.388194718,786,806.611805282,651.611805282,630.611805282,651,0.453106334881,-0.00553980115723,0.0498057707709,0.999999950585,9.13285694676e-05,-0.000299706754008,2.57826403601e-05,1793242387221398272
+257,4.283333333,HOLD_POSE2,765,745.037727517,714.962272483,680,660,632,880.962272483,786,806.037727517,651.037727517,630.037727517,651,0.453107522354,-0.00553812876753,0.0498058784356,0.999999950567,9.41571070031e-05,-0.000298896347267,2.57239622271e-05,1793242387238064896
+258,4.300000000,HOLD_POSE2,765,745,714.451284191,680,660,632,880.451284191,786,806,651.548715809,630.548715809,651,0.453110819039,-0.00553856945314,0.0498077582554,0.999999951664,9.4237754769e-05,-0.000295158951683,2.59484018031e-05,1793242387254731520
+259,4.316666667,HOLD_POSE2,765,745.134627094,714,680,660,632,880,786.134627094,806.134627094,652,631,651,0.453113014168,-0.00553901108246,0.0498089934308,0.999999952374,9.41867751585e-05,-0.00029274544408,2.61090686881e-05,1793242387271398400
+260,4.333333333,HOLD_POSE2,765,745.715887812,714,680,660,632,880,786.715887812,806.715887812,652,631,651,0.453111062609,-0.00553896273297,0.0498076764068,0.999999951579,9.43403645527e-05,-0.000295407060547,2.59920971389e-05,1793242387288065024
+261,4.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,632,880,786,806,651,631,652,0.453109915277,-0.00553749161329,0.0498062964931,0.999999951212,9.36099552955e-05,-0.000296946771337,2.5224177414e-05,1793242387326212608
+262,4.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.402081145,680,660,632,880,786,806,651.597918855,631,651.402081145,0.453111690803,-0.00553691495659,0.0498071838103,0.99999995151,9.48724734344e-05,-0.000295546343773,2.51489571355e-05,1793242387342879488
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786.192927469,806,651.807072531,631,651,0.453112120579,-0.00553719413509,0.049807628302,0.999999951632,9.46546910037e-05,-0.000295187136285,2.53351559834e-05,1793242387359546368
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786.781961075,806,651.218038925,631,651,0.453109787347,-0.00553923045868,0.0498071636135,0.999999951389,9.13976519093e-05,-0.000296965693911,2.60580835728e-05,1793242387376212992
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.635069233,660,632,879.635069233,786.635069233,806,651,630.635069233,651,0.453109599316,-0.00553929133654,0.0498073020143,0.999999951514,9.12690676388e-05,-0.000296583515576,2.60707660796e-05,1793242387392879616
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.055663425,660,632,879.055663425,786.055663425,806,651,630.055663425,651,0.45311067205,-0.00553819121651,0.0498077948595,0.999999951856,9.2979121293e-05,-0.000294931441651,2.56660273306e-05,1793242387409546496
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.519183312,660,632,879,786,806,651.519183312,630,651,0.453111896044,-0.0055373988046,0.0498085913586,0.99999995221,9.49500174514e-05,-0.000293101597454,2.56155085852e-05,1793242387426213120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.095811592,745,714.095811592,680,660,632,879.095811592,786.095811592,806,652,630.095811592,651,0.453112336795,-0.00553684892595,0.0498088751675,0.999999952307,9.63359457323e-05,-0.000292325547247,2.55250334771e-05,1793242387442879488
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.684087336,745,714.684087336,680,660,632,879.684087336,786.684087336,806,652,630.684087336,651,0.453108669106,-0.00553737755719,0.0498063579111,0.999999951091,9.45726935306e-05,-0.000297063027365,2.50356853675e-05,1793242387459546112
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.731873903,745,715,680,660,632,880,787,806,652,631,651,0.453101287501,-0.00553743164416,0.0498022461129,0.999999949184,9.31175127525e-05,-0.000303893156585,2.47155428638e-05,1793242387476212736
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.152749639,745,715,680,660,632,880,787,806,652,631,651,0.45308959814,-0.00553693530947,0.0497962848135,0.999999946432,9.20196626528e-05,-0.000313150539064,2.45916611596e-05,1793242387492879616
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.577906233,786.577906233,806,652,630.422093767,652,0.452967219522,-0.00553269598138,0.0497450109513,0.999999914883,9.49518736931e-05,-0.000400908469868,2.21424962106e-05,1793242387542879488
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+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.671571043,745,714.328428957,680,660,632,879.328428957,787,806.328428957,652,630.328428957,652,0.452764229296,-0.00552599391,0.0497010439472,0.999999886689,9.89745500686e-05,-0.000465273630263,1.86374262236e-05,1793242387592879872
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.647503034,746,714.647503034,680,660,632.647503034,880,786.352496966,806.647503034,651.647503034,631,651.647503034,0.452370334841,-0.00551144694,0.0497026022121,0.999999883669,0.0001088572589,-0.000469596485134,1.7070463328e-05,1793242387659545856
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+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.389540332,745,715,680.610459668,660,633,880.610459668,787,806,652,631,652,0.451905035299,-0.00549610090696,0.0497095906974,0.999999883545,0.000121222612867,-0.000466870400775,1.57467242752e-05,1793242387709546240
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+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.600859066,745,714,680,660.600859066,633,880,787,806,651.600859066,631,651.600859066,0.449494648619,-0.00542121257358,0.0497654262552,0.999999924597,0.000165737222274,-0.000351166021843,4.44640789585e-06,1793242387859545856
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diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95eb3f3fcb08f9d52bb11c80024ed92782301c73
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,405 @@
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+337,5.616666667,pose2_to_pose3_retreat,0.593381732665,1.81057512965e-06,1.04004084703,0.563953451563,0.00867663630978,1.03967863808
+338,5.633333333,pose2_to_pose3_retreat,0.59271796315,1.95744188526e-06,1.04004070279,0.563289682133,0.00867678390067,1.03967850422
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+340,5.666666667,pose2_to_pose3_retreat,0.591420149817,1.9897590678e-06,1.04004095455,0.561991867766,0.00867681232216,1.03967874665
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+342,5.700000000,pose2_to_pose3_retreat,0.590169266669,1.8473889725e-06,1.04004095558,0.560740986453,0.00867667645326,1.03967875442
+343,5.716666667,pose2_to_pose3_retreat,0.589572183556,1.85012402841e-06,1.04004096279,0.560143903218,0.0086766786906,1.03967875964
+344,5.733333333,pose2_to_pose3_retreat,0.588995768191,1.87582297948e-06,1.04004102257,0.559567486652,0.00867670009637,1.03967881416
+345,5.750000000,pose2_to_pose3_retreat,0.588442519604,1.84721793337e-06,1.04004110718,0.559014237747,0.00867667020961,1.03967889385
+346,5.766666667,pose2_to_pose3_retreat,0.587913443403,1.95459271459e-06,1.04004098186,0.558485161048,0.00867677613725,1.03967877438
+347,5.783333333,pose2_to_pose3_retreat,0.587408430735,2.00778870622e-06,1.04004083951,0.557980149387,0.00867683310221,1.03967864048
+348,5.800000000,pose2_to_pose3_retreat,0.586926682135,1.89545901345e-06,1.0400409333,0.557498402245,0.00867672554204,1.03967873003
+349,5.816666667,pose2_to_pose3_retreat,0.586459503956,1.75511218977e-06,1.04004099259,0.557031223965,0.00867658455505,1.03967878211
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+351,5.850000000,pose2_to_pose3_retreat,0.585556585583,1.76559628358e-06,1.04004079544,0.556128305942,0.00867659649546,1.03967859227
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+355,5.916666667,pose2_to_pose3_retreat,0.584011007627,1.81562449126e-06,1.04004088154,0.554582727356,0.00867664396461,1.03967866897
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+357,5.950000000,pose2_to_pose3_retreat,0.583408853017,1.89491199459e-06,1.04004089428,0.553980572237,0.00867672182831,1.03967868911
+358,5.966666667,pose2_to_pose3_retreat,0.583131347023,1.75200959775e-06,1.04004085326,0.553703068589,0.00867658680031,1.03967864618
+359,5.983333333,pose2_to_pose3_retreat,0.582864907899,1.71074994494e-06,1.04004086228,0.553436629289,0.00867654485185,1.03967865269
+360,6.000000000,pose2_to_pose3_retreat,0.582610456011,1.82696987562e-06,1.04004088813,0.553182175217,0.00867665378602,1.03967868139
+361,6.016666667,pose2_to_pose3_retreat,0.582370419755,1.79568377568e-06,1.04004090685,0.552942139565,0.00867662496278,1.03967871012
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+363,6.050000000,pose2_to_pose3_retreat,0.58194999217,1.80768516787e-06,1.04004107592,0.552521711848,0.00867663622311,1.0396788723
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+365,6.083333333,pose2_to_pose3_retreat,0.581619948138,1.74276714181e-06,1.04004075458,0.55219166931,0.00867657635223,1.03967855062
+366,6.100000000,pose2_to_pose3_retreat,0.581485907941,1.76376526718e-06,1.04004081947,0.55205762869,0.00867659585923,1.0396786142
+367,6.116666667,pose2_to_pose3_retreat,0.581369168642,1.78324815341e-06,1.04004084172,0.551940889455,0.00867661568205,1.03967863941
+368,6.133333333,pose2_to_pose3_retreat,0.581266364936,1.75488080073e-06,1.04004077681,0.551838085573,0.00867658684535,1.03967857755
+369,6.150000000,pose2_to_pose3_retreat,0.581176807633,1.72996085968e-06,1.04004079276,0.551748528055,0.00867656108403,1.03967859105
+370,6.166666667,pose2_to_pose3_retreat,0.581097087092,1.7968791185e-06,1.04004108795,0.551668808955,0.00867663250036,1.03967887743
+371,6.183333333,pose2_to_pose3_retreat,0.581026752156,1.84372698223e-06,1.04004084606,0.551598473408,0.00867667772804,1.0396786463
+372,6.200000000,pose2_to_pose3_retreat,0.580967470368,1.91938468793e-06,1.04004085648,0.55153918992,0.00867674735464,1.03967865033
+373,6.216666667,pose2_to_pose3_retreat,0.580917736297,1.93380374205e-06,1.04004097128,0.551489455,0.00867675852252,1.03967875616
+374,6.233333333,pose2_to_pose3_retreat,0.580877079602,1.9311069393e-06,1.0400410655,0.551448798358,0.00867675603036,1.03967885095
+375,6.250000000,pose2_to_pose3_retreat,0.580844179461,1.89110895717e-06,1.04004098699,0.551415898846,0.00867671849379,1.03967878036
+376,6.266666667,pose2_to_pose3_retreat,0.580818743567,1.79011338832e-06,1.04004070793,0.551390463761,0.00867662055044,1.03967850867
+377,6.283333333,pose2_to_pose3_retreat,0.58079793198,1.76927900548e-06,1.04004089026,0.551369652475,0.00867660083308,1.03967869344
+378,6.300000000,pose2_to_pose3_retreat,0.58078146013,1.85758607932e-06,1.04004104521,0.551353179729,0.00867668576803,1.03967884058
+379,6.316666667,pose2_to_pose3_retreat,0.580768732357,1.84945742839e-06,1.04004102486,0.551340452421,0.00867667921706,1.03967882036
+380,6.333333333,pose2_to_pose3_retreat,0.580759457237,1.8471377739e-06,1.04004095876,0.551331176991,0.0086766758515,1.03967875438
+381,6.350000000,pose2_to_pose3_retreat,0.580753808901,1.9641830089e-06,1.0400409964,0.551325525844,0.008676782989,1.03967878271
+382,6.366666667,pose2_to_pose3_retreat,0.580750170402,1.91755554143e-06,1.04004100133,0.551321888357,0.00867673974398,1.03967878641
+383,6.383333333,pose2_to_pose3_retreat,0.580748008136,1.8773413984e-06,1.04004100146,0.551319726941,0.0086767024134,1.03967878647
+384,6.400000000,pose2_to_pose3_retreat,0.580747043553,1.838621486e-06,1.04004099388,0.551318763008,0.00867666596984,1.03967878052
+385,6.416666667,pose2_to_pose3_retreat,0.580746574192,1.81978061097e-06,1.0400409902,0.551318293964,0.00867664823662,1.03967877763
+386,6.433333333,pose2_to_pose3_retreat,0.580745933214,1.79405074542e-06,1.04004098517,0.551317653419,0.00867662401942,1.03967877369
+387,6.450000000,pose2_to_pose3_retreat,0.580745450592,1.77467754519e-06,1.04004098138,0.551317171123,0.00867660578517,1.03967877071
+388,6.466666667,pose2_to_pose3_retreat,0.580745294214,1.77220694661e-06,1.04004097974,0.551317014793,0.00867660349699,1.03967876945
+389,6.483333333,pose2_to_pose3_retreat,0.58074522944,1.78341298395e-06,1.04004097775,0.551316949858,0.00867661417902,1.03967876798
+390,6.500000000,pose2_to_pose3_retreat,0.580745185389,1.79103382842e-06,1.04004097639,0.551316905698,0.0086766214435,1.03967876697
+391,6.516666667,pose2_to_pose3_retreat,0.580745100382,1.80574014041e-06,1.04004097377,0.55131682048,0.00867663546214,1.03967876504
+392,6.533333333,pose2_to_pose3_retreat,0.580744969431,1.82839494091e-06,1.04004096973,0.551316689204,0.00867665705758,1.03967876205
+393,6.550000000,pose2_to_pose3_retreat,0.580744843459,1.85018822874e-06,1.04004096585,0.551316562919,0.00867667783179,1.03967875918
+394,6.566666667,pose2_to_pose3_retreat,0.580744654713,1.88284164038e-06,1.04004096003,0.551316373704,0.0086767089583,1.03967875488
+395,6.583333333,pose2_to_pose3_retreat,0.580744330423,1.93894420739e-06,1.04004095004,0.551316048609,0.00867676243745,1.0396787475
+396,6.600000000,pose2_to_pose3_retreat,0.580744280309,1.94761406712e-06,1.04004094849,0.55131599837,0.0086767707019,1.03967874635
+397,6.616666667,pose2_to_pose3_retreat,0.580744124311,1.97460195923e-06,1.04004094368,0.551315841985,0.00867679642781,1.0396787428
+398,6.633333333,pose2_to_pose3_retreat,0.580744011483,1.97845095406e-06,1.04004092518,0.551315729083,0.00867680004535,1.03967872478
+399,6.650000000,pose2_to_pose3_retreat,0.580743899062,1.92004910258e-06,1.04004084705,0.551315617406,0.00867674411868,1.03967864549
+400,6.666666667,pose2_to_pose3_retreat,0.580743804775,1.8710674568e-06,1.04004078153,0.551315523742,0.00867669721298,1.03967857899
+401,6.683333333,pose2_to_pose3_retreat,0.580743756806,1.84614781037e-06,1.04004074819,0.551315476091,0.00867667334948,1.03967854515
+402,6.700000000,pose2_to_pose3_retreat,0.580743557186,1.74244699654e-06,1.04004060947,0.551315277793,0.00867657404371,1.03967840435
+403,6.716666667,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051294,1.03967877686
diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c616f0962d0f2ba8d25fe5a8e1b46e2dee29a91a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59724864475ec3ab761bc807a1cee9bf564580bf1b8413cd54cd91a9ce02a505
+size 25818057
diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..254c383ef152d364e66e8336550ef1627fbec871
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_03/franka_data.csv
@@ -0,0 +1,407 @@
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+19,0.316666667,BASELINE,765,745,714,679,661,635,878.058981531,788,805,652.941018469,631,652,0.40098772087,-0.00540124370669,0.0498557128496,0.999999960773,0.000113477267654,-0.000252616923969,-4.19657528092e-05,1793242390141993216
+20,0.333333333,BASELINE,765,745,714,679,661,635,878.652630721,788,805,652.347369279,631,652,0.400987240263,-0.00540218793053,0.0498551746444,0.999999960571,0.000113368459647,-0.000253478924726,-4.18929096059e-05,1793242390158660096
+21,0.350000000,BASELINE,765,745,714,679,661,635,879,788,805,652,631,652,0.400986668567,-0.00540306011503,0.0498547585049,0.999999960453,0.000112636681652,-0.000254274313596,-4.18584391321e-05,1793242390175326976
+22,0.366666667,BASELINE,765,745,714,679,661,635,879,788,805,652,631,652,0.400985968394,-0.00540383069044,0.0498545145349,0.999999960453,0.000111026226224,-0.000254975748651,-4.18780920616e-05,1793242390191993856
+23,0.383333333,BASELINE,765,745,714,679,661,635,879,788,805,652,631,652,0.40098644728,-0.00540364517467,0.0498545177153,0.999999960553,0.000110884951546,-0.000254676442906,-4.17048714796e-05,1793242390208660480
+24,0.400000000,BASELINE,765,745,714,679,661,635,879,788,805,652,631,652,0.400987456598,-0.00540302953598,0.0498546320829,0.999999960696,0.000111404626657,-0.000253926927429,-4.14448816349e-05,1793242390225326848
+25,0.416666667,BASELINE,765,745,714,679,661,635,879.547116597,787.452883403,805,652.547116597,631,652,0.400986963346,-0.00540349545772,0.0498541332694,0.999999960454,0.000112013199492,-0.000254615065359,-4.14356869392e-05,1793242390241993472
+26,0.433333333,BASELINE,765,745,714,679,661,635,879.751007958,787,805,653,631,652,0.400986402966,-0.00540388625043,0.049853610766,0.999999960192,0.000112678071309,-0.000255333765229,-4.15258799799e-05,1793242390258660096
+27,0.450000000,BASELINE,765,745,714,679,661,635,878.565035053,787,805,653,631,652,0.400985859873,-0.00540380005175,0.0498531092571,0.99999995993,0.000113538833623,-0.000255909236362,-4.19450298554e-05,1793242390275326720
+28,0.466666667,BASELINE,765,745,714.301513823,678.698486177,661,635,878.301513823,787.301513823,805,653,631,652,0.400985934458,-0.0054035178828,0.0498535624052,0.999999960053,0.00011319970769,-0.000255548252706,-4.21311628536e-05,1793242390291993088
+29,0.483333333,BASELINE,765,745,714.87739626,678.12260374,661,635,878.87739626,787.87739626,805,653,631,652,0.400986571111,-0.00540305738675,0.0498548842629,0.999999960524,0.000111768719084,-0.000254335123003,-4.21052573975e-05,1793242390308659712
+30,0.500000000,BASELINE,765,745,715,678.42772867,661,635,879,788,805,653,631,652,0.400987588783,-0.00540326077337,0.0498551079664,0.999999960801,0.00011123252833,-0.00025347668966,-4.2123131919e-05,1793242390325326592
+31,0.516666667,BASELINE,765,745,715,678.971150249,661,635,879,788,805,653,631,652,0.400988709514,-0.00540364372831,0.0498550346389,0.999999961026,0.000110938364316,-0.000252714195318,-4.2152848137e-05,1793242390341993472
+32,0.533333333,BASELINE,765,745,714.405353475,678.405353475,661,635,879,788,805,653,631,652,0.400986862223,-0.00540390733068,0.0498538507928,0.999999960499,0.000111469431107,-0.000254617141416,-4.17999167145e-05,1793242390358660352
+33,0.550000000,BASELINE,765.196104231,745,714,678.196104231,661,635,878.803895769,788,805,653,631,652,0.400986164081,-0.00540368548676,0.0498533059664,0.999999960254,0.000111710216523,-0.000255484752323,-4.17162143925e-05,1793242390375326976
+34,0.566666667,BASELINE,765.74926151,745,714,678.74926151,661,635,878.25073849,788,805,653,631,652,0.400987861205,-0.00540259195925,0.0498540379853,0.999999960605,0.000111338237788,-0.000254195207232,-4.21617666572e-05,1793242390391993600
+35,0.583333333,BASELINE,766,745,714,679,661,635,878.329977522,788,805,653,631,652,0.400987956713,-0.00540208556762,0.0498546187013,0.99999996067,0.000112126579166,-0.000253552112998,-4.24042722275e-05,1793242390408660224
+36,0.600000000,BASELINE,766,745,714,679,661,635,878.933542826,788,805,653,631,652,0.400986724303,-0.00540206597631,0.0498550739706,0.999999960497,0.000113876953926,-0.000253444997725,-4.24784297293e-05,1793242390425326592
+37,0.616666667,BASELINE,765.477227569,745,714,678.477227569,661,635,879,788,805,653,631,652,0.400986185742,-0.00540213553698,0.0498547013594,0.999999960259,0.000114262800632,-0.000254237049307,-4.22960293969e-05,1793242390441993216
+38,0.633333333,BASELINE,764.891244709,745,714,678.108755291,661,635,878.891244709,788,805,653,631,652,0.400986090886,-0.00540227510543,0.0498544812934,0.999999960172,0.00011451469314,-0.000254507432269,-4.2052144666e-05,1793242390458659840
+39,0.650000000,BASELINE,764.311638801,745,714,678.688361199,661,635,878.311638801,788,805,653,631,652,0.400987545347,-0.00540267001132,0.0498553651513,0.999999960767,0.00011491760063,-0.000252037603247,-4.16795014876e-05,1793242390475326464
+40,0.666666667,BASELINE,764.266324031,745,714,679,661,635,878,787.733675969,804.733675969,652.733675969,631,652,0.400987996006,-0.00540279166681,0.0498558286213,0.99999996115,0.000113933205483,-0.000250969026429,-4.16436967929e-05,1793242390491993344
+41,0.683333333,BASELINE,764.842375972,745,714,679,661,635,878,787.157624028,804.157624028,652.157624028,631,652,0.400987279271,-0.00540259553919,0.0498558031913,0.999999961287,0.000111335413483,-0.000251530069572,-4.19996265028e-05,1793242390508660224
+42,0.700000000,BASELINE,765,745,714,679,661,635,878,787,804.42003079,652.42003079,631,652,0.40098646902,-0.00540239009703,0.0498553323757,0.999999961135,0.000110959498648,-0.000252274735445,-4.21289449714e-05,1793242390525326848
+43,0.716666667,BASELINE,765,745,714,679,661,635,878,787,804.998289407,652.998289407,631,652,0.400985623541,-0.00540218114604,0.0498546937809,0.999999960877,0.000111420576784,-0.00025308857296,-4.21728977753e-05,1793242390541993216
+44,0.733333333,BASELINE,765,745,714,679,661,635,878,787.58596528,805,652.41403472,631,652,0.400984395831,-0.00540258698566,0.0498535650998,0.999999960039,0.000113211806628,-0.000255618445292,-4.19942939937e-05,1793242390558659584
+45,0.750000000,BASELINE,765,745,714,679,661,635,878.171149071,788,805,652.171149071,631,652,0.40098361752,-0.00540245951038,0.0498529022674,0.999999959514,0.00011414045508,-0.000257264523625,-4.19284351905e-05,1793242390575326464
+46,0.766666667,BASELINE,765,745,714,679,661,635,878.750324935,788,805,652.750324935,631,652,0.400983913301,-0.0054010562406,0.0498533535052,0.999999959757,0.000113003263266,-0.00025679146033,-4.21329395446e-05,1793242390591993088
+47,0.783333333,BASELINE,764.672607045,745,714,679,661,635,879,787.672607045,805,652.672607045,631,652,0.40098571618,-0.00540061347689,0.0498545777775,0.999999960303,0.000113426590164,-0.000254457456154,-4.21766959182e-05,1793242390608659456
+48,0.800000000,BASELINE,764.097136158,745,714,679,661,635,879,787.097136158,805,652.097136158,631,652,0.400988661043,-0.00540089852454,0.0498563878071,0.999999961069,0.000115032380554,-0.000250713347153,-4.2098647533e-05,1793242390625326080
+49,0.816666667,BASELINE,764.48779386,745,714,679,661,635,879,787.48779386,805,652.48779386,631,652,0.400989181805,-0.00540163948543,0.0498562364333,0.999999961147,0.000114717794037,-0.0002505771882,-4.19043235355e-05,1793242390641992960
+50,0.833333333,BASELINE,765,745,714,679,661,635.073698772,879,788,804.926301228,653,631,652,0.400988996585,-0.0054023727913,0.0498556839124,0.999999961063,0.000114071652626,-0.000251234813076,-4.17426082415e-05,1793242390658659840
+51,0.850000000,BASELINE,765,745,714,679,661,635.653112692,879,788,804.346887308,653,631,652,0.400987344853,-0.00540241827213,0.0498551118902,0.999999960811,0.000113826377117,-0.000252311783607,-4.19666766816e-05,1793242390675326464
+52,0.866666667,BASELINE,765,745,714,678.767796337,661,635.767796337,879,787.767796337,804.232203663,652.767796337,631,652,0.400986491818,-0.0054022269774,0.0498548851091,0.999999960652,0.000113594916153,-0.000253028368341,-4.20634487855e-05,1793242390691993088
+53,0.883333333,BASELINE,765,745,714,678.189187183,661,635.189187183,879,787.189187183,804.810812817,652.189187183,631,652,0.400986830294,-0.00540168245674,0.0498551733648,0.999999960634,0.00011338406398,-0.000253207323164,-4.19703179717e-05,1793242390708659712
+54,0.900000000,BASELINE,765,745,714,678.385321993,661,635,878.614678007,787,805,652.385321993,631,652,0.400986925655,-0.00540286770614,0.0498548868599,0.999999960808,0.000112053506795,-0.000253135334147,-4.18492209654e-05,1793242390725326848
+55,0.916666667,BASELINE,765,745,714,678.957839321,661,635,878.042160679,787,805,652.957839321,631,652,0.400986902908,-0.00540489330438,0.0498543211276,0.999999961071,0.000110178979745,-0.000252941432757,-4.17145375565e-05,1793242390741993984
+56,0.933333333,BASELINE,765,745,714,679,661,635,878.531634255,787,804.468365745,653,631,652,0.400986945759,-0.00540258328407,0.0498548703699,0.99999996071,0.000114787865997,-0.000252292123877,-4.18512777685e-05,1793242390758660608
+57,0.950000000,BASELINE,765,745,714,679,661,635,878.89034279,787.10965721,804,653,631,652,0.40098716516,-0.00540069354361,0.0498554062469,0.999999960462,0.000118193750913,-0.000251683519369,-4.19642924946e-05,1793242390775326976
+58,0.966666667,BASELINE,765,745,714,679,661,635,878.294005996,787.705994004,804,653,631,652,0.400988144978,-0.00540219875184,0.0498554894278,0.999999961023,0.0001139730479,-0.000251416242868,-4.18762469662e-05,1793242390791993600
+59,0.983333333,BASELINE,765,745,714,678.708389058,661,635,878.291610942,788,804.291610942,652.708389058,631.291610942,652,0.400987920561,-0.00540302828857,0.0498553604967,0.999999961176,0.00011167449804,-0.000251850494702,-4.18070617121e-05,1793242390808660480
+60,1.000000000,BASELINE,765,745,714,678.133196732,661,635,878.866803268,788,804.866803268,652.133196732,631.866803268,652,0.400986525066,-0.00540320075872,0.049855025294,0.999999960944,0.000111245174009,-0.000252966958136,-4.17562174015e-05,1793242390825327104
+61,1.016666667,BASELINE,765,745,714,678.441245551,661,635,879,787.558754449,805,652,631.558754449,652,0.400987063275,-0.00540201021959,0.0498554163899,0.999999960902,0.000113410665735,-0.000252151391967,-4.1876880891e-05,1793242390841993728
+62,1.033333333,BASELINE,765,745,714,678.984157399,661,635,878.984157399,787,805,652.015842601,631,652.015842601,0.400988118832,-0.00540048093885,0.0498559978144,0.999999960908,0.000116216211614,-0.000250820083443,-4.2044737719e-05,1793242390858659840
+63,1.050000000,BASELINE,765,745,714,678.39579797,661,635,878.39579797,787,805,652.60420203,631,652.60420203,0.400986811717,-0.00540155377256,0.0498555477379,0.999999960905,0.000113893753294,-0.000251891238888,-4.20502977316e-05,1793242390875327232
+64,1.066666667,BASELINE,765,745,714,678.190291213,661,635,878,787,805,652.809708787,631,652.809708787,0.400985638702,-0.00540237119776,0.0498550535477,0.999999960815,0.000112378877533,-0.000252936590319,-4.19902307011e-05,1793242390891994368
+65,1.083333333,BASELINE,765,745,714,678.771714014,661,635,878,787,805,652.228285986,631,652.228285986,0.400984741322,-0.00540266364685,0.0498544686846,0.999999960556,0.00011252393693,-0.000253928903168,-4.1795271422e-05,1793242390908660224
+66,1.100000000,BASELINE,765,745,714,679,661,635,878,787,804.650773421,652,631,652,0.400984577429,-0.00540288224917,0.0498541264634,0.999999960444,0.000112574279092,-0.000254345814007,-4.18042147702e-05,1793242390925326848
+67,1.116666667,BASELINE,765,745,714,679,661,635,878,787,804.075788659,652,631,652,0.4009848877,-0.0054030531131,0.0498539410987,0.999999960428,0.000112563391111,-0.00025439075509,-4.19449713652e-05,1793242390941993984
+68,1.133333333,BASELINE,765,745,714,679,661,635,878.499348975,787,804.499348975,652.499348975,631,652,0.400986522023,-0.00540184177157,0.0498552894112,0.999999960638,0.000114443247504,-0.000252718980114,-4.19606277113e-05,1793242390958660352
+69,1.150000000,BASELINE,765,745,714,679,661,635,878.923589741,787.076410259,805,653,631,652,0.400988098833,-0.00540072363062,0.049856599693,0.999999960878,0.000116013063617,-0.000251047013098,-4.19491889868e-05,1793242390975326976
+70,1.166666667,BASELINE,765,745,714,679,661,635,878.333759179,787.666240821,805,653,631,652,0.400987938501,-0.00540164175479,0.0498560898885,0.999999961142,0.000113570837765,-0.000251125025693,-4.18833096644e-05,1793242390991995648
+71,1.183333333,BASELINE,765,745,714,678.747614193,661,635,878.252385807,788,805,653,631,652,0.400987294167,-0.00540217983732,0.0498556204436,0.999999961181,0.000112297516929,-0.000251545769324,-4.18674456112e-05,1793242391008662528
+72,1.200000000,BASELINE,765,745,714,678.166272843,661,635,878.833727157,788,805,653,631,652,0.400986018993,-0.00540222257989,0.0498552036027,0.999999960932,0.000112547727477,-0.000252413223008,-4.19167706348e-05,1793242391025327104
+73,1.216666667,BASELINE,765,745,714,678.409797702,661,635,879,787.590202298,805,653,631,651.590202298,0.400988211945,-0.00540221291475,0.0498563584374,0.999999961517,0.000112147053441,-0.00025026207206,-4.19206201323e-05,1793242391041993216
+74,1.233333333,BASELINE,765,745,714,678.983756774,661,635,879,787.016243226,805,653,631,651.016243226,0.400991794198,-0.00540218225555,0.0498581428717,0.999999962427,0.000111485640728,-0.000246901694486,-4.19062525289e-05,1793242391058660096
+75,1.250000000,BASELINE,765,745,714,679,661,635,879,787.571486751,805,653,631,651.571486751,0.400989324289,-0.00540281961087,0.0498563827818,0.999999961882,0.000110156596497,-0.000249690782748,-4.1913704611e-05,1793242391075326720
+76,1.266666667,BASELINE,765,745,714,679,661.15787003,635,879,788,804.84212997,653,631,652,0.400987335347,-0.00540323658554,0.0498549270727,0.99999996139,0.00010944429017,-0.000251964816726,-4.18992507565e-05,1793242391091993344
+77,1.283333333,BASELINE,765,745,714,679,661.73956118,635,879,788,804.26043882,653,631,652,0.400987110825,-0.0054030096908,0.0498545656512,0.99999996118,0.000110439892167,-0.000252375308495,-4.18242817299e-05,1793242391108659968
+78,1.300000000,BASELINE,765,745,714,679,661.682922124,635,879,788,804.317077876,653,631,652,0.400986894421,-0.00540315450535,0.0498545896129,0.99999996119,0.000110117434303,-0.000252473465453,-4.18532394142e-05,1793242391125326848
+79,1.316666667,BASELINE,765,745,714,679,661.108789679,635,879,788,804.891210321,653,631,652,0.4009866846,-0.00540360066409,0.0498549260043,0.999999961376,0.000108726427198,-0.000252318413019,-4.19664503342e-05,1793242391141993984
+80,1.333333333,BASELINE,765,745,714,679,660.524924302,635,879,787.524924302,805,652.524924302,631,652,0.400986477402,-0.00540337896895,0.0498549193973,0.999999961051,0.000110890059511,-0.000252688752486,-4.18320319118e-05,1793242391158660352
+81,1.350000000,BASELINE,765,745,714,679,660.060520519,635,879,787.060520519,805,652.060520519,631,652,0.400986442645,-0.00540300194912,0.0498549392532,0.999999960726,0.000113423977872,-0.000252873436047,-4.16826894239e-05,1793242391175326976
+82,1.366666667,BASELINE,765,745,714,679,660.639997192,635,879,787.639997192,805,652.639997192,631,652,0.400987881282,-0.00540263186522,0.0498558736227,0.999999961496,0.000112007175854,-0.00025041290527,-4.19017899526e-05,1793242391191993600
+83,1.383333333,BASELINE,765,745,714,679,661,635,878.781013069,788,804.781013069,653,631,652.218986931,0.400988432102,-0.00540291104371,0.0498563096458,0.99999996188,0.000110838469193,-0.000249398363569,-4.18852804449e-05,1793242391208660224
+84,1.400000000,BASELINE,765,745,714,679,661,635,878.202821956,788,804.202821956,653,631,652.797178044,0.400987526635,-0.005404255207,0.0498559282316,0.999999961642,0.000110076713037,-0.000250755676832,-4.14822999165e-05,1793242391225327104
+85,1.416666667,BASELINE,764.626205485,745,714.373794515,679,661,635,878.373794515,788,804.373794515,652.626205485,631,652.626205485,0.400987310815,-0.00540444999499,0.0498559907703,0.999999961536,0.000110280508148,-0.00025109993747,-4.14020838804e-05,1793242391241993984
+86,1.433333333,BASELINE,764.050439868,745,714.949560132,679,661,635,878.949560132,788,804.949560132,652.050439868,631,652.050439868,0.400987467628,-0.00540402374491,0.0498562931885,0.999999961503,0.000111006016292,-0.000250896818796,-4.14962660937e-05,1793242391258660608
+87,1.450000000,BASELINE,764.536583049,745,714.463416951,679,661,635,879,788,805,652.536583049,631,652,0.400988443076,-0.00540210304937,0.0498569834102,0.999999961511,0.000113633624049,-0.000249626639502,-4.18524991325e-05,1793242391275326976
+88,1.466666667,BASELINE,765,745,714,679,661,635,878.877097193,788,805,652.877097193,631,652,0.400989146702,-0.00540108677162,0.0498573944623,0.999999961571,0.00011492143936,-0.000248760014951,-4.20587821005e-05,1793242391291993600
+89,1.483333333,BASELINE,765,745,714,679,661,635,878.297408122,788,805,652.297408122,631,652,0.40098854792,-0.00540396520115,0.0498566295485,0.99999996183,0.000110550938776,-0.000249774050759,-4.16142385141e-05,1793242391308660224
+90,1.500000000,BASELINE,765,745,714,679,661,635,878,788,805,652.280468696,631,652,0.400988576779,-0.00540502690942,0.0498565145243,0.99999996207,0.00010829985984,-0.000249817757006,-4.14975005487e-05,1793242391325326848
+91,1.516666667,BASELINE,765,745,714,679,661,635,878,788,805,652.856436106,631,652,0.400989266914,-0.00540417454009,0.0498570842168,0.999999962307,0.000108281780383,-0.000248839134702,-4.17261349873e-05,1793242391341993472
+92,1.533333333,BASELINE,765,745,714,679,661,635,878,787.569522929,805,653,631,652,0.400988074538,-0.00540344519182,0.0498561922708,0.999999961845,0.000109345628299,-0.000250196402095,-4.1890677248e-05,1793242391358660096
+93,1.550000000,BASELINE,765,745,714,679,661,635,878.004007771,787.004007771,804.995992229,652.995992229,631,652,0.400986283476,-0.00540275290668,0.0498548325914,0.999999961153,0.000110778840089,-0.000252298717658,-4.20321045794e-05,1793242391375327232
+94,1.566666667,BASELINE,765,745,714,679,661,635,878.596524491,787.596524491,804.403475509,652.403475509,631,652,0.400988359156,-0.00540150534004,0.0498560500951,0.999999961427,0.000113702357292,-0.000249922442036,-4.19040095343e-05,1793242391391993856
+95,1.583333333,BASELINE,765.18477342,745,714,679,661,635,878.81522658,787.81522658,804,652.18477342,631,652,0.400989863586,-0.00540082690274,0.0498570972443,0.999999961662,0.000115369031183,-0.00024823910433,-4.17627140955e-05,1793242391408660480
+96,1.600000000,BASELINE,765.763913602,745,714,679,661,635,878.236086398,787.236086398,804,652.763913602,631,652,0.400990148784,-0.0054013631729,0.0498577808018,0.999999961836,0.000114353191952,-0.000248034721767,-4.15932446873e-05,1793242391425327104
+97,1.616666667,BASELINE,766,745,714,679,661,635,878,787,804.340352798,653,631,652,0.400989247935,-0.0054014561237,0.0498572986382,0.999999961658,0.000113646929658,-0.000249054571733,-4.17190214618e-05,1793242391441993984
+98,1.633333333,BASELINE,766,745,714,679,661,635,878,787,804.914933166,653,631,652,0.400987530861,-0.00540124398627,0.0498560142365,0.999999961234,0.000113153715338,-0.000250916926934,-4.20479838712e-05,1793242391458660864
+99,1.650000000,BASELINE,765.510673345,745,714,679,661,635,878,787,805,652.510673345,631,652,0.400986820299,-0.0054016799001,0.0498560271239,0.999999961112,0.000113578041626,-0.000251231527395,-4.19416686465e-05,1793242391475327232
+100,1.666666667,BASELINE,765,745,714,678.93421304,661,635,878,787,805,652,631.06578696,652,0.400986375411,-0.00540209471228,0.0498562024423,0.999999961054,0.000114007802253,-0.000251290476331,-4.179436783e-05,1793242391491993600
+101,1.683333333,BASELINE,765,745,714,678.340919763,661,635,878,787,805,652,631.659080237,652,0.40098665831,-0.00540143731249,0.0498558725231,0.999999961099,0.000113202614126,-0.000251456187694,-4.19249545197e-05,1793242391508660736
+102,1.700000000,BASELINE,765.245016729,745,714,678.245016729,661,635,878.245016729,787.245016729,804.754983271,652.245016729,631.754983271,652,0.400987488502,-0.00540173309908,0.049855819429,0.999999961381,0.000112041204405,-0.000250850383842,-4.19466077242e-05,1793242391525327360
+103,1.716666667,BASELINE,765.821015231,745,714,678.821015231,661,635,878.821015231,787.821015231,804.178984769,652.821015231,631.178984769,652,0.400989058007,-0.00540331650114,0.0498561402854,0.999999961981,0.000110398591465,-0.000249202375734,-4.18211077086e-05,1793242391541994240
+104,1.733333333,BASELINE,765.603147331,745,714,679,660.603147331,635,879,787.603147331,804.396852669,653,631,652,0.40098963303,-0.00540329009087,0.049856497697,0.999999962159,0.000110045866989,-0.000248634902878,-4.18703327668e-05,1793242391558660608
+105,1.750000000,BASELINE,765.027382456,745,714,679,660.027382456,635,879,787.027382456,804.972617544,653,631,652,0.400989759713,-0.00540253793263,0.0498568715888,0.999999962148,0.000110274659917,-0.000248554565185,-4.19983287307e-05,1793242391575326976
+106,1.766666667,BASELINE,765,745,714,679,661.125249187,635,879,787.562624594,805,653,631,652,0.400987679634,-0.00540351741714,0.0498559913361,0.999999961606,0.000110678700298,-0.000250611689892,-4.16135941258e-05,1793242391591993344
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,788,805,652,631,652,0.400987072329,-0.00540413733716,0.0498566803993,0.999999961766,0.000109809992875,-0.000250401384686,-4.13473057777e-05,1793242391633199616
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.425809897,745,714,679,661,635,879,788,805,652.574190103,631,652,0.400987175112,-0.00540311064576,0.049856177351,0.999999961537,0.000110698197497,-0.000250876275355,-4.16260850387e-05,1793242391649866496
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.148715773,745,714.148715773,679,661,635,879,788,805,652.851284227,631,652,0.400987029683,-0.00540279653028,0.0498556208598,0.999999961388,0.000110751049607,-0.000251420254651,-4.17958200816e-05,1793242391666533376
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.724204564,745,714.724204564,679,661,635,879,788,805,652.275795436,631,652,0.400986171952,-0.00540452730979,0.0498549110024,0.999999961464,0.00010840667193,-0.00025216249926,-4.16526285298e-05,1793242391683199744
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.68981437,679,661,635,879,787.68981437,805,652,631,652,0.400986520028,-0.00540468397546,0.0498553779768,0.999999961582,0.000108663741758,-0.000251588451255,-4.159870115e-05,1793242391699866112
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.094177733,679,661,635,879,787.094177733,805,652,631,652,0.400987977757,-0.00540339204917,0.0498569279408,0.999999961737,0.000111314816284,-0.000249803073547,-4.16269199044e-05,1793242391716532736
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.483161685,631,652,0.40098786597,-0.0054029241454,0.0498562407383,0.999999961574,0.000111413135435,-0.000250397533178,-4.17127895584e-05,1793242391733199872
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.942753304,878.942753304,787,805,652.942753304,631,652,0.40098755819,-0.00540254186746,0.0498553038012,0.99999996139,0.000111108336407,-0.000251251875869,-4.18065193713e-05,1793242391749867008
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.367020345,878.367020345,787,805,652.367020345,631,652,0.400988145016,-0.00540153345964,0.0498559103848,0.999999961555,0.00011149466622,-0.000250411932413,-4.18733759121e-05,1793242391766533632
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.213506434,878.213506434,787.213506434,805,652,631,652,0.400990554443,-0.0054014306539,0.0498569780556,0.999999961991,0.000111525702143,-0.000248649415003,-4.18745908323e-05,1793242391783200512
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.802463066,878.802463066,787.802463066,805,652,631,652,0.400996168904,-0.00540292034587,0.0498588565461,0.999999962898,0.000110931955163,-0.000245264555124,-4.17603752214e-05,1793242391799866880
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.384933853,745,714,679,661,635,878.615066147,787.615066147,805,652.384933853,631,652,0.401017514898,-0.00540415191178,0.0498670927286,0.999999966767,0.000110551794233,-0.000229244579004,-4.11351501641e-05,1793242391816533504
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.964131495,745,714,679,661,635,878.035868505,787.035868505,805,652.964131495,631,652,0.401046800092,-0.00540525320985,0.0498785374349,0.999999971716,0.000110279423244,-0.000206848063937,-4.0252034976e-05,1793242391833199872
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.459354191,744.459354191,714,679,661,635,878.540645809,787.540645809,805,653,631,652,0.401104587729,-0.00540601973372,0.0498982055343,0.999999979321,0.000111625150176,-0.000165431405451,-3.91212446442e-05,1793242391849866496
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.116387134,714,679,661,635,878.883612866,787.883612866,805,653,631,652.116387134,0.401166586496,-0.00540722207495,0.0499173033053,0.999999984966,0.000112554825181,-0.000126333776654,-3.79475460976e-05,1793242391866533120
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.689788933,714,679,661,635,878.310211067,787.310211067,805,653,631,652.689788933,0.401237732504,-0.00541022251187,0.0499320298851,0.999999987991,0.000111431349747,-0.000101272696691,-3.66695641194e-05,1793242391883199488
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.271976951,787,804.728023049,652.728023049,631,652.728023049,0.401311464233,-0.00541329228956,0.0499431215162,0.999999989796,0.000109970882686,-8.40043866628e-05,-3.54612023684e-05,1793242391899866368
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.864520852,787,804.135479148,652.135479148,631,652.135479148,0.40138824363,-0.00541644379589,0.0499499287967,0.999999990684,0.000108113218935,-7.59210642376e-05,-3.43348989312e-05,1793242391916532992
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.553130731,635,878.553130731,787.446869269,804.446869269,652.446869269,631,652,0.401476038478,-0.00541937522197,0.0499492123615,0.999999990567,0.000106288022245,-8.02803162265e-05,-3.35336928035e-05,1793242391933199616
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.025961373,679,660,635,878.025961373,787.974038627,805,653,631,652,0.401568233128,-0.00542231304972,0.0499463632147,0.999999990137,0.000104413604709,-8.80113965449e-05,-3.28247519588e-05,1793242391949866240
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.600107253,679,660,635,878.600107253,787.399892747,805,653,631,652,0.401684387406,-0.00542676349884,0.0499455707564,0.99999999039,0.000101296663251,-8.90638704012e-05,-3.2029296391e-05,1793242391966533120
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.821436634,679,660.178563366,635,879,787,805,653,631,652,0.401810025027,-0.00543178980044,0.0499464843046,0.999999990812,9.80389310839e-05,-8.83276279384e-05,-3.10254938565e-05,1793242391983200000
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.233089064,679,660.766910936,635,879,787,805,653,631,652,0.401957425912,-0.00543813762246,0.0499513129587,0.999999991617,9.44580994287e-05,-8.3486468919e-05,-2.95435569875e-05,1793242391999867136
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.649805591,787,804.649805591,652.649805591,631,652,0.402119821603,-0.00544247043194,0.0499515581626,0.999999991494,9.41364406258e-05,-8.57971963472e-05,-2.80930866849e-05,1793242392016533760
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.069844669,787,804.069844669,652.069844669,631,652,0.402292055572,-0.00544548116953,0.0499487961134,0.999999990735,9.59531616311e-05,-9.28003568705e-05,-2.66632618042e-05,1793242392033200384
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.491888465,635,878.508111535,787,804.508111535,652.508111535,631,652,0.402503607133,-0.005454987066,0.0499496141291,0.999999991753,8.8401374775e-05,-8.96424033076e-05,-2.53630756887e-05,1793242392049866752
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.085136818,635,878.914863182,787.085136818,805,652.914863182,631,652,0.402724821074,-0.00546504037731,0.0499510150738,0.999999992827,8.06319761565e-05,-8.52745193837e-05,-2.39461350007e-05,1793242392066533376
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.658398706,635,878.341601294,787.658398706,805,652.341601294,631,652,0.402970568688,-0.00547313345627,0.0499529477921,0.999999993288,7.89693311596e-05,-8.19462198402e-05,-2.17580225567e-05,1793242392083200000
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.231421748,788,805,652.231421748,631,652,0.403236059303,-0.00548205632566,0.0499574671999,0.999999994285,7.55577657744e-05,-7.3071824109e-05,-1.95446164622e-05,1793242392099866624
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.80409256,788,805,652.80409256,631,652,0.403530662467,-0.00549220278404,0.0499658008791,0.999999995862,6.95672836157e-05,-5.60192856082e-05,-1.72939130729e-05,1793242392116533248
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.607703197,805,653,631,652,0.403850334303,-0.00550133881656,0.0499745292269,0.99999999686,6.82986069491e-05,-3.73452702735e-05,-1.48423166323e-05,1793242392133199872
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.011421981,805,653,631,652,0.404183041205,-0.00550994945287,0.0499834627922,0.999999997352,6.94851498569e-05,-1.78281285316e-05,-1.22862609548e-05,1793242392149866240
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.564389702,787,805,652.435610298,631,652,0.404561515866,-0.00551951753474,0.0499908408178,0.999999997834,6.48696307862e-05,-6.38934673066e-06,-9.13437479252e-06,1793242392166532864
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.858484549,787,805,652,631,652,0.40494407874,-0.00552751356189,0.049995803217,0.999999998021,6.25992485183e-05,1.91437908366e-06,-5.94294517562e-06,1793242392183199744
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.276018772,787,805,652,631,652,0.405336595003,-0.00553055293337,0.0499933333824,0.999999997685,6.79891854864e-05,9.41115691535e-07,-2.66455962694e-06,1793242392199867136
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.305788915,631,652,0.405735727903,-0.00552312941673,0.0499804815342,0.9999999959,8.75619739561e-05,-2.30928590752e-05,-5.15513184262e-07,1793242392216533760
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.887003923,631,652,0.406140820496,-0.00550628190809,0.0499582785377,0.999999990506,0.00011990935074,-6.78977687461e-05,6.16330452895e-07,1793242392233200128
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.533097358,745,714,679,660.533097358,635,879,787.466902642,805,652.533097358,631,652,0.406592866716,-0.00549873687131,0.0499394656069,0.999999985158,0.000140852480783,-9.92032864054e-05,1.60776601703e-06,1793242392249866752
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.046217572,745,714,679,660.046217572,635,879,787.953782428,805,652.046217572,631,652,0.407063217304,-0.00549468025341,0.0499235405687,0.999999979944,0.000157505892515,-0.000123677924219,2.85039797976e-06,1793242392266533632
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.622480872,745,714,679,660.622480872,635,879,787.377519128,805,652.622480872,631,652,0.407613537663,-0.00550488398028,0.0499313525631,0.999999981979,0.000156526379812,-0.000107175115813,7.36248271949e-06,1793242392283200512
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.797561413,631,652,0.40817619174,-0.0055133701176,0.0499454172626,0.999999984298,0.000157855993763,-7.96426956724e-05,1.19581026694e-05,1793242392299867392
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787,805,652.210586109,631,652,0.408762273963,-0.00551859365376,0.0499713591174,0.999999985997,0.000163571846393,-3.11592771051e-05,1.67123993744e-05,1793242392316534016
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,678.628375674,661,635,879,787,805,652,631,652,0.409364597614,-0.00552100118227,0.0499885506296,0.999999984858,0.000172630455301,-4.97259213767e-06,2.14133239822e-05,1793242392333200640
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,678.048831157,661,635,879,787,805,652,631,652,0.409976008166,-0.00552183318174,0.0500008464094,0.999999982775,0.000183559303717,8.73928582754e-06,2.60843872727e-05,1793242392349867008
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,678.528180803,660.471819197,635,879,787,804.471819197,652.528180803,631,652,0.410586641261,-0.00552120050186,0.049989232682,0.999999979991,0.000197025869015,-1.80866600343e-05,2.95263066295e-05,1793242392366533632
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.10457562,745,714.10457562,679,660,634.89542438,879,787,804.10457562,652.89542438,631,652,0.411204725276,-0.00552010067436,0.0499729949048,0.999999975895,0.000210712860087,-5.23749562745e-05,3.26662113367e-05,1793242392383199744
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.67924355,745,714.67924355,679,660,634.32075645,879,787,804.67924355,652.32075645,631,652,0.411856624328,-0.00551750671148,0.0499458601076,0.999999968874,0.000224341092147,-0.00010344148772,3.49568720337e-05,1793242392399866624
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.738678884,745,714.738678884,679,660.261321116,634.261321116,879,787,805,652,631,652,0.412551131115,-0.00551686036741,0.0499409577775,0.999999966136,0.000234535461834,-0.000106377364731,3.74714243031e-05,1793242392416533504
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.147240935,745,714.147240935,679,660.852759065,634.852759065,879,787,805,652,631,652,0.413299462691,-0.00551867437432,0.0499641408575,0.999999969118,0.000240391968229,-4.8511659061e-05,4.02688104336e-05,1793242392433199872
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661.434557351,635,879,787.434557351,805,652,631,652,0.414043770265,-0.00552676743407,0.0499761438238,0.999999985231,0.000166820445752,-3.20944143866e-05,2.60564497319e-05,1793242392449866496
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.013101915,745,714,679,661.973796169,635,879,787.986898085,805,652,631,652,0.414786566365,-0.00553672450067,0.049983540738,0.999999997088,6.95724112603e-05,-3.06269746387e-05,6.71850435843e-06,1793242392466533120
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.589138919,745,714,679,660.821722161,635,879,787.410861081,805,652,631,652,0.41552173319,-0.00553734285628,0.0499522638571,0.99999999294,8.62706814445e-05,-8.11743664577e-05,9.41122248583e-06,1793242392483199488
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.831871054,745,714,679,660,635,879,787,805,652,631,652,0.416278122159,-0.00553726723198,0.0499320370027,0.999999988441,0.000102098582145,-0.000111986287835,1.23614694976e-05,1793242392499866112
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.245535669,745,714,679,660,635,879,787,805,652,631,652,0.417087299357,-0.00553546539167,0.0499392961507,0.999999988782,0.000115761512346,-9.37079041777e-05,1.59522975757e-05,1793242392516532992
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661.01037168,635,879,787.33679056,805,652,630.66320944,652,0.417922980601,-0.00553456113249,0.0499589565461,0.999999990663,0.000122559346449,-5.73663219844e-05,1.90151435927e-05,1793242392533199872
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679,662.74868487,635,879,787.91622829,805,652,630.08377171,652,0.418777757154,-0.00553430355281,0.0499875516562,0.999999991993,0.000124411090594,-8.01076525164e-06,2.16975946969e-05,1793242392549867008
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.493424985,745,714,679,661.519725046,635,879,787.506575015,805,652,630.493424985,651.506575015,0.419576761719,-0.00553251252927,0.0499746870866,0.999999991073,0.000125213796322,-4.11047042514e-05,2.2057715832e-05,1793242392566533632
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.928847439,745,714,679,660,635,879,787,805,652,631,651.071152561,0.42038019178,-0.00553100264743,0.0499588877557,0.999999988934,0.000125438546191,-7.68780163641e-05,2.20561679036e-05,1793242392583200256
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.344560087,745,714,679,660,635,879,787,805,652,631,651.655439913,0.421283514551,-0.00553338932475,0.0499724566599,0.99999999172,0.000122773838651,-3.14809732611e-05,2.22769164752e-05,1793242392599866880
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.716071041,635,879,787,805,652,631,651.761309653,0.422184008434,-0.00553582903653,0.0499860543666,0.999999992613,0.000119298360698,5.21591175021e-06,2.26729569056e-05,1793242392616533504
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,662.461351515,635,879,787,805,652,631,651.179549495,0.423080436489,-0.00553834497515,0.0499996934731,0.999999992722,0.000114657561684,2.94080597432e-05,2.33209445288e-05,1793242392633199872
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.399443391,745,714,679,661.801669828,634.600556609,879,787,805,652,631,651,0.423955802737,-0.00554127207161,0.0499943783167,0.999999993295,0.000111961048908,1.72327944543e-05,2.40504180107e-05,1793242392649866496
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.977200913,745,714,679,660.068397261,634.022799087,879,787,805,652,631,651,0.424821766802,-0.00554438271146,0.0499806018529,0.999999993565,0.000110132478396,-1.1177122487e-05,2.48162672598e-05,1793242392666533376
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,744.449509282,714.550490718,679,660.550490718,634.550490718,879.550490718,787,805.550490718,652,631,651.550490718,0.42571344452,-0.00554288451593,0.0499915977194,0.999999993085,0.000114477146726,4.24918153447e-06,2.65970564197e-05,1793242392683200256
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.87605621,744.12394379,715,679,661,635,879.87605621,787.12394379,806,652,631,652,0.426599291269,-0.00554155255817,0.0499997752182,0.999999992534,0.000118367085625,1.06558413947e-05,2.84195018528e-05,1793242392699867136
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.301341845,744.698658155,715,679,661,635,879.301341845,787.698658155,806,652,631,652,0.427460089404,-0.00554151380878,0.0499940013055,0.999999992133,0.00011968086018,-2.22906924198e-05,3.02418016928e-05,1793242392716534016
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.283798104,745,714.716201896,679,661,635,879,787.716201896,806,652,631,652,0.428327534671,-0.00554138067032,0.0499750584806,0.999999990788,0.00011875813712,-5.85746082686e-05,2.98236827802e-05,1793242392733200384
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.880430264,745,714.119569736,679,661,635,879,787.119569736,806,652,631,652,0.429202307096,-0.00554114348564,0.0499415994062,0.999999988127,0.000115370095788,-9.85373581585e-05,2.69359232707e-05,1793242392749866496
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.538817967,745,714.461182033,678.538817967,661,635,879,787,806,652,631,652,0.430117143144,-0.00554524775875,0.0499484790246,0.999999990824,0.000109494105552,-7.49995433551e-05,2.71714200011e-05,1793242392766533120
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.037809069,745,714.962190931,678.037809069,661,635,879,787,805.962190931,652,631,651.962190931,0.431036285283,-0.00554991167998,0.0499632962568,0.999999993405,0.000103680033177,-4.05955749192e-05,2.8157836378e-05,1793242392783199488
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.612383905,745,714.387616095,678.612383905,661,635,879,787,805.387616095,652,631,651.387616095,0.43187400304,-0.00554707284185,0.0499472671273,0.999999990767,0.000107597713792,-7.7877688649e-05,2.86915816136e-05,1793242392799866112
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.809366202,745,714.190633798,679,660.809366202,635,879.190633798,787,805.190633798,651.809366202,631,651,0.432727990494,-0.00554622400192,0.0499391612028,0.999999989179,0.000108590217593,-9.49029345412e-05,2.90369764023e-05,1793242392816532736
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.223496816,745,714.776503184,679,660.223496816,635,879.776503184,787,805.776503184,651.223496816,631,651,0.433615709597,-0.00554950096771,0.0499474822289,0.999999991777,0.000103518037096,-6.99302040223e-05,2.89918697647e-05,1793242392833199360
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714.63990576,679,660.36009424,635,880,787,806,651.36009424,631,651,0.434497005352,-0.00555085502022,0.0499663019973,0.999999993377,0.000103399582084,-4.04380263871e-05,3.0312190881e-05,1793242392849866752
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714.057719921,679,660.942280079,635,880,787,806,651.942280079,631,651,0.435374339392,-0.0055510230972,0.0499915969657,0.999999993786,0.000106336385338,-8.15843758759e-06,3.24746527323e-05,1793242392866534144
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745.51967169,714,679,661,634.48032831,880,787,806,652,631,651.51967169,0.436156045885,-0.00554683908438,0.0499703626344,0.9999999911,0.000112293891328,-6.39594875409e-05,3.31440702557e-05,1793242392883200512
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.095755151,746,714,679,661,634.095755151,879.904244849,787,806,652,631,652,0.436936408821,-0.00554334841342,0.049949666021,0.999999986275,0.000116799931179,-0.000112644042932,3.34584541651e-05,1793242392899866880
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.667954986,746,714,679,661,634.667954986,879.332045014,787,806,652,631,652,0.437762451745,-0.00554569075194,0.0499571240798,0.999999990123,0.000112429857666,-7.76869278411e-05,3.28238958765e-05,1793242392916532992
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.750725774,745.750725774,714,679.249274226,661.249274226,635,879.249274226,787,806.249274226,651.750725774,631,652,0.438586343081,-0.00554894420475,0.0499681977037,0.999999992731,0.000106079691607,-4.71581098319e-05,3.25862044717e-05,1793242392933199360
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.156797829,745.156797829,714,679.843202171,661.843202171,635,879.843202171,787,806.843202171,651.156797829,631,652,0.439407259501,-0.00555345739018,0.0499842703111,0.999999994496,9.69917930685e-05,-2.27519857785e-05,3.28972327232e-05,1793242392949865984
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.425254983,714,679.574745017,661.574745017,635,880,787,806.149490034,651.425254983,631,652,0.440157274994,-0.00555474913922,0.0499718927139,0.99999999417,9.46006634385e-05,-4.08924396105e-05,3.22343349085e-05,1793242392966532608
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.996971842,714.003028158,679.003028158,661,635,879.996971842,787,805.003028158,652,631,652,0.440881878859,-0.00555487638252,0.0499494625882,0.999999992293,9.46310328841e-05,-7.40542479082e-05,3.12349847272e-05,1793242392983199232
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.422987395,714.577012605,679.577012605,661,635,879.422987395,787,805.577012605,652,631,652,0.441610320712,-0.00555331008157,0.0499557887149,0.999999992714,9.83153927795e-05,-6.19579899165e-05,3.26666663874e-05,1793242392999866112
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.844999689,679.844999689,661,635,879.155000311,787,806,651.844999689,631,652,0.44233147988,-0.00555225126345,0.0499658449893,0.999999993218,0.000102497712307,-4.34566272809e-05,3.4194805811e-05,1793242393016533248
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714.255797537,679.255797537,661,635,879.744202463,787,806,651.255797537,631,652,0.44303223825,-0.00555261405489,0.0499863505155,0.999999993488,0.000108074965237,-7.01266414751e-06,3.59931523474e-05,1793242393033199872
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.672052238,880.327947762,787.327947762,806,651.327947762,631,652,0.443695780181,-0.0055545524019,0.049984588652,0.999999993222,0.000109499911127,-1.28764129436e-05,3.74233350155e-05,1793242393049866240
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,634.092493628,880.907506372,787.907506372,806,651.907506372,631,652,0.444330768559,-0.00555769955992,0.0499657426127,0.999999992142,0.000107739088599,-5.11998436048e-05,3.85710517711e-05,1793242393066532608
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.48231619,745,714,679,661,634,880.51768381,787.51768381,806,651.51768381,631.48231619,652,0.444932610678,-0.00555723474268,0.0499451744899,0.999999990168,0.000110023023913,-7.80442713546e-05,3.83070261861e-05,1793242393083199232
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.944159603,745.055840397,714,679,661,634.055840397,880,787,806,651.055840397,631.944159603,652,0.44552936662,-0.0055561993083,0.0499283891186,0.99999998829,0.000113255907416,-9.56340355006e-05,3.80432464842e-05,1793242393099866112
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.374169352,745.625830648,714,679,661,634.625830648,880,787,806,651.625830648,631.374169352,652,0.446137247967,-0.00555622546862,0.0499494444569,0.999999991054,0.000118153954395,-4.80826444819e-05,4.02501651088e-05,1793242393116533248
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.794275084,714.205724916,679,661,635,880,787,806,651.794275084,631,652,0.446718930903,-0.00555424732144,0.0499641562134,0.999999991213,0.00012462247263,-1.67119828854e-05,4.19887827988e-05,1793242393133200128
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.195456556,714.804543444,679,661,635,880,787,806,651.195456556,631,652,0.447250554555,-0.00554843939762,0.0499667468224,0.99999998996,0.000134091804782,-1.62590276653e-05,4.28325836016e-05,1793242393149866752
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.609747004,679.390252996,660.609747004,634.609747004,880,787,806,651,631.390252996,652,0.44773337391,-0.00554827181867,0.0499399379828,0.999999988082,0.000137458355604,-5.58282391489e-05,4.27165679593e-05,1793242393166533120
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.030389601,679.969610399,660.030389601,634.030389601,880,787,806,651,631.969610399,652,0.448192544275,-0.00555083737408,0.0498988830893,0.99999998302,0.000137867689723,-0.000114790941904,4.21354552098e-05,1793242393183199744
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+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.119010035,679.880989965,660,634,879.880989965,787,806,651.119010035,631,652,0.449039636148,-0.00555480726488,0.049866314845,0.999999975868,0.000135684025456,-0.00016743165823,4.26705377599e-05,1793242393216532736
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.708139355,679.291860645,660,634,879.291860645,787,806,651.708139355,631,652,0.449443548717,-0.00555268286251,0.0498723533715,0.999999976146,0.000140958688991,-0.000161020045392,4.37201349789e-05,1793242393233199872
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.292411091,745,714.707588909,679,660.292411091,634,879.292411091,787,806,652,631,651.707588909,0.449843471653,-0.00555097123366,0.0498823548665,0.999999979058,0.000135366723155,-0.000147681338299,4.18446633599e-05,1793242393249866752
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.87191358,745,714.12808642,679,660.87191358,634,879.87191358,787,806,652,631,651.12808642,0.450239477512,-0.00554966486907,0.0498962472332,0.999999984085,0.000119105818916,-0.000127541558553,3.70973371873e-05,1793242393266533120
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.550928118,745,714,679.449071882,660.550928118,634,880,787,806.449071882,652,631,651,0.450587077422,-0.00555497085297,0.0498983338607,0.999999987942,7.69899913869e-05,-0.000132087778537,2.7216360567e-05,1793242393283200000
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.974546672,880,787,807,651.974546672,631,651,0.450918136202,-0.0055619307311,0.0498965647039,0.999999989032,2.98572747561e-05,-0.000144133789698,1.64142648001e-05,1793242393299866880
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,633.40057236,880,787,807,651.40057236,631,651,0.451188720186,-0.00556409965753,0.0498838916151,0.999999985398,3.27051891851e-05,-0.000166853489976,1.71526882012e-05,1793242393316533248
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.178674569,680,660,633,880,786.821325431,807,651,630.821325431,651,0.451446793228,-0.00556549268955,0.0498702982209,0.999999980781,3.56677185357e-05,-0.000191952161359,1.78831521693e-05,1793242393333199616
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714.770101584,680,660,633,880,786.229898416,807,651,630.229898416,651,0.451675964959,-0.00556509334353,0.0498545788498,0.999999974307,3.88950170771e-05,-0.000222546441871,1.85952291196e-05,1793242393349865984
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714.645966998,680,660,633,879.645966998,786.708066004,806.645966998,651,630.354033002,651.354033002,0.451892573526,-0.00556308715532,0.0498410750418,0.999999968593,4.28311894015e-05,-0.0002462083236,1.90086332997e-05,1793242393366532864
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.066802022,680,660,633,879.066802022,787.866395956,806.066802022,651,630.933197978,651.933197978,0.452101193116,-0.00556005916529,0.0498289801239,0.999999963465,4.72181396662e-05,-0.000265461849207,1.92321095222e-05,1793242393383199488
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714.507429802,680,660,633,879.507429802,786.985140395,806.507429802,651,631,651.492570198,0.452295739525,-0.00555659700256,0.0498268743391,0.999999961877,5.33450935521e-05,-0.000270168873359,2.02224414695e-05,1793242393399865856
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,744.918629258,714.918629258,679.918629258,660,633,880,786,806.918629258,651,631,651,0.452485511867,-0.00555305718085,0.0498271844325,0.999999961367,5.98250189675e-05,-0.000270613119499,2.13394387163e-05,1793242393416532736
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,744.34254618,714.34254618,679.34254618,660,633,880,786,806.34254618,651,631,651,0.452657414722,-0.00554938937065,0.0498342642601,0.999999964555,6.70716583641e-05,-0.000256671496959,2.26186585208e-05,1793242393433199616
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,744.239979733,714,679,660,632.760020267,880,786.239979733,806,651.239979733,631,651.239979733,0.45281021327,-0.00554805108549,0.0498374245884,0.999999965966,7.19296230024e-05,-0.00024967547323,2.36043900162e-05,1793242393449866240
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,744.831955805,714,679,660,632.168044195,880,786.831955805,806,651.831955805,631,651.831955805,0.452934990084,-0.00555012969028,0.0498348358914,0.999999965052,7.32839381522e-05,-0.000252867083012,2.41596400462e-05,1793242393466532864
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.414719213,745,714.414719213,679.414719213,660,632,879.585280787,787,806,651.585280787,630.585280787,651.585280787,0.453043248191,-0.0055508300158,0.0498304734483,0.999999963362,7.26285750014e-05,-0.000259628722304,2.43807866276e-05,1793242393483199488
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.99383076,745,714.99383076,679.99383076,660,632,879.00616924,787,806,651.00616924,630.00616924,651.00616924,0.453144958375,-0.00555098399922,0.0498254079023,0.999999961308,7.11765867844e-05,-0.000267805500869,2.44694964908e-05,1793242393499866112
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.433530445,745,714.433530445,679.433530445,660,632,879.566469555,786.433530445,806,651,630,651.566469555,0.453223448677,-0.00554974972071,0.0498210607811,0.999999959697,7.38742469083e-05,-0.000273089938833,2.38686433279e-05,1793242393516532736
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.139629816,679.139629816,660,632,880,786,806,651,630,652,0.453296783402,-0.00554900415769,0.0498167285296,0.999999957998,7.61685472811e-05,-0.000278654979546,2.352362898e-05,1793242393533199360
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.714633245,679.714633245,660,632,880,786,806,651,630,652,0.453354822322,-0.00554982904695,0.0498124185231,0.999999956075,7.70658279488e-05,-0.000285192062233,2.39994860256e-05,1793242393549866240
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,879.700372018,786,806,651.299627982,630.299627982,651.700372018,0.453405691596,-0.00555036482688,0.0498093094523,0.999999954646,7.63722747879e-05,-0.000290328330182,2.41785837255e-05,1793242393566532864
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,879.105533197,786,806,651.894466803,630.894466803,651.105533197,0.453449496928,-0.00555061575967,0.0498073836125,0.999999953721,7.41113401194e-05,-0.000294084435111,2.40652969894e-05,1793242393583199488
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.472408505,660,632,879,786,806,651.527591495,631,651,0.453483513377,-0.00554996629593,0.0498064652199,0.999999953487,7.35871384033e-05,-0.000295046990031,2.3611909666e-05,1793242393599866112
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680.953214853,659.953214853,632,879.093570294,786,806,651,631,651.046785147,0.453514320363,-0.00554926679568,0.0498056551352,0.999999953306,7.35311382552e-05,-0.000295707865745,2.3194108515e-05,1793242393616532736
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680.377941981,659.377941981,632,880.244116037,786,806,651,631,651.622058019,0.453532722005,-0.00555019574078,0.0498036140312,0.999999952004,7.45327185186e-05,-0.00029976696059,2.40068870857e-05,1793242393633199360
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.203141774,715,680,659.203141774,632,880.796858226,786,806,651.203141774,630.796858226,651.796858226,0.453548742864,-0.00554998030812,0.0498013566524,0.999999950941,7.53358574422e-05,-0.000303072689437,2.42956855327e-05,1793242393649865984
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.795354905,715,680,659.795354905,632,880.204645095,786,806,651.795354905,630.204645095,651.204645095,0.453560203879,-0.00554757308296,0.0497986850491,0.999999950359,7.57589275503e-05,-0.000304935518708,2.35809204871e-05,1793242393666532608
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.378805678,745.621194322,714.621194322,680,660,632,880,786,806,651.621194322,630.378805678,651.378805678,0.453569876108,-0.00554548012213,0.0497986570537,0.999999950328,7.76832933378e-05,-0.000304583497899,2.3179729986e-05,1793242393683199488
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.9576297,745.0423703,714.0423703,680,660,632,880,786,806,651.0423703,630.9576297,651.9576297,0.453578603817,-0.00554355310037,0.0498000249458,0.999999950581,8.04003786853e-05,-0.000303061983882,2.29441142723e-05,1793242393699866112
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.467384549,745,714.532615451,680,660,632,880,786,806.532615451,651.532615451,631,652,0.453580270419,-0.00554349771534,0.049798577145,0.999999949854,7.95407299168e-05,-0.000305688024732,2.27891444544e-05,1793242393716532736
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.109756587,632,880,786.109756587,806.890243413,651.890243413,631,651.890243413,0.453580894244,-0.00554323273566,0.0497967636541,0.999999948946,7.89589467968e-05,-0.000308804752119,2.2639592749e-05,1793242393733199360
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.697606823,632,880,786.697606823,806.302393177,651.302393177,631,651.302393177,0.453579405108,-0.00554141085124,0.0497943259546,0.999999947612,8.08180787698e-05,-0.000312631948533,2.24858964985e-05,1793242393749865984
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.71844731,680,660.43689462,632,879.71844731,786.71844731,806,651.28155269,631,651.28155269,0.453579886356,-0.00554068071039,0.0497932678161,0.999999946961,8.22003953833e-05,-0.000314340173374,2.26146386363e-05,1793242393766532608
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.138637386,680,659.277274771,632,879.138637386,786.138637386,806,651.861362614,631,651.861362614,0.45358245489,-0.00554110708612,0.0497936710878,0.999999947047,8.30776073742e-05,-0.000313803708364,2.30425762359e-05,1793242393783199488
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.437483877,632,879.437483877,786.437483877,806,652,631,652,0.453582905158,-0.00554050973593,0.0497936287581,0.999999946943,8.33064722967e-05,-0.000314102847766,2.26609656488e-05,1793242393799866112
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.012446837,745,714,679.987553163,660,632,880,786.987553163,806,651.987553163,631,651.987553163,0.453582700785,-0.00553961294099,0.0497934283472,0.999999946777,8.33512726291e-05,-0.00031466367545,2.20452294701e-05,1793242393816532480
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.587449869,745,714,679.412550131,660,632,880,786.412550131,806,651.412550131,631,651.412550131,0.453582994373,-0.00553972215897,0.0497924120443,0.999999946528,8.42854035303e-05,-0.000315183902207,2.23457616992e-05,1793242393833199104
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.833947244,745,714,679.166052756,660,632,880,786,806,651.166052756,631,651,0.453583467562,-0.0055395576806,0.0497917930296,0.999999946355,8.48666993844e-05,-0.00031556170708,2.25462048106e-05,1793242393849865984
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.24620254,745,714,679.75379746,660,632,880,786,806,651.75379746,631,651,0.453584396852,-0.00553869814873,0.0497921829307,0.999999946378,8.4551968507e-05,-0.000315577830712,2.24924710015e-05,1793242393866532608
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.338915753,745,714.338915753,680,660,632,880,786,806,652,630.661084247,651.338915753,0.453584418157,-0.00553800631753,0.0497919062354,0.999999946094,8.43798655849e-05,-0.0003165414874,2.22025591116e-05,1793242393883199488
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.922140758,745,714.922140758,680,660,632,880,786,806,652,630.077859242,651.922140758,0.453583784937,-0.0055374353743,0.0497911490203,0.999999945588,8.43105768086e-05,-0.000318188178408,2.17423969779e-05,1793242393899866112
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,714.502298634,680,660,632,880,786,806,652,630,651.502298634,0.453583915092,-0.00553735674199,0.0497909229636,0.999999945441,8.51907484673e-05,-0.000318402638298,2.18934349177e-05,1793242393916533504
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.926203727,745,714,679.926203727,660,632,880,786,806,652,630.073796273,651.073796273,0.45358423199,-0.00553723179075,0.0497908191157,0.99999994542,8.60569500428e-05,-0.000318229918565,2.20025040744e-05,1793242393933200896
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.338157302,745,714,679.338157302,660,632,880,786,806,652,630.661842698,651.661842698,0.453585030644,-0.0055362555183,0.0497909966277,0.999999945883,8.5806455379e-05,-0.0003168967832,2.11629259858e-05,1793242393949866496
+247,4.116666667,HOLD_POSE2,765,745,714,680,660,632,880,786,807,652,631,652,0.453586578926,-0.0055376315489,0.0497926006484,0.999999946369,8.52488333885e-05,-0.000315429942333,2.23163676832e-05,1793242393988217088
+248,4.133333333,HOLD_POSE2,765.577637172,745,714,680,660,631.422362828,880,786,806.422362828,651.422362828,630.422362828,652,0.453585979144,-0.00553760406334,0.0497918330608,0.99999994612,8.38586270995e-05,-0.000316608503303,2.20413769043e-05,1793242394004883712
+249,4.150000000,HOLD_POSE2,765.846769957,745,714.153230043,680,660,631.153230043,880,786,806.153230043,651.153230043,630,652,0.453585563258,-0.00553791325556,0.0497912080335,0.999999945937,8.27382438791e-05,-0.000317491043945,2.18925107833e-05,1793242394021550336
+250,4.166666667,HOLD_POSE2,765.27673768,745,714.72326232,680,660,631.72326232,880,786,806.72326232,651.72326232,630,652,0.453585647588,-0.00553913824759,0.0497909707857,0.99999994594,8.23518081829e-05,-0.000317568377654,2.20867172668e-05,1793242394038216960
+251,4.183333333,HOLD_POSE2,765,745,715,680,660,632,880,786,807,652,630.295388516,652,0.453585144663,-0.0055394977778,0.0497903746763,0.999999945599,8.21613339325e-05,-0.00031869080441,2.20638202775e-05,1793242394054883328
+252,4.200000000,HOLD_POSE2,765,745,715,680,660,632,880,786,807,652,630.869490391,652,0.453584087636,-0.00553904070283,0.0497894399639,0.999999944931,8.21557588116e-05,-0.000320799327025,2.18360756444e-05,1793242394071549952
+253,4.216666667,HOLD_POSE2,765,745,714.53885333,680,660,632,880,786,807,652,631,651.53885333,0.453584354928,-0.00553682322069,0.0497894810937,0.999999944911,8.44160935086e-05,-0.000320289171093,2.15947559189e-05,1793242394088216576
+254,4.233333333,HOLD_POSE2,765,745,714,680,659.944155829,632,880,786,806.944155829,652,630.944155829,651,0.453585038382,-0.00553432722391,0.049789813685,0.999999945088,8.71808892948e-05,-0.00031901064059,2.13658445734e-05,1793242394104883200
+255,4.250000000,HOLD_POSE2,765,745,714,680,659.369197542,632,880,786,806.369197542,652,630.369197542,651,0.45358596848,-0.00553405678147,0.0497901867885,0.99999994538,8.84379694099e-05,-0.000317751340861,2.12894052452e-05,1793242394121550080
+256,4.266666667,HOLD_POSE2,765,745,714,680,659.205006379,632,880,786,806,652,630.205006379,651.205006379,0.453585982821,-0.00553420428185,0.0497901459171,0.999999945409,8.84017207147e-05,-0.000317669994903,2.12780299358e-05,1793242394138216704
+257,4.283333333,HOLD_POSE2,765,745,714,680,659.777856678,632,880,786,806,652,630.777856678,651.777856678,0.453584354014,-0.00553510169908,0.0497893622486,0.999999944965,8.60448458578e-05,-0.000319702257127,2.13833993124e-05,1793242394154883328
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+261,4.350000000,HOLD_POSE2,765,745.113307012,714.113307012,680,660,632,880,786,806,652,630.113307012,652,0.453586351936,-0.0055347041465,0.0497907764015,0.99999994504,8.9592923559e-05,-0.000318467958822,2.16921490777e-05,1793242394221550080
+262,4.366666667,HOLD_POSE2,765,745.689374737,714.689374737,680,660,632,880,786,806,652,630.689374737,652,0.453586523113,-0.00553419536545,0.0497902193153,0.999999945263,8.74104205079e-05,-0.000318393939439,2.1405263915e-05,1793242394238216960
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,765.240684393,745,714.240684393,680,660,632,879.759315607,786,806.759315607,651.240684393,631,652,0.453585889719,-0.00553706022306,0.0497893318101,0.999999945198,8.24051729689e-05,-0.000319928431078,2.1448322375e-05,1793242394326352896
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.319167936,680,660,632,880,786,806.680832064,651,631,652,0.453584875384,-0.0055375538846,0.0497885879949,0.999999944825,8.24742720719e-05,-0.000321063902316,2.16083881489e-05,1793242394343019520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.869052365,680,660,632,880,786,806.130947635,651,631,652,0.453583674309,-0.00553655115581,0.0497878043075,0.999999944119,8.58743896515e-05,-0.000322356078926,2.17531680806e-05,1793242394359686144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.526047926,680,660,632,879.526047926,786,806.473952074,651.473952074,630.526047926,652,0.453583928932,-0.00553581905295,0.0497879269249,0.999999944054,8.72153043417e-05,-0.000322227386728,2.13526661911e-05,1793242394376352512
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.089316418,786.089316418,807,652,630.089316418,652,0.45358449898,-0.00553527962994,0.0497882376168,0.999999944215,8.76527480207e-05,-0.000321635813323,2.09235388568e-05,1793242394393019136
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,879.667812482,786.667812482,807,652,630.667812482,652,0.453584304533,-0.00553533220781,0.0497880268486,0.999999944516,8.66671585895e-05,-0.000320941501816,2.12711168006e-05,1793242394409685760
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,787,806.764871583,652,631,651.764871583,0.453578734686,-0.00553521652058,0.0497851662631,0.999999943226,8.58293398796e-05,-0.000325157333113,2.13163980416e-05,1793242394426352640
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,787,806.212633934,652,631,651.212633934,0.453565915232,-0.00553487390027,0.0497787319645,0.999999939705,8.51908142948e-05,-0.000335995297285,2.09539825711e-05,1793242394443019008
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.366198428,680,660,632,880,786.633801572,806,652,630.633801572,651.366198428,0.453540785396,-0.00553464556044,0.0497670202419,0.999999932885,8.45143294436e-05,-0.00035591716896,2.02430841269e-05,1793242394459685888
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.961682428,680,660,632,880,786.038317572,806,652,630.038317572,651.961682428,0.453507947734,-0.00553448877431,0.0497520041974,0.99999992352,8.38140772876e-05,-0.000381526692707,1.93139921347e-05,1793242394476352768
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631.439935,880,786,806.560065,652,630.560065,652,0.453450385392,-0.00553057727434,0.0497282837255,0.999999907122,8.74655216679e-05,-0.000421648159909,1.78513518947e-05,1793242394493019136
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.847776314,680,659.847776314,631.152223686,879.847776314,786.152223686,806.847776314,651.847776314,631,652,0.453388350887,-0.00552681542399,0.0497064133103,0.999999891088,9.0637936594e-05,-0.000457534464504,1.64542907258e-05,1793242394509685760
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.273429399,680,659.273429399,631.726570601,879.273429399,786.726570601,806.273429399,651.273429399,631,652,0.453318630063,-0.00552418461383,0.0496913331895,0.999999881005,9.16520766356e-05,-0.000478908929609,1.53408352296e-05,1793242394526352384
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+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659.87099151,632,879.87099151,787,806,651.87099151,630.12900849,651.12900849,0.453168497553,-0.00552108451726,0.0496771854679,0.999999871704,9.41058621686e-05,-0.000497534316233,1.39699977679e-05,1793242394559685888
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786.539025474,806,652,630,651,0.453079748707,-0.00551744810753,0.0496788423789,0.99999987258,9.51438956993e-05,-0.000495592093313,1.32766902609e-05,1793242394576352512
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.054706029,680,659.945293971,632,879.945293971,786,806,652,630.054706029,651.054706029,0.452985228112,-0.0055131517677,0.0496826492967,0.999999874754,9.63908414351e-05,-0.000490960198217,1.26335810454e-05,1793242394593019136
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.632867944,680,659.367132056,632,879.367132056,786,806,652,630.632867944,651.632867944,0.452868989018,-0.00550930242342,0.0496896514223,0.999999878973,0.000100348973296,-0.000481476219881,1.2865795504e-05,1793242394609686272
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.79003806,680,659.20996194,632,879.20996194,786.20996194,806,652,631,652,0.45273784234,-0.00550470627125,0.0496947878213,0.999999881033,0.000104482700599,-0.000476290933328,1.28170823404e-05,1793242394626352896
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.214801999,680,659.785198001,632,879.785198001,786.785198001,806,652,631,652,0.452580760715,-0.00549881088593,0.0496966783854,0.999999879471,0.000108921913683,-0.00047858415016,1.22796349106e-05,1793242394643019520
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.360346184,714,680,660,632,880,787,806,652,630.639653816,652,0.452408762286,-0.00549301773336,0.0496984652135,0.999999878585,0.00011345165231,-0.000479393893846,1.18226665556e-05,1793242394659686144
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.935442051,714,680,660,632,880,787,806,652,630.064557949,652,0.452227874115,-0.00548728550622,0.0497001902199,0.999999878095,0.000118035340405,-0.000479319556266,1.14136599607e-05,1793242394676352512
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.527638957,745.472361043,714.527638957,680,660,632,880,786.472361043,806,652,630,652,0.45202047858,-0.00547867927577,0.049705551077,0.999999879875,0.000124094095506,-0.000474064663686,1.06190640882e-05,1793242394693019136
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.881554468,745,714.881554468,680,660,632.118445532,880,786.118445532,806,652,630.118445532,652,0.451798567499,-0.00546950760123,0.0497089995947,0.999999880363,0.000130462106004,-0.00047134100053,9.55250019498e-06,1793242394709685760
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+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.271384499,680,660.271384499,633,880,787,806.271384499,652,631,652,0.451260901529,-0.00544973211325,0.049703935657,0.999999876893,0.000144277698737,-0.000474723124659,5.96725706771e-06,1793242394743019264
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.845973405,680,660.845973405,633,880,787,806.845973405,652,631,652,0.450980108641,-0.00544005830948,0.0497117668701,0.999999886924,0.000151394386107,-0.000450789628076,4.62158460762e-06,1793242394759685888
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.420070462,745,715,680.420070462,660.579929538,633,880,787,807,652,631,652,0.450682117962,-0.00543196819105,0.0497277985188,0.999999899562,0.000156072280366,-0.000420123853605,3.71335435314e-06,1793242394776352768
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.993987371,745,715,680.993987371,660.006012629,633,880,787,807,652,631,652,0.450377828775,-0.00542445808116,0.0497468334918,0.999999912337,0.000159856991669,-0.000386992452398,2.96533279409e-06,1793242394793019392
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.413569656,745,715,680.413569656,660,633,880,787,806.413569656,652,631,651.413569656,0.450024002072,-0.00541935168027,0.0497565040694,0.999999919736,0.000160987841227,-0.000366890494719,1.41511354309e-06,1793242394809686016
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.825567378,680,660.174432622,633,880,787,806,651.825567378,631,651.174432622,0.449650024399,-0.00541453514782,0.0497650904973,0.999999925407,0.000160976380738,-0.000351101165499,-3.33906206893e-07,1793242394826352640
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.248274182,680,660.751725818,633,880,787,806,651.248274182,631,651.751725818,0.449230718434,-0.0054103293055,0.0497714020072,0.999999927956,0.000158391592457,-0.00034495346587,-2.52244967458e-06,1793242394843019264
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.326737167,680,660.673262833,633,880,787,806.326737167,651,631,652,0.448783675957,-0.00541116351919,0.0497727826484,0.999999930962,0.000150856589487,-0.000339550503432,-4.97233357695e-06,1793242394859686144
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.90002672,680,660.09997328,633,880,787,806.90002672,651,631,652,0.448315703759,-0.00541580090502,0.0497704425091,0.999999934214,0.000139586206957,-0.000334709511064,-7.61942241738e-06,1793242394876353024
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+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.959394755,661,634,880,787,806,651.040605245,631,651.959394755,0.444382045424,-0.00539372078097,0.0498195348404,0.999999955666,0.000102567378709,-0.000278384405687,-2.54805032028e-05,1793242394993019136
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+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.133795407,661.732409187,634,880,787,806,652,631,651.866204593,0.44086356239,-0.00539230389699,0.0498090495848,0.999999957136,5.66573919338e-05,-0.000284322518151,-4.09763674088e-05,1793242395076352512
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diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..edd9e59c4dada3049c196acc9c01391632fc8440
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,407 @@
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diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67e8dceb5c2fb0bd60c6a62a4d194d3cb0d22d63
--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_04/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac97118806391d23bf16b229bc77c92e060ad2e2
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/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
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+64,1.066666667,BASELINE,765,745,714,679,661,635,878.875080302,788,805,652.124919698,631,652,0.400989389062,-0.00539811048378,0.0498554059215,0.999999959384,0.000129928026438,-0.000250466036192,-4.02283330306e-05,1793242397869797120
+65,1.083333333,BASELINE,765,745,714,679,661,635,878.28386247,788,805,652.71613753,631,652,0.400987667517,-0.00540020538154,0.0498543794987,0.999999959341,0.000126559425157,-0.000252394274444,-3.99828102368e-05,1793242397886463744
+66,1.100000000,BASELINE,764.699356525,744.699356525,714,679,661,635,878,788,804.699356525,652.699356525,631,652,0.40098739218,-0.0054014005936,0.0498542619241,0.999999959595,0.00012524854029,-0.000252079228019,-3.97374641643e-05,1793242397903130624
+67,1.116666667,BASELINE,764.121049472,744.121049472,714,679,661,635,878,788,804.121049472,652.121049472,631,652,0.400988452508,-0.00540176488796,0.0498549837294,0.999999960129,0.000125838089007,-0.000249692363871,-3.94922813189e-05,1793242397919797248
+68,1.133333333,BASELINE,764.456433567,744.456433567,714,679,661,635,878.456433567,787.543566433,804,652,631,652,0.400988075494,-0.00540026827083,0.0498546675094,0.999999959598,0.000127516070129,-0.000250959151319,-3.95463835832e-05,1793242397936463872
+69,1.150000000,BASELINE,765,745,714,678.96653786,661,635,879,787.03346214,804.03346214,652.03346214,631,652,0.400987372602,-0.0053984638159,0.0498541153093,0.999999958846,0.000129294207697,-0.000253013535038,-3.96832912332e-05,1793242397953130496
+70,1.166666667,BASELINE,765,745,714,678.39332201,661,635,879,787.60667799,804.60667799,652.60667799,631,652,0.400987550888,-0.00539964023868,0.0498541892181,0.999999959213,0.000128040116464,-0.000252170396612,-3.98778782371e-05,1793242397969797120
+71,1.183333333,BASELINE,765,745,714,678.186252562,660.813747438,635,879,788,804.813747438,653,631,652,0.40098721665,-0.00540111928852,0.0498541321948,0.999999959454,0.000126535255983,-0.000251972605768,-3.98911485067e-05,1793242397986463744
+72,1.200000000,BASELINE,765,745,714,678.779730034,660.220269966,635,879,788,804.220269966,653,631,652,0.400985761825,-0.00540326000614,0.0498537889001,0.99999995942,0.000124482110271,-0.000253185810711,-3.95079856602e-05,1793242398003130624
+73,1.216666667,BASELINE,765,745,714,679,660.363528464,635,879,788,804.363528464,652.636471536,631,652,0.400987170946,-0.00540235607591,0.0498548913771,0.999999959496,0.000126696982552,-0.000251789707312,-3.94652661591e-05,1793242398019797248
+74,1.233333333,BASELINE,765,745,714,679,660.941614215,635,879,788,804.941614215,652.058385785,631,652,0.400990270389,-0.00539965517106,0.0498568471596,0.999999959614,0.000131430871892,-0.000248853570049,-3.96234789523e-05,1793242398036463872
+75,1.250000000,BASELINE,765,744.484551608,714,679,661,635,878.484551608,787.484551608,805,652,631,652,0.400989362217,-0.00539982199565,0.0498557222218,0.999999959583,0.000129166765904,-0.000250119904607,-3.98669090347e-05,1793242398053130496
+76,1.266666667,BASELINE,765,744.091350104,714,679,661,635,878,787,805,652.091350104,631,652,0.4009882988,-0.00540024471594,0.0498546026808,0.999999959554,0.000126813534507,-0.000251410513883,-4.00383901768e-05,1793242398069797120
+77,1.283333333,BASELINE,765,744.681139219,714,679,661,635,878,787,805,652.681139219,631,652,0.400988844965,-0.00540030578946,0.0498554010555,0.999999959669,0.000128263743764,-0.000250257477664,-3.97650542006e-05,1793242398086463744
+78,1.300000000,BASELINE,765,745,714,679,661,635,878,787,805,653,631,652,0.400988562797,-0.00540092336465,0.049855335834,0.999999959618,0.000128319464407,-0.000250469365046,-3.95366242549e-05,1793242398103130368
+79,1.316666667,BASELINE,765,745,714,679,661,635,878,787,805,653,631,652,0.400987305749,-0.00540219589727,0.0498542542295,0.99999995937,0.000126733984625,-0.000252287657204,-3.93610450951e-05,1793242398119797248
+80,1.333333333,BASELINE,765,745,714,679,661,635,878,787.418476311,805,653,631,652,0.400988273339,-0.00540148550512,0.0498549132343,0.999999959527,0.000128517116684,-0.000250740508623,-3.94720389771e-05,1793242398136463872
+81,1.350000000,BASELINE,765,745,714,679,661,635,878,787.988267074,805,653,631,652,0.400990045321,-0.00540005811867,0.049856201616,0.999999959818,0.000131518285674,-0.000247976469745,-3.96866531495e-05,1793242398153130496
+82,1.366666667,BASELINE,765,745,714,679,661,635,878,787.430146317,805,653,631,652,0.400990108792,-0.00540035926379,0.0498560393204,0.999999960166,0.000128107711078,-0.000248314612018,-3.99654882686e-05,1793242398169796864
+83,1.383333333,BASELINE,764.846007979,745,714,679,661,635,878,787.153992021,804.846007979,653,630.846007979,652,0.400989780993,-0.00540053831985,0.0498557273912,0.999999960266,0.000126154085798,-0.000248884591009,-4.01317819991e-05,1793242398186463488
+84,1.400000000,BASELINE,764.255336773,745,714,679,661,635,878,787.744663227,804.255336773,653,630.255336773,652,0.400988445523,-0.00540026810997,0.0498550776319,0.999999959686,0.000128714236495,-0.000249927043731,-3.99751103996e-05,1793242398203130112
+85,1.416666667,BASELINE,764.328493467,745,714,679,661,635,878,787.671506533,804.328493467,652.671506533,630,652,0.400987288308,-0.00539939865083,0.0498542110034,0.99999995911,0.000129946682649,-0.000251559978555,-4.01504763728e-05,1793242398219796992
+86,1.433333333,BASELINE,764.907114694,745,714,679,661,635,878,787.092885306,804.907114694,652.092885306,630,652,0.400986266822,-0.0053980728999,0.0498531792424,0.999999958538,0.000130168162539,-0.000253642529458,-4.05786687355e-05,1793242398236463360
+87,1.450000000,BASELINE,765,745,714,679,661,635,878.481503061,787.481503061,805,652.481503061,630.481503061,652,0.400987797409,-0.00539977251891,0.0498543328054,0.999999959257,0.000128066987637,-0.000251956986183,-4.00259065104e-05,1793242398253130240
+88,1.466666667,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400989511331,-0.00540185852474,0.049855668389,0.99999996006,0.00012597792418,-0.000249920903433,-3.93660776958e-05,1793242398269797120
+89,1.483333333,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.400988357177,-0.00540213585911,0.0498547836845,0.999999959413,0.000128183750965,-0.000251367866882,-3.94641736788e-05,1793242398286463744
+90,1.500000000,BASELINE,765,745,714,678.770277162,661,635,878.770277162,787.770277162,805,653,631,652.229722838,0.400987351036,-0.00540108624786,0.0498542216439,0.999999958931,0.000129879046616,-0.00025237511275,-3.96986154096e-05,1793242398303130368
+91,1.516666667,BASELINE,765,745,714,678.188958157,661,635,878.188958157,787.188958157,805,653,631,652.811041843,0.400986571433,-0.00539800571534,0.0498541534482,0.99999995871,0.000130792962245,-0.000252709360463,-4.0141737482e-05,1793242398319796992
+92,1.533333333,BASELINE,765,745,714,678.775865044,661,635,878.775865044,787,805,653,631,652.612067478,0.400987757805,-0.00539804497936,0.0498549371619,0.999999959071,0.000130667730737,-0.000251356949838,-4.00425959155e-05,1793242398336463616
+93,1.550000000,BASELINE,765,745,714,679.925381206,661,635,879.925381206,787,805,653,631,652.037309397,0.400989890978,-0.00539958671506,0.0498561311493,0.999999959709,0.000130042053401,-0.000249192256516,-3.96823040555e-05,1793242398353130496
+94,1.566666667,BASELINE,765,745.538323213,714,680,661,635,878.923353575,787.538323213,805,653,631,652,0.400989887753,-0.00540003930465,0.049855633758,0.999999959952,0.000127652997131,-0.000249409727882,-3.99384468548e-05,1793242398369796864
+95,1.583333333,BASELINE,765,745.883518397,714,680,661,635,878.116481603,788,805,653,631,652,0.400989420154,-0.00540055821928,0.0498551173267,0.999999960057,0.000125733604922,-0.000249941024684,-4.007488695e-05,1793242398386463488
+96,1.600000000,BASELINE,765,745.295378238,714,680,661,635,878.704621762,788,805,653,631,652,0.400987672733,-0.00540165185056,0.0498549992346,0.999999959734,0.000126211655978,-0.00025107345468,-3.95533495685e-05,1793242398403130368
+97,1.616666667,BASELINE,765,745,714,679.711638039,661.288361961,635,879,788,805,653,631,652,0.400986784357,-0.00540167730455,0.0498546234529,0.999999959381,0.000127351022399,-0.00025193828081,-3.93350399163e-05,1793242398419796992
+98,1.633333333,BASELINE,765,745,714,679.132337156,661.867662844,635,879,788,805,653,631,652,0.400986762703,-0.00540062503538,0.0498539876787,0.999999958996,0.000129157614037,-0.000252533111551,-3.94226678358e-05,1793242398436463616
+99,1.650000000,BASELINE,765,745,714,679,661.556509439,635,879,788,805,653,631,652,0.400988110946,-0.00540074579971,0.0498546408428,0.999999959506,0.000127829577299,-0.000251147216325,-3.96497214185e-05,1793242398453130240
+100,1.666666667,BASELINE,765,745,714,679,661,635,878.981657769,788,805,652.981657769,631,652,0.40098976484,-0.00540121068566,0.0498556328283,0.999999960245,0.000125670322424,-0.00024924998686,-3.99013839418e-05,1793242398469797120
+101,1.683333333,BASELINE,765,745,714,679,661,635,878.405214805,788,805,652.405214805,631,652,0.40098837757,-0.00540157849487,0.0498553222989,0.999999960058,0.000126458951968,-0.000249638430511,-3.96457584875e-05,1793242398486463744
+102,1.700000000,BASELINE,765,745,714,679,661,635,878,788,805,652.176298718,631,652,0.400987601438,-0.00540164502986,0.0498550224422,0.999999959854,0.000126927077415,-0.000250237944478,-3.95229194522e-05,1793242398503130368
+103,1.716666667,BASELINE,765,745,714,679,661,635,878,788,805,652.769811737,631,652,0.400988271575,-0.00540099859361,0.049854747843,0.999999959608,0.000126636723655,-0.000251336960342,-3.9714322063e-05,1793242398519796736
+104,1.733333333,BASELINE,765,745,714,679,661,635,878,788,805.352545556,653,631,652,0.400988491179,-0.00540132062404,0.0498548026357,0.999999959687,0.000126554641356,-0.00025107563781,-3.96330053263e-05,1793242398536463616
+105,1.750000000,BASELINE,765,745,714,679,661,635,878,788,805.928450155,653,631,652,0.400988425343,-0.00540225623695,0.0498550661182,0.999999959972,0.000126604511662,-0.000249952458313,-3.9378904322e-05,1793242398553130752
+106,1.766666667,BASELINE,765,745,714,679,661,635,878.504352977,788,805.495647023,653,631,652,0.40098932977,-0.00540229403411,0.0498555576916,0.999999960279,0.000125856051035,-0.000249063507264,-3.96200148328e-05,1793242398569797120
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,879,788,805,653,631,652,0.400988258529,-0.00539940947328,0.0498544882994,0.99999995959,0.000128320669296,-0.000250513919846,-3.99555516938e-05,1793242398613123328
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.404508128,661,635,879.595491872,788,805,653,631,652,0.400987364224,-0.00540101532139,0.0498541087894,0.999999959351,0.000127777461336,-0.000251765220255,-3.98170829501e-05,1793242398629789696
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.815636206,788,805,652.815636206,631,652,0.40098703195,-0.00540210622221,0.0498542636075,0.999999959382,0.000126799954359,-0.000252148347796,-3.97268684473e-05,1793242398646456320
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.240785389,788,805,652.240785389,631,652,0.400987890071,-0.00540210645238,0.0498555501452,0.999999959987,0.000124902591343,-0.000250692664204,-3.97388575811e-05,1793242398663122944
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.66589901,635,879,788,804.66589901,652.33410099,631,652,0.400987354142,-0.00540170085677,0.049855170563,0.999999959844,0.000125007384539,-0.000251183148454,-3.99092008683e-05,1793242398679789824
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.090987033,635,879,788,804.090987033,652.909012967,631,652,0.400985813419,-0.00540100275289,0.0498535900862,0.99999995916,0.000126555278067,-0.000253076378101,-4.01936815591e-05,1793242398696456448
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.498738361,635,879,787.501261639,804,653,631,652,0.400985667664,-0.00540003705974,0.0498532744611,0.999999958887,0.000128334635452,-0.000253267257617,-4.01371542978e-05,1793242398713123328
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.088781032,679,661,635,878.911218968,787.088781032,804,653,631,652,0.40098581047,-0.00539963699525,0.0498532658637,0.999999958778,0.000129246205851,-0.000253261259939,-3.99685121305e-05,1793242398729789952
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.665266545,679,661,635,878.334733455,787.665266545,804,653,631,652,0.400986097653,-0.00540262050201,0.0498536374698,0.999999959146,0.000125151658577,-0.000253932024277,-3.95361952699e-05,1793242398746456576
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.758586396,679,660.758586396,635,878,787.758586396,804.241413604,652.758586396,631,652,0.400993960768,-0.00540346340273,0.0498569497342,0.999999960627,0.000124119481882,-0.000248587308034,-3.93033043858e-05,1793242398763123200
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.18290801,679,660.18290801,635,878,787.18290801,804.81709199,652.18290801,631,652,0.40101231363,-0.005401342389,0.0498643336766,0.999999963528,0.000127327508267,-0.000234913469977,-3.93465416344e-05,1793242398779789568
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.400316501,635,878,787,804.599683499,652,631,652,0.40105204557,-0.00540170840956,0.0498793995388,0.999999970366,0.000127243430021,-0.000203933499787,-3.85682852506e-05,1793242398796456192
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.987055195,635,878,787,804.012944805,652,631,652,0.40110173347,-0.00540323260949,0.049898042772,0.999999977814,0.000125626261547,-0.000164894287261,-3.7407469912e-05,1793242398813122816
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.433238808,635,878,787,804.566761192,652.566761192,631,652,0.401166736407,-0.00540482720985,0.0499161292397,0.999999983133,0.00012677364837,-0.000127867022137,-3.62288904753e-05,1793242398829789440
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.145526507,679,660.145526507,635,878.291053014,787.145526507,805,653,631,652,0.401234132816,-0.00540700190974,0.049932163388,0.99999998658,0.000126735252808,-9.77519471221e-05,-3.49699198362e-05,1793242398846456320
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.721976284,679,660.721976284,635,879.443952568,787.721976284,805,653,631,652,0.401307593536,-0.00541088965866,0.0499421575449,0.999999988006,0.000123000918001,-8.79703699394e-05,-3.34740867368e-05,1793242398863123200
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.701727622,679,661,635,879.701727622,787.701727622,805,652.701727622,631,652,0.401387697291,-0.00541507430517,0.049948264264,0.999999989097,0.000119646393488,-8.02949134422e-05,-3.23027362569e-05,1793242398879790080
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.125574738,679,661,635,879.125574738,787.125574738,805,652.125574738,631,652,0.401473989914,-0.00541953555115,0.0499507493154,0.999999989922,0.000116645713155,-7.45815898851e-05,-3.14336847105e-05,1793242398896456960
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.539029782,745.460970218,714,678.539029782,661,635,878.539029782,787.460970218,804.539029782,652.460970218,631.460970218,652,0.401574107166,-0.0054214120071,0.0499499944764,0.999999989548,0.000118117979948,-7.75707298762e-05,-3.05757255806e-05,1793242398913123584
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.049524383,745.950475617,714,678.049524383,661,635,878.049524383,788,804.049524383,653,631.950475617,652,0.401680372992,-0.00542299244918,0.0499485575983,0.999999988908,0.000120250757687,-8.27192994859e-05,-2.96840840628e-05,1793242398929789952
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.628593964,745.371406036,714,678.628593964,661,635,878.628593964,788,804.628593964,653,631.371406036,652,0.401811185779,-0.00542911040058,0.0499494828087,0.999999989241,0.000116116747606,-8.5024488197e-05,-2.83992342333e-05,1793242398946456576
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.793806095,788,805,653,631,652,0.401953792245,-0.00543493863818,0.0499509940656,0.999999989646,0.000112851903121,-8.5073484996e-05,-2.70991682449e-05,1793242398963122944
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.218834663,788,805,653,631,652,0.402117491678,-0.00544024872239,0.0499535534661,0.999999990204,0.00011114156061,-8.10872852902e-05,-2.57718883147e-05,1793242398979789568
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,788,805,652.635855271,631,651.635855271,0.40230198358,-0.00544676367362,0.0499551612886,0.999999990783,0.000107612312706,-7.91278765643e-05,-2.43418254563e-05,1793242398996456448
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878,788,805,652.047955185,631,651.047955185,0.402499251809,-0.00545401897783,0.0499561843969,0.999999991364,0.000102965405116,-7.8413866054e-05,-2.28486056284e-05,1793242399013123328
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.467722809,714,679,661,635,878,787.467722809,805,652.532277191,631,651.532277191,0.402719268359,-0.00546246469624,0.0499542667043,0.999999991653,9.85563611133e-05,-8.08201438061e-05,-2.12015539884e-05,1793242399029789952
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.111367479,714,679,661,635,878,787,805,653,631,652,0.402951153798,-0.00547093205407,0.049953574222,0.999999992027,9.461619155e-05,-8.13493466017e-05,-1.93917830197e-05,1793242399046456576
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.68852947,714,679,661,635,878,787,805,653,631,652,0.403224230656,-0.00547904771997,0.0499590985964,0.999999992919,9.2548729252e-05,-7.28685945627e-05,-1.69585815827e-05,1793242399063123456
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.264827672,787,804.735172328,652.735172328,630.735172328,652,0.403518039287,-0.00548778674757,0.0499668806071,0.999999994255,8.97019459874e-05,-5.68137703298e-05,-1.46869436339e-05,1793242399079789824
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,878.840113218,787,804.159886782,652.159886782,630.159886782,652,0.40383615179,-0.00549725654254,0.0499773092478,0.999999995719,8.59415636835e-05,-3.18798504883e-05,-1.26047069424e-05,1793242399096456448
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.574199656,635,878.574199656,787,804.425800344,652,630.425800344,652,0.404182449146,-0.0055066793955,0.0499853184258,0.999999996475,8.15397044269e-05,-1.7438806256e-05,-9.80650304799e-06,1793242399113123072
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.01519811,635,878.01519811,787.01519811,804.98480189,652.01519811,631,652,0.404540593276,-0.00551604941957,0.0499923600721,0.999999996983,7.7079884385e-05,-6.91776683353e-06,-6.72668587639e-06,1793242399129789696
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.593738634,635,878.593738634,787.593738634,804.406261366,652.593738634,631,652,0.404935746359,-0.00552413098089,0.0499980568863,0.999999996792,7.96235512616e-05,8.00301054e-06,-3.4230636642e-06,1793242399146456576
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714,679.16469941,661,635,879,787.83530059,804.16469941,653,631,652,0.405331637658,-0.00552690567353,0.0499973023726,0.999999996107,8.77462369991e-05,9.28509042154e-06,-4.80541098422e-07,1793242399163123200
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714,679.71778587,661,635,879,787.28221413,804.71778587,653,631,652,0.405729269734,-0.00551716593608,0.0499813346148,0.999999993822,0.000109025124143,-2.15950203671e-05,1.6104513785e-06,1793242399179789824
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.300270376,714,679.699729624,661,635,878.699729624,787,805,653,631,652,0.406138837867,-0.00550440750253,0.0499621945853,0.999999989417,0.000133534644255,-5.7681551135e-05,2.59761998203e-06,1793242399196456448
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.91338394,714,679.08661606,661,635,878.08661606,787,805,653,631,652,0.406560841888,-0.00548850397391,0.0499397494541,0.999999982051,0.000161410071725,-9.91925069458e-05,2.43474605015e-06,1793242399213123072
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.502610594,714,679,661,635,878,787.497389406,805,652.502610594,631,652,0.407056626296,-0.00549309985007,0.0499302828278,0.999999979461,0.000166457325099,-0.000115500277214,5.4188116751e-06,1793242399229789696
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.923910513,745,714,679,660.923910513,635,878.076089487,788,805,652,631,652,0.407573086287,-0.00550133031876,0.0499265306839,0.99999997864,0.000167664991819,-0.000120524840798,9.08372738093e-06,1793242399246456576
+146,2.433333333,POSE1_TO_POSE2_PRESS,764.348600249,745,714,679,660.348600249,635,878.651399751,788,805,652,631,652,0.408145562074,-0.00551128081027,0.0499462624786,0.99999998264,0.000168321281846,-7.87241859085e-05,1.38189707848e-05,1793242399263123200
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.227488733,745,714,679,660.227488733,635,878.772511267,787.772511267,805,652.227488733,631,651.772511267,0.408736040957,-0.00551812267603,0.0499680421151,0.999999984027,0.000173702024929,-3.7658059488e-05,1.88324742936e-05,1793242399279789568
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.804775075,745,714,679,660.804775075,635,878.195224925,787.195224925,805,652.804775075,631,651.195224925,0.409354202232,-0.00552018456884,0.0499929706103,0.99999998234,0.000186347314232,2.27861804873e-06,2.4273843641e-05,1793242399296456448
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.389904085,745,714,679,661,635,878,787,805,652.610095915,631,651.389904085,0.409960307193,-0.00551795060714,0.0500009736664,0.999999979053,0.000202447269094,1.07503997313e-05,2.81693562538e-05,1793242399313123072
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.979040506,745,714,679,661,635,878,787,805,652.020959494,631,651.979040506,0.410560251627,-0.00551352155904,0.0500003281978,0.999999975237,0.000220312481072,3.1443165382e-06,3.12749702141e-05,1793242399329789696
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.882476548,745,714,679,660.441238274,635,878.558761726,787,805,652,631,652,0.411177821522,-0.00551361683662,0.0499688639432,0.999999971064,0.000229045389171,-6.50350958301e-05,3.43661374656e-05,1793242399346456320
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.136931763,745,714,679,660,635,879.136931763,787.136931763,805,652,631.136931763,652,0.411816997874,-0.00551355522179,0.0499441847648,0.999999964309,0.000238599890002,-0.000114304164811,3.72370950267e-05,1793242399363122944
+153,2.550000000,POSE1_TO_POSE2_PRESS,764.711256254,745,714,679,660,635,879.711256254,787.711256254,805,652,631.711256254,652,0.412523113431,-0.00551245934315,0.0499448101949,0.999999962897,0.000251854836379,-9.60315733754e-05,3.94063524292e-05,1793242399379789824
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.286847136,635,879.713152864,788,805,652,631.713152864,652,0.413261817803,-0.00551863277937,0.0499605440018,0.999999977751,0.000198787403625,-6.42736106302e-05,2.91700027494e-05,1793242399396456448
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.863718503,635,879.136281497,788,805,652,631.136281497,652,0.414033472025,-0.00553215604469,0.0499915535247,0.999999996707,7.86630091835e-05,-1.88809105575e-05,6.39064231352e-06,1793242399413122816
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.45100373,788,805,652,631,652,0.414764573562,-0.00553833321641,0.0499839533349,0.999999997763,5.92176654761e-05,-3.08499617273e-05,3.91215942749e-06,1793242399429789696
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.040585431,745,714,678.959414569,660.959414569,635,879.959414569,787.959414569,805,652,631,652,0.415487785585,-0.00554177326185,0.0499643078299,0.999999995581,7.14588583112e-05,-6.05982822258e-05,7.67454179911e-06,1793242399446456576
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.617937921,745,714,678.382062079,660.382062079,635,879.382062079,787.382062079,805,652,631,652,0.416272551259,-0.00553906522759,0.0499433038624,0.999999991683,9.09066324675e-05,-9.08275362249e-05,1.09274640669e-05,1793242399463123200
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.805491258,745,714,678.194508742,660.194508742,635,879.194508742,787.194508742,805,652,631,652,0.417074334124,-0.00553663896802,0.0499381279265,0.999999989476,0.000108060152686,-9.56763351256e-05,1.47059583156e-05,1793242399479790080
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.230449714,745,714,678.769550286,660.769550286,635,879.769550286,787.769550286,805,652,631,652,0.417909409014,-0.00553476396672,0.0499639176194,0.999999991228,0.000120725241735,-5.08713448349e-05,1.95126703198e-05,1793242399496456704
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.345037468,745,714.345037468,679,661,635,879.654962532,787.654962532,805,652,631,652,0.418733008557,-0.00553337176482,0.0499752320328,0.999999990916,0.000127620569056,-3.73200801987e-05,2.20757366263e-05,1793242399513123328
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.920822652,745,714.920822652,679,661,635,879.079177348,787.079177348,805,652,631,652,0.419548933799,-0.00553230244057,0.0499768659381,0.999999990199,0.000130657302467,-4.46701005072e-05,2.31383392815e-05,1793242399529789440
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.488234153,745,715,679,660.488234153,635,879,787,805.511765847,652,631,652,0.420370052275,-0.00553160105852,0.0499657124803,0.99999999004,0.00012910487888,-5.26180989763e-05,2.19768497626e-05,1793242399546456320
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.102119928,745,714.897880072,678.897880072,660.102119928,635,879,787,806,652,631,652,0.421215646812,-0.00553215535209,0.049960400749,0.99999999064,0.000126091126552,-4.87189876288e-05,2.11560631016e-05,1793242399563123200
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.678513785,745,714.321486215,678.321486215,660.678513785,635,879,787,806,652,631,652,0.42217106943,-0.00553826891043,0.0499916882873,0.999999992503,0.000119688671939,1.06442502961e-05,2.35644661265e-05,1793242399579789824
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.253892867,678.253892867,660.746107133,635,879.253892867,787,805.746107133,652,631,652,0.423080106613,-0.00554134194901,0.0500023868283,0.999999992346,0.000117249064336,3.05525934933e-05,2.50524207414e-05,1793242399596456448
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.827992206,678.827992206,660.172007794,635,879.827992206,787,805.172007794,652,631,652,0.423930643203,-0.00554058032334,0.0499871187906,0.999999992501,0.000119807348717,7.00930723961e-07,2.53795178614e-05,1793242399613123072
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.588450291,745,714.588450291,679,660.411549709,635,879.588450291,787,805,652,631,652,0.424794171753,-0.00554096658589,0.0499813991675,0.999999992499,0.00011956720019,-6.88505514019e-06,2.56565523712e-05,1793242399629789696
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.000846784,745,714.000846784,679,660.999153216,635,879.000846784,787,805,652,631,652,0.425663257987,-0.00554184389506,0.049979764191,0.999999992675,0.000118129930681,-4.94617044332e-06,2.59121709551e-05,1793242399646456576
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,678.417644651,661.582355349,635,880.164710698,787,805.582355349,651.417644651,631,652,0.426585144773,-0.00554471927945,0.0499979467877,0.999999992932,0.000115030120129,1.04744099426e-05,2.8175115864e-05,1793242399663123200
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.162991205,745,714,678.162991205,661.837008795,635,880.837008795,787,806,651.162991205,631,651.837008795,0.427486926257,-0.00554591840868,0.0500010769264,0.999999993135,0.000113367927666,1.46572312341e-06,2.95774617921e-05,1793242399679789824
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.73716897,745,714,678.73716897,661.26283103,635,880.26283103,787,806,651.73716897,631,651.26283103,0.42833779474,-0.00554288148547,0.0499661612797,0.999999990538,0.000115338543374,-6.92210561203e-05,2.88014206637e-05,1793242399696456448
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714,679.311312813,661,635,880,787,806,652,631,651.311312813,0.429227252092,-0.00554138127121,0.0499519793339,0.999999989188,0.000114704502293,-8.76808046046e-05,2.79144056109e-05,1793242399713123328
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679.885427993,661,635,880,787,806,652,631,651.885427993,0.430149285143,-0.00554117830776,0.0499553002534,0.999999991454,0.000111871676331,-6.2051817454e-05,2.69337093036e-05,1793242399729789952
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714,680,661.472292767,635,879.527707233,787,806,652,631.472292767,652,0.431021645721,-0.00554343463343,0.0499580078068,0.999999991858,0.000110005844966,-5.85030969348e-05,2.75594965761e-05,1793242399746456576
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.938671742,661.938671742,635,879,787,806,652,631.938671742,652,0.431882703553,-0.00554608127238,0.0499584275801,0.999999991753,0.000108464933121,-6.26327505891e-05,2.8392463707e-05,1793242399763123200
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679.358169639,661.358169639,635,879,787,806,652,631.358169639,652,0.432752915889,-0.00554684154621,0.0499407747356,0.999999990201,0.000107633694114,-8.51611698376e-05,2.75886773586e-05,1793242399779789824
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,879.219411907,787.219411907,806,652,631,651.780588093,0.433637064361,-0.0055490266651,0.0499402350203,0.999999990672,0.000104947243123,-8.28035704137e-05,2.80311907139e-05,1793242399796456448
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,714,679,661,635,879.79228863,787.79228863,806,652,631,651.20771137,0.434543663595,-0.00555350715906,0.0499672639477,0.999999993794,9.92721110879e-05,-4.03554790893e-05,3.04814486429e-05,1793242399813123328
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.633874132,745,714,679.366125868,661,635,880,787.633874132,806,652,631,651.366125868,0.435389169308,-0.00555130788017,0.0499741894891,0.99999999329,0.000103693449088,-4.0603811237e-05,3.19352366807e-05,1793242399829789952
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.059490573,745,714,679.940509427,661,635,880,787.059490573,806,652,631,651.940509427,0.436199924088,-0.00554530904958,0.0499696799319,0.999999990858,0.000113857805638,-6.51384891906e-05,3.28222180877e-05,1793242399846456576
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.465928006,745,714,679.465928006,661,634.465928006,880,787,806,652,631,651.465928006,0.437000886414,-0.00554502593684,0.0499539938092,0.999999988617,0.000115002159067,-9.19086102763e-05,3.30507331148e-05,1793242399863123200
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.125193636,745,714,679.125193636,661,634,880.125193636,787,806,651.874806364,631,651.125193636,0.437812558878,-0.00554618898761,0.0499465105762,0.999999988135,0.000112548424848,-9.98913315267e-05,3.29396696074e-05,1793242399879790080
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.699605562,745,714,679.699605562,661,634,880.699605562,787,806,651.300394438,631,651.699605562,0.438666721044,-0.00555017153341,0.0499730944126,0.999999993617,0.000100923571737,-3.95345649674e-05,3.18831202337e-05,1793242399896456704
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679.72553687,661,634,880.72553687,787,806,651,631,652,0.439481012559,-0.00555243082062,0.0499809332364,0.999999994699,9.6009470918e-05,-1.95878570809e-05,3.16377365024e-05,1793242399913123328
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679.150190798,661,634,880.150190798,787,806,651,631,652,0.44025159542,-0.00555280096817,0.0499682226515,0.999999993667,9.84521001859e-05,-4.39410826293e-05,3.22816013426e-05,1793242399929789696
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,679.436422498,661,634,880,787,806,651.436422498,631,652,0.44098743566,-0.00555352473682,0.0499571700428,0.999999992672,9.91288814251e-05,-6.1412699755e-05,3.25343183615e-05,1793242399946456320
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.026491154,745,714,679.973508846,661,634.026491154,880,787,806,652,631,651.973508846,0.441711830891,-0.00555436710949,0.0499482159605,0.999999991806,9.93218219746e-05,-7.38352012922e-05,3.27434380711e-05,1793242399963123200
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.605608737,745,714,679.394391263,661,634.605608737,880,787,806,652,631,651.394391263,0.442453501923,-0.00555507771245,0.0499708206851,0.999999993643,0.00010243453551,-3.16418032943e-05,3.49255707948e-05,1793242399979789824
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.816485755,745,714,679,661,634.816485755,880.183514245,787,806,651.816485755,631,651.183514245,0.443171404227,-0.00555521420792,0.0499867840054,0.999999993718,0.000105722783371,-4.75541602394e-06,3.69405016192e-05,1793242399996456192
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.241167925,745,714,679,661,634.241167925,880.758832075,787,806,651.241167925,631,651.758832075,0.443838560351,-0.00555412498191,0.0499885679075,0.999999993217,0.000109385798571,-1.05495448895e-05,3.85984562981e-05,1793242400013123072
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.659178537,634,880.318357074,787,806,651,631,651.659178537,0.444469531277,-0.00555329364024,0.0499675222534,0.999999991633,0.000114047826355,-4.70247008187e-05,3.8922964025e-05,1793242400029789952
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.072374082,634,879.144748164,787,806,651,631,651.072374082,0.445074386017,-0.00555264842296,0.0499299996954,0.999999986555,0.000119430876584,-0.000105643446544,3.82850753769e-05,1793242400046456832
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.510356083,660.510356083,634,879.510356083,787,806,651,631,651,0.445712542594,-0.00555403414254,0.049936122116,0.999999988826,0.000120904862781,-7.87351499925e-05,3.91244176086e-05,1793242400063123456
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.091201217,880,787,806.091201217,651.091201217,631,651.091201217,0.44634501305,-0.00555474379806,0.0499488463381,0.99999999075,0.00012292904589,-4.20637915004e-05,4.02282025823e-05,1793242400079789824
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.665103231,880,787,806.665103231,651.665103231,631,651.665103231,0.446922591398,-0.00555036297523,0.049964013063,0.999999990431,0.000130776019024,-1.74044852102e-05,4.16316306668e-05,1793242400096456448
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,880,787,807,651.760151952,631,652,0.447459047772,-0.00554802717463,0.0499579331721,0.999999989579,0.000135674801907,-2.54691389385e-05,4.2254103278e-05,1793242400113122816
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,880,787,807,651.184226238,631,652,0.447937883546,-0.00554855688155,0.0499220822936,0.999999986668,0.000136442548055,-7.9386959545e-05,4.17822925045e-05,1793242400129789440
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.600890526,880,787,806.600890526,651.399109474,631,651.600890526,0.4483968307,-0.00555081099305,0.0498916186769,0.999999981856,0.00013617840345,-0.000126522449463,4.16605618995e-05,1793242400146456320
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.014069652,880,787,806.014069652,651.985930348,631,651.014069652,0.44884642377,-0.00555387613622,0.0498636888242,0.99999997543,0.000135428934185,-0.000170468040309,4.17034828863e-05,1793242400163123200
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.432553321,634,880,787,806,652,631,651,0.449294354949,-0.00555363125694,0.0498680256461,0.999999976084,0.000136125113089,-0.000165703517343,4.29493349351e-05,1793242400179789824
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.14708085,634,880,787,806,652,631,651.14708085,0.449733097549,-0.00555244238176,0.049875345018,0.999999977234,0.00013798237798,-0.000156728095814,4.39128577526e-05,1793242400196456448
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.721623738,634,880,787,806,652,631,651.721623738,0.450145254075,-0.00554874627915,0.0498890289643,0.999999979134,0.000143110904904,-0.000138992097011,4.39699640954e-05,1793242400213123072
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.29693969,680,661,633.70306031,880.29693969,787,806,652,631,652,0.450529667379,-0.00554832675275,0.0498938216147,0.999999984093,0.00011088967902,-0.000135466327421,3.41656069038e-05,1793242400229789440
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.872982234,680,661,633.127017766,880.872982234,787,806,652,631,652,0.450888003939,-0.0055509869825,0.0498902570587,0.999999988382,4.35622575097e-05,-0.00014529719504,1.50921531396e-05,1793242400246455808
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.539405698,633,880.539405698,787,806.460594302,651.539405698,631,652,0.451206021506,-0.00555757498905,0.0498834939119,0.999999986287,2.64054929879e-05,-0.000162977307478,1.29359197068e-05,1793242400263122688
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.949587021,680,660,633,880,787,806.949587021,651.050412979,631.050412979,651.949587021,0.451507659694,-0.00556469513687,0.0498744266355,0.999999982444,2.3898052327e-05,-0.000185213543334,1.53820323099e-05,1793242400279789312
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.370939216,680,660,633,880,787,806.370939216,651.629060784,631.629060784,651.370939216,0.451757177982,-0.00556574919492,0.0498506969769,0.999999972636,2.6182400122e-05,-0.000231924335777,1.59095094864e-05,1793242400296456192
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.20633839,745,714,680,660,633,880,787,806,652,631.79366161,651.20633839,0.452000810093,-0.00556444546525,0.0498314682144,0.99999996369,3.12197845108e-05,-0.000267168361406,1.63186741806e-05,1793242400313123072
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.781168945,745,714,680,660,633,880,787,806,652,631.218831055,651.781168945,0.452233930272,-0.00555893104881,0.0498202774398,0.999999959272,4.1173715853e-05,-0.000281934304279,1.65165489411e-05,1793242400329789696
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,714.36412022,680,660.36412022,633,880,787,806,652,631,652,0.452463799988,-0.00555459327778,0.0498198106919,0.999999959346,4.93299948483e-05,-0.000280299226431,1.75127687397e-05,1793242400346456576
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,714.952063319,680,660.952063319,633,880,787,806,652,631,652,0.452691671682,-0.00555097878426,0.0498259359487,0.999999962162,5.63812669031e-05,-0.000268582524632,1.89997272574e-05,1793242400363123200
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.467257898,745.532742102,714.467257898,680,661,633,880,787,806,651.467257898,631,651.467257898,0.452882336135,-0.00555016960782,0.0498293168056,0.999999963653,5.99183817365e-05,-0.000262135386375,1.97081842856e-05,1793242400379789568
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.887622775,714,680,660.887622775,632.887622775,880,787,806.112377225,651.112377225,631,651.112377225,0.453063010002,-0.00555001546921,0.0498316916426,0.999999964691,6.27412637631e-05,-0.000257415723093,2.04545029035e-05,1793242400396455936
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.309639812,714,680,660.309639812,632.309639812,880,787,806.690360188,651.690360188,631,651.690360188,0.453215975275,-0.00555154351962,0.0498309076837,0.999999964464,6.38974084521e-05,-0.000257915266637,2.16440224419e-05,1793242400413122816
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.260215708,714.260215708,680,660,632,880,787,807,652,631,652,0.453349186268,-0.00555204973114,0.0498270527951,0.99999996277,6.48553498146e-05,-0.000264112685214,2.23145035679e-05,1793242400429789440
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.820692979,714.820692979,680,660,632,880,787,807,652,631,652,0.453459602888,-0.00555137684794,0.0498196543768,0.999999959266,6.55845853031e-05,-0.00027688485236,2.23860688713e-05,1793242400446456320
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.589129087,714.589129087,680,660,632,880,787,807,652,631,652,0.453561135162,-0.00554971373284,0.0498127326127,0.999999956403,6.79074942387e-05,-0.000286522320216,2.20968575198e-05,1793242400463122944
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.98561203,745.01438797,714.01438797,680,660,632,879.98561203,787,807,652,630.98561203,652,0.45365786957,-0.00554769133678,0.0498060519829,0.999999953831,7.08737035715e-05,-0.000294695126383,2.16630987134e-05,1793242400479789824
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.406899227,745.593100773,714.593100773,680,660,632,879.406899227,787,807,652,630.406899227,652,0.453730342792,-0.00554984748896,0.0498000346131,0.999999951344,6.96673803901e-05,-0.000303257735742,2.22164070167e-05,1793242400496456448
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.170784818,745.829215182,714.829215182,680,660,632,879,786.829215182,806.829215182,652,630.170784818,652,0.453798493113,-0.0055507029328,0.0497948495802,0.999999949266,6.95019873836e-05,-0.000310054147978,2.24611742674e-05,1793242400513123072
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.746032414,745.253967586,714.253967586,680,660,632,879,786.253967586,806.253967586,652,630.746032414,652,0.45385640567,-0.00554847796137,0.0497916357381,0.9999999483,7.18017873934e-05,-0.000312667745826,2.19752361464e-05,1793242400529789440
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.328471513,745,714,680,660,632,879.328471513,786,806,652,630.671528487,652,0.453904838339,-0.00554808003023,0.0497899761622,0.999999947785,7.29670692859e-05,-0.000314049355689,2.18617615626e-05,1793242400546456064
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.916595463,745,714,680,660,632,879.916595463,786,806,652,630.083404537,652,0.453945777286,-0.00554912635032,0.0497895452131,0.999999947634,7.32355296844e-05,-0.000314457095437,2.20427144843e-05,1793242400563122688
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.501261849,745.498738151,714.498738151,680,660,632,880,786.498738151,806,652,630.498738151,651.501261849,0.453977096468,-0.00554877746546,0.0497882212647,0.999999946742,7.47627268125e-05,-0.00031690946185,2.22651042761e-05,1793242400579789568
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.921153968,715,680,660,632,880,787,806.078846032,652,630.921153968,651,0.454005021875,-0.00554784412844,0.0497865894617,0.999999945681,7.63532991454e-05,-0.000319857911418,2.23563623151e-05,1793242400596456192
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.347611221,715,680,660,632,880,787,806.652388779,652,630.347611221,651,0.454021627893,-0.00554469037579,0.0497839519836,0.999999944377,7.7036431855e-05,-0.00032379900527,2.15819099241e-05,1793242400613123072
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.772422483,680,660,632,880,786.772422483,806.772422483,652,630.227577517,651.227577517,0.454035287496,-0.00554293106038,0.0497813061831,0.999999943184,7.76570809839e-05,-0.000327339753163,2.12371089589e-05,1793242400629789952
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.19470131,680,660,632,880,786.19470131,806.19470131,652,630.80529869,651.80529869,0.454044413834,-0.00554331718273,0.0497786475779,0.999999942174,7.81815947877e-05,-0.000330264541042,2.15533563003e-05,1793242400646456320
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+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.983771099,680,660,632,880,786.983771099,806,652,631,652,0.454057426185,-0.00554080290355,0.0497782311155,0.999999941689,7.90884327594e-05,-0.000331593070061,2.03249530647e-05,1793242400679789568
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,879.439426328,786.439426328,806.560573672,651.439426328,630.439426328,652,0.454061208501,-0.00554072626172,0.0497781493625,0.999999941555,8.03150908358e-05,-0.000331682064493,2.06655521887e-05,1793242400696456448
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.863058436,680,660,631.863058436,879.136941564,786,807,651.136941564,630.136941564,652,0.454064014382,-0.00554054854744,0.0497778583156,0.999999941277,8.16043475423e-05,-0.000332178986115,2.10585976475e-05,1793242400713123072
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714.286748847,680,660,631.286748847,879.713251153,786,807,651.713251153,630.713251153,652,0.454063885892,-0.00553990957295,0.0497769292583,0.999999940546,8.30231641611e-05,-0.000333995318381,2.15164372832e-05,1793242400729789696
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+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680.880662535,660,631.880662535,880,786.880662535,806.119337465,652,630.119337465,652,0.454066335127,-0.00553676474752,0.0497760169866,0.999999940206,8.37079510943e-05,-0.000334898326683,2.05858751452e-05,1793242400763122944
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680.53873377,660,632,880,787,806.46126623,652,630,652,0.454067709517,-0.00553855700901,0.0497760058251,0.999999940373,8.34534791306e-05,-0.000334437659275,2.09834867893e-05,1793242400779789312
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+240,4.000000000,POSE1_TO_POSE2_PRESS,765.803794752,745,714.196205248,680,659.803794752,631,879.196205248,786,806.196205248,652,631,651.196205248,0.454067004375,-0.00553739048825,0.0497742810458,0.99999993963,8.37821255592e-05,-0.000336595888233,2.05910500975e-05,1793242400829789440
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.228744458,745,714.771255542,680,659.228744458,631,879.771255542,786,806.771255542,652,631,651.771255542,0.45406612421,-0.0055366566885,0.0497733897912,0.999999938944,8.43783702421e-05,-0.000338484719023,2.04913604841e-05,1793242400846456064
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714.645695192,680.354304808,659.354304808,631.354304808,880,786.354304808,806.645695192,652,630.645695192,651.645695192,0.454064912464,-0.00553618450511,0.0497723898226,0.999999938241,8.51999819344e-05,-0.00034034376385,2.06344412426e-05,1793242400863122944
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714.05736241,680.94263759,659.94263759,631.94263759,880,786.94263759,806.05736241,652,630.05736241,651.05736241,0.454063481701,-0.00553588512647,0.0497713180454,0.999999937523,8.617045465e-05,-0.000342183134159,2.0937878447e-05,1793242400879789824
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.523004102,680.476995898,659.476995898,632,879.476995898,786.476995898,806,652,630,651.523004102,0.454064853424,-0.0055380346279,0.0497722841984,0.999999938266,8.3893911083e-05,-0.000340561431829,2.11581488397e-05,1793242400896456192
+245,4.083333333,HOLD_POSE2,766,746,714,679,660,632,880,786,807,652,631,652,0.454066043106,-0.00553900155895,0.0497716227014,0.999999938249,8.36537212117e-05,-0.000340655069943,2.13977726466e-05,1793242400939495936
+246,4.100000000,HOLD_POSE2,765.406888389,745.406888389,714.593111611,679.593111611,660,632,879.406888389,786,806.406888389,652,630.406888389,651.406888389,0.454067079197,-0.00553762327342,0.0497729017854,0.999999938926,8.28519617206e-05,-0.000338874108833,2.11835350779e-05,1793242400956162560
+247,4.116666667,HOLD_POSE2,765,745,714.817720451,680,660,632,879.182279549,786,806.182279549,652,630.182279549,651,0.45406729614,-0.00553664326029,0.0497732877336,0.999999939035,8.24638446335e-05,-0.000338656471151,2.0990549551e-05,1793242400972829184
+248,4.133333333,HOLD_POSE2,765,745,714.237169131,680,660,632,879.762830869,786,806.762830869,652,630.762830869,651,0.454065723286,-0.00553653345231,0.0497717222244,0.999999937908,8.29795155224e-05,-0.000341854617248,2.084399864e-05,1793242400989495808
+249,4.150000000,HOLD_POSE2,765,745.34244464,714.34244464,680,660,631.65755536,879.65755536,786,807,652,630.65755536,651.34244464,0.454065149421,-0.00553595909781,0.049771359017,0.999999937442,8.40712744788e-05,-0.000342949950216,2.08046855176e-05,1793242401006162688
+250,4.166666667,HOLD_POSE2,765,745.921410826,714.921410826,680,660,631.078589174,879.078589174,786,807,652,630.078589174,651.921410826,0.454065265546,-0.00553506388777,0.049771826222,0.999999937438,8.55609290751e-05,-0.000342592900471,2.08394399888e-05,1793242401022829312
+251,4.183333333,HOLD_POSE2,765,745.504034433,715,680,660,631,879.495965567,786.495965567,806.504034433,652,630,652,0.454066276396,-0.00553566963208,0.0497720805294,0.999999937754,8.39329533764e-05,-0.000342093110952,2.04673838302e-05,1793242401039495936
+252,4.200000000,HOLD_POSE2,765,745,714.928267211,680,660,631.071732789,880,787,806,652,630,651.928267211,0.454067290204,-0.00553640797937,0.0497722666852,0.999999938072,8.21327291146e-05,-0.00034162268453,2.00831507601e-05,1793242401056162560
+253,4.216666667,HOLD_POSE2,765,745,714.338746688,680,660,631.661253312,880,787,806,652,630,651.338746688,0.454067311013,-0.00553640185593,0.0497722022669,0.999999938065,8.26236333729e-05,-0.000341526033865,2.00722238245e-05,1793242401072829184
+254,4.233333333,HOLD_POSE2,765,745,714.246472744,680,660,631.753527256,880,787,806,652,630.246472744,651.246472744,0.454067165389,-0.00553630314755,0.0497720868822,0.999999938054,8.28427300991e-05,-0.000341501267765,2.01327386455e-05,1793242401089495808
+255,4.250000000,HOLD_POSE2,765,745,714.825882192,680,660,631.174117808,880,787,806,652,630.825882192,651.825882192,0.454066794947,-0.00553607937492,0.0497719026518,0.999999938039,8.2694667713e-05,-0.000341573603728,2.02897573755e-05,1793242401106162432
+256,4.266666667,HOLD_POSE2,765,745,715,680,660,631,880,786.596319822,806,651.596319822,631,652,0.454067805831,-0.00553526741338,0.0497724275725,0.999999938278,8.40079824903e-05,-0.000340554177136,2.02145789069e-05,1793242401122829312
+257,4.283333333,HOLD_POSE2,765,745,715,680,660,631,880,786.019214089,806,651.019214089,631,652,0.454069410149,-0.00553420275924,0.0497732571525,0.999999938623,8.59491213605e-05,-0.000339065717045,2.00396459173e-05,1793242401139495936
+258,4.300000000,HOLD_POSE2,765,745,715,680,659.445875609,631,880,786,806.554124391,651.554124391,630.445875609,652,0.454068442696,-0.00553428806158,0.0497724022205,0.999999938037,8.43277084223e-05,-0.0003412076634,1.98131954185e-05,1793242401156162560
+259,4.316666667,HOLD_POSE2,765,745,715,680,659,631.131384782,880,786,807,652,630,652,0.454067817592,-0.00553443901588,0.0497719044786,0.999999937662,8.32702603155e-05,-0.000342569553539,1.96924917366e-05,1793242401172828928
+260,4.333333333,HOLD_POSE2,765,745,715,680,659,631.722832806,880,786,807,652,630,652,0.45406870142,-0.00553468117711,0.0497728606401,0.999999938162,8.46172568897e-05,-0.000340762140033,1.9948289051e-05,1793242401189495808
+261,4.350000000,HOLD_POSE2,765,745,715,680,659.306891137,632,880,786,806.693108863,652,630,652,0.454067998987,-0.00553433358478,0.0497722069835,0.999999937856,8.51551352301e-05,-0.00034152665935,1.99074979189e-05,1793242401206162688
+262,4.366666667,HOLD_POSE2,765,745,715,680,659.884432396,632,880,786,806.115567604,652,630,652,0.454065897616,-0.00553346588334,0.0497701336135,0.999999936836,8.49794446642e-05,-0.000344559390027,1.9605142688e-05,1793242401222829312
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631,880,786,807,652,630,651,0.454067921885,-0.00553323088415,0.0497712789198,0.999999937597,8.62921302268e-05,-0.00034197607386,2.0304612493e-05,1793242401255276032
+264,4.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.408261435,631,880,786.591738565,806.408261435,651.408261435,630,651.591738565,0.454067207596,-0.00553328766619,0.0497713717525,0.999999937577,8.61398637043e-05,-0.000342060517027,2.051669257e-05,1793242401271942656
+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.820362431,680,659,631,880,786.820362431,806,651.179637569,630.179637569,652,0.454066834257,-0.00553364235242,0.0497713879418,0.999999937598,8.57280378441e-05,-0.000342097361078,2.05858662309e-05,1793242401288609024
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.241006861,680,659,631,880,786.241006861,806,651.758993139,630.758993139,652,0.454067219576,-0.00553465991595,0.0497712335895,0.999999937711,8.47386571555e-05,-0.000342028290645,2.03370537369e-05,1793242401305275648
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.336272065,680,659.336272065,631.336272065,880,786,806.336272065,652,631,651.663727935,0.454067117531,-0.00553475581819,0.0497712983142,0.999999937638,8.42134475139e-05,-0.000342385988621,2.01145849037e-05,1793242401321942016
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.912071756,680,659.912071756,631.912071756,880,786,806.912071756,652,631,651.087928244,0.454066668335,-0.00553419521822,0.0497715190882,0.999999937431,8.40188683949e-05,-0.000343047675053,1.99108807559e-05,1793242401338607872
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,632,879.514016225,786.485983775,807,652,631,651.485983775,0.454067230579,-0.00553480826428,0.0497712150353,0.999999937558,8.40085302521e-05,-0.000342679250911,1.99446425884e-05,1793242401355274752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.938400815,680.061599185,660,632,879.061599185,786.938400815,806.938400815,652,631,652,0.454067525946,-0.0055355177757,0.0497707850133,0.999999937671,8.40524457255e-05,-0.000342335509376,2.00139286331e-05,1793242401371941632
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.345147324,680.654852676,660,632,879.654852676,786.345147324,806.345147324,652,631,652,0.4540639446,-0.00553523422937,0.0497700841516,0.999999937147,8.42780251965e-05,-0.000343807164197,2.00204348073e-05,1793242401388608512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.240896607,680.759103393,660,631.759103393,880,786,806.240896607,651.759103393,631,651.759103393,0.454052951884,-0.00553475505264,0.0497653337439,0.999999934366,8.36134218827e-05,-0.000351974894669,1.9759521945e-05,1793242401405275136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.816911075,680.183088925,660,631.183088925,880,786,806.816911075,651.183088925,631,651.183088925,0.454031649007,-0.00553400372912,0.049754949902,0.999999928229,8.17104609057e-05,-0.000369457718978,1.91265951401e-05,1793242401421941504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631,880,786,806.60660811,651.39339189,630.60660811,651.39339189,0.453992179779,-0.0055328286816,0.0497362741237,0.999999916029,8.2341737648e-05,-0.000401031886556,1.83317119171e-05,1793242401438607872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631,880,786,806.029909942,651.970090058,630.029909942,651.970090058,0.453944245691,-0.00553145619408,0.0497137346045,0.999999899871,8.41538765029e-05,-0.00043917210738,1.7461362832e-05,1793242401455274496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.456398467,680,660,631,880,786,806,652,630.543601533,651.456398467,0.453881192224,-0.00552947252813,0.0496922526523,0.999999884389,8.53454848477e-05,-0.00047294559888,1.61129225652e-05,1793242401471941632
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.878533677,745,714,680,660,631.121466323,880,786,806,652,630.878533677,651.121466323,0.453815303335,-0.00552691318111,0.0496727924,0.999999869972,8.68573302291e-05,-0.000502291413659,1.46993922161e-05,1793242401488608512
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.282997887,745,714,680,660,631.717002113,880,786,806,652,630.282997887,651.717002113,0.453741575963,-0.00552223749668,0.0496609968274,0.999999863125,8.97515041561e-05,-0.000515288776923,1.31338910704e-05,1793242401505274880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.603374611,745,714.301687305,680,660,631.698312695,880,786,806,651.698312695,630,651.698312695,0.453662452022,-0.00551840582033,0.0496569983044,0.99999986061,9.22648742801e-05,-0.000519735679146,1.19466549776e-05,1793242401521941504
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.753094854,745,714.876547427,680,660,631.123452573,880,786,806,651.123452573,630,651.123452573,0.453578441583,-0.00551533837948,0.0496600598804,0.999999862124,9.44334327562e-05,-0.000516440280975,1.11019316679e-05,1793242401538608128
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.54798355,745,714.54798355,680,660,631,880,786,806,651.45201645,630.45201645,651.45201645,0.453480901554,-0.00551157927798,0.0496660226194,0.999999865123,9.79376426746e-05,-0.00050993787129,1.12067938336e-05,1793242401555274496
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.028230938,680.028230938,660,631.028230938,880,786.028230938,806.028230938,652,630.971769062,652,0.453378169302,-0.00550764596334,0.0496727760573,0.99999986849,0.000101770372004,-0.000502523285174,1.15692049823e-05,1793242401571941120
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.615918525,680.615918525,660,631.615918525,880,786.615918525,806.615918525,652,630.384081475,652,0.453245867829,-0.00550400880958,0.0496794755633,0.999999872208,0.000104874636279,-0.000494412891909,1.18890669448e-05,1793242401588608000
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.799228418,680.799228418,660,632,880,787,806.799228418,651.799228418,630,652,0.453101953396,-0.00549961798871,0.0496846498005,0.999999874413,0.000108216962863,-0.000489206320964,1.18685052343e-05,1793242401605274368
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.219722469,680.219722469,660,632,880,787,806.219722469,651.219722469,630,652,0.452936132355,-0.00549380545492,0.0496869467785,0.99999987387,0.000112008368488,-0.000489477504841,1.12057702147e-05,1793242401621940992
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786.640657073,806,651.359342927,630,651.640657073,0.45274874969,-0.00548727212143,0.0496893944783,0.99999987294,0.00011708616356,-0.000490201294194,1.06706807818e-05,1793242401638607872
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,632,880,786.06186067,806,651.93813933,630,651.06186067,0.452548199161,-0.00548029858946,0.0496919342253,0.99999987175,0.000122949566882,-0.000491201493191,1.02135454215e-05,1793242401655274496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.507802899,680,660,632,880,786,806,651.492197101,630,651,0.452325615673,-0.00547193098236,0.049696176424,0.999999873033,0.000128726638098,-0.000487108605355,9.36793104295e-06,1793242401671941376
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,632,880,786,806,651.079917494,630,651.079917494,0.452092959778,-0.00546320199657,0.0497002383939,0.99999987429,0.000134510373583,-0.000482965952819,8.43759885173e-06,1793242401688608000
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,632,880,786,806,651.674871595,630,651.674871595,0.451812383211,-0.00545321919318,0.0497018259089,0.999999873747,0.000140403640709,-0.000482430439029,7.26089354966e-06,1793242401705274624
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.737220132,680,660,632,880,786,806,652,630,652,0.451517476294,-0.00544317698153,0.04970208947,0.999999873692,0.000146957101932,-0.000480612684882,5.59719483835e-06,1793242401721941248
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.157801815,680,660,632,880,786,806,652,630,652,0.451205301938,-0.00543306318608,0.0497007577236,0.999999874205,0.000154306068311,-0.000477249886231,3.34669006759e-06,1793242401738607872
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.419398459,660,632,880,786.419398459,806.419398459,652,630.419398459,651.580601541,0.450886525994,-0.00542657504264,0.0497131981787,0.999999886591,0.000156888187586,-0.000449667237122,2.10024792646e-06,1793242401755274752
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.995768556,660,632,880,786.995768556,806.995768556,652,630.995768556,651.004231444,0.450565279227,-0.0054214439014,0.0497307932667,0.999999902274,0.000157686180274,-0.00041301962916,1.22960443709e-06,1793242401771941376
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.580931828,745,714,680.419068172,660,632.580931828,880,786.419068172,806.419068172,652,631,651,0.450207205957,-0.00541627900507,0.049749086347,0.999999915205,0.000158510025827,-0.000380083939439,-9.20638636372e-07,1793242401788608768
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.835327566,745,714.164672434,680,660.164672434,633,879.835327566,786.164672434,806.164672434,652,631,651,0.449826173367,-0.00541332649082,0.0497654159964,0.999999926272,0.000156026573698,-0.000350860371629,-2.9705267151e-06,1793242401805275904
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.255339136,745,714.744660864,680,660.744660864,633,879.255339136,786.744660864,806.744660864,652,631,651,0.449387922657,-0.00541595439737,0.0497767807064,0.99999993469,0.000145201391438,-0.000330929816348,-4.74344361401e-06,1793242401821941760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.676209046,633,879,787,806.676209046,651.676209046,631,651.323790954,0.448921668622,-0.00541972447072,0.0497790541122,0.99999993782,0.000133936596218,-0.000326156965709,-6.54385323848e-06,1793242401838607872
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.097753986,633,879,787,806.097753986,651.097753986,631,651.902246014,0.448433389705,-0.00542439286742,0.0497741771376,0.999999936937,0.00012232604084,-0.000333305765699,-8.36588629632e-06,1793242401855274240
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.524393341,680,660,633.475606659,879.475606659,787,806,651.475606659,631,652,0.447908799446,-0.00542185045268,0.049762365191,0.999999932895,0.000116413519136,-0.000347146062566,-1.21342045413e-05,1793242401871940864
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+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,660,634,879.359049459,787,806,651.359049459,631,652,0.446810272818,-0.00540984430067,0.0497452428898,0.999999924261,0.000114188608685,-0.000371580002354,-1.91508198261e-05,1793242401905274368
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+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.805698301,745,714,680,660.805698301,634,879.805698301,787,806.805698301,651.805698301,631,651.194301699,0.445628773049,-0.00539983326479,0.0497681940932,0.999999937369,0.000106619164718,-0.000336611401841,-2.42312421904e-05,1793242401938608896
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+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.144162951,745,714,679,661,635,879,788,804.144162951,652.144162951,630.855837049,652,0.404584945852,-0.00537083984708,0.0498061877445,0.999999936768,0.000102460823066,-0.000336132073669,-5.45923863733e-05,1793242402838607872
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.720247024,745,714,679,661,635,879,788,804.720247024,652.720247024,630.279752976,652,0.404255092392,-0.00537529967813,0.0498368533048,0.999999951647,9.38279711474e-05,-0.000291678335981,-5.31514454687e-05,1793242402855274240
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.701688534,745,714,679,661,635,878.701688534,788,805,652.701688534,630.298311466,652,0.403930257462,-0.00537838866939,0.0498549968861,0.999999959612,8.72170069274e-05,-0.00026530553964,-5.27456362596e-05,1793242402871941120
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.121754547,745,714,679,661,635,878.121754547,788,805,652.121754547,630.878245453,652,0.403610160322,-0.00538018351179,0.049861319025,0.999999962406,8.25148171402e-05,-0.000256002154794,-5.33170487681e-05,1793242402888608256
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.45405442,788,805,652,631,652.45405442,0.403302165289,-0.00538082097064,0.0498530508256,0.999999957507,7.87859785517e-05,-0.000275330878063,-5.45220138867e-05,1793242402905275136
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.02955365,714,679,661,635,879,788,805.02955365,652,631,652.97044635,0.402999299138,-0.00538096993264,0.0498409040528,0.99999994999,7.55762614721e-05,-0.000301965628092,-5.59093481973e-05,1793242402921942016
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.619977866,714,679,661,635,879,788,805.619977866,652,631,652.380022134,0.402732736437,-0.0053776850271,0.0498287306639,0.999999943236,7.73097096061e-05,-0.000322858748392,-5.75625994328e-05,1793242402938608384
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745.79364729,714.20635271,679,661.20635271,635,879,788,805.79364729,652.20635271,631,652,0.402483816908,-0.00537600249305,0.0498196059795,0.99999993781,7.71799441419e-05,-0.000339073296533,-5.87561601182e-05,1793242402955275008
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.214586366,714.785413634,679,661.785413634,635,879,788,805.214586366,652.785413634,631,652,0.402266763984,-0.00537721411572,0.0498159877771,0.99999993539,7.36848967868e-05,-0.000346837542805,-5.91194410716e-05,1793242402971941888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.637377831,679,661.637377831,635,879,788,804.637377831,653,631,652,0.402081021575,-0.0053771837618,0.0498160044331,0.999999936405,7.42557552048e-05,-0.000343745306565,-5.92944554753e-05,1793242402988608512
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.061259846,679,661.061259846,635,879,788,804.061259846,653,631,652,0.401913713384,-0.00537642218737,0.0498181611317,0.999999939391,7.72204379056e-05,-0.000334261256635,-5.93586269331e-05,1793242403005274880
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,878.476468128,788,804.523531872,652.476468128,631,652,0.401782873122,-0.00537239051447,0.0498249701395,0.999999938923,0.000140736255822,-0.000316622354485,-4.58021267028e-05,1793242403021941248
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.108199199,745,714,679,661,635,878,788,805,652.108199199,631,652,0.401658800973,-0.00536952196272,0.0498320454339,0.999999935079,0.000196553042445,-0.000300139516403,-3.3533879812e-05,1793242403038607616
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.155844551,745,714,679,661,635,878.844155449,788,805,652.155844551,631,652,0.401351819474,-0.00538572962905,0.0498387509772,0.999999942888,0.000167339292776,-0.000291517812621,-3.51930236108e-05,1793242403088607232
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+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714.421254438,679,661.578745562,635.578745562,879,787.421254438,805,653,631,652.421254438,0.40116254968,-0.00539143978904,0.0498376089669,0.999999946613,0.000153166035094,-0.000286249962499,-3.70914547735e-05,1793242403138607616
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.672059335,635.836029667,879,787.163970333,805,652.836029667,630.836029667,652,0.401123194702,-0.00539117160569,0.0498411717466,0.999999948948,0.00015103519139,-0.000279117261551,-3.72374168718e-05,1793242403155273984
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+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.653756086,635,879,788,805,652.326878043,630.326878043,652,0.401062518368,-0.00539188451409,0.0498451291304,0.999999951104,0.000151253478884,-0.000271055041053,-3.79990360032e-05,1793242403188607232
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+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.52197432,635,879,788,805,653,631,652,0.401024568126,-0.00539296075795,0.0498458249518,0.999999952361,0.000148028195226,-0.000268182090391,-3.79958729292e-05,1793242403221940992
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,788,805,653,631,652,0.401013642292,-0.00539259417547,0.0498470155401,0.999999953305,0.000147558411662,-0.000264947795225,-3.76823160568e-05,1793242403238607360
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,788,805,653,631,652,0.401007832325,-0.00539384258099,0.0498470543155,0.999999953633,0.000146727879578,-0.000264114923373,-3.8053709366e-05,1793242403255273984
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,788,805,653,631,652,0.401002154924,-0.00539488998423,0.0498470759302,0.999999953927,0.000145179297759,-0.000263835290153,-3.81970162481e-05,1793242403271941120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879,788,805,653,631,652,0.400996677047,-0.00539563485849,0.0498470717163,0.999999954167,0.00014254997796,-0.000264388337506,-3.79970297891e-05,1793242403288609024
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.61488771,661.38511229,635,879,788,804.61488771,653,631,652,0.400993222712,-0.00539488548137,0.0498470283006,0.999999954108,0.000142023875915,-0.000264833566171,-3.84341077198e-05,1793242403305275648
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.038756561,661.961243439,635,879,788,804.038756561,653,631,652,0.400990772069,-0.00539339494326,0.0498469654405,0.999999953901,0.000142540987235,-0.000265225315866,-3.91871748282e-05,1793242403321941504
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.548416323,661.451583677,635,879,787.451583677,804.548416323,653,631,651.451583677,0.40099000942,-0.00539322715284,0.0498476404603,0.999999953882,0.000143309314358,-0.000264903311088,-3.90505605606e-05,1793242403338607872
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.13443738,635,879,787.13443738,805,653,631,651.13443738,0.400990044753,-0.00539361175353,0.0498486240616,0.999999954191,0.000143239174077,-0.000263810069994,-3.87887856419e-05,1793242403355274496
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661.714007734,635,879,787.714007734,805,653,631,651.714007734,0.400992319172,-0.0053955094909,0.0498504531937,0.999999955532,0.000140332809822,-0.000260333649462,-3.83250514155e-05,1793242403371941120
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.708861705,661.708861705,635,878.708861705,787.708861705,805,652.708861705,631,652,0.400993159925,-0.0053962123294,0.0498513821676,0.999999956268,0.000139165011662,-0.000258140191669,-3.82298121434e-05,1793242403388607744
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,678.134107826,661.134107826,635,878.134107826,787.134107826,805,652.134107826,631,652,0.400992604057,-0.0053957511442,0.0498514342427,0.999999956427,0.000139690856511,-0.000257196545778,-3.84935462434e-05,1793242403405274624
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,678.442000165,661,635,878.442000165,787.442000165,805,652.442000165,631,652,0.400991791538,-0.00539556196952,0.0498508339245,0.999999956104,0.00014142862929,-0.000257509434895,-3.8467197586e-05,1793242403421941248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879.018977725,788,805,653,631,652,0.400990972126,-0.00539550254208,0.0498501004393,0.999999955676,0.00014337245203,-0.000258112839594,-3.83496012383e-05,1793242403438607872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879.609739127,788,805,653,631,652,0.400992298409,-0.00539685805909,0.0498513369457,0.99999995666,0.00014041146784,-0.000255947285987,-3.81427364776e-05,1793242403455274496
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879.803440563,788,805,653,631,652,0.400992116275,-0.0053978376263,0.0498515904005,0.999999957033,0.000138010293991,-0.000255805846132,-3.80793590331e-05,1793242403471941120
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,661,635,879.22429136,788,805,653,631,652,0.400988998109,-0.0053980854323,0.0498499304113,0.999999956226,0.000136698753621,-0.000259604208135,-3.82952700436e-05,1793242403488607744
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.351365461,745,714.351365461,679,661,635,878.648634539,788,805,653,631,652,0.400988589381,-0.0053976183179,0.0498496700562,0.999999956133,0.000136665918344,-0.000259946343605,-3.85375777614e-05,1793242403505274624
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.924814866,745,714.924814866,679,661,635,878.075185134,788,805,653,631,652,0.400989893181,-0.00539669933111,0.0498502943535,0.999999956494,0.000137441301062,-0.000258103937462,-3.87965697659e-05,1793242403521941248
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.498825355,745,714.498825355,679,661,635,878.501174645,788,805,653,631,652,0.400989833955,-0.00539675787153,0.0498503731562,0.999999956302,0.000138913046467,-0.000258092679423,-3.8559988125e-05,1793242403538608128
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.080051095,679,661,635,879,788,805,653,631,652,0.40098947113,-0.00539687858837,0.0498503232496,0.999999956034,0.00014038539532,-0.000258372293468,-3.83161268339e-05,1793242403555275008
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.672217887,679,661,635,879,788,805,653,631,652,0.400988481837,-0.00539645343976,0.0498499765222,0.999999955817,0.00014118938843,-0.000258745069956,-3.85040841976e-05,1793242403571941632
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.742660443,679,661,635,879,787.742660443,805,653,631,652,0.40098852817,-0.00539637118926,0.0498501728189,0.999999955871,0.000141582064192,-0.000258307097914,-3.86030184964e-05,1793242403588608256
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.166273184,679,661,635,879,787.166273184,805,653,631,652,0.400989858467,-0.00539671406125,0.0498510423527,0.99999995626,0.000141464791818,-0.000256863965817,-3.85915826751e-05,1793242403605274624
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.408718742,745,714,679,661,635,879,787.408718742,804.591281258,652.591281258,631,652,0.400990142788,-0.00539649863006,0.0498515751696,0.999999956472,0.000140743817575,-0.000256438575681,-3.85617118198e-05,1793242403621941248
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.983144922,745,714,679,661,635,879,787.983144922,804.016855078,652.016855078,631,652,0.400990003036,-0.00539605684518,0.0498519714707,0.999999956612,0.000139778083605,-0.000256425810245,-3.85243668223e-05,1793242403638608128
diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_04/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..378d67a9af480e8d5383758f95a2959540007a67
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/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,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+1,0.016666667,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+2,0.033333333,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+3,0.050000000,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+4,0.066666667,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+5,0.083333333,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+6,0.100000000,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+7,0.116666667,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+8,0.133333333,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+9,0.150000000,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+10,0.166666667,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+11,0.183333333,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+12,0.200000000,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+13,0.216666667,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+14,0.233333333,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+15,0.250000000,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+16,0.266666667,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
+17,0.283333333,pose1_baseline,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
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+369,6.150000000,pose2_to_pose3_retreat,0.581427949079,1.8670889545e-06,1.04004073182,0.551999668855,0.00867669609307,1.03967853154
+370,6.166666667,pose2_to_pose3_retreat,0.581317972549,1.89529227983e-06,1.04004061365,0.55188969205,0.00867672369827,1.03967842142
+371,6.183333333,pose2_to_pose3_retreat,0.581221522131,1.97211739203e-06,1.04004086185,0.551793239059,0.00867679119501,1.03967865528
+372,6.200000000,pose2_to_pose3_retreat,0.581134576281,1.86424328608e-06,1.04004094956,0.551706296581,0.00867669486332,1.03967874628
+373,6.216666667,pose2_to_pose3_retreat,0.581056891496,1.8945358895e-06,1.04004084493,0.551628610804,0.00867672191169,1.03967864457
+374,6.233333333,pose2_to_pose3_retreat,0.580991693596,1.72480557269e-06,1.04004095058,0.551563414536,0.00867655742756,1.03967874306
+375,6.250000000,pose2_to_pose3_retreat,0.580937425969,1.78217561348e-06,1.04004099126,0.551509146506,0.00867661329044,1.03967878042
+376,6.266666667,pose2_to_pose3_retreat,0.580893199839,1.86944670449e-06,1.0400409844,0.551464919903,0.00867669905976,1.03967877596
+377,6.283333333,pose2_to_pose3_retreat,0.580857322172,1.83028764442e-06,1.04004097833,0.551429043031,0.00867666273153,1.0396787731
+378,6.300000000,pose2_to_pose3_retreat,0.580829345452,1.70595428424e-06,1.04004096998,0.551401067551,0.00867654258869,1.03967876444
+379,6.316666667,pose2_to_pose3_retreat,0.580806470104,1.83174162568e-06,1.04004086769,0.551378189367,0.00867665877463,1.03967866265
+380,6.333333333,pose2_to_pose3_retreat,0.580788437272,1.70301154845e-06,1.0400407875,0.551360158747,0.00867653734401,1.03967857769
+381,6.350000000,pose2_to_pose3_retreat,0.580774966243,1.73935336639e-06,1.04004082259,0.551346687645,0.00867657367796,1.03967861862
+382,6.366666667,pose2_to_pose3_retreat,0.580765264821,1.89584017247e-06,1.04004090747,0.551336984109,0.00867672341716,1.03967871376
+383,6.383333333,pose2_to_pose3_retreat,0.580758901115,1.88821006932e-06,1.04004086104,0.551330619898,0.00867671376065,1.03967865946
+384,6.400000000,pose2_to_pose3_retreat,0.580754110974,1.89862601792e-06,1.04004096478,0.551325830035,0.00867672505284,1.03967876152
+385,6.416666667,pose2_to_pose3_retreat,0.580750627723,1.91935293144e-06,1.0400411531,0.551322347519,0.00867674837166,1.03967895207
+386,6.433333333,pose2_to_pose3_retreat,0.580748083419,1.88066055549e-06,1.04004100398,0.551319803152,0.00867670952708,1.0396788045
+387,6.450000000,pose2_to_pose3_retreat,0.580746396828,1.84077529499e-06,1.04004082932,0.551318116359,0.00867666899999,1.03967863085
+388,6.466666667,pose2_to_pose3_retreat,0.580745836362,1.81591877261e-06,1.04004084831,0.551317555809,0.00867664381262,1.03967864875
+389,6.483333333,pose2_to_pose3_retreat,0.580745828471,1.81551919727e-06,1.04004084891,0.551317547916,0.00867664340789,1.03967864932
+390,6.500000000,pose2_to_pose3_retreat,0.580745598208,1.80386045843e-06,1.04004086631,0.551317317617,0.00867663159856,1.0396786661
+391,6.516666667,pose2_to_pose3_retreat,0.580745374214,1.79251909138e-06,1.04004088325,0.551317093587,0.00867662011071,1.03967868242
+392,6.533333333,pose2_to_pose3_retreat,0.580745257653,1.78661730621e-06,1.04004089206,0.551316977007,0.0086766141327,1.03967869092
+393,6.550000000,pose2_to_pose3_retreat,0.580745255043,1.78648517085e-06,1.04004089226,0.551316974397,0.00867661399886,1.03967869111
+394,6.566666667,pose2_to_pose3_retreat,0.580745123867,1.77984340093e-06,1.04004090217,0.5513168432,0.0086766072713,1.03967870067
+395,6.583333333,pose2_to_pose3_retreat,0.580744670636,1.75689521241e-06,1.04004093644,0.551316389897,0.00867658402672,1.03967873369
+396,6.600000000,pose2_to_pose3_retreat,0.580744297731,1.76408595185e-06,1.04004091601,0.551316017038,0.00867659135384,1.03967871278
+397,6.616666667,pose2_to_pose3_retreat,0.58074418863,1.7819337862e-06,1.04004088067,0.551315908015,0.00867660947121,1.03967867762
+398,6.633333333,pose2_to_pose3_retreat,0.580743939429,1.82270061561e-06,1.04004079995,0.55131565899,0.00867665085367,1.0396785973
+399,6.650000000,pose2_to_pose3_retreat,0.58074367299,1.8661229349e-06,1.04004071523,0.551315392742,0.00867669494254,1.039678513
+400,6.666666667,pose2_to_pose3_retreat,0.58074365355,1.86408903084e-06,1.04004075907,0.551315373401,0.00867669322059,1.03967855629
+401,6.683333333,pose2_to_pose3_retreat,0.580743651245,1.86384788412e-06,1.04004076427,0.551315371108,0.00867669301643,1.03967856143
+402,6.700000000,pose2_to_pose3_retreat,0.580743649938,1.86371112492e-06,1.04004076721,0.551315369808,0.00867669290064,1.03967856434
+403,6.716666667,pose2_to_pose3_retreat,0.58074363831,1.8624944471e-06,1.04004079344,0.551315358238,0.00867669187057,1.03967859024
+404,6.733333333,pose2_to_pose3_retreat,0.580743618282,1.86039895138e-06,1.0400408386,0.551315338311,0.00867669009648,1.03967863485
+405,6.750000000,pose2_to_pose3_retreat,0.580743561003,1.85440603909e-06,1.04004096777,0.551315281324,0.00867668502273,1.03967876242
+406,6.766666667,pose2_to_pose3_retreat,0.58074349465,1.85944795204e-06,1.04004098249,0.551315215106,0.00867669051293,1.03967877686
diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_05/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95fb18927668340fc92743b221c915cad4789258
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:838a5a0d6872453bd7575f6e916a14e1230c5e7163b3d717f57f8c35fc28cb25
+size 26068651
diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_05/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b30e9f7b6907f853bb5780045de2ac046340c82
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_05/franka_data.csv
@@ -0,0 +1,411 @@
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+37,0.616666667,BASELINE,765.468693304,745,714,678.531306696,661,635,879,788,805,652.531306696,631,651.531306696,0.400989967332,-0.00539784071922,0.0498535998062,0.999999958347,0.000136597089046,-0.000251280348617,-3.88054025832e-05,1793242404398982400
+38,0.633333333,BASELINE,766,745,714,678.048169651,661,635,879,788,805,652.048169651,631,651.048169651,0.400988007387,-0.00539898218863,0.0498529581067,0.999999957958,0.000135927823591,-0.000253158443472,-3.89762869975e-05,1793242404415649024
+39,0.650000000,BASELINE,766,745,714,678.625876001,661,635,879,788,805,652.625876001,631,651.625876001,0.400989583223,-0.00539757648739,0.04985391775,0.999999958257,0.000136945874689,-0.000251456723232,-3.87505889661e-05,1793242404432315904
+40,0.666666667,BASELINE,765.797989232,745,714,679,661,635,878.797989232,787.797989232,805,652.797989232,631,652,0.40099065234,-0.00539688117657,0.0498545590433,0.999999958428,0.000137760241739,-0.000250355679638,-3.85818464426e-05,1793242404448982784
+41,0.683333333,BASELINE,765.224742601,745,714,679,661,635,878.224742601,787.224742601,805,652.224742601,631,652,0.400990790257,-0.00539749135267,0.0498546153037,0.999999958369,0.000138200297874,-0.000250358501625,-3.85177712594e-05,1793242404465649152
+42,0.700000000,BASELINE,765,745,714,679,661,635,878.359412483,787.359412483,805,652,631,652,0.400992324399,-0.00539674264677,0.0498553023241,0.999999958588,0.000138942388612,-0.000249044223937,-3.8687518813e-05,1793242404482315520
+43,0.716666667,BASELINE,765,745,714,679,661,635,878.950602166,787.950602166,805,652,631,652,0.400994758936,-0.00539511762776,0.0498563961076,0.999999958981,0.000139879254799,-0.000246880577659,-3.9008053505e-05,1793242404498982144
+44,0.733333333,BASELINE,765.530758719,745,714,679,661,635,879,788,805,652.530758719,631,652,0.400994627933,-0.00539746068369,0.0498566316349,0.999999959287,0.000138361039075,-0.000246573059964,-3.85348517682e-05,1793242404515648768
+45,0.750000000,BASELINE,765.890808124,745.109191876,714,679,661,635,879,788,805,652.890808124,631,652,0.400994172191,-0.00539951489069,0.0498565928893,0.999999959495,0.000136696817018,-0.000246707891772,-3.81885203777e-05,1793242404532315392
+46,0.766666667,BASELINE,765.315438178,745.684561822,714,679,661,635,879,788,805,652.315438178,631,652,0.400993328679,-0.0053987912977,0.0498557172604,0.999999959335,0.000135364902635,-0.000248008755467,-3.86928105732e-05,1793242404548982272
+47,0.783333333,BASELINE,765.263862341,745.736137659,714,679,661,635,879,787.736137659,805,652.263862341,630.736137659,652,0.400993098672,-0.00539941166542,0.0498554311325,0.999999959382,0.000134223584167,-0.000248451913461,-3.863458396e-05,1793242404565649152
+48,0.800000000,BASELINE,765.847932853,745.152067147,714,679,661,635,879,787.152067147,805,652.847932853,630.152067147,652,0.40099361318,-0.0054016629865,0.049855860389,0.99999995968,0.00013331356177,-0.000247854209285,-3.78937193463e-05,1793242404582316288
+49,0.816666667,BASELINE,766,745,714,679,661,635,879,787,805,653,630.431094747,652,0.400992618076,-0.00540016498968,0.0498556876592,0.999999959404,0.000134302606601,-0.000248408165956,-3.80647134689e-05,1793242404598982912
+50,0.833333333,BASELINE,765.986146499,745,714,679,661,635,879,787.013853501,805,652.986146499,631,652,0.400991138016,-0.00539741350802,0.0498553022822,0.999999958925,0.000135973706183,-0.000249348289337,-3.85497806377e-05,1793242404615649536
+51,0.850000000,BASELINE,765.406786699,745,714,679,661,635,879,787.593213301,805,652.406786699,631,652,0.400991553402,-0.00539736809284,0.0498548864757,0.999999958574,0.00013819892572,-0.000249503717588,-3.87529685972e-05,1793242404632316160
+52,0.866666667,BASELINE,765,745,714,679,661,635,879,788,805,652.170616438,631,652,0.400991814167,-0.0053974225341,0.0498547555642,0.999999958403,0.000139441669812,-0.000249487550667,-3.88021011396e-05,1793242404648982272
+53,0.883333333,BASELINE,765,745,714,679,661,635,879,788,805,652.743407326,631,652,0.400991710461,-0.00539771235541,0.0498552962026,0.999999958669,0.000138368537733,-0.00024906690223,-3.84880966058e-05,1793242404665648640
+54,0.900000000,BASELINE,765,745,714,679,661,635,878.674534071,787.674534071,805,653,631,652,0.400991495427,-0.00539835267524,0.0498554619417,0.999999958871,0.000137170995161,-0.000248952976884,-3.82687238858e-05,1793242404682315520
+55,0.916666667,BASELINE,765,745,714,679,661,635,878.084954809,787.084954809,805,653,631,652,0.40099119005,-0.00539927742215,0.0498553234525,0.99999995902,0.000135872494393,-0.00024908795521,-3.81261442384e-05,1793242404698982144
+56,0.933333333,BASELINE,765,745,714,679,661,635,878,787.495609983,805,653,631,652,0.400991856989,-0.0053990744336,0.0498556212671,0.999999959018,0.000136341748602,-0.000248821385165,-3.82454919414e-05,1793242404715649024
+57,0.950000000,BASELINE,765,745,714,679,661,635,878.074486138,788,805,653,631,652,0.400992449259,-0.00539885617677,0.0498559022083,0.999999959017,0.000136727876927,-0.00024859586685,-3.83574073163e-05,1793242404732315904
+58,0.966666667,BASELINE,765,745,714,679,661,635,878.652206545,788,805,653,631,652,0.40099143114,-0.00539981745639,0.0498555728985,0.999999959196,0.000134541749721,-0.000249104419841,-3.81211922212e-05,1793242404748982528
+59,0.983333333,BASELINE,765,745,714,679,661,635,879,788,805,652.767214632,631,652,0.400990990377,-0.00540007364962,0.0498555149083,0.999999959228,0.000133785372794,-0.000249384828136,-3.81111677874e-05,1793242404765649152
+60,1.000000000,BASELINE,765,745,714,679,661,635,879,788,805,652.182312004,631,652,0.400991422937,-0.00539926331084,0.0498558673232,0.999999959042,0.00013519167334,-0.000249320138853,-3.84432852496e-05,1793242404782315776
+61,1.016666667,BASELINE,765,745,714,679,661,635,878.601264791,788,804.601264791,652.398735209,631,652,0.400991698802,-0.00539946900118,0.0498558499267,0.999999959038,0.000136120738112,-0.000248834421701,-3.84372679321e-05,1793242404798982144
+62,1.033333333,BASELINE,765,745,714,679,661,635,878.021963525,788,804.021963525,652.978036475,631,652,0.400991903707,-0.00540013479734,0.049855665062,0.999999959114,0.000136833687996,-0.000248158043331,-3.82781272624e-05,1793242404815648768
+63,1.050000000,BASELINE,764.443349411,745,714,679,661,635,878,788,804.556650589,653,631,652,0.400989643714,-0.00540086003463,0.0498541046093,0.999999958449,0.0001360273619,-0.000251331250789,-3.78258194967e-05,1793242404832315392
+64,1.066666667,BASELINE,764.134308169,745,714,679,661.134308169,635,878.134308169,788,805,653,631,652,0.400988126493,-0.00540092666719,0.0498530649962,0.999999957942,0.000135892573569,-0.00025344729907,-3.75936349747e-05,1793242404848982272
+65,1.083333333,BASELINE,764.708918688,745,714,679,661.708918688,635,878.708918688,788,805,653,631,652,0.40098936274,-0.00539882651717,0.0498539105645,0.999999958079,0.000138155563674,-0.000251600331487,-3.81209548481e-05,1793242404865649408
+66,1.100000000,BASELINE,764.709641397,745,714,679,661.709641397,635,879,787.709641397,805,653,630.709641397,652,0.400990700387,-0.00539807557657,0.0498547890403,0.999999958462,0.000138320803131,-0.0002499396405,-3.83879314799e-05,1793242404882316288
+67,1.116666667,BASELINE,764.121190213,745,714,679,661.121190213,635,879,787.121190213,805,653,630.121190213,652,0.400992142134,-0.00539870978299,0.0498557013,0.999999959101,0.000136332416211,-0.000248470187876,-3.83876303471e-05,1793242404898982912
+68,1.133333333,BASELINE,764.459840447,745,714,679,661,635,879,787,805.459840447,653,630.459840447,652,0.400991988432,-0.00539928890351,0.0498554728948,0.999999959203,0.000135434202137,-0.000248550009651,-3.84059473053e-05,1793242404915649536
+69,1.150000000,BASELINE,765,745,714,679,661,635,879,787,805.961289744,652.961289744,631,652,0.400991431512,-0.00539979998834,0.0498549900463,0.999999959171,0.000134873491266,-0.000248979633068,-3.84304627357e-05,1793242404932315904
+70,1.166666667,BASELINE,765,745,714,679,661,635,879,787,805.385697028,652.385697028,631,652,0.40099102136,-0.00539956562139,0.049855081426,0.999999959215,0.000135072160149,-0.000248687738007,-3.84739738616e-05,1793242404948983040
+71,1.183333333,BASELINE,765,745,714,679,661,635,879,787.189819663,805,652.189819663,631,652,0.400991274797,-0.0053997262688,0.0498553719751,0.999999959329,0.000135057703535,-0.000248246250776,-3.8401394157e-05,1793242404965649664
+72,1.200000000,BASELINE,765,745,714,679,661,635,879,787.765182041,805,652.765182041,631,652,0.400992876051,-0.0054006892298,0.0498560670572,0.999999959586,0.000134610367759,-0.00024750092684,-3.80930223753e-05,1793242404982315776
+73,1.216666667,BASELINE,765,745,714,679,661,635,879,787.650107889,805,652.650107889,631,652,0.400993692967,-0.0054006038953,0.0498565340443,0.999999959789,0.00013386977306,-0.000247060637549,-3.82374051531e-05,1793242404998982400
+74,1.233333333,BASELINE,765,745,714,679,661,635,879,787.058952275,805,652.058952275,631,652,0.400993969055,-0.00539979572236,0.0498568437514,0.999999959954,0.000132926965555,-0.00024683068093,-3.86939789008e-05,1793242405015649024
+75,1.250000000,BASELINE,765,745,714,679,661,635,878.478444649,787.521555351,805,652.521555351,631,652,0.400992430065,-0.00539966025675,0.0498554867948,0.999999959347,0.000134800182357,-0.000248292659484,-3.8534421034e-05,1793242405032315904
+76,1.266666667,BASELINE,765,745.095676603,714,679,661,635,878,787.904323397,805,652.904323397,631,652,0.40099104871,-0.00539956586703,0.0498543495245,0.999999958774,0.000136679888526,-0.000249598073333,-3.83688509849e-05,1793242405048982272
+77,1.283333333,BASELINE,765,745.645103897,714,679,661,635,878,787.354896103,805,652.354896103,631,652,0.400991368464,-0.00539931288632,0.0498551296794,0.999999958791,0.000137111020787,-0.000249272142762,-3.84984420451e-05,1793242405065648896
+78,1.300000000,BASELINE,765,745.781637458,714,679,661,635,878.218362542,787.218362542,805,652,631,652,0.400991519537,-0.00539887223001,0.0498554788568,0.999999958848,0.000136874378349,-0.000249142265071,-3.87087759092e-05,1793242405082315520
+79,1.316666667,BASELINE,765,745.164901773,714,679,661,635,878.835098227,787.835098227,805,652,631,652,0.400991362873,-0.00539808918479,0.0498550417735,0.999999958975,0.000135419470577,-0.000249370059573,-3.90664141645e-05,1793242405098982144
+80,1.333333333,BASELINE,765,745,714,679,661,635,878.57546852,787.57546852,805,652,631,652,0.400992549924,-0.00539768167427,0.0498558583576,0.999999959112,0.000136922999528,-0.000248029412376,-3.88460464919e-05,1793242405115648768
+81,1.350000000,BASELINE,765,745,714,679,661,635,878,787.003969687,805,652,631,652,0.400994219533,-0.00539742927873,0.0498571238387,0.99999995925,0.000139450669249,-0.000246124795651,-3.84177038423e-05,1793242405132315136
+82,1.366666667,BASELINE,765,745,714,679,661,635,878,787.578981646,805,652,631,652,0.400994760357,-0.0053997747497,0.0498571460584,0.999999960167,0.000133984041181,-0.000245435823578,-3.84172739807e-05,1793242405148982528
+83,1.383333333,BASELINE,765,745,714,679,661.154047935,635,878.154047935,788,805,652.154047935,631,651.845952065,0.400994478704,-0.00540063156025,0.0498567819549,0.999999960365,0.000131823224505,-0.000245785923791,-3.84970130093e-05,1793242405165649664
+84,1.400000000,BASELINE,765,745,714,679,661.729262891,635,878.729262891,788,805,652.729262891,631,651.270737109,0.400991948402,-0.00539741837406,0.0498553616443,0.999999958634,0.00013870049427,-0.000248976847274,-3.87959337676e-05,1793242405182317312
+85,1.416666667,BASELINE,765,745,714,679,661.686589891,635,879,787.686589891,804.686589891,652.686589891,630.686589891,651.313410109,0.400991853057,-0.00539594118838,0.0498551547407,0.999999958287,0.000141172833579,-0.000248950475712,-3.89916054891e-05,1793242405198984192
+86,1.433333333,BASELINE,765,745,714,679,661.094500277,635,879,787.094500277,804.094500277,652.094500277,630.094500277,651.905499723,0.400993922837,-0.00539600762817,0.0498560267805,0.9999999592,0.000139728375284,-0.000246063334122,-3.90954697198e-05,1793242405215650304
+87,1.450000000,BASELINE,765,745,714,679,661,635,879,787,804.48656642,652.48656642,630.48656642,652,0.400993533216,-0.00539707700679,0.0498560968801,0.999999959281,0.000138467923751,-0.000246471418651,-3.89303321963e-05,1793242405232316416
+88,1.466666667,BASELINE,765,745,714,679,661,635,879,787.065075964,805,653,631,652,0.400992737652,-0.00539822184611,0.0498559772806,0.999999959213,0.000137414547014,-0.000247369119902,-3.87348658844e-05,1793242405248982528
+89,1.483333333,BASELINE,765,745,714,679,661,635,879,787.639952762,805,653,631,652,0.400992421043,-0.00539846567621,0.0498555647105,0.999999959215,0.000137709617,-0.000247199838477,-3.87020242357e-05,1793242405265649152
+90,1.500000000,BASELINE,765,745,714,679,661,635,879,787.785140999,805,653,631,652,0.400992132172,-0.00539846385572,0.0498554387924,0.999999959068,0.00013835328963,-0.000247445626168,-3.86373120602e-05,1793242405282316288
+91,1.516666667,BASELINE,765,745,714,679,661,635,879,787.210185475,805,653,631,652,0.400991889788,-0.005398050333,0.0498557932935,0.999999958669,0.000139581208637,-0.000248387055881,-3.85191859479e-05,1793242405298983168
+92,1.533333333,BASELINE,765,745,714,679,661,635,879.37580323,787.37580323,805,653,631,652,0.400992308325,-0.00539823830539,0.0498562011179,0.999999958982,0.00013770065081,-0.000248190806908,-3.84055905204e-05,1793242405315649792
+93,1.550000000,BASELINE,765,745,714,679,661,635,879.968149461,787.968149461,805,653,631,652,0.400993107693,-0.00539877286753,0.0498566396681,0.999999959697,0.000134028945909,-0.000247339011887,-3.82946057244e-05,1793242405332316416
+94,1.566666667,BASELINE,765,745,714,679,661,635,879.454696608,787.454696608,805,653,630.454696608,652,0.400992419714,-0.00539994261073,0.0498555252058,0.999999959595,0.000132478609843,-0.000248551981874,-3.8476047627e-05,1793242405348982784
+95,1.583333333,BASELINE,765,745,714,679,661,635,879,787,805,653,630,652,0.400991746697,-0.00540094187752,0.0498546919194,0.999999959505,0.000131556113671,-0.000249386164404,-3.85915795928e-05,1793242405365649152
+96,1.600000000,BASELINE,765,745,714,679,661,635,879,787,805,653,630,652,0.400991445688,-0.00540116867931,0.0498552400923,0.999999959638,0.00013253061761,-0.000248365126389,-3.83985035949e-05,1793242405382315776
+97,1.616666667,BASELINE,765,745,714,679,661,635,879,787.279684573,805,653,630.279684573,652,0.400991558375,-0.00540081435828,0.0498555565959,0.999999959545,0.000133933834703,-0.000248001494596,-3.82958190222e-05,1793242405398982144
+98,1.633333333,BASELINE,765,745,714,679,661,635,879,787.86370194,805,653,630.86370194,652,0.400992121216,-0.00539982770086,0.0498556210137,0.999999959206,0.000135803546799,-0.000248353205403,-3.82914919594e-05,1793242405415649024
+99,1.650000000,BASELINE,765,745,714,679,661,635,879,788,805,653,631,652,0.40099313458,-0.00540009019918,0.0498564563343,0.999999959658,0.000135411429476,-0.000246754818937,-3.82009911973e-05,1793242405432315648
+100,1.666666667,BASELINE,765,745,714,679,661.03026696,635,879,788,805,653,631,652,0.400994103181,-0.00540064691817,0.049857403059,0.999999960257,0.00013447586873,-0.0002448493499,-3.81039382443e-05,1793242405448982016
+101,1.683333333,BASELINE,765,745,714,679,661.605362773,635,879,788,805,653,631,652,0.400991797181,-0.00539965455044,0.0498561306504,0.999999959218,0.000136152573657,-0.000248102554748,-3.83611667114e-05,1793242405465648896
+102,1.700000000,BASELINE,765,745,714,679.180763954,661.819236046,635,878.819236046,787.819236046,805,653,631,652,0.400990402871,-0.0053989571516,0.0498553549021,0.999999958563,0.000137263744281,-0.000250108411687,-3.84554241114e-05,1793242405482315776
+103,1.716666667,BASELINE,765,745,714,679.756832854,661.243167146,635,878.243167146,787.243167146,805,653,631,652,0.400991002297,-0.00539890480774,0.0498556652792,0.99999995877,0.000137138171951,-0.000249386496501,-3.81932870337e-05,1793242405498982400
+104,1.733333333,BASELINE,765,745,714,679.65857799,661,635,878.34142201,787.34142201,805,653,631,652,0.400991490905,-0.00539897838784,0.0498558967008,0.999999958926,0.000137009399237,-0.000248833562049,-3.81921792187e-05,1793242405515648768
+105,1.750000000,BASELINE,765,745,714,679.067765177,661,635,878.932234823,787.932234823,805,653,631,652,0.400991898567,-0.00539914394874,0.0498560704496,0.999999959043,0.000136878288798,-0.000248404059053,-3.83817395112e-05,1793242405532315392
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,714,678,661,635,879,787,804,652,631,652,0.400993992398,-0.00540198206636,0.0498572392425,0.999999960388,0.000133174822142,-0.000245043404583,-3.79655902822e-05,1793242405564656384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,678.6047242,661,635,879,787.6047242,804.6047242,652,631,652,0.400994298229,-0.00540109229394,0.0498568619865,0.999999960519,0.000132088155238,-0.000245030147641,-3.83990982713e-05,1793242405581323008
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.796029627,804.796029627,652.203970373,631,652,0.400993941042,-0.00540061434597,0.0498564917337,0.999999960404,0.00013159426513,-0.000245732854961,-3.85963264353e-05,1793242405597989632
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.207121608,804.207121608,652.792878392,631,652,0.400992332593,-0.00540091360254,0.0498561346974,0.999999959825,0.000132219077029,-0.000247786746735,-3.83476418769e-05,1793242405614656256
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,678.623171445,661,635,879,787.376828555,804.376828555,652.623171445,631,652,0.400992528,-0.00540087638236,0.0498560896617,0.999999959801,0.000133309507081,-0.000247311539788,-3.82495564831e-05,1793242405631323136
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,678.041910985,661,635,879,787.958089015,804.958089015,652.041910985,631,652,0.40099370201,-0.00540065662138,0.0498562138884,0.999999960077,0.000134652537924,-0.000245464280463,-3.82331721154e-05,1793242405647989760
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.53114843,745,714.53114843,678.53114843,661,635,879,787.46885157,805,652.53114843,630.46885157,652,0.400991908686,-0.0054009638456,0.0498556458093,0.999999959673,0.000134177171359,-0.000247370689208,-3.81748960828e-05,1793242405664656384
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.895429252,745,714.895429252,679,661,634.895429252,879,787.104570748,805.104570748,652.895429252,630.104570748,652,0.400990296017,-0.00540096953713,0.049855243407,0.999999959249,0.000134144598338,-0.00024909558204,-3.81934094343e-05,1793242405681323264
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.317479275,745,714.317479275,679,661,634.317479275,879,787.682520725,805.682520725,652.317479275,630.682520725,652,0.400990544969,-0.00539942484968,0.0498558345353,0.999999958984,0.000136756152997,-0.000248678352921,-3.85742752745e-05,1793242405697989632
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714,679.266055799,661,634.266055799,879,788,805.467888402,652,631,652,0.400992018885,-0.00539864155758,0.0498563930416,0.999999959065,0.000137306098387,-0.0002480367369,-3.86539963217e-05,1793242405714656256
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714,679.856398322,661,634.856398322,879,788,804.287203356,652,631,652,0.40099498587,-0.00539878630549,0.049856911786,0.999999959571,0.000135343215379,-0.000247121623042,-3.8366661788e-05,1793242405731323136
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714,679.1270471,661,635,879,788,804.43647645,652.43647645,631,652,0.401007865855,-0.00539947241421,0.0498617679513,0.999999961847,0.000135257171545,-0.000237862564777,-3.7854101541e-05,1793242405747990016
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,714,678.013181592,661,635,879,787.986818408,805,653,631,652,0.401024643725,-0.00540034537121,0.0498682901239,0.999999964695,0.000135763648288,-0.000225365573308,-3.72644736371e-05,1793242405764656384
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,714,678.586757164,661,635,879,787.413242836,805,653,631,652,0.40107166649,-0.00540176384371,0.0498863663157,0.999999972207,0.000135811996834,-0.000189238353281,-3.64762913775e-05,1793242405781323008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714,678.834779002,661,635,879,787,805,652.834779002,631,652,0.401123922225,-0.00540335097356,0.049904194659,0.999999978475,0.000135528082648,-0.000153045659706,-3.54782070361e-05,1793242405797989888
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,678.243715996,661,635,879,787,805,652.243715996,631,652,0.40118966547,-0.0054053728026,0.0499213841997,0.999999983586,0.000134387791946,-0.000116684206702,-3.39391191826e-05,1793242405814657280
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,678.341023159,660.658976841,635,879,787,805,652.341023159,630.658976841,652,0.40126120367,-0.00540854564583,0.04993422943,0.999999986079,0.000132727936171,-9.57983333722e-05,-3.23609777791e-05,1793242405831323904
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,678.921325148,660.078674852,635,879,787,805,652.921325148,630.078674852,652,0.401336807896,-0.00541252609782,0.0499440264748,0.999999987307,0.000130703527812,-8.57708996259e-05,-3.07554345716e-05,1793242405847990016
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.499036103,635,879.499036103,787,805,653,630.499036103,652,0.40142179113,-0.00541550502418,0.0499467907367,0.99999998783,0.00012873550412,-8.2821675933e-05,-3.01406031026e-05,1793242405864656384
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.924193418,787.075806582,804.924193418,652.924193418,631,651.924193418,0.401510850738,-0.00541840247751,0.0499480472898,0.999999988179,0.000126874644029,-8.16471845039e-05,-2.96445309462e-05,1793242405881323264
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879.350927818,787.649072182,804.350927818,652.350927818,631,651.350927818,0.401617007383,-0.00542179607064,0.0499466481674,0.999999988089,0.000125658982586,-8.4833879618e-05,-2.89081293298e-05,1793242405897990656
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.770622328,745,714,679,661,635,879.229377672,788,804,652.229377672,631,651.229377672,0.40173308316,-0.00542596945407,0.0499465644713,0.999999988164,0.000124247421695,-8.63454356097e-05,-2.7919134616e-05,1793242405914657280
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.179205449,745,714,679,661,635,879.820794551,788,804,652.820794551,631,651.820794551,0.401864814831,-0.00543137362244,0.0499485569837,0.999999988511,0.000122526662207,-8.52130284808e-05,-2.65314586035e-05,1793242405931323648
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.403211497,745,714,678.596788503,661,635,879.596788503,788,804.806422995,653,631,652,0.402022619481,-0.00543614776296,0.0499519687639,0.999999989333,0.000118637333954,-8.13499107024e-05,-2.53347712895e-05,1793242405947990272
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.98171585,745,714,678.01828415,661,635,879.01828415,788,805.963431699,653,631,652,0.402191759154,-0.00544064800457,0.0499559975591,0.99999999032,0.00011380523826,-7.62996390133e-05,-2.42211146079e-05,1793242405964656896
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714,678.555335549,661,635,879,788,805.444664451,653,631,651.444664451,0.402382152416,-0.00544849741966,0.0499521074001,0.999999989872,0.000111488402853,-8.55833238059e-05,-2.2405860863e-05,1793242405981323520
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714,678.867648804,661,635,879,788,805,653,631,651.132351196,0.402580401987,-0.0054559075495,0.049949088053,0.999999989463,0.000109812412731,-9.26648154055e-05,-2.07005823692e-05,1793242405997989888
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,678.278358176,661,635,879,788,805,653,631,651.721641824,0.402803380479,-0.00546142367454,0.04994996747,0.999999989656,0.000110065506024,-9.05281386996e-05,-1.94540463415e-05,1793242406014656512
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,678.306059667,661,635,879,788,805,652.693940333,631,652,0.403055560289,-0.00546918509432,0.0499539771691,0.999999990748,0.000106909734747,-8.22229600431e-05,-1.77153973694e-05,1793242406031323136
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,678.886115179,661,635,879,788,805,652.113884821,631,652,0.403333882179,-0.00547895658402,0.0499607892117,0.99999999247,0.000100702222788,-6.83955122076e-05,-1.55361909037e-05,1793242406047990016
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,661,635,879,787.537392204,804.537392204,652,631,652,0.403644953877,-0.00548964026442,0.0499701629609,0.999999994144,9.58614031105e-05,-4.8597534332e-05,-1.26983744287e-05,1793242406064656896
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.961729378,635,879,787,804,652.038270622,631,652,0.403966869807,-0.00550043547467,0.0499798401153,0.999999995361,9.16049012501e-05,-2.81335867328e-05,-9.71360087749e-06,1793242406081323520
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.38549548,635,879,787,804,652.61450452,631,652,0.404328756366,-0.00550966592345,0.0499849851267,0.999999995671,9.08687456535e-05,-1.88113826525e-05,-6.92478451137e-06,1793242406097989888
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.804479635,745,714,678.804479635,660.195520365,635,879,787,804,653,631,652,0.404699708431,-0.00551728162544,0.0499908898215,0.999999995762,9.16853636081e-05,-7.34180045641e-06,-3.90611218856e-06,1793242406114656512
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.213799218,745,714,678.213799218,660.786200782,635,879,787,804,653,631,652,0.405088982461,-0.00552163381242,0.0499983298881,0.999999995391,9.5640243375e-05,8.46777889424e-06,-4.22885568479e-07,1793242406131323392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.369326245,745,714,678,661,635,878.630673755,787,804.369326245,652.630673755,631,652,0.405484005113,-0.00551744572638,0.0499893448795,0.999999994014,0.000109235763782,-6.07950803656e-06,1.76349566419e-06,1793242406147989760
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.948165948,745,714,678,661,635,878.051834052,787,804.948165948,652.051834052,631,652,0.405882288911,-0.00550841286692,0.0499710421631,0.999999991048,0.00012830028097,-3.78478063009e-05,3.21419552078e-06,1793242406164656384
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,678.519858159,661,635,878.519858159,787,805,652,631,651.480141841,0.406312440152,-0.00549798833577,0.0499512064569,0.999999985912,0.000150125338873,-7.49840221628e-05,3.8917311108e-06,1793242406181323264
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.906593928,635,879,787.093406072,805,652,631,651.093406072,0.40675465035,-0.00549043047314,0.0499325944616,0.999999979687,0.000168922701712,-0.000109851035574,4.9359175991e-06,1793242406197989888
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714,679,660.319522694,635,879,787.680477306,805,652,631,651.680477306,0.407244028618,-0.00549874680732,0.0499212468413,0.999999977026,0.000170283251293,-0.000129934608675,8.31981977265e-06,1793242406214656768
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714,679,660.266438254,635,879,788,805,652,631,652,0.407779564971,-0.00550700805948,0.0499258358206,0.999999977941,0.000173006705609,-0.000118466988889,1.23058866153e-05,1793242406231323392
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,660.851073199,635,879,788,805,652,631,652,0.408370226074,-0.00551520352886,0.0499494572522,0.999999981725,0.000177357822927,-6.93190235299e-05,1.70110947324e-05,1793242406247990272
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.428969589,745,714.428969589,678.571030411,661.428969589,635,879,787.571030411,805,652,631,652,0.408977367857,-0.00551767487505,0.0499742303157,0.999999981958,0.000186793547864,-2.66332928887e-05,2.19813908846e-05,1793242406264657152
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.995498072,745,714.995498072,678,661.995498072,635,879,787.004501928,805,652.004501928,631,651.995498072,0.409590069979,-0.00551817074437,0.0499991830309,0.999999979944,0.000197990254521,1.3443590789e-05,2.70310498303e-05,1793242406281323520
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.427571895,745,714.427571895,678,661.427571895,635,879,787.572428105,805,652.572428105,631,651.427571895,0.410193659491,-0.00551629518027,0.049997355735,0.999999977037,0.000212070800513,3.45623261949e-06,3.06733470487e-05,1793242406297990144
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,678.143636276,660.856363724,635,879,787.856363724,805,652.856363724,630.856363724,651.143636276,0.410801334804,-0.00551436521809,0.0499871488347,0.999999973566,0.000226258523382,-2.26088759027e-05,3.41088113861e-05,1793242406314656768
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,678.724842529,660.275157471,635,879,787.275157471,805,652.275157471,630.275157471,651.724842529,0.411421456884,-0.00551226953935,0.0499514145162,0.999999965565,0.000240772744024,-9.76528409737e-05,3.69141844248e-05,1793242406331323392
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,678.687247089,660,635,879,787.312752911,805,652,630.312752911,651.687247089,0.412091744547,-0.00551209095917,0.0499391325499,0.999999960538,0.000252711228442,-0.00011610054911,3.97667336294e-05,1793242406347990016
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,678.093309197,660,635,879,787.906690803,805,652,630.906690803,651.093309197,0.412807134365,-0.00551363597367,0.0499479357526,0.999999961181,0.000262333962713,-8.36645911185e-05,4.26616976721e-05,1793242406364656640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,678.484449686,660.968899372,635,879,787.515550314,805,652,631,651.484449686,0.413554440697,-0.0055189373563,0.0499639050319,0.999999984409,0.000166208175916,-5.56785551475e-05,2.13834706374e-05,1793242406381323264
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.059308346,745,714.059308346,679,661.881383308,635,879.059308346,787.059308346,805.059308346,652,631,652,0.414306635615,-0.00552542930465,0.049978298037,0.999999997486,6.27248532555e-05,-3.30439119679e-05,-1.21827645869e-06,1793242406397989632
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.635171436,745,714.635171436,679,660.729657127,635,879.635171436,787.635171436,805.635171436,652,631,652,0.415049597498,-0.005536192804,0.0499673292871,0.99999999652,6.68256549768e-05,-4.97942677326e-05,3.89385848994e-06,1793242406414656256
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.782999988,745,714.782999988,679,660,635,879.782999988,787.782999988,805.782999988,652,631,652,0.415802534719,-0.00554183280297,0.0499521539386,0.999999994246,7.73838786873e-05,-7.37994591207e-05,8.57198833287e-06,1793242406431322880
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.190858541,745,714.190858541,679,660,635,879.190858541,787.190858541,805.190858541,652,631,652,0.41657271688,-0.00553861548716,0.0499297063821,0.999999988923,9.91054496195e-05,-0.000110346535582,1.24998262084e-05,1793242406447989760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.390657634,679,660.390657634,635,879,787,805,652,631,652,0.417394054673,-0.00553567393657,0.0499408393267,0.999999989388,0.000114922004111,-8.80031401946e-05,1.64952857135e-05,1793242406464656640
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714.967120191,679,660.967120191,635,879,787,805,652,631,652,0.41823972313,-0.00553286354577,0.0499679438592,0.999999990898,0.000127930008728,-3.76502061901e-05,2.05229073354e-05,1793242406481323520
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.542290027,745,714.457709973,679,661,635,879,787,805,652,631,652,0.419046760655,-0.00553197213127,0.0499676107639,0.999999990008,0.000130518195449,-4.96557770116e-05,2.19739191364e-05,1793242406497989888
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.882581435,745.117418565,714,679,660.882581435,635,879.117418565,787.117418565,805,652,631,652,0.419862578078,-0.00553112863188,0.0499646239463,0.999999989191,0.000131519584154,-6.16833777028e-05,2.27176690199e-05,1793242406514656512
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.307309179,745.692690821,714,679,660.307309179,635,879.692690821,787.692690821,805,652,631,652,0.420721742494,-0.00553001936041,0.0499577608191,0.999999989734,0.000128791138086,-5.90890234584e-05,2.13112894184e-05,1793242406531323392
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.277376308,746,714,679,660.277376308,635,880,787.722623692,805,652,631,652,0.421615068838,-0.00553231568507,0.0499672069882,0.999999991449,0.000124772560496,-3.26913055469e-05,2.15430072267e-05,1793242406547990016
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.872857287,746,714,679,660.872857287,635,880,787.127142713,805,652,631,652,0.422547573364,-0.00553851766409,0.049995357217,0.999999992386,0.000119274415179,2.10049271527e-05,2.36533511367e-05,1793242406564656640
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.547987544,714,679,661,635,880,787.452012456,805.452012456,652,631,652,0.423420516414,-0.00554138465668,0.0499880094926,0.999999993035,0.000115275305666,6.96006366508e-06,2.43480150999e-05,1793242406581323008
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679,660.973175261,635,880,788,806,652,631,652,0.424279166891,-0.00554320950299,0.0499718603181,0.999999993158,0.0001118909165,-2.36117712591e-05,2.46454846965e-05,1793242406597989888
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714,679,660.396534258,635,880,788,806,652,631,652,0.425176289656,-0.00554223089303,0.0499728340106,0.99999999321,0.000112765058376,-1.59958590673e-05,2.46791452411e-05,1793242406614656512
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.817473921,745,714,679,660.182526079,635,880,788,805.817473921,652,631,652,0.426078504615,-0.00554213550893,0.0499798507193,0.999999993195,0.00011370811691,-5.33539093495e-06,2.55228766143e-05,1793242406631322880
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.233087058,745,714,679,660.766912942,635,880,788,805.233087058,652,631,652,0.426991930811,-0.00554398468994,0.0500001721086,0.999999992942,0.000114802906588,1.20281607071e-05,2.8150110369e-05,1793242406647989504
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.351895424,661,635,880,787.648104576,805,652,631,652,0.427863125897,-0.00554307817875,0.0499840973067,0.999999992616,0.000115011064738,-2.72123246391e-05,2.82805222766e-05,1793242406664656384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,679.937273075,661,635,880,787.062726925,805,652,631,652,0.428706300652,-0.00554034326875,0.0499438736713,0.999999987663,0.000114630943274,-0.000104009526808,2.67542954028e-05,1793242406681323008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,635,880,787,805.509269362,652,631,652,0.429622872156,-0.00554300995302,0.0499448961659,0.999999989762,0.000110413162239,-8.71302091431e-05,2.63270522034e-05,1793242406697989888
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,744.919381863,714,679.919381863,661.080618137,635,879.919381863,787.080618137,806,652,631,652,0.43054111323,-0.00554596900115,0.0499495098663,0.999999991877,0.000106668067729,-6.46238317155e-05,2.63034449504e-05,1793242406714656768
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,744.342128777,714,679.342128777,661.657871223,635,879.342128777,787.657871223,806,652,631,652,0.431415373531,-0.00554673546794,0.0499457514975,0.999999990762,0.000108672237252,-7.67121159171e-05,2.79538438593e-05,1793242406731323392
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,744.241086693,714.241086693,679.241086693,661.758913307,634.758913307,879,787.758913307,806,652,631,652,0.432295286545,-0.00554691072817,0.0499393377198,0.999999989711,0.000109291643239,-8.83892049654e-05,2.86650014856e-05,1793242406747989760
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,744.832978098,714.832978098,679.832978098,661.167021902,634.167021902,879,787.167021902,806,652,631,652,0.433183424935,-0.00554622572518,0.0499290600619,0.99999998884,0.000107896083183,-9.94679666439e-05,2.80094714475e-05,1793242406764656128
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.414460981,745.414460981,715,679.585539019,661,634.414460981,879,787,806,651.585539019,631,652,0.434078194718,-0.00554978096928,0.0499469206153,0.999999991609,0.000103983862701,-7.13573400205e-05,2.96091640153e-05,1793242406781323008
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.991852099,745.991852099,715,679.008147901,661,634.991852099,879,787,806,651.008147901,631,652,0.434975571337,-0.00555500311109,0.0499758426754,0.999999994189,9.90823093638e-05,-2.78408415466e-05,3.20954146506e-05,1793242406797989888
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.435146993,714.435146993,679.564853007,661,635,879.564853007,787,806,651.564853007,631.564853007,652,0.435782253273,-0.0055499702297,0.0499646772249,0.999999991818,0.000105557878919,-6.45485387359e-05,3.24792587571e-05,1793242406814656512
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.861585762,745,714,680,661,635,880,787,806,652,631.861585762,652,0.436592913391,-0.0055459728523,0.0499536533835,0.999999988916,0.000110168658369,-9.4722163096e-05,3.25438380551e-05,1793242406831323392
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.286056604,745,714,680,661,635,880,787,806,652,631.286056604,652,0.437420236272,-0.00554570917042,0.0499448888041,0.999999988561,0.000108376118852,-0.00010063471682,3.16952069415e-05,1793242406847990016
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.299544904,680,661,635,880,787,806,652,631.299544904,652,0.438269981276,-0.00554714885883,0.0499536751924,0.999999991009,0.000104573667515,-7.78013450527e-05,3.1521676524e-05,1793242406864656640
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.895099868,680,661,635,880,787,806,652,631.895099868,652,0.439141883756,-0.00555027181655,0.0499798054348,0.999999994256,9.8785022658e-05,-2.65612698351e-05,3.2015280118e-05,1793242406881323264
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.46985223,745,714.53014777,679.53014777,661,635,880,787,806,652,631.53014777,652,0.439910532762,-0.00555259067854,0.0499690386268,0.999999994012,9.66297857339e-05,-4.01367560073e-05,3.20731285539e-05,1793242406897989888
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.959063366,745,714,679.040936634,661,635,879.959063366,787,806,651.959063366,631,652,0.440658006331,-0.00555463545278,0.0499515661,0.999999992758,9.54448948206e-05,-6.59157868278e-05,3.20992266193e-05,1793242406914656512
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.377687908,745,714,679.622312092,661,635,879.377687908,787,806,651.377687908,631,652,0.441417357707,-0.00555533132519,0.0499497077993,0.999999992331,9.68150531689e-05,-6.98619181781e-05,3.29360817184e-05,1793242406931323136
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.206870054,679.793129946,661,635,879.206870054,787,806,651,631.206870054,651.793129946,0.442170463148,-0.00555553757159,0.0499572205151,0.999999992886,9.95824092054e-05,-5.60748086341e-05,3.41529951164e-05,1793242406947990016
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.79732928,679.20267072,661,635,879.79732928,787,806,651,631.79732928,651.20267072,0.442911987181,-0.00555483592821,0.0499821094545,0.999999993799,0.000104940521665,-9.40580577903e-06,3.60746323937e-05,1793242406964656640
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714.619530658,679.380469342,661.380469342,635,880,787,806.380469342,651,631.619530658,651.380469342,0.443610329782,-0.00555415334717,0.0499818764662,0.999999993221,0.000109206493785,-1.44456945216e-05,3.77226964383e-05,1793242406981323008
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.040215861,679.959784139,661.959784139,635,880,787,806.959784139,651,631.040215861,651.959784139,0.44428610434,-0.00555348072877,0.0499685139528,0.999999991776,0.000112901678077,-4.6510307853e-05,3.92277822357e-05,1793242406997989376
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,680,661.464443345,634.464443345,880,787,806.464443345,651.535556655,631.535556655,651.464443345,0.444917412197,-0.00555207089173,0.0499443168731,0.999999989269,0.000116598615166,-7.99459356054e-05,3.84066991837e-05,1793242407014656256
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.110220241,745,714,680,661.110220241,634.110220241,880,787,806,652,631.889779759,651.110220241,0.445549136006,-0.00555130349449,0.0499281689778,0.999999987361,0.00011982698562,-9.73178141967e-05,3.80586590344e-05,1793242407031322880
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.681351573,745,714,680,661.681351573,634.681351573,880,787,806,652,631.318648427,651.681351573,0.446196470567,-0.00555345258105,0.0499490604255,0.999999990743,0.000121095391114,-4.70877711796e-05,4.04144037465e-05,1793242407047989504
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.736571655,745,714,680,661.736571655,635,880,787,806.263428345,652,631,652,0.4468076557,-0.00555384171009,0.0499609432457,0.999999991206,0.000124138858568,-1.99578948294e-05,4.21702792879e-05,1793242407064656384
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.140681133,745,714,680,661.140681133,635,880,787,806.859318867,652,631,652,0.447373218063,-0.00555200966831,0.0499614566426,0.999999990452,0.000129422559577,-2.19818011896e-05,4.3169084321e-05,1793242407081323008
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,661,634.559027273,880,787,806.559027273,652,631,652,0.447887484229,-0.00555003681343,0.0499303939236,0.999999988138,0.000132632689812,-6.6075167098e-05,4.2027513679e-05,1793242407097989888
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.018032249,745,714,680,661,634,880,787,806,652,631,652,0.448384723154,-0.00554822269238,0.0498903226481,0.999999982593,0.000135033670754,-0.000122294411202,4.03057483307e-05,1793242407114656768
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.58912379,745,714,680,661,634,880,787,806,652,631,652,0.448845944376,-0.00555261175085,0.049873252857,0.999999978908,0.000132272239479,-0.000151659435047,4.10769604284e-05,1793242407131323392
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.833452998,745,714.166547002,680,661,634,880,787,806,652,631,652,0.449303868565,-0.00555537881361,0.0498631744447,0.999999976251,0.000131026782427,-0.000169053532202,4.18388272786e-05,1793242407147990016
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.23979193,745,714.76020807,680,661,634,880,787,806,652,631,652,0.449753337525,-0.00555398622768,0.0498710255989,0.999999978031,0.000133669079854,-0.000155747886953,4.25767282405e-05,1793242407164656640
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,787,806.343214036,652,631,652,0.450190933362,-0.0055516359838,0.0498821591875,0.999999980316,0.000132865967746,-0.000141184234174,4.22095430405e-05,1793242407181323264
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880,787,806.918999762,652,631,652,0.450620483603,-0.00554863680347,0.0498955170475,0.999999982832,0.000129728146979,-0.000125768120137,4.10935196598e-05,1793242407197990144
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,633.503320517,880,787,806.503320517,652,631,652,0.450994835422,-0.0055550177218,0.0498931967616,0.999999987057,7.38401428917e-05,-0.000140340388634,2.71758271003e-05,1793242407214656512
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.073976487,745,715,680,661,633,880,787,806,652,631,652,0.451350714462,-0.00556231515596,0.0498860653505,0.999999986514,1.77305696165e-05,-0.000162722664779,1.33977413684e-05,1793242407231323136
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.646603698,745,715,680,661,633,880,787,806,652,631,652,0.451642986112,-0.00556543958348,0.0498638045798,0.999999978782,1.83372686256e-05,-0.000204657429441,1.46873330954e-05,1793242407247989760
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.773193537,745,715,680,660.773193537,633,880,786.773193537,806,651.773193537,631,651.773193537,0.451922258533,-0.00556570508174,0.0498416347908,0.999999969702,2.21054268262e-05,-0.000244682448998,1.53988119249e-05,1793242407264656384
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.180779173,745,715,680,660.180779173,633,880,786.180779173,806,651.180779173,631,651.180779173,0.452180576403,-0.00556136203762,0.0498196116648,0.999999959748,3.09697998274e-05,-0.000281628990301,1.51783831505e-05,1793242407281323008
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,786.401069424,806.401069424,651.401069424,631,651.401069424,0.452443189213,-0.00555865779474,0.0498124122189,0.999999956785,3.80477319185e-05,-0.000291071068951,1.61514644244e-05,1793242407297989888
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,786.978277869,806.978277869,651.978277869,631,651.978277869,0.452707688271,-0.00555667326938,0.049811722937,0.999999957264,4.43411074678e-05,-0.000288433922656,1.7648703545e-05,1793242407314656512
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714.4454354,680,660,632.4454354,880,787,806.4454354,652,631,651.4454354,0.45294945568,-0.0055545231305,0.0498219311842,0.999999962122,5.09469561723e-05,-0.000269818032594,1.89503131107e-05,1793242407331323136
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.866456153,632,880,787,806.133543847,652,631,651.133543847,0.453178258586,-0.00555274019912,0.0498302271631,0.999999965805,5.67880932686e-05,-0.000254482675089,2.00744653972e-05,1793242407347989504
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.278185814,632,880,787,806.721814186,652,631,651.721814186,0.453365943301,-0.0055522296875,0.0498305606784,0.999999966124,5.99837264772e-05,-0.000252445403931,2.06204120638e-05,1793242407364656384
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.307463543,714.307463543,680,659.307463543,632,880.307463543,786.692536457,806.692536457,652,631,652,0.453532918096,-0.00555223372807,0.049825122898,0.99999996394,6.17506672071e-05,-0.000260500468939,2.11186265286e-05,1793242407381323008
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.890761505,714.890761505,680,659.890761505,632,880.890761505,786.109238495,806.109238495,652,631,652,0.453681313412,-0.00555269938828,0.0498145075216,0.999999959297,6.22358864684e-05,-0.000277609660116,2.15740190199e-05,1793242407397989632
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714.534331208,680,660,632,880.534331208,786,806.465668792,652,631,652,0.453807120984,-0.00555114091516,0.0498039742271,0.999999954627,6.57357848698e-05,-0.000293193997405,2.14878839088e-05,1793242407414656256
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.961171985,714.038828015,680,660,632,880,786,806.961171985,652,631,652,0.453926382901,-0.00554923331503,0.049793617854,0.999999949855,6.96491967617e-05,-0.000308196696449,2.12907368999e-05,1793242407431322880
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.385448832,714.614551168,680,660,632,880,786,806.385448832,652,631,652,0.454027106079,-0.00554894765755,0.0497854463248,0.999999946141,6.96747919201e-05,-0.000320015431506,2.12840421259e-05,1793242407447989504
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.804977958,680,660,632,880,786,806.195022042,652,631,651.804977958,0.454121937732,-0.00554848410027,0.049780386554,0.999999943763,7.02595013855e-05,-0.000327225693495,2.14719795881e-05,1793242407464656640
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714.214889448,680,660,632,880,786,806.785110552,652,631,651.214889448,0.454204834602,-0.00554766016196,0.0497816304379,0.999999944321,7.19768382977e-05,-0.000325100326396,2.20541938747e-05,1793242407481323008
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.368121956,680,660,632,880,786.368121956,807,652,631,651.368121956,0.454277695135,-0.00554809213212,0.0497838442688,0.999999945501,7.30949623479e-05,-0.000321164408757,2.25677962263e-05,1793242407497989888
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.947080111,680,660,632,880,786.947080111,807,652,631,651.947080111,0.454344807517,-0.0055492434045,0.0497866136222,0.999999947018,7.38698965894e-05,-0.000316191525881,2.30421021998e-05,1793242407514656512
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880,786.477544162,807,652,631,652,0.454389181162,-0.00554881230452,0.0497840196954,0.999999945314,7.37958978566e-05,-0.000321591848304,2.24826430489e-05,1793242407531322880
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880,786,807,651.902967473,631,652,0.454429340581,-0.00554810699212,0.0497810578174,0.999999943379,7.38377882814e-05,-0.00032757809424,2.19589483756e-05,1793242407547989760
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,632,880,786,807,651.330539634,631,652,0.454460060508,-0.00554683813567,0.0497789366611,0.999999942066,7.48658791146e-05,-0.000331322259605,2.21199955385e-05,1793242407564656384
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.251061693,745.251061693,715,680,660,632,880,786.251061693,807,651,631,652,0.454485692657,-0.00554615275401,0.0497764306465,0.999999940802,7.52829514961e-05,-0.000335016293355,2.21809189973e-05,1793242407581323008
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.845198532,745.845198532,715,680,660,632,880,786.845198532,807,651,631,652,0.454504372366,-0.00554626468922,0.0497733987239,0.999999939614,7.48650687022e-05,-0.000338641822162,2.21050236673e-05,1793242407597989632
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.573901787,745.573901787,714.573901787,680.426098213,660,632,880,786.573901787,807,651.426098213,631,652,0.454515166881,-0.00554603582924,0.049769676202,0.999999937918,7.44898326615e-05,-0.000343699924228,2.20387481765e-05,1793242407614656256
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714.002323322,680.997676678,660,632,880,786,807,652,630.997676678,652,0.454523182621,-0.00554568245176,0.0497657261271,0.999999936025,7.41450701642e-05,-0.000349242585748,2.19739839644e-05,1793242407631322880
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.575991609,680.424008391,660,632,880,786,807,652,630.424008391,652,0.454531101226,-0.00554423792965,0.0497656571607,0.999999935574,7.75989404828e-05,-0.000349814524226,2.14473112815e-05,1793242407647989504
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,631.845021776,880,786.154978224,807,651.845021776,630,652,0.454537517272,-0.00554278388387,0.0497655983169,0.999999935106,8.00674474491e-05,-0.000350612747601,2.1154824191e-05,1793242407664656128
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,631.250967661,880,786.749032339,807,651.250967661,630,652,0.45453967635,-0.00554130285638,0.0497655681521,0.999999934618,7.97442758857e-05,-0.00035205206897,2.15258190957e-05,1793242407681322752
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.334069411,745.334069411,715,680,660,631,880,787,807,651.334069411,630.334069411,652,0.454542062906,-0.00554187537449,0.0497655152468,0.999999934627,7.77121053445e-05,-0.000352467004746,2.17631760074e-05,1793242407697989632
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.912510579,745.912510579,715,680,660,631,880,787,807,651.912510579,630.912510579,652,0.454544615863,-0.00554395006092,0.0497654457068,0.999999934992,7.44298021109e-05,-0.000352132602667,2.19027767728e-05,1793242407714656256
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.512233617,746,715,680.487766383,660,631.487766383,880,786.512233617,806.512233617,652,631,652,0.454543616391,-0.00554333108495,0.0497632429866,0.999999933931,7.55586664535e-05,-0.000354898880577,2.1806871673e-05,1793242407731322880
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.062697707,745.937302293,715,680.937302293,660,632,880,786,806.062697707,652,630.937302293,652,0.454542152774,-0.00554203563573,0.0497609038186,0.999999932674,7.77026050064e-05,-0.000357976631815,2.16209470067e-05,1793242407747989504
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.639623689,745.360376311,715,680.360376311,660,632,880,786,806.639623689,652,630.360376311,652,0.454542074503,-0.00553912893886,0.0497605633472,0.999999931971,8.17246356032e-05,-0.000359077122565,2.10409175069e-05,1793242407764656128
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,632,880,786,807,652,630.222258532,651.777741468,0.454542544595,-0.0055377626304,0.0497607403606,0.99999993165,8.38473792561e-05,-0.00035949979067,2.07302299581e-05,1793242407781323008
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,632,880,786,807,652,630.814393878,651.185606122,0.454543927259,-0.00553895979606,0.0497617785587,0.999999931987,8.28093792015e-05,-0.000358794444071,2.08677742486e-05,1793242407797989632
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.604693625,745.395306375,715,680,660,632,880,786,807,652,630.604693625,651.395306375,0.454543783306,-0.00554050348091,0.0497614294919,0.99999993189,8.09363086395e-05,-0.000359491104926,2.08909106331e-05,1793242407814656512
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.02890508,745.97109492,715,680,660,632,880,786,807,652,630.02890508,651.97109492,0.454542942357,-0.00554220537348,0.0497604470517,0.999999931589,7.86819760057e-05,-0.000360827870197,2.08618126241e-05,1793242407831323392
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.453293485,714.453293485,680,659.453293485,632,880.546706515,786,807,652,630,652,0.454543261013,-0.00554061292466,0.0497595634637,0.999999931364,7.93282839757e-05,-0.000361318213881,2.07098811585e-05,1793242407847989760
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.12160903,745.12160903,714.12160903,680.12160903,659.12160903,632,880.87839097,786,807,652,630,652,0.454544098837,-0.00553866728815,0.0497593533873,0.999999931352,8.07286505915e-05,-0.000361049848397,2.05402096875e-05,1793242407864656384
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.693918125,745.693918125,714.693918125,680.693918125,659.693918125,632,880.306081875,786,807,652,630,652,0.454546633621,-0.00553605800119,0.049761620076,0.999999932105,8.43554717966e-05,-0.000358135401857,2.03288525442e-05,1793242407881323008
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.723198903,745.723198903,715,680.723198903,659.723198903,632,880,786,807,652,630.276801097,652,0.454546919688,-0.00553546848681,0.049761740326,0.999999932091,8.5348412091e-05,-0.000357938018809,2.03251152095e-05,1793242407897989632
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.12815905,745.12815905,715,680.12815905,659.12815905,632,880,786,807,652,630.87184095,652,0.454544620401,-0.00553720110852,0.0497593928117,0.999999931207,8.33131748908e-05,-0.000360864448526,2.05600787422e-05,1793242407914656256
+248,4.133333333,HOLD_POSE2,766,746,715,680,660,632,880,786,807,652,630,652,0.454543786056,-0.00553914010977,0.0497592076777,0.999999930769,8.21771808141e-05,-0.00036229019375,2.13245470171e-05,1793242407947175680
+249,4.150000000,HOLD_POSE2,765.428009899,745.428009899,715,680,659.428009899,631.428009899,880,786,807,651.428009899,630,652,0.45454577881,-0.0055373058559,0.0497598398313,0.999999931335,8.43936684519e-05,-0.000360228008436,2.10563346892e-05,1793242407963842048
+250,4.166666667,HOLD_POSE2,765,745,715,679.850370865,659.149629135,631,880,786,807,651.149629135,630,651.850370865,0.454546632182,-0.00553603015488,0.0497597222934,0.999999931425,8.58711645861e-05,-0.000359641011196,2.08221119938e-05,1793242407980508672
+251,4.183333333,HOLD_POSE2,765,745,715,679.255939104,659.744060896,631,880,786,807,651.744060896,630,651.255939104,0.454544098514,-0.00553641486378,0.0497573761475,0.999999930116,8.51518607381e-05,-0.000363439305993,2.06889302376e-05,1793242407997175296
+252,4.200000000,HOLD_POSE2,765,745.329930084,715,679.329930084,660,631.329930084,880,786,807,652,630,651.329930084,0.454544080223,-0.00553693123288,0.0497572215818,0.999999929957,8.43024711126e-05,-0.000364065518216,2.08827417557e-05,1793242408013842176
+253,4.216666667,HOLD_POSE2,765,745.909324954,715,679.909324954,660,631.909324954,880,786,807,652,630,651.909324954,0.454545963845,-0.0055375471521,0.0497587241011,0.99999993067,8.33547218407e-05,-0.000362293273862,2.13237975056e-05,1793242408030508800
+254,4.233333333,HOLD_POSE2,765.483550149,745.516449851,714.516449851,680,660,632,880,786,806.516449851,652,630.483550149,652,0.454546753115,-0.00553699632109,0.0497593745679,0.999999930975,8.32574793522e-05,-0.000361491805975,2.09968820152e-05,1793242408047175168
+255,4.250000000,HOLD_POSE2,766,745.058439893,714.058439893,680,660,631.941560107,880.058439893,786,806,652,630.941560107,651.941560107,0.454547124918,-0.00553645655409,0.0497597189219,0.999999931128,8.32336202786e-05,-0.000361098038522,2.06021945038e-05,1793242408063841792
+256,4.266666667,HOLD_POSE2,766,745.648088913,714.648088913,680,660,631.351911087,880.648088913,786,806,652,630.351911087,651.351911087,0.454545547632,-0.00553798507051,0.0497587177398,0.999999930581,8.24424327533e-05,-0.000362772996278,2.08866466589e-05,1793242408080508672
+257,4.283333333,HOLD_POSE2,765.766374055,746,714.766374055,680,660.233625945,631,880.766374055,786.233625945,806,652,630,651.233625945,0.454545052325,-0.00553763828802,0.0497581963796,0.999999930287,8.31091336886e-05,-0.000363433127283,2.08506333677e-05,1793242408097175296
+258,4.300000000,HOLD_POSE2,765.186923835,746,714.186923835,680,660.813076165,631,880.186923835,786.813076165,806,652,630,651.813076165,0.454546158616,-0.00553451559841,0.049758385275,0.999999930365,8.59338707769e-05,-0.00036259106314,2.0340251802e-05,1793242408113842176
+259,4.316666667,HOLD_POSE2,765,745.609891455,714.390108545,680,660.609891455,631.390108545,880.390108545,787,806.390108545,652,630.390108545,652,0.454546115979,-0.00553472192855,0.0497585071369,0.999999930246,8.56784712266e-05,-0.000362966003311,2.05698915631e-05,1793242408130508800
+260,4.333333333,HOLD_POSE2,765,745.034010416,714.965989584,680,660.034010416,631.965989584,880.965989584,787,806.965989584,652,630.965989584,652,0.454545526214,-0.00553651356155,0.049758597077,0.999999930033,8.39562887228e-05,-0.000363920489609,2.11519347533e-05,1793242408147175168
+261,4.350000000,HOLD_POSE2,765,745.539178341,715,680,660.539178341,631.460821659,880.460821659,787,806.460821659,652,631,651.460821659,0.454546650902,-0.00553618082767,0.0497597234366,0.999999930809,8.38520001524e-05,-0.000361823161538,2.08604852243e-05,1793242408163841792
+262,4.366666667,HOLD_POSE2,765,745.883837969,715,680.116162031,660.883837969,631.116162031,880.116162031,786.883837969,806.116162031,652,630.883837969,651.116162031,0.454547694579,-0.00553560219776,0.0497604355441,0.999999931368,8.4257379941e-05,-0.00036019109205,2.06464955689e-05,1793242408180508672
+263,4.383333333,HOLD_POSE2,765,745.290573463,715,680.709426537,660.290573463,631.709426537,880.709426537,786.290573463,806.709426537,652,630.290573463,651.709426537,0.454547963559,-0.00553456125744,0.0497591790522,0.9999999308,8.63390027271e-05,-0.000361256662216,2.09758267115e-05,1793242408197175296
+264,4.400000000,HOLD_POSE2,765,745,715,680.411673551,660,632,880.411673551,786.294163224,807,652,630.294163224,652,0.454547544601,-0.00553442069163,0.0497584746174,0.999999930448,8.66700991284e-05,-0.000362141206296,2.11422155946e-05,1793242408213841920
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+266,4.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,660,631,880,786,807,652,630,652,0.454552602612,-0.00553539533661,0.0497620454335,0.999999932452,8.64022309032e-05,-0.000356635085625,2.10454992788e-05,1793242408263494400
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745.596411397,715,680.403588603,660,631,880,786,807,652,630.596411397,652,0.454552490724,-0.00553529189173,0.0497622929113,0.999999932677,8.43786931818e-05,-0.000356501213413,2.08056473857e-05,1793242408280161024
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.812904093,746,715,680,660,631,880,786,807,652,631,652,0.454551874077,-0.00553522808489,0.0497621150309,0.999999932532,8.32515988671e-05,-0.000357187134187,2.05743760544e-05,1793242408296827392
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.234206165,746,715,680,660,631,880,786,807,652,631,652,0.45455020094,-0.00553524724262,0.0497610468523,0.999999931613,8.4000809524e-05,-0.000359588926737,2.03610642663e-05,1793242408313494016
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745.656764466,715,680,660,631,880,786,807,652,631,652,0.454550016604,-0.00553520609311,0.0497610293115,0.999999931468,8.46629961812e-05,-0.000359831346907,2.0424194537e-05,1793242408330160640
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.080176862,715,680,660,631,880,786,807,652,631,652,0.454550844443,-0.00553512394313,0.0497617260573,0.999999931852,8.52660186675e-05,-0.000358605696279,2.06752666865e-05,1793242408346827264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.493408559,715,680,660,631,880,786,806.506591441,652,630.506591441,652,0.454547088081,-0.00553642153522,0.0497589630405,0.999999930849,8.26253743104e-05,-0.000362019084875,2.04485858488e-05,1793242408363493888
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.358885876,715,680,660,631,880,786.641114124,806,652,630,652,0.454533253868,-0.00553404737454,0.0497518096466,0.99999992668,8.26933951041e-05,-0.000373395995038,1.94344058567e-05,1793242408396827648
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+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,631,879.181612538,786.181612538,806.818387462,652,630.818387462,652,0.454485626506,-0.0055315602573,0.0497282023764,0.999999911694,8.4787504226e-05,-0.00041120562028,1.82310319265e-05,1793242408430160896
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.279496913,680,660,632,880,786,807,652,630.279496913,651.279496913,0.454169634517,-0.00552136466217,0.0496462904423,0.999999851888,9.2158511445e-05,-0.000536252436151,1.27754801596e-05,1793242408513494016
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.88171391,680,660,632,880,786,807,652,630,651.88171391,0.453995977359,-0.00551582772951,0.0496485458541,0.999999853606,9.61198709939e-05,-0.000532344269133,1.2563666409e-05,1793242408546827776
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,660,632,880.392514938,786,807,652.392514938,630.607485062,652,0.453614765895,-0.00549965052295,0.0496628461188,0.999999861402,0.000107951790395,-0.000515194069729,1.0809397302e-05,1793242408596827392
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+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.287430077,714,679.712569923,661,634.712569923,880,787.712569923,806,651.287430077,631,652,0.442167189882,-0.00539441688194,0.0497724836975,0.999999936039,5.72434188356e-05,-0.00035077766705,-3.99907147877e-05,1793242409030161152
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.302377643,745,714,679,661.395244714,634.697622357,879,788,804.697622357,652,631,651.302377643,0.415202113503,-0.0053585555721,0.0498233145336,0.999999955515,9.66311863696e-05,-0.000277728865164,-4.99877619886e-05,1793242409546827776
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+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,660.488942793,635,879,787.511057207,804.511057207,652,631,652,0.408306876541,-0.00536740751315,0.0498162405385,0.999999946668,0.00010928408328,-0.000303701973182,-4.98657872041e-05,1793242409713493760
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diff --git a/Obstacle_avoidance/ball_0050_15/position_02/depth_05/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..218410ec4f27db028bc0f06c73a1ec91eadfcc56
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,411 @@
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diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_01/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2763a19045c32d29852f5b212a8be6b8471c0cff
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b3b23e6b03c61b9172cd5482c3ca23d1c1331950441e83e16a2860f81ce42fd
+size 25718850
diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_01/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da3a3f1e3e7090fc7961694fac9d828c15d3896d
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_01/franka_data.csv
@@ -0,0 +1,406 @@
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+12,0.200000000,BASELINE,766,745,715,679.090657242,659,635,879,787.909342758,804.909342758,652.090657242,631,652,0.401021476397,-0.00549806327891,0.0698538543225,0.999999987441,3.55930703709e-05,-0.000153570966985,1.632447904e-05,1793242412398505728
+13,0.216666667,BASELINE,765.468541315,745,714.468541315,679,659,635,878.468541315,788,805,652,631,652,0.401022661017,-0.00549728201362,0.0698541190145,0.999999987514,3.68916817553e-05,-0.00015279172982,1.63040600491e-05,1793242412415172352
+14,0.233333333,BASELINE,765.154574103,745,714.154574103,679.154574103,659,635,878.154574103,787.845425897,805,652,631,652,0.401023440071,-0.00549628188435,0.0698544080153,0.999999987557,3.77689350378e-05,-0.000152299517401,1.62594862571e-05,1793242412431838720
+15,0.250000000,BASELINE,765.732749892,745,714.732749892,679.732749892,659,635,878.732749892,787.267250108,805,652,631,652,0.401022101042,-0.00549631784547,0.0698544578979,0.999999987488,3.55281978342e-05,-0.000153292711213,1.62335462995e-05,1793242412448505344
+16,0.266666667,BASELINE,765.690886869,745.309113131,715,679.690886869,659,635,879,787.309113131,805,652,631,652,0.401022227387,-0.00549640130324,0.0698547167962,0.999999987561,3.50709659934e-05,-0.000152921612204,1.62185249179e-05,1793242412465171968
+17,0.283333333,BASELINE,765.116081606,745.883918394,715,679.116081606,659,635,879,787.883918394,805,652,631,652,0.401023613267,-0.00549652558583,0.06985515535,0.999999987758,3.61467113625e-05,-0.000151377861981,1.62128883861e-05,1793242412481838592
+18,0.300000000,BASELINE,765,745.540388385,715,679.459611615,659,635,879,787.540388385,805,652,631,652,0.401024060344,-0.00549644050166,0.0698550438556,0.999999987776,3.62150142623e-05,-0.000151245334408,1.61565000459e-05,1793242412498505472
+19,0.316666667,BASELINE,765,745,715,680,659,635,879,787,805,652,631,652,0.401024155377,-0.00549619499025,0.0698547797965,0.999999987737,3.62092140837e-05,-0.000151514919129,1.60744387292e-05,1793242412515172096
+20,0.333333333,BASELINE,765,745,715,680,659,635,879,787,805,652,631,652,0.401022509283,-0.00549431526883,0.0698543123352,0.999999987493,3.89538145167e-05,-0.000152468896351,1.57972379333e-05,1793242412531838976
+21,0.350000000,BASELINE,765.21411078,745,715,680,659,635,879,787,805,652,631,652,0.40102153482,-0.00549388873622,0.0698541388874,0.999999987363,3.9981113404e-05,-0.000153056572898,1.57754382097e-05,1793242412548505600
+22,0.366666667,BASELINE,765.789781769,745,715,680,659,635,879,787,805,652,631,652,0.401021694513,-0.00549591614494,0.0698544619281,0.999999987434,3.81084744018e-05,-0.000153025692231,1.61849239675e-05,1793242412565172224
+23,0.383333333,BASELINE,765.634919473,745,715,679.634919473,659,635,879,787,805,652,631,652,0.401021874778,-0.00549539119904,0.0698547016777,0.999999987425,3.92685259669e-05,-0.000152800666266,1.61162464073e-05,1793242412581838848
+24,0.400000000,BASELINE,765.059834778,745,715,679.059834778,659,635,879,787,805,652,631,652,0.401022066876,-0.00549339807009,0.0698548935162,0.999999987364,4.21730627886e-05,-0.000152463962685,1.57725164449e-05,1793242412598505472
+25,0.416666667,BASELINE,765,745,714.470588285,679,659,635,879,787.529411715,805,652.529411715,631,652,0.401022525739,-0.00549433862715,0.0698548867792,0.999999987473,4.05587317423e-05,-0.000152191265253,1.56940396885e-05,1793242412615172096
+26,0.433333333,BASELINE,765,745,714.117959717,679.117959717,659,635,878.882040283,787.882040283,805,652.882040283,631,652,0.401022833466,-0.00549540992141,0.0698548537683,0.999999987585,3.85714741844e-05,-0.000151982541198,1.55992603252e-05,1793242412631838976
+27,0.450000000,BASELINE,765,745,714.697342517,679.697342517,659,635,878.302657483,787.302657483,805,652.302657483,631,652,0.401022428815,-0.00549565997425,0.0698548081863,0.99999998764,3.71781652111e-05,-0.000151994986527,1.53202169847e-05,1793242412648505600
+28,0.466666667,BASELINE,765,745,715,679.725922756,659,635,878.274077244,787.274077244,805,652,631,652,0.401022126757,-0.00549543821528,0.0698546653055,0.999999987574,3.80825071362e-05,-0.00015218949504,1.54690298834e-05,1793242412665172224
+29,0.483333333,BASELINE,765,745,715,679.152084289,659,635,878.847915711,787.847915711,805,652,631,652,0.401021936906,-0.00549470043066,0.069854416008,0.999999987369,4.14998145794e-05,-0.000152583128007,1.60857937573e-05,1793242412681839104
+30,0.500000000,BASELINE,765.422564215,745,714.577435785,679.422564215,659,635,879,788,805,652,631,652,0.401021398543,-0.00549586924344,0.0698543839753,0.999999987292,3.94794958299e-05,-0.00015361656991,1.60982309905e-05,1793242412698505728
+31,0.516666667,BASELINE,765.997504804,745,714.002495196,679.997504804,659,635,879,788,805,652,631,652,0.401020734507,-0.005497725574,0.0698544302881,0.99999998725,3.54983726152e-05,-0.00015488072648,1.58927484252e-05,1793242412715172096
+32,0.533333333,BASELINE,765.412464974,745,714.587535026,680,659,635,879,787.412464974,805,652,631,652,0.401023054396,-0.00549600124304,0.0698556090971,0.999999987707,3.59906354904e-05,-0.00015179632771,1.57869109008e-05,1793242412731838720
+33,0.550000000,BASELINE,765.174503585,745,715,679.825496415,659,635,878.825496415,787.174503585,805,652.174503585,631,652,0.401024525724,-0.005495028329,0.069856371416,0.999999987936,3.71432471652e-05,-0.000149995671622,1.58038135957e-05,1793242412748505344
+34,0.566666667,BASELINE,765.754210051,745,715,679.245789949,659,635,878.245789949,787.754210051,805,652.754210051,631,652,0.401023996461,-0.00549583647038,0.0698561551694,0.999999987645,3.97839329692e-05,-0.000151219920646,1.61047144608e-05,1793242412765171968
+35,0.583333333,BASELINE,765.668780513,745,714.668780513,679,659,635,878.331219487,788,805,652.668780513,631,652,0.401023127292,-0.0054960809737,0.0698556932716,0.999999987459,3.97102223178e-05,-0.000152460978204,1.61446477167e-05,1793242412781838848
+36,0.600000000,BASELINE,765.093756254,745,714.093756254,679,659,635,878.906243746,788,805,652.093756254,631,652,0.401022007924,-0.00549591059315,0.0698550505543,0.99999998735,3.76384929966e-05,-0.000153714408352,1.59924873891e-05,1793242412798505472
+37,0.616666667,BASELINE,765,745,714,679,659,635,879,787.5192405,804.5192405,652,631,652,0.401021125602,-0.00549544722434,0.0698546397038,0.999999987148,3.71252256134e-05,-0.000155180063765,1.5669068174e-05,1793242412815172096
+38,0.633333333,BASELINE,765,745.057250557,714.057250557,679,659,635,879,787,804,652,631,652,0.401020479122,-0.00549497938577,0.0698543580708,0.999999986967,3.70665739217e-05,-0.000156383324657,1.53694663532e-05,1793242412831838976
+39,0.650000000,BASELINE,765,745.653262991,714.653262991,679,659,635,879,787,804,652,631,652,0.40102161748,-0.00549500661524,0.0698548673732,0.999999987169,3.84290191882e-05,-0.000154728227836,1.56079668386e-05,1793242412848505344
+40,0.666666667,BASELINE,765,745.760123934,715,679.239876066,659,635,879,787.239876066,804.239876066,652,631,652,0.401022023966,-0.00549474771271,0.0698550350883,0.999999987268,3.94818395093e-05,-0.000153817072061,1.56419169897e-05,1793242412865171968
+41,0.683333333,BASELINE,765,745.186585209,715,679.813414791,659,635,879,787.813414791,804.813414791,652,631,652,0.401021412434,-0.00549409080645,0.0698547276624,0.999999987229,4.01039778374e-05,-0.000153940723035,1.53913418312e-05,1793242412881838592
+42,0.700000000,BASELINE,765.389132756,745,715,679.610867244,659,635,879.389132756,787.610867244,805,652,631,652,0.401021722291,-0.0054948039081,0.0698550413302,0.999999987394,3.92376716064e-05,-0.000153067648898,1.56039904215e-05,1793242412898505472
+43,0.716666667,BASELINE,765.965901513,745,715,679.034098487,659,635,879.965901513,787.034098487,805,652,631,652,0.401022476431,-0.00549617761415,0.0698556544833,0.999999987654,3.7653651984e-05,-0.000151713963682,1.6040000969e-05,1793242412915172096
+44,0.733333333,BASELINE,765.446837574,744.446837574,714.446837574,679,659,635,879.446837574,787,805,652,631,652,0.401022001058,-0.00549713806365,0.0698552635176,0.999999987489,3.57643682097e-05,-0.000153238158489,1.61443389453e-05,1793242412931838720
+45,0.750000000,BASELINE,765.139461811,744,714.139461811,678.860538189,659,635,879,787,805,652,631,652,0.401021497347,-0.00549749898409,0.0698548660666,0.999999987314,3.49753296975e-05,-0.000154554284829,1.61546997616e-05,1793242412948505600
+46,0.766666667,BASELINE,765.720627672,744,714.720627672,678.279372328,659,635,879,787,805,652,631,652,0.401021148573,-0.0054960433156,0.0698546479052,0.999999987205,3.77317437739e-05,-0.000154638688219,1.59334218931e-05,1793242412965172224
+47,0.783333333,BASELINE,766,744.298247319,714.701752681,678.298247319,659,635,879,787.298247319,805,652,631,652,0.401021807982,-0.00549576632667,0.0698549887173,0.999999987312,3.85773675182e-05,-0.000153732586255,1.59551347579e-05,1793242412981838848
+48,0.800000000,BASELINE,766,744.872584278,714.127415722,678.872584278,659,635,879,787.872584278,805,652,631,652,0.401023400675,-0.00549658044956,0.069855846975,0.999999987622,3.76541595321e-05,-0.000151909566527,1.62017858278e-05,1793242412998505728
+49,0.816666667,BASELINE,765.552567913,745,714,679.447432087,659,635,879,787.552567913,805,652,631,652,0.401022593636,-0.00549650151186,0.0698554088049,0.999999987494,3.73090181986e-05,-0.000152852360357,1.59997547004e-05,1793242413015172608
+50,0.833333333,BASELINE,765,745.023053188,714.023053188,679.976946812,659,635,879.023053188,787,805,652,631,652,0.401021209483,-0.00549612867898,0.0698546681041,0.999999987257,3.71741394733e-05,-0.00015446094251,1.56732654079e-05,1793242413031839232
+51,0.850000000,BASELINE,765,745.614140574,714.614140574,679.385859426,659,635,879.614140574,787,805,652,631,652,0.401022462843,-0.00549478781622,0.0698555801764,0.999999987441,3.81593472714e-05,-0.000153045300364,1.54320206999e-05,1793242413048505856
+52,0.866666667,BASELINE,765,745.798189488,714.798189488,679,659,635,879.798189488,787,805,652,631,652,0.401022980266,-0.00549398653886,0.0698560601584,0.999999987516,3.896985893e-05,-0.000152363403398,1.53145132646e-05,1793242413065172480
+53,0.883333333,BASELINE,765,745.216944901,714.216944901,679,659,635,879.216944901,787,805,652,631,652,0.401022114015,-0.00549419976318,0.0698557277456,0.999999987389,3.94519155468e-05,-0.000153061057665,1.54296505025e-05,1793242413081839104
+54,0.900000000,BASELINE,765.358836094,745,714,679,659,635,879.358836094,787,805,652,631,652,0.401022024044,-0.00549449371309,0.0698555711189,0.999999987326,4.02245953081e-05,-0.000153249620189,1.56121115629e-05,1793242413098505984
+55,0.916666667,BASELINE,765.931363432,745,714,679,659,635,879.931363432,787,805,652,631,652,0.401022396355,-0.00549483573606,0.0698555191751,0.999999987302,4.11703446584e-05,-0.00015313501238,1.58346647718e-05,1793242413115172608
+56,0.933333333,BASELINE,765.492931198,745.507068802,714,679,659.507068802,635,879.492931198,787.507068802,805,652,631,652,0.401022653185,-0.00549445451305,0.0698561516207,0.999999987461,3.99786563114e-05,-0.000152420617581,1.5730067238e-05,1793242413131839488
+57,0.950000000,BASELINE,765,745.91410838,714,679,659.91410838,635,879,787.91410838,805,652,631,652,0.40102283075,-0.00549407930661,0.0698566617452,0.999999987596,3.8849907999e-05,-0.000151839434563,1.55823819765e-05,1793242413148505856
+58,0.966666667,BASELINE,765,745.319382077,714,679,659.319382077,635,879,787.319382077,805,652,631,652,0.401022631922,-0.00549432336466,0.0698558949544,0.999999987455,3.98188255507e-05,-0.000152531414578,1.54434320369e-05,1793242413165172224
+59,0.983333333,BASELINE,765,745,714.264857843,679,659,635,879,787.264857843,805,652,631,652,0.401022210385,-0.0054950252612,0.0698557583524,0.99999998743,3.95557667742e-05,-0.000152765186095,1.54617643675e-05,1793242413181839104
+60,1.000000000,BASELINE,765,745,714.836934291,679,659,635,879,787.836934291,805,652,631,652,0.401021530517,-0.00549625822192,0.0698563527299,0.999999987537,3.78636923019e-05,-0.000152467464379,1.56625343189e-05,1793242413198505728
+61,1.016666667,BASELINE,765,745,714.586870435,679,659,635,879,788,805,652,631,652,0.401021367433,-0.00549629064474,0.0698559178196,0.999999987443,3.82529952908e-05,-0.000152975172228,1.57953747882e-05,1793242413215172352
+62,1.033333333,BASELINE,765,745,714.009033089,679,659,635,879,788,805,652,631,652,0.401021410382,-0.0054958444333,0.0698550725496,0.999999987267,3.94721084242e-05,-0.000153803991259,1.5901132908e-05,1793242413231839232
+63,1.050000000,BASELINE,765,745,714.578329312,679,659,635,879,787.421670688,805,652,631,652,0.401022805643,-0.00549606267248,0.0698566026744,0.999999987607,3.78575915725e-05,-0.000151994694519,1.58280488154e-05,1793242413248505856
+64,1.066666667,BASELINE,765,745,715,679,659,635,879,787,805,652,631,652,0.401023530649,-0.00549586274891,0.0698573359716,0.999999987775,3.71057787624e-05,-0.00015108598092,1.57072041308e-05,1793242413265172480
+65,1.083333333,BASELINE,765,745,715,679,659,635,879,787,805,652,631,652,0.401022496868,-0.00549457277955,0.0698559473482,0.999999987494,3.86618860897e-05,-0.000152573603916,1.54721452336e-05,1793242413281839104
+66,1.100000000,BASELINE,765,745,715,679,659,635,879,787.323620316,804.676379684,652,631,652,0.401022501032,-0.00549524082756,0.0698558932286,0.999999987548,3.78897006321e-05,-0.000152396786671,1.55869501722e-05,1793242413298505728
+67,1.116666667,BASELINE,765,745,715,679,659,635,879,787.899612011,804.100387989,652,631,652,0.401023314625,-0.00549743581173,0.0698568798057,0.999999987861,3.53018242183e-05,-0.000150921975824,1.59745921901e-05,1793242413315172096
+68,1.133333333,BASELINE,765,745,715,679,659,635,879,787.544175004,804.455824996,652,631,652,0.401022867188,-0.00549715522581,0.069856422406,0.999999987683,3.57344683391e-05,-0.000151996304156,1.59141923533e-05,1793242413331838976
+69,1.150000000,BASELINE,765.00881846,745,715,679,659,635,879.00881846,787.00881846,805,652,631,652,0.401022163466,-0.00549634581489,0.069855673606,0.999999987405,3.68131743091e-05,-0.000153576178207,1.57572443698e-05,1793242413348505600
+70,1.166666667,BASELINE,765.62791845,745,715,679,659,635,879.62791845,787.62791845,805,652,631,652,0.401022143932,-0.00549510080548,0.0698558512421,0.99999998745,3.84805241158e-05,-0.000152905947741,1.54634254934e-05,1793242413365172480
+71,1.183333333,BASELINE,765.770054247,745,715,679,659,635,879.770054247,787.770054247,805,652.229945753,631,652,0.401022368065,-0.00549379649762,0.0698562377877,0.999999987479,4.01744671577e-05,-0.000152291205069,1.53591525539e-05,1793242413381839104
+72,1.200000000,BASELINE,765.193743282,745,715,679,659,635,879.193743282,787.193743282,805,652.806256718,631,652,0.401022959232,-0.00549240286887,0.0698569390117,0.999999987486,4.19084676005e-05,-0.000151760043058,1.55403909027e-05,1793242413398505984
+73,1.216666667,BASELINE,765,745,715,679,659,635,879.382550591,787,805,653,631,652,0.401021828376,-0.00549303985819,0.0698560674665,0.999999987289,4.16557869669e-05,-0.000153121129612,1.55134278272e-05,1793242413415172608
+74,1.233333333,BASELINE,765,745,715,679,659,635,879.958835775,787,805,653,631,652,0.401019825438,-0.00549470521083,0.0698543994258,0.999999986985,4.03969939447e-05,-0.000155440505147,1.53810255673e-05,1793242413431839232
+75,1.250000000,BASELINE,765,745,714.456047109,679,659.543952891,635,879.456047109,787,805,652.456047109,631,652,0.401021250366,-0.00549491255483,0.0698553015969,0.999999987257,4.00646505912e-05,-0.000153754446151,1.55064878117e-05,1793242413448505600
+76,1.266666667,BASELINE,765.128967045,745,714.128967045,679,659.871032955,635,879,787,805,652,631,652,0.401022767975,-0.00549480912751,0.0698562561806,0.999999987507,4.02685968359e-05,-0.000152052622488,1.56133233829e-05,1793242413465172224
+77,1.283333333,BASELINE,765.711231312,745,714.711231312,679,659.288768688,635,879,787,805,652,631,652,0.401023684522,-0.00549400760619,0.0698567000556,0.999999987534,4.21070176353e-05,-0.000151378372509,1.55849683216e-05,1793242413481839104
+78,1.300000000,BASELINE,765.711032692,745,715,679.288967308,659,634.711032692,879,787.288967308,804.711032692,652,631,652,0.401023578046,-0.00549394523436,0.0698566450676,0.999999987545,4.17512824737e-05,-0.000151402162858,1.56054022926e-05,1793242413498505728
+79,1.316666667,BASELINE,765.137752072,745,715,679.862247928,659,634.137752072,879,787.862247928,804.137752072,652,631,652,0.401022465022,-0.00549461010762,0.0698560992509,0.999999987538,3.92367294659e-05,-0.000152112751208,1.56738395203e-05,1793242413515172352
+80,1.333333333,BASELINE,765.437192457,745,715,679.562807543,659,634.874384914,879,787.562807543,804,652,631,652,0.401022214238,-0.00549393491635,0.0698562358515,0.9999999875,4.03164574965e-05,-0.000152086404445,1.56374827599e-05,1793242413531838720
+81,1.350000000,BASELINE,766,745,714.987017583,679,659,635.987017583,879,787,804.012982417,652,631,652,0.401022236807,-0.00549285502523,0.0698565830496,0.99999998745,4.24974873904e-05,-0.000151831157369,1.5564253914e-05,1793242413548505600
+82,1.366666667,BASELINE,766,745,714.397045023,679,659,635.397045023,879,787,804.602954977,652,631,652,0.401022287723,-0.0054926260314,0.0698566972627,0.999999987438,4.30997283239e-05,-0.000151761810388,1.53253783572e-05,1793242413565172224
+83,1.383333333,BASELINE,765.810813062,745,714,679,659,635,879.189186938,787.189186938,805,652,631,652,0.40102237805,-0.00549291579024,0.0698566744599,0.999999987472,4.2209249612e-05,-0.000151788442109,1.53087614855e-05,1793242413581838848
+84,1.400000000,BASELINE,765.232279151,745,714,679,659,635,879.767720849,787.767720849,805,652,631,652,0.401022549488,-0.00549427314273,0.0698563696784,0.999999987591,3.82467519572e-05,-0.000152012598112,1.57495532449e-05,1793242413598505472
+85,1.416666667,BASELINE,765,745,714.34388071,679.34388071,659,635,879.65611929,788,805,652,631,652,0.40102213986,-0.00549549869815,0.069855823498,0.999999987532,3.64574086656e-05,-0.000152829791189,1.57803286181e-05,1793242413615172096
+86,1.433333333,BASELINE,765,745,714.918447946,679.918447946,659,635,879.081552054,788,805,652,631,652,0.401021340434,-0.00549663583965,0.0698551153791,0.999999987362,3.61258892496e-05,-0.000154044813085,1.55360514468e-05,1793242413631838976
+87,1.450000000,BASELINE,765,745,715,680,659,635,879,788,805,652,631,652,0.401020981919,-0.00549564296214,0.0698551392157,0.999999987268,3.84274683023e-05,-0.000154094478727,1.55607019119e-05,1793242413648505600
+88,1.466666667,BASELINE,765.070729626,745,714.929270374,679.929270374,659,635,879,788,805,652,631,652,0.401020799024,-0.00549445936591,0.0698553355379,0.999999987195,4.10014834005e-05,-0.000153899409025,1.56256479347e-05,1793242413665172224
+89,1.483333333,BASELINE,765.667251306,745,714.332748694,679.332748694,659,635,879,788,805,652,631,652,0.401021379485,-0.00549447721166,0.0698559140272,0.999999987227,4.23629094982e-05,-0.000153318017563,1.56594530543e-05,1793242413681839104
+90,1.500000000,BASELINE,765.74546905,745,714.25453095,679.25453095,659,635,879,788,805,652,631,652,0.401021965614,-0.00549404665837,0.0698565570924,0.99999998735,4.25538218438e-05,-0.000152479629427,1.54712702803e-05,1793242413698505472
+91,1.516666667,BASELINE,765.169848244,745,714.830151756,679.830151756,659,635,879,788,805,652,631,652,0.401022558891,-0.00549305045136,0.0698572816196,0.999999987588,4.12681353001e-05,-0.000151317040975,1.50030505936e-05,1793242413715171840
+92,1.533333333,BASELINE,765,745,715,680,659,635,879.406336741,788,805,652,631,652,0.401021698184,-0.00549351035249,0.0698569150015,0.9999999874,4.0814871268e-05,-0.000152648197579,1.5255796137e-05,1793242413731838464
+93,1.550000000,BASELINE,765,745,715,680,659,635,879.982757928,788,805,652,631,652,0.401020228869,-0.00549457975133,0.0698560916518,0.99999998703,4.07100425689e-05,-0.000155023185972,1.58103232906e-05,1793242413748505344
+94,1.566666667,BASELINE,765,745,714.42782361,680,659,635,879.42782361,787.42782361,805,652,630.42782361,652,0.401020483324,-0.00549406084655,0.0698552855601,0.999999987052,4.03724242847e-05,-0.000154988253709,1.56357171824e-05,1793242413765172224
+95,1.583333333,BASELINE,765,745,714.158780073,679.841219927,659,635,879,787.158780073,805,652,630.158780073,652,0.401021044737,-0.00549378068132,0.0698549998205,0.99999998715,4.02735418944e-05,-0.000154402329585,1.54427855524e-05,1793242413781838848
+96,1.600000000,BASELINE,765,745,714.736891766,679.263108234,659,635,879,787.736891766,805,652,630.736891766,652,0.401022276443,-0.00549426035749,0.069856086904,0.999999987413,4.0824107813e-05,-0.000152557505595,1.52608323979e-05,1793242413798505728
+97,1.616666667,BASELINE,765.313915699,745,714.686084301,679,659,635,879,788,805,652.313915699,631,652,0.401023312199,-0.00549505976496,0.0698573010885,0.999999987601,4.07339172091e-05,-0.000151324955864,1.54443934706e-05,1793242413815172096
+98,1.633333333,BASELINE,765.890031041,745,714.109968959,679,659,635,879,788,805,652.890031041,631,652,0.401024184287,-0.00549612622957,0.0698586214346,0.999999987728,4.01085315115e-05,-0.000150603811354,1.59332521238e-05,1793242413831838464
+99,1.650000000,BASELINE,766,745,714.475080919,679,659,635,879,787.524919081,805,652.524919081,631,652,0.401023829682,-0.00549540211783,0.0698582080943,0.999999987769,3.87578560259e-05,-0.000150722912657,1.55524804169e-05,1793242413848505344
+100,1.666666667,BASELINE,765.938597199,745,714.938597199,679,659,635,879.061402801,787,805,652,631,652,0.401023263742,-0.00549433318108,0.0698574572438,0.999999987779,3.76865593534e-05,-0.00015097795853,1.50555522402e-05,1793242413865171968
+101,1.683333333,BASELINE,765.35932398,745,714.35932398,679,659,635,879.64067602,787,805,652,631,652,0.401023356113,-0.00549391864788,0.0698573092977,0.99999998771,4.0414626013e-05,-0.000150707748569,1.53092379719e-05,1793242413881838592
+102,1.700000000,BASELINE,765,745,714,679.219689091,659,635,879.780310909,787.219689091,805,652.219689091,631,652,0.4010228829,-0.00549450988329,0.0698569033594,0.999999987576,4.10016080784e-05,-0.000151412413563,1.55148789348e-05,1793242413898505216
+103,1.716666667,BASELINE,765,745,714,679.798277108,659,635,879.201722892,787.798277108,805,652.798277108,631,652,0.401021485712,-0.00549674421022,0.0698560759477,0.999999987339,3.80907695637e-05,-0.000153709700111,1.56420306954e-05,1793242413915171840
+104,1.733333333,BASELINE,765.373403991,745,714.373403991,679.626596009,659,635,879,788,805,652.626596009,631,652,0.401021387478,-0.0054967976177,0.0698556668134,0.999999987311,3.7500943141e-05,-0.000154027339424,1.5737898759e-05,1793242413931838464
+105,1.750000000,BASELINE,765.946678301,745,714.946678301,679.053321699,659,635,879,788,805,652.053321699,631,652,0.401021984529,-0.00549568365419,0.0698554815686,0.999999987399,3.81534744236e-05,-0.000153285341848,1.58170217472e-05,1793242413948505088
+106,1.766666667,BASELINE,765.465129904,745,715,679,659,635,879.534870096,787.465129904,805,652,631,652,0.401022549633,-0.00549492422548,0.0698560926355,0.999999987391,3.90231552302e-05,-0.00015312679043,1.57315226536e-05,1793242413965171968
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,653,631,652,0.401021958796,-0.00549550194974,0.0698566510317,0.999999987485,3.91371143115e-05,-0.00015248515952,1.56985537632e-05,1793242414007118336
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,805,652.42405317,631,652,0.401022157906,-0.00549502481001,0.0698568117748,0.999999987611,3.7616455777e-05,-0.000152068785985,1.54229614815e-05,1793242414023784960
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714.150895001,679,659,635,879,787,805,652,631.150895001,652,0.401022008174,-0.00549464926443,0.0698566797903,0.999999987572,3.73699489413e-05,-0.000152401827998,1.52949765141e-05,1793242414040451584
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714.723055268,679,659,635,879,787,805,652,631.723055268,652,0.401020884557,-0.005494557347,0.0698557305754,0.999999987065,4.06805898044e-05,-0.00015482707138,1.55790782627e-05,1793242414057118208
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.695047538,679,659.304952462,635,879.304952462,787,805,652,631.695047538,652,0.401020895646,-0.00549499884018,0.0698553391953,0.999999986992,4.10198017257e-05,-0.000155201013065,1.57121605432e-05,1793242414073784832
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.10401607,679,659.89598393,635,879.89598393,787,805,652,631.10401607,652,0.401021971214,-0.00549594073129,0.0698554711257,0.999999987329,3.85714857379e-05,-0.000153650607618,1.57035699073e-05,1793242414090451456
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.478325232,745,714,679,659.521674768,634.521674768,879.521674768,787,805,652,631,652,0.401021686882,-0.00549583793244,0.0698551821583,0.999999987231,3.8637301097e-05,-0.000154283791243,1.55758344616e-05,1793242414107118080
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.941731335,745,714,679.058268665,659.058268665,634.058268665,879.058268665,787,805,652,631,652,0.401021118454,-0.00549546170639,0.0698548988283,0.999999987032,3.92497319146e-05,-0.000155420910967,1.54687921451e-05,1793242414123784704
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.366594183,745,714,679.633405817,659.633405817,634.633405817,879.633405817,787,805,652,631,652,0.401020606349,-0.00549463926394,0.0698554629095,0.99999998677,3.99477694972e-05,-0.000156891276971,1.57710309682e-05,1793242414140451328
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.205307307,679.794692693,659.794692693,634.794692693,879.794692693,787.205307307,805,652,631,652,0.401022081596,-0.00549460515905,0.069856852747,0.999999986543,4.0054906925e-05,-0.00015828675406,1.59721529166e-05,1793242414157118464
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.771520824,679.228479176,659.228479176,634.228479176,879.228479176,787.771520824,805,652,631,652,0.401027050376,-0.00549595685938,0.0698596941672,0.999999986379,3.91233109862e-05,-0.000159550585049,1.59955232057e-05,1793242414173785856
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634.358140087,879,788,805,652,631,652,0.401042788597,-0.00549668917029,0.0698667248837,0.999999986852,3.88334530633e-05,-0.000156592558337,1.63510895924e-05,1793242414190452480
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,634.958564013,879,788,805,652,631,652,0.401065812408,-0.00549700246082,0.0698765896835,0.99999998773,3.89777345207e-05,-0.000150778420624,1.69313885602e-05,1793242414207118592
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.461600398,679,659,635,879,787.461600398,805,652,631,652,0.401115057587,-0.00549891829269,0.0698947209398,0.9999999908,3.81191258206e-05,-0.000128915728084,1.80940138787e-05,1793242414223784960
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.115811876,679.115811876,659,635.115811876,879,787,805.115811876,652,631,652,0.401168708307,-0.00550065600077,0.0699116632141,0.999999993321,3.73920590939e-05,-0.0001077065343,1.89406932977e-05,1793242414240451584
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.689675905,679.689675905,659,635.689675905,879,787,805.689675905,652,631,652,0.401232095949,-0.0055012193689,0.0699214793287,0.999999994731,3.74792882323e-05,-9.37871577644e-05,1.83670354087e-05,1793242414257118208
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679.728915327,659,635.728915327,879,787.271084673,805.728915327,652.271084673,631,652,0.401300809348,-0.005502800227,0.0699267747055,0.999999995434,3.57354763685e-05,-8.69046484508e-05,1.73872264136e-05,1793242414273784832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679.138622497,659,635.138622497,879,787.861377503,805.138622497,652.861377503,631,652,0.40137579394,-0.00550557920184,0.0699267468134,0.999999995467,3.18355735112e-05,-8.83082056883e-05,1.59291656084e-05,1793242414290451456
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.44362291,745,715,679.44362291,659,635,879.44362291,787.55637709,805,652.55637709,631,652,0.401463981492,-0.00550583270432,0.0699249614911,0.999999995112,3.22729347437e-05,-9.24517818336e-05,1.37040257252e-05,1793242414307118080
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.976783737,745,714.976783737,679.976783737,659,635,879.976783737,787,805,652,631,652,0.401557158734,-0.00550542164799,0.0699226204164,0.999999994602,3.38409660808e-05,-9.75929868009e-05,1.12281966638e-05,1793242414323784704
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.401522893,745,714.401522893,679.401522893,659,635,879.401522893,787,805,652,631,652,0.4016726296,-0.00550763895319,0.0699198898933,0.999999993828,3.06418413104e-05,-0.000106459964186,8.38940585132e-06,1793242414340451584
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.176996702,745,714.176996702,679,659,635,879.176996702,787,805,652,631,652,0.40179749606,-0.005510077642,0.0699183699416,0.999999993315,2.72954258448e-05,-0.000112226157566,5.50299854545e-06,1793242414357117952
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.763047459,745,714.763047459,679,659,635,879.763047459,787,805,652,631,652,0.401944076499,-0.00551302796637,0.0699196477214,0.999999993577,2.36086098181e-05,-0.000110826180773,2.50654596996e-06,1793242414373784576
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.345851362,659.345851362,635,879.654148638,787.345851362,805,652,631,652,0.402117034252,-0.00551416223297,0.0699233856964,0.999999994027,2.36058439737e-05,-0.000106717057224,-9.69006921268e-07,1793242414390451200
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.926451503,659.926451503,635,879.073548497,787.926451503,805,652,631,652,0.402307895787,-0.00551406383929,0.0699287935445,0.999999994571,2.61036498928e-05,-0.000100769083203,-4.7697524543e-06,1793242414407117824
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.499502267,745,715,679.499502267,659.499502267,635,879,787.499502267,805,652,631,652,0.402516611599,-0.00551810458638,0.069930151309,0.999999994771,1.81039359698e-05,-0.000100244951268,-8.99456249053e-06,1793242414423784960
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.074459145,745,715,679,659,635,879.074459145,787.074459145,805,652,631,652,0.402733564108,-0.00552238208631,0.0699312503402,0.999999994886,9.25523345253e-06,-9.9805007376e-05,-1.34507927218e-05,1793242414440451840
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.654297531,745,715,679,659,635,879.654297531,787.654297531,805,652,631,652,0.402988844195,-0.00552419147627,0.0699345806172,0.999999995332,4.9790885627e-06,-9.4596639227e-05,-1.90602550649e-05,1793242414457118464
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.237769651,659,635,880,787.762230349,805,652,631,652,0.403259418558,-0.00552638964886,0.0699403107074,0.999999996102,-2.64083805403e-06,-8.49784316459e-05,-2.38400477754e-05,1793242414473785088
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.826606956,659,635,880,787.173393044,805,652,631,652,0.403552574954,-0.00552916186015,0.0699495841293,0.999999997139,-1.51978688642e-05,-6.88490822861e-05,-2.73948302688e-05,1793242414490451712
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.591218081,745,715,680,659,635,879.591218081,787,805,652,631,652,0.403876972625,-0.00553030338923,0.0699553720712,0.999999997438,-2.81983051103e-05,-5.90804416882e-05,-2.89456363191e-05,1793242414507118336
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.01182378,745,715,680,659,635,879.01182378,787,805,652,631,652,0.404214409389,-0.00553076432411,0.0699597052859,0.999999997354,-4.13838041604e-05,-5.19665560812e-05,-2.96600471746e-05,1793242414523784960
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.564258026,745,715,679.435741974,659.564258026,635,879,787,804.435741974,652,631,651.435741974,0.404577788971,-0.00553178601304,0.0699626209385,0.999999997605,-3.25972560204e-05,-5.30027404187e-05,-3.03145474765e-05,1793242414540451584
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.860479393,745,714.860479393,679,660,635,879,787,804.139520607,652,631,651.139520607,0.404952011158,-0.00553272706057,0.0699654938626,0.999999997821,-2.63484928789e-05,-5.19399765987e-05,-3.10775390396e-05,1793242414557117952
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.287547431,745,714.287547431,679,660,635,879,787,804.712452569,652,631,651.712452569,0.405358236235,-0.00553338131221,0.0699683257895,0.999999998089,-2.94050892295e-05,-4.38295477567e-05,-3.21814283253e-05,1793242414573784832
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.70444798,635,879.29555202,787,805,652,631,652,0.40577768809,-0.00553245909504,0.0699687377015,0.999999998162,-3.08129663434e-05,-4.0124402095e-05,-3.3415486809e-05,1793242414590451712
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.111103912,635,879.888896088,787,805,652,631,652,0.40621046702,-0.00552994846087,0.0699667112571,0.999999998094,-3.05596287283e-05,-4.08579268666e-05,-3.47807011953e-05,1793242414607118080
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.47047316,679,659,635,880,787,805,652,631,652,0.406675412903,-0.00552532106164,0.0699512665538,0.999999996687,-2.77307098536e-05,-6.78470087615e-05,-3.54033690448e-05,1793242414623784704
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.950977779,679,659,635,879.950977779,787,805,652,631,652,0.407152782487,-0.00552082312887,0.0699341467639,0.99999999428,-2.45552592825e-05,-9.77107314787e-05,-3.59243597263e-05,1793242414640451584
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.375830451,679,659,635,879.375830451,787,805,652,631,652,0.407683950773,-0.00552294868725,0.0699322279046,0.999999994648,-2.40291985372e-05,-9.35055063021e-05,-3.71901681275e-05,1793242414657118208
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.197846754,787.197846754,805,652,631,652,0.40823756933,-0.0055267817021,0.0699369923612,0.999999995793,-2.63180515148e-05,-7.92306466712e-05,-3.80022455182e-05,1793242414673784832
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879.76875187,787.76875187,805,652,631,652,0.408833519916,-0.00553383428399,0.0699543588284,0.999999997648,-3.39146848283e-05,-4.59685595978e-05,-3.79587709952e-05,1793242414690451968
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.352597067,745,714.352597067,679,659,635,879.647402933,787.647402933,805,652,631,652,0.409427103986,-0.00553849010407,0.0699605275065,0.999999998004,-4.04190153747e-05,-2.91898341036e-05,-3.88001908612e-05,1793242414707118592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.945252214,745,714.945252214,679,659,635,879.054747786,787.054747786,805,652,631,652,0.410019076841,-0.00554151414047,0.0699590724115,0.999999997845,-4.61796749373e-05,-2.36334498719e-05,-4.02440719359e-05,1793242414723785216
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.477253171,745,714.477253171,679.522746829,659.522746829,635,879.522746829,787,805,652,631,652,0.410653759716,-0.00554275749083,0.0699535227136,0.999999997458,-4.6309086267e-05,-3.58261112802e-05,-4.06925957674e-05,1793242414740452096
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.901020507,635,879.901020507,787.098979493,805,652,631,652,0.411303013133,-0.00554357826949,0.0699511633684,0.999999997172,-4.61947280454e-05,-4.27901446461e-05,-4.11127091729e-05,1793242414757118720
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.323428897,635,879.323428897,787.676571103,805,652,631,652,0.412001701987,-0.00554323208083,0.0699662460303,0.999999997863,-4.76730494102e-05,-1.57361187669e-05,-4.18853099197e-05,1793242414773785600
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787.740888672,805,652,631,651.740888672,0.41271485689,-0.00554296040136,0.0699890852706,0.999999997677,-4.94313543372e-05,2.16118467582e-05,-4.16672929182e-05,1793242414790452224
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659,635,879,787.152051124,805,652,631,651.152051124,0.413446420331,-0.00554278353683,0.0700217949702,0.999999995268,-5.15459461188e-05,7.20591344775e-05,-4.01886879137e-05,1793242414807118336
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714.429669998,679.570330002,659.429669998,635,879,787,805,652,631,651.429669998,0.414178825604,-0.00554107163593,0.0700259688363,0.999999995041,-5.00118414966e-05,7.57650714633e-05,-4.0949322219e-05,1793242414823784960
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.991100241,679.008899759,660,635,879,787,805,652,631,652,0.414911277948,-0.00553881924226,0.070019321219,0.999999996073,-4.72985376227e-05,6.17082024062e-05,-4.25279605296e-05,1793242414840452096
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.412766459,679.587233541,660,635,879,787,805,652,631,652,0.415627994547,-0.00553617485862,0.0699558704995,0.999999996504,-5.04051333446e-05,-4.77810520513e-05,-4.65696465702e-05,1793242414857118720
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.156963365,745,714.156963365,680,660,635,879,787,805,652,631,652,0.416372700514,-0.00553520869205,0.0699134262296,0.99999998997,-5.35778587403e-05,-0.00012138450309,-4.9556786973e-05,1793242414873785344
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.705243116,745,714.705243116,680,660,635,879,787,805,652,631,652,0.41718718513,-0.00553842639264,0.0699233519414,0.999999991567,-5.69154493427e-05,-0.000105523104917,-4.99149009102e-05,1793242414890451968
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.713309998,745,715,680,660,635,879.286690002,787,805,652,631,652,0.418010957077,-0.00554035355676,0.0699445693748,0.999999994566,-5.97927513866e-05,-6.94801665692e-05,-4.96509242633e-05,1793242414907118592
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.09330158,745,715,680,660,635,879.90669842,787,805,652,631,652,0.418845526827,-0.00554078028613,0.0699789150603,0.999999996836,-6.21349013178e-05,-9.97328216855e-06,-4.86636775769e-05,1793242414923784960
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.509059328,680,660,635,880,787,805,652,631,652,0.419706612443,-0.00554245003477,0.0700002523218,0.99999999655,-6.45550139708e-05,1.84291929274e-05,-4.89229039595e-05,1793242414940452096
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,880,787,805,652,631,652,0.420574915106,-0.00554420353154,0.0700180850754,0.999999995772,-6.65173215959e-05,4.00438919066e-05,-4.9269539147e-05,1793242414957119232
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,880,787,805,652,631,652,0.421461850206,-0.00554494817015,0.0700270436629,0.999999995343,-6.49924868473e-05,5.22097574515e-05,-4.86298603893e-05,1793242414973785856
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.225165123,745,714.225165123,680,660,635,879.774834877,787,805,651.774834877,631,651.774834877,0.422308752965,-0.00554346547914,0.0700140032638,0.999999996131,-6.64677073832e-05,2.91180433965e-05,-4.97187410647e-05,1793242414990452480
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.813001405,745,714.813001405,680,660,635,879.186998595,787,805,651.186998595,631,651.186998595,0.423091176177,-0.00553839525122,0.0699655293234,0.999999994627,-7.27750857679e-05,-5.07626918285e-05,-5.35917944328e-05,1793242415007118592
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.605805713,745,715,680,660,635,879,787,805.394194287,651,631,651.394194287,0.4238911126,-0.00553542617315,0.0699047068224,0.999999985668,-7.29573434945e-05,-0.000140916144738,-5.9017006979e-05,1793242415023785216
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.027712142,745,715,680,660,635,879,787,805.972287858,651,631,651.972287858,0.424699219228,-0.00553343732257,0.0698381234812,0.999999967591,-7.02821127917e-05,-0.000235862014115,-6.51663313303e-05,1793242415040451584
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.55073381,745,714.44926619,680,660,634.44926619,879,787,805.44926619,651.55073381,631,652,0.425644093664,-0.00553996473887,0.0698831657723,0.999999982032,-8.13359341995e-05,-0.000159010230007,-6.3533507938e-05,1793242415057118208
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.128595346,879,787,805,652,630.871404654,652,0.426594540031,-0.00554508606916,0.0699344964951,0.999999991152,-8.92949863606e-05,-7.75365438705e-05,-6.09095290374e-05,1793242415073785088
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714,680,660,634.704362932,879,787,805,652,630.295637068,652,0.427540415584,-0.00554382683816,0.0699881500658,0.999999994835,-8.40886247933e-05,-1.00705250056e-05,-5.62015066681e-05,1793242415090451456
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.713759524,745,714,680,660,635,879,787,805,651.713759524,630.286240476,652,0.428463021015,-0.00554494991922,0.0700257798597,0.999999993963,-8.48349640205e-05,4.39658157356e-05,-5.42650399485e-05,1793242415107117824
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.125433845,745,714,680,660,635,879,787,805,651.125433845,630.874566155,652,0.429361068155,-0.00554858718435,0.0700464988837,0.99999999074,-9.18635139674e-05,8.38290795482e-05,-5.52535476779e-05,1793242415123784448
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.456049047,787,805.456049047,651.456049047,631,652,0.430218689247,-0.00555048807136,0.0700324836899,0.999999992305,-9.09340059133e-05,6.27422261943e-05,-5.64369638132e-05,1793242415140451328
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660.035438577,634.964561423,880,787,806,652,631,652,0.431059834251,-0.00555168901272,0.0700056679008,0.999999994262,-8.8174977901e-05,1.90415584167e-05,-5.77751920566e-05,1793242415157117952
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.611181872,634.388818128,880,787,806,652,631,652,0.43181679639,-0.00554939209958,0.0699271924053,0.999999987156,-9.04006259022e-05,-0.000117624920229,-6.06684748284e-05,1793242415173784832
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714,680.19008018,660.80991982,634.19008018,880,787,805.80991982,651.80991982,631,652,0.432618779899,-0.00554733185209,0.0698811553844,0.999999975243,-9.13005219093e-05,-0.000192858886587,-6.31102830407e-05,1793242415190451968
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714,680.775541254,660.224458746,634.775541254,880,787,805.224458746,651.224458746,631,652,0.433514411344,-0.00554576388628,0.069902592786,0.999999984069,-8.94427584684e-05,-0.000140308692446,-6.46129930299e-05,1793242415207119616
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.358035377,745,714,681,660,635,880,787.358035377,805.358035377,651.358035377,631,652.358035377,0.434413405089,-0.00554669310343,0.069950511599,0.999999992232,-8.98184347972e-05,-5.95690445979e-05,-6.26079944022e-05,1793242415223786240
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.938684716,745,714,681,660,635,880,787.938684716,805.938684716,651.938684716,631,652.938684716,0.435314489341,-0.00554917498232,0.0700148956325,0.999999993351,-9.15827859267e-05,3.86978238347e-05,-5.84220238684e-05,1793242415240451840
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.482537309,745,714,680.482537309,660.517462691,635,880,787.482537309,806,652,631,651.965074619,0.436150230002,-0.00555429381184,0.0700312334217,0.999999991368,-9.64507760718e-05,6.85593722115e-05,-5.71042117878e-05,1793242415257118208
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.904789073,745,714,680,661,635,880,787,806,651.904789073,631,651.095210927,0.436969198833,-0.00555879419855,0.0700359655229,0.999999989849,-0.000101358557467,8.23585154205e-05,-5.69619298606e-05,1793242415273785088
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.331105364,745,714,680,661,635,880,787,806,651.331105364,631,651.668894636,0.437742652487,-0.00555862209622,0.070010881446,0.999999991095,-0.000104624839977,5.60242443759e-05,-6.10254054268e-05,1793242415290452736
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.249633947,745,714,680,660.750366053,635,879.750366053,787,806,651,631,652,0.438486589805,-0.0055572929961,0.0699763219555,0.999999992524,-0.000103929764113,8.5087683568e-06,-6.38678776383e-05,1793242415307119616
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.840003697,745,714,680,660.159996303,635,879.159996303,787,806,651,631,652,0.439190238981,-0.00555438466139,0.0699288290791,0.999999990793,-9.7827664098e-05,-6.79178170551e-05,-6.50437508155e-05,1793242415323785728
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660.421852002,634.578147998,879.421852002,787,806,651,631,652,0.439877229534,-0.00555431493391,0.0698877343259,0.999999984106,-9.60115663886e-05,-0.000135245072858,-6.5418186663e-05,1793242415340451840
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.000529494,660.999470506,634.000529494,880.000529494,787,806,651,631,652,0.440558111343,-0.00555530126235,0.0698491071605,0.999999973459,-9.57913244985e-05,-0.000199041344033,-6.54937494416e-05,1793242415357118208
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.576041734,660.423958266,634.576041734,880.576041734,787,806,651,631,652,0.44133046576,-0.00555712459777,0.0699071420255,0.999999987896,-9.82697239917e-05,-0.00010189653046,-6.45601286331e-05,1793242415373784832
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.15056969,635,880.69886062,787,806,651,631,652,0.442086858956,-0.00555974060969,0.0699635632692,0.999999992805,-0.000101375021419,-1.12129741562e-05,-6.31386720652e-05,1793242415390451712
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.72234433,635,879.555311339,787,806,651,631,652,0.442798602277,-0.00556457406211,0.0700154705679,0.999999990651,-0.000106234011026,6.13958252303e-05,-6.03525405842e-05,1793242415407118336
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.695342805,635,879,787,806,651,631,651.695342805,0.443459648278,-0.00556710840415,0.0700327102113,0.999999988982,-0.000109423516324,8.08340608374e-05,-5.93989712644e-05,1793242415423785216
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660.103081629,635,879,787,806,651,631,651.103081629,0.444072834705,-0.00556747232843,0.0700172227213,0.999999990771,-0.000111036986875,5.00779555915e-05,-6.01753866217e-05,1793242415440452096
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681.476169086,660,634.523830914,879.952338172,787,806,651,631,651.476169086,0.44462788099,-0.00556732663004,0.0699782351411,0.999999992367,-0.000106418323054,-1.39517034383e-05,-6.12108702891e-05,1793242415457118720
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.052707792,745,714,681.947292208,660.052707792,634,880.947292208,787,806,651,631,652,0.445168722428,-0.00556723921025,0.0699357155933,0.999999989651,-0.000101075600418,-8.13229941008e-05,-6.2195431149e-05,1793242415473785344
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+256,4.266666667,HOLD_POSE2,765,745,714,682,657.610539431,632,880,785,806,651,630.610539431,652,0.452474731587,-0.00557547759071,0.0696902654074,0.999999885397,-0.000117608641308,-0.000460069168058,-6.09152377529e-05,1793242416517476096
+257,4.283333333,HOLD_POSE2,765,745,714,682,657.035626448,632,880,785,806,651,630.035626448,652,0.452475566768,-0.00557381918162,0.0696905943418,0.999999885717,-0.00011560153929,-0.000459867617594,-6.10304961564e-05,1793242416534142976
+258,4.300000000,HOLD_POSE2,765,745.533275964,714.533275964,682,657.533275964,632,880,785,806,651,630,651.466724036,0.452476890575,-0.0055736026774,0.0696916828752,0.999999886684,-0.000115278492489,-0.000457901914989,-6.05676353247e-05,1793242416550809856
+259,4.316666667,HOLD_POSE2,764.896258151,745.896258151,714.896258151,681.896258151,657.896258151,632,880,785,806,651,630,651.103741849,0.452477972909,-0.00557369723296,0.0696925883292,0.999999887455,-0.000115257889254,-0.00045626839396,-6.02030673683e-05,1793242416567476480
+260,4.333333333,HOLD_POSE2,764.316801887,745.316801887,714.316801887,681.316801887,657.316801887,632,880,785,806,651,630,651.683198113,0.452477799933,-0.00557478137232,0.069692424155,0.999999887147,-0.000116114004521,-0.000456692528894,-6.04643579336e-05,1793242416584143104
+261,4.350000000,HOLD_POSE2,764.274997655,745,714,681.274997655,657.274997655,632,880.274997655,785,806,651,630,652,0.452477786625,-0.00557466321124,0.0696921704257,0.999999886972,-0.000116210510546,-0.000457023558262,-6.06642806345e-05,1793242416600809728
+262,4.366666667,HOLD_POSE2,764.881685066,745,714,681.881685066,657.881685066,632,880.881685066,785,806,651,630,652,0.4524779659,-0.00557309488958,0.0696918086791,0.999999886959,-0.000115390810144,-0.00045724228787,-6.07901841721e-05,1793242416617476096
+263,4.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,632,880,785,807,651,630,652,0.452476492728,-0.0055744564622,0.0696903033505,0.999999886302,-0.000113129752625,-0.00045930175628,-6.03366901091e-05,1793242416649517312
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+265,4.416666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.840490101,658,632,880,785.840490101,806,652,631,652,0.452477529581,-0.00557570161553,0.0696907486,0.999999886228,-0.000115544816139,-0.00045881181404,-6.07084206816e-05,1793242416682850304
+266,4.433333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.262990933,658,632,880,785.262990933,806,652,631,652,0.452477775867,-0.00557511029735,0.0696906703021,0.999999885837,-0.000115803449091,-0.000459656310526,-6.02613499612e-05,1793242416699516928
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+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,745.111465542,714,682,658.888534458,632,880,785,806,651.111465542,631,652,0.452477105968,-0.00557534527612,0.0696909093406,0.999999886102,-0.000114553511919,-0.000459434669265,-5.99388915645e-05,1793242416732850176
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658.525093759,632,880,785,806,651,630.525093759,652,0.452477454947,-0.0055750870369,0.0696909383989,0.999999886461,-0.000113808890178,-0.000458832577204,-5.99779491143e-05,1793242416749516544
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,632,880,785,806.642229172,651,630,652,0.452474808276,-0.00557546944204,0.0696893989079,0.999999885317,-0.000115594897118,-0.000460845528989,-6.02079576159e-05,1793242416782849792
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,632,880,785,806.779788885,651.220211115,630,652,0.452466806487,-0.00557533156353,0.0696853069888,0.999999882164,-0.000116758289512,-0.000467313984165,-6.04742859442e-05,1793242416799516672
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.37131599,714,681.62868401,658,632.37131599,880,785.37131599,806,652,630.37131599,652,0.452417076656,-0.00557230484578,0.0696617358061,0.999999863959,-0.000116112785585,-0.000504771550447,-6.16831948548e-05,1793242416832850432
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.946347807,714,681.053652193,658,632.946347807,880,785.946347807,806,652,630.946347807,652,0.452374348559,-0.00557062784682,0.0696429874259,0.99999984806,-0.000116124990885,-0.000535233731009,-6.26152085362e-05,1793242416849517056
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,681.522869277,657.477130723,632.477130723,880,785.477130723,806,651.477130723,631,652,0.452310884938,-0.00556728343408,0.0696223426765,0.999999831315,-0.000111331058107,-0.000566610507365,-6.26650944173e-05,1793242416866183680
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.102452037,632,880,785,806,651,631,652,0.452243648921,-0.00556405061253,0.0696036280029,0.999999815506,-0.000106803145993,-0.000594697777324,-6.25740056826e-05,1793242416882850304
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+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.720152664,632,880,785,805.720152664,651,630.720152664,652,0.452087559959,-0.0055604490277,0.0695917995202,0.999999805362,-0.000104588116567,-0.000612027721228,-6.13149479322e-05,1793242416916183296
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+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.573604775,714,682,657,632,880,785,805.426395225,651,630.426395225,652,0.451896280239,-0.00555694569508,0.0695974896379,0.999999808048,-0.000100627795016,-0.00060863411028,-5.78099333697e-05,1793242416949516544
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+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.592075079,714,682,657.592075079,632,880,785.592075079,805.407924921,651,631,652,0.451643048541,-0.00555215323387,0.0696049633642,0.999999811161,-9.63583376848e-05,-0.00060465216158,-5.28005833016e-05,1793242416982850304
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.819230967,714,682,658,632.180769033,880,785.819230967,805.361538065,651,631,652,0.451489330133,-0.00554930812844,0.0696067242422,0.999999811106,-9.39647506806e-05,-0.000605369839438,-4.98503486827e-05,1793242416999516928
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.240533461,714,682,658,632.759466539,880,785.240533461,806.518933078,651,631,652,0.451312987634,-0.00554621948836,0.0696046045016,0.999999808065,-9.06938189398e-05,-0.000611106384488,-4.68381533783e-05,1793242417016183552
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633,880,785,806.664610816,651,630.664610816,652,0.451122576049,-0.00554035037681,0.0696073195871,0.999999809159,-8.52743515884e-05,-0.000610319652295,-4.38130150247e-05,1793242417032850176
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633,880,785,806.090661849,651,630.090661849,652,0.450922157213,-0.00553250353667,0.0696134736475,0.999999813153,-7.8326646815e-05,-0.000604892963043,-4.0778670067e-05,1793242417049517056
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,633,880,785.495500642,806,651,630.495500642,652,0.450696270044,-0.0055275741263,0.0696203191882,0.999999817524,-7.13324336883e-05,-0.00059878890359,-3.62802279472e-05,1793242417066183680
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.916891896,658.083108104,632.916891896,879.916891896,785.916891896,806,651,631,652,0.450459155053,-0.0055229932632,0.0696279638979,0.999999822752,-6.35040578535e-05,-0.000591170066758,-3.13148601638e-05,1793242417082850304
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.33436928,658.66563072,632.33436928,879.33436928,785.33436928,806,651,631,652,0.450183279861,-0.00551721809341,0.0696396314887,0.999999832962,-5.07154441351e-05,-0.000575212198902,-2.51941011451e-05,1793242417099516928
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.24428084,658.75571916,632.24428084,879.24428084,785.24428084,806,651,631,652,0.449897701446,-0.0055108094431,0.069651492165,0.999999843149,-3.86923482666e-05,-0.000558423628884,-1.91908519954e-05,1793242417116183552
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.817713006,658.182286994,632.817713006,879.817713006,785.817713006,806,651,631,652,0.449599048633,-0.00550354722249,0.0696636130096,0.999999853449,-2.77007348756e-05,-0.000540515746911,-1.33459395379e-05,1793242417132850176
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.393153927,714,682,658.393153927,633,880,786,806,651,630.606846073,652,0.449269685721,-0.00549540551593,0.0696802974268,0.999999866553,-1.42978683383e-05,-0.000516373565393,-6.89143723909e-06,1793242417149516544
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.96953098,714,682,658.96953098,633,880,786,806,651,630.03046902,652,0.448926010864,-0.00548685393916,0.0696991086238,0.99999988028,2.2872402554e-07,-0.000489325988015,-1.52845462672e-07,1793242417166183168
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.441722468,714,682.558277532,659,633.558277532,880,786,806,651,630.558277532,652,0.44853914692,-0.00547879774334,0.0697074266748,0.999999886263,1.63279620539e-05,-0.000476634179484,5.17332697517e-06,1793242417182850048
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.855832026,659,633.855832026,880,786,806,651,630.855832026,652,0.448131620087,-0.00547113962103,0.0697122506122,0.99999988909,4.06891688705e-05,-0.00046910430226,1.0251789183e-05,1793242417199516672
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.280547061,659,633.280547061,880,786,806,651,630.280547061,652,0.447669511852,-0.00546458921042,0.0697083771638,0.999999883256,8.94943167977e-05,-0.00047461453445,1.48252404065e-05,1793242417216183552
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.295702799,745,714,681.704297201,659,633,879.704297201,786,806,651,630.295702799,652,0.447187120683,-0.00545654289589,0.0697010428648,0.999999878298,0.00010437392989,-0.000481966638661,1.47877501017e-05,1793242417232850176
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+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,879.25029452,787,806,651,631,652,0.434964023103,-0.00541573914054,0.0698093889338,0.999999948484,0.000120755193912,-0.000296558645433,2.24267287421e-05,1793242417532850432
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634.326133023,879.326133023,787,806,651,631,652,0.434117866555,-0.00541478650321,0.0698370857232,0.999999957375,0.000125863093967,-0.000262249192835,2.51782423151e-05,1793242417549517056
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634.901527223,879.901527223,787,806,651,631,652,0.433241000187,-0.00541334802029,0.0698451878701,0.999999959036,0.000127139587417,-0.000255118656017,2.6026176279e-05,1793242417566183424
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.512143856,634.512143856,880,787,805.512143856,651,631,652,0.432379913994,-0.00541213179642,0.069845025057,0.999999961139,0.000126824467752,-0.000246930226933,2.57522971088e-05,1793242417582850304
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634.075309008,879.924690992,787,805.075309008,651,631,652,0.431505371409,-0.00541056030191,0.0698349073899,0.999999959099,0.000127808886405,-0.00025461953545,2.52087106799e-05,1793242417599516928
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+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.23205902,635,879,787,805.76794098,651,631,652,0.429570704974,-0.00540381631382,0.0697272668453,0.99999989252,0.000145662560329,-0.000439544135659,2.33205817363e-05,1793242417632850176
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.804605652,635,879,787,805.195394348,651,631,652,0.42867888156,-0.00540393484785,0.0697189243549,0.999999892198,0.000142920446043,-0.000441251837834,2.18046216049e-05,1793242417649516800
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+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.978702659,714,681,660,635,879,787,805,651.978702659,631,652,0.426978017022,-0.00540748900633,0.0698466227139,0.999999958928,0.000132248082129,-0.000252670379158,2.84882883492e-05,1793242417682850816
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.441205726,714,681,660,635,879,787,805,652,631.558794274,652,0.426086279792,-0.00540585096311,0.0698635180498,0.9999999631,0.00014180062542,-0.000229547698781,3.163351032e-05,1793242417699517440
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.861946433,659.861946433,635,879.138053567,787,805.138053567,652,631.861946433,652,0.425187534537,-0.00540450387346,0.0698680678338,0.999999963662,0.000146985722563,-0.000223552461496,3.30898449617e-05,1793242417716183808
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.284152658,659.284152658,635,879.715847342,787,805.715847342,652,631.284152658,652,0.42427240935,-0.00540453160912,0.0698406657493,0.999999956135,0.000136419676796,-0.000261268301867,2.93092549724e-05,1793242417732850432
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.709620968,787,805.709620968,651.709620968,631,651.709620968,0.423319138707,-0.00540110350275,0.0697947102803,0.999999931276,0.000142649006995,-0.000341118899376,2.71566414733e-05,1793242417749517056
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879.13824599,787,805.13824599,651.13824599,631,651.13824599,0.422328955265,-0.00539433122379,0.0697308009483,0.999999879409,0.000165130999461,-0.000461742738353,2.65793992215e-05,1793242417766183680
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,744.550608231,714,679.550608231,659,635,879,787,805.449391769,651,631,651.449391769,0.421407101781,-0.00539214064404,0.0697044117966,0.999999860432,0.000165712278827,-0.000501042556618,2.51412309021e-05,1793242417782850304
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.041221534,714,679.041221534,659,635,879,787,805.958778466,651.041221534,631,652,0.420516302364,-0.00539174575323,0.0696968447076,0.999999860175,0.000159175958677,-0.000503735143496,2.37591171437e-05,1793242417799517184
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.620025777,714,679.620025777,659,635,879,787,805.379974223,651.620025777,631,652,0.419746064643,-0.0053956975761,0.0697785634073,0.999999920706,0.00015097900927,-0.000367534466229,2.66916515151e-05,1793242417816183808
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652,631,652,0.418965595725,-0.00539841302125,0.0698454549676,0.999999954657,0.000150711970041,-0.000258978664265,3.00264601685e-05,1793242417832850432
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652,631,652,0.418165574332,-0.00539876568611,0.0698840111214,0.99999996505,0.000165599396974,-0.000203253617486,3.41300367681e-05,1793242417849517056
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.64183543,659,634.64183543,879.35816457,787,805,652,631,652,0.417324485383,-0.00539702734269,0.0698748380209,0.999999961159,0.000171091520826,-0.000217331187824,3.43079556262e-05,1793242417866183680
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.05589846,659,634.05589846,879.94410154,787,805,652,631,652,0.416457279841,-0.00539395923631,0.0698353118129,0.999999946902,0.000170608762401,-0.000275799276175,3.19893779893e-05,1793242417882850304
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.509532133,659,634.509532133,879.490467867,787,805,652,631,652,0.415616101187,-0.00538986921684,0.069807000723,0.999999936648,0.000169388867569,-0.000311715478849,2.90739795438e-05,1793242417899516672
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+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714.67078331,679.32921669,659,635,879.67078331,787.67078331,805,652,631,652,0.413966120156,-0.00538362521215,0.0697518938649,0.999999899256,0.000177531901846,-0.000411369562404,2.72933506552e-05,1793242417932850176
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.744040654,679.255959346,659,635,879.744040654,787.744040654,805,652,631,651.744040654,0.413221864859,-0.00538310047188,0.0697536910689,0.999999898893,0.000180769774948,-0.000410809721863,2.77755912413e-05,1793242417949516800
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652,631,651,0.411913300535,-0.00538556629303,0.0698403702311,0.99999995171,0.00017891470973,-0.000252348279692,2.98323434162e-05,1793242417982849792
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.993166994,714,679.993166994,659,635,879.006833006,787,805,652,631,651.006833006,0.411263200494,-0.00538595109756,0.069891461388,0.9999999679,0.000181696473658,-0.000173604189829,3.23757023591e-05,1793242417999516672
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.413919973,714,679.413919973,659,635,879.586080027,787,805,652,631,651.586080027,0.410580649635,-0.00538313907758,0.0698761557288,0.99999996282,0.000184068350943,-0.000198613104468,3.21261004748e-05,1793242418016183296
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744.16399603,714,679,659.16399603,634.83600397,879.83600397,787,805,652,631,652,0.409902423781,-0.00537981657576,0.0698525704119,0.999999953426,0.000187930782217,-0.000238485978646,3.0909558113e-05,1793242418032849920
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.738579761,714,679,659.738579761,634.261420239,879.261420239,787,805,652,631,652,0.409235026055,-0.00537521600844,0.0698082557751,0.99999993072,0.000195525030286,-0.000315572922765,2.72721407559e-05,1793242418049516544
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.312847748,659.687152252,634.312847748,879,787,805,652,631,651.687152252,0.408614621407,-0.0053746184725,0.0697815117129,0.999999916966,0.000195082949517,-0.000356913604117,2.49608925901e-05,1793242418066183168
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.886852126,659.113147874,634.886852126,879,787,805,652,631,651.113147874,0.408033445319,-0.00537736255651,0.069769435082,0.999999914194,0.000187932364358,-0.000368414292387,2.37566940277e-05,1793242418082849792
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+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.936988038,659,635,879,787,804.063011962,652,631,652,0.406971644795,-0.00537434418308,0.0698080426653,0.999999930609,0.000201893898281,-0.00031197681833,2.62970895234e-05,1793242418116183296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.357033044,659,635,879,787,804.642966956,652,631,652,0.406468770567,-0.00537150164527,0.0698093106713,0.999999929767,0.000199604998638,-0.000316159149317,2.58205026165e-05,1793242418132849920
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.221261659,659,635,879,787,804.778738341,652,631,652,0.405981719518,-0.00537051323006,0.069807457189,0.999999927242,0.000199302652461,-0.000324247299375,2.5650974079e-05,1793242418149516544
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.796897177,659,635,879,787,804.203102823,652,631,652,0.405520011009,-0.00537249438781,0.0698006043143,0.999999921902,0.000202181981156,-0.000338591029741,2.59732319134e-05,1793242418166183168
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.05289889,659,635,878.05289889,787.94710111,804.94710111,652,631,652,0.404744691539,-0.00537287080032,0.0698285659518,0.999999940277,0.000192381789631,-0.000286012477909,2.51223039664e-05,1793242418199516672
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.536443674,659,635,878,787.463556326,805,652,631,652,0.404389212921,-0.00537121566744,0.0698423343932,0.999999946749,0.000193725908653,-0.000261388080211,2.54546133484e-05,1793242418216183296
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.875685243,659,635,878.124314757,787,804.875685243,652,631,652,0.404040809865,-0.00536950603711,0.0698516388357,0.999999950537,0.000196817890932,-0.000244002956076,2.55072108942e-05,1793242418232849920
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.151925535,714,679,659,635,878.151925535,787,804,652,631,652,0.403103078675,-0.00536647180393,0.0698327641383,0.999999940653,0.000205887058341,-0.000275319167924,2.24360727747e-05,1793242418282850304
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.435213644,714,679,659,635,878,787,804.435213644,652,631.435213644,652,0.402833875557,-0.00536420347762,0.069823852611,0.999999935266,0.000208072675052,-0.000292711552977,2.22362236069e-05,1793242418299516928
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787.027243322,805,652,631.972756678,652,0.402576277719,-0.00536140139007,0.0698145800033,0.999999929379,0.000211147740048,-0.000310104909556,2.22121604276e-05,1793242418316183552
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878,787.606668266,805,652,631.393331734,652,0.402356443768,-0.00535968274973,0.0698092570581,0.999999927321,0.00021201213628,-0.000316120647267,2.18223853798e-05,1793242418332850176
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.185142889,659,635,878.185142889,787.814857111,805,651.814857111,631,651.814857111,0.402150286388,-0.00535964631978,0.0698059428026,0.999999926377,0.000210474792444,-0.000320128931643,2.15454121126e-05,1793242418349516800
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.761608816,659,635,878.761608816,787.238391184,805,651.238391184,631,651.238391184,0.401973036208,-0.00536316545557,0.069806874169,0.999999927823,0.000203861065486,-0.0003198942074,2.15068598019e-05,1793242418366183424
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+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,659,635,879,787,804.820510374,652,631,651.179489626,0.401197143078,-0.0053581477421,0.0698041934477,0.999999926571,0.000210458848519,-0.000319828717426,1.65465414116e-05,1793242418482850048
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.595642979,679,659,635,878.595642979,787.404357021,804.595642979,652,631,651.404357021,0.401143770026,-0.00535810071046,0.0698059168142,0.999999927783,0.000210026986902,-0.000316303093447,1.65897453303e-05,1793242418499516416
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.008402252,679,659,635,878.008402252,787.991597748,804.008402252,652,631,651.991597748,0.401096714812,-0.00535896127747,0.0698082778759,0.999999929445,0.000209496862337,-0.000311350976659,1.67869286889e-05,1793242418516183040
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.574012369,787.425987631,804.574012369,652,631,652,0.401066947785,-0.00535925708041,0.0698122443667,0.999999931322,0.000208520228742,-0.00030590531748,1.72125859068e-05,1793242418532849920
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.154658363,679.154658363,659,635,879,787,804.845341637,652,631,651.845341637,0.401040054209,-0.0053599146705,0.0698157437009,0.999999933065,0.000207747711073,-0.000300668305797,1.76135079226e-05,1793242418549516288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.730676574,679.730676574,659,635,879,787,804.269323426,652,631,651.269323426,0.401020305526,-0.00536158026855,0.0698179067967,0.999999934487,0.000207548956633,-0.000296019264197,1.79380043588e-05,1793242418566182912
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.695729517,680,659,635,879,787,804.304270483,652,631,651.304270483,0.401004206915,-0.00536131492155,0.0698194468781,0.999999934897,0.00020944886624,-0.000293275629088,1.80917033304e-05,1793242418582849792
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.124264439,680,659,635,879,787,804.875735561,652,631,651.875735561,0.400991313605,-0.00535935391871,0.0698204398608,0.999999934419,0.000213191714005,-0.000292205222852,1.80954168423e-05,1793242418599516416
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,805,652,631,651.536681536,0.400985804115,-0.00535795280955,0.0698233407192,0.999999935451,0.000214471810235,-0.00028771176376,1.7927974162e-05,1793242418616183040
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.054037545,680,659,635,879.054037545,787,804.945962455,652,631,651.054037545,0.400982513696,-0.00535711178105,0.069826519772,0.999999936922,0.000214451661617,-0.000282582251921,1.77194733944e-05,1793242418632849920
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.631746898,680,659,635,879.631746898,787,804.368253102,652,631,651.631746898,0.400980844713,-0.00536019073551,0.0698272572041,0.999999938775,0.000208462743376,-0.000280506500744,1.75739767236e-05,1793242418649516544
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,635,879.790847079,787,804.209152921,652,631,652,0.400978867234,-0.00536180538351,0.0698277719879,0.999999939745,0.00020590652872,-0.000278941317628,1.7434657083e-05,1793242418666183168
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,635,879.213974388,787,804.786025612,652,631,652,0.400976347378,-0.00536084557799,0.0698278953252,0.999999939211,0.000209385482221,-0.000278273783935,1.73061975253e-05,1793242418682849792
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.630620826,659,635,879,787,805,652,631.369379174,652,0.400973666728,-0.00536048403583,0.0698271086944,0.999999938634,0.000210439792153,-0.000279559734704,1.71047546611e-05,1793242418699516928
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.043445993,659,635,879,787,805,652,631.956554007,652,0.400970891269,-0.00536047524551,0.0698257855225,0.999999938033,0.000210064468447,-0.000281997511231,1.68602789276e-05,1793242418716183552
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714.463570393,679,659,635,879,787,805,652,631.463570393,652,0.40097288302,-0.00536056510823,0.0698271023682,0.999999938622,0.000209881706703,-0.000280048633171,1.66593029273e-05,1793242418732850176
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.115272345,745,714,679,659,635,878.884727655,787,804.884727655,651.884727655,631,652,0.400974306553,-0.00536064547911,0.0698281896234,0.999999939077,0.00020983645867,-0.000278460392679,1.65422961096e-05,1793242418749516544
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.692313781,745,714,679,659,635,878.307686219,787,804.307686219,651.307686219,631,652,0.400971927951,-0.00536065624911,0.0698275121294,0.999999938629,0.000210280439932,-0.000279720937611,1.67477375331e-05,1793242418766183424
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.731764624,744.731764624,714,679.268235376,659,635,878.268235376,787,804,651.268235376,631,652,0.40097107984,-0.00536073388552,0.0698276472515,0.999999938828,0.000209392753951,-0.000279671093371,1.68217136707e-05,1793242418782850048
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.157122154,744.157122154,714,679.842877846,659,635,878.842877846,787,804,651.842877846,631,652,0.400971980019,-0.00536088790387,0.0698287106304,0.999999939762,0.000206983895487,-0.000278124382835,1.67455161452e-05,1793242418799516672
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,744.429084855,714.429084855,680,659.429084855,635,879,787,804,652,631,652,0.40097184478,-0.00536057428734,0.0698292997358,0.999999940004,0.000206780050842,-0.000277411130292,1.66511985958e-05,1793242418816183296
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.980728047,679.980728047,659.980728047,635,879,787,804.019271953,652,631,652,0.400971351743,-0.00536011929058,0.0698296871532,0.999999939995,0.000207366431156,-0.000277010358566,1.65507609607e-05,1793242418832850176
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.401348691,679.401348691,659.401348691,635,879,787,804.598651309,652,631,652,0.400971784466,-0.00536066991806,0.0698294000582,0.999999940234,0.00020680275742,-0.00027657564272,1.64706349657e-05,1793242418849516800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.823302001,652,631,652,0.400971895491,-0.0053609830647,0.0698291141527,0.999999940184,0.000207198946629,-0.000276461200171,1.64169395657e-05,1793242418866183424
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.248259683,652,631,652,0.400971281288,-0.0053607608394,0.0698288309283,0.999999939482,0.000209759031081,-0.000277068775153,1.64228287583e-05,1793242418882850304
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.333581061,652,631.333581061,652,0.400972045241,-0.00536114899929,0.0698298125767,0.999999939625,0.000210545913135,-0.000275939119576,1.66911579585e-05,1793242418899516672
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.920586604,652,631.920586604,652,0.400973856194,-0.00536200087421,0.0698317551601,0.999999940407,0.000209985677534,-0.000273489674556,1.71588651522e-05,1793242418916183296
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,805,652,631.499235888,652,0.400974700935,-0.00536218695332,0.0698321013653,0.999999940558,0.000210638187254,-0.000272430617849,1.72471425021e-05,1793242418932849920
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.920338607,714,679.079661393,659,635,879,787,805,652,631,652,0.400975188651,-0.00536233928959,0.0698321306672,0.999999940642,0.000211162409088,-0.000271711336782,1.72980310426e-05,1793242418949516544
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.342766472,714,679.657233528,659,635,879,787,805,652,631,652,0.400974389666,-0.00536293178538,0.0698317402711,0.999999940935,0.000209698876752,-0.000271756145913,1.74862610363e-05,1793242418966183168
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.233890368,714.233890368,679.766109632,659,635,879,787,805,652,631,652,0.400972588246,-0.00536281274041,0.0698306992256,0.999999940574,0.000209226719514,-0.000273453864722,1.72761531794e-05,1793242418982849792
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744.809211157,714.809211157,679.190788843,659,635,879,787,805,652,631,652,0.400969323481,-0.00536165499667,0.0698287083695,0.999999939251,0.000210201759819,-0.000277564481732,1.64845564196e-05,1793242418999516416
diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_01/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..935e5d612e9a9eea59519a7d39f966923e9313cd
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_01/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+10,0.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+11,0.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+12,0.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+13,0.216666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+14,0.233333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+15,0.250000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+16,0.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+17,0.283333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+18,0.300000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+19,0.316666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+20,0.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+21,0.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+22,0.366666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+23,0.383333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+24,0.400000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+25,0.416666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+26,0.433333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+27,0.450000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+28,0.466666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+29,0.483333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+30,0.500000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+31,0.516666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+32,0.533333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+33,0.550000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+34,0.566666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+35,0.583333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+36,0.600000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+37,0.616666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+38,0.633333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+39,0.650000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+40,0.666666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+41,0.683333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+42,0.700000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+43,0.716666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+44,0.733333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+45,0.750000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+46,0.766666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+47,0.783333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+48,0.800000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+49,0.816666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+50,0.833333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+51,0.850000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+52,0.866666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+53,0.883333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+54,0.900000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+401,6.683333333,pose2_to_pose3_retreat,0.580744884788,1.89751419393e-06,1.0600410146,0.55131660261,0.00867671948334,1.05967880507
+402,6.700000000,pose2_to_pose3_retreat,0.580744410541,1.88852894964e-06,1.06004111715,0.551316128219,0.00867670976583,1.05967890179
+403,6.716666667,pose2_to_pose3_retreat,0.580743804666,1.92691686371e-06,1.06004081949,0.551315522546,0.00867674914539,1.05967861151
+404,6.733333333,pose2_to_pose3_retreat,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120691,1.05967878877
diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_02/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e8127862bae8dcc8a321fc52812adec33884ed0
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:491a39b4ba4edfb0b41fa0c4ed973c9925c144d37abe163da13da98174c5c7e4
+size 25726521
diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_02/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fe6e2382c90399b80b19198732ad8bafcd78b8e
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_02/franka_data.csv
@@ -0,0 +1,406 @@
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+56,0.933333333,BASELINE,765,745,714.504244189,679.495755811,659,635,879.504244189,787,805,652,631,652,0.400974385831,-0.00536213632042,0.0698348122912,0.999999942179,0.000209121655835,-0.000267680003969,1.60582763071e-05,1793242420081596160
+57,0.950000000,BASELINE,765,745,714,679.923413504,659,635,879.076586496,787,804.923413504,652,631,652,0.400974710649,-0.00536313911269,0.0698355313707,0.999999942836,0.000207788994653,-0.000266246694569,1.62554785296e-05,1793242420098262784
+58,0.966666667,BASELINE,765,745,714,679.349456631,659,635,879.650543369,787,804.349456631,652,631,652,0.40097407739,-0.00536182184732,0.0698356244169,0.999999942391,0.000209141608332,-0.000266861146392,1.62052180228e-05,1793242420114929408
+59,0.983333333,BASELINE,765,745,714,679.224323287,659.224323287,635,879.775676713,787,804.224323287,652,631,651.775676713,0.400973899222,-0.00536119774868,0.06983551819,0.999999942173,0.000209585083292,-0.000267337147667,1.61065679324e-05,1793242420131596288
+60,1.000000000,BASELINE,765,745,714,679.797827845,659.797827845,635,879.202172155,787,804.797827845,652,631,651.202172155,0.400974429445,-0.00536165263209,0.0698351017752,0.999999942309,0.000208613394576,-0.000267597637131,1.59325946853e-05,1793242420148263680
+61,1.016666667,BASELINE,765,745,714.383079927,680,659.616920073,635,879,787,804.616920073,652,631,651.383079927,0.400973779072,-0.00536203619301,0.0698345324951,0.999999942051,0.000208688334815,-0.000268503348791,1.5885025116e-05,1793242420164930560
+62,1.033333333,BASELINE,765,745,714.974727921,680,659.025272079,635,879,787,804.025272079,652,631,651.974727921,0.400972485921,-0.00536238092234,0.0698338799874,0.999999941578,0.000209333112794,-0.000269760351999,1.59062761057e-05,1793242420181597184
+63,1.050000000,BASELINE,765,745,714.445615043,679.445615043,659,635,879,787,804,652,631,651.445615043,0.400973713921,-0.00536314980577,0.0698344548737,0.999999942243,0.000207700906451,-0.000268544295929,1.604362246e-05,1793242420198263808
+64,1.066666667,BASELINE,765,745,714,679,659,635,879,787.132473948,804.132473948,652,631,651.132473948,0.400974555652,-0.0053635977603,0.069834720143,0.999999942555,0.000206999980193,-0.00026791790647,1.61292235786e-05,1793242420214930176
+65,1.083333333,BASELINE,765,745,714,679,659,635,879,787.707114997,804.707114997,652,631,651.707114997,0.400973732627,-0.00536291135838,0.0698337691829,0.999999941525,0.000209746568491,-0.000269628007668,1.60248206998e-05,1793242420231596544
+66,1.100000000,BASELINE,765,745,714.288601511,679,659,635,878.711398489,787.711398489,804.711398489,652,631,652,0.40097334158,-0.00536232823307,0.0698336591017,0.999999941271,0.000210864066427,-0.000269698093045,1.60430018431e-05,1793242420248262912
+67,1.116666667,BASELINE,765,745,714.877203842,679,659,635,878.122796158,787.122796158,804.122796158,652,631,652,0.400973399574,-0.00536185246368,0.0698344231127,0.999999941829,0.000210288127313,-0.000268063384438,1.6188608892e-05,1793242420264929536
+68,1.133333333,BASELINE,765,745,715,679,659,635,878.458606325,787,804,652,631,652,0.400973274202,-0.00536171231207,0.0698344167449,0.999999941901,0.000210152297542,-0.000267912584289,1.60578265443e-05,1793242420281596160
+69,1.150000000,BASELINE,765,745,714.962125166,679,659.037874834,635,879,787,804.037874834,652,631,652,0.400973154676,-0.00536172437222,0.0698342380419,0.999999941892,0.000209964801637,-0.00026810237671,1.58758607696e-05,1793242420298263040
+70,1.166666667,BASELINE,765,745,714.386209065,679,659.613790935,635,879,787,804.613790935,652,631,652,0.400973804893,-0.00536264185082,0.0698344962043,0.999999942568,0.000207395167119,-0.000267573407308,1.60018556832e-05,1793242420314929920
+71,1.183333333,BASELINE,765,745,714,679,659.81023656,635,879,787,805,652,631,652,0.400973490012,-0.0053636377417,0.0698344722671,0.999999942758,0.000205943711593,-0.000267974151978,1.6156279356e-05,1793242420331596800
+72,1.200000000,BASELINE,765,745,714,679,659.234149122,635,879,787,805,652,631,652,0.400971210365,-0.00536479326594,0.0698338740259,0.999999941967,0.000206768665528,-0.000270267626032,1.63685788573e-05,1793242420348263424
+73,1.216666667,BASELINE,765.350347467,745,714,679,659,635,878.649652533,787,805,652,631,652,0.400971389327,-0.00536419721297,0.0698338777331,0.999999941629,0.000208122617525,-0.000270483541145,1.63243340357e-05,1793242420364929792
+74,1.233333333,BASELINE,765.940602353,745,714,679,659,635,878.059397647,787,805,652,631,652,0.400973251869,-0.00536240173249,0.0698342936364,0.999999941599,0.000209838811453,-0.000269276806169,1.61044153559e-05,1793242420381596160
+75,1.250000000,BASELINE,764.95851226,745,714,679,659,635,878.52074387,787,804.47925613,651.47925613,631,652,0.400973657821,-0.00536349754242,0.0698345826614,0.999999942232,0.000207603929684,-0.000268668388441,1.59577793178e-05,1793242420398262784
+76,1.266666667,BASELINE,764.09891085,745,714,679,659.09891085,635,879,787,804,651.09891085,631,652,0.40097375081,-0.00536462117342,0.0698347903093,0.999999942703,0.000205782645529,-0.000268320083888,1.58647092546e-05,1793242420414929408
+77,1.283333333,BASELINE,764.673027953,745,714,679,659.673027953,635,879,787,804,651.673027953,631,652,0.400973123208,-0.00536432421574,0.0698346751944,0.999999942072,0.000208072399244,-0.000268899830898,1.59895969362e-05,1793242420431596288
+78,1.300000000,BASELINE,765,744.753087889,714,679,659.753087889,635,878.753087889,787,804,652,631,652,0.400972637981,-0.0053638389353,0.0698344101136,0.999999941673,0.000209230219148,-0.000269478157351,1.60760375725e-05,1793242420448262912
+79,1.316666667,BASELINE,765,744.179511962,714,679,659.179511962,635,878.179511962,787,804,652,631,652,0.400972341115,-0.00536310450457,0.0698339466282,0.999999941588,0.000208890494599,-0.000270054604368,1.61116128992e-05,1793242420464929536
+80,1.333333333,BASELINE,765,744.409284759,714,679,659,635,878.818569518,787,804,652,631,651.590715241,0.400972212112,-0.00536278066452,0.069834088297,0.99999994172,0.000208508873092,-0.000269861826758,1.60892363029e-05,1793242420481596416
+81,1.350000000,BASELINE,765,745,714,679,659,635,879.995148287,787,804.004851713,652,631,651.004851713,0.40097216497,-0.00536264623902,0.0698345014681,0.99999994195,0.000208111121026,-0.000269317300068,1.60407763868e-05,1793242420498263040
+82,1.366666667,BASELINE,765,745,714,679,659,635,879.418839515,787,804.581160485,652,631,651.581160485,0.400972753036,-0.0053627914356,0.0698344235122,0.99999994215,0.000208061448662,-0.00026861537542,1.60295496954e-05,1793242420514929664
+83,1.383333333,BASELINE,765,745,714.156877367,679,659,635,879.156877367,787,804.843122633,652,631,652,0.400973571382,-0.0053630197496,0.0698346505674,0.99999994246,0.000208015451611,-0.000267492081763,1.60195926768e-05,1793242420531596288
+84,1.400000000,BASELINE,765,745,714.731020057,679,659,635,879.731020057,787,804.268979943,652,631,652,0.40097500223,-0.00536346914089,0.0698356888969,0.999999943066,0.000207979230216,-0.000265248022866,1.60130127552e-05,1793242420548263168
+85,1.416666667,BASELINE,765,745,715,679,659,635,879.374812844,787,804,652,631,652,0.400974695949,-0.00536327054987,0.0698354845972,0.999999942824,0.000208340864969,-0.000265875250606,1.60076754774e-05,1793242420564929536
+86,1.433333333,BASELINE,765,745,715,679,659,635,878.198566344,787,804,652,631,652,0.400972858507,-0.00536250080711,0.0698341850054,0.999999941831,0.000209053182467,-0.000269033319552,1.60034335048e-05,1793242420581596160
+87,1.450000000,BASELINE,765,745,715,679.482607505,659,635,878.482607505,787,804.482607505,652,631,652,0.400972679057,-0.00536204626557,0.0698345949583,0.999999941846,0.000209273817155,-0.000268810410753,1.59464539938e-05,1793242420598262784
+88,1.466666667,BASELINE,765,745,714.937526047,679.937526047,659,635,879,787,805,651.937526047,631,652,0.400972869666,-0.00536171150508,0.0698352257854,0.999999942049,0.000209420038421,-0.000267942716357,1.5861307806e-05,1793242420614929664
+89,1.483333333,BASELINE,765,745,714.363865085,679.363865085,659,635,879,787,805,651.363865085,631,652,0.40097333294,-0.00536183302673,0.0698348229015,0.999999942119,0.000209774478134,-0.000267417776768,1.56333319796e-05,1793242420631596544
+90,1.500000000,BASELINE,765.210381083,745,714,679,659,635,878.789618917,787,804.789618917,651.210381083,631,652,0.400973520133,-0.00536200553017,0.0698346577569,0.999999942192,0.000209840011539,-0.000267091193837,1.56523662162e-05,1793242420648262912
+91,1.516666667,BASELINE,765.78564216,745,714,679,659,635,878.21435784,787,804.21435784,651.78564216,631,652,0.400973228496,-0.00536226645524,0.069834904942,0.999999942272,0.000209404472611,-0.000267108636075,1.60998089111e-05,1793242420664929536
+92,1.533333333,BASELINE,765.628325249,745,714.371674751,679,659.371674751,635,878.371674751,787,804,652,631,652,0.400973759182,-0.00536323492946,0.0698354863395,0.999999942631,0.000208089697047,-0.000266782048525,1.62327194588e-05,1793242420681596160
+93,1.550000000,BASELINE,765.035894881,745,714.964105119,679,659.964105119,635,878.964105119,787,804,652,631,652,0.400974778284,-0.00536462365138,0.069836266242,0.999999943154,0.00020625270026,-0.00026625112504,1.61788141887e-05,1793242420698262784
+94,1.566666667,BASELINE,765,745,714.457837174,679,659.457837174,635,879,787,804,652,631,652,0.400973020987,-0.00536391635652,0.0698354690535,0.999999942199,0.000208647648773,-0.000267960269045,1.62708673735e-05,1793242420714929664
+95,1.583333333,BASELINE,765,745,714,679,659,635,879,787,804,652,631,652,0.400971844374,-0.00536329215735,0.0698349196536,0.999999941551,0.00021047659498,-0.000268939000615,1.64105795317e-05,1793242420731596288
+96,1.600000000,BASELINE,765,745,714,679,659,635,879,787,804,652,631,652,0.400973583627,-0.00536350570568,0.0698357116253,0.999999942475,0.000209085730412,-0.000266559987071,1.66970727561e-05,1793242420748262912
+97,1.616666667,BASELINE,765,744.724939941,714,679,659,635,879,787,804.275060059,652,630.724939941,651.724939941,0.400974632011,-0.00536368712644,0.0698359302451,0.999999943034,0.000207891539175,-0.000265402373606,1.65662875436e-05,1793242420764929280
+98,1.633333333,BASELINE,765,744.134826792,714,679,659,635,879,787,804.865173208,652,630.134826792,651.134826792,0.400974889076,-0.00536383174835,0.0698354921489,0.999999943181,0.000206922617155,-0.000265643748825,1.59575526551e-05,1793242420781596160
+99,1.650000000,BASELINE,764.553037818,744.446962182,714,679.446962182,659,635,879,787,804.553037818,652,630.446962182,651,0.400973516602,-0.00536384470273,0.0698346478058,0.999999942497,0.000207669413634,-0.000267625775206,1.59803317018e-05,1793242420798263040
+100,1.666666667,BASELINE,764.026114544,745,714,680,659,635,879,787,804,652,631,651.026114544,0.400971777789,-0.00536380131393,0.0698337464371,0.999999941614,0.000208881795545,-0.000269959546176,1.61721384178e-05,1793242420814929664
+101,1.683333333,BASELINE,764.601658409,745,714,680,659,635,879,787,804,652,631,651.601658409,0.400972484287,-0.00536339286028,0.0698341764065,0.99999994185,0.000209199990521,-0.000268848667181,1.59855235867e-05,1793242420831596288
+102,1.700000000,BASELINE,765,745,714.177104821,679.822895179,659,635,879,787,804,652,631,652,0.400972910933,-0.00536318184781,0.0698345276845,0.999999942013,0.000209521879814,-0.000267993027824,1.59753408551e-05,1793242420848262912
+103,1.716666667,BASELINE,765,745,714.752332086,679.247667914,659,635,879,787,804,652,631,652,0.400972708484,-0.00536341467292,0.0698347020682,0.999999942013,0.000209852073699,-0.000267711154074,1.63617683504e-05,1793242420864929536
+104,1.733333333,BASELINE,765,744.663524506,715,679.336475494,659.336475494,635,879,787,804,652,631,652,0.400972681201,-0.00536318153335,0.0698346391446,0.999999941868,0.000210667748624,-0.000267603315056,1.64968651484e-05,1793242420881596416
+105,1.750000000,BASELINE,765,744.072639533,715,679.927360467,659.927360467,635,879,787,804,652,631,652,0.400972786362,-0.00536259607742,0.0698343967928,0.999999941612,0.000211850496315,-0.000267627063853,1.64419305794e-05,1793242420898263296
+106,1.766666667,BASELINE,765,744.508018354,715,679.491981646,659.491981646,635,879,787,804.508018354,652,631,651.491981646,0.400974139429,-0.005363689674,0.0698355037653,0.999999942757,0.000208142290734,-0.000266265761288,1.62649114227e-05,1793242420914930432
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,805,652,631,651,0.400973611208,-0.00536531788706,0.0698352454602,0.99999994372,0.000202892744291,-0.000266706486239,1.61982646132e-05,1793242420958126080
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,659,635,879,787,804.410851313,652,631,651.589148687,0.400973492317,-0.00536480044649,0.0698345721821,0.999999943279,0.000204556920308,-0.000267093510523,1.61072018415e-05,1793242420974797056
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679.824665803,659,635,879,787,804,652,631,652,0.400973232406,-0.00536443584465,0.0698342911132,0.999999942855,0.000206290328621,-0.00026735196847,1.60499628774e-05,1793242420991465216
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.245308238,659,635,879,787,804,652,631,652,0.400972647542,-0.0053644234297,0.0698349138133,0.999999942472,0.000208183269556,-0.000267314170517,1.60706642443e-05,1793242421008127488
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714.668311505,679,659,635,879,787,804,652,631,652,0.400972446996,-0.00536422622212,0.0698350890014,0.999999942345,0.000208705444788,-0.000267375774881,1.62140454492e-05,1793242421024792320
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714.093048476,679,659,635,879,787,804,652,631,652,0.400972528674,-0.00536389331258,0.0698349355603,0.999999942406,0.000208221001886,-0.000267510375066,1.6447516254e-05,1793242421041458944
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,714.480865347,679,659.480865347,635,878.519134653,787,804.480865347,652,631,652,0.400974427315,-0.00536350406023,0.0698357846223,0.999999942848,0.000208489358807,-0.000265657689342,1.61916199417e-05,1793242421058126080
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.9435794,744.9435794,714.9435794,679,659.9435794,635,878.0564206,787,804.9435794,652,631,652,0.400976429621,-0.00536327711201,0.0698367041151,0.999999943298,0.000208667600155,-0.00026383532558,1.59033606658e-05,1793242421074792960
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.349915218,744.349915218,714.349915218,679,659.349915218,635,878.650084782,787,804.349915218,652,631,652,0.400976080552,-0.00536469916668,0.0698364522645,0.99999994316,0.000206604559941,-0.000265953119892,1.62060980493e-05,1793242421091459328
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.237114109,744,714,679,659.237114109,634.762885891,879,787,804,652,630.762885891,651.762885891,0.400983466972,-0.00536533449363,0.0698402896847,0.999999944636,0.000206044594428,-0.000260770428068,1.65053374896e-05,1793242421108125952
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.81461868,744,714,679,659.81461868,634.18538132,879,787,804,652,630.18538132,651.18538132,0.401001958115,-0.00536484042914,0.0698499974801,0.999999948262,0.000207642376209,-0.000245107483028,1.67995554099e-05,1793242421124792832
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+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.967212555,714,679,659.032787445,634.967212555,879,787,804,652,630.967212555,651.967212555,0.401080743526,-0.00536903946105,0.0698811532909,0.999999961318,0.000202828222316,-0.000189436651532,1.84081386803e-05,1793242421158125824
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,714.538958002,679.538958002,659,635,878.461041998,787,804.538958002,652,631,652,0.401137297417,-0.00536847212702,0.0698953799499,0.999999964839,0.000204473717443,-0.000167863073158,1.82700423236e-05,1793242421174792704
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714.884663865,679.884663865,659,635,878.115336135,787,805,652,631,652,0.401196807571,-0.00536844876304,0.0699078844929,0.999999967646,0.000205535660737,-0.000148801955787,1.79111994759e-05,1793242421191459584
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714.287857927,679.287857927,659,635,878.712142073,787,805,652,631,652,0.401265341898,-0.00537149299563,0.0699138232532,0.999999969732,0.000202947685283,-0.000138065193161,1.6892841376e-05,1793242421208126208
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804.700765938,652,631,652,0.401340786093,-0.00537357935474,0.0699165386804,0.999999970626,0.000201369500057,-0.000133995042795,1.56162967322e-05,1793242421224792832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804.122724817,652,631,652,0.401422668456,-0.00537477322873,0.0699162508126,0.999999970487,0.000200732172613,-0.000136136413746,1.40991905297e-05,1793242421241459456
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,878.54839317,787,804.45160683,652,631,651.54839317,0.4015211679,-0.00537562871912,0.0699130318684,0.999999969958,0.00019934298566,-0.000142183025074,1.14276004361e-05,1793242421258125824
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,714.024612869,679,659,635,878.024612869,787,804.975387131,652,631,651.024612869,0.401625462212,-0.0053764844009,0.0699093220055,0.999999969346,0.00019775280885,-0.000148760294871,8.46621125633e-06,1793242421274792448
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,714.590455593,679,659,635,878.590455593,787,804.409544407,652,631,651.590455593,0.401758693721,-0.00537934990857,0.0699121896214,0.999999970387,0.000196199233124,-0.000143860032443,5.97490870728e-06,1793242421291459072
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,714.832841302,679.167158698,659,635,879.167158698,787,804.167158698,652,631,651.832841302,0.401900815485,-0.00538205220598,0.0699148659351,0.999999971468,0.000193535021104,-0.000139999074687,3.05796704719e-06,1793242421308125440
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,714.227681118,679.772318882,659,635,879.772318882,787,804.772318882,652,631,651.227681118,0.402066232129,-0.00538432684743,0.0699170409842,0.999999972694,0.00018796063863,-0.00013886138006,-9.74265049361e-07,1793242421324792064
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,714.358415241,679.641584759,659,635,879.283169518,787,805,652,631,651.358415241,0.402253277612,-0.00538745638001,0.0699203207528,0.999999974544,0.000182397100321,-0.000132744859458,-4.7595697774e-06,1793242421341458944
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,714.933013075,679.066986925,659,635,878.133973849,787,805,652,631,651.933013075,0.402453368813,-0.00539110155099,0.0699242668468,0.999999976687,0.000176840102254,-0.000123625298153,-8.39593759076e-06,1793242421358125568
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.491403399,679,659,635,878.508596601,787,804.491403399,652,631.508596601,652,0.402688002053,-0.00539806495352,0.0699271326992,0.99999997906,0.000167405712418,-0.00011696155803,-1.3271058398e-05,1793242421374792448
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,714,679.086221327,659,635,879,787,804.086221327,652,631.913778673,652,0.40293057777,-0.00540473552422,0.0699298481023,0.999999981193,0.00015819945714,-0.000110689836302,-1.82996093432e-05,1793242421391459072
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,714,679.674985301,659,635,879,787,804.674985301,652,631.325014699,652,0.403192878068,-0.00540714706742,0.0699325174904,0.999999982485,0.00015330522347,-0.000104814076636,-2.32696322286e-05,1793242421408125696
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.740713307,659,635,879,787,805,652,631,652,0.403479803632,-0.00541282272897,0.0699393661322,0.999999984813,0.000144835964104,-9.29193793336e-05,-2.76008580687e-05,1793242421424792320
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.161911129,659,635,879,787,805,652,631,652,0.403797074563,-0.00542252071924,0.0699513648115,0.999999988099,0.000131961249183,-7.36076269287e-05,-3.11449026454e-05,1793242421441458944
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.585160389,714,679,659,635,879,787,804.585160389,652,631,652,0.404134775909,-0.00543363925395,0.0699574004022,0.999999993863,8.31511104e-05,-6.61028929544e-05,-3.14667656333e-05,1793242421458125568
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.009206394,714,679,659,635,879,787,804.009206394,652,631,652,0.404480411964,-0.00544530949598,0.0699611200629,0.99999999733,2.03844604548e-05,-6.31837398802e-05,-3.05372055065e-05,1793242421474792448
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.577697885,744.577697885,714.577697885,679,659,635,879,787,804.577697885,652,631,652,0.404865123487,-0.00546503246188,0.0699643087293,0.999999997574,3.42801460744e-05,-5.54348206898e-05,-2.45906544735e-05,1793242421491459072
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.837307306,745,715,679,659.162692694,634.837307306,879,787,804.837307306,652,631,652,0.405260429445,-0.0054795741141,0.0699670059602,0.999999997577,4.45257970425e-05,-4.90444643939e-05,-2.14095730969e-05,1793242421508125952
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.257662089,745,715,679,659.742337911,634.257662089,879,787,804.257662089,652,631,652,0.405681260239,-0.00548050173104,0.0699684658349,0.999999997709,4.22255129184e-05,-4.63369338289e-05,-2.5524764044e-05,1793242421524792576
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.320552085,659.679447915,634.320552085,879,787,804,652,631,652,0.40611488665,-0.00548374249495,0.069963906593,0.99999999763,3.19667051444e-05,-5.39629633451e-05,-2.84039539347e-05,1793242421541459200
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,679.897621152,659.102378848,634.897621152,879,787,804,652,631,652,0.406558752607,-0.00548883432004,0.0699545306439,0.999999996983,1.53392083151e-05,-6.98582685069e-05,-3.02940530122e-05,1793242421558125568
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,714.527969189,679.527969189,659,635,879,787,804.472030811,652,631,651.527969189,0.407036513322,-0.0054940509288,0.0699381754112,0.999999995179,7.37762402704e-06,-9.2389460508e-05,-3.24322319873e-05,1793242421574792192
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.047247328,679.047247328,659,635,879,787,804.952752672,652,631,651.047247328,0.407528722688,-0.00549933584914,0.0699227079839,0.999999993095,1.67833229234e-06,-0.000112319688291,-3.45083122131e-05,1793242421591459328
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.638354231,679.638354231,659,635,879,787,804.361645769,652,631,651.638354231,0.408103101832,-0.00550509731176,0.0699347868671,0.999999995695,5.05944315795e-07,-8.58361217531e-05,-3.52536943051e-05,1793242421608125952
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679.776635194,659.223364806,635,879.223364806,787,804.223364806,652,631,652,0.408690261582,-0.00551209269006,0.0699469492618,0.999999997575,-6.97301179763e-06,-5.92328348638e-05,-3.59581368689e-05,1793242421624792576
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679.201232864,659.798767136,635,879.798767136,787,804.798767136,652,631,652,0.409297564368,-0.00552103279972,0.0699592432754,0.999999998507,-2.43915311214e-05,-3.24408624959e-05,-3.65980560236e-05,1793242421641459456
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714.62372376,679.37627624,659.62372376,635,880,787,804.62372376,652,631,651.62372376,0.409893886937,-0.0055262020157,0.0699555247428,0.999999998217,-2.79041840452e-05,-3.66347955854e-05,-3.80238785291e-05,1793242421658126592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714.045081626,679.954918374,659.045081626,635,880,787,804.045081626,652,631,651.045081626,0.410484304193,-0.00552934319934,0.0699431944696,0.999999997266,-2.39380939656e-05,-5.74933227066e-05,-3.98723693016e-05,1793242421674793472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.531650188,635,879.468349812,787,804.531650188,652,631,651.531650188,0.411132904801,-0.00553382605026,0.0699411669432,0.999999996426,-3.57057619397e-05,-6.50254266197e-05,-4.05474710088e-05,1793242421691459328
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.11107704,745,714.11107704,679.88892296,660,635,879,787,805,652,631,652,0.411803438383,-0.0055378454494,0.0699462168046,0.999999996325,-4.67075598843e-05,-5.92042300185e-05,-4.07870132896e-05,1793242421708125952
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.702865653,745,714.702865653,679.297134347,660,635,879,787,805,652,631,652,0.412547616533,-0.00553936855997,0.0699781284066,0.999999998034,-4.86416854356e-05,-4.66461431218e-07,-3.95706314016e-05,1793242421724792576
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.712676299,744.712676299,715,679.287323701,659.712676299,635,879,787,805,652,630.712676299,652,0.413292321469,-0.0055270655044,0.0700041620715,0.999999997793,-3.37806625677e-05,4.15014823131e-05,-3.93650310683e-05,1793242421741459456
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.135610449,744.135610449,715,679.864389551,659.135610449,635,879,787,805,652,630.135610449,652,0.414037557713,-0.0055008199059,0.0700242683274,0.999999996976,-1.98312421297e-06,6.65584540509e-05,-4.01787201034e-05,1793242421758126080
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,744.438811931,715,680,659.438811931,635,879,787,805,652,630.438811931,652,0.414741064468,-0.00549391088052,0.0700020934982,0.999999998833,6.1947314156e-06,2.3956233181e-05,-4.14933921372e-05,1793242421774792704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.987269414,680,660,635,879.012730586,787,804.987269414,652,631,652,0.415433321412,-0.00549324356799,0.0699668379611,0.999999998279,6.57184861801e-06,-3.93381740353e-05,-4.30195648601e-05,1793242421791459584
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.399420442,680,660,635,879.600579558,787,804.399420442,652,631,652,0.416196463761,-0.00550620684672,0.0699274078709,0.999999993884,-1.7672946565e-05,-9.84763302651e-05,-4.7148071791e-05,1793242421808126208
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.185686977,680,660,634.814313023,879.814313023,787,804.185686977,652,631,652,0.416985541362,-0.00551561237515,0.0699095517123,0.999999990436,-3.34970835996e-05,-0.000124750352496,-4.94287075144e-05,1793242421824792832
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.764982967,680,660,634.235017033,879.235017033,787,804.764982967,652,631,652,0.41782959503,-0.00551747637988,0.0699374267867,0.999999995053,-3.14715724437e-05,-8.1360792614e-05,-4.7792327779e-05,1793242421841459456
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.657128838,786.657128838,805,651.657128838,631,652,0.41868087516,-0.00552042981691,0.0699663325422,0.999999997538,-3.60814678398e-05,-3.73344093191e-05,-4.72022028595e-05,1793242421858125824
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,878.080201678,786.080201678,805,651.080201678,631,652,0.419537088296,-0.00552412693893,0.069995941876,0.999999997832,-4.52209267942e-05,7.12669042378e-06,-4.73262885626e-05,1793242421874792448
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.506680914,680,660,634.493319086,878.493319086,786.493319086,805,651,631,651.506680914,0.420397099479,-0.00552408717024,0.0700138443407,0.999999997249,-4.5538328925e-05,3.48496734769e-05,-4.70538693607e-05,1793242421891459328
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.068550298,714.068550298,680,660,635,879.068550298,787,805,651.068550298,631,651.068550298,0.421258636858,-0.00552294154684,0.0700271711439,0.999999996391,-4.45191674201e-05,5.50563241409e-05,-4.69466812979e-05,1793242421908125952
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.66105874,714.66105874,680,660,635,879.66105874,787,805,651.66105874,631,651.66105874,0.422127151914,-0.00551795515938,0.0700199718509,0.999999997104,-4.41714988837e-05,3.84692351767e-05,-4.859175424e-05,1793242421924792832
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.751777548,714.751777548,679.751777548,660.248222452,635,880,787,805,651.751777548,631,652,0.422956759378,-0.00551445506031,0.0699816297871,0.999999997304,-4.514633397e-05,-2.54490536926e-05,-5.20296880669e-05,1793242421941459456
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.171758014,714.171758014,679.171758014,660.828241986,635,880,787,805,651.171758014,631,652,0.423734359478,-0.00551294167104,0.0699016594149,0.999999985531,-4.788894914e-05,-0.000152634603474,-5.78641251988e-05,1793242421958125824
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679.809149988,660.595425006,635,880,787,805,651.404574994,631,652,0.424589283938,-0.00551787102046,0.0698693787512,0.999999978097,-5.82352476376e-05,-0.000191088009413,-6.24475815629e-05,1793242421974792448
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.958714049,660.020642976,635,880,787,805,651.979357024,631,652,0.425476739155,-0.00552551086736,0.069857161428,0.99999997674,-7.17804596725e-05,-0.000192211283172,-6.65047429985e-05,1793242421991458816
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714,680.433342022,660,635,880,787,805,652,631,652,0.426400668419,-0.00552765993909,0.0699213650493,0.999999991014,-6.23282885868e-05,-0.000102799766276,-5.93316736027e-05,1793242422008125696
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.152223786,745.152223786,714,680.152223786,660.152223786,635,880,787,805.152223786,652,631,652,0.427332943516,-0.00552936142897,0.0699804352897,0.999999996649,-5.79448759994e-05,-2.17013706884e-05,-5.36041033456e-05,1793242422024792320
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.731611788,745.731611788,714,680.731611788,660.731611788,635,880,787,805.731611788,652,631,652,0.428284825445,-0.00553038091637,0.0700171117014,0.999999995773,-7.01892642036e-05,2.66049289532e-05,-5.31067991419e-05,1793242422041459200
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.690854501,745.690854501,714,680.690854501,660.690854501,635,879.690854501,787,805.690854501,652,631,652,0.429208350857,-0.00553195852145,0.0700367480916,0.99999999396,-7.5743940119e-05,5.88050707966e-05,-5.37113621207e-05,1793242422058126080
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.114921045,745.114921045,714,680.114921045,660.114921045,635,879.114921045,787,805.114921045,652,631,652,0.430107404967,-0.00553401777373,0.0700416791954,0.999999992648,-7.55254935492e-05,7.71058361846e-05,-5.52668201419e-05,1793242422074792704
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.457655223,745,714,680,660,635,879.457655223,787,805.457655223,651.542344777,631,651.542344777,0.430911129614,-0.00553224667754,0.0699935281074,0.99999999595,-6.93990311534e-05,-7.03120035108e-06,-5.68662326224e-05,1793242422091459328
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.969426514,745,714.030573486,680.030573486,660,635,879.969426514,787,805.969426514,651.030573486,631,651.030573486,0.431692438274,-0.00552969121186,0.0699330332798,0.999999989773,-6.24781994112e-05,-0.000114537079335,-5.85886289669e-05,1793242422108125952
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.37475829,745,714.62524171,680.62524171,660,635,879.37475829,787,805.37475829,651.62524171,631,651.62524171,0.432498611789,-0.00553028079062,0.0698889331392,0.999999979164,-6.8073796307e-05,-0.000182063913793,-6.23779814286e-05,1793242422124792832
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,714.786054534,681,660,635,879.213945466,787,805,652,631,652,0.433361773829,-0.00553249332918,0.0698851878311,0.999999979108,-7.21947931755e-05,-0.000180333775302,-6.36458267177e-05,1793242422141459456
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,714.207514999,681,660,635,879.792485001,787,805,652,631,652,0.434322052703,-0.00553747162646,0.0699502129965,0.999999993604,-7.38028586139e-05,-6.05797315997e-05,-6.06166588732e-05,1793242422158126080
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.632902182,787,805.367097818,651.632902182,631,652,0.435212870485,-0.00554073090551,0.0699955212892,0.99999999518,-7.80691522325e-05,1.30248562283e-05,-5.81066474456e-05,1793242422174792448
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,635,879.060485623,787,805.939514377,651.060485623,631,652,0.436064838443,-0.00554302873301,0.070029801881,0.999999993076,-8.38221997831e-05,6.08179289272e-05,-5.58870019152e-05,1793242422191459072
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.512277171,635,879.512277171,787,806,651,631,652,0.436876254059,-0.00554535002266,0.0700248112602,0.999999992883,-8.56512886372e-05,6.04643548766e-05,-5.69371150393e-05,1793242422208125952
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.088904145,745.088904145,714,681.088904145,660.911095855,635,880,787,806,651.088904145,631,652,0.437674150746,-0.00554756386453,0.0700110208332,0.999999993297,-8.74513282561e-05,4.83322969806e-05,-5.85028512491e-05,1793242422224792832
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.687447866,745.687447866,714,681.687447866,660.312552134,635,880,787,806,651.687447866,631,652,0.43842201684,-0.00554914587517,0.069973384301,0.999999993942,-9.17425464727e-05,1.29032254679e-06,-6.08097648984e-05,1793242422241459712
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.7254141,745.7254141,714.2745859,682,660,635,880,787,806,652,631,652,0.439142771499,-0.00554815924877,0.0699266711686,0.999999991415,-9.08101723244e-05,-7.03576714016e-05,-6.30375310272e-05,1793242422258126080
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+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.329731126,682,660.670268874,634.670268874,879.670268874,787,806.329731126,652,631,651.329731126,0.444125826617,-0.00555610387907,0.0700181675208,0.999999992324,-9.87472808265e-05,4.57558278752e-05,-5.92232865417e-05,1793242422374792448
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+238,3.966666667,POSE1_TO_POSE2_PRESS,764.986442272,745,714,682,657.013557728,632,880,785,806,651,630.013557728,652,0.452960034374,-0.00557699216951,0.0696889041389,0.999999882288,-0.000119396244561,-0.000466489260531,-5.96405190145e-05,1793242423141459712
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.39828717,745,714,682,657.60171283,632,880,785,806,651,630.60171283,652,0.452960845187,-0.00557828245415,0.0696883509165,0.999999882095,-0.000121327261847,-0.000466400576427,-5.96721790344e-05,1793242423158126336
+240,4.000000000,POSE1_TO_POSE2_PRESS,764.187110799,745,714,682,657.812889201,632,880,785,806,651,631,652,0.452961496135,-0.00557862740832,0.0696878852248,0.99999988205,-0.000121696255509,-0.000466407889663,-5.96179878352e-05,1793242423174792960
+241,4.016666667,POSE1_TO_POSE2_PRESS,764.766725078,745,714,682,657.233274922,632,880,785,806,651,631,652,0.452961811735,-0.00557698933687,0.0696876031469,0.999999882316,-0.000118788582445,-0.000466616577113,-5.93837060015e-05,1793242423191459328
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.345106909,714,682,657.345106909,632,880,785,806,651,630.654893091,652,0.452961736394,-0.00557626129306,0.069687135816,0.999999882238,-0.00011719029559,-0.000467186910124,-5.93822483621e-05,1793242423208126208
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.922658609,714,682,657.922658609,632,880,785,806,651,630.077341391,652,0.452961397736,-0.00557614619324,0.0696865437091,0.999999881932,-0.000116473938468,-0.000468000827434,-5.95376081407e-05,1793242423224792576
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.504829279,714,682,657.504829279,632,880,785,806,651.495170721,630.495170721,652,0.452961782103,-0.0055758058472,0.069686275933,0.999999881676,-0.000116027123301,-0.000468701463213,-5.92073408334e-05,1793242423241459456
+245,4.083333333,HOLD_POSE2,765,746,714,682,657,632,879,785,805,651,631,652,0.452963432995,-0.00557587363419,0.0696872322422,0.999999881723,-0.000118234440479,-0.000468065062413,-5.90736560466e-05,1793242423284304384
+246,4.100000000,HOLD_POSE2,765,746,714,682,657,632,879.580251597,785,805.580251597,651.580251597,631,652,0.452963048515,-0.00557489519702,0.0696873995916,0.999999881829,-0.00011765936539,-0.000467978653786,-5.91102055661e-05,1793242423300971008
+247,4.116666667,HOLD_POSE2,765,746,714,682,657,632,880,785,806,651.841465678,630.841465678,651.841465678,0.45296258611,-0.00557394500932,0.0696870460096,0.99999988168,-0.00011715499365,-0.000468396947146,-5.93224876667e-05,1793242423317637632
+248,4.133333333,HOLD_POSE2,765,746,714,682,657,632,880,785,806,651.268331829,630.268331829,651.268331829,0.452961919914,-0.00557306869952,0.0696853300856,0.999999880862,-0.000116835525437,-0.000470135138939,-5.99943462529e-05,1793242423334303744
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+256,4.266666667,HOLD_POSE2,765,746,714,682,658,632,881,785,806,651.625395251,630,652,0.452965053977,-0.00557247187423,0.0696871223609,0.999999882269,-0.000114927410155,-0.00046772382537,-5.90625929966e-05,1793242423467637248
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+262,4.366666667,HOLD_POSE2,765,745,714,682,657,632,879.865486967,785,805,652,630.134513033,652,0.452964336221,-0.00557273578914,0.0696860052798,0.999999881435,-0.000115662329207,-0.000469333698943,-5.89795937735e-05,1793242423567637504
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+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.636666471,657,632,880,785,806,651.636666471,630,652,0.452961143142,-0.00557141519924,0.0696844341584,0.999999880769,-0.000112278977569,-0.000471619351727,-5.85632853444e-05,1793242423733522432
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.78773598,714,683,657,632,880,785,806.21226402,651.78773598,630.21226402,652,0.452949662401,-0.0055714568587,0.0696781937878,0.99999987599,-0.000112944071401,-0.000481439685155,-5.89806543046e-05,1793242423750189312
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+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.373586358,714,682.626413642,657,632,880,785,806.626413642,651,631,652,0.452892497964,-0.00556904671155,0.0696521516123,0.99999985489,-0.000111526588455,-0.000523640480811,-5.98570933046e-05,1793242423783522304
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.965284883,714,682.034715117,657,632,880,785,806.034715117,651,631,652,0.452845692724,-0.00556800426033,0.0696319652986,0.999999836434,-0.000111826510265,-0.000557636509398,-6.05600639475e-05,1793242423800189184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.542816451,657,632,880,785.542816451,806,651,630.457183549,652,0.45278328446,-0.00556633592057,0.0696125885979,0.999999820942,-0.000109958620916,-0.000585090043331,-6.07846158826e-05,1793242423816856064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.880919143,657.119080857,632,880,785.880919143,806,651.119080857,630,652,0.452717511185,-0.00556456314961,0.0695959164553,0.999999807017,-0.000108317642382,-0.000608714497239,-6.08332062353e-05,1793242423833523200
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.306124788,657.693875212,632,880,785.306124788,806,651.693875212,630,652,0.452642581888,-0.00556254001527,0.0695894013383,0.999999800609,-0.000108062102295,-0.000619245879823,-6.03225178464e-05,1793242423850189824
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.725526422,714,682.274473578,657.725526422,632,880,785,806,652,630,652,0.45256272483,-0.00556104649144,0.0695862851063,0.999999797658,-0.000107227322262,-0.000624243593235,-5.92167971032e-05,1793242423866856448
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.138314944,714,682.861685056,657.138314944,632,880,785,806,652,630,652,0.452477253037,-0.00556015641118,0.0695870415977,0.999999798736,-0.000105732550551,-0.000622936188878,-5.74330906662e-05,1793242423883523072
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.554960135,657.445039865,632,880,785,806.445039865,651.554960135,630,652,0.452376691104,-0.00555792383545,0.0695912787813,0.999999803035,-0.000101906472469,-0.00061685255781,-5.51089210817e-05,1793242423900189440
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.026925706,714,682.026925706,658,632,880,785.026925706,806.973074294,651.026925706,630,652,0.452269805879,-0.00555528982251,0.0695963805593,0.999999808011,-9.74934092581e-05,-0.000609676807288,-5.26064704773e-05,1793242423916856064
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+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880,785.076317319,806.923682681,651,631,652,0.451391653378,-0.0055357251535,0.0695962716604,0.999999798376,-7.84572099031e-05,-0.000629006788543,-3.79803988244e-05,1793242424000189440
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.495030153,714,682,657.495030153,632,880,785.504969847,806.495030153,651,631,652,0.451161118038,-0.00552899711355,0.0696020791567,0.999999803386,-7.00167001628e-05,-0.000622255041222,-3.35228635567e-05,1793242424016856064
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+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.040004476,745.959995524,714,682,659,634,880,787,805.040004476,651,631,652,0.446118928046,-0.00544991672019,0.0696893974239,0.999999880908,4.27560710442e-05,-0.000486146936818,4.19710761024e-06,1793242424233523456
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+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.964533442,745,714.035466558,680,659,635,879,787,804.035466558,652,631,652,0.404903252348,-0.00537686977039,0.069815360009,0.99999993255,0.000192909231507,-0.000311608744187,2.42074976177e-05,1793242425150189824
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.457003797,745,714.542996203,679.457003797,659,635,879,787,804,652,631,652,0.404547051588,-0.00537328748243,0.0698310011496,0.999999941864,0.000192152708656,-0.000280674481425,2.39099016385e-05,1793242425166856448
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.120418336,745,715,679.120418336,659,635,878.879581664,787,804.120418336,652,631,652,0.404196622795,-0.00536961189816,0.0698445079216,0.999999948561,0.000194379496002,-0.000254034153409,2.37023388407e-05,1793242425183522816
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.69414914,745,715,679.69414914,659,635,878.30585086,787,804.69414914,652,631,652,0.403857822933,-0.00536660774114,0.0698488225342,0.999999948042,0.000206516344813,-0.000246377231296,2.37585462243e-05,1793242425200189440
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.724382691,745,715,680,659,635,878.275617309,787,805,652,631,652,0.403535476866,-0.00536485572617,0.0698459420216,0.999999945701,0.000212033285077,-0.000251215300155,2.3048154823e-05,1793242425216856064
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.134080453,745,715,680,659,635,878.865919547,787,805,652,631,652,0.403231916872,-0.00536453333942,0.0698348465042,0.999999941185,0.000209991971222,-0.000270319474022,2.14625024048e-05,1793242425233522688
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.552195298,679.552195298,659,635,879,787,805,652,631,652,0.402954387693,-0.00536288732813,0.069828197716,0.9999999374,0.000209258017801,-0.00028451472401,2.15008390058e-05,1793242425250189056
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.027070161,659,635,879,787.027070161,805,652,631,652,0.402686226662,-0.00536084385614,0.0698225377112,0.99999993368,0.000208937443513,-0.000297494529536,2.19763004933e-05,1793242425266855680
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.603374096,659,635,879,787.603374096,805,652,631,652,0.402452919893,-0.00535862880649,0.0698104240981,0.999999928243,0.000209208400413,-0.000315085168753,2.16370598599e-05,1793242425283522304
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.817242108,788,805,652,631,652,0.402233275297,-0.00535684237972,0.0698015853919,0.999999923746,0.000209803527558,-0.000328671922735,2.15704585777e-05,1793242425300189440
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,878.231059827,788,805,652,631,652,0.402043788958,-0.00535600210622,0.0697999757996,0.999999921886,0.000211114236381,-0.000333420397079,2.21056883487e-05,1793242425316857088
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.648767741,659,635,878.702464519,787.648767741,805,652,631,652,0.40187750118,-0.00535578933592,0.0698004941231,0.999999922183,0.000210749215706,-0.000332745681598,2.23373337393e-05,1793242425333523712
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.069006747,659,635,879.861986507,787.069006747,805,652,631,652,0.401726307491,-0.00535598484953,0.0698023969717,0.999999923878,0.000209293884314,-0.000328542376384,2.23714524679e-05,1793242425350189568
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.490245969,714.509754031,679.509754031,659,635,879.490245969,787,805,652,631,652,0.401601135908,-0.00535422423455,0.069803280829,0.999999920255,0.000230645506522,-0.00032547801951,1.88800078979e-05,1793242425366855680
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.087397279,715,679.912602721,659,635,879,787,804.912602721,652,631,652,0.40148370145,-0.00535292684093,0.0698039931867,0.999999917014,0.000248274031427,-0.000322646929275,1.52065716548e-05,1793242425383522304
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.659591372,715,679.340408628,659,635,879,787,804.340408628,652,631,652,0.401389682934,-0.00535566497348,0.0698045179095,0.999999922603,0.000228157748637,-0.000320256197428,1.31658433407e-05,1793242425400188928
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.760513479,679,659,635,879,787,804.239486521,652,631,652,0.401302498402,-0.00535578936845,0.0698036504006,0.999999924838,0.000217738180318,-0.000320575829801,1.20296150788e-05,1793242425416855808
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.169308313,679,659,635,879,787,804.830691687,652,631,652,0.401225350516,-0.00535207513287,0.0698007382097,0.999999922609,0.000221559562026,-0.000324876002264,1.22217687276e-05,1793242425433522432
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.586492024,787,804.586492024,652,631,652,0.401164408653,-0.00535235805503,0.0698011274753,0.999999923152,0.000219648735749,-0.000324467077002,1.30960370526e-05,1793242425450189056
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.007042227,787,804.007042227,652,631,652,0.40110997031,-0.00535424504702,0.0698028416241,0.999999924796,0.000215437559471,-0.000322168378521,1.42440397586e-05,1793242425466855936
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.567730217,787,804,652,631,652,0.401076840262,-0.00535377466878,0.0698065979722,0.99999992664,0.000217373077147,-0.000315055061118,1.44406731368e-05,1793242425483522816
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.145875884,679,659.145875884,635,879,787,804,652,631,652,0.401046508161,-0.00535331481475,0.0698100855762,0.999999928328,0.000218891838055,-0.00030857111681,1.46639663992e-05,1793242425500189184
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.73443259,679,659.73443259,635,879,787,804,652,631,652,0.401023871294,-0.00535297490959,0.0698126813931,0.999999929663,0.000218916407228,-0.000304176846792,1.50036818096e-05,1793242425516855808
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.681852762,679,659.681852762,635,879,787,804,652,631,652,0.401005804378,-0.00535395533102,0.0698147431562,0.999999930898,0.000217492655959,-0.00030110523618,1.53625548255e-05,1793242425533522432
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.102119275,679,659.102119275,635,879,787,804,652,631,652,0.400991494953,-0.00535602134813,0.0698163658115,0.999999932053,0.000214878070182,-0.000299121138891,1.57371795986e-05,1793242425550189056
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.524411611,787,804.475588389,652,631,652,0.400983375088,-0.00535469916164,0.0698180729584,0.999999932534,0.000216887032475,-0.000296042281048,1.5856646754e-05,1793242425566855936
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.052430701,679.052430701,659,635,878.052430701,787,804.947569299,652,630.947569299,651.947569299,0.400976940252,-0.00535297917332,0.0698197388504,0.999999932877,0.000219587164521,-0.000292870970562,1.59106935438e-05,1793242425583522560
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.624985791,679.624985791,659,635,878.624985791,787,804.375014209,652,630.375014209,651.375014209,0.400974092888,-0.00535449946775,0.0698208162744,0.999999933449,0.000219337056407,-0.000291104554781,1.58569590559e-05,1793242425600189184
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.796831916,714.796831916,679.796831916,659,635,878.796831916,787,804,652,630.203168084,651.203168084,0.400971874223,-0.00535561114207,0.0698215617416,0.999999934202,0.000218025781656,-0.000289504587197,1.57419275777e-05,1793242425616856064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.207966899,714.207966899,679.207966899,659,635,878.207966899,787,804,652,630.792033101,651.792033101,0.400970849087,-0.00535594708661,0.0698216770176,0.999999935296,0.000214699974382,-0.000288220607137,1.55105291e-05,1793242425633522688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.376828377,714,679,659,635,878.376828377,787,804,652,631,652,0.400970096791,-0.00535541040641,0.0698223377929,0.999999935517,0.00021516612537,-0.000287103247091,1.55279770331e-05,1793242425650189568
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.959401592,714,679,659,635,878.959401592,787,804,652,631,652,0.400969493464,-0.00535439728111,0.0698232964056,0.99999993526,0.000217702650905,-0.000286076860086,1.56812928321e-05,1793242425666856192
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.461131088,787,804,651.461131088,631.538868912,652,0.400969406643,-0.00535543448422,0.0698244371821,0.999999935877,0.000216770023383,-0.000284623562211,1.57124043112e-05,1793242425683522560
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.887688188,714.112311812,679,659,635,878.112311812,787,804,651.112311812,631.887688188,652,0.400969575157,-0.00535627922325,0.0698255630428,0.999999936497,0.000215986090359,-0.000283037298042,1.56716404399e-05,1793242425700189440
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.336859157,714.663140843,679,659,635,878.663140843,787,804,651.663140843,631.336859157,652,0.400970589548,-0.00535577282017,0.0698265773867,0.999999936885,0.00021679737577,-0.000281056733823,1.53859838811e-05,1793242425716856064
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,744.237431935,714.762568065,679,659,635,879,787,804,652,631,651.762568065,0.400970928327,-0.00535625209461,0.0698269709247,0.999999937098,0.000216703198428,-0.000280368881615,1.54128693817e-05,1793242425733522944
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,744.848660143,714.151339857,679,659,635,879,787,804,652,631,651.151339857,0.400970203468,-0.00535828315086,0.0698263871095,0.999999937039,0.000215183523831,-0.000281716184699,1.59317992509e-05,1793242425750189568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787.435939522,804,652,631,651.435939522,0.400970150163,-0.00535657822998,0.0698263927717,0.999999936759,0.000217012209371,-0.000281318851398,1.56987926358e-05,1793242425766856704
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.015251805,659,635,879,787.984748195,804,652,631,652,0.400970315368,-0.00535375566626,0.0698266041101,0.999999936427,0.000219806046979,-0.00028035511819,1.52361142533e-05,1793242425783523328
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.591401675,659,635,879,787.408598325,804,652,631,652,0.400970389181,-0.00535504430049,0.0698272454031,0.999999937103,0.000217571720009,-0.000279675449451,1.54271314207e-05,1793242425800189696
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,804.170550471,652,631,652,0.400970468718,-0.00535594870159,0.0698277179462,0.999999937668,0.000215699420798,-0.000279100112821,1.55138562962e-05,1793242425816856064
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,787,804.757012535,652,631,652,0.400970562211,-0.00535591609545,0.0698277789683,0.999999937973,0.00021470997793,-0.000278779204929,1.53462495651e-05,1793242425833522432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,786.660454517,804.660454517,652,631,652,0.400970542895,-0.00535593817847,0.0698279037553,0.999999937925,0.000214862675279,-0.000278835462794,1.53467002468e-05,1793242425850189312
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,635,879,786.080701207,804.080701207,652,631,652,0.400970443773,-0.00535599895077,0.0698280736521,0.999999937626,0.000215823367579,-0.000279158542564,1.54660413586e-05,1793242425866855936
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.504337327,659,635,878.504337327,786.495662673,804,652,631,652,0.40096927943,-0.00535618364452,0.0698269904467,0.999999937165,0.00021627837454,-0.000280467422888,1.52279809482e-05,1793242425883523072
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764.928345307,745,714,679,659,635,878.071654693,787,804,652,631,652,0.400968216291,-0.00535654799089,0.069826000085,0.999999936856,0.000216316234353,-0.000281549950585,1.50098079282e-05,1793242425900189696
+402,6.700000000,POSE2_TO_POSE3_RETREAT,764.351110055,745,714,679,659,635,878.648889945,787,804,652,631,652,0.400969082628,-0.00535803853612,0.06982709458,0.999999937812,0.000213987770044,-0.00027991059718,1.5339746046e-05,1793242425916856320
+403,6.716666667,POSE2_TO_POSE3_RETREAT,764.230605081,745,714,679,659,635,879,787,804,652,631,652,0.400969687981,-0.00535877802982,0.0698277969979,0.999999938363,0.00021296697505,-0.000278711686893,1.54832330145e-05,1793242425933522688
+404,6.733333333,POSE2_TO_POSE3_RETREAT,764.819276329,745,714,679,659,635,879,787,804,652,631,652,0.400969888099,-0.00535835134763,0.0698278906281,0.999999938293,0.000213976629926,-0.000278196663192,1.53372127602e-05,1793242425950189312
diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_02/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cd7621871fba983faae1dd478a7556c60cc4a04a
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_02/simulation_data.csv
@@ -0,0 +1,406 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+1,0.016666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+2,0.033333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+3,0.050000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+4,0.066666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+5,0.083333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+6,0.100000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+7,0.116666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+8,0.133333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+9,0.150000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+10,0.166666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+11,0.183333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+12,0.200000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+13,0.216666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+14,0.233333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+15,0.250000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+16,0.266666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+17,0.283333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+18,0.300000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+19,0.316666667,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+20,0.333333333,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
+21,0.350000000,pose1_baseline,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120696,1.05967878876
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+372,6.200000000,pose2_to_pose3_retreat,0.581025833766,1.80748275139e-06,1.06004082063,0.55159755417,0.00867663833941,1.05967861438
+373,6.216666667,pose2_to_pose3_retreat,0.580963091922,1.78742305894e-06,1.06004104232,0.551534812798,0.00867661979794,1.05967883402
+374,6.233333333,pose2_to_pose3_retreat,0.58091078198,1.85429734034e-06,1.06004097721,0.551482500894,0.00867668026726,1.05967877488
+375,6.250000000,pose2_to_pose3_retreat,0.580868185111,1.87705041073e-06,1.06004104812,0.551439903986,0.00867670261466,1.05967883918
+376,6.266666667,pose2_to_pose3_retreat,0.580834914945,1.9395109384e-06,1.06004081978,0.551406633678,0.00867676475852,1.05967861482
+377,6.283333333,pose2_to_pose3_retreat,0.580808813983,1.98923689264e-06,1.06004069895,0.551380530326,0.00867680657181,1.05967849863
+378,6.300000000,pose2_to_pose3_retreat,0.580789688724,1.90342284485e-06,1.06004076986,0.55136140752,0.00867672912085,1.05967857067
+379,6.316666667,pose2_to_pose3_retreat,0.580774731875,1.84343237581e-06,1.06004073732,0.551346452753,0.00867667610536,1.05967853606
+380,6.333333333,pose2_to_pose3_retreat,0.58076373926,1.87723578726e-06,1.06004085498,0.551335460364,0.00867671058319,1.05967865162
+381,6.350000000,pose2_to_pose3_retreat,0.580756070226,1.95782020273e-06,1.06004099537,0.551327789808,0.00867678603332,1.05967879276
+382,6.366666667,pose2_to_pose3_retreat,0.580751135627,1.9742326105e-06,1.06004069481,0.551322852617,0.00867679389936,1.05967849788
+383,6.383333333,pose2_to_pose3_retreat,0.580748167309,1.97047719263e-06,1.06004085646,0.551319884434,0.00867679026833,1.05967865143
+384,6.400000000,pose2_to_pose3_retreat,0.580746316325,1.94692428719e-06,1.06004097995,0.551318034019,0.00867676841428,1.05967876938
+385,6.416666667,pose2_to_pose3_retreat,0.580745455964,1.86954875284e-06,1.06004097281,0.551317174866,0.00867669515893,1.05967876278
+386,6.433333333,pose2_to_pose3_retreat,0.580744914541,1.82085652324e-06,1.06004096833,0.551316634203,0.00867664905952,1.05967875862
+387,6.450000000,pose2_to_pose3_retreat,0.580744648961,1.79804540782e-06,1.0600409649,0.551316368966,0.00867662741982,1.0596787554
+388,6.466666667,pose2_to_pose3_retreat,0.58074461912,1.79913525367e-06,1.06004096037,0.551316339062,0.00867662829957,1.059678751
+389,6.483333333,pose2_to_pose3_retreat,0.580744523514,1.80262700658e-06,1.06004094586,0.551316243252,0.00867663111821,1.0596787369
+390,6.500000000,pose2_to_pose3_retreat,0.580744441881,1.80560842714e-06,1.06004093347,0.551316161445,0.00867663352489,1.05967872486
+391,6.516666667,pose2_to_pose3_retreat,0.580744356394,1.80873058676e-06,1.0600409205,0.551316075776,0.00867663604517,1.05967871225
+392,6.533333333,pose2_to_pose3_retreat,0.580744271288,1.81183885136e-06,1.06004090758,0.551315990489,0.00867663855425,1.0596786997
+393,6.550000000,pose2_to_pose3_retreat,0.58074424825,1.81268022449e-06,1.06004090408,0.551315967403,0.00867663923343,1.0596786963
+394,6.566666667,pose2_to_pose3_retreat,0.580744195407,1.81461019633e-06,1.06004089606,0.551315914446,0.00867664079135,1.05967868851
+395,6.583333333,pose2_to_pose3_retreat,0.58074415416,1.81611661567e-06,1.0600408898,0.551315873112,0.00867664200737,1.05967868243
+396,6.600000000,pose2_to_pose3_retreat,0.580744109005,1.81776576027e-06,1.06004088294,0.551315827861,0.0086766433386,1.05967867577
+397,6.616666667,pose2_to_pose3_retreat,0.580744094242,1.81830495344e-06,1.0600408807,0.551315813066,0.00867664377385,1.05967867359
+398,6.633333333,pose2_to_pose3_retreat,0.580743966648,1.82296497571e-06,1.06004086134,0.551315685201,0.00867664753555,1.05967865478
+399,6.650000000,pose2_to_pose3_retreat,0.580743707674,1.8324232776e-06,1.06004082203,0.551315425675,0.00867665517053,1.05967861659
+400,6.666666667,pose2_to_pose3_retreat,0.580743620743,1.83452255662e-06,1.06004082202,0.551315339214,0.00867665884834,1.05967861625
+401,6.683333333,pose2_to_pose3_retreat,0.580743571014,1.83571079259e-06,1.06004082217,0.551315289761,0.00867666096536,1.05967861621
+402,6.700000000,pose2_to_pose3_retreat,0.580743538691,1.83648311803e-06,1.06004082227,0.551315257618,0.00867666234137,1.05967861618
+403,6.716666667,pose2_to_pose3_retreat,0.580743503286,1.83732910066e-06,1.06004082238,0.55131522241,0.00867666384862,1.05967861615
+404,6.733333333,pose2_to_pose3_retreat,0.580743587001,1.81586264722e-06,1.06004100756,0.551315305933,0.00867664120693,1.05967878877
diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_03/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..042f4a180ddce043e3c5a97bda6453cc254876da
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:379e7edd88e1052b78b8b7bf0f9867f4473d06136246590d9d77b195311723c9
+size 25846423
diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_03/franka_data.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b853077088e7cfa689eedfc1a5199b37d59102bd
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_03/franka_data.csv
@@ -0,0 +1,408 @@
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+40,0.666666667,BASELINE,765,745,714.19289488,679,659.19289488,635,878.19289488,787,805,652,631,652,0.400969510522,-0.00535556595998,0.069830726266,0.999999938528,0.000217736244385,-0.000274437734474,1.47935059984e-05,1793242426765702144
+41,0.683333333,BASELINE,765,745,714.790320832,679,659.790320832,635,878.790320832,787,805,652,631,652,0.400971131027,-0.00535527860989,0.0698315520549,0.999999938928,0.000217827192528,-0.000272911438795,1.46743181924e-05,1793242426782369024
+42,0.700000000,BASELINE,765,745,714.623687866,679,659.623687866,635,879,787,804.623687866,651.623687866,631,652,0.400971865121,-0.0053558338041,0.0698320881284,0.999999939529,0.00021683654491,-0.000271492791958,1.46590810538e-05,1793242426799035648
+43,0.716666667,BASELINE,765,745,714.043880019,679,659.043880019,635,879,787,804.043880019,651.043880019,631,652,0.400972119877,-0.00535684461518,0.0698324675344,0.999999940238,0.000215261010223,-0.000270132357691,1.47000566034e-05,1793242426815702016
+44,0.733333333,BASELINE,765,745,714.529439327,679.529439327,659,635,879,787,804,651.529439327,631,652,0.400971650924,-0.0053583892749,0.069831762697,0.999999940222,0.000213127248143,-0.000271878159299,1.46677915349e-05,1793242426832368384
+45,0.750000000,BASELINE,765,745,715,679.894883636,659,635,879,787,804,652,631,652,0.400971224368,-0.00535941858291,0.0698311423557,0.9999999401,0.000211587422782,-0.000273525074015,1.46864209612e-05,1793242426849034752
+46,0.766666667,BASELINE,765,745,715,679.30590873,659,635,879,787,804,652,631,652,0.400971265729,-0.0053578744883,0.0698313195916,0.999999939791,0.000212991920957,-0.000273546111342,1.49669248666e-05,1793242426865701376
+47,0.783333333,BASELINE,765,745,714.721677394,679,659,635,879,787,804,652,631,652,0.400971362728,-0.005356850355,0.0698315425134,0.999999939615,0.000214135583089,-0.000273305388098,1.48637034681e-05,1793242426882368000
+48,0.800000000,BASELINE,765,745,714.142572347,679,659,635,879,787,804,652,631,652,0.400971519855,-0.0053563881422,0.0698318148076,0.99999993958,0.000214997360632,-0.000272781780961,1.43457912695e-05,1793242426899034880
+49,0.816666667,BASELINE,765,745,714,679,659,635,878.565588998,787,804,652,631,652,0.400971762908,-0.00535710699845,0.0698320698406,0.999999939779,0.000214568074975,-0.000272377618723,1.45678420207e-05,1793242426915701760
+50,0.833333333,BASELINE,765,745,714.010669767,679,659,635,878.010669767,787,804.010669767,652,631,652,0.400972002137,-0.0053581763661,0.0698322908657,0.999999940027,0.000213796708096,-0.000272051174622,1.50202312417e-05,1793242426932368384
+51,0.850000000,BASELINE,765,745,714.58525845,679,659,635,878.58525845,787,804.58525845,652,631,652,0.400970556072,-0.00535738387415,0.0698310124602,0.99999993882,0.000217231424537,-0.000273770484951,1.4873558352e-05,1793242426949035008
+52,0.866666667,BASELINE,765,745,714.835375385,679,659,635,878.835375385,787,805,652,631,652,0.400970098846,-0.00535679091306,0.0698306919965,0.999999938358,0.000218844472341,-0.000274178851004,1.4710318292e-05,1793242426965701376
+53,0.883333333,BASELINE,765,745,714.243613534,679,659,635,878.243613534,787,805,652,631,652,0.400972207277,-0.00535671565748,0.0698328570215,0.999999939854,0.000215730994034,-0.00027118582334,1.45040928381e-05,1793242426982368000
+54,0.900000000,BASELINE,765,745,714,679,659,635,878.680616926,787,805,652.340308463,631.340308463,652,0.400972539992,-0.00535685686691,0.0698333281522,0.999999940056,0.000215680411425,-0.000270472141565,1.46415905592e-05,1793242426999034624
+55,0.916666667,BASELINE,765,745,714,679,659,635,879.837489142,787,805,652.918744571,631.918744571,652,0.400971630166,-0.00535714954569,0.0698326139961,0.999999939358,0.0002177730614,-0.000271353410758,1.50196053471e-05,1793242427015701504
+56,0.933333333,BASELINE,765,745,714.493464622,679.493464622,659,635,879.506535378,787,804.506535378,652.506535378,631.506535378,652,0.400972286299,-0.00535690097591,0.0698331182238,0.99999993953,0.000217942077593,-0.000270583271264,1.50451333758e-05,1793242427032368128
+57,0.950000000,BASELINE,765,745,715,679.86466536,659,635,879,787,804,652,631,652,0.400972859357,-0.00535668119014,0.0698335667082,0.999999939723,0.000217825323241,-0.00026996269145,1.50269986708e-05,1793242427049035008
+58,0.966666667,BASELINE,765,745,715,678.714911775,659,635,879,787,804,652,631,652,0.400970891364,-0.00535734020434,0.0698321048045,0.999999939016,0.000217923045524,-0.000272486181052,1.51133907601e-05,1793242427065701888
+59,0.983333333,BASELINE,765,745,714.782493588,678.217506412,659,635,879,787,804,652,631,651.782493588,0.40096970727,-0.00535740332811,0.0698313149629,0.999999938655,0.000217913704849,-0.000273826732203,1.49187618923e-05,1793242427082368512
+60,1.000000000,BASELINE,765,745,714.207390616,678.792609384,659,635,879,787,804,652,631,651.207390616,0.400969811963,-0.00535648676422,0.0698316300406,0.99999993887,0.000217728344805,-0.000273222445833,1.42621138907e-05,1793242427099034880
+61,1.016666667,BASELINE,765.380605902,745,714.380605902,679,659,635,879,787,804.380605902,652,631,651.380605902,0.400971244079,-0.00535646870515,0.0698324062406,0.999999939371,0.000217118719895,-0.000271863871101,1.44030678689e-05,1793242427115701760
+62,1.033333333,BASELINE,765.975874375,745,714.975874375,679,659,635,879,787,804.975874375,652,631,651.975874375,0.400973424866,-0.00535695740483,0.0698334425146,0.99999994003,0.000216269808676,-0.0002700798761,1.49938711662e-05,1793242427132368384
+63,1.050000000,BASELINE,765.449791951,744.449791951,715,679,659,635,879,787,804.449791951,652,631,652,0.400972121885,-0.00535690096195,0.0698325578871,0.999999939608,0.00021667493337,-0.000271315631754,1.4942867074e-05,1793242427149035008
+64,1.066666667,BASELINE,765,744.126942031,714.873057969,679,659,635,879,787,804,652,631,652,0.4009713705,-0.00535664716442,0.0698321393914,0.999999939332,0.000217360277289,-0.000271791669398,1.48461362107e-05,1793242427165701888
+65,1.083333333,BASELINE,765,744.715623453,714.284376547,679,659,635,879,787,804,652,631,652,0.400973160764,-0.00535575926818,0.0698337115473,0.999999939748,0.000218872212183,-0.000269040329052,1.46816906914e-05,1793242427182368512
+66,1.100000000,BASELINE,765,745,714.300515322,679,659,635,879,787,804.300515322,652,631,652,0.40097326691,-0.00535536391739,0.0698340268842,0.999999939629,0.000219744562455,-0.000268768844428,1.47224632574e-05,1793242427199035392
+67,1.116666667,BASELINE,765,745,714.881865776,679,659,635,879,787,804.881865776,652,631,652,0.400971799227,-0.00535542885621,0.0698331677089,0.999999939014,0.00022001921323,-0.000270814814547,1.49550145677e-05,1793242427215702272
+68,1.133333333,BASELINE,765.458525158,745,715,679,659,635,879,787,804.541474842,652,631,652,0.400971782451,-0.00535629171479,0.069833188447,0.999999939223,0.000219026647006,-0.000270845794933,1.49727500746e-05,1793242427232368640
+69,1.150000000,BASELINE,765.966067832,745,715,679,659,635,879,787,804.033932168,652,631,652,0.400972212568,-0.0053572865075,0.0698334494596,0.999999939672,0.000217691878999,-0.000270265142451,1.49322472879e-05,1793242427249035008
+70,1.166666667,BASELINE,765.391553761,745,715,679,659,635,879,787,804.608446239,652,631,652,0.400973867275,-0.00535714126348,0.0698339632998,0.999999940604,0.000216054053667,-0.00026812722317,1.48367222743e-05,1793242427265701632
+71,1.183333333,BASELINE,765,745,715,679,659.188133729,635,879,787,805,652,631,652,0.400973530458,-0.00535670727797,0.0698332536732,0.999999940482,0.000215967092986,-0.00026865918213,1.4727788057e-05,1793242427282368256
+72,1.200000000,BASELINE,765,745,715,679,659.778892974,635,879,787,805,652,631,652,0.400968931575,-0.00535565535594,0.069829925702,0.999999938083,0.000219199141739,-0.000274904954531,1.45901567473e-05,1793242427299034880
+73,1.216666667,BASELINE,765,745,714.637588237,679,659.637588237,635,879,787.362411763,804.637588237,652,631,652,0.400969075534,-0.00535548551913,0.0698302043242,0.999999938053,0.00021978632108,-0.000274543261746,1.46075987769e-05,1793242427315701504
+74,1.233333333,BASELINE,765,745,714.058400351,679,659.058400351,635,879,787.941599649,804.058400351,652,631,652,0.400972056418,-0.00535584330051,0.0698326402255,0.999999939445,0.00021879147505,-0.000270229321934,1.47177977299e-05,1793242427332368384
+75,1.250000000,BASELINE,765,745,714,679,659,635,879,787.483237268,804.516762732,652,631,652,0.400972931986,-0.00535647772275,0.0698334344303,0.999999939781,0.000217760128899,-0.000269812112692,1.48347218527e-05,1793242427349035008
+76,1.266666667,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400973417661,-0.00535696926746,0.0698339748778,0.999999939977,0.000216953279489,-0.000269733145563,1.48956620215e-05,1793242427365701632
+77,1.283333333,BASELINE,765,745,714,679,659,635,879,787,805,652,631,652,0.400973090812,-0.00535654214302,0.069834147329,0.999999940055,0.000217354014046,-0.000269132603896,1.46568686877e-05,1793242427382368256
+78,1.300000000,BASELINE,765.265732243,745,714.265732243,679,659,635,878.734267757,787,805,652,631,652,0.400972744823,-0.00535613589461,0.0698338578714,0.99999993976,0.000218496021124,-0.000269301813434,1.47165199022e-05,1793242427399035136
+79,1.316666667,BASELINE,765.845593668,745,714.845593668,679,659,635,878.154406332,787,805,652,631,652,0.400972376208,-0.00535575432436,0.0698330223791,0.999999939019,0.000220514306217,-0.000270380966472,1.51289704047e-05,1793242427415702016
+80,1.333333333,BASELINE,765.57644199,745,715,679,659.42355801,635,878.42355801,787,805,652,631.42355801,652,0.400972362399,-0.00535584827211,0.0698328813432,0.999999939192,0.000219336276683,-0.00027071070834,1.49347814546e-05,1793242427432368640
+81,1.350000000,BASELINE,765,745,714.999171032,679,659.999171032,635,878.999171032,787,805,652,631.999171032,651.999171032,0.400972475672,-0.00535611493695,0.0698329915421,0.999999939692,0.000216999853641,-0.000270769187738,1.45208842951e-05,1793242427449035008
+82,1.366666667,BASELINE,765,745,714.42531633,679,659.42531633,635,878.42531633,787,805,652,631.42531633,651.42531633,0.400971425584,-0.00535647968536,0.0698325503756,0.999999939808,0.000215779432967,-0.000271321310377,1.44205784987e-05,1793242427465701632
+83,1.383333333,BASELINE,765,745,714.15299998,679,659,635,878,787,804.84700002,652,631,651.15299998,0.400970701654,-0.00535666668074,0.0698321608899,0.999999939728,0.000215456108837,-0.000271871909277,1.44329907863e-05,1793242427482368256
+84,1.400000000,BASELINE,765,745,714.744091538,679,659,635,878,787,804.255908462,652,631,651.744091538,0.400970911626,-0.00535634470812,0.069831919384,0.999999939088,0.000217701480447,-0.000272418145315,1.47681537025e-05,1793242427499034880
+85,1.416666667,BASELINE,765,745,714.675804058,679,659.324195942,635,878,787,804,652,631,652,0.400970654555,-0.0053564967887,0.0698319305847,0.99999993907,0.000217366636299,-0.000272756431599,1.46598137042e-05,1793242427515702272
+86,1.433333333,BASELINE,765,745,714.104088253,679,659.895911747,635,878,787,804,652,631,652,0.400970040901,-0.00535701080343,0.069832134724,0.999999939526,0.000215061827047,-0.00027293595061,1.42128643263e-05,1793242427532370176
+87,1.450000000,BASELINE,765,745,714.473159551,679.473159551,659.526840449,635,878,787,804.473159551,652,631,652,0.400970829497,-0.00535641008625,0.0698327206886,0.99999993964,0.00021603430197,-0.000271748435388,1.4184393534e-05,1793242427549036800
+88,1.466666667,BASELINE,765,745,715,679.947177231,659,635,878.052822769,787,804.947177231,652,631,652,0.400971796217,-0.0053556188377,0.0698332840056,0.999999939649,0.00021767392137,-0.000270400642437,1.42397960162e-05,1793242427565702912
+89,1.483333333,BASELINE,765,745,715,679.355433701,659,635,878.644566299,787,804.355433701,652,631,652,0.400971395811,-0.00535541519334,0.069832749161,0.999999939398,0.00021867752685,-0.000270522077287,1.42005708231e-05,1793242427582369536
+90,1.500000000,BASELINE,765,745,714.768558079,679,659,635,879,787,804.231441921,652,631,652,0.400971229613,-0.00535609254501,0.0698322150736,0.999999939498,0.000217490079027,-0.000271107870716,1.42367050751e-05,1793242427599036160
+91,1.516666667,BASELINE,765,745,714.189004331,679,659,635,879,787,804.810995669,652,631,652,0.400971415687,-0.00535809500298,0.0698316821254,0.999999940112,0.000213007067533,-0.000272392105937,1.43861874824e-05,1793242427615702528
+92,1.533333333,BASELINE,765,745,714,679.385660314,659,635,878.614339686,787,804.614339686,652,631,652,0.400971476873,-0.00535851910623,0.0698318155012,0.999999940167,0.000213353749246,-0.000271917369626,1.43751171257e-05,1793242427632369152
+93,1.550000000,BASELINE,765,745,714,679.957958954,659,635,878.042041046,787,804.042041046,652,631,652,0.40097147762,-0.00535817937301,0.069832271341,0.999999939952,0.000216037735758,-0.000270591388201,1.42863480974e-05,1793242427649036032
+94,1.566666667,BASELINE,765,745,714.536038898,680,659,635,878,787,804.536038898,652,631,652,0.400972221039,-0.00535750711385,0.0698326297916,0.999999939923,0.000217337982979,-0.00026963953198,1.45733172851e-05,1793242427665702656
+95,1.583333333,BASELINE,765,745,714.882848089,679.882848089,659.117151911,635,878.117151911,787,805,652,631,652,0.400972557955,-0.00535685691297,0.0698328754499,0.99999993978,0.000218397840781,-0.000269301603478,1.48140316841e-05,1793242427682369280
+96,1.600000000,BASELINE,765,745,714.291309065,679.291309065,659.708690935,635,878.708690935,787,805,652,631,652,0.400971010368,-0.00535640279001,0.0698326956415,0.999999939117,0.000218928529006,-0.00027132956034,1.47468150891e-05,1793242427699035648
+97,1.616666667,BASELINE,765,745,714,679,660,635,879,787,805,652,631,652,0.400970631815,-0.00535569957326,0.0698327052531,0.999999939043,0.000218561674467,-0.000271909441324,1.4501651361e-05,1793242427715702272
+98,1.633333333,BASELINE,765,745,714,679,660,635,879,787,805,652,631,652,0.400971387559,-0.00535475466423,0.0698328986563,0.999999939543,0.000217323946409,-0.000271084273934,1.40838279633e-05,1793242427732369152
+99,1.650000000,BASELINE,764.552240973,745,714,679.447759027,659.552240973,635,879,787,804.552240973,651.552240973,631,652,0.400970655282,-0.00535573984148,0.0698327030502,0.999999939491,0.000216968696426,-0.000271539822631,1.44669931748e-05,1793242427749035520
+100,1.666666667,BASELINE,764.021339237,745,714,680,659,635,878.978660763,787,804.021339237,651.021339237,631,652,0.40096960111,-0.00535723083528,0.0698324358394,0.999999939322,0.000216790451103,-0.000272271426349,1.50449780149e-05,1793242427765702144
+101,1.683333333,BASELINE,764.594882107,745,714,680,659,635,878.405117893,787,804.594882107,651.594882107,631,652,0.400971037557,-0.00535777606817,0.0698331444421,0.99999994015,0.000214775524606,-0.000270833653924,1.48398521435e-05,1793242427782369280
+102,1.700000000,BASELINE,765,745,714.174781626,679.825218374,659,635,878,787,804.825218374,652,631,652,0.400972052531,-0.00535822010029,0.069833447185,0.999999940643,0.000213481073964,-0.000270047399347,1.46633961376e-05,1793242427799035904
+103,1.716666667,BASELINE,765,745,714.769970906,679.230029094,659,635,878,787,804.230029094,652,631,652,0.400972053724,-0.00535842071103,0.0698327737007,0.999999940339,0.000213919606485,-0.000270828261026,1.4555900676e-05,1793242427815702528
+104,1.733333333,BASELINE,765,745,714.645432384,679,659,635,878.354567616,787,804.354567616,652,631,652,0.400972010113,-0.00535744888149,0.0698326136506,0.999999940202,0.000214761070816,-0.000270672536851,1.44642396859e-05,1793242427832368896
+105,1.750000000,BASELINE,765,745,714.067508304,679,659,635,878.932491696,787,804.932491696,652,631,652,0.400971938279,-0.00535573848449,0.0698327770334,0.999999940169,0.000215856358213,-0.000269926819492,1.43825534584e-05,1793242427849035264
+106,1.766666667,BASELINE,764.514022903,745,714,679,659,635,879,787,804.514022903,652,631,652,0.400973973397,-0.00535789572626,0.0698343452952,0.999999941162,0.000214313224591,-0.000267446230288,1.47505368357e-05,1793242427865701888
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,788,805,651,631,652,0.400969779297,-0.00535625456554,0.0698318788209,0.999999939647,0.000215992987837,-0.000271759049731,1.41694920532e-05,1793242427909279744
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659.596775294,635,878.403224706,787.403224706,804.403224706,651.596775294,631,652,0.400971481163,-0.00535574821532,0.0698330877344,0.99999994006,0.000216293334701,-0.00026999398112,1.41768947475e-05,1793242427925946368
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659.813300684,635,878.186699316,787,804,652,631,652,0.400972667274,-0.00535564498586,0.0698338301487,0.999999940403,0.00021619883887,-0.000268792092131,1.42426739186e-05,1793242427942613248
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659.237649837,635,878.762350163,787,804,652,631,652,0.400972778911,-0.00535638157959,0.0698336007033,0.999999940606,0.000215281765517,-0.000268763477482,1.44300690699e-05,1793242427959280128
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.660771592,714,679,659,635,879,787,804.339228408,652,631.339228408,652,0.400972859215,-0.00535682025223,0.069833421543,0.999999940708,0.000214676603546,-0.000268867972153,1.44454579452e-05,1793242427975946496
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.083030392,714,679,659,635,879,787,804.916969608,652,631.916969608,652,0.400972917488,-0.00535704945535,0.0698332777384,0.999999940739,0.000214290747714,-0.000269066056498,1.43399085385e-05,1793242427992612864
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.503538517,714,679.503538517,659,635,878.496461483,787,804.496461483,652,631.496461483,652,0.400971063557,-0.00535631960662,0.0698331155436,0.999999939626,0.000217256439708,-0.000270810595939,1.44385279753e-05,1793242428009279232
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,714.090281507,679.909718493,659.090281507,635,878.090281507,787,804,652,631,652,0.400969568133,-0.00535542803436,0.0698331056972,0.999999938568,0.000220300605307,-0.000272250322994,1.45475915748e-05,1793242428025945856
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,714.66993699,679.33006301,659.66993699,635,878.66993699,787,804,652,631,652,0.400971755665,-0.0053545323431,0.0698339383913,0.999999938915,0.000220721029137,-0.000270630898199,1.45275230729e-05,1793242428042612480
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,714.752063132,679.247936868,659.752063132,635,879,787,804,651.752063132,631,652,0.400979308583,-0.00535515517793,0.0698373633206,0.999999940838,0.000219226945963,-0.000264668368783,1.46199113286e-05,1793242428059279104
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,714.176252684,679.823747316,659.176252684,635,879,787,804,651.176252684,631,652,0.400993956728,-0.00535778612316,0.0698442162414,0.999999944739,0.000215201104271,-0.000252962485249,1.48610132462e-05,1793242428075945984
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,744.59423149,714,679.59423149,659,635,878.59423149,787,804,651.40576851,631,652,0.401024703288,-0.00535864736605,0.0698568862916,0.999999950123,0.000215017619115,-0.000230823745013,1.55594061126e-05,1793242428092612864
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,744.009470566,714,679.009470566,659,635,878.009470566,787,804,651.990529434,631,652,0.401062551175,-0.00535872795889,0.0698721223918,0.999999955597,0.000216529072009,-0.00020408286677,1.64595189603e-05,1793242428109279744
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.572480869,714,679,659,635,878.572480869,787,804,652,631,652,0.401122483747,-0.00536013774545,0.0698914066981,0.999999961704,0.000215850964168,-0.000172413722251,1.6573113058e-05,1793242428125946112
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804,652,631,652,0.401184310893,-0.00536132852133,0.0699073660876,0.999999965917,0.000215389022388,-0.000146637503813,1.64635542987e-05,1793242428142612736
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804,652,631,652,0.401250377657,-0.00536185222923,0.0699139337203,0.999999967188,0.000215625493227,-0.00013740438031,1.57719048933e-05,1793242428159279360
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714.305370718,679,659,635,879,786.694629282,804,652,631,652,0.401323020954,-0.00536357587256,0.0699170597383,0.999999968095,0.000214022909582,-0.000133378644413,1.46638737483e-05,1793242428175945984
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714.880576449,679,659,635,879,786.119423551,804,652,631,652,0.401401475475,-0.00536635981593,0.0699171446386,0.999999968724,0.0002107952805,-0.000133954317849,1.31879148604e-05,1793242428192612608
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,714.532969869,679.467030131,659,635,878.532969869,786.467030131,804.467030131,652,631,652,0.401494906436,-0.00536738581719,0.0699138333997,0.999999968326,0.000209262633194,-0.000139446795594,1.05566329733e-05,1793242428209279488
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.055433013,714,679.944566987,659,635,878.055433013,787,805,652,631,651.944566987,0.401595133273,-0.00536815679571,0.0699100303826,0.999999967704,0.00020804990084,-0.000145770447447,7.61561186371e-06,1793242428225946112
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.634410421,714,679.365589579,659,635,878.634410421,787,805,652,631,651.365589579,0.401722482887,-0.00537086950893,0.0699099870322,0.999999967922,0.00020566412321,-0.000147776754643,4.60826325195e-06,1793242428242613248
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.789479256,714.210520744,679,659,635,878.789479256,787,804.789479256,652,631,651.210520744,0.401862015784,-0.00537363267793,0.0699118503414,0.999999968698,0.000202945111381,-0.000146339688492,1.69476135617e-06,1793242428259279616
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.218281065,714.781718935,679,659,635,878.218281065,787,804.218281065,652,631,651.781718935,0.40202242184,-0.00537648229067,0.0699169802604,0.999999970407,0.000199655181897,-0.000139003217233,-1.05795610394e-06,1793242428275945984
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,878.358940206,787,804.358940206,651.641059794,631,652,0.402200137902,-0.00537950676416,0.0699219466142,0.99999997265,0.000194447038437,-0.000129880623895,-4.61466650007e-06,1793242428292612864
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,659,635,878.939886839,787,804.939886839,651.060113161,631,652,0.402388560312,-0.00538263939022,0.0699268118028,0.999999975122,0.000188052469085,-0.000119653303818,-8.66865107336e-06,1793242428309279232
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.469044852,715,679,659.530955148,635,879,787,805,651.530955148,631,651.469044852,0.402616607547,-0.00538649973575,0.0699275956986,0.99999997681,0.000179507534142,-0.00011815695072,-1.3977279329e-05,1793242428325946112
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.11926656,714.88073344,679,659.88073344,635,879,787,805,652,631,651.11926656,0.40285485761,-0.00539035115023,0.069928335883,0.999999978292,0.000171779282262,-0.000116336541151,-1.9344285968e-05,1793242428342612736
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.692633503,714.307366497,679,659.307366497,635,879,787,805,652,631,651.692633503,0.403114541498,-0.00539384876923,0.0699307031395,0.999999979584,0.000168105466372,-0.000109445531753,-2.43822203908e-05,1793242428359279360
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804.732041854,652,631,651.732041854,0.403401947122,-0.00539924076935,0.0699392964906,0.999999982394,0.000160513730229,-9.26615622275e-05,-2.93357580753e-05,1793242428375946496
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679,659,635,879,787,804.154455102,652,631,651.154455102,0.403721385504,-0.00540682174763,0.0699550841626,0.999999986328,0.000148394793955,-6.44461680377e-05,-3.4191774074e-05,1793242428392613120
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,714,679.430842787,659,635,879,787,804.430842787,652,631,651.430842787,0.40404230656,-0.00541258101008,0.0699596909988,0.999999989404,0.000127156780717,-5.92632557505e-05,-3.88709583497e-05,1793242428409279488
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,714,680,659.018675031,635,879,787,805,652,631,652,0.404366107126,-0.00541760707805,0.0699603360541,0.999999991809,0.000103388856286,-6.20430135587e-05,-4.29323041147e-05,1793242428425946368
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.598087445,635,879,787,805,652,631,652,0.404760117536,-0.00542058488232,0.0699645705011,0.999999992847,0.000103606073841,-5.14659355622e-05,-3.03805435639e-05,1793242428442612992
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,714.176631272,680,659.823368728,635,879,786.823368728,805,652,631,651.823368728,0.405157670964,-0.00542430992053,0.0699671028423,0.999999993465,0.000102169381316,-4.54004577308e-05,-2.38735719958e-05,1793242428459279616
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,714.753208279,680,659.246791721,635,879,786.246791721,805,652,631,651.246791721,0.405563246785,-0.00542972691819,0.0699657811093,0.999999993587,9.69877444748e-05,-4.95505860043e-05,-3.10538022853e-05,1793242428475946240
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.327113413,635,879.327113413,786.327113413,804.672886587,652,631,651.327113413,0.405989756302,-0.00543824407101,0.0699631034963,0.999999994391,8.41131662216e-05,-5.37181237226e-05,-3.54698311967e-05,1793242428492613120
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,659.899019135,635,879.899019135,786.899019135,804.100980865,652,631,651.899019135,0.406431931401,-0.00544908119696,0.0699594112227,0.999999995465,6.54816455539e-05,-5.78986900612e-05,-3.78172962107e-05,1793242428509279744
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679.511532623,659.511532623,635,879.511532623,787,804.488467377,652,631,651.511532623,0.40689340777,-0.00546741935369,0.0699430709788,0.999999995111,4.07455329829e-05,-8.27925686117e-05,-3.55503727596e-05,1793242428525946624
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,714.920363949,679.079636051,659,635,879.079636051,787,805,652,631,651.079636051,0.407372841862,-0.00548692521003,0.0699270086635,0.999999993656,1.5948806902e-05,-0.000106531140724,-3.29487756944e-05,1793242428542613504
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,714.341978928,679.658021072,659,635,879.658021072,787,805,652,631,651.658021072,0.407938822126,-0.00550367069985,0.069929672554,0.999999994873,-1.02938345277e-06,-9.5217272486e-05,-3.44480574083e-05,1793242428559280128
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,714,679.764700472,659,635,879.764700472,787,805,652,631,652,0.408520694264,-0.00551332290951,0.0699374436818,0.999999996443,-1.30003541597e-05,-7.53064124003e-05,-3.57047675394e-05,1793242428575946752
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,714,679.189022777,659,635,879.189022777,787,805,652,631,652,0.409125555136,-0.00551271416392,0.0699526028056,0.99999999825,-1.77280103741e-05,-4.29593685822e-05,-3.66105798397e-05,1793242428592613376
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,714,679.395007049,659,635,878.604992951,787,805,652,631,652,0.409713891775,-0.00552035983134,0.0699536040271,0.999999998225,-2.60570825232e-05,-3.76292156719e-05,-3.81552396808e-05,1793242428609279744
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,714,679.983119937,659,635,878.016880063,787,805,652,631,652,0.410294150246,-0.00553204080742,0.0699476839195,0.999999997511,-3.61467672919e-05,-4.55067252576e-05,-4.00122108685e-05,1793242428625946112
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,714.56285637,679.43714363,659.56285637,635,878.56285637,787,805,651.43714363,631,652,0.410933454813,-0.00553770266943,0.0699432973123,0.999999996292,-4.74864734298e-05,-5.93592277217e-05,-4.04599561828e-05,1793242428642612480
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.858115431,679.141884569,659.858115431,635,879,787,805,651,631,651.858115431,0.411598971448,-0.00554293136591,0.0699458577895,0.999999995838,-5.64557484406e-05,-5.89344954883e-05,-4.07743504018e-05,1793242428659279360
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.280502181,679.719497819,659.280502181,635,879,787,805,651,631,651.280502181,0.412339627065,-0.00554737603508,0.0699696136572,0.999999997384,-5.80319695565e-05,-1.41220305547e-05,-4.08071080651e-05,1793242428675946240
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,714,680,659.294863918,634.705136082,879,787,804.705136082,651,631,651.294863918,0.413081148239,-0.00555034435692,0.0699945686583,0.999999996878,-6.27008331683e-05,2.71737716927e-05,-3.96801772912e-05,1793242428692612864
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,714,680,659.868108553,634.131891447,879,787,804.131891447,651,631,651.868108553,0.41382348667,-0.00555191886131,0.0700206557629,0.999999994706,-7.02894575166e-05,6.51495015846e-05,-3.74583858943e-05,1793242428709279488
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,714,679.544823435,660,634.455176565,878.544823435,786.544823435,804.455176565,651,631,652,0.414528764655,-0.00552721931466,0.0700095103977,0.999999997716,-3.69820624951e-05,4.12795860321e-05,-3.8682051916e-05,1793242428725946368
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,714.045455843,679.045455843,660,635,878.045455843,786.045455843,805,651,631,651.954544157,0.415226092865,-0.00549684036622,0.0699848609605,0.999999999132,4.63818955514e-06,-4.40310523681e-06,-4.11786131715e-05,1793242428742612736
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,714.624931649,679.624931649,660,635,878.624931649,786.624931649,805,651,631,651.375068351,0.415960136264,-0.00549198044087,0.0699322776289,0.999999994937,3.43666216741e-07,-8.92208645455e-05,-4.65331922793e-05,1793242428759279360
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,714.797342844,680,659.797342844,635,878.797342844,786.797342844,805,651.202657156,631,651.202657156,0.416737875637,-0.0054947374508,0.0699058581769,0.999999989925,-8.93657231143e-06,-0.000132749909612,-4.94644540392e-05,1793242428775945728
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,714.222829005,680,659.222829005,635,878.222829005,786.222829005,805,651.777170995,631,651.777170995,0.417595792937,-0.00551147081565,0.0699274469684,0.999999993424,-2.73651256068e-05,-0.000100518071561,-4.79491581965e-05,1793242428792612608
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,714,679.64008449,659.35991551,634.64008449,878.35991551,786.35991551,805,651.64008449,631,652,0.418437508986,-0.00552009902681,0.0699550253227,0.999999996472,-3.8733528448e-05,-5.77993558339e-05,-4.70562184175e-05,1793242428809279488
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,714,679.052125006,659.947874994,634.052125006,878.947874994,786.947874994,805,651.052125006,631,652,0.419268959822,-0.00552359177804,0.0699863986884,0.99999999784,-4.56285896589e-05,-8.43611168087e-06,-4.6557606037e-05,1793242428825946368
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.471915152,745,714,679,659.471915152,634.528084848,879,786.471915152,805,651.528084848,631,652,0.420140430151,-0.00552803044895,0.0700085058199,0.99999999727,-5.12467009179e-05,2.59263500249e-05,-4.64928612109e-05,1793242428842612992
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.107432088,745,714.107432088,679.107432088,659.107432088,635,879,786.107432088,805,652,631,652,0.421013347066,-0.00553096223888,0.0700251442433,0.999999996109,-5.51447855419e-05,5.06519727876e-05,-4.66488220037e-05,1793242428859279616
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.686301967,745,714.686301967,679.686301967,659.686301967,635,879,786.686301967,805,652,631,652,0.421875528174,-0.0055268776778,0.070021740227,0.999999996734,-5.20400834519e-05,3.94923581343e-05,-4.75880828066e-05,1793242428875945984
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714.738110748,680,660,635,879,787,805.261889252,651.738110748,631,652,0.422709402941,-0.00552039469494,0.0699871049449,0.999999997395,-4.79400614683e-05,-1.98732489429e-05,-5.01714890587e-05,1793242428892612608
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714.166406696,680,660,635,879,787,805.833593304,651.166406696,631,652,0.42350979144,-0.00551107438026,0.0699155230967,0.99999998831,-4.26625758569e-05,-0.000136266512886,-5.46999178702e-05,1793242428909279232
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660.419379685,635,879,786.580620315,805.580620315,651,631,651.580620315,0.424347368106,-0.00551212736364,0.0698699662201,0.999999978181,-4.83538331872e-05,-0.000194239328414,-5.97658289683e-05,1793242428925945856
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.01070722,680,660.98929278,635,879.01070722,786.01070722,805,651,631,651.01070722,0.425202006099,-0.00551750627747,0.0698369835762,0.999999970692,-5.84735226755e-05,-0.000225810336623,-6.48614713867e-05,1793242428942612480
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,714.589268244,680,660.410731756,635,879.589268244,786.589268244,805,651,631,651.589268244,0.426151718756,-0.00552643159663,0.0699041789775,0.999999987767,-6.46099983887e-05,-0.000129271863011,-5.98302730577e-05,1793242428959279360
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,714.833215881,680,660,635,879.833215881,786.833215881,805,651,631,652,0.427096115048,-0.00553260068244,0.0699638670169,0.999999994981,-6.94889541765e-05,-4.61198811798e-05,-5.55127545548e-05,1793242428975946240
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,714.258257852,680,660,635,879.258257852,786.258257852,805,651,631,652,0.428027500445,-0.00553202438601,0.0700051821445,0.999999996048,-7.12903586047e-05,4.27107951875e-06,-5.29418394854e-05,1793242428992612864
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.323975631,786,805,651,630.676024369,652,0.428956147274,-0.00553204762809,0.0700324757703,0.999999995008,-7.1166375225e-05,4.67673608886e-05,-5.2267399815e-05,1793242429009279488
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.912141962,786,805,651,630.087858038,652,0.429882560853,-0.00553255977271,0.0700483353538,0.999999992745,-6.94723059424e-05,8.28258072244e-05,-5.31394690974e-05,1793242429025946112
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,714,680,660,635,879.507234295,786.492765705,805,651,630.492765705,652,0.430717963328,-0.00553198513814,0.0700104559054,0.999999996192,-6.56292705231e-05,1.77933592138e-05,-5.47012664915e-05,1793242429042612736
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.928748544,745,714,680.071251456,660,634.928748544,879,787,805,651,631,652,0.43153244322,-0.00553123296269,0.0699610221537,0.999999994139,-6.23588133845e-05,-6.80063876263e-05,-5.66466453449e-05,1793242429059279360
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.355988645,745,714,680.644011355,660,634.355988645,879,787,805,651,631,652,0.43231214988,-0.00553057444302,0.0698966855866,0.999999980693,-6.57746758834e-05,-0.000175027028671,-6.04393673916e-05,1793242429075945984
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.219190126,745,714,681,660,634.219190126,879,787,805.219190126,651,630.780809874,652,0.433157095634,-0.00553138908128,0.0698781978662,0.999999975823,-6.97510980611e-05,-0.000199082253537,-6.20896813304e-05,1793242429092612608
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.798341336,745,714,681,660,634.798341336,879,787,805.798341336,651,630.201658664,652,0.434109179254,-0.00553462298683,0.0699350045882,0.999999991626,-7.46480903562e-05,-8.68890180666e-05,-6.02216646711e-05,1793242429109279232
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.384471886,745,714,681,660,634.615528114,879,787,806,651,630.768943771,652,0.435016521453,-0.00553698225779,0.0699819803201,0.999999995234,-7.78324025068e-05,-7.70520649738e-06,-5.84437703482e-05,1793242429125946112
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.974330802,745,714,681,660,634.025669198,879,787,806,651,631.948661604,652,0.435899962478,-0.00553887429386,0.0700237042788,0.999999993734,-8.01017911593e-05,5.38447793801e-05,-5.67140200804e-05,1793242429142612992
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.445620072,745,714,680.445620072,660.554379928,634.554379928,879.554379928,787,805.445620072,651,631.445620072,652,0.436733243164,-0.00554372414521,0.0700212286474,0.999999993577,-8.26736308076e-05,5.27576590935e-05,-5.68097328261e-05,1793242429159279616
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,714,680.133222467,661,635,880,787,805.133222467,651,631,652,0.437549270269,-0.00554756919561,0.0700103741072,0.999999993826,-8.54434991933e-05,4.15770326575e-05,-5.76006853248e-05,1793242429175946240
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714,680.709536366,661,635,880,787,805.709536366,651,631,652,0.438315503146,-0.00554762474325,0.0699783401101,0.999999994209,-8.88262337041e-05,6.30428956894e-06,-6.04277379819e-05,1793242429192612864
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660.715191547,635,880,787,805.715191547,651,631,652,0.439041628841,-0.00554720240667,0.0699326890709,0.999999992077,-8.89496636906e-05,-6.34000401963e-05,-6.25613361679e-05,1793242429209279488
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660.140978121,635,880,787,805.140978121,651,631,652,0.439727000019,-0.00554629447332,0.069873201226,0.999999980148,-8.57611864108e-05,-0.000168091645237,-6.39902876033e-05,1793242429225946368
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634.553477661,879.553477661,787.446522339,805.446522339,651,631,651.553477661,0.44047551548,-0.00554485219755,0.0698637428701,0.99999997848,-8.54926753191e-05,-0.000177611931643,-6.4689244293e-05,1793242429242612736
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714,681.037463999,660,634,879,787.962536001,805.962536001,651,631,651.037463999,0.441246632153,-0.00554373151324,0.0698752424691,0.99999998293,-8.6304880885e-05,-0.000149933453015,-6.48974998416e-05,1793242429259279104
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714,681.615667287,660,634,879,787.384332713,805.384332713,651,631,651.615667287,0.442047388362,-0.00554976224127,0.0699542619027,0.999999993628,-8.90011987466e-05,-3.23442168705e-05,-6.14518190965e-05,1793242429275946240
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,787,805,651.192764368,631,652,0.442809001692,-0.00555340266496,0.0700136748887,0.999999992659,-9.13857806596e-05,5.37540026211e-05,-5.8654776193e-05,1793242429292613120
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879,787,805,651.767668586,631,652,0.443493017558,-0.0055523045037,0.0700342196846,0.999999991031,-9.31523736256e-05,7.7423836079e-05,-5.71436063759e-05,1793242429309279744
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.340080111,787,805.340080111,652,631,652,0.444128106869,-0.00555452898022,0.0700219381025,0.99999999241,-9.55057819409e-05,5.2552440749e-05,-5.7417259051e-05,1793242429325946368
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,879.91080107,787,805.91080107,652,631,652,0.444730014365,-0.00555900685525,0.0699873938129,0.999999993424,-9.82571655309e-05,-5.23940568252e-06,-5.89013705048e-05,1793242429342612992
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,787,806,651.498152002,631,652,0.445300101498,-0.005559958389,0.0699467157713,0.999999991866,-9.1826927413e-05,-6.56533725928e-05,-5.93729412291e-05,1793242429359279360
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,787,806.094014049,651,631,651.905985951,0.445859677869,-0.00556054548049,0.0699082861874,0.999999987147,-8.63011801224e-05,-0.000121172599007,-5.97871737387e-05,1793242429375946240
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,787,806.672542865,651,631,651.327457135,0.446395463796,-0.00556262089379,0.069887300119,0.999999982615,-9.42023651917e-05,-0.000148962799635,-6.08725586425e-05,1793242429392612864
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.25328308,634,880.25328308,787,806.74671692,651,631,651.25328308,0.446903884729,-0.00556615782159,0.0698694993228,0.999999976621,-0.000103675001784,-0.000179478129478,-6.16163290878e-05,1793242429409279744
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660.836907437,634,880.836907437,787,806.163092563,651,631,651.836907437,0.447376615169,-0.00557160091116,0.0698558528795,0.999999968647,-0.000115197183675,-0.000213547672704,-6.19145530729e-05,1793242429425946624
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.582406279,745,714,682,660.164812557,634,880.582406279,786.582406279,806,651,631,652,0.447849619003,-0.00557345618801,0.069837882245,0.99999996174,-0.00011319739979,-0.000244540497197,-6.24981889926e-05,1793242429442613248
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.002859403,745,714,682,659.005718806,634,880.002859403,786.002859403,806,651,631,652,0.448322728905,-0.00557392002297,0.0698182345813,0.999999954759,-0.000105953464675,-0.000274340096924,-6.31925147008e-05,1793242429459279616
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+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681.692935008,659,633,880,786,806,651,630.307064992,651.692935008,0.450000735055,-0.00556481856632,0.0698445819522,0.999999964107,-0.00010634483825,-0.000238624887024,-5.94505990996e-05,1793242429525946624
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+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.059257332,633,880,785.940742668,806.940742668,651,630.940742668,652,0.450906190337,-0.00556553900388,0.0697707242201,0.999999929158,-0.000103159477173,-0.00035583685697,-6.64938437491e-05,1793242429575946240
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,682,658.637371978,633,880,785.362628022,806.362628022,651,630.362628022,652,0.451166091162,-0.00556798765313,0.0697475991587,0.999999916217,-0.000111152082167,-0.000388097210479,-6.7758496227e-05,1793242429592612864
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+210,3.500000000,POSE1_TO_POSE2_PRESS,764.210336959,745,714,682,658.210336959,632.210336959,880,785.789663041,806,651,630.789663041,652,0.45166486563,-0.00557494624214,0.0697276511495,0.999999905182,-0.000127933997344,-0.000412135674499,-5.84273071731e-05,1793242429625945856
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+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.640533022,657.640533022,632,880,785,805.640533022,651.640533022,631,652,0.452272650121,-0.00554358829883,0.0695892028784,0.999999799502,-8.7902937032e-05,-0.000625607855599,-4.34011421705e-05,1793242430934569472
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+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.510496734,632,879.489503266,785,805.510496734,651,630.489503266,652,0.451874281233,-0.00553400653626,0.0695930675203,0.99999980202,-7.57424773534e-05,-0.000623607919863,-3.6552120547e-05,1793242430967902720
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+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.853299511,714,682,658,632.146700489,880,786,805.853299511,651.853299511,631,652,0.449455750598,-0.00548381014889,0.0696686712416,0.999999858904,1.92049643666e-05,-0.000530811927473,7.83631316255e-06,1793242431101236480
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+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.431764132,680,658.568235868,634.568235868,878.568235868,787,805,651.431764132,631,651.568235868,0.413135309541,-0.00537493464578,0.0697586348111,0.999999901303,0.000192149192812,-0.000399663888404,2.72231490595e-05,1793242431884569344
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714.993789156,679.993789156,658.006210844,634,878.006210844,787,805,652,631,651.006210844,0.412463712982,-0.00537122524619,0.0697925996585,0.999999924345,0.00019781163784,-0.000333773786017,2.78457173458e-05,1793242431901235968
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714.407496555,679.407496555,658.592503445,634,878.592503445,787,805,652,631,651.592503445,0.41182684038,-0.00536880567693,0.0698469674649,0.999999949533,0.000202455515385,-0.000243041032581,2.96259158456e-05,1793242431917902592
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.177639156,879,787,804.822360844,652,631,652,0.411175162946,-0.00536551464591,0.0698829725889,0.999999960891,0.000207642929551,-0.00018475470613,3.11058590571e-05,1793242431934568960
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.760138298,879,787,804.239861702,652,631,652,0.410489743476,-0.00536023745319,0.0698771270669,0.999999956495,0.000214069130045,-0.000200417489576,3.19014868892e-05,1793242431951235840
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.662309817,714,679,659,634.662309817,879,786.662309817,804.337690183,652,631,652,0.409812762039,-0.0053538152404,0.0698478801636,0.99999994298,0.000222943249551,-0.000251821535856,3.03754787558e-05,1793242431967903232
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.08822127,714,679,659,634.08822127,879,786.08822127,804.91177873,652,631,652,0.409141687649,-0.0053465914622,0.0698022512378,0.999999918488,0.000233531021401,-0.000328246076567,2.72242205148e-05,1793242431984570368
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744,714,679,658.514338168,634.485661832,879,786.485661832,805,652,631,652,0.408538247667,-0.00534627120509,0.069780147547,0.999999907872,0.000231740831479,-0.000360458340763,2.49451323549e-05,1793242432001236736
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.058292375,714,679,658.058292375,635,879,787,805,652,631,651.941707625,0.407955440803,-0.00534916725581,0.069766425251,0.999999902532,0.000226193189629,-0.000378460702277,2.32327285591e-05,1793242432017903104
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.620419209,714,679,658.620419209,635,879,787,805,652,631,651.379580791,0.407444825733,-0.00536902825877,0.0697882249408,0.999999919304,0.000207594911713,-0.000343030040381,2.50495306573e-05,1793242432034569984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.802470191,879,787,805,651.802470191,631,651,0.40693087343,-0.00538544550262,0.0698048918628,0.999999931121,0.00018803983732,-0.000318924292693,2.61798760516e-05,1793242432051236864
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,634.194202867,879,787,805,651.194202867,631,651,0.406409981846,-0.00539470189538,0.0698108858597,0.999999935126,0.000166495232094,-0.000318367234516,2.58828239643e-05,1793242432067904000
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764.606768669,745,714,679,659,634,878.606768669,786.606768669,804.606768669,651.393231331,631,651.393231331,0.405926365593,-0.00538850661386,0.0698082766637,0.999999930464,0.000177829863737,-0.000326802465746,2.54638969119e-05,1793242432084570880
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764.029105489,745,714,679,659,634,878.029105489,786.029105489,804.029105489,651.970894511,631,651.970894511,0.405460232026,-0.00537506424823,0.0698016324317,0.999999921145,0.000204585386734,-0.000339455225761,2.49878084904e-05,1793242432101237504
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764.557297164,745,714,679,659,634.557297164,878.557297164,786.557297164,804.557297164,652,631,652,0.40507832277,-0.00537520920871,0.0698144654552,0.999999929456,0.00020051698389,-0.000316612752788,2.52360027116e-05,1793242432117904128
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.85777368,652,631,652,0.404704990065,-0.00537545707151,0.0698281853953,0.999999938135,0.000195295823065,-0.000291449835326,2.54384899879e-05,1793242432134570240
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.2787932,652,631,652,0.404344271537,-0.00537380710402,0.0698414554254,0.999999946233,0.000191556968562,-0.000264944553362,2.53826089734e-05,1793242432151236352
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+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804,652,631,652,0.40367022593,-0.00536772426627,0.0698469105039,0.999999944627,0.000216538832106,-0.000251523215689,2.43710570466e-05,1793242432184569344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.548503865,787,804,652,631,652,0.403361823696,-0.00536698893032,0.0698388719712,0.999999941393,0.000214474726377,-0.000265835702686,2.33784101334e-05,1793242432201236224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.027784074,679,659,635,878,787,804,651.972215926,631.027784074,652,0.403061278566,-0.00536671764301,0.0698289088884,0.999999937889,0.000207490979836,-0.000284025049421,2.23248203775e-05,1793242432217902592
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.617724565,679,659,635,878,787,804,651.382275435,631.617724565,652,0.402802310623,-0.00536055457351,0.0698212934095,0.999999933002,0.000210550541247,-0.000298635942668,2.19526710119e-05,1793242432234569472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.796454512,714.796454512,679,659,634.796454512,878,787,804,651.203545488,631.796454512,652,0.402554365954,-0.00535678506379,0.0698141812035,0.99999992879,0.000212008022175,-0.000311435502951,2.19213066914e-05,1793242432251236096
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744.218217061,714.218217061,679,659,634.218217061,878,787,804,651.781782939,631.218217061,652,0.402326713251,-0.0053574216834,0.0698079954365,0.999999926099,0.000210516350351,-0.00032090071168,2.2517268617e-05,1793242432267902976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744.359054232,714.359054232,679.359054232,659,634.359054232,878.359054232,787,804.359054232,652,631,652,0.402126777786,-0.00535692954405,0.0698040420304,0.999999923842,0.000210243392969,-0.000327988891285,2.3190737265e-05,1793242432284569600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.935739967,714.935739967,679.935739967,659,634.935739967,878.935739967,787,804.935739967,652,631,652,0.401943642392,-0.0053557532365,0.0698014417119,0.999999921858,0.000210709127914,-0.000333636296631,2.39111846805e-05,1793242432301236224
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.489758952,679.489758952,659,635,879,787,804.489758952,651.489758952,631,652,0.401793645126,-0.00535393099448,0.0698025588006,0.999999921787,0.000214328444049,-0.000331499092328,2.44485505592e-05,1793242432317902848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,714.087168434,679,659,635,879,787,804,651.087168434,631,652,0.401652302279,-0.00535202563097,0.0698040535491,0.999999921,0.000222668101142,-0.000328371176462,2.42990460281e-05,1793242432334569472
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,714.679752632,679,659,635,879,787,804,651.679752632,631,652,0.40153704397,-0.00535010798066,0.0698050350669,0.99999991414,0.000256084012818,-0.000325159224123,2.03000834491e-05,1793242432351236096
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.733963534,679,658.733963534,635,878.733963534,787,804,652,631,651.733963534,0.40143038255,-0.00535100539031,0.0698055407309,0.999999913931,0.000259792498218,-0.000323097450656,1.59401698204e-05,1793242432367902720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.155088482,679,658.155088482,635,878.155088482,787,804,652,631,651.155088482,0.401333830421,-0.0053552130958,0.0698054868269,0.999999921849,0.000228567315083,-0.000322388200075,1.11558055463e-05,1793242432384569600
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.419633985,635,878.419633985,787,804,652,631,651.419633985,0.401256858721,-0.00535620614101,0.0698044713971,0.99999992367,0.000218815831063,-0.00032352018035,1.06509879131e-05,1793242432401236224
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,658.992836765,635,878.992836765,787,804,652,631,651.992836765,0.401187052656,-0.00535602275255,0.0698031040882,0.999999923485,0.000216922839212,-0.000325325975543,1.17123085938e-05,1793242432417902592
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.417142336,745,714.582857664,679,659,635,879,786.417142336,804,652,631,651.417142336,0.401135208739,-0.00535326456477,0.0698032777428,0.999999923302,0.000219728518738,-0.00032398205668,1.22809909345e-05,1793242432434569472
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764.169905016,745,714.830094984,678.830094984,659,635,878.830094984,786,804,652,631,651,0.401089458091,-0.00535145975312,0.0698045379262,0.999999923824,0.000221676876525,-0.000321005768356,1.29103012658e-05,1793242432451235840
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764.749273255,745,714.250726745,678.250726745,659,635,878.250726745,786,804,652,631,651,0.401057844135,-0.00535203106035,0.0698083695976,0.999999926035,0.000221415828197,-0.000314191605343,1.37007466403e-05,1793242432467902720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,678.651727336,659,635,878,786,804,652,631,651.325863668,0.401032547225,-0.00535301352273,0.0698115434342,0.999999927989,0.000220449164873,-0.000308579550726,1.42171826015e-05,1793242432484569600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.800669774,659,635,878,786,804,652,631,651.900334887,0.401012069704,-0.00535430966318,0.0698142153966,0.999999929753,0.000218944174507,-0.000303884606604,1.45245716866e-05,1793242432501236224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.524617366,659,635,878,786.475382634,804,652,631,652,0.400996481672,-0.00535467637944,0.0698157285931,0.999999930452,0.000218836076437,-0.000301642526606,1.4778848576e-05,1793242432517902592
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.052059728,679,659,635,878,787,804.052059728,652,631,652,0.400982856707,-0.00535480994191,0.0698171349722,0.999999931032,0.000218958779944,-0.000299614657828,1.49953102631e-05,1793242432534569472
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.644390527,679,659,635,878,787,804.644390527,652,631,652,0.400978953024,-0.00535454850933,0.0698199570615,0.999999932677,0.000218433737541,-0.000294466544562,1.49350287805e-05,1793242432551236096
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.769483022,714.769483022,679,659,635,878.230516978,787,804.769483022,652,631,652,0.400975274091,-0.00535405051631,0.0698216448288,0.999999933489,0.000218905249967,-0.000291340879851,1.49534644492e-05,1793242432567902720
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.192676953,714.192676953,679,659,635,878.807323047,787,804.192676953,652,631,652,0.400971932783,-0.00535319715559,0.0698216285853,0.999999933079,0.000220873815133,-0.000291253394579,1.50901512409e-05,1793242432584569600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.383033066,714,679,659,635,879,787,804.383033066,652,631,651.616966934,0.400970658413,-0.00535306728362,0.0698229349791,0.999999933624,0.000221050785676,-0.000289244414105,1.50579979156e-05,1793242432601236224
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.958193295,714,679,659,635,879,787,804.958193295,652,631,651.041806705,0.400970420806,-0.00535330030943,0.0698249048,0.99999993464,0.000220329102692,-0.00028627162279,1.49411553632e-05,1793242432617902848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,879,787,804.469419124,652,631,651,0.400970515017,-0.00535463269619,0.0698256501983,0.999999935496,0.000218547166279,-0.000284644120858,1.49507739192e-05,1793242432634569216
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.892638627,787,804,652,631,651.107361373,0.400970645923,-0.00535575330821,0.0698264210278,0.999999936178,0.000217389924255,-0.000283126568284,1.4985146104e-05,1793242432651236096
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.294796362,787,804,652,631,651.705203638,0.400970825649,-0.00535551274446,0.0698277465054,0.999999936146,0.000219466278972,-0.0002816295716,1.50873195685e-05,1793242432667902720
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.290754992,659,635,878.290754992,787,804,652,631,652,0.40097105773,-0.00535578026567,0.0698283167275,0.999999936312,0.000219652489568,-0.000280895364882,1.50303805733e-05,1793242432684569344
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.864350086,659,635,878.864350086,787,804,652,631,652,0.400971340741,-0.00535654204081,0.0698281522537,0.999999936675,0.000218000009515,-0.000280903183397,1.48186604666e-05,1793242432701235968
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.561099136,659,635,878.561099136,787,804,651.561099136,631,652,0.400970812316,-0.00535619384245,0.0698280723464,0.999999936872,0.000217277637561,-0.000280766165375,1.47293735669e-05,1793242432717902848
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.014118235,787,804.014118235,651.014118235,631,652,0.400970070918,-0.0053555264506,0.069828039283,0.999999937017,0.00021690017588,-0.000280543197437,1.46871644179e-05,1793242432734569472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.604461971,787,804.604461971,651.604461971,631,652,0.400970895237,-0.00535586356412,0.0698288490402,0.99999993712,0.000218841655433,-0.000278643252607,1.50186127648e-05,1793242432751236352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.808856203,786.808856203,804.808856203,652,631,651.808856203,0.40097111441,-0.0053558036034,0.0698291523885,0.999999937039,0.000220094454969,-0.000277943883325,1.50844144495e-05,1793242432767903232
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679,659,635,878.22960964,786.22960964,804.22960964,652,631,651.22960964,0.400970104882,-0.00535493741394,0.0698284275125,0.999999936593,0.00021994894263,-0.000279682190397,1.46108410154e-05,1793242432784569856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.349333348,659,635,878.349333348,786.349333348,804.349333348,651.650666652,631,651.349333348,0.400969694517,-0.00535521186779,0.069828330136,0.999999936803,0.000218370610049,-0.000280183781477,1.43515602246e-05,1793242432801236480
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.928076953,659,635,878.928076953,786.928076953,804.928076953,651.071923047,631,651.928076953,0.400969677627,-0.00535623539207,0.069828644844,0.999999937438,0.000215851331923,-0.000279873210314,1.42330073001e-05,1793242432817903360
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764.497633249,745,714,680,659,635,878.497633249,787,805,651.502366751,631,652,0.400968752736,-0.00535594723966,0.0698281418677,0.999999936662,0.000218180505964,-0.000280823356357,1.4520590806e-05,1793242432834569472
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diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_03/simulation_data.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1249e0dbd4f5492effdac220677c554dd6c689a2
--- /dev/null
+++ b/Obstacle_avoidance/ball_0050_15/position_03/depth_03/simulation_data.csv
@@ -0,0 +1,408 @@
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diff --git a/Obstacle_avoidance/ball_0050_15/position_03/depth_04/fem_node.csv b/Obstacle_avoidance/ball_0050_15/position_03/depth_04/fem_node.csv
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--- /dev/null
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@@ -0,0 +1,3 @@
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